Workpiece feeding device for workpiece grinding machine

Abstract

This system eliminates the need for fine adjustment of the workpiece's axial direction when the workpiece is transferred from the work loader to the clamps during grinding, and when the workpiece is gripped by the clamps. [Solution] A workpiece grinding device 1 is equipped with a pair of clamping parts 4 and 5 for gripping a workpiece 12. The workpiece supply device 13, which is positioned on one side in the width direction of the support base 2 of the workpiece grinding device 1 and used in combination with a workpiece loader 19, has a frame 131 that supports the frame 132 so as to be rotatable around a horizontal axis facing the width direction of the support base 2. The axis direction of the retaining member 134 that restrains the workpiece 12 together with the receiving base 133 supported by the frame 132 is directed toward the axis direction of the workpiece 12. The workpiece 12 is then clamped by a pair of arms 141, 141 of the workpiece loader 19 that receive the workpiece 12 from the frame 132, from a direction perpendicular to the axis direction of the workpiece 12.

Description

Technical Field

[0001] The present invention relates to a work supply device for a work grinding apparatus that is used to stably hold a work in a pair of clamp portions when the work to be ground is held in the pair of clamp portions during grinding.

Background Art

[0002] When grinding or polishing the circumferential surface of a work such as an ingot whose surface is finished in a cylindrical shape, when the work is held in a pair of clamp portions in the axial direction, the work is moved between the clamp portions using a loader from a work transfer cart disposed beside a work grinding apparatus equipped with, for example, a pair of clamp portions (see Patent Documents 1 and 2).

[0003] In the example of Patent Document 2, for example, the work is only placed on a pallet supported thereon on the work transfer cart, and the work together with the pallet is moved between the clamps by the loader (paragraphs 0098 to 0106, FIGS. 18 and 19). Here, since the loader and the clamp do not have a position adjustment function and the clamp only holds the work in the width direction, when the work is moved between the clamp portions and the clamp holds the work, although the axial center of the work substantially coincides with the axial centers of both clamp portions, it does not completely coincide.

[0004] In this regard, it is necessary to finely adjust the axial direction of the work until the axial center of the work coincides with the axial centers of both clamp portions (paragraphs 0037 to 0046, 0105 to 0112, 0140 to 0154 of Patent Document 2). A similar fine adjustment for making the axial center of the work coincide with the axial centers of both clamp portions is also required in Patent Document 1 (paragraphs 0036 to 0038).

Prior Art Documents

Patent Documents

[0005]

Patent Document 1

[0006] The adjustment work required to align the axes of the pair of clamps after they have gripped the workpiece delays the grinding process, resulting in reduced grinding efficiency.

[0007] Based on the above background, the present invention proposes a workpiece feeding device for a workpiece grinding machine that eliminates the need for fine adjustment of the axial direction of the workpiece after a pair of clamping parts have gripped the workpiece. [Means for solving the problem]

[0008] The work supply device for a work grinding apparatus according to claim 1 is used in conjunction with a work loader that inserts the workpiece between the pair of clamps of a work grinding apparatus, which comprises: a pair of clamps supported by a support so as to be rotatable around an axis together with the workpiece while gripping the workpiece, which are opposed to each other in the longitudinal direction of a support base and grip a workpiece when they are close together; a rotational drive device that rotates each of the pair of clamps that grip the workpiece together with the support device around the axis of the clamps; a linear drive device that moves at least one of the pair of clamps linearly in the longitudinal direction relative to the support base together with the support device that supports one of the clamps; and a grinding unit that is installed on the support base so as to be able to move linearly in the longitudinal direction of the support base and has a grinding wheel for grinding or polishing the workpiece. A workpiece supply device is positioned on one side in the width direction of the support base and is used to position the workpiece between the pair of clamping portions from one side in the width direction of the support base. The work loader comprises a frame assembled in three dimensions, a frame rotatably supported about a horizontal axis facing the width direction of the support base, a stand that can be switched between an upright and a lying position relative to the frame, and in the upright position, a stand that receives and temporarily fixes the workpiece placed on the frame with its axis facing vertical or nearly vertical, and a clamping member supported by the frame so as to be able to reciprocate along the frame toward the workpiece placed on the stand, and which restrains the workpiece placed on the stand together with the stand toward the axial direction of the workpiece, and a pair of arms that clamp the workpiece in a direction perpendicular to its axial direction when the frame is in the lying position, and the workpiece is held by the pair of arms of the work loader.

[0009] "A pair of clamping parts supported by the support section, facing each other in the longitudinal direction of the support base, gripping the workpiece when they are close together" means that, as shown in Figures 1 to 3, a pair of clamping parts 4 and 5 are arranged facing each other in the longitudinal direction of the support base 2 that supports the workpiece grinding device 1, gripping (clamping) the workpiece 12 in its axial direction, and each clamping part 4 and 5 is supported (held) by the support sections 6 and 7, respectively. "The longitudinal direction of the support base 2" refers to the length direction (long side direction) when the support base 2 is viewed in plan or elevation.

[0010] "A pair of clamping parts supported by a support so as to be rotatable around the axis together with the workpiece while gripping the workpiece" means that when the pair of clamping parts 4 and 5 are gripping the workpiece 12, the pair of clamping parts 4 and 5 and the workpiece 12 are rotatable around the axis together with the support parts 6 and 7. "Axis" refers to the axis of the clamping parts 4 and 5 and the support parts 6 and 7, but is also the axis of the workpiece 12. The pair of clamping parts 4 and 5 constitute the gripping device 3.

[0011] The "rotary drive device that rotates each of the pair of clamping parts that grip the workpiece together with the support parts around the axis of the clamping parts" refers to the rotation of the pair of clamping parts 4 and 5 that grip the workpiece 12, and the support parts 6 and 7 that support each of the clamping parts 4 and 5, around the axis of the clamping parts 4 and 5. The rotary drive device is a motor or the like. The rotary drive device moves one clamping part 4 (5) and the other clamping part 5 (4) together with the support parts 6 and 7 that support them, and rotates them simultaneously.

[0012] The phrase "linear drive device that causes at least one of a pair of clamping parts to move linearly in the longitudinal direction relative to the support base, together with the support part that supports that clamping part" means the following: That is, the linear drive device 8 that causes one of the pair of clamping parts 4, 5 and the support part 6, 7 that supports it to reciprocate (move linearly) in the longitudinal direction of the support base 2 may be connected to only one of the clamping parts 4, 5 (support part 6, 7), or it may be connected to both clamping parts 4, 5 (support parts 6, 7). The linear drive device 8 is connected to the clamping part 4, 5 or the support part 6, 7 directly or indirectly.

[0013] For the pair of clamping parts 4 and 5 to grip the workpiece 12, it is basically sufficient to reciprocate either one of the clamping parts 4(5) (supporting part 6(7)). However, if both clamping parts 4 and 5 (supporting parts 6 and 7) are made reciprocable, the work efficiency when gripping the workpiece 12 will be increased or fine adjustments will be possible.

[0014] "A workpiece grinding device comprising a grinding unit having a grinding wheel for grinding or polishing a workpiece, which is mounted on a support base so as to be able to move linearly in the longitudinal direction of the support base" means that the components of the workpiece grinding device 1 include a grinding unit 11 mounted on a support base 2 so as to be able to move linearly in the longitudinal direction.

[0015] "Used in conjunction with a work loader that inserts the workpiece from one side in the width direction of the support base between a pair of clamping parts" means that, as shown in Figures 11 to 14, after the work supply device 13 of the present invention holds the workpiece 12, the work loader 19 is used in conjunction with it until the workpiece 12 is transferred between a pair of clamping parts 4 and 5 of the work grinding device 1, and the workpiece 12 is held by the work loader 19. The work loader 19 is equipped with a pair of arms 191, 191 that clamp the workpiece 12 in a direction perpendicular to its axial direction, and has the role of receiving the workpiece 12 from the work supply device 13 (receiving base 133 and holding material 134) and transferring it to the work grinding device 1. "The width direction of the support base 2" is the horizontal direction perpendicular to the longitudinal direction of the support base 2.

[0016] A "pair of arms" can consist of two arms 191, 191 that move symmetrically around the axis of the workpiece 12, or it can consist of three or more arms 191 that are spaced at equal distances around the circumferential axis of the workpiece 12 and move radially around the axis of the workpiece 12. When there is a pair of arms 191, they grip (hold) the workpiece 12 when they approach each other and release the grip when they move away from each other. When there are three or more arms, the arms 191 converge when moving toward the axis of the workpiece 12 to grip (hold) the workpiece 12 with equal force (compressive force) and release the grip when moving toward the opposite side.

[0017] "A work supply device positioned on one side in the width direction of the support base and used to position a workpiece between a pair of clamping portions from one side in the width direction of the support base" means that the work supply device 13 is used when positioned on one side in the width direction of the support base 2 of the work grinding device 1, on the side closer to the pair of clamping portions 4 and 5 of the work grinding device 1.

[0018] A support member 12A for being held by the work supply device 13 and work loader 19 is integrally joined to the support base 133 side of the workpiece 12 in the axial direction using adhesive or the like. The work supply device 13 and work loader 19 hold the workpiece 12 by clamping the support member 12A in a direction perpendicular to the axial direction of the workpiece 12.

[0019] Specifically, as shown in Figure 15, the support base 133 of the workpiece supply device 13 includes a support portion 133a capable of supporting the supported material 12A joined to the support base 133 side of the workpiece 12 in the axial direction when the frame 132 is in an upright position, and a holding portion 133b capable of holding the supported material 12A of the workpiece 12 together with the support portion 133A (Claim 2), and the supported material 12A of the workpiece 12 is clamped between the support portion 133a and the holding portion 133b in a direction perpendicular to the axial direction. The holding portion 133b reciprocates, for example, in a direction perpendicular to the axial direction of the workpiece 12, restraining the supported material 12A when it protrudes toward the workpiece 12 and releasing the restraint when it retracts. The supported material 12A is joined to the end face in the axial direction of the workpiece 12 with its axis aligned with the axis of the workpiece 12.

[0020] The phrase "a frame that is rotatably supported on a three-dimensionally assembled frame around a horizontal axis that faces the width direction of the support base, and that can be switched between an upright and a reclining position relative to the frame, ...a frame" means that the frame 132 supported on the frame 131 is a basic component of the workpiece feeding device 13, and that the frame 132 can be switched between an upright and a reclining position relative to the frame 131 by rotating around the horizontal axis. As mentioned above, this "horizontal axis" is the horizontal axis that faces the width direction of the support base 2 of the workpiece grinding device 1, and its direction is perpendicular to the direction in which the pair of clamp parts 4 and 5 that ultimately grip the workpiece 12 face each other (the longitudinal direction of the support base 2), and parallel to the width direction of the support base 2.

[0021] "The upright position of the frame" means that the upper surface of the frame 132 when it is lying down faces vertically or nearly vertically, and the surface (upper surface) of the support base 133 facing the workpiece 12 is horizontal or nearly horizontal. When the frame is upright, the axis of the workpiece 12 is substantially vertical. "The lying down position of the frame" means that the upper surface of the frame 132 faces horizontally or nearly horizontally, and the surface of the support base 133 facing the workpiece 12 is vertical or nearly vertical. When the frame 132 transitions from the upright position to the lying down position, the frame 132 rotates around a horizontal axis perpendicular to the direction in which the pair of clamping parts 4 and 5 face each other, as described above.

[0022] The phrase "the axis of the workpiece in the standing state faces the vertical direction or a direction close to the vertical" refers to the angle at which the workpiece 12 is stable on the receiving base 133 without sliding on the receiving base 133. When the gantry is in the lying state, the axis of the workpiece 12 substantially faces the horizontal direction. This direction is the direction in which the pair of clamping portions 4 and 5 face each other.

[0023] The phrase "comprising a pressing member that is supported by the gantry so as to be reciprocally movable along the gantry toward the workpiece placed on the receiving base, and that restrains the workpiece placed on the receiving base together with the receiving base in the axial direction of the workpiece" means that, as shown in FIGS. 11 and 16, the pressing member 134 restrains and holds the workpiece 12 placed on the receiving base 133 in the axial direction of the workpiece 12 in pairs with the receiving base 133.

[0024] The shape or form of the pressing member 134 is not limited, but the pressing member 134 reciprocates in the axial direction of the workpiece 12 and restrains the workpiece 12 when moving toward the workpiece 12 side. Therefore, the axial direction of the pressing member 134 substantially coincides with the axial direction of the workpiece 12. "Substantially coincides" means that it includes the error allowed when the pair of clamping portions 4 and 5 grip the workpiece 12, and even if the axis of the pressing member 134 and the axis of the workpiece 12 do not completely coincide, a slight angular difference is tolerated.

[0025] The phrase "a workpiece supply device that holds a workpiece on a pair of arms of a workpiece loader having a pair of arms that clamp the workpiece in a direction orthogonal to the axial direction of the workpiece when the gantry is in the lying state" means that when the gantry 132 of the workpiece supply device 13 that restrains and holds the workpiece 12 is in the lying state, a pair of arms 191, 191 of the workpiece loader 19 apply a compressive force to the workpiece 12 held by the workpiece supply device 13 in a direction orthogonal to the axis of the workpiece 12, thereby clamping the workpiece 12 and receiving the workpiece 12 from the workpiece supply device 13. The workpiece supply device 13 assists in delivering the workpiece 12 to the pair of arms 191, 191 of the workpiece loader 19.

[0026] When the base of the workpiece supply device lies down, as described above, it means when the axis of the workpiece 12 becomes substantially horizontal. After a pair of arms 191, 191 of the workpiece loader 19 hold the workpiece 12 and receive the workpiece 12 from the workpiece supply device 13, the holding of the workpiece 12 by the base 132 (receiving base 133 and pressing member 134) of the workpiece supply device 13 is released, and the workpiece supply device 13 finishes its role of supplying the workpiece 12.

[0027] When the base 132 of the workpiece supply device 13 switches from the standing state to the lying state, the workpiece 12 remains in a state of being axially sandwiched between the receiving base 133 and the pressing member 134 of the workpiece supply device 13. The workpiece 12 is placed on the receiving base 133 when the base 132 is in the standing state and continues to be restrained by the pressing member 134. Since the base 132 lies down, the workpiece 12 does not move on the base 132. When the base 132 of the workpiece supply device 13 switches from the standing state to the lying state, the base 132 rotates around a horizontal axis in a direction orthogonal to the direction in which the pair of clamp portions 4, 5 face each other. Therefore, the axial direction of the pressing member 134 and the axial direction of the workpiece 12 when the base 132 is in the lying state coincide with the horizontal direction in which the pair of clamp portions 4, 5 face each other.

[0028] The workpiece 12 is re-held by a pair of arms 191, 191 of the workpiece loader 19 while being restrained (in a posture) by the workpiece supply device 13. After the pair of arms 191, 191 hold the workpiece 12, the holding of the workpiece 12 by the holding portion 133b and the receiving portion 133a of the workpiece supply device 13 is released, and the pair of arms 191, 191 of the workpiece loader 19 are directly inserted between the pair of clamp portions 4, 5 of the workpiece grinding device 1 and are held (gripped) by the pair of clamp portions 4, 5. The workpiece 12 is finally re-held (gripped) by the pair of clamp portions 4, 5. As shown in FIG. 14, the pair of arms 191, 191 rotate around the center in a direction parallel to the axis of the workpiece 12 in a direction orthogonal to the axis of the workpiece 12, or translate in a direction parallel to the direction orthogonal to the axis of the workpiece 12 to insert the workpiece 12 between the pair of clamp portions 4, 5.

[0029] From the time the workpiece 12 is placed on the frame 132 of the workpiece supply device 13 until it is held by a pair of arms 191, 191, the workpiece 12 remains constrained by the support base 133 and the clamping member 134 of the frame 132, so that the axial direction of the workpiece 12 remains aligned with the axial direction of the clamping member 134. Even when the workpiece 12 is readjusted from the pair of arms 191, 191 to a pair of clamping parts 4, 5, the axial direction of the workpiece 12 remains aligned with the axial direction of the clamping member 134.

[0030] When the pair of clamping parts 4 and 5 receive the workpiece 12 from a pair of arms 191, 191, the pair of arms 191, 191 either rotate around a central axis parallel to the axis of the workpiece 12 or move in a direction perpendicular to the axis of the workpiece 12, so there is no change in the axial direction of the workpiece 12. Therefore, the axis of the workpiece 12 remains facing the axial direction of the clamping member 134 when the frame 132 is lying down.

[0031] The clamping member 134 restrains and holds the workpiece 12 together with the support base 133 in its axial direction, so that when the workpiece 12 is held, the axial direction of the clamping member 134 substantially coincides with the axial direction of the workpiece 12. If the direction in which the workpiece 12 is held by a pair of arms 191, 191 of the work loader 19 is substantially perpendicular to the axis of the workpiece 12, then even when the pair of arms 191, 191 are holding the workpiece 12, the axial direction of the workpiece 12 continues to coincide with the axial direction of the clamping member 134.

[0032] This relationship remains unchanged even after the frame 132 rotates around a horizontal axis perpendicular to the direction in which the pair of clamping parts 4 and 5 face each other, transitioning from an upright to a reclining position, and after the workpiece 12 is transferred from a pair of arms 191, 191 to the pair of clamping parts 4 and 5. The "direction in which the workpiece is held by the pair of arms" refers to the direction in which the pair of arms 191, 191 apply compressive force to the workpiece 12 when holding (clamping) it, and is perpendicular to the axial direction of the workpiece 12.

[0033] Therefore, if the direction in which the workpiece 12 is held by a pair of arms 191, 191 of the work loader 19 is substantially perpendicular to the axis of the workpiece 12, then simply by placing the workpiece 12 on the reclining support 133 of the work supply device 13 with the axis of the workpiece 12 and the axis of the clamping member 134 aligned, it becomes possible to align the axis of the pair of clamping members 4, 5 with the axis of the workpiece 12 when the workpiece 12 is gripped between the pair of clamping members 4, 5 of the work grinding device 1 via the work loader 19.

[0034] As a result, when gripping the workpiece 12 between the pair of clamping parts 4 and 5 of the workpiece grinding device 1, adjustment work such as that described in Patent Documents 1 and 2 to align the axis of the workpiece 12 with the axis of both clamping parts 4 and 5 becomes unnecessary. Therefore, after gripping the workpiece 12 with both clamping parts 4 and 5, the work can immediately proceed to grinding or polishing the surface of the workpiece 12, improving the work efficiency from the time the workpiece 12 is placed on the stand 132 of the workpiece supply device 13 until grinding or polishing.

[0035] Without the workpiece supply device 13, it is not easy to pre-set (position) the axis of the workpiece 12 so that the pair of clamping parts 4 and 5 face each other before moving the workpiece 12 between the clamping parts 4 and 5 using the workpiece loader 19. Alternatively, because there is no reference point for positioning the axis of the workpiece 12, it becomes essential to align the axis of the workpiece 12 with the axes of both clamping parts 4 and 5 after the workpiece 12 has been placed between the clamping parts 4 and 5.

[0036] In contrast, the frame 132 of the work supply device 13, which holds the workpiece 12 in its axial direction, rotates around a horizontal axis perpendicular to the direction in which the pair of clamping parts 4 and 5 face each other, transitioning from an upright state to a lying-down state. By transferring the workpiece 12 to the work loader 19, which clamps the workpiece 12 in a direction perpendicular to the axial direction of the workpiece 12, the need for position adjustment work after the workpiece 12 is interposed between the clamping parts 4 and 5 is eliminated.

[0037] Specifically, as shown in Figure 15, for example, the pair of receiving portion 133a and holding portion 133b of the work supply device 13 have a structure in which the receiving portion 133a has the shape of a recess into which the supported material 12A of the work 12 enters, and the holding portion 133b protrudes toward the supported material 12A when the supported material 12A is inserted into the receiving portion 133a, and together with the receiving portion 133a, it holds the supported material 12A (Claim 3). The holding portion 133b is supported on the frame 132 (receiving base 133) so as to be able to extend and retract in one direction, and when it is extended it holds the supported material 12A together with the receiving portion 133a, and when it is retracted it allows the supported material 12A to move freely.

[0038] In this case, when the frame 132 of the work supply device 13 is upright and the support base 133 is lying down, the workpiece 12 is inserted into the receiving portion 133a of the support base 133 with its axial direction substantially facing vertically. Subsequently, the holding portion 133b holds the workpiece 12 by clamping the supported material 12A together with the receiving portion 133a from the opposite side of the receiving portion 133a in a direction perpendicular to the axial direction.

[0039] When the supported material 12A of the workpiece 12 has a plurality of supported parts 12A1, 12A2 in the axial direction as shown below (Claim 4), the workpiece 12 is held by a pair of arms 191, 191 of the work loader 19 that grip the supported parts 12A1 other than the supported parts 12A2 held by the receiving part 133a and the holding part 133b in a direction perpendicular to the axial direction of the workpiece 12.

[0040] Specifically, the supported material 12A of the workpiece 12 has multiple supported parts 12A1, 12A2 of different thicknesses in the axial direction of the workpiece 12, the receiving part 133a and the holding part 133b of the support base 133 hold one of the supported parts 12A2, and a pair of arms 191, 191 of the work loader 19 hold the other supported parts 12A1 (Claim 4). "Having multiple supported parts of different thicknesses in the axial direction" means that multiple supported parts 12A1, 12A2 of different thicknesses such as diameter are arranged in series in the axial direction of the workpiece 12.

[0041] In this case, by arranging multiple supported parts 12A1, 12A2 of different thicknesses in the axial direction of the workpiece 12, it becomes possible to obtain a state in which the pair of receiving parts 133a and holding parts 133b of the workpiece supply device 13 can hold the workpiece 12 without the pair of arms 191, 191 of the workpiece loader 19 interfering with (colliding with) the receiving parts 133a and holding parts 133b, thus making it easier to hold the workpiece 12. Even if the supported material 12A of the workpiece 12 does not have multiple supported parts 12A1, 12A2 of different thicknesses, if the supported material 12A has a certain length in the axial direction, it is possible for the pair of receiving parts 133a and holding parts 133b of the workpiece supply device 13 and the pair of arms 191, 191 to hold the supported material 12A without interference. [Effects of the Invention]

[0042] The frame is rotatably supported about a horizontal axis facing the width direction of the support base of the work grinding device, and can be switched between an upright and a reclining position. The frame has a support base that receives a workpiece with its axis facing vertical or the like when in the upright position, and a clamping member that restrains the workpiece placed on the support base in the axial direction together with the support base. The frame is used to transfer the workpiece to a work loader that has a pair of arms that clamp the workpiece in a direction perpendicular to the axial direction when the frame is in the reclining position. When the workpiece is gripped between a pair of clamping parts of the work grinding device via the work loader, the axial direction of the pair of clamping parts can be aligned with the axial direction of the workpiece.

[0043] As a result, when gripping a workpiece between a pair of clamping sections of a workpiece grinding device, adjustment work to align the axis of the workpiece with the axes of both clamping sections is eliminated. Therefore, after gripping the workpiece with both clamping sections, the process can proceed to grinding or polishing the surface of the workpiece, improving the efficiency of grinding and other operations. [Brief explanation of the drawing]

[0044] [Figure 1] This is a plan view showing the entire workpiece grinding machine. [Figure 2] This is an elevation view of Figure 1. [Figure 3] (a) is a plan view showing the pair of clamps in Figure 1 gripping the workpiece, and (b) is a cross-sectional view of (a) along line xx. [Figure 4] This is an enlarged view of the pair of clamping parts and the workpiece portion in Figure 3-(a). [Figure 5] This is a longitudinal cross-sectional view showing one (following) clamp section, a support section that supports it, and an example of supplying pressurized fluid to operate the extension and retraction of multiple gripping members. [Figure 6] Figure 5 is an enlarged view of the follow-up clamp section. [Figure 7] This is a view from the arrow pointing along the yy line in Figure 6. [Figure 8] This is a partial cross-sectional elevation view showing how the follow-up clamp and the other (fixed) clamp grip the workpiece in the axial direction. [Figure 9] This is a plan view showing how the liquid-proof box attached to the grinding unit surrounds the workpiece, the follow-up clamp section, and the fixed clamp section. [Figure 10] (a) is a cross-sectional view along line aa in Figure 9, (b) is a cross-sectional view along line bb in (a), and (c) is a cross-sectional view along line cc in (a). [Figure 11] This is an elevation view showing the workpiece feeding device frame in both an upright and a horizontal position. [Figure 12] This is a plan view of Figure 11. [Figure 13] This is a side view of Figure 11. [Figure 14] This is a side view showing how a workpiece is transferred from the workpiece supply device to the workpiece loader. [Figure 15] Figure 13 is an enlarged view showing an example of a support base and holding part supported by the frame of the work supply device when the frame is lying down. [Figure 16] Figure 15 is a cross-sectional view along line xx. [Figure 17] This is a partial cross-sectional elevation view showing an example of the shape of the workpiece-side end of the fixing clamp section. [Modes for carrying out the invention]

[0045] Figures 1 and 2 show an example of the configuration of a work grinding device 1, which has a pair of clamping parts 4 and 5 supported by support parts (spindles) 6 and 7 that are opposed to each other in the longitudinal direction of the support base 2, grip (clamp) the workpiece 12 when they are close together, and rotate together with the workpiece 12 around its axis while gripping it. The pair of clamping parts 4 and 5 constitute a gripping device 3. The support base 2 is a three-dimensional frame-like base assembled on a support surface 20 such as the floor, for supporting the work grinding device 1.

[0046] The work grinding apparatus 1 includes, in addition to the gripping device 3, a rotary drive device that rotates each of the pair of clamping parts 4 and 5 that grip the workpiece 12 together with the support parts 6 and 7 that support them, around the respective axes of both clamping parts 4 and 5, and a linear drive device 8 that moves at least one of the clamping parts 4(5) together with the support part 6(7) that supports it in a linear motion in the longitudinal direction relative to the support base 2. Specifically, the rotary drive device consists of work rotation motors 98 and 104 attached to the movable side pressing unit 9 and the fixed side pressing unit 10, respectively, as described later.

[0047] As shown in Figure 9, the work grinding apparatus 1 is equipped with a grinding unit 11 that is mounted on a support base 2 so as to be able to move linearly in the longitudinal direction of the support base 2 and has a grinding wheel 112 for grinding or polishing the workpiece 12. The grinding unit 11 is connected to a liquid-proof box 111 that surrounds a pair of clamp parts 4 and 5 and the workpiece 12 gripped by both clamp parts 4 and 5 when the grinding unit 11 moves toward one of the clamp parts 4(5) which is able to move linearly in the longitudinal direction of the support base 2.

[0048] As shown in Figures 1 and 9, the grinding unit 11 is positioned to move linearly along approximately the same track as the movable side pressing unit 9, which is able to move linearly in the longitudinal direction relative to the support base 2 on a plane. Furthermore, in the width direction of the support base 2, one clamp portion 4 supported by the movable side pressing unit 9 is positioned on one side of the movable side pressing unit 9, so the liquid-proof box 111 is positioned on the same side as one of the clamp portions 4 on the grinding unit 11. The liquid-proof box 111 is omitted in Figure 1.

[0049] In the illustrated example, in order to securely grip a workpiece 12 having an irregular three-dimensional end face on one side in the axial direction, one of the pair of clamping parts 4 and 5 has a clamping part 4(5) that acts as a follow-up clamping part, as shown in Figures 4 and 6, which can extend and retract from the end face of the other clamping part 5(4) toward the workpiece 12, and has a plurality of independent gripping members 41.

[0050] When the workpiece 12 is a silicon carbide single crystal (SiC) ingot, due to its manufacturing method (sublimation method), the SiC ingot may have a flat end face on one axial side while having irregularities on the other end face. Therefore, when the workpiece 12 is a SiC ingot, it is required that the end face of the ingot with these irregularities can be securely gripped.

[0051] The drawing shows an example where one clamp section 4, which is part of the movable side pressing unit 9, behaves as a follow-up clamp section having multiple gripping members 41. However, there is also a case where the other clamp section 5, which is part of the fixed side pressing unit 10, is a follow-up clamp section having multiple gripping members 41. Below, we will explain an example where one clamp section 4 is a follow-up clamp section and the other clamp section 5 is a fixed clamp section that is part of the fixed side pressing unit 10.

[0052] As shown in Figures 1 and 2, the pair of clamp sections 4 and 5 are arranged so that their axes lie on the same straight axis on the support base 2, and the linear drive device 8 is indirectly connected to at least one of the clamp sections 4 (5). In the illustrated example, the linear drive device 8 is connected to the movable side pressing unit 9, which is an integrated clamp section 4 that is a follow-up clamp section, but the linear drive device 8 may also be connected to the other clamp section 5.

[0053] In the illustrated example, one clamp (following clamp) 4 is integrated with the movable side pressing unit 9 at the support 6 that supports it, and the linear drive device 8 is connected to the movable side pressing unit 9. Therefore, when the linear drive device 8 is driven, the following clamp 4 moves linearly in the longitudinal direction of the support base 2 relative to the fixed side pressing unit 10.

[0054] In the illustrated example, the other clamp portion 5 is also integrated with the fixed-side pressing unit 10 in the support portion 7 that supports it, as will be described later. In this relationship, the other clamp portion 5 does not move linearly in the longitudinal direction of the support base 2, so below, the clamp portion that is opposite to the follow-up clamp portion 4 will be referred to as the fixed clamp portion 5. The workpiece 12 has a basically cylindrical outer surface and a circular cross-sectional shape, so the end faces of both the follow-up clamp portion 4 and the fixed clamp portion 5 are basically circular.

[0055] The drawing shows an example in which the linear drive device 8, which is placed on the support base 2, is composed of, for example, a motor 81 installed on the support base 2, a drive shaft 82 and a ball screw 85 for converting the rotational force of the motor 81 into linear motion and transmitting it to the movable side clamping unit 9. However, the linear drive device 8 is a mechanism that transmits power as linear motion of the movable side clamping unit 9 (one of the clamping parts (following clamping part) 4), and the mechanism (configuration) and installation position are not limited, and devices other than those using a ball screw can also be used.

[0056] As shown in the drawings, the fixed-side pressing unit 10 is fixed to the support base 2 so that it does not move linearly when it is installed on the support base 2 adjacent to the grinding unit 11, which is equipped with a grinding wheel 112, etc., as shown in Figure 10, for grinding or polishing the workpiece 12, as shown in Figures 1, 3 and 9.

[0057] The grinding unit 11 is mounted on the support base 2 so as to be able to move linearly in the longitudinal direction of the support base 2, and moves linearly when the motor 114 attached to the grinding unit 11 rotates, as shown in Figure 1. On the pair of clamp sections 4 and 5 of the grinding unit 11, as shown in Figure 10, a liquid-proof box 111 is attached, which houses the grinding wheel 112 and other components, as well as a cooling liquid nozzle 113 for spraying cooling liquid to cool the workpiece 12 during grinding, etc. The grinding wheel 112 and other components are stored inside the liquid-proof box 111, as will be described later. Details of the inside of the liquid-proof box 111 will be described later.

[0058] Because the fixed-side pressing unit 10 is fixed to the support base 2, when the workpiece 12 is gripped by the pair of clamp parts 4 and 5, the movable-side pressing unit 9, which is equipped with the follow-up clamp part 4 and the support part 6 that supports it, moves linearly (approaches) toward the fixed-side pressing unit 10 when the linear drive device 8 is driven, and the workpiece 12 is gripped by the follow-up clamp part 4 and the fixed clamp part 5.

[0059] In the example shown in Figure 1, as the motor 81 constituting the linear drive unit 8 rotates, the drive shaft 82 directly connected to the motor 81 also rotates. Simultaneously, the driven gear 84, which meshes with the drive gear 83 connected to the movable side retaining unit 9 of the drive shaft 82, rotates. A ball screw 85 is connected to the driven gear 84 parallel to the drive shaft 82, and the ball screw 85 rotates in conjunction with the rotation of the driven gear 84, causing the nut 86 screwed onto the movable side retaining unit 9 of the ball screw 85 to reciprocate (move linearly) in the axial direction relative to the ball screw 85.

[0060] The nut 86 is part of the main body 91 that constitutes the movable side pressing unit 9, and the main body 91 reciprocates (linearly) in the axial direction of the ball screw 85 simultaneously with the reciprocating motion of the nut 86. A control unit 92, which has a control device for controlling the retraction and extension of the gripping material 41 that is retractably stored in the follow-up clamp part 4, is integrated on one side in a direction perpendicular to the reciprocating direction of the main body 91, and the control unit 92 reciprocates (linearly) in the axial direction of the ball screw 85 together with the main body 91. The main body 91 of the movable side pressing unit 9 travels on parallel guides 93, 93 laid on the support base 2 parallel to the axial direction of the ball screw 85, and is guided by both guides 93, 93.

[0061] A support portion 6 is integrally connected to the control unit 92 of the movable side pressing unit 9, and a follow-up clamp portion 4 is integrally connected to the end of the support portion 6 on the fixed clamp portion 5 side. The support portion 6 is connected to the fixed clamp portion 5 side of the control unit 92. The support portion 6 and the follow-up clamp portion 4 reciprocate together with the control unit 92 when the motor 81 rotates, and when they move toward the fixed clamp portion 5 side, they grip the workpiece 12 together with the fixed clamp portion 5 which is fixedly supported by the support portion 7, which is part of the fixed side pressing unit 10.

[0062] Since the fixed-side pressing unit 10, to which the fixed clamp portion 5 is attached, is fixed to the support base 2, when gripping the workpiece 12, the movable-side pressing unit 9 moves toward the fixed-side pressing unit 10, so that the follow-up clamp portion 4 and the fixed clamp portion 5 grip the workpiece 12.

[0063] As shown in Figure 4, the drawing illustrates an example where a SiC ingot is used as the workpiece 12, with one end face having an irregular three-dimensional shape and the other end face forming a flat surface perpendicular to the axis. The irregular three-dimensional end face of the workpiece 12 faces the follow-up clamp section 4, and the flat end face faces the fixed clamp section 5. In this relationship, the end face of the fixed clamp section 5 on the follow-up clamp section 4 side is a flat surface perpendicular to the axis of the workpiece 12. Insertion of the workpiece 12 between the follow-up clamp section 4 and the fixed clamp section 5 is operated by the work loader 19, which will be described later.

[0064] As described above, the follow-up clamp section 4 has multiple gripping members 41 that can extend and retract from the end face on the fixed clamp section 5 side. As shown in Figures 4 and 6, the multiple gripping members 41 are housed in a storage section 42 formed within the follow-up clamp section 4, which can extend and retract independently from the end face of the follow-up clamp section 4. When gripping a workpiece 12, the tips of the multiple gripping members 41 on the workpiece 12 side protrude from the end face of the follow-up clamp section 4, and when the tip surfaces of the gripping members 41 grip the workpiece 12 in the axial direction between them and the end face of the fixed clamp section 5, as shown in Figures 4 and 17, the axial tip surfaces of all the gripping members 41 grip the workpiece 12 together with the end face of the fixed clamp section 5.

[0065] The workpiece 12 is held by a work loader 19 (not shown) that loads the workpiece 12 into and out of a pair of clamp sections 4 and 5, and is inserted between the end faces of both clamp sections 4 and 5, which are spaced apart. However, in order to avoid any impact on the grinding surface caused by the workpiece 12 being directly held by the work loader 19, a support material 12A for direct holding by the work loader 19 is joined to the end face of the workpiece 12 on the fixed clamp section 5 side using adhesive or the like, as shown in Figure 4.

[0066] In this case, the workpiece 12 is held by the work loader 19 on the circumferential surface of the supported material 12A integrated with it, and is moved toward the fixed clamp portion 5 until the end face of the supported material 12A toward the fixed clamp portion 5 makes surface contact with the end face of the fixed clamp portion 5. The end face of the fixed clamp portion 5 makes surface contact with the end face of the supported material 12A, and in contact with the workpiece 12 due to the movement of the following clamp portion 4 toward the fixed clamp portion 5, a uniform compressive force is applied in the axial direction of the workpiece 12, gripping the workpiece 12 with a constant compressive force.

[0067] When the end face of the supported material 12A on the side of the fixed clamp portion 5 comes into contact with the end face of the fixed clamp portion 5, the end face of the air blower pipe 102 for blowing cleaning air, shown in Figure 8, located inside the control unit 101 of the fixed-side pressing unit 10 to which the support portion 7 supporting the fixed clamp portion 5 is connected, on the workpiece 12 side, reacts as a sensor dog. At the same time, a sensor 103 installed behind the control unit 101 (opposite side of the fixed clamp portion 5) detects the contact of the workpiece 12 (supported material 12A) with the end face of the fixed clamp portion 5, thereby stopping the movement of the workpiece 12 toward the fixed clamp portion 5 by the work loader 19.

[0068] As shown in Figures 4 and 17, the supported material 12A of the workpiece 12 has multiple supported portions 12A1 and 12A2 with different thicknesses or diameters in the axial direction, and the end face of the supported portion 12A2 of the supported material 12A, which is located closest to the fixed clamp portion 5, contacts the end face of the air blower pipe 102 on the workpiece 12 side.

[0069] The work loader 19 is positioned next to the fixed clamping unit 10, on the opposite side of the grinding unit 11, so as to be able to reciprocate (move linearly) in the axial direction of the fixed clamp section 5. The work loader 19 may also be supported by a support base 2. While holding the workpiece 12, the work loader 19 moves the workpiece 12 between the follow clamp section 4 and the fixed clamp section 5 by the linear motion of the support base 2 in the longitudinal and width directions, and stops when the flat end face of the workpiece 12 aligns with the end face position of the fixed clamp section 5. At this time, the axis of the workpiece 12 and the axes of the follow clamp section 4 and the fixed clamp section 5 are parallel.

[0070] The work loader 19 interposes the workpiece 12 between the tracking clamp section 4 and the fixed clamp section 5, then slightly moves the workpiece 12 to make fine adjustments toward the fixed clamp section 5, and stops the workpiece 12 when the workpiece 12 makes surface contact with the end face of the fixed clamp section 5, upon receiving a command from the sensor 103. Once the gripping of the workpiece 12 by the tracking clamp section 4 and the fixed clamp section 5 is complete, the work loader 19 releases the workpiece 12 from its stopping position.

[0071] After the workpiece 12 is stopped, the movable side clamping unit 9 moves toward the workpiece 12 side (towards the fixed side clamping unit 10 side) by the operation of the linear drive device 8. When the detection material 43, which is fixed to the end face of the follow-up clamp section 4 on the workpiece 12 side as shown in Figures 6 and 7, comes into contact with any part of the irregularly shaped end face of the workpiece 12, the sensor 94, which is installed behind the movable side clamping unit 9 (opposite side of the follow-up clamp section 4) as shown in Figures 2 and 5, detects the contact of the detection material 43 with the workpiece 12 and stops the movable side clamping unit 9 (linear drive device 8).

[0072] Here, the fixing position of the detection material 43 to the end face of the follow-up clamp 4 is adjusted so that the tip surface of the detection material 43 on the end face of the follow-up clamp 4, rather than any of the gripping materials 41 protruding from the end face of the follow-up clamp 4 on the workpiece 12 side, can reliably contact the end face of the workpiece 12 when the follow-up clamp 4 moves toward the workpiece 12.

[0073] Specifically, as shown in Figure 6, when the entire gripping member 41 is immersed in the storage section 42 of the follow-up clamp section 4, the tip surface of the detection member 43 on the workpiece 12 side is adjusted to be located closer to the workpiece 12 than the tip surface of the entire gripping member 41 on the workpiece 12 side, when viewed in a direction perpendicular to the axial direction of the follow-up clamp section 4. The detection member 43 is fixed to the end face of the follow-up clamp section 4 in this adjusted position.

[0074] In Figure 6, the tip surface of the uppermost gripping member 41 is shown to coincide with the tip surface of the detection member 43, but in the immersed state, the gripping member 41 is stored inside the storage section 42 as shown by the dashed line. Note that in Figures 6 and 7, the detection member 43 is positioned at the center of the end face of the follow-up clamp section 4, but it is not always necessary to position the detection member 43 at the center of the end face.

[0075] The end face of the workpiece 12 on the side of the follow-up clamp 4 may have an irregular three-dimensional shape, as shown in Figure 4. Multiple independent gripping members 41 are housed in the storage section 42 of the follow-up clamp 4 so as to be able to move in and out in the axial direction of the follow-up clamp 4, while each gripping member 41 follows this irregular, arbitrary three-dimensional shape, and so as to be able to contact and press the end face of the workpiece 12.

[0076] Each gripping member 41 protrudes from the end face of the follow-up clamp section 4 on the workpiece 12 side (fixed clamp section 5 side) toward the workpiece 12 when gripping the workpiece 12. At the point where the end face of each gripping member 41 on the workpiece 12 side contacts the end face of the workpiece 12, it receives a reaction force from the workpiece 12 and the protrusion from the follow-up clamp section 4 stops. In this stopped state, each gripping member 41 receives the hydraulic pressure described later, and a constant compressive force acts on the workpiece 12 from each gripping member 41. The sum of the compressive forces acting on the workpiece 12 from all the gripping members 41 is the reaction force acting on the workpiece 12 from the paired fixed clamp section 5, and this reaction force becomes the compressive force when the fixed clamp section 5 grips the workpiece 12.

[0077] In particular, to accommodate cases where the end face of the workpiece 12 on the side of the follow-up clamp 4 has a slightly uneven shape, it is desirable that the end of the gripping material 41 on the workpiece 12 side tapers from the support 6 side to the workpiece 12 side, as shown in Figures 4 and 6. Specifically, the end of the gripping material 41 on the workpiece 12 side has a shape in which the cross-sectional area perpendicular to the axis of the gripping material 41 decreases or gradually decreases from the support 6 side that supports the follow-up clamp 4 to the workpiece 12 side.

[0078] Because the tip of the gripping member 41 is tapered, even when the end face of the workpiece 12 has a finely uneven shape as shown in Figure 4, each gripping member 41 can make contact with the end face of the workpiece 12 at a substantially point or near-point surface. Therefore, it is possible to grip the workpiece 12 accurately and stably without moving (shifting) the workpiece 12 even slightly in the direction perpendicular to the axis.

[0079] Furthermore, when the workpiece 12 is gripped by the entire gripping material 41 of the follow-up clamp section 4, in order to prevent the detection material 43 from being involved in gripping the workpiece 12, in other words, to prevent the detection material 43 from hindering gripping by the gripping material 41, the protruding length of the detection material 43 is adjusted so that when the entire gripping material 41 is protruding, the tip surface of the entire gripping material 41 on the workpiece 12 side is positioned closer to the workpiece 12 than the detection material 43.

[0080] When the gripping material 41 is extended, the tip surface of the gripping material 41 on the workpiece 12 side is positioned closer to the workpiece 12 than the tip surface of the detection material 43 on the workpiece 12 side. This prevents any part of the tip surface of the detection material 43 from contacting the end face of the workpiece 12 before any part of the tip surface of the gripping material 41. This is possible as long as the center of the end face of the workpiece 12 on the side of the follow-up clamp 4 does not have a three-dimensional shape that is extremely convex toward the follow-up clamp 4. When the workpiece 12 is gripped by the gripping material 41, the detection material 43 does not contact the workpiece 12 before the gripping material 41, thereby preventing malfunctions caused by the detection material 43 contacting the workpiece 12.

[0081] As shown in Figures 5, 6, and 8, a pressurized fluid supply pipe 95 is located inside the control unit 92 of the movable side pressing unit 9 to supply pressurized fluid for controlling the extension and retraction of each gripping member 41. Pressurized fluid such as pressurized oil is supplied to the pressurized fluid supply pipe 95 from a tank 99 by a hydraulic pump 96 through a control valve 97 such as a solenoid valve, as shown in Figure 5. As shown in Figure 6, the pressurized fluid supply pipe 95 branches into storage sections 42 that house each gripping member 41 within the follow-up clamp section 4, and equal pressurized fluid is supplied to each of the storage sections 42 that house each gripping member 41, thereby applying equal hydraulic pressure or other fluid pressure to the axial back surface of each gripping member 41.

[0082] In Figure 6, the dashed line representing the gripping member 41 indicates the protruding and retracted positions of the gripping member 41, and the difference between these positions indicates the possible stroke of the gripping member 41. Basically, all gripping members 41 are not subjected to hydraulic pressure from the pressurized fluid, allowing them to move freely in the axial direction. They are retracted into the storage section 42 of the follow-up clamp section 4, and their tip surfaces are kept from protruding beyond the sensing member 43. This retracted state can also be maintained by using a restoring force, for example, by interposing some kind of spring, such as a coil spring, around each gripping member 41.

[0083] When the detection material 43 comes into contact with the end face of the workpiece 12 and the sensor 94 detects this, pressurized fluid is supplied from the tank 99 to each storage section 42 through the pressurized fluid supply pipe 95, and each gripping material 41 protrudes according to the shape of the end face of the workpiece 12 and stops when it comes into contact with the end face of the workpiece 12. In the stopped state, each gripping material 41 receives the pressure necessary for holding from the pressurized fluid in the storage section 42, and continues to grip the workpiece 12 together with the fixed clamp section 5 with a constant compressive force. When gripping the workpiece 12, the compressive forces acting on the workpiece 12 from the follow-up clamp section 4 and the fixed clamp section 5 are balanced, so the sum of the compressive forces from all gripping materials 41 is equal to the compressive force from the fixed clamp section 5.

[0084] Furthermore, in order to apply a uniform compressive force in the axial direction to the end face of the workpiece 12 from multiple points when all gripping members 41 grip the workpiece 12, it is reasonable to arrange the multiple gripping members 41 evenly distributed in the circumferential direction at positions equal to the radial distance from the center of the end face of the follow-up clamping section 4, as shown in Figure 7. In the drawing, four rod-shaped (pin-shaped) gripping members 41 are arranged, but the number is arbitrary; if the gripping members 41 are rod-shaped, at least three are sufficient. If the gripping members 41 are curved or bent plate-shaped, at least two are sufficient.

[0085] When multiple gripping members 41 grip the end face of the workpiece 12, the pressure of the pressurized fluid is adjusted so that the appropriate hydraulic pressure necessary for gripping acts on each gripping member 41. When the gripping of the workpiece 12 by the multiple gripping members 41 is released after grinding of the circumferential surface of the workpiece 12 is completed, the pressurized fluid is returned to the tank 99 from the pressurized fluid supply pipe 95 by the release of the hydraulic pump 96, the pressure that was acting on the back of each gripping member 41 is released, and the follow-up clamp section 4 retracts from the workpiece 12.

[0086] Each gripping member 41 is free to move axially when the hydraulic pressure is released. However, by interposing a spring around the gripping member 41 as described above, the gripping member 41 can be automatically retracted (restored) into the storage section 42 when the hydraulic pressure is released. The restoring force (biasing force) of the spring is set to be smaller than the force due to the hydraulic pressure acting on the back of each gripping member 41.

[0087] When the workpiece 12 is gripped by the tracking clamp section 4 and the fixed clamp section 5, the grinding unit 11 shown in Figures 1, 3, and 9 moves linearly along its longitudinal direction on the support base 2 due to the rotation of the motor 114, which is a linear drive device connected to it. Specifically, as the motor 114 rotates, the ball screw 115 moves linearly in conjunction with its rotation, and at the same time, the grinding unit 11, which has a nut screwed onto the ball screw 115 as an integrated component, moves in the direction of the reciprocating motion of the movable side pressing unit 9.

[0088] With the fixed clamp section 5 and the follow-up clamp section 4 enclosed within the liquid-proof box 111 located on the clamp sections 4 and 5 of the grinding unit 11, the support sections 6 and 7 are rotated around their axes by the workpiece rotation motors 98 and 104, which are rotational drive devices attached to the rear sides of the movable side pressing unit 9 and the fixed side pressing unit 10 as shown in Figures 1 and 2, respectively, causing the follow-up clamp section 4 and the fixed clamp section 5 to rotate together with the workpiece 12. The drive shafts of the workpiece rotation motors 98 and 104 are connected to each other within the movable side pressing unit 9 and the fixed side pressing unit 10, and the workpiece rotation motors 98 and 104 are synchronized so that they rotate simultaneously at a constant speed.

[0089] As the workpiece 12 rotates around its axis together with the support parts 6 and 7, the grinding or polishing of the circumferential surface of the workpiece 12 is performed by the grinding wheel 112 described above. When grinding the circumferential surface of the workpiece 12, the grinding wheel 112 is rotated in the opposite direction to the rotation of the workpiece 12. In Figures 9 and 10, 116 shows a notched grinding wheel for forming a groove in the axial direction of the workpiece 12 when the rotation of the workpiece 12 is stopped.

[0090] As the grinding unit 11 moves toward the movable side holding unit 9, the fixed clamp 5, the workpiece 12, and the follow-up clamp 4 are taken inside the liquid-proof box 111 attached to the grinding unit 11 and surrounded by the liquid-proof box 111. With the fixed clamp 5, the workpiece 12, and the follow-up clamp 4 surrounded by the liquid-proof box 111, the grinding wheel 112 mounted inside the liquid-proof box 111 as shown in Figure 10 rotates and contacts the circumferential surface of the rotating workpiece 12, thereby grinding the circumferential surface of the workpiece 12. At this time, the workpiece 12 is kept below a certain temperature by the coolant sprayed from the coolant nozzle 113.

[0091] The liquid-proof box 111 is formed in a box shape from a wall plate 111a through which one clamping part, the follow-up clamping part 4(5), is inserted, a wall plate 111c through which the other clamping part, the fixed clamping part 5(4), is inserted, and side plates 111e, 111e that connect wall plates 111a and 111c and have surfaces parallel to the direction of movement of the grinding unit 11. The bottom of the liquid-proof box 111 is open as described later. Wall plate 111a is located on the follow-up clamping part 4(5) side, and wall plate 111c is located on the fixed clamping part 5(4) side.

[0092] As shown in Figure 10-(b), the wall plate 111a on the side of the follow-up clamp portion 4(5) of the liquid-proof box 111 has an opening 111b that corresponds to the cross-sectional shape of the follow-up clamp portion 4, for taking at least a portion of the axial direction of the follow-up clamp portion 4 into the liquid-proof box 111 when the grinding unit 11 moves toward the movable side pressing unit 9. The wall plate 111c on the side of the fixed clamp portion 5(4) has an opening 111d that corresponds to the cross-sectional shape of the fixed clamp portion 5, for taking at least a portion of the axial direction of the fixed clamp portion 5 into the liquid-proof box 111, as shown in Figure 10-(a).

[0093] Around the opening 111b on the inner surface of the wall plate 111a, a liquid-blocking brush 117 is installed (fixed) to prevent the coolant from the coolant nozzle 113 from being ejected outside the liquid-blocking box 111 when the follow-up clamp 4 is inserted into the liquid-blocking box 111 through the opening 111b. A liquid-blocking brush 117 may also be installed around the opening 111d on the inner surface of the wall plate 111c. However, when the workpiece 12 is being ground by the grinding wheel 112 positioned closer to the wall plate 111c, the coolant sprayed from the coolant nozzle 113 closer to the wall plate 111c, as shown in Figure 10-(a), is unlikely to be ejected from the opening 111d due to the direction of rotation of the grinding wheel 112, so a liquid-blocking brush 117 is not necessarily required.

[0094] Figure 11 shows an example of a work supply device 13 used in conjunction with the work loader 19 shown in Figure 14, which inserts a workpiece 12 between a pair of clamp sections 4 and 5 of the work grinding machine 1 from one side in the width direction of the support base 2. The work supply device 13 is positioned on one side in the width direction of the support base 2 and is used to position the workpiece 12 between the pair of clamp sections 4 and 5 using the work loader 19 from one side in the width direction of the support base 2. It plays an auxiliary role in ensuring that the work loader 19 accurately inserts the workpiece 12 between the clamp sections 4 and 5.

[0095] The workpiece supply device 13 comprises a frame 131 assembled in three dimensions, a frame 132 that is rotatably supported about a horizontal axis facing the width direction of the support base 2, a support base 133 that receives and temporarily fixes the workpiece 12, and a retaining member 134 supported by the frame 132 so as to be able to reciprocate along the frame 132 toward the workpiece 12 placed on the support base 133. The frame 132 can be switched between an upright state shown by a dashed line and a reclining state shown by a solid line relative to the frame 131, and when in the upright state, the workpiece 12 is placed on the support base 133 which becomes reclining. The retaining member 134 restrains the workpiece 12 placed on the support base 133 together with the support base 133 in the axial direction of the workpiece 12.

[0096] The work supply device 13, when the frame 132 is lying down, holds the work 12 with a pair of arms 191, 191 of the work loader 19, which grips the work 12 from multiple directions perpendicular to its axial direction, and transfers the work 12 to the arms 191, 191. The drawing shows an example where the pair of arms 191, 191 consists of two arms 191, 191, but there may be three or more arms 191.

[0097] The frame 131 is basically composed of a vertical member 131b and an upper horizontal member 131c, etc., which are assembled on a lower horizontal member 131a that is installed directly or indirectly on a support surface 20 such as the floor, as shown in Figures 11 and 13. In particular, the frame 131 supports the stand 132 so that it can rotate around a horizontal axis that faces the width direction of the support base 2 of the work grinding device 1. The stand 132 is located on one side of the frame 131 when it is upright and on top of the frame 131 when it is lying down. Therefore, the vertical member 131b and the upper horizontal member 131c that support the stand 132 are positioned closer to one side in the longitudinal direction of the support base 2. In Figure 11, the frame 131 is positioned on the axially movable side of the lower horizontal member 131a, on the side of the presser unit 9 (following clamp part 4), and the stand 132 is positioned on the fixed side, on the side of the presser unit 10 (fixed clamp part 5), but they may also be positioned on the opposite side.

[0098] On the side of the frame 131 where the support base 132 is located when the frame 131 is upright, a diagonal member 131d is positioned to prevent or suppress vibration and deformation of the frame 131 caused by the rotation of the support base 132 relative to the frame 131 while the workpiece 12 is supported, and to stabilize the shape of the frame 131. The diagonal member 131d is installed between the vertical member 131b and the lower horizontal member 131a on that side. The diagonal member 131d is positioned closer to the lower horizontal member 131a so that it does not collide with (interfere with) the support base 132 when it is upright.

[0099] The support frame 132 is rotatably connected (pivoted) to a vertical member 131b on the side of the diagonal member 131d, or to an upper horizontal member 131c on the side of the vertical member 131b, around a horizontal axis that faces the width direction of the support base 2. Specifically, as shown in Figure 11, a bracket 135 fixed to the upper part of the vertical member 131b on the side of the diagonal member 131d is fitted together with a bracket 136 fixed to the frame 131 side of the support frame 132. Pins 139 or bolts pass through or are inserted into both brackets 135 and 136, thereby supporting the support frame 132 so that it can rotate freely relative to the frame 131. Multiple brackets 135 and 136 are fixed in parallel in the width direction of the support base 2, which is the width direction of the support base 2, in order to ensure stability when the support frame 132 rotates, as shown in Figure 13.

[0100] One end of a linear motion device 14, such as a hydraulic cylinder, which extends and retracts axially, is connected to the frame 131 at the point on the side of the diagonal member 131d when the frame 132 is upright, from the bracket 136 of the frame 132. The other end is connected to the vertical member 131b or the lower horizontal member 131a on the opposite side of the diagonal member 131d of the frame 131. One end of the linear motion device 14 is, for example, the end of a rod 14a, and the other end is the end of a cylinder 14b.

[0101] One end of the linear motion device 14 is rotatably connected around a horizontal axis facing the width direction of the support base 2 to a bracket 137 fixed to the linear motion device 14 side of the frame 132, and the other end is rotatably connected around a horizontal axis facing the width direction of the support base 2 to a bracket 138 fixed to the frame 132 side of the vertical member 131b, etc. The linear motion device 14 keeps the frame 132 upright in the retracted state (rod 14a retracted) shown by the dashed line, and keeps the frame 132 lying down in the extended state (rod 14a protruding) shown by the solid line.

[0102] When the frame 132 is upright, it comes to rest and stabilizes when the cushioning material 15 fixed to the linear motion device 14 side of the frame 132 strikes the door stopper 16 fixed to the frame 132 side of the vertical member 131b on the frame 132 side. When the frame 132 is lying down, it comes to rest and stabilizes when the cushioning material 15 fixed to the upper horizontal member 131c side of the frame 132 strikes the door stopper 16 fixed to the frame 132 side of the upper horizontal member 131c on the frame 132 side.

[0103] A support base 133 for receiving the workpiece 12 is fixed to the surface side of the frame 132, which is the side on which the workpiece 12 is placed, so as to form a plane perpendicular to the surface of the frame 132. The support base 133 is fixed to the frame 132 so that its upper surface forms a horizontal plane when the frame 132 is in an upright position, and when the upper surface of the support base 133 forms a horizontal plane, the workpiece 12 is placed on the support base 133 with its axis oriented vertically.

[0104] When the support base 133 has a horizontal upper surface, it holds the supported member 12A which is joined to one end face in the axial direction of the workpiece 12, and continues to hold it until the frame 132 is laid down. In this relationship, when the frame 132 is upright and the upper surface of the support base 133 has a horizontal upper surface, it has a support portion 133a that can support the supported member 12A which is joined to the axial side of the workpiece 12 on the support base 133 side, and a holding portion 133b that can hold the supported member 12A of the workpiece together with the support portion 133a. The supported member 12A is joined to the end face on the fixed clamp portion 5 side when the workpiece 12 is gripped by the pair of clamp portions 4 and 5.

[0105] The form (shape) of the receiving portion 133a and the holding portion 133b is not specified as long as they can perform the function of holding the supported material 12A. However, in the drawing, when the frame 132 is in a lying position and the support base 133 is in an upright position, the receiving portion 133a is formed in the shape of a recess (groove) into which the supported material 12A of the workpiece 12 fits. Accordingly, when the supported material 12A is inserted into the receiving portion 133a, the holding portion 133b protrudes toward the supported material 12A, and the holding portion 133b is supported by the support base 133 so as to be able to extend and retract toward the supported material 12A, so as to clamp the supported material 12A together with the receiving portion 133a.

[0106] If the innermost part of the recessed receiving portion 133a from the holding portion 133b is formed into a curved or curved surface shape, as shown in Figure 15, so that a part of the circumferential surface of any of the aforementioned supported portions 12A1 and 12A2 of the supported material 12A can be fitted into it, there is an advantage in that when inserting the supported material 12A (supported portions 12A1 and 12A2) of the workpiece 12 into the receiving portion 133a, the supported material 12A can be guided to a specific position, making it easier to position.

[0107] In this example, when the support base 133 is lying down as shown by the dashed line in Figure 11, one of the supported parts 12A2 of the supported material 12A of the workpiece 12 is inserted into the support part 133a, and then the holding part 133b is made to protrude toward the supported material 12A, so that the supported material 12A is held between the holding part 133b and the support part 133a.

[0108] When the holding portion 133b extends, it clamps the supported material 12A (supported portion 12A2) together with the holding portion 133b, so the direction in which the holding portion 133b extends and retracts is perpendicular to the axial direction of the workpiece 12. In the drawing, the holding portion 133b is formed in the shape of a pin (cylindrical) or a bolt, but the shape of the holding portion 133b is arbitrary.

[0109] When the support base 133 is in a lying position, the holding part 133b grips the supported material 12A, and the support base 133 then stands upright as shown by the solid lines in Figures 11 and 12. Therefore, when the holding part 133b grips the supported material 12A (supported part 12A2), the surface or line of the holding part 133b on the supported material 12A side is in contact with the supported material 12A when the holding part 133b protrudes, so that the workpiece 12 can be stably gripped and restrained. The supported material 12A is gripped by the surface or line of the support part 133a on the supported material 12A side and the surface or line of the holding part 133b on the supported material 12A side. In Figure 12, the dashed line shown around the workpiece supply device 13 indicates a safety fence that restricts access to the workpiece supply device 13.

[0110] Here, for example, as shown by the dashed line in Figure 15, if the surface or line of the holding part 133b on the side of the supported material 12A is formed to be inclined from the protruding side to the retracted side, and from the side farther from the supported material 12A (supported part 12A2) to the side closer to it, then the greater the amount of protrusion when the holding part 133b protrudes from the retracted state, the more it will push the supported material 12A toward the receiving part 133a and restrain it. Therefore, the stability of the workpiece 12 is improved when the holding part 133b holds the supported material 12A (supported part 12A2) together with the receiving part 133a.

[0111] The extension and retraction of the holding part 133b is operated by a rod 17a of a linear motion device 17, such as an electric cylinder, fixed to the support base 133, either directly or indirectly, as shown in Figure 15, and by the linear motion (extension and retraction) of the rod 17a in the axial direction. Here, an arm 17b is connected to the rod 17a in a direction perpendicular to it and parallel to the upper surface of the support base 133 when it is lying down, and the holding part 133b is connected to the arm 17b. An opening 133A is formed in the part of the support base 133 where the holding part 133b is located, for storing the holding part 133b so that it can extend and retract.

[0112] In the drawing, the retaining portion 133b is inserted inside the guide material 133c that guides the retraction and extension of the retaining portion 133b, so that when the retaining portion 133b extends and retracts, it moves precisely in a linear direction in the axial direction of the retaining portion 133b, and no displacement occurs in the direction perpendicular to the axis of the retaining portion 133b. In particular, a guide portion 133d is formed inside the guide material 133c, having an inner surface with a rectangular cross-sectional shape that contacts the circumferential surface of the retaining portion 133b at least two points on a cross-section perpendicular to the axis.

[0113] In this case, the guide portion 133d of the guide material 133c is restrained so as not to deviate from the axis during the linear motion of the holding portion 133b. As a result, when the supported material 12A (supported portion 12A2) of the workpiece 12 is held together with the receiving portion 133a, the holding portion 133b moves linearly in such a way that it is always in contact with the supported material 12A, without any error occurring in the holding portion 133b.

[0114] As described above, the supported material 12A of the workpiece 12 has multiple supported parts 12A1 and 12A2 of different thicknesses or diameters in the axial direction, as shown in Figure 4. The receiving part 133a and the holding part 133b of the support base 133 hold one of the supported parts 12A2, for example, the one located on the side of the fixed clamp part 5, and a pair of arms 191, 191 of the work loader 19 hold the other supported part 12A1, for example, the one located on the side of the follow clamp part 4.

[0115] The supported material 12A has multiple supported parts 12A1 and 12A2 of different thicknesses in the axial direction, and the receiving part 133a and the holding part 133b hold the supported parts 12A2, and a pair of arms 191, 191 hold the supported parts 12A1, so that the receiving part 133a and the holding part 133b hold the workpiece 12, and the pair of arms 191, 191 also hold the workpiece 12. For this reason, while the receiving part 133a and the holding part 133b hold (restrain) the workpiece 12 in a direction perpendicular to the axial direction, the pair of arms 191, 191 can transition to a state in which they also hold (restrain) the workpiece 12 in a direction perpendicular to the axial direction.

[0116] As shown in Figure 11, a retaining member 134 is supported on the frame 132 so as to be able to reciprocate along the frame 132 and toward the workpiece 12 placed on the support base 133, along with the support base 133, in the axial direction of the workpiece 12. The retaining member 134 reciprocates in the axial direction of the workpiece 12. The reciprocating motion of the retaining member 134 is directly or indirectly connected to a rod 18a of a linear motion device 18 such as an electric cylinder fixed to the frame 132, and is operated by the linear motion of the rod in the axial direction.

[0117] In the drawing, a bracket 181 having a surface perpendicular to the axial direction of the workpiece 12 is connected to the rod 18a of the linear motion device 18, and a retaining member 134 is fixed to the bracket 181. The retaining member 134 reciprocates in the axial direction of the workpiece 12 as the linear motion device 18 extends and retracts (the rod 18a extends and retracts), and when it moves toward the workpiece 12, it restrains the workpiece 12 in the axial direction together with the support base 133.

[0118] As shown by the dashed line in Figure 11, the workpiece 12 is placed on the support base 133 when the support base 133 is in a lying position. While supported by the support base 133, as shown by the solid line, the frame 132 and the support base 133 are rotated 90° together, for example, around the horizontal axis facing the width direction of the support base 2, as the linear motion device 14 extends, so that the axial direction is parallel to the axial direction of the pair of clamp parts 4 and 5. In this relationship, the clamping member 134 moves (advances) axially toward the workpiece 12 after the workpiece 12 is placed on the support base 133, and restrains the workpiece 12 together with the support base 133. When the support base 133 is in a lying position, the upper surface of the support base 133 is substantially a horizontal plane. The "horizontal axis facing the width direction of the support base 2" is a horizontal axis perpendicular to the axial direction of the workpiece 12.

[0119] Figure 14 shows the opposite side of Figure 13, and also shows a situation where the axial direction of the workpiece 12 is parallel to the axial direction of the clamping parts 4 and 5, and the clamping member 134 and the support base 133 are holding the workpiece 12 in the axial direction, while a pair of arms 191, 191 of the work loader 19 are attempting to hold the workpiece 12. Here, an example is shown where one arm 191 has two holding parts 191a, 191a so that it can hold the workpiece 12 in two radial directions on a cross section perpendicular to the axial direction of the workpiece 12, but the shape of the arms 191 is arbitrary as long as a pair of arms 191, 191 can stably hold the workpiece 12.

[0120] A pair of arms 191, 191 simultaneously holds the workpiece 12 when the clamping member 134 and the support base 133 are holding the workpiece 12. In this relationship, as described above, the clamping member 134 and the support base 133 hold the supported portion 12A2 of the supported material 12A of the workpiece 12 that is closer to the support base 133, and the pair of arms 191, 191 hold the supported portion 12A1 that is closer to the clamping member 134, and the clamping member 134 and the support base 133 do not interfere with each other.

[0121] After the pair of arms 191, 191 have held the workpiece 12, the clamping member 134 moves (retracts) axially to the opposite side of the workpiece 12, and the workpiece 12 is held only by the work loader 19. When the work loader 19 holds the workpiece 12, the clamping member 134, together with the support base 133, stably restrains the workpiece 12, so there is no change in the axial direction of the workpiece 12 compared to before it was held by the work loader 19, and the axial direction of the workpiece 12 remains parallel to the axial direction of the pair of clamping parts 4, 5.

[0122] After the work loader 19 holds the workpiece 12, as shown in Figure 14, the work loader 19 rotates, for example, 180° around an axis parallel to the axial direction of the workpiece 12 (horizontal axis), and the workpiece 12 is brought closer to the work grinding device 1. Then, the work loader 19 moves linearly in the longitudinal direction of the support base 2 of the work grinding device 1, and then moves linearly towards the work grinding device 1 in the width direction of the support base 2, inserting the workpiece 12 held by the arms 191, 191 between the pair of clamping parts 4, 5 in a direction perpendicular to the axial direction of the workpiece 12.

[0123] After the workpiece 12 is gripped by the pair of clamps 4 and 5, the arms 191, 191 release the workpiece 12, and the work loader 19 detaches from the work grinding device 1. In Figure 14, L indicates the distance (stroke) of the work loader 19 moving in the width direction of the support base 2.

[0124] Figure 17 shows an example of the internal shape of the fixed clamp portion 5, one of a pair of clamp portions 4 and 5, located on the side of the workpiece 12 where the supported material 12A is protruding. Here, it shows how the supported portion 12A2 of the supported material 12A, located closest to the fixed clamp portion 5, fits axially into the end face of the fixed clamp portion 5 on the workpiece 12 side, forming a stable recess 5a.

[0125] When the workpiece 12 is placed on the support base 133 of the upright frame 132, the axial direction of the workpiece 12 is oriented vertically. However, as shown by the solid line in Figure 11, when the frame 132 is rotated 90° around the horizontal axis that faces the width direction of the support base 2, and the upper surface of the frame 132 becomes a horizontal plane and the surface of the support base 133 on the workpiece 12 side becomes a vertical plane, the axial direction of the workpiece 12 is oriented horizontally, parallel to the axial direction of the pair of clamping parts 4 and 5.

[0126] From that point onward, the axial direction of the workpiece 12 remains unchanged until it is held by the work loader 19, inserted between the pair of clamping parts 4 and 5, and gripped. Therefore, when the workpiece 12 is gripped by the clamping parts 4 and 5, the supported part 12A2 of the workpiece 12 fits into the recess 5a of the fixed clamping part 5, eliminating the need to adjust the axial direction of the workpiece 12. [Explanation of Symbols]

[0127] 1...Work grinding machine, 2...Support stand, 3...gripping device, 4... One clamp section (following clamp section), 41... Gripping material, 42... Storage section, 43... Detection material, 5...the other clamp part (fixed clamp part), 5a...the recess, 6... (the support part of one of the clamps), 7... (the support part of the other clamp part), 8... Linear drive unit, 81... Motor, 82... Drive shaft, 83... Drive gear, 84... Driven gear, 85... Ball screw, 86... Nut 9...Movable side retaining unit, 91...Main body, 92...Control unit, 93...Guide, 94...Sensor, 95...Pressurized fluid supply pipe, 96...Hydraulic pump, 97...Control valve, 98...Workpiece rotation motor (rotary drive device), 99...Tank, 10... Fixed side pressing unit, 101... Control unit, 102... Air blower pipe, 103... Sensor, 104... Workpiece rotation motor (rotation drive device), 11... Grinding unit (shown in Figures 9 and 10), 111... Liquid-proof box, 111a... Wall panel, 111b... Opening, 111c... Wall panel, 111d... Opening, 111e... Side panel, 111f... Reinforcement plate, 111f1... Through hole, 112... Grinding wheel, 113... Cooling nozzle, 114...motor, 115... Ball screw, 116... Notch grinding wheel, 117... Liquid-proof brush, 117A... Brush component, 117a... Wire-shaped material, 117b... Holder, 117b1... Fixing part, 117b2... Holding part, 117b3... Through hole, 118……Drain port, 12...Workpiece, 12A...Supported material, 12A1...Supported part, 12A2...Supported part, 13...Work supply device, 131...frame, 131a...lower horizontal member, 131b...vertical member, 131c...upper horizontal member, 131d...diagonal member, 132... stand, 133...support base, 133A...opening, 133a...support part, 133b...holding part, 133c...guide material, 133d...guide part, 134... retaining material, 135... bracket, 136... bracket, 137... bracket, 138... bracket, 139... pin, 14... Linear motion device (for frame 132), 14a... Rod, 14b... Cylinder, 15... cushioning material, 16... door stopper, 17... Linear motion device (for holding part 133b), 17a... Rod, 17b... Arm, 18... Linear motion device (for retaining member 134), 18a... Rod, 181... Bracket, 19...Work loader, 191...Arm, 191a...Holding part 20...Supporting surface.

Claims

1. A pair of clamping parts, supported on the support portion, are positioned opposite each other in the longitudinal direction of the support base, gripping the workpiece when they are close together, and rotatable together with the workpiece around its axis while gripping it. A rotational drive device that rotates each of the pair of clamping parts that grip the workpiece together with the support part around the axis of the clamping part, A linear drive device that moves at least one of the pair of clamp portions, together with the support portion that supports that clamp portion, in a linear motion in the longitudinal direction relative to the support base, A work grinding device comprising a grinding unit having a grinding wheel for grinding or polishing the workpiece, which is mounted on the support base so as to be able to move linearly in the longitudinal direction of the support base, is used in conjunction with a work loader which inserts the workpiece from one side in the width direction of the support base between the pair of clamping parts of the work grinding device, A workpiece supply device is positioned on one side in the width direction of the support base and is used to position the workpiece between the pair of clamping portions from one side in the width direction of the support base. A frame is constructed three-dimensionally, and a support base is provided that is rotatably supported about a horizontal axis facing the width direction of the support base, and can be switched between an upright and a lying position relative to the frame, and when in the upright position, the support base receives and temporarily fixes the workpiece, which is placed on the frame with its axis facing vertical or nearly vertical. The frame is supported by the frame so as to be able to reciprocate along the frame toward the workpiece placed on the support base, and a retaining member is provided to restrain the workpiece placed on the support base together with the support base in the axial direction of the workpiece, A workpiece feeding device for a workpiece grinding machine, characterized in that when the frame is in a lying position, the workpiece is held by a pair of arms of a workpiece loader, which is equipped with a pair of arms that grip the workpiece in a direction perpendicular to its axial direction.

2. The workpiece feeding device for a workpiece grinding apparatus according to claim 1, characterized in that the support base comprises a support portion capable of supporting a supported material joined to the support base side in the axial direction of the workpiece when the frame is in an upright position, and a holding portion capable of holding the supported material of the workpiece together with the support portion.

3. The workpiece feeding device for a workpiece grinding apparatus according to claim 2, characterized in that the receiving portion is a recess into which the supported material of the workpiece is inserted, and the holding portion protrudes toward the supported material when the supported material is inserted into the receiving portion, and together with the receiving portion, holds the supported material.

4. The workpiece feeding device for a workpiece grinding apparatus according to claim 2 or 3, characterized in that the supported material of the workpiece has a plurality of supported portions of different thicknesses in the axial direction, the receiving portion and the holding portion of the support base hold one of the supported portions, and the set of arms of the workpiece loader hold the other supported portions.

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