Patent Description:
In a processing device that performs grinding or the like on a ring-shaped workpiece, the workpiece conveyed by a workpiece conveyance path is disposed at a processing position, and predetermined processing is performed to the workpiece at the processing position.

Then, the processed workpiece is taken out from the processing position and returned to the workpiece conveyance path, and the workpiece is sent to a subsequent step.

A workpiece changer or a loading device is widely used as a mechanism that conveys the workpiece to such a processing position (for example, Patent Literatures <NUM> to <NUM>).

<CIT> discloses a workpiece changer according to the preamble of claim <NUM>.

In a workpiece changer disclosed in Patent Literature <NUM>, holding portions capable of respectively holding a workpiece and a processed product are provided at both end portions of a swing arm. The workpiece held by one holding portion is conveyed from a vicinity of a supply and discharge position to a vicinity of a processing position by intermittently rotating the swing arm about a horizontal rotation shaft.

At the same time, the processed product held by the other holding portion is conveyed from the vicinity of the processing position to the vicinity of the supply and discharge position.

Patent Literature <NUM> discloses a loading device including a planetary gear device having a planetary gear capable of planetary motion.

When the planetary gear performs the planetary motion, an eccentric coupling portion, which is provided on the planetary gear eccentrically with respect to a rotation center and is coupled to a rotation member and a loader member, performs motion along a cycloidal curve.

Thereby, the rotation member is rotated and the loader member is operated in a radial direction, and a workpiece is replaced with respect to a fixed shoe.

Patent Literature <NUM> discloses a loading device including a loader unit by which a workpiece is supplied at a workpiece supply position, the workpiece is ground at a workpiece grinding position, and the ground workpiece is discharge to outside at a workpiece discharge position.

In the loading device, a workpiece holding mechanism is positioned at each position at the same timing.

Patent Literature <NUM> discloses a loading device including a rotatable holder having workpiece support arms extending in opposite directions, and a workpiece holding arm that rotates coaxially with the holder.

In this loading device, a processed workpiece supported by a fixed shoe is clamped by one workpiece support arm of the holder and the workpiece holding arm, and then the processed workpiece is taken out by rotating the holder and the workpiece holding arm together.

In a processing device for mass-produced workpieces, loading time required for replacing a workpiece needs to be shortened due to a demand for improvement in productivity.

However, there is a limit to shortening the loading time in the above-described workpiece changer or loading device that continuously performs a plurality of operations, such as a workpiece unloading operation, a workpiece arrangement operation and a workpiece loading operation.

In addition, a structure of the loading device, arrangement of components, and the like have to be changed for a processing content-change or a setup-change, resulting in poor versatility.

Moreover, a plurality of components have to be replaced according to a shape of the workpiece to be processed, and a long time is required for the setup-change work.

In view of such circumstances, as a loading device provided for a vertical grinding machine, a rectilinear motion by a ball screw and a servomotor may be converted into movement along a path following a cam-shaped groove to perform a workpiece replacement operation at high speed.

However, even in this loading device, a movement direction of a workpiece is limited since the workpiece is moved along a groove shape in the structure. Therefore, the setup-change work, such as changing the shape of the workpiece, remains complicated.

An object of the present invention is to provide a workpiece changer, a workpiece conveyance device and a processing device capable of replacing a workpiece at high speed, improving versatility, and reducing time and effort for a setup-change, and a manufacturing method for a ring bearing, a manufacturing method for a machine, and a manufacturing method for a vehicle.

According to other embodiments of the present invention, manufacturing methods are defined in claims <NUM>-<NUM>.

According to the present invention, the workpiece can be replaced at high speed, and the versatility can be improved, and the time and effort for the setup-change can be reduced.

Here, a case where an outer ring of a rolling bearing is used as a workpiece will be described as an example.

<FIG> is a partially cross-sectional perspective view of the rolling bearing.

A rolling bearing (hereinafter, simply referred as a "bearing") <NUM> includes an inner ring <NUM>, an outer ring <NUM>, a plurality of rolling elements <NUM> provided between the inner ring <NUM> and the outer ring <NUM>, and a cage <NUM> configured to rotatably hold the rolling elements <NUM>.

The inner ring <NUM> is an annular body made of metal such as steel and having a raceway groove (a guide surface) 11a for the rolling elements <NUM> on an outer circumferential surface.

The outer ring <NUM> is an annular body made of metal such as steel and having a raceway groove (a guide surface) 13a for the rolling elements <NUM> on an inner circumferential surface.

<FIG> is a perspective view of a workpiece conveyance device including a workpiece changer according to a first example.

<FIG> is a cross-sectional view showing a cross section of the workpiece changer shown in <FIG> taken along the line III-III.

A workpiece W exemplified here is the outer ring <NUM> having the annular body shown in <FIG>.

As shown in <FIG>, a workpiece changer <NUM> according to this example, a workpiece conveyance unit <NUM> configured to convey the workpiece W, and a pick-and-place mechanism <NUM> configured to transfer the workpiece W to a processing position constitute a workpiece conveyance device <NUM>.

In the workpiece conveyance device <NUM>, the pick-and-place mechanism <NUM> transfers the unprocessed workpiece W, which is supplied from a previous step by the workpiece conveyance unit <NUM>, to a processing position P1 of a vertical processing device (not shown). Then, the workpiece conveyance device <NUM> discharges the workpiece W, which is processed by the processing device, from the processing device, and the workpiece conveyance device <NUM> returns the processed workpiece W to the workpiece conveyance unit <NUM>, and the workpiece conveyance unit <NUM> conveys the processed workpiece W to a next step.

As shown in <FIG>, the workpiece changer <NUM> includes a loading member <NUM>, a loading member supporting mechanism <NUM>, a rotation drive unit <NUM> and a displacement drive unit <NUM>.

The loading member <NUM> is formed in an elongated plate shape as shown in <FIG>, and an intermediate portion thereof is vertically supported by a rotation shaft <NUM> and is rotatable about the rotation shaft <NUM>.

The loading member <NUM> is provided with workpiece holding portions <NUM> configured to hold the workpiece W at two radially outer edge portions.

Specifically, the workpiece holding portions <NUM> are respectively provided at one end portion and the other end portion in a longitudinal direction of the loading member <NUM> at positions equidistant from the rotation shaft <NUM> in the radial direction.

The workpiece holding portions <NUM> are respectively disposed at the processing position P1 where processing of the workpiece W is performed by the processing device, and a replacement position P2 where the workpiece W is transferred and replaced.

Positions of the pair of workpiece holding portions <NUM> are switched by reversal (<NUM>° rotation) of the loading member <NUM> about the rotation shaft <NUM>.

The workpiece holding portion <NUM> has a hole whose diameter is slightly larger than a diameter of the workpiece W. The workpiece W is taken in and out from above the workpiece holding portion <NUM> (an upper side in <FIG>, a proximal side in a direction perpendicular to a paper plane of <FIG>).

A table <NUM> is provided below the loading member <NUM>.

The table <NUM> has an opening <NUM> which is an arc-shaped long hole through which the rotation shaft <NUM> is inserted (see <FIG>).

The opening <NUM> is formed in an arc shape centered on a central axis of a swing drive shaft <NUM> of a swing portion <NUM> (described later) of the loading member supporting mechanism <NUM>.

An outer circumferential surface of the workpiece W in the workpiece holding portion <NUM> is held by an inner circumferential surface of the workpiece holding portion <NUM> in a state where a lower portion of the workpiece W is in contact with the table <NUM>.

When the loading member <NUM> is rotated about the rotation shaft <NUM>, the workpiece W moves while sliding on an upper surface of the table <NUM> in a sated of being accommodated in the workpiece holding portion <NUM>.

The loading member supporting mechanism <NUM> supports the loading member <NUM> by the rotation shaft <NUM>.

The loading member supporting mechanism <NUM> movably supports the loading member <NUM> in a plane perpendicular to an axial direction of the rotation shaft <NUM>.

The loading member supporting mechanism <NUM> includes an arm <NUM> and a swing portion <NUM>.

The arm <NUM> having a box shape formed of a pair of facing members supports the rotation shaft <NUM> of the loading member <NUM> at a distal end portion thereof.

The swing portion <NUM> swingably supports a base end portion of the arm <NUM> which is on a side opposite to the rotation shaft <NUM>.

The rotation shaft <NUM> is supported by a shaft supporting portion <NUM> integrated with a driven pulley <NUM> at the distal end portion of the arm <NUM>.

The rotation shaft <NUM> includes a head portion and a shaft portion. The shaft portion penetrates the opening <NUM> of the table <NUM>, and is fixed to the shaft supporting portion <NUM> on an arm <NUM>-side. The head portion is fixed to the intermediate portion of the loading member <NUM>.

The driven pulley <NUM> is accommodated in the arm <NUM>.

As shown in <FIG>, the swing portion <NUM> includes a swing drive shaft <NUM> having a cylindrical shape.

The swing drive shaft <NUM> is rotatably supported via a bearing <NUM> by a support cylinder portion <NUM> provided on a stand <NUM>.

An upper end portion of the swing drive shaft <NUM> is coupled to the base end portion of the arm <NUM>, and the swing drive shaft <NUM> and the arm <NUM> are integrally formed.

Thereby, the base end portion of the arm <NUM> is swingably supported by the swing portion <NUM>.

In this way, the loading member supporting mechanism <NUM> displaces the rotation shaft <NUM> provided at the distal end portion of the arm <NUM> in an arc about the swing drive shaft <NUM> of the swing portion <NUM>, and displaces the loading member <NUM> supported by the rotation shaft <NUM> in the plane perpendicular to the axial direction of the rotation shaft <NUM>.

In a case of the vertical shape, the loading member <NUM> is moved in a horizontal plane, but the axial direction of the rotation shaft <NUM> is not necessarily limited to a vertical direction, and may be inclined from the vertical direction.

The rotation drive unit <NUM> includes a rotation drive shaft <NUM>, a rotation transmission member <NUM> and a rotation motor <NUM>.

The rotation drive shaft <NUM> is inserted into the swing drive shaft <NUM> of the swing portion <NUM> and is disposed coaxially with the swing drive shaft <NUM>.

Portions of the rotation drive shaft <NUM> in vicinities of upper and lower ends thereof are rotatably supported by the swing drive shaft <NUM> via bearings <NUM>.

A drive pulley <NUM> is fixed to an upper end portion of the rotation drive shaft <NUM>.

The drive pulley <NUM> is accommodated in the arm <NUM>.

The rotation transmission member <NUM> is formed of, for example, an endless belt, and is hung between the driven pulley <NUM> of the rotation shaft <NUM> of the loading member <NUM> and the drive pulley <NUM> of the rotation drive shaft <NUM>.

The rotation motor <NUM> is formed of a servomotor and is disposed below the rotation drive shaft <NUM>.

The rotation drive shaft <NUM> is coupled to a drive shaft <NUM> of the rotation motor <NUM>.

The rotation drive shaft <NUM> is driven to rotate by the rotation motor <NUM>.

The rotation transmission member <NUM> transmits rotation of the rotation drive shaft <NUM> to the rotation shaft <NUM> of the loading member <NUM>.

Thereby, the loading member <NUM> is driven to rotate integrally with the rotation shaft <NUM>.

The displacement drive unit <NUM> includes a swing motor <NUM>, a drive gear <NUM> and a driven gear <NUM>.

The swing motor <NUM> is formed of an external servomotor. The drive gear <NUM> is fixed to a drive shaft <NUM> of the swing motor <NUM>.

The driven gear <NUM> is fixed to a lower end portion of the swing drive shaft <NUM> constituting the swing portion <NUM>.

The drive gear <NUM> and the driven gear <NUM> are meshed with each other, and transmit rotation of the swing motor <NUM> to the swing drive shaft <NUM>.

Thereby, the arm <NUM> supported by the swing drive shaft <NUM> is swung by drive of the swing motor <NUM>.

The swing motor <NUM> may be built in a housing (not shown) of the displacement drive unit <NUM> as a built-in structure.

A transmission method of a rotational force of the swing motor <NUM> to the swing drive shaft <NUM> is not limited to a transmission method using gears, but may be another method such as a transmission method using a belt.

In this way, in the workpiece changer <NUM>, the swing motor <NUM> configured to drive the swing drive shaft <NUM> and the rotation motor <NUM> configured to drive the rotation drive shaft <NUM> are provided so as to be individually drivable.

<FIG> is a plan view of the workpiece changer.

The displacement drive unit <NUM> shown in <FIG> rotates the swing drive shaft <NUM> by the swing motor <NUM> to swing the arm <NUM>, thereby displacing the loading member <NUM> between a workpiece set state S1 and a workpiece retracted state S2.

In the workpiece set state S1, the workpiece holding portions <NUM> are respectively disposed at the replacement position P2 and the processing position P1 by the loading member supporting mechanism <NUM>. In the workpiece retracted state S2, the workpiece holding portions <NUM> are disposed away from the replacement position P2 and the processing position P1.

When the loading member <NUM> is in the workpiece set state S1, a plurality of shoes <NUM> are disposed at the processing position P1 where one workpiece holding portion <NUM> is disposed.

As shown in <FIG>, these shoes <NUM> are fixed on a support base <NUM> of the processing device.

The support base <NUM> is disposed below the table <NUM>, and the shoes <NUM> fixed to the support base <NUM> support an outer circumference of the workpiece W disposed at the processing position P1.

The processing device includes, for example, a processing tool such as a grindstone, and the processing tool is provided so as to be able to move (cut) in an in-plane direction of an upper surface of the support base <NUM> and vertically move (send) up and down.

Processing on the workpiece W is performed by moving the processing tool relative to the workpiece W disposed at the processing position P1.

In the workpiece changer <NUM> configured as described above, while the loading member supporting mechanism <NUM> moves the loading member <NUM> from the workpiece set state S1 to the workpiece retracted state S2 and returns to the workpiece set state S1 again, the displacement drive unit <NUM> and the rotation drive unit <NUM> perform a workpiece replacement operation of replacing the workpiece W at the processing position P1. The workpiece replacement operation includes a sending operation and a feeding operation described below.

In the sending operation, the displacement drive unit <NUM> and the rotation drive unit <NUM> arrange the workpiece holding portion <NUM>, which is disposed at the processing position P1, at the replacement position P2 in a trajectory in which the loading member <NUM> does not interfere with the shoes <NUM>.

In the feeding operation, the displacement drive unit <NUM> and the rotation drive unit <NUM> arrange the workpiece holding portion <NUM>, which is disposed at the replacement position P2, at the processing position P1.

When the workpiece W is replaced once for the processing position P1 by simultaneously performing the sending operation and the feeding operation, a rotation amount α for moving (swinging) the rotation shaft <NUM> in an arc is smaller than a rotation amount β (β = <NUM>°) of the loading member <NUM> about the rotation shaft <NUM>.

As shown in <FIG>, the workpiece conveyance unit <NUM> includes, for example, a belt conveyor, and conveys the workpiece W.

The workpiece conveyance unit <NUM> includes a workpiece supply position P3 where the unprocessed workpiece W is continuously supplied and a workpiece reception position P4 where the processed workpiece W is placed.

The unprocessed workpiece W supplied from the previous step is conveyed toward the workpiece supply position P3 (in a direction of an arrow A in <FIG>).

The processed workpiece W placed at the workpiece reception position P4 is conveyed toward the next step (in a direction of an arrow B in <FIG>).

The workpiece conveyance unit <NUM> is not limited to a single belt conveyor, but may be a plurality of belt conveyors, and may have a function of supplying the workpiece W to the workpiece supply position P3 and conveying the workpiece W from the workpiece reception position P4 to a subsequent stage.

The pick-and-place mechanism <NUM> includes a column <NUM>, a pickup support body <NUM> and a gripping mechanism <NUM>.

The pickup support body <NUM> is supported so as to be swingable about the column <NUM> and movable up and down.

The gripping mechanism <NUM> is supported by a distal end of the pickup support body <NUM>.

The gripping mechanism <NUM> includes a pair of chucks <NUM>, each of which includes a gripping pin <NUM> extending downward.

The gripping mechanism <NUM> is configured to grip and release the workpiece W by moving the chucks <NUM> each having the gripping pin <NUM> in directions close to and away from each other in a horizontal plane.

The pick-and-place mechanism <NUM> brings a pair of gripping pins <NUM> close to each other, lowers the pickup support body <NUM>, and inserts the gripping pins <NUM> into the ring-shaped workpiece W.

Then, by causing the chucks <NUM> away from each other, the workpiece W is gripped from an inner circumferential side by the pair of gripping pins <NUM> in the workpiece W.

Then, the workpiece W gripped by the chucks <NUM> is lifted by raising the pickup support body <NUM>.

Then, the gripped workpiece W is horizontally moved by swinging the pickup support body <NUM>.

When the workpiece W is disposed at a movement destination, the workpiece W is moved to the movement destination by the pickup support body <NUM>, and then the pickup support body <NUM> is lowered and the chucks <NUM> of the gripping mechanism <NUM> are brought close.

Thereby, the gripping of the workpiece W by the gripping pins <NUM> is released, and the workpiece W is placed on the movement destination.

Thereafter, the pickup support body <NUM> is raised to remove the gripping pins <NUM> from the workpiece W.

The pick-and-place mechanism <NUM> configured to move the workpiece has a function of alternately performing a loading operation and an unloading operation on the workpiece W.

The loading operation is a supply operation in which the unprocessed workpiece W disposed at the workpiece supply position P3 of the workpiece conveyance unit <NUM> is gripped to be transferred and supplied to the workpiece holding portion <NUM> of the loading member <NUM> disposed at the replacement position P2.

The unloading operation is a discharge operation in which the processed workpiece W gripped by the workpiece holding portion <NUM> disposed at the replacement position P2 of the loading member <NUM> is gripped to be transferred and discharged to the workpiece reception position P4 of the workpiece conveyance unit <NUM>.

Since the loading operation and the unloading operation by the pick-and-place mechanism <NUM> are performed while the workpiece W is being processed by the processing device, tact time is not affected, for example, in a state of waiting for conveyance during non-processing time.

Next, a specific operation of the workpiece conveyance device <NUM> including the workpiece changer <NUM> will be described.

<FIG> are schematic plan views showing the loading operation by the pick-and-place mechanism <NUM>.

<FIG> are schematic plan views showing the workpiece replacement operation by the workpiece changer <NUM>. <FIG> shows the workpiece set state S1, and <FIG> shows the workpiece retracted state S2.

<FIG> are schematic plan views showing the unloading operation by the pick-and-place mechanism <NUM>.

As shown in <FIG>, when the unprocessed workpiece W is conveyed to the workpiece supply position P3 of the workpiece conveyance unit <NUM>, the unprocessed workpiece W disposed at the workpiece supply position P3 is gripped by the chucks <NUM> of the pick-and-place mechanism <NUM>.

Thereafter, as shown in <FIG>, the pickup support body <NUM> swings toward the replacement position P2 (in a direction of an arrow C in <FIG>), and the unprocessed workpiece W is transferred to the workpiece holding portion <NUM> disposed at the replacement position P2 of the loading member <NUM>.

As shown in <FIG>, when the unprocessed workpiece W is transferred to the workpiece holding portion <NUM> at the replacement position P2 and processing on the workpiece W of the workpiece holding portion <NUM> at the processing position P1 is completed, the workpiece replacement operation including the sending operation and the feeding operation by the workpiece changer <NUM> is started.

In the sending operation, firstly, the swing motor <NUM> of the displacement drive unit <NUM> and the rotation motor <NUM> of the rotation drive unit <NUM> shown in <FIG> are driven. Then, as shown in <FIG>, the arm <NUM> swings from a position of the workpiece set state S1 toward the workpiece retracted state S2 (in a direction of an arrow D in <FIG>), and the loading member <NUM> rotates in a direction the same as that of the arm <NUM> (in a direction of an arrow E in <FIG>) (also see <FIG>).

Thereby, the loading member <NUM> in the workpiece set state S1 rotates about an axis L2 of the rotation shaft <NUM> while swinging about an axis L1 of the swing drive shaft <NUM> shown in <FIG>.

Then, the workpiece holding portion <NUM> disposed at the processing position P1 of the loading member <NUM> is separated from the processing position P1, and the workpiece W held by the workpiece holding portion <NUM> is moved in a direction away from the shoes <NUM>.

Thereafter, as shown in <FIG>, the loading member <NUM> reaches the workpiece retracted state S2 (also see <FIG>), and the sending operation is shifted to the feeding operation.

In the feeding operation, drive of the swing motor <NUM> of the displacement drive unit <NUM> is reversed while rotation of the loading member <NUM> in the direction of the arrow E by the rotation motor <NUM> of the rotation drive unit <NUM> shown in <FIG> is continued.

Thereby, as shown in <FIG>, the arm <NUM> swings toward the workpiece set state S1 (in a direction of an arrow F in <FIG>).

Then, the workpiece holding portion <NUM> holding the processed workpiece W is moved toward the replacement position P2, and the workpiece holding portion <NUM> holding unprocessed workpiece W is moved toward the processing position P1.

At this time, in order to avoid interference between the shoes <NUM> and the workpiece W, a control device (not shown) controls the loading member <NUM> and the arm <NUM> such that the loading member <NUM> is further rotated in the E direction from <FIG> before the arm <NUM> reaches the position of the workpiece set state S1 and then the arm <NUM> reaches the position of the workpiece set state S1.

Thereafter, as shown in <FIG>, when the loading member <NUM> reaches the workpiece set state S1 (also see <FIG>), the workpiece holding portion <NUM> holding the processed workpiece W is disposed at the replacement position P2, and the workpiece holding portion <NUM> holding the unprocessed workpiece W is disposed at the processing position P1.

At this time, the unprocessed workpiece W is gradually disposed at the processing position P1 without interfering with the shoes <NUM>.

As shown in <FIG>, when the workpiece holding portion <NUM> of the loading member <NUM> holding the processed workpiece W is disposed at the replacement position P2, the processed workpiece W held by the workpiece holding portion <NUM> is gripped by the chucks <NUM> of the pick-and-place mechanism <NUM>.

Thereafter, as shown in <FIG>, the pickup support body <NUM> swings toward the workpiece reception position P4 (in a direction of an arrow G in <FIG>), and the processed workpiece W is placed at the workpiece reception position P4 of the workpiece conveyance unit <NUM>.

Here, an example of processing on the workpiece W at the processing position P1 and a retraction direction of the workpiece W will be described.

<FIG> are plan views at a processing position for showing an example of processing on a workpiece and a retraction direction of the workpiece.

As shown in <FIG>, in a case where an inner circumferential surface of the workpiece W is polished, a processing tool T, which is rotationally driven and which has a grindstone having a circular shape in an axial cross section, is disposed at the processing position P1 and is disposed inside of the workpiece W supported by a pair of shoes <NUM>.

Then, the processing tool T comes into contact with the inner circumferential surface of the workpiece W, and the inner circumferential surface of the workpiece W is polished.

In a case of this processing example, when the processing tool T is moved in an axial direction (a depth direction in <FIG>) after processing, the workpiece W is moved in a direction away from the shoes <NUM> (in a direction of an arrow H1 in <FIG>) by the sending operation of the workpiece replacement operation.

As shown in <FIG>, in a case where an outer circumferential surface of the workpiece W is polished, the processing tool T, which is rotationally driven and which has a grindstone having a circular shape in the axial cross section, approaches the processing position P1 and is disposed outside the workpiece W supported by the pair of shoes <NUM>.

Then, the processing tool T comes into contact with the outer circumferential surface of the workpiece W, and the outer circumferential surface of the workpiece W is polished.

In a case of this processing example, when the processing tool T is retracted after processing, the workpiece W is moved in a direction away from the shoes <NUM> (in a direction of an arrow H2 in <FIG>) by the sending operation of the workpiece replacement operation.

As shown in <FIG>, in a case of other various types of processing, the workpiece W is moved in a direction away from the shoes <NUM> (in a direction of an arrow H3 in <FIG>) by the sending operation of the workpiece replacement operation.

The leaving directions H1, H2, H3 of the workpiece W from the processing position P1 are appropriately changed according to positions or the like of the shoes <NUM> that vary depending on a processing portion of the workpiece W or a processing step.

As described above, according to this configuration, while the loading member supporting mechanism <NUM> moves the loading member <NUM> from the workpiece set state S1 to the workpiece retracted state S2 and returns to the workpiece set state S1 again, the displacement drive unit <NUM> and the rotation drive unit <NUM> simultaneously perform replacement of the workpiece W between the processing position P1 and the replacement position P2 in the trajectory in which the loading member <NUM> does not interfere with the shoes <NUM>.

Therefore, as compared with a case where movement and rotation of the loading member <NUM> are performed separately, the replacement operation of the workpiece W can be performed at high speed and productivity can be improved.

Since all mechanisms that move the loading member <NUM> are rotation mechanisms, a sliding portion can be easily sealed by an O-ring or the like.

As a result, the intrusion of dust or foreign matters to a sliding surface can be reliably prevented, and the flexibility for a usage environment is increased.

Timings of movement of the loading member supporting mechanism <NUM> by the displacement drive unit <NUM>, the rotation of the loading member <NUM> by the rotation drive unit <NUM> and the like can be adjusted only by changing a drive program for driving units of the workpiece changer <NUM>.

That is, the movement during the replacement operation of the workpiece W can be adjusted to various paths according to the positions or the like of the shoes <NUM> that vary depending on the processing portion of the workpiece W or the processing step.

Therefore, even if the positions or the like of the shoes <NUM> are changed according to a type of the workpiece W, a processing content or the like, a structure of the workpiece conveyance device or arrangement of components of each part almost need not to be changed, and adjustment work can be completed easily and quickly. In this way, versatility of the workpiece conveyance device can be greatly improved.

For example, in a loading device such as a related-art cassette loader, it is necessary to exchange or adjust an in-shoot and an out-shoot, to replace a guide plate that loads and unloads a workpiece to and from a processing position, to replace various components such as an arrangement stopper, and a long time and a large effort are required for a setup-change.

In contrast, in the workpiece changer <NUM> according to the present configuration, merely by replacing only the loading member <NUM> including the workpiece holding portion <NUM> that holds the workpiece W, it is possible to easily and quickly deal with a change in the workpiece W to be processed and to smoothly perform setup-change work.

In the workpiece changer according to the first example described above, the rotation motor <NUM> of the rotation drive unit <NUM> and the swing motor <NUM> of the displacement drive unit <NUM> are separately provided, but a biaxial integrated-type motor may be used as a motor of the rotation drive unit <NUM> and the displacement drive unit <NUM>.

<FIG> is a schematic cross-sectional view taken along an axial direction of a motor for showing a second example including a biaxial integrated-type motor.

As shown in <FIG>, a biaxial integrated-type motor <NUM> includes a cylindrical base <NUM>, an inner axis rotor <NUM> formed on an inner circumferential side of the base <NUM>, and an outer axis rotor <NUM> formed on an outer circumferential side of the base <NUM>. In the biaxial integrated-type motor <NUM>, the rotation motor <NUM> includes the inner axis rotor <NUM>, and the swing motor <NUM> includes the outer axis rotor <NUM>.

The inner axis rotor <NUM> includes a rotor yoke <NUM> provided inside the base <NUM>, a plurality of magnets <NUM> disposed annularly along an outer circumferential surface of the rotor yoke <NUM>, and a core <NUM> provided on an inner circumferential surface of the base <NUM>.

The rotor yoke <NUM> is rotatably supported by a rolling bearing <NUM> at an upper end portion of the base <NUM>, and the rotation drive shaft <NUM> is coupled to an upper end portion of the rotor yoke <NUM>.

The core <NUM> includes an iron core 125a and a coil 125b wound around the iron core 125a.

The outer axis rotor <NUM> includes a rotor yoke <NUM> provided outside the base <NUM>, a plurality of magnets <NUM> disposed annularly along an inner circumferential surface of the rotor yoke <NUM>, and a core <NUM> provided on an outer circumferential surface of the base <NUM>.

The rotor yoke <NUM> is rotatably supported by a rolling bearing <NUM> at the upper end portion of the base <NUM>, and the swing drive shaft <NUM> is coupled to an upper end portion of the rotor yoke <NUM>.

The core <NUM> includes an iron core 135a and a coil 135b wound around the iron core 135a.

The rotor yoke <NUM> of the inner axis rotor <NUM> is coupled to the rotation drive shaft <NUM> shown in <FIG>, and the rotor yoke <NUM> of the outer axis rotor <NUM> is coupled to the swing drive shaft <NUM> shown in <FIG>.

The inner axis rotor <NUM> rotationally drives the rotor yoke <NUM> with respect to the base <NUM> by supplying electric power to the coil 125b of the core <NUM>.

The outer axis rotor <NUM> rotationally drives the rotor yoke <NUM> with respect to the base <NUM> by supplying electric power to the coil 135b of the core <NUM>.

When the rotor yoke <NUM> of the outer axis rotor <NUM> rotates, the rotation drive shaft <NUM> is rotated, the rotation is transmitted to the rotation shaft <NUM>, and the loading member <NUM> is rotated.

When the rotor yoke <NUM> of the outer axis rotor <NUM> rotates, the swing drive shaft <NUM> is rotated to swing the arm <NUM>, and the loading member <NUM> is moved.

If the biaxial integrated-type motor <NUM> is used as the motor that drives the rotation drive unit <NUM> and the displacement drive unit <NUM> as described in this configuration, a size of the device can be reduced.

Next, a third example of the workpiece changer <NUM> will be described.

Components which are the same as those of the workpiece changer <NUM> as described above are denoted by the same reference numerals, and description thereof will be omitted.

<FIG> is a plan view of a workpiece changer according to a third example.

As shown in <FIG>, in a workpiece changer 200A according to the present configuration, a loading member supporting mechanism 23Aincludes a first linear motion stage <NUM> and a second linear motion stage <NUM>.

The first linear motion stage <NUM> includes a slider 141a and a movement rail 141b. The second linear motion stage <NUM> includes a slider 143a and a movement rail 143b.

The slider 141a of the first linear motion stage <NUM> supports the rotation shaft <NUM> of the loading member <NUM>.

The first linear motion stage <NUM> moves the loading member <NUM> in an X direction by moving the slider 141a along the movement rail 141b.

The slider 143a of the second linear motion stage <NUM> integrally supports the movement rail 141ba of the first linear motion stage <NUM>.

The second linear motion stage <NUM> moves the loading member <NUM> in a Y direction by moving the slider 143a along the movement rail 143b.

Thereby, in the workpiece changer 200A according to the present configuration, the loading member <NUM> can be moved independently in the X direction and the Y direction in a plane (a horizontal plane) perpendicular to the axial direction of the rotation shaft <NUM>. Therefore, the workpiece replacement operation for moving the loading member <NUM> between the workpiece set state S1 and the workpiece retracted state S2 can be implemented with high efficiency by reducing restriction in a moving direction.

Therefore, according to the workpiece changer 200A according to the present configuration, the rotation shaft <NUM> of the loading member <NUM> mounted on the slider 141a by the first linear motion stage <NUM> and the second linear motion stage <NUM> can be freely moved in any direction in the horizontal plane, and the loading member <NUM> can be moved in any trajectory without being limited to the arc trajectory.

Therefore, the loading member <NUM> can be efficiently displaced to the workpiece set state S1 and the workpiece retracted state S2 while avoiding interference with peripheral members such as the shoes <NUM>.

<FIG> is a plan view of a workpiece changer according to a fourth example.

As shown in <FIG>, a workpiece changer 200B according to the present configuration includes a loading member 21A having a substantially triangular shape in a plan view, and a center thereof is supported by the rotation shaft <NUM> and rotated.

The loading member 21A is provided with the workpiece holding portions <NUM> at three corners which are radially outer edge portions in rotation.

In the workpiece changer 200B according to the present configuration, when one workpiece holding portion <NUM> is disposed at the processing position P1, the other two workpiece holding portions <NUM> are disposed at different replacement positions P2A, P2B.

Therefore, while the workpiece W is processed at the processing position P1, the pick-and-place mechanism <NUM> can supply the unprocessed workpiece W by the loading operation on the workpiece holding portion <NUM> at one replacement position P2A, and discharge the processed workpiece W by the unloading operation on the workpiece holding portion <NUM> at the other replacement position P2B.

Since the loading operation and the unloading operation can be performed simultaneously in this way, for example, in a case where processing time of the workpiece W is shorter than the total time of workpiece replacement in which the loading operation and the unloading operation are sequentially performed, the state of waiting for conveyance during non-processing time can be prevented and the tact time can be shortened.

Thereby, work efficiency can be improved and productivity can be increased.

The workpiece changer according to each example described above can be applied to a workpiece conveyance device that moves and conveys a ring-shaped workpiece such as inner rings 11A, 11B and outer rings 13A, 13B of bearings 100A, 100B supporting a rotation shaft <NUM> of a motor <NUM> shown in <FIG>, for example, a workpiece processing device including the workpiece conveyance device, a ring bearing manufacturing device for manufacturing a ring bearing, and the like.

The motor <NUM> exemplified here is a brushless motor, and includes a cylindrical center housing <NUM> and a substantially disk-shaped front housing <NUM> that closes one open end of the center housing <NUM>.

The rotatable rotation shaft <NUM> is supported inside the center housing <NUM> along an axial center thereof via the bearings 100A, 100B disposed at the front housing <NUM> and a bottom portion of the center housing <NUM>.

A motor drive rotor <NUM> is provided around the rotation shaft <NUM>, and a stator <NUM> is fixed to an inner circumferential surface of the center housing <NUM>.

The motor <NUM> configured as described above is generally installed in a machine or a vehicle, and rotationally drives the rotation shaft <NUM> supported by the bearings 100A, 100B.

In addition, the present invention is applicable when moving, conveying, or processing a ring-shaped workpiece such as a rotation support portion of a linear motion device such as a machine having a rotation portion, various manufacturing devices, for example, a screw device such as a ball screw device, and an actuator (a combination of a linear motion guide bearing and a ball screw, an XY table and the like); a rotation support portion of a steering device such as a steering column, a universal joint, an intermediate gear, a rack and pinion, an electric power steering device and a worm reducer; and a rotation support portion of a vehicle such as an automobile, a motorcycle and a railway.

In this way, a ring-shaped component (workpiece) applied to a portion that rotates relatively can be suitably used in the devices described above, and productivity and product quality can be improved by manufacturing the component using the devices.

Although the processing device has been described as having a vertical configuration, the processing device may have a horizontal configuration.

The vertical processing device is preferable since the flexibility in arranging a tool drive motor in an upper-lower direction is higher than in a case of the horizontal processing device, and an overall size of the device can be reduced.

The workpiece is horizontally moved to the processing position of the processing device to be replaced, which is less afftected by gravity than a case of a horizontal workpiece changer that performs replacement by moving the workpiece in the upper and lower direction, and the flexibility in designing a movement path of the workpiece is increased.

As described above, the present specification discloses the following matters.

According to the workpiece changer, while the loading member supporting mechanism moves the loading member from the workpiece set state to the workpiece retracted state and returns to the workpiece set state again, the displacement drive unit and the rotation drive unit simultaneously perform the replacement of the workpiece between the processing position and the replacement position in the trajectory in which the loading member does not interfere with the shoe.

Therefore, a workpiece replacement operation can be performed high speed and productivity can be improved.

A structure of the device or arrangement of components need not to be changed depending on a position of the shoe or the like, and versatility can be improved.

In addition, by replacing only the loading member including the workpiece holding portion and merely changing a drive program, it is possible to easily and quickly deal with a change in the workpiece or a processing content and to greatly reduce time and effort required for a setup-change.

(<NUM>) In the workpiece changer according to (<NUM>), the loading member is provided with the workpiece holding portions respectively at one end portion and the other end portion in a longitudinal direction at positions equidistant from the rotation shaft in the radial direction, and
positions of the pair of workpiece holding portions are switched by reversing about the rotation shaft.

According to the workpiece changer, the loading member is rotated such that the positions of the workpiece holding portions are reversed, so that the workpiece holding portions can be easily switched between the processing position and the replacement position.

(<NUM>) In the workpiece changer according to (<NUM>) or (<NUM>), the loading member supporting mechanism moves the rotation shaft in an arc.

According to the workpiece changer, the loading member supporting mechanism moves the rotation shaft supporting the loading member in an arc, so that the loading member can easily and accurately displaced to the workpiece set state and the workpiece retracted state.

(<NUM>) In the workpiece changer according to (<NUM>), the loading member supporting mechanism comprises:.

According to the workpiece changer, the arm supported by the swing portion is swung, so that the loading member supported by the distal end portion of the arm can be easily and accurately displaced to the workpiece set state and the workpiece retracted state.

(<NUM>) In the workpiece changer according to (<NUM>) or (<NUM>), when the workpiece is replaced once, a rotation amount for moving the rotation shaft in an arc is smaller than a rotation amount of the loading member about the rotation shaft.

According to the workpiece changer, the rotation amount for moving the rotation shaft is smaller than the rotation amount of the loading member about the rotation shaft during the workpiece replacement operation, so that arc drive of the rotation shaft can be at the minimum necessary rotation amount and a replacement speed of the workpiece can be increased.

In addition, drive sources such as motors can be respectively selected to be optimal.

(<NUM>) In the workpiece changer according to (<NUM>), a swing drive shaft configured to swing the arm and a rotation drive shaft configured to drive the rotation shaft of the loading member are coaxially disposed in the swing portion, and
a rotation transmission member configured to transmit rotation from the rotation drive shaft to the rotation shaft of the loading member is disposed on the arm.

According to this workpiece changer, the swing drive shaft that swings the arm and the rotation drive shaft that drives the rotation shaft of the loading member are coaxially disposed, so that a size of the device can be reduced.

The arm is provided with the rotation transmission member that transmits the rotation from the rotation drive shaft to the rotation shaft of the loading member, so that a structure of the loading member supporting mechanism can be simplified and miniaturized.

Moreover, as compared with a case where a motor or the like that rotates the rotation shaft is provided at the distal end portion of the arm, a movement speed of arm can be increased by reducing weight thereof.

In addition, an electric wire such as a power supply line to a drive source or an encoder cable are not required for the arm, so that the structure can be simplified and the cost can be reduced, and reliability can be improved by eliminating a problem of disconnection due to fatigue and wear of the electric wire.

(<NUM>) In the workpiece changer according to (<NUM>), a swing motor configured to drive the swing drive shaft and a rotation motor configured to drive the rotation drive shaft are provided so as to be individually drivable.

According to the workpiece changer, the swing motor and the rotation motor are individually controlled, so that swing of the arm and rotation of the loading member can be individually controlled.

Therefore, movement of the workpiece replacement operation can be finely adjusted, and it is possible to smoothly deal with prevention of interference with the position of the shoe or the like.

(<NUM>) In the workpiece changer according to (<NUM>), the swing motor and the rotation motor are respectively provided so as to be rotatable, the swing motor and the rotation motor are configured of a biaxial integrated-type motor including an inner axis rotor and an outer axis rotor, the inner axis rotor and an outer axis rotor have a same rotation direction,
one of the swing motor and the rotation motor is configured to drive the inner axis rotor, and the other of the swing motor and the rotation motor is configured to drive the outer axis rotor.

According to the workpiece changer, the biaxial integrated-type motor is used as the swing motor configured to drive the swing drive shaft and the rotation motor configured to drive the rotation drive shaft, so that the size of the device is reduced and the cost can be reduced by simplifying a structure of a power transmission member and the like.

(<NUM>) In the workpiece changer according to any one of (<NUM>) to (<NUM>), the loading member supporting mechanism comprises:.

According to the workpiece changer, the slider is moved in the plane perpendicular to the axial direction of the rotation shaft by the linear motion stage, so that the loading member can be easily and accurately displaced to the workpiece set state and the workpiece retracted state.

(<NUM>) In the workpiece changer according to any one of (<NUM>) to (<NUM>), the loading member supporting mechanism is configured to move the loading member, which is supported such that the rotation shaft is in a vertical direction, in a horizontal plane.

According to the workpiece changer, the vertical processing device is used, so that the flexibility in arranging a tool drive motor in an upper-lower direction is higher than in a case of the horizontal processing device, and an overall size of the device can be reduced.

The workpiece is horizontally moved to the processing position of the processing device to be replaced, which is less affected by gravity than a case of a horizontal workpiece changer that performs replacement by moving the workpiece in the upper and lower direction, and the flexibility in designing a movement path of the workpiece is increased.

(<NUM>) The workpiece changer according to any one of (<NUM>) to (<NUM>), further comprises: a pick-and-place mechanism configured to supply an unprocessed workpiece to the workpiece holding portion disposed at the replacement position of the loading member and to discharge a processed workpiece.

According to the workpiece changer, the pick-and-place mechanism is provided, so that the unprocessed workpiece can be quickly supplied to the replacement position and the processed workpiece can be quickly discharged. In addition, the workpiece replacement operation is performed while the workpiece is being processed, tact time is not affected.

(<NUM>) A workpiece conveyance device comprises: the workpiece changer according to (<NUM>); and.

According to the workpiece conveyance device, the pick-and-place mechanism alternately performs the loading operation and the unloading operation, so that transfer of the unprocessed workpiece from the workpiece supply position to the replacement position and transfer of the processed workpiece from the replacement position to the workpiece reception position are automatically performed.

Thereby, transfer of the workpiece between the workpiece conveyance unit and the workpiece changer can be smoothly performed.

In addition, by merely changing workpiece positioning components at the workpiece supply position and the workpiece reception position in the workpiece conveyance unit, the setup-change can be easily made for changing the workpiece.

(<NUM>) A processing device configured to process the workpiece, the processing device comprising the workpiece changer according to any one of (<NUM>) to (<NUM>).

According to the processing device, since the ring-shaped workpiece can be replaced for the processing position at high speed, processing efficiency on the workpiece can be increased, and the productivity can be improved.

(<NUM>) A manufacturing method for a ring bearing, wherein the manufacturing method is for manufacturing a ring bearing by using the processing device according to (<NUM>).

(<NUM>) A manufacturing method for a machine, wherein the manufacturing method is for manufacturing a machine by using the processing device according to (<NUM>).

(<NUM>) A manufacturing method for a vehicle, wherein the manufacturing method is for manufacturing a vehicle by using the processing device according to (<NUM>).

According to the manufacturing methods for the ring bearing, the machine and the vehicle, the replacement operation of each bearing parts to the processing position can be performed easily and quickly, so that the productivity can be improved.

Claim 1:
A workpiece changer (<NUM>, 200A, 200B) configured to replace a ring-shaped workpiece (W) between a replacement position (P2) of the workpiece (W) and a processing position (P1) for processing the workpiece (W), the workpiece changer (<NUM>, 200A, 200B) comprising:
a loading member (<NUM>) rotatably supported about a rotation shaft (<NUM>), the loading member (<NUM>) provided with workpiece holding portions (<NUM>) configured to hold the workpiece (W) at at least two radially outer edge portions;
a loading member supporting mechanism (<NUM>) configured to movably support the loading member (<NUM>) in a plane perpendicular to an axial direction of the rotation shaft (<NUM>);
a rotation drive unit (<NUM>) configured to rotationally drive the loading member (<NUM>) about the rotation shaft (<NUM>); and
a displacement drive unit (<NUM>) configured to drive and displace the loading member supporting mechanism (<NUM>) between a workpiece set state (S1) in which the workpiece holding portions (<NUM>) are respectively disposed at the replacement position (P2) and the processing position (P1) and a workpiece retracted state (S2) in which the workpiece holding portions (<NUM>) are disposed away from the replacement position (P2) and the processing position (P1),
characterized in that a shoe (<NUM>) configured to support an outer circumference of the workpiece (W) is disposed at the processing position (P1), and
wherein while the loading member supporting mechanism (<NUM>) moves the loading member (<NUM>) from the workpiece set state (S1) to the workpiece retracted state (S2) and returns to the workpiece set state (S1) again, the displacement drive unit (<NUM>) and the rotation drive unit (<NUM>) perform an operation of disposing the workpiece holding portion (<NUM>) arranged at the processing position (P1) to the replacement position (P2) and an operation of disposing the workpiece holding portion (<NUM>) disposed at the replacement position (P2) to the processing position (P1) in a trajectory in which the loading member (<NUM>) does not interfere with the shoe (<NUM>).