JPH0639876Y2 - Workpiece loading / unloading device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION <Industrial field of application> The present invention relates to a workpiece loading / unloading device for loading a workpiece into a machining position of a machine tool.

<Prior Art> Conventionally, for example, in a grinder that grinds a circumferential groove of a workpiece such as a groove of an inner race of a constant velocity joint, the workpiece is carried to a processing position through a carry-in passage. The posture of the workpiece is judged before the workpiece is loaded into the machining position to prevent the workpiece from being attached to the machining position with the front and back reversed.

<Problems to be solved by the invention> In such a conventional workpiece loading / unloading device, a dog is provided in the loading passage to allow a workpiece in a normal posture to pass therethrough, and to prevent a workpiece in a reverse posture from passing through. Since the posture determining device is provided, there is a problem that the workpiece is not loaded into the processing position because the loading path is blocked by the workpiece in the reverse orientation.

Further, since there is a problem in that productivity of the workpiece in the reverse posture is lowered because the workpiece in the reverse posture is taken out by the work of the worker while the control of the machine tool is temporarily stopped.

<Means for Solving Problems> The present invention has been made in order to solve the above-mentioned conventional problems, and whether the workpiece controlled by the controller and supplied to the carry-in passage has a normal posture. In a workpiece carry-in / carry-out device that detects whether the workpiece is in the reverse posture and carries out the workpiece in the normal posture to the normal posture workpiece carry-out position, an escape provided in the carry-in passage and carrying out the workpieces to be carried in one by one. A device and an attitude detector capable of advancing and retracting. When the attitude detector moves forward, only the workpiece in a normal attitude carried out from the escape device is passed, and when the attitude detector moves backward, the escape device moves from the escape device. A workpiece posture determination device that allows passage of a workpiece in an inverted posture to be carried out, a reverse posture workpiece unloading chute provided at a position facing the carry-out port of the workpiece posture determination device, and front by a moving means. A bucket that is movable between the normal position workpiece unloading position and the reverse position workpiece unloading chute, and that closes the carry-in port of the reverse position workpiece unloading chute when on the reverse position workpiece unloading chute. A workpiece transfer device that has a workpiece in a normal posture carried out from the workpiece posture determination device, carries in the bucket on the reverse posture workpiece carry-out chute, and carries it out to the normal posture workpiece carry-out position. The control device includes a counting means that starts counting when a workpiece is unloaded from the escape device, and a workpiece in the bucket of the workpiece passing device even if the count value of the counting means reaches a predetermined value. When the object is not carried in, the reverse posture detecting means determines that the workpiece is in the reverse posture, and when the reverse posture detecting means detects the workpiece in the reverse posture, the workpiece Reverse posture workpiece unloading means for unloading the workpiece in the reverse posture by retracting the posture detection unit of the force determination device; and, when the reverse posture detecting means detects that the workpiece is in the reverse posture, A position other than on the reverse-posture workpiece unloading chute so that the workpiece in the reverse-posture workpiece unloading means is carried out to the reverse-posture workpiece unloading chute so that the workpiece in the reverse posture is unloading to the reverse-posture workpiece unloading chute. And a shift means for opening the carry-in port of the reverse posture workpiece carry-out chute.

<Operation> The escape device carries out the workpieces carried into the carry-in passage one by one to the workpiece posture determination device. At this time, when the workpiece is not carried into the workpiece delivering device even if the count value of the counting means reaches a predetermined value, the reverse posture detecting means determines that the workpiece cannot be passed by the workpiece determining device,
That is, it is determined that the workpiece is in the reverse posture. Then, the reverse-posture workpiece unloading means retracts the posture detection unit of the workpiece posture determination device to carry out the workpiece in the reverse posture. At this time, the shift means moves the bucket of the workpiece transfer device so that the workpiece in the reverse posture is carried out to the reverse posture workpiece carrying chute. That is, by moving the bucket to a position other than the position on the reverse-position workpiece unloading chute, the carry-in entrance of the reverse-position workpiece unloading chute is opened so that the workpiece in the reverse position can be discharged to the reverse-position workpiece unloading chute. To do. In this way, the workpiece in the reverse posture is carried out to the reverse posture carry-out chute without being stuck.

Further, when the workpiece determination device determines that the workpiece is in the normal posture, the workpiece transfer device closes the carry-in port of the reverse-direction workpiece unloading chute by the bucket and receives the workpiece in the normal posture, The work piece in the normal position is moved to the normal position work piece unloading position.

<Embodiment> A case where an embodiment of the present invention is applied to a grinder that grinds grooves of an inner race of a constant velocity joint will be described with reference to the drawings.

In FIG. 1, 1 is a carrying-in passage, 2 is a spindle device that determines a positional relationship of a grindstone D for grinding a groove of an inner race, 3 is an unfinished inner race W inserted in a chuck 4 of a spindle device 2, In addition, the loading / unloading loader device includes a loader that takes out the processed inner race W from the chuck 4 and transports it to the unloading chute 5.

The carry-in passage 1 has a carry-in chute 6 and a bucket 7 for receiving the inner race W from the carry-in chute 6, and a rodless cylinder 8 (moving means) for moving the bucket 7 to the vicinity of the chuck 4 (normal position workpiece carrying-out position). 2) and a reverse posture workpiece unloading chute 9 for unloading the reverse inner race W out of the loading passage 1.

FIG. 2 is a view showing details of the carry-in passage 1.

In FIG. 2, in the carry-in passage 1, a proximity sensor LS1 for detecting whether the inner race W carried in the carry-in passage 1 is full and the carry-in passage 1 are provided.
Two sensors, a proximity sensor LS2 for detecting the presence or absence of the upper inner race W, are provided.

Further, as shown in FIG. 3 (A-A cross-sectional view of FIG. 2), the carry-in passage 1 is provided with a work posture determining device of an escape device 10 for loading the inner races W into the bucket 7 one by one. 20 are provided.

The escape device 10 includes a shutter 11 and a shutter 11
And a proximity switch LS3, LS4 for detecting the forward / backward movement of the cylinder 12.

The shutter 11 has a claw 13 for restricting the movement of the inner race W1 so that the inner race W1 is not carried out of the escape device 10 when the cylinder 12 is in the state shown in FIG.
A claw 14 for restricting the movement of the following inner races W2, W3 is provided so that only the leading inner race W1 is carried out from the escape device 10 when the shutter 11 is advanced by the cylinder 12 and the claw 13 is released. Has been.

Further, the workpiece posture determination device 20 is for determining the normal posture / reverse posture of the inner races W1 to W3 carried in from the carry-in entrance EN1, and the posture detection unit 21 and the cylinder 22 for moving the posture detection unit 21 forward and backward. The proximity switches LS5 and LS6 for detecting the forward and backward movements of the posture detection unit 21 are configured.

As shown in FIG. 4 (a sectional view taken along the line BB in FIG. 3), the posture detecting portion 21 is formed so that the inner race W can pass through the posture detecting portion 21 when the inner race W is in the normal posture. The attitude detecting claw 23 is attached. This attitude detection claw 23
For example, when the inner race W'having a reverse posture is carried in from the carry-in port EN1, the flange 24 of the posture detecting claw 23 restricts the movement of the inner race W '.

The rodless cylinder 8 is, as shown in FIGS. 5 and 6, a rail 8a extending from a position I on the reverse posture workpiece unloading chute 9 to a position III near the chuck 4, and a moving body moving on the rail 8a. Have 8b. And this moving body
A bucket 7 is attached to the 8b via a bracket 8c, and the bucket 7 holds the inner race W in the normal posture carried out from the escape device 10 via the workpiece posture determination device 20 at a position III near the chuck 4. It is designed to be transported to.

Further, LS7 is a proximity sensor for confirming that the inner race W has been loaded into the bucket 7. The LS8 is a proximity sensor for confirming that the bucket 7 is shifted in the machining position direction by the rodless cylinder 8 and is positioned at the position II in FIG. 5 to open the carry-in port EN2 of the reverse posture workpiece carry-out chute 9. is there.

As shown in FIGS. 5 and 6 (C-C sectional view of FIG. 1), the reverse-position workpiece unloading chute 9 is a loading chute 1.
The carry-in port EN2 is opened so as to face the carry-out port EX1. Therefore, the bucket 7 is the exit of the carry-in chute 1.
If the inner race W'falls when it is not underneath EX1 (in the case of a reverse-positioned work piece), this inner race W'falls at the carry-in chute 9 at the carry-in entrance EN2, and from the carry-out exit EX2 to the outside of the carry-in passage 1. It is designed to be carried out.

LS9 is a proximity sensor that detects that the inner race W'in the reverse posture has passed the carry-out chute 9.

FIG. 7 is a block diagram of a control device that controls a grinder that grinds grooves on the inner race.

This controller is mainly composed of a numerical controller 50, a sequencer 60, and an interface 70.

The numerical controller 50 is mainly composed of a CPU, a memory, and an interface (not shown).

A display device 55, a keyboard 56, servomotors 57, 58 provided on each axis, etc. are connected to the numerical controller 50 via an interface (not shown).

The sequencer 60 is a memory 6 including a CPU 61, ROM, and RAM.
2. Mainly composed of input / output circuit 63.

The input / output circuit 63 includes a proximity sensor LS provided at various places.
1 to LSn and actuators AC1 to ACn are connected.

The ROM of the memory 62 stores in advance the time LT until the inner race W in a normal posture is carried out from the escape device 10 of the carry-in chute 1 and carried into the bucket 7.

With the above configuration, the CPU 6 of the sequencer 60 shown in FIG.
The operation 1 will be described with reference to the flowchart of FIG.

This flowchart is executed when the output of the proximity sensor LS2 for detecting the presence / absence of the inner race W of the carry-in chute 1 is ON (the inner race is present) while the bucket 7 is at the position I in FIG.

In step 100, the inner race W from the carry-in chute 1
Is set to zero for a variable T for measuring the time required to carry out the product to the bucket 7. In step 101, the cylinder 12 of the escape device 10 is moved forward and the inner race W
Unload one. In step 102, the escape device 10
It is determined whether the proximity sensor LS3 that detects that the cylinder 12 has moved to the forward end is turned on. If this determination is No, the determination of step 102 is performed again.

If the determination in step 102 is Yes, the next step 10
Go to 3 and add 1 to the variable T that counts time. In the next step 104, it is judged whether or not the time LT until the inner race W in the normal posture is carried out from the escape device 10 of the carry-in chute 1 and carried into the bucket 7 is exceeded. In the case of this determination Yes, the process proceeds to the next Step 105. In step 105, it is determined whether or not the proximity sensor LS7 that detects that the inner race W has been loaded into the bucket 7 is ON. If this determination is No, the routine proceeds to step 103, 1 is added to the variable T, and the routine proceeds to step 104 again. If the determination in Step 105 is Yes, it is determined that the inner race W has been loaded into the bucket 7, and Step 10
6, the bucket 7 is moved to the position III shown in FIG. 5 by the rodless cylinder 8, the inner race W is unloaded from the bucket 7 by the loader in step 107, and when this unloading is completed, the process proceeds to the next step 108. Then, the bucket 7 is retracted to the position I shown in FIG. 5 by the rodless cylinder 8, and this process ends.

If the determination in step 104 is No, it is determined that the inner race carried out from the escape device 10 is an inner race that cannot pass through the posture determination device 20, that is, the inner race W'in the reverse posture. Since the inner race W'needs to be carried out of the carry-in passage 1, the process proceeds to step 109 and the bucket 7 is moved to the position II in FIG. 5 by the rodless cylinder 8. In step 110,
It is determined whether or not the proximity sensor LS8 that detects that the bucket 7 is shifted to the position II in FIG. 5 is turned on. If this determination is No, the process proceeds to step 109 and the bucket 7 is further advanced. If the determination in step 110 is Yes, the bucket 7 has completed the shift by the rodless cylinder 8 and the carry-in port EN of the reverse posture workpiece unloading chute 9 has been completed.
It is determined that the opening of No. 2 is open, the process proceeds to the next step 111, and the movement of the bucket 7 is stopped.

In step 112, the proximity sensor LS8 O
The cylinder 22 of the attitude determination device 20 is retracted by the N signal,
The inner race W in the reverse posture is carried out from the carry-in chute 1. In step 113, the inner race W ′ in the reverse posture carried out from the carry-in passage 1 falls on the carry-out chute 9,
It is carried out of the carry-in passage 1. At this time, it is determined whether or not the proximity sensor LS9 that detects that the inner race W in the reverse posture is unloaded from the unloading chute 9 is turned on. If this determination is No, the determination in step 113 is performed again. If the determination in step 113 is Yes, the process proceeds to step 108, and the bucket 7 is moved to the fifth position by the rodless cylinder 8.
The process is finished by retracting to the position I in the figure.

In the above-described configuration, the CPU 61 of the sequencer 60 is caused to execute the processes of steps 100 to 113 described above, so that the inner race W ′ in the reverse posture can be carried out of the carry-in passage 1.

<Effect of the Invention> As described above, in the present invention, only the workpiece in the normal posture is allowed to pass through in the normal state, and the workpiece in the reverse posture is prohibited from passing therethrough. If the work is not carried into the delivery device, it is determined that the work is in the reverse posture. When the workpiece is in the normal position, the bucket of the workpiece transfer device is positioned on the reverse position workpiece unloading chute to receive the workpiece in the normal position, and then the workpiece is transferred to the normal position workpiece unloading position. , When the workpiece is in the reverse posture, by moving the bucket to a position other than on the reverse posture workpiece unloading chute, the carry-in port of the reverse posture workpiece unloading chute is opened, and the workpiece in the reverse posture is reversed posture workpiece. It was made possible to carry out the goods to the material discharge chute. Therefore, the workpiece in the reverse posture can be carried out to the reverse posture carry-out chute without stagnating.

As described above, according to the present invention, even a workpiece in an inverted posture can be detected by utilizing the delay in unloading for a certain period of time, and this can be reliably delivered to the inverted posture workpiece unloading chute. Therefore, since the workpiece in the reverse posture does not cause a long-term stagnation, productivity is not reduced.

[Brief description of drawings]

The drawings show an embodiment of the present invention. FIG. 1 is a front view when the present invention is applied to a grinder for grinding inner race grooves, FIG. 2 is a side view of a carry-in chute, and FIG. The escape device is a sectional view taken along the line A-A in FIG. 2, FIG. 4 is a sectional view taken along the line BB in FIG. 3 which is a workpiece attitude determination device, and FIG. 5 is a front view of a transfer device for transferring a workpiece to a machining position. FIG. 6 is a side view of the carry-out chute, FIG. 7 is a block diagram of a control device for controlling a grinder that grinds grooves of the inner race, and FIG. 8 is a flowchart showing the operation of the CPU of the numerical control device. 1 ... Carry-in passage, 6 ... Carry-in chute, 7 ... Bucket, 9 ... Reverse position workpiece carry-out chute, W ... Inner race.

Claims (1)

[Scope of utility model registration request] 1. A work controlled by a control device to detect whether a workpiece supplied to a carry-in passage has a normal posture or a reverse posture, and carries out a workpiece in a normal posture to a normal posture workpiece carry-out position. The object loading / unloading device includes an escape device provided in the carry-in passage for unloading the loaded workpieces one by one, and an attitude detector capable of advancing and retracting. When the attitude detector moves forward, the escape device moves from the escape device. A workpiece posture determination device that allows only a normal posture workpiece to be carried out to pass, and allows the backward posture workpiece carried out from the escape device to pass when the posture detection unit retracts, and the workpiece posture determination device. An inverted posture workpiece unloading chute provided at a position facing the unloading port of the apparatus, and movable between the normal posture workpiece unloading position and the inverted posture workpiece unloading chute by moving means, and It has a bucket that closes the carry-in inlet of the reverse-posture workpiece unloading chute when it is on the reverse-posture workpiece unloading chute, and carries out the normal-posture workpiece unloading the workpiece in the normal posture carried out from the workpiece posture determination device. A workpiece transfer device that carries in the bucket on the chute and carries it out to the normal position workpiece unloading position, and the control device starts counting when the workpiece is carried out from the escape device. The reverse posture detecting means for determining a workpiece in a reverse posture when the workpiece is not carried into the bucket of the workpiece delivering device even if the count value of the counting means reaches a predetermined value, and the reverse posture detecting means Reverse posture work for carrying out the workpiece in the reverse posture by retracting the posture detection unit of the workpiece posture determination device when it is detected that the workpiece is in the reverse posture When the carrying-out means and the reverse attitude detecting means detect that the work is in the reverse attitude, the work piece in the reverse attitude carried out by the reverse attitude work carrying-out means is transferred to the reverse attitude work-out chute. Shift means for moving the bucket of the workpiece transfer device to a position other than on the reverse posture workpiece discharge chute so as to be discharged, and for opening a carry-in port of the reverse posture workpiece discharge chute. A workpiece loading / unloading device.