JP2002254290A - Barrel polishing system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To make it possible to flexibly cope with a change in processing order in a barrel polishing system that performs a process through a plurality of devices. SOLUTION: A robot 10 having a hand mechanism 12 capable of holding and releasing a barrel (A) is situated such that it can swivel intermittently, and a centrifugal barrel polishing machine 20 and its incidental equipment 40, 50, 60, 80, and 100 are disposed within the swiveling area of the robot 10. The barrel (A) held by the hand mechanism 12 is transported among each of the device by the intermittent swiveling action of the robot 10. Since the robot 10 can cyclically run, while holding the barrel (A), along a path that passes each device one after another, the processing order of each device can be freely changed by properly setting the stop position and its order of the robot 10.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a barrel polishing system for continuously performing a polishing step and other steps related to polishing while transferring a barrel tank between a polishing apparatus and other auxiliary apparatuses. is there.

[0002]

2. Description of the Related Art Since barrel polishing involves a large number of incidental work steps and heavy labor, an automated polishing system has been proposed. For example, JP-A-62-166963 discloses a fully automatic high-speed planetary revolving barrel polishing apparatus.
This device is fully automated, including barrel polishing and its attendant work. In addition to loading and unloading the barrel tank on the barrel polishing device with a manipulator, mass (work and work) is applied to the barrel tank transported on the conveyor. A medium for polishing a work) is automatically taken out and supplied, and a mass adjustment and the like are also automatically performed.

[0003]

In recent years, some workpieces to be barrel-polished have been required to be produced in a variety of types and in small quantities. In order to meet this demand, barrel polishing and the accompanying processes are required. A system that can flexibly change the order of processes is required. However, in the above-mentioned conventional polishing system, a barrel polishing device, a sorting device, a medium quantitative supply device, and other auxiliary devices are sequentially disposed along a conveyor path extending linearly, and the barrel tank is moved in one direction by the conveyor. Process is sequentially performed by each device while being transported.

For this reason, although it is possible to cope with a change in a process in which some processes are omitted, it is not possible to cope with a change in a process order in which some processes are reversed,
It is necessary to change the arrangement of each device, but it is not easy to change the arrangement of the devices. Therefore, the conventional polishing system cannot flexibly respond to a change in the process order. The present invention has been made in view of the above circumstances, and an object of the present invention is to make it possible to flexibly cope with a change in a process order in a barrel polishing system that performs a process using a plurality of devices.

[0005]

According to the first aspect of the present invention, a barrel tank is sequentially transferred between a polishing apparatus and an auxiliary apparatus or between auxiliary apparatuses, and a predetermined process is performed on the barrel tank in each apparatus. In the barrel polishing system, a robot having a hand mechanism capable of holding and releasing the barrel tank is provided so that the robot can intermittently rotate around a vertical rotation axis, and the polishing apparatus and the robot The auxiliary device is arranged in a turning area of the robot.

According to a second aspect of the present invention, in the first aspect, the robot is configured to be capable of reversing between forward turning and reverse turning.

[0007]

According to the first aspect of the present invention, the barrel tank held by the hand mechanism is transferred between the polishing device and the auxiliary device or between the auxiliary devices by intermittent turning operation of the robot. You. The robot can circulate along the path that sequentially passes through each device while holding the barrel tank, so by setting the position and order of stopping the robot appropriately, the order of processes by each device can be arbitrarily changed can do. Therefore, it is not necessary to change the arrangement of each device when changing the process order.

[0008] The turning stroke of the robot can be reduced by appropriately reversing the turning direction of the robot as necessary when turning between the devices sequentially.

[0009]

[First Embodiment] A first embodiment of the present invention will be described below with reference to FIGS. [Overall Configuration] The barrel polishing system of this embodiment is shown in FIG.
As shown in (1), a robot 10 is disposed at the center, and a centrifugal barrel polishing machine 20 (polishing device, which is a component of the present invention), and a dryer 40 (ancillary device, which is a component of the present invention), around the robot 10. , Cleaning device 50 (ancillary device which is a component of the present invention), vibrating sorter 60 (ancillary device which is a component of the present invention), medium quantitative supply device 80 (ancillary device which is a component of the present invention), tilt Attached feeder sorter 90 (ancillary device that is a component of the present invention), barrel lid attaching / detaching device 100 (ancillary device that is a component of the present invention),
And a control panel 15 for controlling the entire system (the control panel 15 stores a sequence in which the operation of the robot 10 and all the auxiliary devices and the entire system is programmed, and this program can be changed according to polishing conditions. Can be arranged side by side in the counterclockwise direction. In addition, the centrifugal barrel polishing machine 20 and the robot 10
, A processed barrel tank standby table 16 is disposed, and an empty net basket standby table 17 (two-stage configuration) is disposed between the barrel lid attaching / detaching device 100 and the robot 10. Further, a filter 5 as an accessory of the cleaning device 50 is provided on the back side of the cleaning device 50 (the side opposite to the robot 10).
4 are arranged. In addition, the media fixed amount supply device 80
On the back side (opposite to the robot 10), there is arranged a vacuum 18 for sucking the media dropped by the vibrating sorter 60 and the inclined feeder sorter 90 and storing it in the medium quantitative supply device 80.

[Barrel tank A] As shown in cross section in FIG.
The barrel tank A includes a tank body B having a cylindrical shape with a bottom and an upper surface opened, and a disk-shaped lid C for opening and closing the opening on the upper surface of the tank body B. The barrel tank A is held so as to be able to rotate integrally with the rotation shaft 27 by being vertically pressed between the piston 30 and the stopper 35 in the centrifugal barrel polishing machine 20. On the outer periphery of the tank body B, a circumferential groove D for holding the hand 13 of the robot 10 from the side is formed. Further, a concave portion E for contacting the stopper 35 is formed at the center of the upper surface of the lid C.

[Robot 10] As shown in FIGS. 1 to 3, the robot 10 can be moved in both forward and reverse directions (clockwise and counterclockwise in FIG. 1) about a vertical axis of rotation 11 on a base. And is supported so that the turning direction can be freely reversed between the forward direction and the reverse direction, and is referred to as a so-called six-axis robot (for example, VM-60B1DM manufactured by Denso Corporation). Things. As shown in FIG. 3, a pair of hands 13 whose inner surfaces corresponding to each other are arc-shaped in accordance with the shape of the barrel tank A, and a clamp cylinder for displacing the pair of hands 13 are provided at the tip of the robot 10. 14 is provided. The pair of hands 13 approach each other by driving the clamp cylinder 14 to hold the barrel tank A (or the net basket G) as shown in FIG. 3B, and as shown in FIG. 3A. Barrel tank A separated from each other
(Or the net basket G) is displaced.

The robot 10 is capable of turning around a turning shaft 11 and has a six-axis structure.
The hand mechanism 12 can be freely and promptly moved in the X-axis, Y-axis, and Z-axis directions (three-dimensionally), and the orientation of the hand mechanism 12 (the attitude of the barrel tank A held by the hand 13). Can be changed three-dimensionally. Note that the robot 10 does not need to have a six-axis structure, and may be any as long as it can transfer the barrel tank A between the auxiliary devices.

[Centrifugal barrel polishing machine 20] As shown in FIGS. 4 to 7, a revolving shaft 2 rotatably supported on a frame 21.
2, the driving force of the motor 23 is transmitted via a reduction mechanism 24 and a transmission mechanism 25 including a pulley and a belt, and a disk-shaped revolving turret 26 fixed to the revolving shaft 22 is rotated. On the revolving turret 26, four rotation shafts 27 are rotatably supported on concentric circles.
A rotation belt 28c is provided between a rotation pulley 28a at a lower end thereof and a fixed pulley 28b provided on a lower bearing of the revolution shaft 22.
And revolves on the revolving turret 26 while revolving integrally with the revolving turret 26.

A cylinder 29 is provided at the upper end of each rotation shaft 27 so as to rotate integrally therewith, and a piston 30 is fitted in the cylinder 29 so as to be able to move up and down. A mounting plate 3 for mounting the barrel tank A on the upper end of the piston 30
1 are fixed so as to rotate together. The cylinder 29 is protected by a bellows-like protection member 32 from splashing water and the like. The piston 30 is connected to a joint (not shown) at the lower end of the revolution shaft 22,
, A hose (not shown) connected to the upper end of the revolution shaft 22, a joint 33 at the lower end of each rotation shaft 27, and a passage 34 inside the rotation shaft 27 in this order. It is configured to be driven upward by pressurized air supplied to a working space below the piston 30 inside the pipe 29.

A gate-shaped stopper 35 is provided on the rotation shaft 27 so as to be able to rotate integrally. The stopper 35 is
It is composed of a pair of vertical legs 35a and a horizontal support 35b extending between the upper ends of the legs 35a. The horizontal support 35b is coaxial with the rotation shaft 27 and protrudes downward. A pin-shaped receiving member 35c is fixed. The inner surfaces of the two leg portions 35a that face each other are flat and serve as regulating surfaces 35d that are parallel to the moving direction of the piston 30, and the peripheral edge of the mounting plate 31 has
A flat locking surface 31a is formed which can slide on both regulating surfaces 35d as the piston 30 moves up and down. The contact between the flat locking surface 31a and the restricting surface 35d causes the leg portion 35 to move.
The relative rotation of the mounting plate 31 with respect to a, that is, the relative rotation of the barrel tank A with respect to the stopper 35 and the rotation shaft 27 is restricted.

An air cylinder 36 for holding and releasing the rod 36a is fixed to the beam supporting the upper end of the revolving shaft 22. A stopper 3 is provided at the lower end of the rod 36a.
5, a bifurcated push-down member 36b straddling the horizontal support portion 35b is fixed.
Can move the piston 3 without interfering with the horizontal support 35b.
The barrel C is pressed from above against the lid C of the barrel tank A placed at 0. When the barrel tank A is placed on the piston 30, the hand 13 of the robot 10 is placed between the outer periphery of the barrel tank A and the inner surfaces of the two legs 35a.
There is a space to enter.

At the start of polishing, first, the robot 1
After the barrel tank A held at 0 is placed on each piston 30, and the barrel tank A is placed on all pistons 30,
The piston 30 is driven up. Then, each barrel tank A
Is vertically held between the receiving member 35c of the stopper 35 and the piston 30 and is held concentrically with the rotation shaft 27 so as to be integrally rotatable. From this state, when the revolving turret 26 is rotated and each rotation shaft 27 is rotated, the piston 30, the barrel tank A, and the stopper 35 rotate integrally with the rotation shaft 27, and the centrifugal force generated by this rotation causes the barrel to rotate. The work (workpiece) in the tank A is polished by the medium.

When the polishing for a certain period of time is completed, the revolution turret 26 rotates at a very low speed, and a dog (not shown) provided on the periphery of the revolution turret 26 is moved to a proximity switch (not shown).
At the same time, the revolving turret 26 is stopped, and at the same time, a command to turn on the origin is issued to the motor 23. The motor 23 rotates by a predetermined angle based on the origin command, and positions one of the barrel tanks A directly below the holding release air cylinder 36. Then, the supply of the pressurized air to the working space of the piston 30 is stopped, and the press-down member 36b of the holding release air cylinder 36 is lowered to press the upper surface of the lid C of the barrel tank A. As a result, the barrel tank A and the piston 30 are forcibly pushed down integrally, and a vertical gap is formed between the lid C of the barrel tank A and the receiving member 35c of the stopper 35. Next, the hand mechanism 12 of the robot 10 removes the barrel tank A from the piston 30 (rotation axis) while moving the barrel tank A in the horizontal direction. Such a process is sequentially performed on each barrel tank A.

[Dryer 40] As shown in FIGS. 8 to 10, the dryer 40 includes a driving unit 41 and a net basket receiving unit 42. The driving unit 41 includes an air intake 41a, a heater 4
1b, a blower 41c for sucking air, and an outlet 4
1d and a hose 41e for connecting them. On the other hand, the net basket receiver 42 includes a body 42a capable of accommodating four net baskets G, and a lid 42b that is opened and closed by a cylinder 42c. In the body 42a, a net basket G
Are provided with four cylinders 42d having a bottomed cylindrical shape. The lower part of the cylinder 42d is mesh-shaped, and a filter 42e is attached to the mesh portion. In addition, a check valve 42f is provided on a back surface below the body 42a. Further, a hose joint box 42g is provided on the back surface of the lid 42b, is connected to a hose 41e coming out of the heater 41b, and the inside of the lid 42b (when the lid 42b is closed, the lid 42b and the body 42a are closed).
(In the space surrounded by).

The net basket G has a cylindrical shape with a bottom, and a clamp flange H is provided at the upper end of the outer periphery. The mesh basket G is formed by connecting the lower end of the clamping flange H to the cylinder 4.
It is housed in the cylinder 42d in a state of being locked at the upper opening edge of the 2d. In addition, a ring flange 42h for increasing the height is provided at the opening at the upper end of the rear cylinder 42d. When the clamping flange H of the net basket G is hooked on this ring flange 42h, the rear net basket G is The height is higher than the front net basket G, so that the hand net 12 can easily attach and detach the rear net basket G.

When the driving unit 41 is operated in a state where the net basket G is accommodated in the dryer 40, the air that has entered through the air intake 41a is warmed by the heater 41b and enters the lid 42b through the hose joint box 42g. A work (not shown) or a mass (not shown) is contained in the net basket G, and the warmed air passes through the net basket G to form a cylinder 42.
d. Exit from the filter 42e below. At this time, the work or the mass is reduced in pressure by the suction airflow from the blower 41c, and is further dried by the warmed air. The sucked air passes through the blower 41c and is exhausted from the outlet 41d. Drops adhering to the work or the mass fall on the bottom of the body 42a, but can be discharged from the check valve 42f. The action of the check valve 42f prevents the outside air from being sucked.

When the drying is completed, the lid 42b is opened, and the net basket G is sequentially taken out by the robot 10. And the next net basket G
To an empty place. In the case where there are two net baskets G to be dried, the other two cylinders 42d have a black lid (not shown).
So that the suction airflow does not pass. [Cleaning Device 50] As shown in FIGS. 12 to 14, the cleaning device 50 includes a shower unit 51, a rough cleaning unit 52, and a finish cleaning unit 53. In the shower section 51, there is a cage 51a with a flange for accommodating the net basket G, and the nozzle 51b faces the accommodated net basket G. The nozzle portion 51b can be turned in the horizontal direction so that the net basket G can be taken out. The nozzle portion 51b includes a downwardly directed shower basket nozzle 51c in the washing basket and an upwardly directed shower ring nozzle 5 in the barrel tank.
1d and an upward air shower ring nozzle 51e in the barrel tank. In addition, the nozzle 51
On the back side of b, an air pipe 51f for sending air to the air shower ring nozzle 51e in the tank, a drain 51g for draining waste water accumulated in the tank, a showering nozzle 51c,
A washing water pipe 51h for sending water to 51d is provided.

The rough cleaning section 52 includes an index motor 5
2a and a turret 5 fixed to the lower shaft of the index motor 52a and capable of accommodating four net cages G.
2b, a cylinder 52d for raising and lowering the turret 52b along a guide 52c, and a turret 52b
And a cleaning tank 52e provided below the cleaning tank 52e. An ultrasonic vibrator 52f is provided at the bottom of the cleaning tank 52e, and an air violent nozzle 52g is mounted on the ultrasonic vibrator 52f. The ultrasonic vibrator 52f and the air violent nozzle 52g apply ultrasonic vibration and violent action to the cleaning liquid stored in the cleaning tank 52e to enhance the cleaning effect. These can be used properly depending on the purpose of cleaning.
In addition, a pipe 52h for supplying air to the air violent nozzle 52g, a drain 52i for discharging the cleaning liquid, and a pipe 52j for supplying the cleaning liquid to the filter 54 are provided on a back surface of the cleaning tank 52e.

The finish cleaning section 53 basically includes a rough cleaning section 52.
Similarly to the above, an index motor 53a and a turret 53b fixed to the lower shaft of the index motor 53a and capable of accommodating four net baskets G (note that the turret 53b of the finish cleaning section 53 is Turret 53).
cylinder 5 for raising and lowering b along guide 53c
3d and a washing tank 53e provided below the turret 53b.
It is composed of An ultrasonic vibrator 53f is provided at the bottom of the cleaning tank 53e, and an air violent nozzle 53g is mounted on the ultrasonic vibrator 53f. The ultrasonic vibrator 53f and the air violent nozzle 53g apply ultrasonic vibration and violent action to the cleaning liquid stored in the cleaning tank 53e to enhance the cleaning effect. These can be used properly depending on the purpose of cleaning. Further, on the back of the cleaning tank 53e, a pipe 53h for supplying air to the air violent nozzle 53g, a drain 53i for discharging the cleaning liquid, and cleaning water filtered by the filter 54 are supplied into the cleaning tank. Piping 5
3j are provided.

A case will be described in which the net basket G is put in the shower unit 51 of the cleaning device 50, and the rough cleaning unit 52 and the finish cleaning unit 53 are operated in this order. First, the robot 10 tilts the barrel tank A without a lid on the shower unit 51 and discharges a mass (work) to the net basket G. The mouth of the barrel tank A is completely turned upside down, and the center of the barrel tank A and the nozzle 5
1b so that the centers of the nozzle portions 51b
The barrel tank A is gripped with a gap so that the can turn. The nozzle part 51b turns and faces the barrel tank A and the net basket G. The cleaning liquid is jetted from the nozzle portion 51b toward the barrel tank A and the net basket G. In the case of dry polishing, after washing, the barrel tank A is dried by blowing an air shower toward the barrel tank A. Then, barrel tank A
Is placed in the barrel tank waiting section 119 by the robot 10. Next, the robot 10 removes the net basket G containing the showered mass (work) from the turret 5 of the rough cleaning section 52.
2b.

In the rough cleaning section 52, a certain cleaning liquid is stored, and the turret 52b is lowered by the cylinder 52d, so that the net basket G is immersed in the cleaning liquid. The cleaning liquid is activated by the ultrasonic vibrator 52f or the air violent nozzle 52g, and the mass (work) in the net basket G is cleaned for a certain time. Turret 52b by cylinder 52d
Rises, the turret 52b is rotated by the index motor 52a, and the next net basket G is placed where it is vacant. Thereafter, the turret 52b is lowered by the cylinder 52d.

Thereafter, this operation is repeated. In addition,
The washing liquid is sent to the filter 54 by a pump (not shown) and washed. Although a certain level of cleaning liquid is also stored in the finish cleaning section 53, the water level is higher here than in the rough cleaning section 52. When the water level exceeds a certain level, the cleaning liquid overflows to the rough cleaning section 52 side. Here also, the turret 53b is lowered by the cylinder 53d, and the net basket G is immersed in the cleaning liquid. The cleaning liquid is activated by the ultrasonic vibrator 53f or the air violent nozzle 53g, and the mass (work) in the net basket G is cleaned for a certain time. The turret 53b is raised by the cylinder 53d, the turret 53b is rotated by the index motor 53a, and the next net basket G is placed where it is vacant. Thereafter, the turret 53b is lowered by the cylinder 53d. Thereafter, this operation is repeated.

The washing liquid entering the filter 54 from the rough washing section 52 is filtered by the filter 54 and enters the finish washing section 53, and the overflow water of the finish washing section 53 is removed by the rough washing section 52.
Therefore, the cleaning liquid circulates and flows between the rough cleaning section 52 and the finish cleaning section 53. [Vibration Sorter 60] As shown in FIGS. 15 to 17, the vibration sorter 60 includes a box 6 on a base 61 via a spring 62.
3, two vibration motors 64 are attached to the lower surface of the box 63 in an inclined manner. A screen 65 is provided horizontally at a substantially middle height of the box 63, and the screen 65 divides a mass into a medium and a work. A hopper 66 is fixed in an upstream (left side in FIGS. 15 and 16) region on the upper surface of the box 63, and a mass is put into the hopper 66 here. Hopper 6
A barrel tank cleaning nozzle 66a is provided in 6 so that the barrel tank A can be washed when the mass is discharged from the barrel tank A. Further, a frame 67 provided with a shower 67a inside is fixed to a downstream region on the upper surface of the box 63, and a simple cleaning is performed on a mass passing under the shower 67a. Further, only the area of the screen 65 corresponding to the frame 67 is a mesh area, and the work and the medium are selected here. On the upper surface of the screen 65, a partition weir 68 having the same height as the upper surface of the box body 63 is provided in the traveling direction, and in an area of the partition weir 68 corresponding to the hopper 66,
A partition plate 69 having the same height as the hopper 66 is provided upright. The downstream end of the screen 65 is located at the discharge port 7 of the work.
It is 0, and a flange 71 for hooking the net basket G is provided below the discharge port 70 in a state of being mounted on a rust prevention tank 72. A discharge path 73 for a medium or the like is provided at a downstream end of the box 63 in a direction perpendicular to the direction in which the work and the medium are conveyed on the screen 65. A media recovery hopper 74 is provided below the discharge path 73, and a hose (not shown) extending from a lower portion of the media recovery hopper 74 is connected to a media constant supply device 80.

The operation of the vibration sorter 60 will be described. At the time of selection, the box 63, the screen 65, and the like are vibrated by the vibration motor 64. The barrel tank A conveyed by the robot 10 is inverted in the hopper 66, and the mass in the barrel tank A is discharged into the hopper 66. The barrel tank A is subjected to washing in the tank by the barrel tank washing nozzle 66a while being held by the robot 10, and is placed in the barrel tank standby unit 119 when the washing is completed. Hopper 66
The mass discharged into the inside proceeds from the hopper 66 to the downstream side of the screen 65 by vibration, undergoes a simple shower cleaning in the middle thereof, and thereafter, the work and the medium in the mesh area of the screen 65 below the frame 67. And be sorted out. That is, the medium smaller than the mesh passes through the mesh and falls into the box 63, and travels on the bottom surface of the box 63 to the downstream side by vibration to reach the discharge path 73, from which the media collection hopper 74 Is discharged to
On the other hand, a work larger than the mesh
5, and enters the net basket G hooked on the flange 71 from the outlet 70. Since the net basket G is immersed in the rust preventive tank 72 in which the rust preventive liquid is stored, the work which is easily rusted does not rust. When a certain amount of work (for example, two tanks) has fallen on the net basket G, the robot 10 grips the clamping flange H of the net basket G and transports the net basket G to another auxiliary device. In the case of dry polishing, since the sorting is performed in a dry manner, there is no need for shower cleaning or a rust preventive liquid in the rust prevention tank 72. In the above, the case where the mass in the barrel tank A is put into the hopper 66 has been described. However, the same applies when the mass in the net basket G is put into the hopper.

[Medium fixed amount supply device 80] As shown in FIGS. 18 and 19, the medium fixed amount supply device 80 includes a load cell 82 placed on a base 81, a vibration feeder 83, a hopper 84, and a tank. 85. Also, beside the base 81, two hose ports 86 for feeding the media sucked from the media collection hoppers 74 and 94 of the vibration sorter 60 or the inclined feeder sorter 90, and a vibration sorter. A switching device 87 is provided for switching whether one of the selection devices 60 and 90 is used as the suction source, and the media that has passed through the switching device 87 is sent to the tank 85. It is supposed to be. In addition, tank 8
A hose 85a for connecting to the vacuum 18 is connected to the upper part of the hose 5. A lid 85b that is opened and closed by a cylinder 85d is provided below the tank 85. The lower part of the hopper 84 faces the supply hopper 85c attached to the upper surface of the vibrating feeder 83 via a gap. Supply hopper 85c and vibration feeder 83
The top of the oscillating feeder 83 is flipped up by a flip-up cylinder 83a attached to the bottom surface of the vibrating feeder 83. Although not shown, the medium fixed supply device 80 is also provided with a compound supply tank to the barrel tank A, a supply nozzle, and a water supply nozzle.

The operation of this device will be described. Vacuum 1
8, the media recovery hopper 7 of any one of the inclined feeder sorter 90 and the vibratory sorter 60
The media is sucked from the tanks 4 and 94 and enters the tank 85. When the vibration sorter 60 is used in the preceding process and the inclined feeder sorter 90 is used in the subsequent process, the switching device 87 is used.
The hose 86 to be sucked is switched. The lid 85b of the tank 85 is opened by the cylinder 85d, and the media is stored in the hopper 84. The robot 10 places the barrel tank A containing the work on the load cell 82 and
Is operated, the medium flows from the gap between the hopper 84 and the supply hopper 85c to the supply hopper 85c, and enters the barrel tank A while being vibrated and conveyed on the supply hopper 85c. When the load cell 82 detects that the supply amount to the barrel tank A has reached a certain weight, the flip-up cylinder 83a
As a result, the tip of the supply hopper 85c is flipped up, the vibration feeder 83 is stopped, and the supply of the medium is stopped. Then, no more media flows from the gap of the hopper 84. Next, the compound and the water are supplied to the barrel tank A in fixed amounts from a compound nozzle and a water supply nozzle (not shown). Thus, the input of the cells is completed. Thereafter, the robot 10 holds the barrel tank A and places it on the barrel lid attaching / detaching apparatus 100. In the case of dry polishing, no compound or water is supplied.

[Incline Feeder Sorter 90] FIGS.
As shown in FIG. 22, the inclined feeder sorter 90 includes:
A vibration feeder 92 supported on a base 91 with a variable inclination angle is provided. A first inclined plate 93a is mounted on the vibrating feeder 92, a second inclined plate 93b is provided above the first inclined plate 93a, and a third inclined plate is disposed obliquely above the second inclined plate 93b. A plate 93c is attached. A media recovery hopper 94 is placed below the lower end of the first inclined plate 93a, and a hose 94a extends from a lower portion of the hopper 94 and is connected to the media fixed supply device 80.
A work take-out box 95 is provided below the upper end of the first inclined plate 93a. The work take-out box 95 is moved by the rodless cylinder 97 along the guide 96.
It reciprocates horizontally between a position corresponding to the upper end of the first inclined plate 93a and two positions sandwiching the position corresponding to the upper end, that is, between three positions. Further, the base 91 is provided with a vibration feeder 98, a mass input hopper 99a, and a supply hopper 99b for supplying the mass output from the mass input hopper 99a to the third inclined plate 93c.

The operation of this device will be described. The mass (non-spherical workpiece and spherical media) supplied to the mass input hopper 99a moves while being dispersed on the supply hopper 99b by the vibration of the vibration feeder 98, and moves to the third inclined plate 9
3c. On the third inclined plate 93c, the spherical medium rises downward, and the non-spherical work rises upward. When the inclined plate has one stage, there is a possibility that the work is entangled in the medium or the medium is entangled in the work and is transported. Since the impact is given by sequentially dropping from the third inclined plate 93c to the second inclined plate 93b and further to the first inclined plate 93a, even if the above-mentioned embrace occurs, the embrace is released. It is supposed to be.

The media dropped from the lower end of the first inclined plate 93a enters the media recovery hopper 94, and is sent to the media fixed supply device 80 by the vacuum 18. On the other hand, the work falls from the upper end of the first inclined plate 93a and enters the work take-out box 95. When the sorting is completed, the rodless cylinder 97 is operated, and the work take-out box 95 is slid to the operator side (downward in FIGS. 1 and 2).
The worker takes out the sent work.

[Barrel lid attachment / detachment device 100] FIGS.
As shown in FIG. 5, the barrel lid attaching / detaching device 100 is
And four ring-shaped flanges 102 provided on the first flange 101. Each flange 102 fits when only the tank body B or the lid C of the barrel tank A is placed here. Inside each flange 102, there is a pipe 1
Four cleaning nozzles 103 having a common 04 are provided facing upward. The guide 105 provided on the base 101 is provided with two guides 106 in the horizontal direction, and the lid attaching / detaching portion 107 is supported on the guides 106 by a motor 108 so as to be movable in the horizontal direction. The lid attachment / detachment unit 107 includes a vertically movable lid holder cylinder 109, a vertically movable cylinder 110 fixed to the lid holder cylinder 109, and a vertically movable cylinder 110
A chuck cylinder 113 fixed to the lower end of a rod 111 via a stay 112, and a three-jaw chuck 114 displaced between a state in which the lid C is gripped and the state in which the lid C is released by the chuck cylinder 113. Is done.

A barrel tank waiting section 119 is provided on the horizontal frame 115 above the column 105. The barrel tank waiting section 119 is configured such that a movable table 116 on which four barrel tanks A can be placed can slide while being guided by a guide 118 by a rodless cylinder 117. The operation will be described based on the above configuration. Flange 1
The unprocessed barrel tank A (barrel tank A containing the unprocessed work) placed on 02 is gripped by the robot 10 and transported to the centrifugal barrel polishing machine 20. The processed barrel tank A (the barrel tank A containing the processed work) placed on the processed barrel tank standby table 16 is gripped by the robot 10 and placed on the flange 102. Next, the lid attaching / detaching part 1
When the three-jaw chuck 114 removes the lid C of the barrel tank A on the flange 102, the robot 10 grasps the barrel tank A without the lid C, and discharges the mass for sorting, washing, etc. by each device. I do. When the discharging is completed, the robot 10 places the barrel tank A without the lid C on the moving table 116 of the barrel tank standby unit 119. On the other hand, the lid C is a three-jaw chuck 114
While being held down, it is lowered to the lower end by the lid placing cylinder 109, is released from the three-jaw chuck 114 on the flange, and is placed on the flange 102. Next, the lid placing cylinder 109 is raised, and the lid attaching / detaching part 107 is horizontally moved,
The same process as above is performed for the other barrel tank A on the flange 102.

When all the barrel tanks A without the lids C are placed in the barrel tank standby section 119 and all the lids C are placed on the flange 102, the cleaning nozzles 103 simultaneously clean the lids C. After washing, drying is also performed by air blow. Thereafter, one of the lids rises the chuck and waits. On the other hand, the barrel tank A without the lid C on the moving table 116 is moved to the worker side (downward in FIG. 1 and right side in FIG. 25) by the operation of the rodless cylinder 117, and is moved inside the barrel tank A without the lid C. An unprocessed work is input by an operator. After the charging, the rodless cylinder 117 moves again, and the unprocessed barrel tank A returns to the original position. Next, the unprocessed barrel tank A without the lid C is gripped by the robot 10 and transferred to the medium quantitative supply device 80, where the media and the like are put into the unprocessed barrel tank A. When charging is completed, the raw barrel tank A without lid C
Is returned to the barrel lid attaching / detaching apparatus 100 by being gripped by the robot 10, and is placed on the lower flange 102 of the lid C which is gripped by the three-jaw chuck 114 and is waiting above. Thereafter, the vertical movement cylinder 110 is moved downward, and the raw barrel tank A without the lid C is covered with the lid C. This step is sequentially performed for another barrel tank A. Thus, the adjustment of the unprocessed barrel tank A is completed, and the apparatus stands by here for the next processing.

When the work needs to be degreased by polishing, the unprocessed barrel tank A is transported to the cleaning device 50, where the work is discharged to remove press oil and the like adhering to the work. During that time, the barrel tank A is showered by the shower unit 51, dried, and returned to the barrel tank standby unit 119. Thereafter, the net basket G containing the dried work is placed in the robot 10.
Is put into the barrel tank A placed in the barrel tank standby unit 119. After the charging, the net basket G is returned to the cleaning device 50. The barrel tank A containing the dried work is transferred to the medium fixed-quantity supply device 80 for charging the medium. When the loading of the media is completed, the barrel lid attaching / detaching device 10
At 0, close the lid C and wait as an unprocessed barrel tank A.

[Process example 1 (polishing completed → vibration sorting → washing →
Drying]] In the above-described apparatus configuration, a general wet barrel polishing process when the sizes of the work and the medium are different from each other will be described with reference to FIG. For convenience of explanation, it is assumed that four barrel tanks A are mounted on the centrifugal barrel polishing machine 20 and four unprocessed barrel tanks A are placed on the barrel lid attaching / detaching apparatus 100 in the initial state. That is, there are a total of eight barrel tanks A in this system. Nine empty net baskets G are stored in the empty net basket standby table 17 (upper and lower stages),
And the shower unit 51 of the cleaning device 50
The following description is based on the premise that there are 12 systems in total.

[Replacement of barrel tank A in centrifugal barrel polishing machine 20]
Is stopped, the robot 10 grasps the processed barrel tank A of the centrifugal barrel polishing machine 20 with its hand 13 and lowers it on the processed barrel tank standby table 16.
In a clockwise direction (the rotation direction described below is based on FIG. 1) to grip the unprocessed barrel tank A of the barrel lid attaching / detaching apparatus 100, and then rotate in a counterclockwise direction. The raw barrel tank A is placed on the empty piston 30 of the centrifugal barrel polishing machine 20. Thereafter, the revolving turret 26 of the centrifugal barrel polishing machine 20 rotates by the index, and the next processed barrel tank A comes to the front position corresponding to the robot 10, so that the robot 10 attaches and detaches the barrel tank A by the same procedure as described above. Is repeated four times. When the mounting of the unprocessed barrel tank A is completed, the centrifugal barrel polishing machine 20 is started, and the next processing is started.

[Selection of Processed Mass] While the polishing is performed by the centrifugal barrel polishing machine 20, the robot 10 holds the processed barrel tank A on the processed barrel tank standby table 16 and moves it clockwise. To transfer the processed barrel tank A to the barrel lid attaching / detaching apparatus 100. After the transfer, it turns counterclockwise, and repeats the above steps to transfer all the processed barrel tanks A to the barrel lid attaching / detaching apparatus 100. In the barrel lid attaching / detaching apparatus 100, the lid C is removed.
Thereafter, the robot 10 grips the processed barrel tank A without the lid C, turns about 120 ° in the clockwise direction, and inverts the processed barrel tank A without the lid C in the vibration sorter 60, and The mass is put into the hopper 66. At this time, the vibration sorter 60 has already been operated, and the inside of the barrel tank A is cleaned by the cleaning nozzle 66a provided on the side wall of the hopper 66. Next, the robot 10 turns counterclockwise about 120 °, and moves the cleaned barrel tank A.
Is placed in the barrel tank standby unit 119 of the barrel lid attaching / detaching apparatus 100. This operation is repeated a total of four times. In addition, since the net basket G waiting at the discharge port 70 of the vibration sorter 60 can accommodate only two tanks of work, when throwing the mass from the processed barrel tank A into the hopper 66, the left and right are alternately thrown.

[Rough Washing Process] Next, the robot 10 rotates clockwise about 120 ° from the barrel lid attaching / detaching device 100 to the vibration sorter 60, and grips the net basket G containing the work for two tanks. Then, it is turned slightly further in the clockwise direction and placed on the rough cleaning section 52. After setting the net basket G with one workpiece, the rough cleaning unit 52 is rotated by the index, and the net basket G with the other workpiece is set. In this state, rough cleaning is performed for a certain time. [Finish Washing] When the rough washing is completed, the rough washing unit 52 rotates the index, and then the robot 10 takes out the net basket G that has been roughly washed and turns slightly in the clockwise direction to rotate the net basket G. The net basket G is placed on the finish cleaning section 53. Also in the finish cleaning section 53, the index basket rotation is performed similarly to the coarse cleaning section 52, so that the net baskets G which have been roughly cleaned are sequentially stored.
Finish washing for a certain time.

[Drying Process] When the finish cleaning is completed, the finish cleaning section 53 is rotated by an index.
No. 0 takes out the net basket G that has been finished and washed and turns it clockwise by about 30 to 60 °, and places the net basket G that has been finished and washed on the dryer 40 in order. In addition, the dryer 40 is 4
Although two net baskets G can be accommodated, places where there is no net basket G are covered with blinds. Then, it is dried for a certain time. [Input processing of raw mass] During cleaning and drying,
In the barrel lid attaching / detaching apparatus 100, four lids C are placed on the apparatus, and the four lids C are simultaneously washed by the washing nozzle 103 from below. In addition, the four barrel tanks A placed in the barrel tank standby section 119 are moved to the worker side, and the next unprocessed work is loaded. When the loading is completed, the robot 10 grasps one barrel tank A into which the unprocessed work has been loaded, and rotates the barrel tank A approximately 90 ° clockwise.
The barrel A is turned to place it on the load cell 82 of the medium fixed amount supply device 80.

Then, the medium dropped from the vibration sorter 60 and stored in the medium quantitative supply device 80 by suction of the vacuum 18 is put into the barrel tank A placed on the load cell 82. In addition, the media fixed amount supply device 8
In 0, spare media is also stored. In addition, in this medium fixed supply device 80, water and the compound are also supplied to the barrel tank A. When the load cell 82 detects that the supply amount to the barrel tank A has reached a predetermined weight, the charging is completed. Thereafter, the robot 10 grips the barrel tank A of the medium fixed amount supply device 80, and
Rotate counterclockwise to about 0 ° to 0, and place the tank body B under the lid C waiting above. Thereafter, the lid C is put on the tank body B, and the barrel tank A stands by at this position as an unprocessed barrel tank A. This operation is repeated four times in total. Thereafter, the robot 10 moves from the barrel lid attaching / detaching device 100 in a counterclockwise direction for about 120 to 1
It turns by 50 ° and stands by in front of the dryer 40.

[Processing of Dried Work] When the dryer 40 is stopped, the robot 10 grips the dried net basket G, turns about 180 °, and moves the net basket G to the work of the inclined feeder sorter 90. It is transported to the take-out box 95, where the net basket G is inverted and the work therein is discharged to the work take-out box 95. Thereafter, the robot 10 holds the emptied net cage G in a clockwise direction by about 90 ° while holding it.
It turns, and the net basket G is placed under the outlet 70 of the vibration sorter 60. The other dried net basket G is similarly treated. The work take-out box 95 containing the dried processed work slides to the operator, where the work is taken out of the box. Thus, a series of steps is completed. Thereafter, the above steps are repeated. In the above, the net basket G is returned below the outlet 70 for easy understanding of the operation. However, when the net basket G runs short due to a difference in the processing time of each step, the net basket G is previously set to the empty net basket. The last net basket G supplied from the standby table 17 is returned to the empty net basket standby table 17.

Through the above steps, the work is finished without burrs or the like. [Process Example 2 (polishing completed → cleaning → vibration sorting → drying)] Next, a wet barrel polishing process when the size of the work and the medium is different and the work and the medium are very dirty will be described with reference to FIG. . The position and number of the barrel tank A and the position and number of the net basket G in the initial state are the same as those in the above-described process example 1. [Replacement of barrel tank A in centrifugal barrel polisher 20] Replacement of barrel tank A in this centrifugal barrel polisher 20
Since the process is the same as the “replacement of the barrel tank A in the centrifugal barrel polishing machine 20” in the above process example 1, the description is omitted.

[Replacement of Processed Trunks into Net Basket G and Rough Cleaning Process] While the centrifugal barrel polishing machine 20 is performing polishing, the robot 10 moves the processed barrels on the processed barrel tank standby table 16. The tank A is gripped and turned clockwise to transfer the processed barrel tank A to the barrel lid attaching / detaching device 100. After the transfer, it turns in the counterclockwise direction, and repeats the above-described steps to remove all the processed barrel tanks A.
To the barrel lid attaching / detaching device 100.

In the barrel lid attaching / detaching apparatus 100, the lid C is removed. Thereafter, the robot 10 grips the processed barrel tub A without the lid C, turns about 120 ° clockwise, reverses the barrel tub A, and removes the mass therein from the shower unit 51 of the cleaning device 50. Put it in net basket G. Here, cleaning of the barrel tank A and cleaning of the mass in the net basket G are performed by the showering nozzle 51d in the barrel tank and the showering nozzle 51c in the cleaning basket. Next, the robot 10 grips the cleaned barrel tank A, turns about 120 ° in a counterclockwise direction, and places the barrel tank A in the barrel tank standby unit 119. Next, the robot 10 turns around 120 ° clockwise and returns to the shower unit 51,
Here, the showered net basket G is gripped and slightly swiveled clockwise, and the showered net basket G is placed in the rough cleaning section 52. After the shower basket G is set, the rough cleaning unit 52 is rotated by an index to prepare for the next set.

Next, the robot 10 turns about 180 ° from the rough washing section 52, grips the empty net basket G on the empty net basket standby table 17, turns about 120 ° clockwise, and The net basket G is placed on the shower unit 51 of the cleaning device 50. Next, the robot 10 moves about 12 clockwise.
Returning to the barrel lid attaching / detaching device 100 by turning 0 °, the processed barrel tank A with the lid C removed is gripped and turned clockwise in the direction of about 120 ° to rotate the barrel barrel A. The trout is put into the net basket G of the shower unit 51. In the shower section 51, the showering nozzle 51 in the barrel tank is used.
The cleaning of the barrel tank A and the mass in the net basket G are performed by d and the showering nozzle 51c in the cleaning basket.

Thereafter, the robot 10 moves the shower unit 51
Then, the washed barrel tank A is gripped and rotated counterclockwise by about 120 °, and the washed barrel tank A is placed on the barrel tank standby unit 119. Next, the robot 10 turns around 120 ° clockwise and returns to the shower unit 51,
The showered net basket G is gripped and slightly swiveled clockwise, and the showered net basket G is placed on the rough cleaning section 52. Then, the rough cleaning unit 52 rotates the index to prepare for the next set. This operation is repeated three times in total. Finally, the robot 10 turns about 150 ° in the counterclockwise direction for the next processing, grips the empty net basket G on the empty net basket standby table 17, and moves about 120 ° in the clockwise direction. The operator turns and sets the empty net basket G in the shower unit 51.

[Finish Cleaning Process] The finish cleaning process is the same as the “finish cleaning process” in the above-described process example 1, and the description is omitted. [Sorting Process] When the finish cleaning is completed, the robot 10
Hold the net basket G that has been finished and cleaned, and
It turns by 0 °, and throws the mass in the net basket G that has been finished and washed into the hopper 66 of the vibration sorter 60. At this time, the vibration sorter 60 has already been operated. Next, the robot 10 turns counterclockwise about 120 ° while holding the empty net cage G, and places the empty net basket G on the empty net basket standby table 17. This operation is repeated four times in total. Since the net basket G waiting under the discharge port 70 of the vibrating sorter 60 can accommodate only two tanks of work, the hopper 66 removes the mass from the net basket G that has been finished and cleaned.
When throwing into the, it is thrown alternately left and right.

[Drying Process] Each of the net baskets G at the discharge end of the vibration sorter 60 accommodates two tanks of work. The robot 10 grips the net basket G, turns about 120 ° clockwise, and conveys the net basket G to the dryer 40. In the drier 40, the sorted workpiece net baskets G are dried for a certain period of time in a state where two of them are placed side by side. In addition, the place where there is no net basket G is covered with a cover. [Unprocessed Mass Input Process] The unprocessed mass input process is the same as the “unprocessed mass input process” in the above process example 1, and therefore the description thereof is omitted.

[Processing of Dried Work] The processing of this dried work is the same as the “processing of dried work” in the above process example 1, so that the description is omitted. Through the above steps, the work is finished without burrs or the like. Further, since the medium is also washed, clogging of the medium is prevented even if the medium is severely soiled, and the performance is not deteriorated even when used in the next step. [Step example 3 (polishing completed → washing → dry → inclination sorting)] Next, refer to FIG. 1 for a wet barrel polishing step when the workpiece is non-spherical, the medium is spherical, and both have the same size. I will explain. In addition, the position and number of the barrel tank A and the position and number of the net basket G in the initial state are as follows.
It is the same as the above-mentioned process example 1.

[Replacement of Barrel Tank A in Centrifugal Barrel Polishing Machine 20] The replacement of the barrel tank A in the centrifugal barrel polishing machine 20 is performed by replacing the barrel tank A in the centrifugal barrel polishing machine 20 in the above process example 1. ”, The description is omitted. [Replacement processing of processed cells to net basket G and rough cleaning processing] The processing of replacing the processed cells with the net basket G and the rough cleaning processing are described in the above-mentioned process example 2 in "Processing the processed cells to the net basket G. The steps are the same as those of the “replacement processing and the rough cleaning processing”, and thus the description thereof is omitted.

[Finish Cleaning Process] This finish cleaning process is the same as the “finish cleaning process” in the above process example 1.
Description is omitted. [Drying] Robot 10 is a net basket G that has been finished and cleaned.
Are held in this order, and they are turned clockwise by about 30 to 60 °, and the net basket G is placed in the dryer 40. Then, it is dried for a certain time. [Unprocessed Mass Input Process] This unprocessed mass input process is the same as the “unprocessed mass input process” in the above process example 1, and therefore the description is omitted.

[Sorting] When the drying is completed, the robot 10 grips the dried net basket G, turns about 180 °, and removes the mass in the dried net basket G from the hopper of the inclined feeder sorter 90. 99a. At this time, the inclined feeder sorter 90 has already been operated. Next, the robot 10 slightly turns clockwise while holding the empty net basket G, and returns the empty net basket G to the empty net basket standby table 17. This operation is repeated a total of four times. In the inclined feeder sorter 90,
The spherical medium falls down and is sucked by the vacuum 18, and the non-spherical work rises on the inclined surface and the work take-out box 9.
It is discharged to 5. The work take-out box 95 containing the discharged work moves to the worker, where the work is taken out from the work take-out box 95.
Thus, a series of steps is completed. Thereafter, these steps are repeated.

Through the above steps, the work is finished without burrs or the like. Also, since the work and the medium are the same size, it is difficult to sort by the vibrating sorter 60. However, since the work and the medium are sent to the inclined feeder sorter 90 after drying, the shape is sorted there (there is no moisture, so the surface tension due to moisture is low. Desired work) can be obtained. [Process Example 4 (Preliminary Cleaning → Drying → Polishing → Vibration Sorting)] Finally, a general dry barrel polishing process when the size of the work and the medium are different will be described with reference to FIG. Further, in the present dry barrel polishing step, in order to remove press oil or the like firmly attached to the work, in the cleaning step, rough cleaning is performed as preliminary cleaning. The barrel tank A in the initial state has four empty barrel tanks A on the processed barrel tank standby table 16 and four empty barrel tanks A without the lid C in the barrel tank standby section 119. These lids C are on the flange 102. The position and number of the net basket G are the same as in the above-described process example 1.

[Work Preliminary Cleaning Process] An operator puts a predetermined amount of unprocessed work into a barrel tank A without a lid C in a barrel tank standby section 119. Next, the robot 10 grips the unprocessed barrel tank A and moves it clockwise for about 120 minutes.
Then, the unprocessed barrel tank A is turned upside down, and the unprocessed work therein is put into the net basket G of the shower unit 51 of the cleaning device 50. In this shower section 51, the barrel tank A is washed and dried by the shower tank nozzle 51d in the barrel tank and the air shower ring nozzle 51e in the barrel tank, and the work in the net basket G is washed by the shower ring nozzle 51c in the wash basket. You.

After the cleaning, the robot 10 rotates counterclockwise by about 120 ° while holding the dried barrel tank A, and returns the barrel tank A to the barrel tank waiting section 119. Next, the robot 10 turns clockwise in the direction of about 120 °, returns to the shower section 51, grasps the showered net basket G, turns slightly in the clockwise direction, and roughly moves the showered net basket G roughly. It is placed in the cleaning section 52. When the showered net basket G is set, the rough cleaning unit 52 performs index rotation to prepare for the next set.

Next, the robot 10 moves from the rough cleaning section 52 to the empty net basket standby table 17 by about 15
It turns 0 degrees, grips the empty net basket G, turns clockwise about 120 °, and places the empty net basket G on the shower unit 51. Next, the robot 10 moves about 1 counterclockwise.
It turns by 50 degrees, grips the unprocessed barrel tank A in the barrel tank waiting section 119, turns clockwise about 150 °, returns to the shower section 51, reverses the unprocessed barrel tank A, and The unprocessed work is put into the net basket G. In the shower section 51, the showering nozzle 51d in the barrel tank is used.
Then, the barrel tank A is cleaned and dried by the air shower ring nozzle 51e in the barrel tank, and the work in the net basket G is cleaned by the shower ring nozzle 51c in the cleaning basket.

Next, the robot 10 rotates counterclockwise about 120 ° while holding the dried barrel tank A, and returns the dried barrel tank A to the barrel tank standby unit 119. Next, the robot 10 moves about 12 clockwise.
After turning by 0 °, it returns to the shower unit 51, grips the showered net basket G, slightly turns clockwise, and places the showered net basket G in the rough washing unit 52.
Then, the rough cleaning unit 52 rotates the index to prepare for the next set. This operation is repeated three times in total. Finally,
The robot 10 turns about 180 ° from the rough cleaning unit 52 to the empty net basket standby table 17 for the next processing, holds the net basket G, turns about 150 ° clockwise, and turns the net basket G. Is set in the shower unit 51 of the cleaning device 50.

[Drying Process] When the rough cleaning is completed, the robot 10 grips the roughly cleaned net basket G and slightly turns clockwise to rotate the coarsely washed net basket G into the dryer 40.
Put in order. Once all the rough-washed net baskets G have been placed,
Dry for a certain time. [Input Processing of Unprocessed Mass] When the drying is completed, the robot 10 grips the dried net basket G of the dryer 40 and turns about 150 ° clockwise to reverse the dried net basket G. The dried work is stored in the barrel tank standby unit 1
19 is charged into the empty barrel tank A. Then, Robot 1
0 returns the net basket G to the empty net basket standby table 17. This operation is repeated a total of four times.

Thereafter, the robot 10 grips the dried work-containing barrel tank A placed in the barrel-stand-by section 119 and turns it around 90 ° clockwise to remove the dried work-containing barrel tank A. It is placed on the load cell 82 of the medium fixed supply device 80. A dry polishing medium is stored in the medium constant supply device 80 in advance, and the dry medium is charged into a barrel tank A placed on a load cell 82. When the load cell 82 detects that the input amount has reached the predetermined amount, the input is completed. After this, the robot 10
Holds the barrel tank A of the medium fixed amount supply device 80,
Approximately 90 ° counterclockwise to barrel lid attachment / detachment device 100
Turn and place the tank body B under the lid C waiting above. Thereafter, the lid C is put on the tank body B, and the barrel tank A stands by at this position as an unprocessed barrel tank A. This operation is repeated four times in total.

[During Barrel Polishing] The unprocessed barrel tank A is sequentially mounted on the centrifugal barrel polishing machine 20 to perform barrel polishing. During barrel polishing, the robot 10 grasps the empty barrel tank A on the processed barrel tank standby table 16 and turns it clockwise by about 90 °, and places the empty barrel tank A on the barrel lid attaching / detaching device 100. . In the barrel lid attaching / detaching apparatus 100, the lid C is removed from the barrel tank A. Thereafter, the robot 10 grasps the barrel tank A without the lid C and places it in the barrel tank standby unit 119. This operation is repeated a total of four times to prepare for the adjustment of the next unprocessed work.

That is, during barrel polishing, the pre-cleaning and drying of the next unprocessed work are performed in the same manner as described above, and the supply of the medium is also performed in the same manner. The barrel tank A in the closed state is kept on standby by the barrel lid attaching / detaching apparatus 100 for the next processing. When the barrel tank A in the processed barrel tank standby table 16 has been processed, a sorting process described later is performed to empty the barrel tank A, and then preparation is made for adjustment of the unprocessed work.

[Replacement of barrel tank A in centrifugal barrel polisher 20] The replacement of barrel tank A in the centrifugal barrel polisher 20 is performed by replacing the barrel tank A in the centrifugal barrel polisher 20 in the above process example 1. , And the description is omitted. [Sorting Process] Meanwhile, in order to process the processed barrel tank A, the robot 10 moves the processed barrel tank standby table 1
6, the processed barrel tub A is gripped and rotated clockwise by about 90 °, and the processed barrel tub A is sequentially conveyed to the barrel lid attaching / detaching device 100. In the barrel lid attaching / detaching apparatus 100, the lid C is removed from the barrel tank A.

After that, the robot 10 grips the processed barrel tank A without the lid C, turns about 90 ° clockwise, inverts the processed barrel tank A, and sorts the mass therein into a vibration sorter. It is thrown into a hopper 66 of 60. At this time, the vibration sorter 60 has already been operated, and here, dry sorting is performed. After this, the robot 10
While holding the empty barrel tank A, it turns counterclockwise about 90 ° while holding the barrel tank A, and places the barrel tank A in the barrel tank standby unit 1
Return to 19. This operation is repeated a total of four times.

The net basket G at the discharge end of the vibration sorter 60 has
The robot 10 holds the net basket G, and the work removal box 95 holds the net basket G.
And the empty basket G is returned to the discharge end of the vibrating sorter 60. Similarly, processing is performed for another net basket G. The box containing the processed work moves to the worker, where the work is taken out of the work take-out box 95. Thus, a series of steps is completed. Thereafter, these steps are repeated.

By the above-mentioned dry process, the work is finished without burrs. In this example, the work and the medium were different in size, so the vibration sorter 60 was used. However, if the work and the medium are non-spherical and spherical of the same size, they can be sorted by using the inclined feeder sorter 90 after polishing. . [Effects of Embodiment] In the present embodiment, the barrel tank A
Centrifugal barrel polishing machine 20 and other auxiliary devices 40 and 5
A robot 10 having a hand mechanism 12 capable of holding and releasing a barrel tank A as means for sequentially transferring the barrel tank A between the barrel tanks A, 0, 60, 80, 90, and 100 or between auxiliary devices.
Are provided so as to be able to intermittently turn about the vertical turning axis 11, and the centrifugal barrel polishing machine 20 and the auxiliary devices 40, 50, 60, 80, 90, 100 are placed in the turning area of the robot 10. It was configured to be arranged. With such a configuration, the robot 10 can circulate along a path that sequentially passes through each device while holding the barrel tank A. Therefore, by appropriately setting the position and order in which the robot 10 is stopped, The order of the steps in each device can be arbitrarily changed. Therefore, when the process sequence is changed, it is possible to flexibly respond without changing the arrangement of each device. In particular, since the sorting step and the cleaning step, which are closely related to barrel polishing, are often interchanged, the auxiliary devices 50, 60, and 60 for the cleaning step and the sorting step are used.
90 is effective.

Further, since the robot 10 is capable of reversing between the forward turning and the reverse turning, each device 20,
When sequentially turning between 40, 50, 60, 80, 90, and 100, the turning direction of the robot 10 can be appropriately reversed as necessary. Thus, the turning stroke of the robot 10 is suppressed to be small.
In addition, each device 20, 40, 50, 60, 80, 90, 1
00 is not arranged in a line along a linearly extending conveyor, but is arranged on the circumference so as to surround the robot 10. Therefore, the floor area can be reduced, and in a limited factory space these days, It is advantageous.

[Other Embodiments] The present invention is not limited to the embodiment described above with reference to the drawings. For example, the following embodiments are also included in the technical scope of the present invention. In addition, various changes can be made without departing from the scope of the invention. (1) The arrangement of each device in the circumferential direction (the turning direction of the robot) is not limited to the mode described in the above embodiment, and can be set arbitrarily as needed.

(2) The apparatus constituting the barrel polishing system is not limited to the combination described in the above embodiment, and may be configured so as to omit any of the apparatuses in the above embodiment.
Conversely, a configuration may be adopted in which other devices not described in the above embodiment are added.

[Brief description of the drawings]

FIG. 1 is a plan view illustrating an arrangement of each device according to a first embodiment.

FIG. 2 is a front view of the robot.

3A and 3B show a hand mechanism of the robot, wherein FIG. 3A shows a state in which the holding of the barrel tank is released, and FIG. 3B shows a state in which the barrel tank is held.

FIG. 4 is a plan view of a centrifugal barrel polishing machine.

FIG. 5 is a front view of a centrifugal barrel polishing machine.

FIG. 6 is an enlarged sectional view showing a barrel tank holding structure in the centrifugal barrel polishing machine.

FIG. 7 is a right side view showing a state where the barrel tank in the centrifugal barrel polishing machine is released from holding.

FIG. 8 is a plan view of a dryer.

FIG. 9 is a front view of the dryer.

FIG. 10 is a side view of a dryer.

FIG. 11 is a sectional view of a net basket.

FIG. 12 is a plan view of a cleaning device.

FIG. 13 is a front view of the cleaning device.

FIG. 14 is a side view of the cleaning device.

FIG. 15 is a plan view of a vibration sorter.

FIG. 16 is a front view of a vibration sorter.

FIG. 17 is a side view of a vibration sorter.

FIG. 18 is a plan view of the medium fixed-amount supply device.

FIG. 19 is a front view of the medium fixed-amount supply device.

FIG. 20 is a plan view of an inclined feeder sorter.

FIG. 21 is a front view of an inclined feeder sorter.

FIG. 22 is a side view of an inclined feeder sorter.

FIG. 23 is a plan view of a barrel lid attaching / detaching device.

FIG. 24 is a front view of the barrel lid attaching / detaching device.

FIG. 25 is a side view of the barrel lid attaching / detaching device.

[Explanation of symbols]

 A: barrel tank 10: robot 12: hand mechanism 20: centrifugal barrel polishing machine (polishing device) 40: dryer (attached device) 50: cleaning device (attached device) 60: vibration sorter (attached device) 80: media quantitative Feeding device (ancillary device) 90: inclined feeder sorting machine (ancillary device) 100: barrel lid attaching / detaching device (ancillary device)

Claims (2)

[Claims] 1. A barrel polishing system in which a barrel tank is sequentially transferred between a polishing apparatus and an auxiliary apparatus or between auxiliary apparatuses, and a predetermined process is performed on the barrel tank in each apparatus. A robot having a hand mechanism capable of holding and releasing the barrel tank is provided so as to be able to intermittently turn around a vertical turning axis, and the polishing device and the auxiliary device are provided in a turning area of the robot. A barrel polishing system characterized by being arranged. 2. The barrel polishing system according to claim 1, wherein the robot is capable of reversing between forward turning and reverse turning.