JPH0867337A - Work supply / extraction device for rotary carrier - Google Patents

Abstract

(57) [Summary] [Purpose] The work is automatically supplied or taken out to save labor and enable continuous high-precision and high-efficiency machining. [Structure] A suction nozzle 21 that reciprocates to supply or take out a work 7 from and to the rotary carrier 1 during forward movement in synchronization with the rotary carrier 1 that conveys the work 7 and is used for various operations such as machining, and the suction nozzle 21. An arc guide 22 for guiding the reciprocating movement of the nozzle 21 along an arc locus coinciding with the center of rotation of the rotary carrier 1 is provided.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a rotary carrier work supply / removal device, for example, a rotary carrier type double-sided grinding which simultaneously grinds both sides of ceramic parts such as piezoelectric elements and gear parts of automobiles. The present invention relates to a rotary carrier work supply / removal device suitable for use in a device.

[0002]

2. Description of the Related Art Recently, the thickness like a piezoelectric element is 0.5 m.
A processing method as shown in FIG. 3 has been realized in order to form the thickness of the thin film ceramic component set to m or less.

In this method, a thin plate-shaped rotary carrier d is used.
By using two grinding heads c1 and c2 that are vertically opposed to each other and are driven by the driving units a and b in the double-sided grinding machine f.
During this period, a thin film work e such as a piezoelectric element is carried in for processing and then carried out.

The rotary carrier d has a holding hole g for carrying this work, and the work e received in the holding hole g is prevented from falling downward by a lower guide h along the bottom of the work carrying path to carry the work. The upper guide i along the path prevents the upward protrusion.

As a result, double-sided processing of the thin plate-like work e as described above is achieved at the same time.

[0006]

However, it is difficult to automatically supply the thin film work e to the rotary carrier d and to take it out from the rotary carrier d. As shown in the figure, this is done by a human hand k. . This work is not easy even manually, and in order to perform it safely and properly, work e
The rotary carrier d is stopped at the time of supplying and taking out.

Therefore, since the rotary carrier d can be driven only intermittently, it may take a long time to manually supply and take out the works e, which is still not sufficient for efficiently processing a large amount of works. Further, since the rotary carrier d is rotated intermittently,
Since it is difficult to allow the work e to pass through the double-sided grinding device f at a stable speed and state, there is also a problem that the processing accuracy easily varies and the quality is not stable.

An object of the present invention is to solve such a problem, and to automatically supply or take out a work to save labor and to supply a work of a rotary carrier capable of continuous high precision and high efficiency machining. -The main purpose is to provide a take-out device.

[0009]

In order to achieve the above-mentioned object, a work supply / extraction device for a rotary carrier according to the present invention is provided in the forward movement in synchronism with a rotary carrier for carrying a work and performing various operations such as machining. A reciprocating suction nozzle that supplies or takes out a work from or to the rotary carrier, and an arc guide that guides the reciprocating movement of the suction nozzle along an arc locus coinciding with the rotation center of the rotary carrier. Is the main feature.

It is preferable to provide an interlocking mechanism for moving the suction nozzle forward in a predetermined cycle in synchronization with the rotation of the rotary carrier.

[0011]

In the above-mentioned structure, which is a main feature of the rotary carrier work supply and take-out device of the present invention, the rotary carrier conveys the supplied work by rotating itself,
During this transportation, it can be used for various works such as processing. On the other hand, the suction nozzle quickly sucks even small and thin workpieces at the same time as suction and securely carries them, and by stopping suction, the suction of the carried workpieces can be released and immediately released. With regard to the supply of the work, the work that is adsorbed and held at a predetermined position in the initial stage of the forward movement can be carried while keeping the state facing the predetermined position of the rotary carrier. By releasing the work carried by stopping the adsorption of the, the accurate supply in a state where the relative speed is zero and both are stopped on the predetermined position of the rotating rotary carrier, It can be used for various work such as machining by rotating the rotary carrier. Due to the synchronized forward movement, the rotary carrier is moved so as to be opposed to a predetermined position, and various operations such as machining are held at the predetermined opposed position on the rotary carrier by starting suction in the middle of this movement. It is possible to suck and hold the finished work in the same state as when both sides are stopped when the relative speed becomes zero, and to take out the work stably, and carry this work out to a predetermined position by continuing the suction. After that, by stopping the adsorption and releasing it, the processing such as discharging can be performed from a predetermined position. Therefore, no matter how small or thin the workpiece is, it can be securely held by the suction nozzle and carried, and the suction nozzle can be moved back to its original position while handling without fail to release the suction and release it in a timely manner. By making it possible to go back and repeat the forward movement at a predetermined cycle, it is possible to automatically supply and take out the rotary carrier from the rotary carrier repeatedly, thus achieving labor saving without problems. Since the rotary carrier can perform various operations such as the above-mentioned processing at a stable speed and state by the continuous rotation, it is possible to achieve various operations such as the processing of the workpiece with high accuracy and high efficiency. Can be Moreover, the reciprocating movement of the suction nozzle is guided by the circular arc guide along a circular arc locus that coincides with the center of rotation of the rotary carrier, and the movement locus of the suction nozzle at the time of the forward movement is set to a predetermined position of the rotary carrier facing it. Since it properly corresponds to the movement trajectory, the work can be supplied to and taken out from the rotating rotary carrier.
This can surely be achieved without a failure due to the displacement of the two movement loci.

In the structure provided with the interlocking mechanism for moving the suction nozzle forward in synchronization with the rotation of the rotary carrier in a predetermined cycle, the positional relationship and speed relationship of the forward movement in synchronization with the rotary carrier of the suction nozzle are provided. Is fixedly set and the position and speed of the suction nozzle in the moving direction with respect to the predetermined position of the rotary carrier are appropriately maintained, so that the supply of the work to the rotating rotary carrier,
And, the take-out can be surely achieved without a failure due to a deviation in the positional relationship in the moving direction and the moving speed.

[0013]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A rotary carrier work supply / removal device of the present invention will be specifically described below with reference to an embodiment.

FIG. 1 and FIG. 2 show a work supply / removal device for a rotary carrier as an embodiment of the present invention.

As shown in the figure, this apparatus uses a thin plate-shaped rotary carrier 1 as in the case of the conventional case, and two vertically opposed grindings driven by driving units 3 and 4 in a double-headed grinding apparatus 2. The thin film-shaped work 7 such as a piezoelectric element is carried in between the grindstones 5 and 6 and subjected to processing, and then carried out.

The rotary carrier 1 has a holding hole 8 for this transportation, and the work 7 received in the holding hole 8 is prevented from falling down by a lower guide 11 along the bottom of the work moving path 9, The upper guide 12 along the moving path 9 prevents the upward protrusion.

As a result, it is possible to simultaneously perform the double-sided processing on the thin plate-shaped workpiece 7 as described above, as in the conventional case. However, the present invention is not limited to such processing, and can be similarly applied to the case where various kinds of works are subjected to other various kinds of processing and work. In this case, the double-sided grinding device 2
However, it is replaced with various working machines such as other necessary processing and processing for performing work.

For various operations such as such machining, the workpiece supply position 14 is set immediately before the double-sided grinding machine 2 as viewed from the direction of rotation of the rotary carrier 1 shown in the figure, and immediately after the double-sided grinding machine 2. The take-out position 15 is set.

A work supply mechanism 16 as shown in the drawing is installed at the work supply position 14, and a work extraction mechanism (not shown) is installed at the work extraction position 15. As the work take-out mechanism, the same mechanism as the work supply mechanism 16 may be used for the opposite purpose, and therefore, illustration and duplicated description will be omitted.

The work supply mechanism 16 or a work take-out mechanism (not shown) supplies the work 7 to or from the rotary carrier 1 during forward movement in synchronization with the rotary carrier 1 which conveys the work 7 and is used for various operations such as machining. The reciprocating suction nozzle 21 for taking out and the reciprocating movement of the suction nozzle 21 are defined by the rotation center O of the rotary carrier 1.
And an arc guide 22 for guiding along an arc locus coinciding with.

As a result, the rotary carrier 1 conveys the supplied work 7 by rotating itself, and can be used for various works such as machining during the conveyance. on the other hand,
The suction nozzle 21 quickly sucks even a small work 7 which is small and thin at the same time as the suction is carried out to surely carry it, and by stopping the suction, the work 7 being carried can be released and immediately released. With respect to the supply of the work 7 by the forward movement in synchronization with the rotation of the workpiece 7, the workpiece 7 sucked and held at a predetermined position 27 near the work supply position 14 shown in FIG. Can be carried while maintaining a state of being opposed to the carrying hole 8 at the position, and the work 7 that has been carried is released by stopping the adsorption of the work 7 during this carrying, and the rotary carrier 1 is rotating at a predetermined position. Is accurately supplied in a state where the relative speed is zero and both are stopped, and the machining is performed by the rotation of the rotary carrier 1. The work 7 can be taken out, and the work 7 can be taken out while keeping the state in which the work 7 is opposed to the transport hole 8 at a predetermined position of the rotary carrier 1 by the forward movement synchronized with the rotation of the rotary carrier. The workpiece 7 that has been moved and has completed various operations such as machining held in the transport holes 8 at the predetermined opposing positions on the rotary carrier 1 by starting suction in the middle of this movement
Can be sucked and held in the same state as when both of them are at a relative speed of zero, and can be stably taken out, and the taken-out work 7 is set near the work taking-out position 15 by the continuous suction. After carrying it in place,
By stopping adsorption and releasing it, it is possible to perform processing such as discharging from a predetermined position. Therefore, no matter how small and thin the work 7 is, the suction nozzle 21 surely sucks and holds it to carry it, and while the suction nozzle 21 is handled without fail so as to release the suction and release it in a timely manner, the suction nozzle 21 is moved back and forth. By returning to the position and allowing the forward movement to be repeated at a predetermined cycle, it is possible to automatically and repeatedly supply the rotary carrier 1 to the rotary carrier 1 while the rotary carrier 1 is being rotated, thus saving labor. The rotary carrier 1 can be used for various operations such as the above-mentioned processing at a stable speed and state by continuous rotation of the rotary carrier 1, so that the work 1 can be processed with high accuracy and high efficiency. Various tasks can be accomplished. Moreover, the reciprocating movement of the suction nozzle 21 is caused by the arc guide 22.
Is guided by a circular arc locus that coincides with the rotation center O of the rotary carrier 1, and the movement locus of the suction nozzle 21 during the forward movement is the movement locus 9 of the conveying hole 8 at a predetermined position of the opposing rotary carrier 1. Therefore, the supply and the removal of the work 7 with respect to the rotating rotary carrier 1 can be reliably achieved without a failure due to the displacement of the movement trajectories of both.

Specifically, the circular arc guide 22 is fixed around the rotary carrier 1 concentrically with it as shown in FIGS. 1 and 2, and the slider 23 is set at the rotation center O of the rotary carrier 1. Guide the car so that it can reciprocate along the matching arc loci. A suction head 24 for vertically moving or rotating the suction nozzle 21 is connected to the slider 23 via a support arm 25. The suction head 24 and the suction nozzle 21 are formed in an arc shape along the automatic trajectory 9. Along with the reciprocating movement, the suction nozzle 21
Can be moved up and down and rotated as required regardless of the difference between the stopped state and the moving state.

The work 7 is, for example, as shown in FIG. 1, various parts supply mechanisms 2 using a vibration type parts feeder or the like.
6, the work 7 is conveyed to a predetermined position 27 which is directly above the moving path 9 of the work 7 by the rotary carrier 1.

On the other hand, the work supply mechanism 16 sucks the work 7 being supplied by lowering the suction nozzle 21 at the predetermined position 27 at the initial stage of the forward movement, and then the suction nozzle 21 moves. The workpiece 7 picked up by the upward movement and picked up by the forward movement synchronized with the rotation of the rotary carrier 1 of the suction nozzle 21.
While carrying the rotary carrier 1 so as to be opposed to the predetermined holding hole 8 of the rotary carrier 1, the suction nozzle 21 is lowered in the middle of this carrying to carry it to the predetermined holding hole 8. After fitting the work 7, the suction nozzle 21 is released by stopping the suction and the suction nozzle 21 is moved upward, so that the work 7 is left fitted in the predetermined holding hole 8 and the supply of the work 7 is finished. It is like this.

On the other hand, in the case of the work taking-out mechanism, the suction nozzle 21 is moved forward in synchronism with the rotation of the rotary carrier 1, and is held in a predetermined holding hole 8 after being conveyed by the rotary carrier 1 and subjected to various operations such as machining. The suction nozzle 21 moves downward to suck the facing work 7 while keeping the facing state of the work 7 held by the suction nozzle 21.
Is picked up to take out the work 7 in the holding hole 8, and when the taken-out work 7 is carried to a predetermined take-out position, the suction nozzle 21 is moved down or moved down. Without stopping the suction, the work 7 taken out and carried is discharged to a predetermined position so that the work 7 can be appropriately discharged.

The above-mentioned rotation of the suction nozzle 21 is performed mainly while the work supply mechanism 16 is carrying the work 7 to supply it, so that the rotation direction of the work 7 sucked by the suction nozzle 21 is corrected. It is possible to prevent a supply error due to a deviation between the work 7 supplied to the rotary carrier 1 and the holding hole 8 of the rotary carrier 1. For this purpose, the suction nozzle 21
For determining the orientation of the workpiece 7 supplied by
It is necessary to provide an already known imaging device, a determination mechanism, and a control mechanism.

However, such an up-down mechanism and a rotating mechanism are not essential, and the suction nozzle 21 may expand and contract instead of moving up and down.

In the case of this embodiment, as shown in FIG. 2, the rotary carrier 1 engages the drive gear 33 directly connected to the motor 32 with the large-diameter gear 31 that rotates together with the rotary carrier 1, and the rotary carrier 1 is driven by the motor 32. The driving is performed with a predetermined reduction ratio.

Further, a cam follower 35 that follows the cam 34 is provided at the other end of an arm 39, one end of which is connected to the slider 23 by a pin 38, and the cam 34 is attached to the large-diameter gear 3
1 via the gear 36 to rotate the cam 34 in conjunction with the rotation of the rotary carrier 1. The cam 34 interlocked with the rotary carrier 1 reciprocates the slider 23 via the cam follower 35 and the arm 39. It is moved so that the suction nozzle 2
1 is moved forward in association with the rotation of the rotary carrier 1, and when the end of a predetermined forward stroke is reached, a quick return according to the shape of the cam 34 is performed. A spring 37 is urged to bias the arm 39 toward the cam 34 so that the arm 39 follows the cam 34 via the cam follower 35.

As a result, the forward positional relationship and the speed relationship of the suction nozzle 21 synchronized with the rotary carrier 1 are fixedly set by the shape and speed ratio of the cam 34, and the suction nozzle 21 is set at a predetermined position of the rotary carrier 1. Since the position and speed in the moving direction with respect to a certain holding hole 8 are appropriately maintained, the work 7 is supplied to and taken out from each holding hole 8 of the rotating rotary carrier 1.
This can surely be achieved without failure due to deviation in the positional relationship in the moving direction and the moving speed.

Various mechanisms and control circuits other than those described above can be used for the reciprocating movement of the suction nozzle 21 in conjunction with the rotation of the rotary carrier 1.

For example, this can be achieved by using a pneumatic pressure, a hydraulic pressure, or a transmission mechanism that operates in conjunction with the rotation of the rotary carrier 1 as a reciprocating drive source of the suction nozzle 21, particularly a forward drive source. A mechanism for transmitting the rotation of the rotary carrier 1 to a member on the suction nozzle 21 side such as the slider 23 may be employed only at a required timing and a required time.

[0033]

According to the above-mentioned construction, which is a main feature of the rotary carrier work feeding / unloading apparatus of the present invention, even a small and thin work can be surely sucked and held by the suction nozzle and carried, and the suction can be released to timely. Supplying the rotary carrier while rotating it by handling the suction carrier without fail while returning to the original position after the suction nozzle returns to the original position so that the forward movement can be repeated at a predetermined cycle. Since it can be automatically and repeatedly taken out and taken out from this, labor saving can be achieved without any problem, and the rotary carrier provides the work such as the above-mentioned various works at a stable speed and state by continuous rotation. Therefore, it is possible to achieve various work such as processing of the work with high accuracy and high efficiency.

Moreover, the reciprocating movement of the suction nozzle is guided by the circular arc guide along a circular arc locus which coincides with the center of rotation of the rotary carrier, and the movement locus of the suction nozzle at the time of the forward movement is predetermined by the opposing rotary carrier. Since it properly corresponds to the movement trajectory of the position, it is possible to surely achieve the supply and the removal of the work with respect to the rotating rotary carrier without a failure due to the positional deviation of both movement trajectories.

In the structure provided with the interlocking mechanism for moving forward in synchronism with the rotation of the rotary carrier in synchronization with the suction nozzle in a predetermined cycle, the positional relationship and the speed relationship of the forward movement in synchronism with the rotary carrier of the suction nozzle. Fixedly set,
Since the position and speed of the suction nozzle in the moving direction with respect to the predetermined position of the rotary carrier are properly maintained, supply and unloading of the workpiece to and from the rotating rotary carrier depends on the positional relationship and moving speed in the moving direction. It can be reliably achieved without failure due to deviation.

[Brief description of drawings]

FIG. 1 is a perspective view showing an overall configuration of a work supply / extraction device for a rotary carrier as an embodiment of the present invention.

FIG. 2 is a plan view showing a drive mechanism of a rotary carrier and an interlocking mechanism between the drive mechanism and the suction nozzle of the apparatus shown in FIG.

FIG. 3 is a perspective view showing an overall configuration of a conventional work supply / extraction device for a rotary carrier.

[Explanation of symbols]

 1 Rotary Carrier 2 Double-headed Grinding Machine 7 Work 8 Holding Hole 16 Work Supply Mechanism 21 Adsorption Nozzle 22 Arc Guide 23 Slider 31 Large Gear 32 Motor 33 Drive Gear 34 Cam 35 Cam Follower 36 Gear 37 Spring 38 Pin 39 Arm O Rotation Center

Claims (2)

[Claims] 1. A suction nozzle that reciprocates to feed or take out a work from or to a rotary carrier during forward movement in synchronism with a rotary carrier that conveys the work and is used for various operations such as machining, and the reciprocation of the suction nozzle. A workpiece supply / unloading device for a rotary carrier, comprising: an arc guide that guides movement along an arc locus coinciding with the center of rotation of the rotary carrier. 2. The work supply / removal device for the rotary carrier according to claim 1, further comprising an interlocking mechanism for moving the suction nozzle forward in a predetermined cycle in association with the rotation of the rotary carrier.