JP7265784B2 - Work transfer device, cylindrical grinding device and work transfer method - Google Patents

Description

The present invention relates to a work transfer device, a cylindrical grinding device, and a work transfer method.

2. Description of the Related Art A cylindrical grinding device for grinding a cylindrical work is known (see Patent Document 1, for example).

On the other hand, the present inventors performed predetermined machining (for example, A cylindrical grinding machine capable of grinding the outer peripheral surface of the workpiece and performing additional processing such as flattened surface (OF) and notch such as V-shape was examined. In a factory where a cylindrical grinding machine is installed, cylindrical workpieces with various diameters and various lengths (length in the direction of the central axis) are stored. Therefore, it is required to perform predetermined processing so as to satisfy predetermined processing conditions.

JP 2009-190142 A

However, in the cylindrical grinding device described in Patent Document 1, the central axis of cylindrical workpieces with various diameters and various lengths (length in the direction of the central axis) is aligned with the rotation axis of the cylindrical grinding device. It is difficult to transport cylindrical workpieces of various diameters and lengths (lengths in the direction of the central axis) so that they can be machined in a manner that satisfies predetermined machining conditions. found.

The present invention has been made to solve such problems, and the central axis of cylindrical workpieces with various diameters and various lengths (length in the central axis direction) and a cylindrical grinding machine have The axis of rotation can be easily matched, and predetermined machining is performed to meet predetermined machining conditions for cylindrical workpieces of various diameters and various lengths (length in the direction of the central axis). It is an object of the present invention to provide a work conveying device, a cylindrical grinding device, and a work conveying method capable of

The work conveying device according to the present invention includes:
A workpiece conveying device for conveying a cylindrical workpiece to be processed to a cylindrical grinding device main body,
a clamping mechanism comprising a pair of claws for clamping the work, and a claw movement mechanism for moving the pair of claws in a direction toward or away from each other;
a moving mechanism for moving the clamping mechanism,
When the axis of rotation of the cylindrical grinding machine body is the X axis, the axis orthogonal to the X axis is the Y axis, and the axis orthogonal to the plane containing the X and Y axes is the Z axis,
The moving mechanism moves the clamping mechanism at least in the X-axis direction, the Y-axis direction, and the X-axis direction.

With such a configuration, it is possible to easily match the central axis of cylindrical workpieces with various diameters and various lengths (length in the direction of the central axis) with the rotation axis of the cylindrical grinding machine. It is possible to provide a workpiece conveying apparatus capable of performing predetermined machining so as to satisfy predetermined machining conditions for cylindrical workpieces having various diameters and lengths (lengths in the central axis direction).

This is due to the provision of a moving mechanism for moving the clamping mechanism that clamps the workpiece in at least the X-axis direction, the Y-axis direction and the Z-axis direction.

Further, in the above work conveying device,
The claw portion moving mechanism moves the pair of claw portions in a direction toward each other in the Y-axis direction and brings the pair of claw portions into contact with the outer peripheral surface of the work, thereby clamping the work. may

Further, in the above work conveying device,
The moving mechanism is
a first moving mechanism that moves the clamping mechanism in the Z-axis direction;
a second moving mechanism for moving the clamping mechanism and the first moving mechanism in the Y-axis direction;
A third moving mechanism that moves the clamping mechanism, the first moving mechanism, and the second moving mechanism in the X-axis direction may be provided.

Further, in the above work conveying device,
The moving mechanism is
a first moving mechanism that moves the clamping mechanism in the Z-axis direction;
a second moving mechanism that moves the clamping mechanism and the first moving mechanism in the X-axis direction;
A third moving mechanism that moves the clamping mechanism, the first moving mechanism, and the second moving mechanism in the Y-axis direction may be provided.

Further, in the above work conveying device,
Each of the pair of claws has a first contact portion that contacts the lower portion of the work and a second contact portion that contacts the upper portion of the work when the pair of claw portions move toward each other. may have.

Further, in the above work conveying device,
The pair of claw portions may have tapered surfaces that open toward each other in a V-shape and function as the first contact portion and the second contact portion, respectively.

Further, in the above work conveying device,
The moving mechanism moves the clamping mechanism that clamps the workpiece until the central axis of the workpiece and the rotational axis of the cylindrical grinding apparatus body are aligned between the main shaft and the tail of the cylindrical grinding apparatus body. You may let

Further, in the above work conveying device,
The moving mechanism may further move the clamping mechanism that clamps the work until one end surface of the work abuts against the main shaft.

Further, in the above work conveying device,
the clamping mechanism further comprises a sensor for measuring the length of the workpiece;
The pair of claws may clamp the center of the measured length of the workpiece.

The cylindrical grinding device according to the present invention includes:
a cylindrical grinding device main body;
A cylindrical grinding device comprising a work conveying device for conveying a cylindrical work to be processed to the main body of the cylindrical grinding device,
The work conveying device is
a clamping mechanism comprising a pair of claws for clamping the work, and a claw movement mechanism for moving the pair of claws in a direction toward or away from each other;
a moving mechanism for moving the clamping mechanism,
When the axis of rotation of the cylindrical grinding machine body is the X axis, the axis orthogonal to the X axis is the Y axis, and the axis orthogonal to the plane containing the X and Y axes is the Z axis,
The moving mechanism moves the clamping mechanism at least in the X-axis direction, the Y-axis direction, and the Z-axis direction.

With such a configuration, it is possible to easily match the central axis of cylindrical workpieces with various diameters and various lengths (length in the direction of the central axis) with the rotation axis of the cylindrical grinding machine. It is possible to provide a cylindrical grinding apparatus capable of performing predetermined machining so as to satisfy predetermined machining conditions for cylindrical workpieces having various diameters and lengths (lengths in the central axis direction).

This is due to the provision of a moving mechanism for moving the clamping mechanism that clamps the workpiece in at least the X-axis direction, the Y-axis direction and the Z-axis direction.

A workpiece transfer method according to the present invention includes:
A workpiece conveying method for conveying a cylindrical workpiece to be processed to a cylindrical grinding device body,
A clamping mechanism having a pair of claws for clamping the workpiece and a claw moving mechanism for moving the pair of claws in a direction toward or away from each other moves the pair of claws toward each other. a clamping step of clamping the workpiece by moving it in a direction;
When the axis of rotation of the cylindrical grinding machine body is the X axis, the axis orthogonal to the X axis is the Y axis, and the axis orthogonal to the plane containing the X and Y axes is the Z axis,
At least in the X-axis direction, the Y-axis direction, and the Z-axis direction, until the central axis of the workpiece and the rotation axis of the cylindrical grinding device body are aligned between the main shaft and the tail of the cylindrical grinding device body. and a moving step of moving the clamp mechanism.

With such a configuration, it is possible to easily match the central axis of cylindrical workpieces with various diameters and various lengths (length in the direction of the central axis) with the rotation axis of the cylindrical grinding machine. It is possible to provide a workpiece transfer method that can perform predetermined machining so as to satisfy predetermined machining conditions for cylindrical workpieces having various diameters and various lengths (lengths in the central axis direction).

This clamping is carried out at least in the X-, Y-, and Z-axis directions until the center axis of the workpiece and the rotation axis of the cylindrical grinding machine body are aligned between the main shaft and the tail of the cylindrical grinding machine body. This is due to the provision of a movement step for moving the mechanism.

According to the present invention, it is possible to easily match the central axis of cylindrical workpieces with various diameters and various lengths (length in the direction of the central axis) with the rotation axis of the cylindrical grinding machine. Provided are a work conveying device, a cylindrical grinding device, and a work conveying method that are capable of performing predetermined processing on cylindrical works of various lengths (lengths in the central axis direction) so as to meet predetermined processing conditions. can do.

1 is a perspective view of a cylindrical grinding device 1; FIG. 3 is a perspective view of a work W; FIG. 1 is a schematic configuration diagram of a cylindrical grinding apparatus main body 100. FIG. 1 is a perspective view of a work conveying device 200; FIG. FIG. 4 is a perspective view of a first movable frame 220 and a movable frame moving mechanism _M220 that moves the first movable frame 220 in the X-axis direction; FIG. 3 is a perspective view of a second movable frame 230 and a movable frame moving mechanism _M230 that moves the second movable frame 230 in the Y-axis direction; FIG. 13 is a perspective view of a movable frame moving mechanism M240 that moves the third movable frame 240 and the third movable frame 240 (and the clamp mechanism ₂₅₀ attached thereto) in the Z-axis direction. FIG. 13 is a perspective view of a movable frame moving mechanism M240 that moves the third movable frame 240 and the third movable frame 240 (and the clamp mechanism ₂₅₀ attached thereto) in the Z-axis direction. 3 is a perspective view of a clamping mechanism 250; FIG. FIG. 4 is a schematic diagram showing how a workpiece W is clamped by a pair of claws 251a and 251b; 3 is a system configuration diagram including a control device 300. FIG. 4 is a flowchart of an operation example of the cylindrical grinding device 1; 1 is a perspective view of a cylindrical grinding device 1 installed in a factory; FIG. 4A and 4B are diagrams for explaining the operation of the clamp mechanism 250; FIG. 4A and 4B are diagrams for explaining the operation of the clamp mechanism 250; FIG. FIG. 4 is a diagram for explaining operations of the main shaft 101 and the tail 102; (a) A diagram for explaining the moving directions of the movable frames 220, 230, and 240 of the cylindrical grinding machine 1, and FIG. It is a figure to do. FIG. 11 is a perspective view of a sensor attached to a pair of claws 251a and 251b; FIG. 4 is a schematic diagram showing how a sensor attached to a pair of claws 251a and 251b measures a length L of a work W;

(Embodiment 1)
A cylindrical grinding machine 1 according to a first embodiment of the present invention will be described below with reference to the accompanying drawings. The same reference numerals are given to corresponding components in each figure, and duplicate descriptions are omitted.

FIG. 1 is a perspective view of a cylindrical grinding machine 1. FIG.

As shown in FIG. 1 , the cylindrical grinding machine 1 includes a cylindrical grinding machine body 100 , a work transfer device 200 , and a control device 300 that controls the cylindrical grinding machine body 100 and the work transfer device 200 . In FIG. 1, reference numeral AX ₁₀₀ indicates a rotating shaft of the cylindrical grinding apparatus main body 100. As shown in FIG. Hereinafter, it will be called the axis of rotation AX ₁₀₀ .

First, a configuration example of a cylindrical workpiece W to be processed will be described.

2 is a perspective view of the workpiece W. FIG.

The work W is, for example, a silicon ingot (for example, a cylindrically ground silicon ingot) or a cylindrical work (also called a block) obtained by cutting the silicon ingot. The work W has end faces Wa and Wb perpendicular to its central axis _AXW . As the work W, various diameters D and various lengths L (the length in the central axis AX _W direction of the work W) can be used.

Next, a configuration example of the cylindrical grinding apparatus main body 100 will be described.

FIG. 3 is a schematic configuration diagram of the cylindrical grinding apparatus main body 100. As shown in FIG.

Hereinafter, for convenience of explanation, the XYZ axes are defined as shown in FIG. 1 and the like. The X-axis extends in the same direction as the rotation axis AX ₁₀₀ of the cylindrical grinding machine main body 100 (horizontal axis). The Y-axis extends in a direction orthogonal to the X-axis (horizontal axis). The Z-axis extends in a direction orthogonal to the plane containing the X-axis and the Y-axis (vertical axis).

The cylindrical grinding device main body 100 is a known cylindrical grinding device capable of performing predetermined processing on the workpiece W so as to satisfy predetermined processing conditions. The processing conditions are, for example, the amount of grinding of the outer peripheral surface of the work W, whether or not to perform additional processing such as a flat surface (OF), a V-shaped cut (notch), and the like. is entered by the operator. The predetermined processing is, for example, grinding of the outer peripheral surface of the work, and additional processing such as flattened surface (OF) or V-shaped notch.

As shown in FIG. 3, the cylindrical grinding apparatus body 100 has a main shaft 101 and a tail 102 that clamp a work W, and rotates the main shaft 101 to rotate the work W clamped between the main shaft 101 and the tail 102. It includes a rotating mechanism 103, a grindstone 104 (for example, a cup wheel type grindstone) for grinding the outer peripheral surface of the work W rotated by the rotating mechanism 103, a rotating mechanism 105 for rotating the grindstone 104, and the like.

The main shaft 101 and the tail 102 have rotation axes coaxial with the rotation axis AX ₁₀₀ of the cylindrical grinding apparatus body 100 . The workpiece W is clamped between the main shaft 101 and the tail 102 with the center axis AX _W and the rotation axis AX ₁₀₀ of the cylindrical grinding machine main body 100 aligned. AX ₁₀₀ is rotated. The cylindrical grinding apparatus main body 100 also has a mechanism for performing additional machining such as flattened surfaces (OF) and V-shaped notches on the workpiece W that has already been ground.

Next, a configuration example of the work conveying device 200 will be described.

FIG. 4 is a perspective view of the work transfer device 200. As shown in FIG.

As shown in FIG. 4, the work transfer device 200 includes a fixed frame 210 supported by four vertical columns 201 extending in the Z-axis direction, and a first movable frame 210 attached to the fixed frame 210 so as to be movable in the X-axis direction. A frame 220, a second movable frame 230 attached to the first movable frame 220 movably in the Y-axis direction, a third movable frame 240 attached to the second movable frame 230 movably in the Z-axis direction, and a clamp mechanism 250 fixed to the third movable frame 240 .

The fixed frame 210 is a rectangular frame configured by combining a pair of first frames 211a and 211b extending in the X-axis direction and a pair of second frames 212a and 212b extending in the Y-axis direction.

The four vertical pillars 201 that support the fixed frame 210 are each adjusted in length in the Z-axis direction by an adjuster 202 provided at the bottom of the vertical pillar so that the fixed frame 210 is horizontal. It is fixed to the floor by Each vertical column 201 is fixed to the cylindrical grinding apparatus main body 100 by a fastening member such as a bolt.

FIG. 5 is a perspective view of the first movable frame 220 and the movable frame moving mechanism _M220 that moves the first movable frame 220 in the X-axis direction.

As shown in FIG. 5, the first movable frame 220 is configured by combining a pair of third frames 221a and 221b extending in the X-axis direction and a pair of fourth frames 222a and 222b extending in the Y-axis direction. It is a rectangular frame.

The first movable frame 220 is attached to the fixed frame 210 so as to be slidable in the X-axis direction. Specifically, the first movable frame 220 is slidably attached to guide rails 223a and 223b provided on the upper surface of the fixed frame 210 (first frames 211a and 211b) and extending in the X-axis direction.

The first movable frame 220 is rotated forward and backward by a drive motor 225 attached to the fixed frame 210 (first frame 211a), and a ball screw 224 extending in the X-axis direction connected to the first movable frame 220 is rotated forward and backward. It moves along the guide rails 223a and 223b in the X-axis direction.

The guide rails 223a and 223b, the ball screw 224, and the drive motor 225 mainly constitute a movable frame moving mechanism _M220 that moves the first movable frame 220 in the X-axis direction. Movable frame moving mechanism M ₂₂₀ is an example of the third moving mechanism of the present invention.

FIG. 6 is a perspective view of the second movable frame 230 and the movable frame moving mechanism _M230 that moves the second movable frame 230 in the Y-axis direction.

As shown in FIG. 6, the second movable frame 230 is a rectangular tubular frame extending in the Z-axis direction.

The second movable frame 230 is attached to the first movable frame 220 so as to be slidable in the Y-axis direction. Specifically, the second movable frame 230 is slidably attached to guide rails 231a and 231b extending in the Y-axis direction provided on the upper surface of the first movable frame 220 (fourth frames 222a and 222b). .

The second movable frame 230 is rotated forward and backward by a drive motor 233 attached to the first movable frame 220 (fourth frame 222b) and a ball screw 232 extending in the Y-axis direction connected to the second movable frame 230. , it moves in the Y-axis direction along the guide rails 231a and 231b.

The guide rails 231a and 231b, the ball screw 232, and the drive motor 233 mainly constitute a movable frame moving mechanism _M230 that moves the second movable frame 230 in the Y-axis direction. Movable frame moving mechanism M ₂₃₀ is an example of the second moving mechanism of the present invention.

7 and 8 are perspective views of the movable frame moving mechanism M ₂₄₀ that moves the third movable frame 240 and the third movable frame 240 (and the clamp mechanism 250 attached thereto) in the Z-axis direction.

The third movable frame 240 is a rectangular tubular frame extending in the Z-axis direction, and is arranged in the second movable frame 230, which is also a rectangular tubular frame extending in the Z-axis direction.

The third movable frame 240 is attached to the second movable frame 230 so as to be slidable in the Z-axis direction. Specifically, the third movable frame 240 includes guide rails 241a and 241b (see FIG. 7) extending in the Z-axis direction attached to one inner surface of the second movable frame 230 and guide rails attached to the other inner surface. 241c and 241d (see FIG. 8) are slidably attached.

The third movable frame 240 (and the clamping mechanism 250 attached thereto) is a driving mechanism in which a ball screw (not shown) connected to the third movable frame 240 and extending in the Z-axis direction is attached to the second movable frame 230 . It moves in the Z-axis direction along guide rails 241a, 241b, 241c, and 241d by being rotated forward and reverse by a motor 242 (see FIG. 7).

Mainly, the guide rails 241a, 241b, 241c, 241d, the ball screw (not shown) and the drive motor 242 move the third movable frame 240 (and the clamping mechanism 250 attached thereto) in the Z-axis direction. Configure the moving mechanism M ₂₄₀ . Movable frame moving mechanism M ₂₄₀ is an example of the first moving mechanism of the present invention.

A clamp mechanism 250 is attached to the lower end of the third movable frame 240 .

FIG. 9 is a perspective view of the clamping mechanism 250. FIG.

As shown in FIG. 9, the clamping mechanism 250 includes a pair of claws 251a and 251b for clamping the work W, and a claw moving mechanism M for moving the pair of claws 251a and 251b in directions toward or away from each other. ₂₅₀ .

One claw portion 251a is attached to the lower end portion of the third movable frame 240 so as to be slidable in the Y-axis direction. Specifically, one claw portion 251a is slidably attached to guide rails 253a and 253b extending in the Y-axis direction provided on the lower surface of a frame 252 fixed to the lower end portion of the third movable frame 240. It is fixed to the lower surface of one movable frame 254a.

Similarly, the other claw portion 251b is also attached to the lower end portion of the third movable frame 240 so as to be slidable in the Y-axis direction. Specifically, the other claw portion 251b is slidably attached to guide rails 253a and 253b extending in the Y-axis direction provided on the lower surface of the frame 252 fixed to the lower end portion of the third movable frame 240. It is fixed to the lower surface of the other movable frame 254b.

A pair of claw portions 251a and 251b are connected to movable frames 254a and 254b to which the pair of claw portions 251a and 251b are fixed. By being rotated forward by the attached drive motor 255, it moves along the guide rails 253a and 253b together with the movable frames 254a and 254b in the direction (Y-axis direction) to approach each other. The pair of claws 251a and 251b are reversely rotated by a driving motor 255 by a left-right coaxial ball screw (not shown) connected to movable frames 254a and 254b to which the pair of claws 251a and 251b are fixed. As a result, they move away from each other (Y-axis direction) along the guide rails 253a and 253b together with the movable frames 254a and 254b.

Mainly, the guide rails 253a and 253b, the left and right coaxial ball screws (not shown) and the drive motor 255 form the claw portion moving mechanism M ₂₅₀ that moves the pair of claw portions 251a and 251b in the direction toward or away from each other. Configure.

FIG. 10 is a schematic diagram showing how the workpiece W is clamped by the pair of claws 251a and 251b.

As shown in FIG. 10, the pair of claws 251a and 251b has a first contact portion 256a that contacts the lower portion of the work W and a second contact portion 256b that contacts the upper portion of the work W, respectively. Specifically, each of the pair of claw portions 251a and 251b has a tapered surface that opens toward each other in a V shape (the cross-sectional shape on the YZ plane is a V shape). This tapered surface functions as a first contact portion 256a and a second contact portion 256b. Hereinafter, the first contact portion 256a and the second contact portion 256b are also referred to as tapered surfaces 256a and 256b.

The pair of claws 251a and 251b are made of synthetic resin or made of metal whose tapered surfaces 256a and 256b are covered with synthetic resin. If the work W is a cylindrical work other than a silicon ingot, the pair of claws 251a and 251b may be made of metal with tapered surfaces 256a and 256b not covered with synthetic resin.

The pair of claws 251a and 251b moves toward each other, and clamps the work W while the tapered surfaces 256a and 256b are in contact with the outer peripheral surface of the work W (see FIG. 10).

According to the pair of claws 251a and 251b, regardless of the size of the diameter of the work W, the work W can always be clamped with the central axis _AXW of the work W positioned at the same position.

FIG. 18 is a perspective view of a sensor attached to a pair of claws 251a and 251b.

A sensor for measuring the length L of the work W (see FIG. 2) is attached to the pair of claws 251a and 251b. As shown in FIG. 18, this sensor comprises a light projector 257a attached to the bottom of one claw 251a and a light receiver 257b attached to the bottom of the other claw 251b. Conversely, the light projector 257a may be attached to the lower portion of the other claw portion 251a, and the light receiver 257b may be attached to the lower portion of the one claw portion 251a.

FIG. 19 is a schematic diagram showing how the length L of the work W is measured by the sensors attached to the pair of claws 251a and 251b.

According to this sensor, for example, as shown in FIG. Position p1 (coordinate position in the three-dimensional coordinate system possessed by the workpiece conveying device 200) at which the light Ray from the light projector 257a (see FIG. 18) is blocked by the light receiver 257b, and the light Ray from the light projector 257a (see FIG. 18) Reference), the length L of the workpiece W can be measured by calculating the receiving position p2 (the coordinate position in the three-dimensional coordinate system of the workpiece transport device 200).

Next, the control device 300 will be described.

FIG. 11 is a system configuration diagram including the control device 300. As shown in FIG.

The control device 300 includes a processor, RAM, ROM and the like (not shown). As shown in FIG. 11, the control device 300 includes a drive motor 225 that constitutes a movable frame moving mechanism M ₂₂₀ that moves the first movable frame 220 in the X-axis direction, and a drive motor 225 that moves the second movable frame 230 in the Y-axis direction. A driving motor 233 constituting the movable frame moving mechanism M ₂₃₀ , and a driving motor 242 constituting the movable frame moving mechanism M ₂₄₀ for moving the third movable frame 240 (and the clamping mechanism 250 attached thereto) in the Z-axis direction. Drive motor 255, main shaft ₁₀₁ (rotating mechanism for rotating main shaft 101), tail 102 (rotation mechanism for rotating main shaft 101), tail 102 (tail 102 is rotated to X drive mechanism for advancing and retreating in the axial direction), grindstone 104 (rotating mechanism for rotating grindstone 104), operating device 400, and sensors (light projector 257a and light receiver 257b) are electrically connected.

A processor is, for example, a CPU. There may be one processor or multiple processors. For example, the processor executes a program read from the ROM into the RAM to control each of the drive motors 225, 233, 242, 255, the main shaft 101 (rotating mechanism for rotating the main shaft 101), the tail 102 (the tail 102 is rotated to the X axis). drive mechanism for advancing and retreating in a direction), and control means for controlling the grindstone 104 (rotating mechanism for rotating the grindstone 104).

Next, an operation example of the cylindrical grinding machine 1 having the above configuration will be described.

FIG. 12 is a flow chart of an operation example of the cylindrical grinding machine 1 . FIG. 13 is a perspective view of the cylindrical grinding machine 1 installed in the factory. 14 and 15 are diagrams for explaining the operation of the clamp mechanism 250. FIG. 16A and 16B are diagrams for explaining the operation of the main shaft 101 and the tail 102. FIG.

In FIG. 13, symbols AGV1 and AGV2 indicate automated guided vehicles, and symbol 500 indicates a pallet loader. The automatic guided vehicles AGV1, AGV2, and pallet loader 500 are hereinafter referred to.

The unmanned guided vehicle AGV1 picks up workpieces W (workpiece W1 in FIG. 13) to be processed from predetermined locations in the factory where cylindrical workpieces of various diameters and lengths (lengths in the direction of the central axis) are stored. is transported to the pallet loader 500 installed adjacent to the cylindrical grinding machine 1, and transferred to the pallet loader 500 together with the pallet P1 by a known means (in FIG. 13, the workpiece W2 and the pallet P2).

The pallet loader 500 conveys the pallet P2 delivered from the automatic guided vehicle AGV1 to a predetermined standby position (work W3 and pallet P3 in FIG. 13). The center axis _AXW of the work W (work W3 in FIG. 13) placed on the pallet P3 conveyed to the standby position extends in the X-axis direction.

An operation example of the cylindrical grinding machine 1 installed in the factory will be described below with reference to FIG. 12 and the like.

First, information about the workpiece W to be processed is acquired (step S10). Information about the workpiece W to be processed is, for example, the diameter D (see FIG. 2) of the workpiece W to be processed, and is attached as a bar code to a predetermined location on the pallet. For example, information (barcode) on the workpiece W to be processed is read by a barcode reader (not shown) attached to a predetermined position of the pallet loader 500 at the timing when the pallet P1 is transferred to the pallet loader 500 . The control device 300 acquires the read information about the workpiece W to be processed. In some cases, the control device 300 acquires information about the workpiece W to be processed, which is transmitted from another device.

Next, acquire the processing conditions for the workpiece W to be processed (for example, the amount of grinding of the outer peripheral surface of the workpiece W, whether or not to perform additional processing such as a flat surface (OF), a V-shaped cut (notch), etc.) (step S11). The machining conditions are input by the operator via the operating device 400, for example. The control device 300 acquires the input machining conditions. Note that the control device 300 may acquire processing conditions transmitted from another device.

Next, the length L of the workpiece W (see FIG. 2) is measured (step S11A). For example, as shown in FIG. 19, the clamping mechanism 250 (light emitter 257a and light receiver 257b) is moved above the workpiece W in the direction of the thick arrow (X-axis direction). Thereby, the work W (work W3 in FIG. 13) conveyed to the standby position blocks the light Ray from the light emitter 257a (see FIG. 18) received by the light receiver 257b (see FIG. 18). (coordinate position in the coordinate system), and the position p2 (coordinate position in the three-dimensional coordinate system of the work conveying device 200) at which the light receiver 257b receives the light Ray (see FIG. 18) from the light emitter 257a. The length L of the work W is measured. This is realized by the control device 300 (processor) executing a program read from ROM to RAM.

Next, as shown in FIGS. 14(a) and 14(b), the clamping mechanism 250 is moved above the work W (work W3 in FIG. 13) transported to the standby position (step S12).

Specifically, as shown in FIG. 14(a), a vertical line V1 passing through the center axis AX _W of the workpiece W is the center Pa between one claw portion 251a and the other claw portion 251b in the Y-axis direction. and as shown in FIG. 14(b), the center Pb of the pair of claws 251a and 251b is the center Pc of the workpiece W (the workpiece W to be processed automatically measured in step S11A) in the X-axis direction. The clamping mechanism 250 is moved until it coincides with the vertical line V2 passing through (the center of the length L of ). This is realized by the control device 300 controlling each control motor (servo motor) 225 , 233 , 242 .

Next, as shown in FIG. 15(a), the clamping mechanism 250 is rotated until the center Pa between the one claw portion 251a and the other claw portion 251b coincides with the center axis _AXW of the workpiece W in the Z-axis direction. is moved (lowered) (step S13). This is achieved by control device 300 controlling drive motor 242 . The moving distance d (lowering distance; see FIG. 15A) of the clamping mechanism 250 at that time can be calculated based on the diameter D of the workpiece W to be processed obtained in step S10.

Next, as shown in FIG. 15(b), the pair of claw portions 251a and 251b are moved toward each other in the Y-axis direction to ) is brought into contact with the outer peripheral surface of the work W to clamp the work W (step S14). This is realized by the control device 300 controlling the control motor (servo motor) 255 .

Next, the workpiece W clamped as described above is transported to the cylindrical grinding apparatus main body 100 (between the spindle 101 and the tail 102) (step S15).

Specifically, as shown in FIG. 3, first, the center axis AX _W of the workpiece W and the rotation axis AX 100 of the cylindrical grinding machine main body 100 are positioned between the spindle 101 and the tail 102 of the cylindrical grinding machine main body ₁₀₀ . The clamping mechanism 250 that clamps the workpiece W is moved until the . This is realized by the control device 300 controlling each control motor (servo motor) 225 , 233 , 242 .

Next, as shown in FIG. 16(b), the workpiece W is clamped between the spindle 101 and the tail 102 (step S16).

Specifically, first, as shown in FIG. 16A, the clamping mechanism 250 that clamps the work W is moved in the X-axis direction until one end surface Wa of the work W hits the main shaft 101 . This is realized by the control device 300 controlling the control motor (servo motor) 225 .

Next, as shown in FIG. 16(b), the tail 102 is moved in the X-axis direction until it hits the other end face Wb of the work W. Then, as shown in FIG. This is realized by control device 300 controlling tail 102 (driving mechanism for advancing and retreating tail 102 in the X-axis direction).

As described above, the work W is clamped between the main shaft 101 and the tail 102 with the center axis _AXW of the work W and the rotation axis AX ₁₀₀ of the cylindrical grinding apparatus body 100 aligned.

Next, the pair of claws 251a and 251b are released from clamping the workpiece W (step S17). This is realized by the control device 300 controlling the control motor (servo motor) 255 .

Next, the workpiece W clamped between the spindle 101 and the tail 102 is subjected to predetermined machining so as to satisfy the machining conditions acquired in step S11 (step S18). For example, the outer peripheral surface of the workpiece W clamped between the spindle 101 and the tail 102 is ground.

Specifically, the workpiece W clamped between the main shaft 101 and the tail 102 is rotated around the rotation axis AX ₁₀₀ of the cylindrical grinding machine main body 100 . This is realized by the control device 300 controlling the main shaft 101 (rotating mechanism for rotating the main shaft 101).

Next, the outer peripheral surface of the workpiece W rotating while being clamped between the spindle 101 and the tail 102 as described above is ground by the grindstone 104 .

Then, when the predetermined processing (for example, grinding of the outer peripheral surface of the work, additional processing such as flattened surface (OF), V-shaped notch, etc.) for the work W to be processed is completed (step S19: Yes), the The machined work W is clamped by the clamping mechanism 250 in the same manner as described above, and the clamped machined work W is transported to a predetermined location (for example, pallet P4 in FIG. 13) (step S20).

The pallet P4 on which the machined work W (work W4 in FIG. 11) is placed is transferred to the automatic guided vehicle AGV2 together with the pallet P4 by, for example, known means (work W5 and pallet in FIG. P5).

Then, the automatic guided vehicle AGV2 conveys the pallet P5 on which the processed work W (work W5 in FIG. 13) is placed to the next process.

As described above, according to this embodiment, the central axes of cylindrical workpieces having various diameters and various lengths (lengths in the direction of the central axis) can be easily aligned with the rotation axis of the cylindrical grinding machine. It is possible to perform predetermined machining so as to satisfy predetermined machining conditions for cylindrical workpieces having various diameters and various lengths (lengths in the direction of the central axis).

This is because the moving mechanisms M ₂₂₀ , M ₂₃₀ , and M ₂₄₀ are provided to move the clamping mechanism 250 clamping the workpiece W in at least the X-axis direction, the Y-axis direction, and the Z-axis direction.

In addition, according to this embodiment, workpieces W of various lengths can always be transported in a stable state.

In the Y-axis direction, the center Pb of the pair of claws 251a and 251b is aligned with the vertical line V2 passing through the center Pc of the work W (the center of the length L of the work W to be processed automatically measured in step S11A). The clamping mechanism 250 moves until they match (step S12, see FIG. 14(b)), and the clamping mechanism 250 (the pair of claws 251a and 251b) clamps the center of the workpiece W in the Y-axis direction. be.

Next, a modified example will be described.

FIG. 17(a) is a diagram for explaining the moving directions of the movable frames 220, 230, 240 of the cylindrical grinding machine 1, and FIG. It is a figure explaining a moving direction.

In the above embodiment, as shown in FIG. 17(a), as the moving mechanism of the present invention, the second movable frame moves the third movable frame 240 (and the clamp mechanism 250 attached thereto) in the Z-axis direction. 230 (an example of the first moving mechanism of the present invention) and the second movable frame ₂₃₀ (clamping mechanism 250 and movable frame moving mechanism M ₂₄₀ ) are moved in the Y-axis direction. A movable frame moving mechanism M ₂₃₀ (an example of a second moving mechanism of the present invention) attached to one movable frame 220, and a first movable frame 220 (a clamping mechanism 250, a movable frame moving mechanism M ₂₃₀ and a movable frame moving mechanism M ₂₄₀ ) ) in the X-axis direction (an example of the third moving mechanism of the present invention) attached to the fixed frame ₂₁₀ , but the present invention is not limited to this.

For example, as shown in FIG. 17(b), as a movement mechanism of the present invention, a third movable frame 240 (and a clamping mechanism 250 attached thereto) is attached to a second movable frame 230 that moves in the Z-axis direction. The movable frame moving mechanism M ₂₄₀ (an example of the first moving mechanism of the present invention) and the second movable frame 230 (the clamping mechanism 250 and the movable frame moving mechanism M ₂₄₀ ) are moved in the X-axis direction. ₂₂₀ (an example of the second moving mechanism of the present invention) and the first movable frame 220 (clamping mechanism 250, movable frame moving mechanism _M230 and movable frame moving mechanism _M240 ). A movable frame movement mechanism M ₂₂₀ (an example of the third movement mechanism of the present invention) attached to the fixed frame 210 for axial movement may also be used.

All numerical values shown in the above embodiments are examples, and it is of course possible to use other appropriate numerical values.

The above embodiments are merely examples in all respects. The present invention is not limitedly interpreted by the description of the above embodiments. The invention can be embodied in various other forms without departing from its spirit or essential characteristics.

Reference Signs List 1 cylindrical grinding device 100 cylindrical grinding device main body 101 spindle 102 tail 103 rotating mechanism 104 grindstone 105 rotating mechanism 200 work conveying device 201 vertical column 202 adjuster 203 anchor 210 fixed frame 211a 1st frame 211b...first frame 212a...second frame 212b...second frame 220...first movable frame 221a...third frame 221b...third frame 222a...fourth frame 222b...fourth frame 223a...guide rail 223b...guide Rail 224 Ball screw 225 Drive motor 230 Second movable frame 231a Guide rail 231b Guide rail 232 Ball screw 233 Drive motor 240 Third movable frame 241a Guide rail 241b Guide rail 241c Guide rail 241d Guide Rail 242 Drive motor 250 Clamp mechanism 251a Claw portion 251b Claw portion 252 Frame 253a Guide rail 253b Guide rail 254a Movable frame 254b Movable frame 255 Drive motor 256a Tapered surface (first contact portion )
256b... Tapered surface (second contact portion)
300... Control device 400... Operating device 500... Pallet loader AGV1, AGV2... Unmanned guided vehicle AX ₁₀₀ ... Rotary axis AX _W ... Central axis M ₂₂₀ ... Movable frame moving mechanism M ₂₃₀ ... Movable frame moving mechanism M ₂₄₀ ... Movable frame moving mechanism M ₂₅₀ Claw portion moving mechanism P (P1 to P5) Pallet V1, V2 Plumb line W (W1 to W5) Workpiece Wa One end surface Wb Other end surface d Movement distance

Claims (10)

A work conveying device for conveying a cylindrical work to be processed, which has been conveyed to a standby position, to between the main shaft and the tail of a cylindrical grinding device main body having a main shaft and a tail for clamping the work ,
a clamping mechanism comprising a pair of claws for clamping the work, and a claw movement mechanism for moving the pair of claws in a direction toward or away from each other;
a moving mechanism for moving the clamping mechanism;
with
When the axis of rotation of the cylindrical grinding machine body is the X axis, the axis orthogonal to the X axis is the Y axis, and the axis orthogonal to the plane containing the X and Y axes is the Z axis,
the moving mechanism moves the clamping mechanism at least in the X-axis direction, the Y-axis direction, and the Z-axis direction;
a fixed frame;
a vertical column supporting the fixed frame;
a first movable frame attached to the fixed frame so as to be slidable in the X-axis direction;
a second movable frame attached to the first movable frame so as to be slidable in the Y-axis direction;
a third movable frame attached to the second movable frame so as to be slidable in the Z-axis direction;
The clamping mechanism is attached to the third movable frame,
The moving mechanism is
a first moving mechanism for moving the third movable frame in the Z-axis direction;
a second moving mechanism for moving the second movable frame in the Y-axis direction;
A workpiece transfer device comprising a third moving mechanism for moving the first movable frame in the X-axis direction . A work conveying device for conveying a cylindrical work to be processed that has been conveyed to a standby position to between the main shaft and the tail of a cylindrical grinding device main body having a main shaft and a tail for clamping the work,
a clamping mechanism comprising a pair of claws for clamping the work, and a claw movement mechanism for moving the pair of claws in a direction toward or away from each other;
a moving mechanism for moving the clamping mechanism;
with
When the axis of rotation of the cylindrical grinding machine body is the X axis, the axis orthogonal to the X axis is the Y axis, and the axis orthogonal to the plane containing the X and Y axes is the Z axis,
the moving mechanism moves the clamping mechanism at least in the X-axis direction, the Y-axis direction, and the Z-axis direction;
a fixed frame;
a vertical column supporting the fixed frame;
a first movable frame attached to the fixed frame so as to be slidable in the Y-axis direction;
a second movable frame attached to the first movable frame so as to be slidable in the X-axis direction;
a third movable frame attached to the second movable frame so as to be slidable in the Z-axis direction;
The clamping mechanism is attached to the third movable frame,
The moving mechanism is
a first moving mechanism for moving the third movable frame in the Z-axis direction;
a second moving mechanism for moving the second movable frame in the X-axis direction;
a third moving mechanism for moving the first movable frame in the Y-axis direction; The claw portion moving mechanism moves the pair of claw portions in a direction toward each other in the Y-axis direction, and clamps the work by bringing the pair of claw portions into contact with the outer peripheral surface of the work. 3. The work transfer device according to claim 1 or 2 . Each of the pair of claws has a first contact portion that contacts the lower portion of the work and a second contact portion that contacts the upper portion of the work when the pair of claw portions move toward each other. 4. The work conveying device according to any one of claims 1 to 3 . 5. The work conveying device according to claim 4 , wherein the pair of claw portions have V-shaped tapered surfaces that open toward each other and function as the first contact portion and the second contact portion, respectively. The moving mechanism clamps the workpiece until the center axis of the workpiece and the rotation axis of the cylindrical grinding machine body are aligned between the main shaft and the tail of the cylindrical grinding machine body. 6. The work conveying device according to any one of claims 1 to 5 , which moves the . 7. The work conveying apparatus according to claim 6 , wherein said moving mechanism further moves said clamping mechanism that clamps said work until one end surface of said work abuts against said main shaft. The clamping mechanism further includes a projector and a receiver, which are sensors for measuring the length of the workpiece;
Moving the clamping mechanism above the workpiece in the X-axis direction, and calculating a position where the light receiver blocks the light from the light projector and a position where the light receiver receives the light from the light transmitter. and further comprising work length measuring means for measuring the length of the work,
8. The work conveying device according to claim 1, wherein the pair of claws clamps the center of the measured length of the work. a cylindrical grinding device main body;
a work transport device for transporting the cylindrical work to be processed, which has been transported to a standby position, to between the main shaft and the tail of the cylindrical grinding device main body having the main shaft and the tail for clamping the work. A cylindrical grinding device,
The work conveying device is
a clamping mechanism comprising a pair of claws for clamping the work, and a claw movement mechanism for moving the pair of claws in a direction toward or away from each other;
a moving mechanism for moving the clamping mechanism,
When the axis of rotation of the cylindrical grinding machine body is the X axis, the axis orthogonal to the X axis is the Y axis, and the axis orthogonal to the plane containing the X and Y axes is the Z axis,
the moving mechanism moves the clamping mechanism at least in the X-axis direction, the Y-axis direction, and the Z- axis direction;
a fixed frame;
a vertical column supporting the fixed frame;
a first movable frame attached to the fixed frame so as to be slidable in the X-axis direction;
a second movable frame attached to the first movable frame so as to be slidable in the Y-axis direction;
a third movable frame attached to the second movable frame so as to be slidable in the Z-axis direction;
The clamping mechanism is attached to the third movable frame,
The moving mechanism is
a first moving mechanism for moving the third movable frame in the Z-axis direction;
a second moving mechanism for moving the second movable frame in the Y-axis direction;
A cylindrical grinding apparatus comprising a third moving mechanism for moving the first movable frame in the X-axis direction . A work conveying method for conveying a cylindrical work to be machined, which has been conveyed to a standby position, to between the main shaft and the tail of a cylindrical grinding apparatus main body having a main shaft and a tail for clamping the work ,
A clamping mechanism having a pair of claws for clamping the workpiece and a claw moving mechanism for moving the pair of claws in a direction toward or away from each other moves the pair of claws toward each other. a clamping step of clamping the workpiece by moving it in a direction;
When the axis of rotation of the cylindrical grinding machine body is the X axis, the axis orthogonal to the X axis is the Y axis, and the axis orthogonal to the plane containing the X and Y axes is the Z axis,
Until the central axis of the work and the rotation axis of the cylindrical grinding device main body are aligned between the main shaft and the tail of the cylindrical grinding device main body , the work conveying device according to claim 1 or 2 and a moving step of moving the clamping mechanism in at least the X-axis direction, the Y-axis direction, and the Z-axis direction.

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