Workpiece loading equipment

Abstract

(Problem) A work loading device is provided, which is capable of highly accurate positioning of a workpiece relative to a cylindrical grinder. (Solution) The work loading device 100, which loads a cylindrical workpiece 101 into a cylindrical grinder 200, includes: a pair of robotic arms 128 and 130 that clamp the workpiece's side 101a from above and below in a horizontal position; a turning axis 136 that rotates the robotic arms in a vertical plane from the workpiece loading / unloading side toward the cylindrical grinder; a moving mechanism 104 that moves the turning axis forward and backward in a horizontal direction relative to the cylindrical grinder; and a pair of strain gauges respectively mounted at the root of each robotic arm. The device includes: gauges 168 and 170; a center calculation device 172 that calculates the deviation in the vertical and horizontal directions relative to the center position of the workpiece on the cylindrical grinding machine based on the strain detected by the strain gauges; and a correction device 174 that adjusts the torsion angle of the rotating shaft to correct the deviation in the vertical direction and drives the moving mechanism to correct the deviation in the horizontal direction.

Images