JPH03170240A - Ring gear processing device - Google Patents

Abstract

PURPOSE:To eliminate the danger of the fall of a work onto a worker, etc., by composing it so as to travel a transfer vehicle which carry a work along the rail set up on the ground. CONSTITUTION:A work is put down on a moving device 10 by holding the work placed on a carry-in conveyor 7 by the hand 9 of a transfer vehicle 2 and moving the transfer vehicle 2 along a rail to the vicinity on the moving device of the gear cutting machine 3 which works the work thereof. The work placed on the moving device 10 is moved to the part of the gear cutting machine 3 side by the actuator of the moving device, the work is set on a work base by its holding by the hand of a work detaching device 12 and gear cutting is performed by moving the work base to a working part. After completion of the work, the work placed on the work base is held by the work detaching device 12 and the work of after this gear cutting is moved to the rail 1 side part by the action of the actuator of the moving device 11 for carrying-out.

Description

DETAILED DESCRIPTION OF THE INVENTION (Industrial Field of Application) The present invention relates to a ring gear machining device that cuts gears on the inner periphery of a link-shaped workpiece.

(Prior art) When cutting a ring gear, conventionally, a worker had to carry the workpiece into and out of the gear cutting machine for each ring gear, and the workpiece after gear cutting was carried out and placed on a pallet.
It was then transported to the next stage, such as a quenching furnace.

In addition, as a device for automatically loading and unloading workpieces, we use a ceiling-suspended transport vehicle, which is often used to make effective use of the space between characters, and install it in a heavy-duty shape on the suspended-dog transport I4t. It is conceivable to attach a work holding hand to the arm, and use the hand to hold the work to set the work in the gear cutter and to remove the work after the gear cutting is completed.

(Problem to be solved by the invention) However, when manually loading and unloading workpieces into a gear cutter as in the past, there is a problem in that it requires a large number of people and labor. Ta.

In addition, when using a ceiling-hanging transport vehicle, there is a risk of the workpiece falling, and there is also a risk of interference between the transport vehicle's hand and the worker. (There was a problem that it was difficult to secure the space for 1, and the work efficiency was poor.Also, while maintenance work such as replacing the cutter of a gear cutter was being carried out, maintenance workers and transport vehicles Since there is a risk of interference with the gear, the operation has to be interrupted, resulting in a problem that the operating rate of the gear cutting machine is low.

SUMMARY OF THE INVENTION In view of the above-mentioned problems, an object of the present invention is to provide a ring gear machining device that achieves labor saving, efficiency, and work safety.

(Means for Solving the Problems) In order to achieve the above object, the ring gear processing apparatus according to the present invention has a ring gear workpiece conveyor mounted on a rail laid on the ground so as to be able to travel freely. A plurality of ring gear gear cutters and a pair of workpiece loading and unloading conveyors corresponding to each gear cutter are arranged along the rail, and the rail is connected to each gear cutter. In between, a moving device for carrying in the workpiece before gear cutting and a moving device for carrying out the workpiece after gear cutting are installed, and the workpiece holding jig for each gear cutting machine is installed on the processing table. A workpiece attachment/detachment device having a hand for moving and setting a workpiece between the spur and each moving device for carrying in and carrying out the workpiece is installed, and each conveyor for carrying in and carrying out the workpiece and the said conveyor for carrying out the workpiece are installed on the conveyance vehicle. It is characterized by the installation of a hand that moves and sets the workpiece between a moving device for loading and unloading the workpiece.

(Function) Since the invention has the above-mentioned structure, the workpiece placed on the carry-in conveyor is held by the hand of the transport vehicle, and the workpiece is transported to the vicinity of the top of the moving device of the gear cutting machine that cuts the workpiece. Move the car and unload the work onto moving device-12. The work on the moving device is moved to the part on the gear cutting machine side by the actuator of the moving device, the workpiece is gripped by the hand of the workpiece attachment/detachment device and set on the machining table 1, and the processing table is moved to the processing area. Then, perform gear cutting. After the final T,
The workpiece on the processing table 12 is gripped by the workpiece attachment/detachment device and transferred to the four-way transfer device, and the workpiece after gear cutting is moved to the rail side portion by actuating the actuator of the transfer device. The workpiece moved to the rail side part on the moving device is
The materials are placed on a conveyor and transported by a transport vehicle. Note that cleaning may be performed before and after machining the workpiece, and in that case, the workpiece is transferred to the cleaning machine and taken out from the cleaning machine using a transport vehicle.

(Example) Embodiments of the present invention will be described below with reference to the drawings.

Fig. 1 is a plan view showing the overall configuration of the ring gear machining device, where l is a rail laid in the factory where the machining L device for workpieces (the finished product after gear cutting is sometimes referred to as a workpiece) is installed; 2 is an automatic guided vehicle installed at the running entrance on rail 1,
3 is a gear cutter 3 arranged vertically on the rail 1, and in this embodiment, ``('' indicates an example in which eight gear cutters 3 are installed. 4 is a gear cutter 3 installed side by side with the gear cutter 8. There is a washing machine, and it is added
There is a device to clean the work before and after processing.

Reference numeral 5 denotes a pallet station, which is used to store workpieces from a transport vehicle (not shown) traveling outside area 6 of the gear cutting device, or finished products after processing. .

Reference numerals 7 and 8 indicate a workpiece inlet conveyor and a workpiece outlet conveyor as workstations, which are provided in pairs, one each corresponding to the gear cutter 3; A worker carries the workpiece placed on the end a of the conveyor 7 to the rail-side end b where it can be gripped by the hand 9 of the carrier vehicle 2.

Conhair 8 for carrying out the workpiece is a workpiece (completed product) that is gripped by the hand 9 of the transport vehicle 2 and placed on the rail side end C.
The station side end d is for carrying. At the end of the rail 1 side of the conveyor 7 for carrying in the work, there is a positioning device that stops the work in a fixed position, and a work discrimination device that has a contact that is activated by the gravity of the work, for example, to determine whether the work is carried in position b. (none of which are shown) are provided.

10 and 1l are a moving table for carrying in and a moving table for carrying out, respectively, which are moving devices for carrying the work into the gear cutter 3.
and the rail 1, one pair each.

12 is a workpiece attachment/detachment device installed on the processing table of each gear cutter 3. 13 is a system controller that monitors and controls the movement and status of the entire cutting device.

FIG. 2 is a wiring diagram of the system controller 13 and each device, and the system controller 13 is connected to the computer 20.
, a sequencer 21, and a remote 1/014. Remote f/014 connects signal line 22 and remote l
/015-18, the control panel 23 of the moving table 10, 11 and the transmitter/receiver 26 provided at the end of the rail l
It is connected to a control panel 27 of the cleaning machine 4 and a control panel 28 of the workpiece loading/unloading i12. The transmitter/receiver 26 is for exchanging signals with an optical signal transmitter/receiver 25 connected to a control panel 24 mounted on the transport vehicle 2. In addition, the control panel 28 of the workpiece loading/unloading device l2 has a remote I/O
It is connected to the gear cutter 8 via 29. Each control panel 23, 2
4, 27, and 28 are each provided with an individual CPU (sequencer) to speed up control. Furthermore, remote I/Os 14 to 18 and 29 that perform serial communication are used to transfer the bows between each control device, and the status of each device is always taken into the system controller 13 at high speed.

Next, the configuration of each device will be explained. Figure 3 shows transport east 2
2, a traveling motor 32 integrated with a gear reducer 3l is attached to the frame 30 of the conveyor di 2, and a traveling pinion gear 33 is fixed to the output shaft of the reducer 3l. , a wheel 34 attached to the frame 30 is removably placed on the rail l, and is meshed with the traveling pinion 33 or a rack 35 fixed to the rail l, so that the power line provided along the rail 1 The transport vehicle 2 travels along the rail 1 by the operation of the electric travel motor 32 which receives power from the vehicle.

Further, in order to prevent the transport vehicle 2 from shifting in the lateral direction, cam lowers 36 are attached to four locations on the frame 30, and the rails l are sandwiched between these.

Further, a hydraulic unit 37 whose drive source is an electric motor is mounted on the frame 30, and serves as a three-axis drive source for the hand 9 mounted on the frame. The positioning mechanism of the hand 9 is constructed as follows. That is, a rotation device 40 for rotating a circular index plate 39 by a hydraulic rotation motor 38 is installed in the center of the frame 30, and a ball spline type main shaft 4l is fixed at the center of the index plate 39, and a hand lifting/lowering device 40 is installed at the center of the frame 30. One end of the hydraulic cylinder 42 is fixed, and the hydraulic cylinder 4
The second piston rod 42a is connected via a rod 44 to a sliding block 43 that is slidably fitted to the main shaft 41. An arm 46 having a Haranth weight 45 mounted on one end is attached to the sliding flock 43.
A hand 9 is attached to the other end of 6.

The hand 9 has a hydraulic motor 48 at the center of a circular frame 47.
The center gear 49 rotated by the center gear 49 is attached, and the three clip opening/closing gears 50 that mesh with the center gear 49 are attached around it, and as shown in FIG. 52, and a vertical rod-shaped grip 54 with a workpiece locking ring 53 attached to each horizontal arm 52 as shown in FIG. 7.As shown in FIG. Three clips 5 are placed in the workpiece W which has a step e over the entire circumference.
4, the center gear 49 is rotated by the sleeve pressure motor 48, which turns the grip opening/closing gear 50, the third wooden clip 54 is opened, and the ring 53 is hung on the step e as shown in FIG. There is something to grasp.

As shown in FIG. 4, the index play 1-40
5 notches f to j are formed on the outer periphery of the frame 30 of the transport vehicle 2.
When the hydraulic cylinder 55 is extended, the lock flock 56 is fitted into one of the notches f to j, and the lock flock 56 engages with the notch fj. Play 1-4 0 or 0 is locked, allowing you to decide which direction Han is facing.

Here, the center O of the index plate 39 and the notch n
The angles made by the lines connecting center O and notches 1 and g are equal to α (63 degrees) with respect to the line connecting center 0 and notch n, and the extension line of the line connecting center 0 and notch n, and the line connecting center O and notch f. The angle formed by the line connecting J is also α degrees.Also, 2 in Figure 54
As shown by the dotted chain line, the arm 46 is configured to align with the direction of the rail l when the lock block 56 is fitted into the notch n. A transmitter/receiver 25 is attached to the end of the transport vehicle 2 for transmitting and receiving optical signals with a transmitter/receiver 26 (see FIG. 2) installed at the end of the rail l.

Further, a control panel 24 is provided before and after the Ja vehicle transport 2.

FIG. 8 shows the mobile differential IO for loading and unloading the work, l
Figure 9 is a side sectional view showing an example of the configuration of 1.
These movable duffles lO, 1111 are movably installed between the rail l and the workpiece attachment/detachment device 12. In this example, mobile Duffle 10.11
In order to reduce the installation space, a permanent magnet 58 is housed inside a tube 57 made of a non-magnetic material, and a magnetic material 60 is placed outside the tube 57.
Attach movably to the magnetic material 60 and move the movable table IO.
, 1l are placed on the left and right roller rows 87 to reduce movement resistance, and compressed air is supplied into the tube 57 from either of the conduits 61 and 62 at both ends of the tube 57 to move the permanent magnet 58. , the magnetic material 60 is moved by the magnetic attraction force, and the moving taperings 10 are placed at both ends of the tube 57.
, 11 are provided, and a switch 59 for detecting the workpiece W is provided on the L surface of each moving tablel IO, 11.

As the actuator for the moving table 10.11, a hydraulic cylinder, an electric cylinder, or others may be used.

l　2 Next, the workpiece loading/unloading device 12 will be explained.

As shown in FIG. 1O, the workpiece attachment/detachment wl2 is attached to a processing table 63F provided on the rail l side of the gear cutter 3 by a mechanism described later. The processing table 63 is, for example, a gear cutter 3.
The whole arm 65 is rotated by a motor 64 attached to the frame of the machine, and is movable in a direction perpendicular to the rail 1 by an advance/retreat device screwed into a female thread 66 fixed to the processing table 63. is set up. Reference numeral 86 denotes a cutter of the gear cutter 3. The cutter 86 is moved up and down, and rotated at a slow speed about the axis, and the workpiece W is rotated at a slow speed together with the spur 67, so that the depth of cut is gradually increased. This is to form teeth on the inner circumferential surface of the workpiece W.

On the machining T table 63, there is a ring-shaped jig 67 for setting the workpiece W therein, or a turning device 68 (the turning device 68 is
It is rotatably installed by a hydraulic motor 69, its output gear 70, and a ring gear 7l connected to the outer periphery of the spur 67 and meshing with the output gear 70.

As shown in the figure, the cylindrical case 72 of the workpiece R removing device i2 is fixed to the cutting table 63 by bolts 73, and the motor 74 attached to the cylindrical case 72 is used to remove the workpiece.
A swivel device 76 configured to rotate the swivel table 75 via a mugya mechanism is provided, and an index plate 77 is fixed to the swivel table 75k, so that the rotation angle is detected by a built-in sensor (not shown). It has become.

Next, the mechanism for moving the hand to the index spreadsheet 77 will be explained. As shown in FIGS. ii and 12, a ball spline type main shaft 78 is fixed at the center of the index plate 77, and one end of a hydraulic cylinder 79 for lifting the hand is also fixed. The piston rod 79a is coupled via a rod 8l to a sliding flock 80 that is slidably fitted onto the main shaft 78. As shown in FIG. 13, the sliding lock 80 has two wooden arms 82 with an opening angle of 120 degrees.
83, and a carry-in hand 9A and a carry-out hand 149B are attached to the tips of each arm 82, 83, respectively. Since the structure of each hand 9A9B is the same as that of the hand 9 of the transport vehicle 2L, the same symbols are attached to each part and the explanation thereof will be omitted.

The flock 80 has a hydraulic bomb (
jig 67 to clean the sleeves from which dust has been removed
A nozzle 84 that sprays water for cleaning is also attached. Further, on the index plates 1 to 77, a position sensor 85 such as an air micrometer is attached on the opposite side to the direction of the nozzle 84 to detect the position and center runout of the workpiece W set in the jig 67. In addition to this position sensor 85,
There is another air micrometer-like I on the 67 side.
IA is omitted.

Next, the operation of this processing device will be explained. FIG. 14 shows the flow of the workpiece W, with solid line arrows indicating the flow of the machined workpiece, and dotted lines indicating the flow of the workpiece after gear cutting. First, the workpiece W placed on the pallet station 5 is manually placed on the workpiece carrying-in conveyor 7 of the workstation, and is sent to the end b of the rail 1 side. The system controller 13 monitors the state of a device that determines whether a workpiece W exists at the end b, and if a workpiece W exists, the workpiece W is transported to the washing machine 4 by the transport vehicle 2 and cleaned. When the process is completed, the workpiece W is transported again to the transfer table 10 by the transport vehicle 2, and the work W before addition is transferred to the transfer table 10. If it is not present in J2, move the receiving portion 59 of the moving table 10. Next, by operating the workpiece loading/unloading device 12, oil is jetted from the nozzle 84 to clean the spur 67, and after cleaning, the workpiece is set in all jigs 67, and the position sensor 85 automatically checks seating and center runout. If there is no abnormality, preparation for machining is completed and machining begins. When the addition is completed, the flow of the workpieces reverses the flow described above and is carried out from the pallet station 5 to the next process.

Next, details l 6 of the traveling process of the transport vehicle 2 will be explained with reference to FIG. 15. The IT sending east 2 waits for a start signal from the system controller 13 (Sl), and when the start signal is given to the control panel 24 of the transport vehicle 2, it is transferred to the system controller 1 to the roller 13 at the destination (S2). After that, the state of the positioning unit that controls the travel of the travel motor 32 of the transport vehicle 2 and 4+11 is checked (S3), and it is determined whether travel preparation is complete (S4). car 2 part 1
After completing one running process, move on to the next run.
A running start signal is sent to the positioning unit 1~ (with an interval of seconds) (S5), and before starting running, it is determined whether or not it is running (S6), and after running, it is determined whether the positioning unit is running or not. judgment (S7), and after the positioning is completed, the system controller l
Turn off the signal while moving to 3 and issue the completion signal (SS)
, the run is complete.

Next, referring to FIG. 16, a case will be described in which the workpiece W is carried in and out to the right side of the transport → 12. As shown by the solid line in Fig. 8, this upper distance is α degrees (63
degree) Rotate the hand 9 and place the workpiece held in the hand 9 onto the transport date 17! There is a process of placing IIt. first,
After moving the conveyance vehicle 2 to the target point and positioning it according to the procedure explained in FIG.
Activate the right hander from 3 {wait for lffi (Sl). When this right carry-in/out signal is received, a hand operating signal is sent to the system controller 13 (S2),
Turn hand 9 63 degrees to the right. This turning process is the fourth
In the figure, the hydraulic cylinder 55 is contracted to disengage the lock block 56 from the notch n, the recessed rotary motor 38 is rotated to the right, and when the lock block 56 reaches the position corresponding to the notch g, for example, a limit switch is activated. The rotation motor 38 is stopped by the operation of 1. I2, hydraulic cylinder 55
This is done by extending the lock flock 56 and fitting it into the notch g to lock the index plays 1 to 39. This turning and positioning control is performed by giving a right turning signal to the system controller 13 or the control panel 24, and
The turning and stopping 1F operations are controlled in response to signals from the locking block 56, and by forcibly fitting the lock flock 56 into the notch, accurate positioning can be easily performed with rough control. Ru.

In this way, after rotating the hand 9 by a predetermined angle [I+1,
By contracting the hydraulic cylinder 42, the hand 9 is lowered. The position control of the movement r1, which lowers the hand 9, is performed as follows. That is, the piston rod 42a
(or on the tube of the hydraulic cylinder 42), and count and quantify the 11 plates on the tube side of the hydraulic cylinder 42 (or the yI. lowering body). Take the encoder to be used and set it to 1 digit, and set the encoder output h to the setting value (height H of the moving table 10) set in the memory in the control panel.
A set value ΔH is added to the set value ΔH to provide a margin until the stop IL.
II'i) (S5). When H+ΔH≧h, the lowering operation of the hydraulic cylinder 42 is decelerated by oil amount control (S6). It is determined whether hand 9 has reached the target height (S7). When the altitude reaches +1, the hand lifting operation is stopped, the hand 9 is closed, and the workpiece W is placed on the moving table 10 by 1<(S8). Then move hand 9 to the second limit (S9), as shown by the two-dot chain line in Figure 8.
After turning the hand 9 to the right by β degrees (54 degrees) and positioning the hand 9 on the unloading movable table l1''2, perform the same hand 9r movement (SLl~S14) as in S4~S7 above, and then move the hand 9 to the target. When the height is reached, the hand 9 is opened and the completed workpiece is grasped (Sl5). Hand 9 until 12th period" Koge (
Sl6). Han l'9). Mi 1 {71 bi(=α+
β) Turn and return to the origin, and send a hand operation complete Y signal to the controller l3 (S17). finish.

Next, the operation of loading and unloading the workpiece W to the jig 67 by the workpiece loading/unloading device 12 on the loading/unloading movable table 10, 11 will be explained with reference to FIGS. 17 and 18. First, in FIG. 17, it is determined whether or not there is a workpiece W on the carrying-in moving table 10h by referring to the output of the switch 59, and it is also determined whether or not the carrying-out moving table 11 side is empty. The determination is made by referring to the output of the switch 59 (S1). If the workpiece W exists on the movable table 10 and the movable table l1 is empty, then gear cutting is performed! It is determined from the output of the position sensor 85 in the attitude shown in FIG. 18(A) whether or not the workpiece that has been subjected to the machining by j&3 is housed in the jig 67 (S2).
When there is a complete product in the jig 67l, and an operation permission signal is given from the system controller l3 to the control panel 28 of the workpiece loading/unloading device l2, the hands 9A and 9B are moved 120 degrees to the position shown in FIG. 18(B). Turn to the right (S3). and,
The moving table 10.11 is positioned at the side end of the gear cutter 3, and the hands 9A and 9B are lowered by the same operation as 84 to S7 in FIG. 16, and the workpiece W on the moving date lO is gripped by the hand 9A. At the same time, the completed product on Osamu [67] is grabbed by Han 1-9B (S4). Workpiece attachment/detachment device 12
Raise hands 9A and 9B of the
i? t, that is, turn right by 60 degrees (S5).

Next, a command to rotate the stopper 67 is issued to the gear cutter 3, and cleaning liquid (oil) is discharged from the nozzle 84 to the stopper 67 (S6). Further, the workpiece loading/unloading device 12 is turned 2L to the right by 60 degrees to the position shown in FIG. is carried into the jig 67 (S7).

Next, at the turning position shown in FIG. 18(D), the seating sensor (
(not shown) to check the seating of the workpiece W on the jig 67.
+S (S8). If the seating detection operation does not detect the seating, it is determined whether the number of seating inspections is less than 4 (S9), and if it is less than 44, the hand 9A
Grip the workpiece in the clap tool 67 again and turn it 60 degrees to the left to the turning position shown in FIG.
Repeat S8, and if it cannot be confirmed whether the passenger is seated even after repeating it four times, an error flutter is set (S9, S10).

When it is confirmed that the workpiece is seated, the jig A67 is turned to the right by 120 degrees, the height of the upper surface of the workpiece W is measured by the position sensor 85, and center runout is detected (S13).

Then, the maximum value and minimum value of the -L surface of the workpiece W are compared (S14). Is that the difference?Setting review 1-. If so, repeat from step 2 2 @fertilization S 3 and repeat 4 times. If the difference between the maximum value and minimum value or C does not become less than the set value, set an error flag (Sl5, St6). On the other hand, if there is only center runout, move the moving differential lO, l1 to the transport vehicle 2 side (Sl7). It is checked whether the error flag is on or not (Sl8), and if the error flag is off, the gear cutter 3 is activated, and if the air flag is on, the abnormality lamp is turned on (Sl9).

In the J2 embodiment, an example is shown in which a seating sensor is provided on the jig 67 side to confirm whether the workpiece is seated, but seating on the jig 67 may be detected by the position sensor 85.

(Effects of the Invention) According to the present invention, automatic operation is possible, resulting in labor savings.

In addition, since the transport vehicle that transports the workpiece is run on rails installed on the ground, there is no risk of the workpiece falling onto workers, etc. The hand of the 41G conveyor transfers the workpiece between the transfer device installed between the gear cutter and the rail, and the workpiece loading/unloading device is installed on the processing table of the gear cutter. Since the turning radius is small, there is no risk of interference between the workpiece loading/unloading device or the transport vehicle's hand and the worker, increasing safety, and ensuring space for the worker around the gear cutter. It is easy to use and has good workability.

In addition, even when maintenance work is being performed, such as replacing the cutter of a gear cutter, there is no risk of interference between the maintenance worker and the transport vehicle, so there is no need to interrupt the work, and the gear cutting equipment can be operated. rate will be higher.

In addition, by providing a moving device for loading and unloading between the workpiece loading and unloading device during conveyance, it acts as a moving device or a huffer device, increasing the operating rate of the gear cutter and improving work efficiency. L.

[Brief explanation of the drawing]

The figure shows one embodiment of the ring gear processing device according to the present invention, and FIG. 1 is a plan view showing the arrangement of the entire device, and FIG.
The figure is a block diagram showing the overall control system configuration for sending and receiving signals, FIG. 3 is a perspective view showing the transport system, and FIG. 4 is a plan view without showing the hand positioning mechanism mounted on the transport vehicle. Fig. 5 is a plan view showing the configuration of the hand on the transport vehicle, Fig. 6 is a perspective view showing an example of a workpiece before processing, Fig. 7 is a cross-sectional view showing the state in which the workpiece is gripped by the hand, and Fig. 8 The figure is a plan view showing the relationship between the moving table, the transport vehicle, and the workpiece loading/unloading device, FIG. 9 is a side sectional view showing the structure of the moving table, and FIG. 10 is a side view showing the gear cutter and the workpiece loading/unloading device. FIG. 11, FIG. 12, and FIG. 13 are side views showing the workpiece loading/unloading device, respectively;
A perspective view and a plan view, FIG. 14 is a flowchart explaining the flow of workpieces, FIG. 15 is a flowchart explaining the operation of the transport vehicle,
FIG. 16 is a flowchart explaining the transfer operation of a workpiece between the transport vehicle and the moving table, FIG. 17 is a flowchart explaining the transfer operation of the workpiece between the gear cutter and the moving table, and FIG.
The figures are diagrams for explaining each working position of the workpiece loading/unloading device.

Claims (1)

[Claims] A carrier for a ring gear workpiece is placed on a rail laid on the ground so that it can travel freely, and along the rail, a plurality of ring gear gear cutting machines and a pair of workpieces corresponding to each gear cutting machine are transported. A carrying-in conveyor and a carrying-out conveyor are arranged, and a moving device for carrying in a workpiece before gear cutting and a moving device for carrying out a workpiece after gear cutting are installed between the rail and each gear cutting machine, Workpiece attachment/detachment having a hand for moving and setting the workpiece between the workpiece holding jig and each moving device for loading and unloading the workpiece on the processing table on which the workpiece holding jig of each gear cutter is installed. A device is installed on the transport vehicle, each conveyor for carrying in and carrying out the work, and the conveyor for carrying in the work,
A ring gear processing device characterized by being equipped with a hand for moving and setting a workpiece between a moving device for carrying out.