Work Feeding Device for Work Grinding Machine

Abstract

Transfer to a work loader used to hold a work piece between a pair of clamping parts during grinding of the work piece, and when the work piece is held between the pair of clamping parts from the work loader, eliminate the need for fine adjustment work in the axial direction of the work piece. 【Solution means】It is arranged on one side in the width direction of the support base 2 of the work grinding device 1 having a pair of clamping parts 4 and 5 for holding the work piece 12, and the frame 131 of the work supply device 13 used in combination with the work loader 19 is rotatably supported around a horizontal axis facing the width direction of the support base 2. The axial direction of the pressing member 134 that restrains the work piece 12 together with the receiving base 133 supported by the gantry 132 is directed toward the axial direction of the work piece 12, and the work piece 12 is clamped from a direction orthogonal to the axial direction of the work piece 12 by a set of arms 141, 141 of the work loader 19 that receives the work piece 12 from the gantry 132.

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 on a pair of clamp portions when the work to be ground is held on 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 to a cylindrical shape, when the work is held in the axial direction by a pair of clamp portions, the work is, for example, transferred from a work carrier disposed beside a work grinding apparatus equipped with a pair of clamp portions to between the clamp portions using a loader (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 carrier, and the work together with the pallet is transferred by the loader to between the clamps (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 transferred 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). Similar fine adjustment for aligning the axial center of the work 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] After a pair of clamp parts grip the workpiece, the adjustment work for aligning the axes of both of them stagnates the work from after the clamp parts grip the workpiece until grinding or the like, resulting in a decrease in the work efficiency of grinding.

[0007] Based on the above background, the present invention proposes a workpiece supply device for a workpiece grinding device that eliminates the need for fine adjustment work in the axial direction of the workpiece after a pair of clamp parts grip the workpiece. [Means for Solving the Problems]

[0008] The workpiece supply device for a workpiece grinding device according to claim 1 is Supported respectively by a pair of support portions rotatably supported with respect to the support base, the opposite to each other in the longitudinal direction of the support base, grip the workpiece when approaching each other, and can rotate around the axis together with the workpiece in the state of gripping the workpiece na a pair of clamp parts, a rotation drive device that rotates the pair of each clamp part that has gripped the workpiece around the axis of the clamp part together with the support part, a linear drive device that linearly moves at least one of the pair of each clamp part in the longitudinal direction with respect to the support base together with the support part that supports the one clamp part, used in combination with a workpiece loader that inserts the workpiece from one side in the width direction of the support base between the pair of clamp parts of a workpiece grinding device provided with a grinding unit that is linearly movably installed on the support base in the longitudinal direction of the support base and has a grinding wheel for grinding or polishing the workpiece A work supply device that is arranged on one side in the width direction of the support table and is used to place the work from one side in the width direction of the support table between the pair of clamp parts. A pedestal that is supported rotatably around a horizontal axis facing the width direction of the support table on a three-dimensionally assembled frame, can be switched between a state of standing upright and a state of lying down with respect to the frame, and has a receiving base that receives and temporarily fixes the work placed with the axis of the work facing in the vertical direction or a direction close to the vertical direction when in the standing upright state. Along the pedestal, a pressing member that is supported by the pedestal so as to be reciprocally movable toward the work placed on the receiving base and restrains the work placed on the receiving base together with the receiving base in the axial direction of the work. When the pedestal is in the lying down state, it is a constituent requirement that the work is held by the pair of arms of the work loader provided with a pair of arms that clamp the work in a direction orthogonal to the axial direction of the work.

[0009] 「 Supported respectively by a pair of support portions rotatably supported with respect to the support base, Facing each other in the longitudinal direction of the support table, gripping the work when approaching each other. Capable of rotating around the axis together with the workpiece while gripping the workpiece The "pair of clamp parts" refers to a pair of clamp parts 4 and 5 that grip (clamp) the work 12 in the axial direction of the work, as shown in FIGS. 1 to 3, on a support table 2 that supports a work grinding device 1. To each of a pair of support portions 6 and 7 rotatably supported with respect to the Are arranged facing in the longitudinal direction of the support table 2. Supported (held), and these pair of clamp portions 4 and 5 This is what is meant. The "longitudinal direction of the support table 2" refers to the length direction (long side direction) when the support table 2 is viewed in a plane or an elevation. Pair This is what is meant. The "longitudinal direction of the support table 2" refers to the length direction (long side direction) when the support table 2 is viewed in a plane or an elevation. Ru This is what is meant. The "longitudinal direction of the support table 2" refers to the length direction (long side direction) when the support table 2 is viewed in a plane or an elevation.

[0010] The "pair of clamp parts supported by the support part so as to be rotatable around the axis together with the work while gripping the work" means that when the pair of clamp parts 4 and 5 are in a state of gripping the work 12, the pair of clamp parts 4 and 5 and the work 12 can rotate around the axis together with the support parts 6 and 7. The "axis" refers to the axis of the clamp parts 4 and 5 and the support parts 6 and 7, but is also the axis of the work 12. The pair of clamp parts 4 and 5 constitute a gripping device 3.

[0011] The "rotary drive device that rotates a pair of clamp parts that hold a workpiece together with a support part around the axis of the clamp part" means that the rotary drive device rotates a pair of clamp parts 4 and 5 that hold the workpiece 12 and support parts 6 and 7 that support the clamp parts 4 and 5 around the axis of the clamp parts 4 and 5. The rotary drive device is a motor or the like. The rotary drive device interlocks and rotates one clamp part 4 (5) and the other clamp part 5 (4) simultaneously with the support parts 6 and 7 that support them respectively.

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

[0013] When the pair of clamp parts 4 and 5 hold the workpiece 12, basically, it is sufficient to reciprocate one of the clamp parts 4 (5) (support part 6 (7)). If both clamp parts 4 and 5 (support parts 6 and 7) can reciprocate, the working efficiency when gripping the workpiece 12 can be improved or fine adjustment becomes possible.

[0014] The "workpiece grinding device equipped with a grinding unit having a grinding wheel that is installed on a support base so as to be linearly movable in the longitudinal direction of the support base and grinds or polishes a workpiece" means that the components of the workpiece grinding device 1 include a grinding unit 11 that is installed on the support base 2 so as to be linearly movable in the longitudinal direction.

[0015] "Used in combination with a work loader for inserting a workpiece from one side in the width direction of the support base between a pair of clamp portions" means that, as shown in FIGS. 11 to 14, after the work supply device 13 of the present invention holds the workpiece 12, until the workpiece 12 is transferred between the pair of clamp portions 4 and 5 of the work grinding device 1, the work loader 19 is used in combination, and the workpiece 12 passes through the holding by the work loader 19. The work loader 19 includes a pair of arms 191, 191 that sandwich the workpiece 12 in a direction orthogonal to its axial direction, receives the workpiece 12 from the work supply device 13 (the receiving base 133 and the pressing member 134), and has the role of transferring it to the work grinding device 1. The "width direction of the support base 2" is the horizontal direction orthogonal to the longitudinal direction of the support base 2.

[0016] The "pair of arms" is a pair of two (pieces) of arms 191, 191 that are paired and reciprocate symmetrically with respect to each other across the axis of the workpiece 12, and in some cases, three (pieces) or more of arms 191 that are arranged at equal distances in the circumferential direction of the workpiece 12 and reciprocate in the radial direction with respect to the axis of the workpiece 12. When there are a pair of arms 191, the arms 191 sandwich (hold) the workpiece 12 when approaching each other, and release the clamped state of the workpiece 12 when moving away from each other. In the case of three (pieces) or more, the arms 191 gather when moving toward the axis side of the workpiece 12 and sandwich (hold) the workpiece 12 with an equal force (compressive force), and release the clamped state of the workpiece 12 when moving to the opposite side.

[0017] The "work supply device arranged on one side in the width direction of the support base and used for arranging a workpiece from one side in the width direction of the support base between a pair of clamp portions" means that the work supply device 13 is used in a state of being arranged 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 clamp portions 4 and 5 of the work grinding device 1.

[0018] On the side of the receiving base 133 in the axial direction of the workpiece 12, a supported material 12A for being held by the work supply device 13 and the work loader 19 is integrally joined by an adhesive or the like, and the work supply device 13 and the work loader 19 hold the workpiece 12 respectively by sandwiching the supported material 12A in a direction orthogonal to the axial direction of the workpiece 12.

[0019] Specifically, as shown in FIG. 15, when the pedestal 133 of the workpiece supply device 13 is in a state where the pedestal 132 stands upright, the receiving portion 133a can support the supported member 12A joined to the surface on the pedestal 133 side in the axial direction of the workpiece 12, and the holding portion 133b capable of holding the supported member 12A of the workpiece 12 together with the receiving portion 133A (Claim 2). The supported member 12A of the workpiece 12 is clamped in a direction orthogonal to the axial direction by the receiving portion 133a and the holding portion 133b. The holding portion 133b reciprocates, for example, in a direction orthogonal to the axial direction of the workpiece 12, restrains the supported member 12A when protruding toward the workpiece 12 side, and releases the restraint when retracting. The supported member 12A is joined to the end face in the axial direction of the workpiece 12 in a state where its axis coincides with the axis of the workpiece 12.

[0020] "A frame assembled three-dimensionally, rotatably supported about a horizontal axis facing the width direction of the support base, switchable between a state of standing upright and a state of lying down with respect to the frame,... pedestal" means that the pedestal 132 supported by the frame 131 is a basic component of the workpiece supply device 13, and by rotating the pedestal 132 about the horizontal axis, it can be switched between a state of standing upright and a state of lying down with respect to the frame 131. This "horizontal axis" is, as described above, the horizontal axis facing the width direction of the support base 2 of the workpiece grinding device 1, and its direction is parallel to the width direction of the support base 2, orthogonal to the direction in which the pair of clamp portions 4 and 5 that finally grip the workpiece 12 face each other (the longitudinal direction of the support base 2).

[0021] "The state where the pedestal stands upright" means that the upper surface of the pedestal 132 when lying down faces the vertical direction or a direction close to the vertical direction, and the surface (upper surface) of the pedestal 133 on the workpiece 12 side forms a horizontal or a surface close to the horizontal. When in the "state where the pedestal stands upright", the axis of the workpiece 12 substantially faces the vertical direction. "The state where the pedestal lies down" means that the upper surface of the pedestal 132 faces the horizontal direction or a direction close to the horizontal, and the surface of the pedestal 133 on the workpiece 12 side forms a vertical or a surface close to the vertical. When the pedestal 132 transitions from the standing upright state to the lying down state, the pedestal 132 rotates about the horizontal axis in a direction orthogonal to the direction in which the pair of clamp portions 4 and 5 face each other, as described above.

[0022] "The state where the axis of the workpiece is in the vertical direction or a direction close to the vertical when in the standing state" 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 "mount is in the lying state", the axis of the workpiece 12 is substantially in the horizontal direction. This direction is the direction in which the pair of clamp portions 4 and 5 face each other.

[0023] "Comprising a pressing member that is supported by the mount so as to be reciprocally movable along the mount and 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 a pair 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 clamp 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] "A workpiece supply device that holds the 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 mount is in the lying state" means that when the mount 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 clamp 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 clamped 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 constrained 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 about 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 when the base 132 is in the lying state coincides with the axial direction of the workpiece 12 in 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 constrained (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 gripped (held) 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 the direction parallel to the axis of the workpiece 12 in the direction orthogonal to the axis of the workpiece 12, or translate in the 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] After the workpiece 12 is placed on the pedestal 132 of the workpiece supply device 13 and before it is held by the pair of arms 191, 191, the workpiece 12 continues to be restrained by the receiving base 133 and the pressing member 134 of the pedestal 132. Therefore, the axial direction of the workpiece 12 continues to maintain a posture that coincides with the axial direction of the pressing member 134. Even when the workpiece 12 is re-held by the pair of clamp portions 4 and 5 from the pair of arms 191, 191, the axial direction of the workpiece 12 continues to coincide with the axial direction of the pressing member 134.

[0030] When the pair of clamp portions 4 and 5 receive and transfer the workpiece 12 from the pair of arms 191, 191, the pair of arms 191, 191 rotate around the central axis in a direction parallel to the axis of the workpiece 12 or translate in a direction perpendicular to the axis of the workpiece 12. Therefore, no change occurs in the axial direction of the workpiece 12. Accordingly, the axis of the workpiece 12 remains in a state facing the axial direction of the pressing member 134 when the pedestal 132 is in a lying state.

[0031] The pressing member 134 restrains and holds the workpiece 12 together with the receiving base 133 in its axial direction. Therefore, when holding the workpiece 12, the axial direction of the pressing member 134 substantially coincides with the axial direction of the workpiece 12. If the holding direction of the workpiece 12 by the pair of arms 191, 191 of the workpiece loader 19 is a direction substantially perpendicular to the axis of the workpiece 12, the axial direction of the workpiece 12 continues to coincide with the axial direction of the pressing member 134 even when the pair of arms 191, 191 hold the workpiece 12.

[0032] This relationship does not change even after the pedestal 132 rotates around the horizontal axis in a direction perpendicular to the direction in which the pair of clamp portions 4 and 5 face and transitions from the standing state to the lying state, and after the workpiece 12 is received and transferred from the pair of arms 191, 191 to the pair of clamp portions 4 and 5. The "holding direction of the workpiece by the pair of arms" refers to the direction in which a compressive force acts on the workpiece 12 when the pair of arms 191, 191 hold (clamp) the workpiece 12, and is a direction perpendicular to the axial direction of the workpiece 12.

[0033] From this, if the holding direction of the workpiece 12 by a pair of arms 191, 191 of the loader 19 is a direction substantially orthogonal to the axis of the workpiece 12, the workpiece 12 can be placed on the lying cradle 133 of the workpiece feeder 13 with the axial direction of the workpiece 12 and the axial direction of the pressing member 134 aligned. When the workpiece 12 is gripped between the pair of clamping portions 4, 5 of the workpiece grinding apparatus 1 via the loader 19, it becomes possible to align the axial direction of the pair of clamping portions 4, 5 with the axial direction of the workpiece 12.

[0034] As a result, when the workpiece 12 is gripped between the pair of clamping portions 4, 5 of the workpiece grinding apparatus 1, adjustment work such as that in Patent Documents 1 and 2 for aligning the axis of the workpiece 12 with the axes of the two clamping portions 4, 5 becomes unnecessary. Therefore, after the workpiece 12 is gripped by the two clamping portions 4, 5, it is possible to immediately proceed to the work of grinding or polishing the surface of the workpiece 12, and the work efficiency from the installation of the workpiece 12 on the gantry 132 of the workpiece feeder 13 to grinding and the like is improved.

[0035] In the case where there is no workpiece feeder 13, it is not easy to set (position) the direction of the axis of the workpiece 12 in advance so that it becomes the direction in which the pair of clamping portions 4, 5 face each other before moving the workpiece 12 between the clamping portions 4, 5 using the loader 19. Alternatively, since there is no reference for positioning the direction of the axis of the workpiece 12, work for aligning the axis of the workpiece 12 with the axes of the two clamping portions 4, 5 after the workpiece 12 is interposed between the clamping portions 4, 5 becomes indispensable.

[0036] On the other hand, the gantry 132 of the workpiece feeder 13 that holds the workpiece 12 in its axial direction rotates about a horizontal axis in a direction orthogonal to the direction in which the pair of clamping portions 4, 5 face each other and shifts from the upright state to the lying state, and the workpiece 12 is transferred to the loader 19 that clamps the workpiece 12 in a direction orthogonal to the axial direction of the workpiece 12. Thus, the position adjustment work after the workpiece 12 is interposed between the clamping portions 4, 5 becomes unnecessary.

[0037] Specifically, as shown in FIG. 15 for example, the paired receiving portion 133a and holding portion 133b of the work supply device 13 are such that the receiving portion 133a has a 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 side when the supported material 12A is inserted into the receiving portion 133a, and has a structure for sandwiching the supported material 12A together with the receiving portion 133a (Claim 3). The holding portion 133b is supported by the gantry 132 (receptacle 133) so as to be able to project and retract in one direction, and when projecting, holds the supported material 12A together with the receiving portion 133a, and when retracting, allows the supported material 12A to move freely.

[0038] In this case, when the gantry 132 of the work supply device 13 stands up and the receptacle 133 lies down, the work 12 is inserted into the receiving portion 133a of the receptacle 133 in a state where the axial direction of the work 12 substantially faces the vertical direction, and then the holding portion 133b sandwiches the supported material 12A together with the receiving portion 133a from the opposite side of the receiving portion 133a in a direction orthogonal to the axial direction of the work 12 to hold the work 12.

[0039] When the supported material 12A of the work 12 has a plurality of supported portions 12A1, 12A2 in the axial direction as follows (Claim 4), the work 12 is held by sandwiching the supported portion 12A1 other than the supported portion 12A2 held by the receiving portion 133a and the holding portion 133b with a pair of arms 191, 191 of the work loader 19 in a direction orthogonal to the axial direction of the work 12.

[0040] Specifically, the supported material 12A of the work 12 has a plurality of supported portions 12A1, 12A2 having different thicknesses in the axial direction of the work 12. The receiving portion 133a and the holding portion 133b of the receptacle 133 hold one of the supported portions 12A2, and a pair of arms 191, 191 of the work loader 19 hold the other supported portion 12A1 (Claim 4). "Having a plurality of supported portions with different thicknesses in the axial direction" means that a plurality of supported portions 12A1, 12A2 having different thicknesses such as diameters are arranged in series in the axial direction of the work 12.

[0041] In this case, by arranging a plurality of supported portions 12A1 and 12A2 with different thicknesses in the axial direction of the workpiece 12, the paired receiving portion 133a and holding portion 133b of the workpiece feeder 13 can hold the workpiece 12, and a pair of arms 191 and 191 of the workpiece loader 19 can obtain a state in which it is easy to hold the workpiece 12 without interfering (colliding) with the receiving portion 133a and the holding portion 133b. Even when the supported member 12A of the workpiece 12 does not have a plurality of supported portions 12A1 and 12A2 with different thicknesses, if the supported member 12A has a certain length in the axial direction, the paired receiving portion 133a and holding portion 133b of the workpiece feeder 13 and the pair of arms 191 and 191 can hold the supported member 12A without interference.

Effect of the Invention

[0042] A gantry having a receiving base rotatably supported about a horizontal axis facing the width direction of the support base of the workpiece grinding device on the frame, capable of being switched between an upright state and a lying state, and receiving a workpiece placed with its axis facing the vertical direction or the like in the upright state, and a pressing member for restraining the workpiece placed on the receiving base together with the receiving base in the axial direction, and a pair of arms for clamping the workpiece in a direction orthogonal to the axial direction when the gantry is in the lying state. In order to transfer the workpiece to the workpiece loader, when the workpiece is gripped between a pair of clamping portions of the workpiece grinding device via the workpiece loader, the axial direction of the pair of clamping portions can be aligned with the axial direction of the workpiece.

[0043] As a result, when gripping the workpiece between a pair of clamping portions of the workpiece grinding device, the adjustment work for aligning the axis of the workpiece with the axes of both clamping portions becomes unnecessary. Therefore, after gripping the workpiece between both clamping portions, the work can be transferred to the grinding or polishing work on the surface of the workpiece, and the work efficiency of grinding and the like is improved.

Brief Description of the Drawings

[0044]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Figure 8

Figure 9

Figure 10

Figure 11

Figure 12

Figure 13

Figure 14

Figure 15

Figure 16

Figure 17

Mode for Carrying Out the Invention

[0045] FIG. 1 and FIG. 2 are Supported respectively by a pair of support portions (spindles) 6 and 7 rotatably supported with respect to the support base 2, opposite to the longitudinal direction of the support base 2, grip (clamp) the workpiece 12 when approaching each other, and can rotate around the axis together with the workpiece 12 in the state of gripping the workpiece 12 na FIG. 4 shows a configuration example of a workpiece grinding apparatus 1 having a pair of clamp portions 4 and 5. The pair of clamp portions 4 and 5 constitute a gripping device 3. The support base 2 is a base assembled on a support surface 20 such as a floor surface in a three-dimensional frame shape for supporting the workpiece grinding apparatus 1.

[0046] In addition to the gripping device 3, the workpiece grinding apparatus 1 includes a rotation drive device that rotates each of the pair of clamp portions 4 and 5 that grip the workpiece 12 around the respective axes together with the support portions 6 and 7 that support them, and at least one of the clamp portions 4 (5) together with the support portion 6 (7) that supports it, and a linear drive device 8 that linearly moves it in the longitudinal direction with respect to the support base 2. Specifically, the rotation drive device is a workpiece rotation motor 98 and 104 attached to the movable side pressing unit 9 and the fixed side pressing unit 10, respectively, which will be described later.

[0047] As shown in FIG. 9, the workpiece grinding apparatus 1 is provided with a grinding unit 11 that is installed on the support base 2 so as to be linearly movable in the longitudinal direction of the support base 2 and has a grinding wheel 112 for grinding or polishing the workpiece 12. When the grinding unit 11 moves to one of the clamp portions 4 (5) that is linearly movable in the longitudinal direction of the support base 2, a liquid-proof box 111 that surrounds the pair of clamp portions 4 and 5 and the workpiece 12 gripped by these two clamp portions 4 and 5 is connected to the grinding unit 11.

[0048] As shown in FIGS. 1 and 9, the grinding unit 11 is linearly movably arranged on substantially the same track as the movable side pressing unit 9 that is linearly movable in the longitudinal direction with respect to the support base 2 on a plane. Further, in the width direction of the support base 2, since one of the clamp portions 4 supported by the movable side pressing unit 9 is arranged on one side of the movable side pressing unit 9, the liquid-proof box 111 is arranged on the same side as the one clamp portion 4 side of the grinding unit 11. The liquid-proof box 111 is omitted in FIG. 1.

[0049] In the illustrated example, in order to securely grip the workpiece 12 having an end face with an irregular three-dimensional shape on one side in the axial direction, among the pair of clamp portions 4 and 5, one of the clamp portions 4(5) is a follower clamp portion as shown in FIGS. 4 and 6, and protrudes and retracts from the end face on the other clamp portion 5(4) side toward the workpiece 12 side, and an example in the case of having a plurality of gripping members 41 independent of each other is shown.

[0050] When the workpiece 12 is a silicon carbide single crystal (SiC) ingot, due to its manufacturing method (sublimation method), although one end face in the axial direction is a flat surface, irregularities may occur on the other end face. Therefore, when the workpiece 12 is a SiC ingot, it is required to be able to securely grip the end face of the ingot with such irregularities.

[0051] The drawing shows an example in the case where one of the clamp portions 4, which is part of the movable side pressing unit 9, behaves as a follower clamp portion having a plurality of gripping members 41, but there may also be a case where the other clamp portion 5, which is part of the fixed side pressing unit 10, becomes a follower clamp portion having a plurality of gripping members 41. Hereinafter, an example in the case where one of the clamp portions 4 is a follower clamp portion and the other clamp portion 5 is a fixed clamp portion that is part of the fixed side pressing unit 10 will be described.

[0052] As shown in FIGS. 1 and 2, the pair of clamp portions 4 and 5 are arranged such that the axial centers of both are located 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 portions 4(5). In the illustrated example, the linear drive device 8 is connected to the movable side pressing unit 9 integrated with one of the clamp portions 4, which is a follower clamp portion, but the linear drive device 8 may also be connected to the other clamp portion 5.

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

[0054] In the illustrated example, the other clamp part 5 is also integrated with the fixed-side pressing unit 10 in the support part 7 that supports it as described later. In this context, since the other clamp part 5 does not linearly move in the longitudinal direction of the support base 2, the clamp part on the side paired with the follower clamp part 4 is hereinafter referred to as the fixed clamp part 5. Since the workpiece 12 basically has an outer peripheral surface in the shape of a cylinder and the cross-sectional shape is circular, the end faces of both the follower clamp part 4 and the fixed clamp part 5 are basically circular.

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

[0056] In the drawing, as shown in FIGS. 1, 3, and 9, the fixed-side pressing unit 10 installed on the support base 2 adjacent to the grinding unit 11 equipped with a grinding wheel 112 or the like shown in FIG. 10 for grinding or polishing the workpiece 12 is fixed to the support base 2 so that it does not linearly move in the width direction of the support base 2.

[0057] The grinding unit 11 is installed on the support base 2 so as to be linearly movable 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 FIG. 1. On the side of the pair of clamp portions 4 and 5 of the grinding unit 11, as shown in FIG. 10, a liquid-proof box 111 that houses a coolant nozzle 113 or the like for injecting a coolant for cooling the workpiece 12 during grinding or the like is attached together with a grinding wheel 112 or the like. As will be described later, the grinding wheel 112 or the like is stored in the liquid-proof box 111. The details inside the liquid-proof box 111 will be described later.

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

[0059] In the case of the example shown in FIG. 1, as the motor 81 that constitutes the linear drive device 8 rotates, the drive shaft 82 directly connected to the motor 81 rotates. At the same time, the driven gear 84 meshing with the drive gear 83 connected to the movable-side pressing unit 9 side of the drive shaft 82 rotates. A ball screw 85 is connected to the driven gear 84 in parallel with the drive shaft 82, and the ball screw 85 rotates as the driven gear 84 rotates, and the nut 86 screwed onto the movable-side pressing unit 9 side of the ball screw 85 reciprocates (moves linearly) in the axial direction with respect to the ball screw 85.

[0060] The nut 86 is part of the main body portion 91 that constitutes the movable-side pressing unit 9, and the main body portion 91 reciprocates (moves linearly) in the axial direction of the ball screw 85 simultaneously with the reciprocation of the nut 86. On one side in the direction orthogonal to the reciprocation direction of the main body portion 91, a control unit 92 having a control device for controlling the protrusion and retraction of the gripping material 41 housed in the follower clamp portion 4 so as to be able to protrude and retract is integrated, and the control unit 92 reciprocates (moves linearly) in the axial direction of the ball screw 85 together with the main body portion 91. The main body portion 91 of the movable-side pressing unit 9 travels on the parallel guides 93, 93 laid on the support base 2 in the axial direction of the ball screw 85, and is guided by both guides 93, 93.

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

[0062] Since the fixed-side pressing unit 10 equipped with the fixed clamp portion 5 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 follower clamp portion 4 and the fixed clamp portion 5 grip the workpiece 12.

[0063] In the drawing, as shown in FIG. 4, an example is shown in the case of using a SiC ingot as the workpiece 12, where one end face has an irregular three-dimensional shape and the other end face forms a flat surface perpendicular to the axis. The irregular three-dimensional end face of the workpiece 12 faces the side of the follower clamp portion 4, and the end face forming the flat surface faces the side of the fixed clamp portion 5. In this relationship, the end face of the fixed clamp portion 5 on the side of the follower clamp portion 4 is a flat surface orthogonal to the axis of the workpiece 12. The insertion of the workpiece 12 between the follower clamp portion 4 and the fixed clamp portion 5 is operated by a workpiece loader 19 described later.

[0064] The follower clamp portion 4 holds a plurality of gripping members 41 that can protrude and retract from the end face on the side of the fixed clamp portion 5 as described above. As shown in FIGS. 4 and 6, the plurality of gripping members 41 are housed in a storage portion 42 formed in the follower clamp portion 4 so as to be able to protrude and retract independently from the end face of the follower clamp portion 4. When gripping the workpiece 12, the tip portions of the plurality of gripping members 41 on the side of the workpiece 12 protrude from the end face of the follower clamp portion 4, and when the tip faces of the gripping members 41 grip the workpiece 12 axially between the end face of the fixed clamp portion 5, as shown in FIGS. 4 and 17, the axially tip faces of all the gripping members 41 grip the workpiece 12 together with the end face of the fixed clamp portion 5.

[0065] The workpiece 12 is inserted between the end faces of both clamping parts 4 and 5 which are held by a workpiece loader 19 (not shown) that moves the workpiece 12 in and out between a pair of clamping parts 4 and 5, with a distance secured between the opposing end faces. However, for the purpose of avoiding the influence on the circumferential surface, which is the grinding surface, due to the workpiece 12 being directly held by the workpiece loader 19, a supported material 12A for being directly held by the workpiece loader 19 is joined to the end face on the fixed clamping part 5 side of the workpiece 12 by an adhesive or the like, as shown in FIG. 4.

[0066] In this case, the workpiece 12 is moved toward the fixed clamping part 5 side while being held by the workpiece loader 19 on the circumferential surface of the supported material 12A integrated therewith until the end face on the fixed clamping part 5 side of the supported material 12A comes into surface contact with the end face of the fixed clamping part 5. By the end face of the fixed clamping part 5 coming into surface contact with the end face of the supported material 12A, a uniform compressive force is applied in the axial direction of the workpiece 12 in the contact state of the workpiece 12 due to the movement of the follower clamping part 4 toward the fixed clamping part 5 side, and the workpiece 12 is gripped with a constant compressive force.

[0067] When the end face on the fixed clamping part 5 side of the supported material 12A comes into contact with the end face of the fixed clamping part 5, the end face on the workpiece 12 side of the air supply pipe 102 for cleaning air blowing shown in FIG. 8, which is arranged in the control part 101 of the fixed side presser unit 10 to which the support part 7 supporting the fixed clamping part 5 is connected, reacts as a sensor dog. At the same time, a sensor 103 installed behind the control part 101 (on the side opposite to the fixed clamping part 5) detects the contact of the workpiece 12 (supported material 12A) with the end face of the fixed clamping part 5, and thus the movement of the workpiece 12 by the workpiece loader 19 toward the fixed clamping part 5 side is stopped.

[0068] The supported material 12A of the workpiece 12 has a plurality of supported parts 12A1 and 12A2 that differ in thickness or diameter in the axial direction, as shown in FIGS. 4 and 17, and the end face on the workpiece 12 side of the air supply pipe 102 contacts the end face of the supported part 12A2 that is located closest to the fixed clamping part 5 side of the supported material 12A.

[0069] The work loader 19 is arranged on the side of the fixed-side presser unit 10, beside the grinding unit 11 on the opposite side, so as to be reciprocally movable (linearly movable) in the axial direction of the fixed clamp portion 5. The work loader 19 may be supported by the support base 2. While holding the work 12, the work loader 19 moves the work 12 between the follower clamp portion 4 and the fixed clamp portion 5 by linear movement in the longitudinal direction and the width direction of the support base 2, and once stops when the flat end surface of the work 12 coincides with the end surface position of the fixed clamp portion 5. At this time, the axis of the work 12, and the axes of the follower clamp portion 4 and the fixed clamp portion 5 are in a parallel state.

[0070] After the work loader 19 interposes the work 12 between the follower clamp portion 4 and the fixed clamp portion 5, the work 12 is slightly moved for fine adjustment toward the fixed clamp portion 5 side, and when the work 12 comes into surface contact with the end surface of the fixed clamp portion 5, the work 12 is stopped in response to a command from the sensor 103. After the gripping of the work 12 by the follower clamp portion 4 and the fixed clamp portion 5 is completed, the work loader 19 disengages from the stop position of the work 12.

[0071] After the work 12 stops, the movable-side presser unit 9 moves toward the work 12 side (fixed-side presser unit 10 side) by the operation of the linear drive device 8. When the detection material 43 fixed to the end surface on the work 12 side of the follower clamp portion 4 shown in FIGS. 6 and 7 comes into contact with any part of the end surface of the work 12 having an irregular three-dimensional shape, the sensor 94 shown in FIGS. 2 and 5 installed behind the movable-side presser unit 9 (on the opposite side of the follower clamp portion 4) detects the contact of the detection material 43 with the work 12, and stops the movable-side presser unit 9 (linear drive device 8).

[0072] Here, the fixed position of the detection material 43 on the end surface of the follower clamp portion 4 is adjusted so that the tip end surface of the detection material 43 on the end surface of the follower clamp portion 4, rather than any gripping material 41 protruding from the end surface on the work 12 side of the follower clamp portion 4, can surely come into contact with the end surface of the work 12 when the follower clamp portion 4 moves toward the work 12 side.

[0073] Specifically, as shown in FIG. 6, when the follower clamp portion 4 of the entire gripping member 41 is in a state of being immersed in the storage portion 42, when viewed in a direction orthogonal to the axial direction of the follower clamp portion 4, the tip surface on the workpiece 12 side of the detection member 43 is adjusted to be positioned closer to the workpiece 12 side than the tip surface on the workpiece 12 side of the entire gripping member 41. The detection member 43 is fixed to the end surface of the follower clamp portion 4 at this adjusted position.

[0074] In FIG. 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 in the storage portion 42 as shown by the two-dot chain line. In FIGS. 6 and 7, the detection member 43 is arranged at the center position of the end surface of the follower clamp portion 4, but it is not always necessary to arrange the detection member 43 at the center of the end surface.

[0075] The end surface on the side of the follower clamp portion 4 of the workpiece 12 may have an irregular three-dimensional shape as shown in FIG. 4. While each gripping member 41 follows this irregular arbitrary three-dimensional shape, a plurality of gripping members 41 that are independent of each other are stored in the storage portion 42 of the follower clamp portion 4 so as to be able to protrude and retract in the axial direction of the follower clamp portion 4, so that the entire gripping member 41 can contact the end surface of the workpiece 12 and press the end surface.

[0076] Each gripping member 41 protrudes from the end surface on the workpiece 12 side (fixed clamp portion 5 side) of the follower clamp portion 4 toward the workpiece 12 when gripping the workpiece 12, and at the position where the end surfaces on the workpiece 12 side of each of them contact the end surface of the workpiece 12, the protrusion from the follower clamp portion 4 stops upon receiving the reaction force from the workpiece 12. In this stopped state, when each gripping member 41 receives the hydraulic pressure described later, a certain compressive force acts on the workpiece 12 from each gripping member 41. The total value 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 portion 5, and this reaction force becomes the compressive force when the fixed clamp portion 5 grips the workpiece 12.

[0077] In particular, in case the end face of the workpiece 12 on the follower clamp part 4 side has a delicate uneven shape, as shown in FIGS. 4 and 6, it is desirable that the end of the gripping material 41 on the workpiece 12 side has a tapered shape from the support part 6 side to the workpiece 12 side. 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 part 6 side that supports the follower clamp part 4 to the workpiece 12 side.

[0078] Since the tip of the gripping material 41 has a tapered shape, as shown in FIG. 4, even when the end face of the workpiece 12 has a fine uneven shape, each gripping material 41 can contact the end face of the workpiece 12 substantially at a point or a surface close to a point. Therefore, it is possible to accurately and stably grip the workpiece 12 without moving (shifting) it even slightly in the direction perpendicular to the axis of the workpiece 12.

[0079] Also, when the workpiece 12 is gripped by all the gripping materials 41 of the follower clamp part 4, in order to prevent the detection material 43 from being involved in the gripping of the workpiece 12, in other words, in order to prevent the detection material 43 from hindering the gripping by the gripping materials 41, when all the gripping materials 41 protrude, the protruding length of the detection material 43 is adjusted so that the tip faces of all the gripping materials 41 on the workpiece 12 side are located on the workpiece 12 side of the detection material 43.

[0080] Since the tip faces of all the gripping materials 41 on the workpiece 12 side during protrusion are located on the workpiece 12 side of the tip face of the detection material 43, it is avoided that any part of the tip face of the detection material 43 contacts the end face of the workpiece 12 ahead of any part of the tip face of all the gripping materials 41. This is possible unless the central part of the end face on the follower clamp part 4 side of the workpiece 12 has a three-dimensional shape that is extremely convex toward the follower clamp part 4 side. When the workpiece 12 is gripped by all the gripping materials 41, since the detection material 43 does not contact the workpiece 12 ahead of all the gripping materials 41, malfunction due to the detection material 43 contacting the workpiece 12 is avoided.

[0081] As shown in FIGS. 5, 6, and 8, a hydraulic fluid supply pipe 95 for supplying hydraulic fluid for controlling the protrusion and retraction of each gripping member 41 is arranged in the control unit 92 of the movable side pressing unit 9. As shown in FIG. 5, hydraulic fluid such as pressure oil is supplied from the tank 99 to the hydraulic fluid supply pipe 95 through a control valve 97 such as a solenoid valve by a hydraulic pump 96. As shown in FIG. 6, the hydraulic fluid supply pipe 95 branches into each storage portion 42 that houses each gripping member 41 within the follow clamp portion 4, and equal hydraulic fluid is supplied into a plurality of storage portions 42 that house each gripping member 41, and hydraulic pressure such as equal hydraulic pressure acts on the axial rear surface of each gripping member 41.

[0082] In FIG. 6, the two-dot chain line representing the gripping member 41 indicates the protruding position and the retracted position of the gripping member 41, and the difference between the respective positions indicates the possible stroke of the gripping member 41. Basically, all the gripping members 41 are in a state where they can freely move in the axial direction without receiving hydraulic pressure from the hydraulic fluid, are retracted into the storage portion 42 of the follow clamp portion 4, and are kept in a state where the tip surface does not protrude from the detection member 43. This retracted state is also maintained by utilizing a restoring force, for example, by interposing some spring such as a coil spring around each gripping member 41.

[0083] When the detection member 43 contacts the end surface of the workpiece 12 and the sensor 94 detects this, hydraulic fluid is supplied from the tank 99 to each storage portion 42 through the hydraulic fluid supply pipe 95, and each gripping member 41 protrudes according to the end surface shape of the workpiece 12 and stops when it contacts the end surface of the workpiece 12. Each gripping member 41 receives the pressure necessary for holding from the hydraulic fluid in the storage portion 42 in the stopped state, and continues to grip the workpiece 12 together with the fixed clamp portion 5 with a certain compression force. Since the compression forces acting on the workpiece 12 from the follow clamp portion 4 and the fixed clamp portion 5 when gripping the workpiece 12 are balanced, the total compression force from all the gripping members 41 is equal to the compression force from the fixed clamp portion 5.

[0084] In addition, as shown in FIG. 7, when the entire gripping members 41 grip the workpiece 12, a plurality of gripping members 41 are arranged at positions equidistant from the center of the end face of the follower clamping portion 4 in the radial direction (radius direction) and evenly distributed in the circumferential direction so that an axial compression force can be applied to the end face of the workpiece 12 from a plurality of locations and evenly in the axial direction. In the drawing, four rod (pin)-shaped gripping members 41 are arranged, but the number is arbitrary. If the gripping member 41 is rod-shaped, at least three are sufficient. If the gripping member 41 is a curved or bent plate, at least two are sufficient.

[0085] When a plurality of gripping members 41 grip the end face of the workpiece 12, the pressure of the pressure fluid is adjusted so that an appropriate hydraulic pressure acts on each gripping member 41 as required for gripping. When releasing the grip of the workpiece 12 by the plurality of gripping members 41 after finishing grinding the peripheral surface of the workpiece 12, the pressure fluid is returned from the pressure fluid supply pipe 95 to the tank 99 by releasing the hydraulic pump 96, the pressure acting on the back surface of each gripping member 41 is released, and the follower clamping portion 4 retracts from the workpiece 12.

[0086] Each gripping member 41 is free to move axially when the hydraulic pressure is released. By interposing a spring around the gripping member 41 as described above, the gripping member 41 can be automatically immersed (restored) into the storage portion 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 surface of each gripping member 41.

[0087] When the workpiece 12 is gripped by the follower clamping portion 4 and the fixed clamping portion 5, the grinding unit 11 shown in FIGS. 1, 3, and 9 linearly moves in the longitudinal direction on the support base 2 by the rotation of the motor 114 as a linear drive device connected thereto. Specifically, simultaneously with the movement of the ball screw 115 that linearly moves in conjunction with the rotation of the motor 114 when the motor 114 rotates, the grinding unit 11 integrated with the nut screwed onto the ball screw 115 moves in the reciprocating direction of the movable side presser unit 9.

[0088] With the fixed clamp part 5 to the follower clamp part 4 taken into the liquid-proof box 111 arranged on the clamp part 4, 5 sides of the grinding unit 11, the support parts 6, 7 are rotated around the axis by driving the work rotation motors 98, 104 as the rotation driving devices attached to the rear sides of the movable side presser unit 9 and the fixed side presser unit 10 shown in FIGS. 1 and 2, respectively, and the follower clamp part 4 and the fixed clamp part 5 are rotated together with the work 12. The drive shafts of the work rotation motors 98, 104 are connected to each other in the movable side presser unit 9 and the fixed side presser unit 10, and the work rotation motors 98, 104 are synchronized to rotate at the same speed simultaneously.

[0089] By the work 12 rotating around the axis together with the support parts 6, 7, grinding or polishing of the circumferential surface of the work 12 by the above-described grinding wheel 112 is performed. When grinding the circumferential surface of the work 12, the grinding wheel 112 is rotated in the direction opposite to the rotation of the work 12. In FIGS. 9 and 10, 116 indicates a notch grinding wheel for forming a groove in the axial direction of the work 12 with the rotation of the work 12 stopped.

[0090] As a result of the grinding unit 11 moving to the movable side presser unit 9 side, the fixed clamp part 5, the work 12, and the follower clamp part 4 are taken into the liquid-proof box 111 attached to the grinding unit 11 and surrounded by the liquid-proof box 111. With the fixed clamp part 5, the work 12, and the follower clamp part 4 surrounded by the liquid-proof box 111, the grinding wheel 112 mounted in the liquid-proof box 111 shown in FIG. 10 contacts the circumferential surface of the rotating work 12 while rotating, so that the circumferential surface of the work 12 is ground or the like. At this time, the work 12 is maintained at a temperature below a certain level by the coolant sprayed from the coolant nozzle 113.

[0091] The liquid-proof box 111 is formed in a box shape from side plates 111e, 111e that connect a wall plate 111a through which the follower clamp part 4(5), which is one of the clamp parts, passes, a wall plate 111c through which the fixed clamp part 5(4), which is the other clamp part, passes, and has a surface parallel to the moving direction of the grinding unit 11. The lower part of the liquid-proof box 111 is open as will be described later. The wall plate 111a is located on the side of the follower clamp part 4(5), and the wall plate 111c is located on the side of the fixed clamp part 5(4).

[0092] In the wall plate 111a on the side of the follower clamp part 4(5) of the liquid-proof box 111, as shown in Fig. 10-(b), when the movable side pressing unit 9 of the grinding unit 11 moves toward the movable side, an opening 111b having a shape corresponding to the cross-sectional shape of the follower clamp part 4 is formed to take at least a part of the axial direction of the follower clamp part 4 into the liquid-proof box 111. In the wall plate 111c on the side of the fixed clamp part 5(4), as shown in Fig. 10-(a), an opening 111d having a shape corresponding to the cross-sectional shape of the fixed clamp part 5 is formed to take at least a part of the axial direction of the fixed clamp part 5 into the liquid-proof box 111.

[0093] Around the opening 111b on the inner peripheral surface of the wall plate 111a, a liquid-proof brush 117 is installed (fixed) to prevent the coolant from the coolant nozzle 113 from spraying out of the liquid-proof box 111 when the follower clamp part 4 enters the liquid-proof box 111 from the opening 111b. The liquid-proof brush 117 may also be installed around the opening 111d on the inner peripheral surface of the wall plate 111c. However, in order to cool the workpiece 12 during grinding of the workpiece 12 by the grinding wheel 112 disposed closer to the wall plate 111c, since the coolant sprayed from the coolant nozzle 113 closer to the wall plate 111c shown in Fig. 10-(a) is less likely to spray out from the opening 111d due to the rotation direction of the grinding wheel 112, it is not always necessary to install the liquid-proof brush 117.

[0094] FIG. 11 shows a manufacturing example of a work supply device 13 used in combination with the work loader 19 shown in FIG. 14 described above, in which the work 12 is inserted from one side in the width direction of the support base 2 between the pair of clamp parts 4 and 5 of the work grinding device 1. The work supply device 13 is arranged on one side in the width direction of the support base 2 and is used to place the work 12 from one side in the width direction of the support base 2 between the pair of clamp parts 4 and 5 using the work loader 19, and has an auxiliary role to accurately perform the insertion of the work 12 by the work loader 19 between the clamp parts 4 and 5.

[0095] The work supply device 13 includes a gantry 132 that is rotatably supported around a horizontal axis facing the width direction of the support base 2 on a three-dimensionally assembled frame 131, and has a receiving base 133 that receives and temporarily fixes the work 12, and a pressing member 134 that is supported by the gantry 132 so as to be reciprocally movable along the gantry 132 toward the work 12 placed on the receiving base 133. The gantry 132 can be switched between an upright state shown by a two-dot chain line and a lying state shown by a solid line with respect to the frame 131. When in the upright state, the work 12 is placed on the receiving base 133 that will be in the lying state. The pressing member 134 restrains the work 12 placed on the receiving base 133 together with the receiving base 133 in the axial direction of the work 12.

[0096] When the gantry 132 of the work supply device 13 is in the lying state, the work 12 is held by a pair of arms 191, 191 of the work loader 19 having a pair of arms 191, 191 that clamp the work 12 from a plurality of directions in a direction orthogonal to the axial direction of the work 12, and the work 12 is delivered to the arms 191, 191. In the drawing, an example is shown in which the pair of arms 191, 191 are two arms 191, 191 that form a pair, but there may be three or more arms 191 in some cases.

[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 directly or indirectly installed on a support surface 20 such as a floor surface as shown in FIGS. 11 and 13. In particular, the frame 131 rotatably supports the gantry 132 about a horizontal axis facing the width direction of the support base 2 of the work grinding device 1. When the gantry 132 is in an upright state, it is located on one side of the frame 131, and when in a lying state, it is located on the frame 131. In this relationship, the vertical member 131b and the upper horizontal member 131c that support the gantry 132 are arranged closer to one side in the longitudinal direction of the support base 2. In FIG. 11, the frame 131 is arranged on the movable side presser unit 9 side (following clamp portion 4 side) in the axial direction of the lower horizontal member 131a, and the gantry 132 is arranged on the fixed side presser unit 10 side (fixed clamp portion 5), but they may also be arranged on the opposite sides respectively.

[0098] On the side of the frame 131 where the gantry 132 is located when upright, a diagonal member 131d is arranged to prevent or suppress the vibration and deformation of the frame 131 caused by the rotation of the gantry 132 supporting the work 12 with respect to the frame 131, and to stabilize the form of the frame 131. The diagonal member 131d is arranged at a position closer to the lower horizontal member 131a so that the gantry 132 does not collide (interfere) when upright.

[0099] The gantry 132 is rotatably connected (axially supported) to, for example, the vertical member 131b closer to the diagonal member 131d of the frame 131 or the upper horizontal member 131c closer to the vertical member 131b, about a horizontal axis facing the width direction of the support base 2. Specifically, as shown in FIG. 11, a bracket 135 fixed to the upper part of the vertical member 131b on the diagonal member 131d side is combined with a bracket 136 fixed to the frame 131 side of the gantry 132 so as to mesh with each other. By passing a pin 139 or a bolt through or inserting through both brackets 135 and 136, the gantry 132 is rotatably supported with respect to the frame 131. The brackets 135 and 136 are fixed in parallel in the width direction of the gantry 132, which is the width direction of the support base 2, in order to ensure the stability of the gantry 132 during rotation as shown in FIG. 13.

[0100] From the bracket 136 of the gantry 132, one end of a linear motion device 14 that expands and contracts in the axial direction, such as a hydraulic cylinder, for switching the gantry 132 between an upright state and a lying state, is connected to the frame 131 side at a position on the frame 131 side that is located on the diagonal member 131d side when standing up, and the other end is connected to the vertical member 131b on the side opposite to the diagonal member 131d side of the frame 131, or the lower horizontal member 131a. One end of the linear motion device 14 is, for example, the end of the rod 14a, and the other end is the end of the cylinder 14b.

[0101] One end of the linear motion device 14 is rotatably connected to a bracket 137 fixed to the linear motion device 14 side of the gantry 132 around a horizontal axis facing the width direction of the support base 2, and the other end is rotatably connected to a bracket 138 fixed to the gantry 132 side such as the vertical member 131b around a horizontal axis facing the width direction of the support base 2. The linear motion device 14 keeps the gantry 132 in an upright state in the contracted state (the state where the rod 14a is retracted) shown by the two-dot chain line, and keeps the gantry 132 in a lying state in the extended state (the state where the rod 14a protrudes) shown by the solid line.

[0102] In the state where the gantry 132 is upright, it stops and stabilizes when the buffer member 15 fixed to the linear motion device 14 side of the gantry 132 when standing up abuts against the door stop 16 fixed to the gantry 132 side of the vertical member 131b. In the state where the gantry 132 is lying down, it stops and stabilizes when the buffer member 15 fixed to the upper horizontal member 131c side of the gantry 132 when lying down abuts against the door stop 16 fixed to the gantry 132 side of the upper horizontal member 131c.

[0103] On the placement side of the workpiece 12, which is the surface side of the gantry 132, a receiving base 133 for receiving the workpiece 12 is fixed so as to form a plane orthogonal to the surface of the gantry 132. The receiving base 133 is fixed to the gantry 132 such that the upper surface forms a horizontal plane when the gantry 132 is in an upright state, and the workpiece 12 is placed on the receiving base 133 with its axis directed in the vertical direction when the upper surface of the receiving base 133 forms a horizontal plane.

[0104] When the upper surface of the receiving base 133 is in a horizontal plane, it holds the supported member 12A joined to one end face of the workpiece 12 in the axial direction and continues to hold it until the mounting base 132 lies down. In this regard, when the mounting base 132 stands up and the upper surface of the receiving base 133 is in a horizontal plane, it includes a receiving portion 133a capable of supporting the supported member 12A joined to the surface of the receiving base 133 side in the axial direction of the workpiece 12, and a holding portion 133b capable of holding the supported member 12A of the workpiece together with the receiving 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 limited as long as it can perform the function of holding the supported member 12A. In the drawing, when the mounting base 132 lies down and the receiving base 133 stands up, the receiving portion 133a is formed in the shape of a concave portion (concave groove shape) into which the supported member 12A of the workpiece 12 enters. Accordingly, when the supported member 12A is inserted into the receiving portion 133a, the holding portion 133b protrudes toward the supported member 12A side, and the holding portion 133b is supported by the receiving base 133 so as to be able to protrude and retract toward the supported member 12A side together with the receiving portion 133a to sandwich the supported member 12A.

[0106] If the deepest part of the receiving portion 133a having a concave shape is formed in a curved shape or a curved surface shape into which a part of the circumferential surface of any of the supported portions 12A1 and 12A2 of the supported member 12A can be fitted as particularly shown in FIG. 15, when the supported member 12A (supported portions 12A1 and 12A2) of the workpiece 12 is inserted into the receiving portion 133a, the supported member 12A can be guided to a specific position, which has the advantage of facilitating positioning.

[0107] In the case of this example, when the receiving base 133 lies down as shown by the two-dot chain line in FIG. 11, any one of the supported portions 12A2 of the supported member 12A of the workpiece 12 is inserted into the receiving portion 133a, and then the holding portion 133b is protruded toward the supported member 12A side, so that the supported member 12A is sandwiched by the holding portion 133b and the receiving portion 133a.

[0108] When the holding portion 133b protrudes, it holds the supported member 12A (supported portion 12A2) in a sandwiching relationship with the holding portion 133b itself. The protruding and retracting direction of the holding portion 133b is perpendicular to the axial direction of the workpiece 12. In the drawings, the holding portion 133b is formed in a pin shape (cylindrical shape) or a bolt shape, but the shape of the holding portion 133b is arbitrary.

[0109] When the receiving base 133 is in a lying state, the holding portion 133b clamps the supported member 12A, and then the receiving base 133 stands up as shown by the solid line in FIGS. 11 and 12. Therefore, when the holding portion 133b clamps the supported member 12A (supported portion 12A2), in order to stably clamp and restrain the workpiece 12, when the holding portion 133b protrudes, the surface or line of the holding portion 133b on the side of the supported member 12A is in contact with the supported member 12A. The supported member 12A is clamped between the surface or line of the receiving portion 133a on the side of the supported member 12A and the surface or line of the holding portion 133b on the side of the supported member 12A. In FIG. 12, the two-dot chain line shown around the workpiece feeding device 13 indicates a safety fence that restricts access to the workpiece feeding device 13.

[0110] Here, for example, as shown by the two-dot chain line in FIG. 15, if the surface or line of the holding portion 133b on the side of the supported member 12A is formed in a shape that slopes from the protruding side to the retracting side and from the far side from the supported member 12A to the near side, then as the protruding amount increases when the holding portion 133b protrudes from the retracted state, the effect of pushing and restraining the supported member 12A toward the receiving portion 133a can be obtained. Therefore, the stability of the workpiece 12 when the holding portion 133b clamps the supported member 12A (supported portion 12A2) together with the receiving portion 133a is improved.

[0111] The extension and retraction of the holding part 133b is directly or indirectly connected to a rod 17a of a linear motion device 17 such as an electric cylinder fixed to the receiving base 133 as shown in Fig. 15, and is operated 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 facing the direction parallel to the upper surface of the receiving base 133 when in a lying state, and the holding part 133b is connected to the arm 17b. An opening 133A is formed in the portion of the receiving base 133 where the holding part 133b is disposed for accommodating the holding part 133b so as to be extendable and retractable.

[0112] In the drawings, also, when the holding part 133b extends and retracts, the holding part 133b is inserted into the guiding member 133c that guides the extension and retraction of the holding part 133b so as to move linearly in the axial direction of the holding part 133b accurately and not cause a deviation in the direction perpendicular to the axis of the holding part 133b. Here, in particular, a guiding portion 133d having an inner peripheral surface with a rectangular cross-sectional shape that contacts at least two points on the circumferential surface of the holding part 133b in a cross-section perpendicular to the axis is formed inside the guiding member 133c.

[0113] In this case, in order to restrain the guiding portion 133d of the guiding member 133c from deviating from the axis during the linear motion of the holding part 133b, when holding the supported member 12A (supported portion 12A2) of the workpiece 12 together with the receiving part 133a, the holding part 133b always moves linearly so as to contact the supported member 12A without causing an error in the holding part 133b.

[0114] As described above, the supported member 12A of the workpiece 12 has a plurality of supported portions 12A1 and 12A2 with different thicknesses or diameters in the axial direction as shown in Fig. 4. The receiving part 133a and the holding part 133b of the receiving base 133 hold one of the supported portions 12A2, for example, the supported portion 12A2 located on the fixed clamp portion 5 side, and a pair of arms 191 and 191 of the workpiece loader 19 hold the other supported portion 12A1, for example, the supported portion 12A1 located on the follower clamp portion 4 side.

[0115] The supported member 12A has a plurality of supported portions 12A1 and 12A2 with different thicknesses in the axial direction. The receiving portion 133a and the holding portion 133b hold the supported portion 12A2, and a pair of arms 191, 191 hold the supported portion 12A1. Thus, while the receiving portion 133a and the holding portion 133b hold the workpiece 12, the pair of arms 191, 191 can also hold the workpiece 12. Therefore, in a state where the receiving portion 133a and the holding portion 133b hold (constrain) the workpiece 12 in a direction orthogonal to the axial direction, the pair of arms 191, 191 can shift to a state of holding (constraining) the workpiece 12 in a direction orthogonal to the axial direction.

[0116] As shown in FIG. 11, on the gantry 132, a pressing member 134 that constrains the workpiece 12 placed on the receiving base 133 together with the receiving base 133 in the axial direction of the workpiece 12 is supported by the gantry 132 so as to be reciprocally movable along the gantry 132 toward the workpiece 12 placed on the receiving base 133. The pressing member 134 reciprocates in the axial direction of the workpiece 12. The reciprocating movement of the pressing member 134 is directly or indirectly connected to a rod 18a or the like of a linear motion device 18 such as an electric cylinder fixed to the gantry 132, and is operated by the rod moving linearly 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 the pressing member 134 is fixed to the bracket 181. The pressing member 134 reciprocates in the axial direction of the workpiece 12 as the linear motion device 18 expands and contracts (the rod 18a moves in and out), and when it moves toward the workpiece 12 side, it constrains the workpiece 12 together with the receiving base 133 in the axial direction.

[0118] The workpiece 12 is placed on the receiving base 133 when the receiving base 133 is in a lying state as shown by the two-dot chain line in Fig. 11, and while being supported by the receiving base 133, as the linear motion device 14 extends, the entire gantry 132, together with the receiving base 133, is rotated by 90° around a horizontal axis facing the width direction of, for example, the support base 2 so that the axial direction is parallel to the axial direction of the pair of clamp parts 4 and 5. In this regard, after the workpiece 12 is placed on the receiving base 133, the pressing member 134 moves (advances) axially toward the workpiece 12 side and restrains the workpiece 12 together with the receiving base 133. When the receiving base 133 is in a lying state, the upper surface of the receiving base 133 substantially forms 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] Fig. 14 shows the side surface on the opposite side of Fig. 13. In a state where the axial direction of the workpiece 12 is parallel to the axial directions of the clamp parts 4 and 5, while the pressing member 134 and the receiving base 133 hold the workpiece 12 in the axial direction, a situation where a set of arms 191, 191 of the workpiece loader 19 described above is trying to hold the workpiece 12 is also shown. 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 in a cross-section perpendicular to the axial direction of the workpiece 12. However, as long as the set of arms 191, 191 can stably hold the workpiece 12, the form of the arm 191 is arbitrary.

[0120] The set of arms 191, 191 holds the workpiece 12 simultaneously when the pressing member 134 and the receiving base 133 hold the workpiece 12. In this regard, as described above, the pressing member 134 and the receiving base 133 hold the supported part 12A2 closer to the receiving base 133 within the supported material 12A of the workpiece 12, the set of arms 191, 191 holds the supported part 12A1 closer to the pressing member 134, and the pressing member 134 and the receiving base 133, and the set of arms 191, 191 do not interfere with each other.

[0121] After a set of arms 191, 191 hold the workpiece 12, the pressing member 134 moves (recedes) axially to the opposite side of the workpiece 12, and the workpiece 12 is only held by the workpiece loader 19. When the workpiece loader 19 holds the workpiece 12, since the pressing member 134 and the receiving base 133 stably restrain the workpiece 12 together, there is no change in the axial direction of the workpiece 12 before being held by the workpiece loader 19, and the axial direction of the workpiece 12 remains parallel to the axial direction of the pair of clamp portions 4, 5.

[0122] After the workpiece loader 19 holds the workpiece 12, as shown in FIG. 14, the workpiece loader 19 rotates, for example, 180° around an axis (horizontal axis) parallel to the axial direction of the workpiece 12, and the workpiece 12 is once brought closer to the workpiece grinding device 1 side. Then, the workpiece loader 19 linearly moves in the longitudinal direction of the support base 2 of the workpiece grinding device 1, and then linearly moves toward the workpiece grinding device 1 in the width direction of the support base 2, and inserts the workpiece 12 held by the arms 191, 191 between the pair of clamp portions 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 clamp portions 4, 5, the holding of the workpiece 12 by the arms 191, 191 is released, and the workpiece loader 19 detaches from the workpiece grinding device 1. In FIG. 14, L indicates the moving distance (stroke) of the workpiece loader 19 in the width direction of the support base 2.

[0124] FIG. 17 shows an example of the internal shape of the fixed clamp portion 5 located on the side where the supported material 12A of the workpiece 12 protrudes among the pair of clamp portions 4, 5. Here, it shows a state in which the supported portion 12A2 located closest to the fixed clamp portion 5 side of the supported material 12A fits axially into the end face side of the fixed clamp portion 5 on the workpiece 12 side, and a stabilizing recess 5a is formed.

[0125] When the workpiece 12 is placed on the receiving base 133 of the pedestal 132 in an upright state, the axial direction of the workpiece 12 is vertical. However, as shown by the solid line in Fig. 11, when the pedestal 132 is rotated 90° about a horizontal axis facing the width direction of the support base 2, and the upper surface of the pedestal 132 forms a horizontal plane and the surface of the receiving base 133 on the workpiece 12 side forms a vertical plane, the axial direction of the workpiece 12 faces a horizontal direction parallel to the axial direction of the pair of clamp portions 4 and 5.

[0126] Thereafter, until the workpiece 12 is held by the workpiece loader 19 and inserted between the pair of clamp portions 4 and 5 and gripped, there is no change in the axial direction of the workpiece 12. Therefore, when the workpiece 12 is gripped by the clamp portions 4 and 5, it is not necessary to adjust the axial direction of the workpiece 12 because the supported portion 12A2 of the workpiece 12 fits into the recess 5a of the fixed clamp portion 5.

Explanation of Reference Numerals

[0127] 1... Workpiece grinding device, 2... Support base, 3... Gripping device, 4... One clamp portion (following clamp portion), 41... Gripping material, 42... Storage portion, 43... Detection material, 5... The other clamp portion (fixed clamp portion), 5a... Recess, 6... Support portion (of one clamp portion), 7... Support portion (of the other clamp portion), 8... Linear drive device, 81... Motor, 82... Drive shaft, 83... Drive gear, 84... Driven gear, 85... Ball screw, 86... Nut, 9... Movable side pressing unit, 91... Main body portion, 92... Control portion, 93... Guide, 94... Sensor, 95... Hydraulic fluid supply pipe, 96... Hydraulic pump, 97... Control valve, 98... Workpiece rotation motor (rotation drive device), 99... Tank, 10... Fixed side pressing unit, 101... Control portion, 102... Air supply pipe, 103... Sensor, 104... Workpiece rotation motor (rotation drive device), 11... Grinding unit (described in Figs. 9 and 10), 111... Liquid-proof box, 111a... Wall panel, 111b... Opening, 111c... Wall panel, 111d... Opening, 111e... Side plate, 111f... Reinforcing plate, 111f1... Insertion hole, 112... Grinding stone, 113... Cooling nozzle, 114... Motor, 115... Ball screw, 116... Notch stone, 117... Liquid-proof brush, 117A... Brush component material, 117a... Linear material, 117b... Holder, 117b1... Fixed part, 117b2... Holding part, 117b3... Insertion hole, 118... Drainage port, 12... Workpiece, 12A... Supported material, 12A1... Supported part, 12A2... Supported part, 13... Workpiece feeding device, 131... Frame, 131a... Lower horizontal member, 131b... Vertical member, 131c... Upper horizontal member, 131d... Diagonal member, 132... Stand, 133... Receiving base, 133A... Opening, 133a... Receiving part, 133b... Holding part, 133c... Guide material, 133d... Guiding part, 134... Pressing material, 135... Bracket, 136... Bracket, 137... Bracket, 138... Bracket, 139... Pin, 14... Linear motion device (for stand 132), 14a... Rod, 14b... Cylinder, 15... Buffer material, 16... Door stopper, 17... Linear motion device (for holding part 133b), 17a... Rod, 17b... Arm, 18... Linear motion device (for pressing material 134), 18a... Rod, 181... Bracket, 19... Workpiece loader, 191... Arm, 191a... Holding part, 20... Support surface.

Claims

1. A pair of clamping sections each supported by a pair of support parts rotatably supported on a support base, facing each other in the longitudinal direction of the support base, gripping a workpiece when approaching each other, and capable of rotating about an axis together with the workpiece while gripping the workpiece; a rotation drive device that rotates each of the pair of clamp parts that grip the workpiece together with the support part about an axis of the clamp part; a linear drive device that linearly moves at least one of the pair of clamping portions together with the support portion that supports the one of the clamping portions in a longitudinal direction relative to the support base; a grinding unit having a grinding wheel that is installed on the support table and can move linearly in the longitudinal direction of the support table and that grinds or polishes the workpiece; and a work loader that inserts the workpiece between the pair of clamping parts of the workpiece grinding device from one side in the width direction of the support table; a work supply device that is disposed on one side of the support table in the width direction and is used to place the work from the one side of the support table between the pair of clamping parts, A stand is supported on a three-dimensionally assembled frame so as to be rotatable about a horizontal axis facing the width direction of the support stand, and can be switched between an upright state and a lying state with respect to the frame. When in the upright state, the stand has a support stand that receives and temporarily fixes the workpiece placed with the axis of the workpiece facing vertically or in a direction close to vertical. a pressing member that is supported by the base so as to be freely movable back and forth along the base toward the workpiece placed on the support base and that restrains the workpiece placed on the support base in an axial direction of the workpiece together with the support base; A work supply device for a work grinding apparatus, characterized in that, when the platform is in a lying position, the work is held by a set of arms of the work loader, which has a set of arms that clamp the work in a direction perpendicular to the axial direction of the work.

2. The work supply device for a work grinding apparatus as described in claim 1, characterized in that the receiving table has a receiving portion capable of supporting a supported material joined to the surface of the receiving table side in the axial direction of the work when the stand is in an upright position, and a holding portion capable of holding the supported material of the work together with the receiving portion.

3. A work supply device for a work grinding apparatus as described in claim 2, characterized in that the receiving portion is a recess into which the supported material of the workpiece fits, and the holding portion protrudes toward the supported material when the supported material is inserted into the receiving portion, and clamps the supported material together with the receiving portion.

4. A work supply device for a work grinding apparatus as described in claim 2 or claim 3, characterized in that the supported material of the work has a plurality of supported portions having different thicknesses in the axial direction, the receiving portion and the holding portion of the receiving stand hold any of the supported portions, and the set of arms of the work loader hold the other supported portions.

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