JPH04171177A - Deburring and transfer loading system for workpiece - Google Patents

Abstract

PURPOSE:To shorten measuring time and improve work efficiency by receiving and transfer-loading onto a grinding machine a workpiece to be deburred and conveyed from a previous process by means of one of two robots, and transfer- loading the workpiece after being deburred from the grinding machine to the next process by means of the other robot. CONSTITUTION:A first robot 30 suspends a workpiece W having burrs and conveyed from a workpiece forming process by means of a first hanger located on a first loading table 27. In the meantime a deburring machine 31 removes burrs from a work suspended with a second hanger. A second hanger 32 takes a work suspended with a third hanger from the hanger, sends the work to the next process, and shifts the emptied third hanger from the second loading table 28 to the third loading table 29. The second hanger in the deburring machine, after the workpiece is deburred, is taken out with the second robot and transferred to the second loading table. After confirming that the first and the second robots do not interfere with each other, the first hanger is shifted from the first loading table to the deburring machine.

Description

DETAILED DESCRIPTION OF THE INVENTION Field of Industrial Application The present invention is useful for cleaning workpieces by removing embossments and foreign matter adhering to the surface of the workpiece after it has been formed by a zinc or aluminum die-casting machine, for example. In the invention, this is referred to as "grinding.") The present invention relates to a system for transferring workpieces between predetermined locations for operation.

Prior Art and its Problems Conventionally, work pieces formed by a zinc or aluminum die-casting machine are usually removed by a shaving press machine. This shaving press machine uses a combination of male and female dies to remove burrs, so even if it is possible to remove burrs protruding from the corners of the workpiece, it also removes burrs protruding from circular arcs and uneven surfaces. Also, it is impossible to remove foreign matter attached to the surface of the workpiece.

For this reason, a machine (in the present invention, this machine is referred to as a "sanding machine") that cleans the workpiece by blowing fine metal particles or sand onto the workpiece to remove foreign matter, etc. is used to clean the workpiece. Method for removing foreign matter However, since a cleaning machine can clean many workpieces at once, it is necessary to store a certain number of workpieces. For this reason, workers
Until the workpieces are accumulated, they are often engaged in other tasks such as sending the polished workpieces to the next process or packing them into boxes.

Therefore, in a workpiece processing line where workers perform hanging and holding work, there is often a waiting time for the machine for one side of the hanging and holding work, which has the problem of poor productivity. are doing.

Means for Solving the Problems The present invention includes three hangers on which workpieces are hung;
After hanging the work sent from the first, second, and third stands on which each hanger is placed and the empty hanger on the first stand, the hanger is placed on the burrs of the work and on the surface of the work. A first robot transfers to a cleaning machine to remove attached foreign matter, etc., transfers a hanger in the cleaning machine to the second stand, removes the workpiece suspended from the hanger, and sends the workpiece to the next process. The above-mentioned problem has been solved by a system including an IJ20 pot that transfers the empty hanger to the first stand via the third stand.

Function: The first hanger is empty on the first workbench, and the second hanger is hung with the workpiece to be polished inside the grinder. The third hanger with the polished workpiece suspended is placed on the 12gE stand, and 1f! 3. It is assumed that no hangers are placed on the stand.

The fJ10 bot suspends a workpiece with a flag sent from the workpiece forming process from a first hanger placed on a first stand. During this time, the cleaning machine cleans the work suspended on the #I2 hanger. Also, the second robot is tJ
Remove the workpiece suspended from the i3 hanger,
Send it to the next process and transfer the empty third hanger from the second stand to the #I3 stand. The second hanger inside the vacuum cleaner is
After the workpiece is polished, it is taken out by the second robot and transferred to the second W table.

Thereafter, after confirming that the first robot does not interfere with the second robot, the first robot transfers the first hanger to the first stand or the cleaning machine. The third hanger is transferred from the third stand to the empty first stand by the second robot.

The workpiece suspended from the first hanger is moved into the cleaning machine and is polished.

Thereafter, in the same manner, the W41 device, the cleaning machine, the second mounting stand, and the 1113 mounting stand are sequentially transferred to each hanger by the 11th and 2nd robots. During this time, the suspended workpiece is polished.

Example Embodiments of the present invention will be described below based on the drawings.

First, the cleaning and conveying system 20 for the workpiece W (see FIG. 8)
(See FIG. 1) The entire workpiece production line 21 will be explained.

Note that the work W is, for example, a frame of a video deck,
Die-cast molded products of aluminum, zinc, etc., or plastic molded products are used for the body of a camera, and in the embodiment, an example of an aluminum molded product will be explained.

The work production line 21 is an aluminum die casting machine 22.
, a hot press machine 23 , a workpiece cooling device 24 ,
A transfer robot 25, a shaving press machine 26,
Three pedestals 27, 28, and 29, and a first robot 30,
A cleaning machine 31, a second robot 32, and three hangers 3
3.

The aluminum die-casting machine 22 is a known machine, and includes a fixed mold 40 and a movable mold 41 for molding a workpiece.

The hot press machine 23 (see Figs. 2 to 4) takes the workpiece cast by the die-casting machine 22 with the female mold 43 of the slide frame 42, and punches out sprues, tundishes, etc. This is a device that removes The hot press machine 23 has a slide frame 42, a male mold 46 (see FIG. 4), and a cylinder 47. The slide frame 42 is moved in the direction of the arrow by the drive of the cylinder 44 and the guidance of the four rollers 45, and enters between the separated fixed mold 40 and movable mold 410.
The male mold 46 is moved in the direction of arrow C by the drive of a cylinder 47, and removes the sprue, pool, etc. of the workpiece inserted into the female mold 43 by meshing with the female mold 43.

The workpiece cooling device 24 is a device that cools the high-temperature workpiece taken out from the die-casting machine 22. The workpiece cooling device 24 includes a cooling jig 50 (6) consisting of a frame with a wire mesh on which the workpiece can be placed, and a blower (not shown) installed under the cooling jig 50 to send cooling air to the workpiece.

The transfer robot 25 (see FIG. 5) is a robot that transfers the workpiece to the hot press machine 23 or the workpiece cooling device 24, and also transfers the workpiece from the workpiece cooling device 24 to the shaving press machine 26, which will be described later. A pair of opening/closing claws 52,52 are provided at the tip.

The shaving press machine 26 (see FIGS. 6 and 7) is a machine that removes slag from the workpiece and performs shaving to finish the inner diameter of the hole that has shrunk due to cooling. The shaving press machine 26 has a bolster 61 on which a female die 60 is attached and a ram 63 on which a male die 62 is attached. The bolster 61 is configured to move in the E direction on the ped 64 by a drive mechanism (not shown) with the female mold 60 placed thereon. Also, the ram 63 is connected to the frame 65
It is designed to go up and down.

'lI41, the second mounting stands 27 and 28 are hangers 3, which will be described later.
3, a bifurcated lock piece 70 for positioning the hanger, a dog lock cylinder 71 from which the lock piece 7o appears and retracts horizontally, and a rotating shaft 72 rotated by a motor (not shown). , and a pair of sensors 73 and 74 installed at an interval of 180 degrees. The third mounting stand 29 has nothing and is just a flat stand.

The hanger 33 (see Fig. 8) includes a hook arm 8o made of 6 pieces of wood from which the workpiece is hung, a ring arm 81 made of 6 pieces of wood that holds the lower end of the work piece W, and a dog protruding at an interval of 180 degrees. 82 and 83.

The first robot 30 is a robot that suspends the workpiece received from the shaving press machine 26 on a hanger on the first platform 27, and then transfers the hanger to a polishing machine 31, which will be described later.

The cleaning machine 31 (see FIG. 9, No. 1O) has a negative side of about 1.5
This device sprays hexahedral aluminum grains (not shown) of mm size onto a workpiece to remove fine particles and foreign matter adhering to the surface of the workpiece suspended from a hanger. The cleaner 31 is equipped with a rotating shaft 85 and has a boss 8 at the tip.
6, a cylinder 88 that applies rotational force to the rotating shaft 85 (the cylinder 88 in FIG. 9 is a front view, so it appears to have four corners), and a boss 86 that engages with a claw 89 at the lower end of the boss 8B. a drive shaft 9 that rotates on a swing arm 87;
0 and a motor 91 that rotates a drive shaft 90. The drive shaft 90 is raised from the position shown in FIG. 9 by a lifting means (not shown) and is brought into engagement with the pawl 89. The boss 86 is a part on which a hanger is placed. An air nozzle 93 (see FIG. 1) is provided at the entrance of the hanger carry-in/out port 920 to blow off aluminum grains attached to the hanger 33. Therefore, when the hanger is carried in, the hanger carry-out port 92 of the sanding machine 13 is automatically opened by the control device (not shown), and at the same time, the cylinder 88 is also started, and the rotation axis 85 is rotated by 850 rotations of the zero rotation axis. As a result, the right end of the swing arm 87 swings toward the front side of the paper in FIG.

After the hanger 33 is placed on the boss 86, the cylinder 8
8 moves back and rotates the rotating arm 87 in the opposite direction,
Place the hanger 33 into the cleaner 31.

The tJ30 bot 29 attaches the hanger to the second
After transferring to the placing stand 28, the robot packs the work suspended on the hanger into a box 93, and transfers the empty hanger to the first placing stand 27 via the third placing stand 29.

Note that the 11th and 20th bots 30 and 32 have the same structure as the transfer robot 25, so a description thereof will be omitted.

Further, in FIG. 1, the range shown by the imaginary arc line drawn centering on each robot 25, 30° 32 indicates approximately the movement range of each robot.

Additionally, each robot is connected to a control panel 96,97,98.

Next, the overall operation of the workpiece production line 21 will be explained.

"Die-casting process" Melted aluminum alloy at about 700 degrees Celsius is poured into the hot water supply port (not shown) of the die-casting machine 22, and is pushed into the mold at high speed and high pressure by the injection plunger (not shown) of the die-casting machine 22. The aluminum alloy is cooled by cooling water circulating within the mold, and becomes a workpiece (not shown).

The mold is divided into a fixed mold 40 and a movable mold 41. The workpiece remains in the movable mold 41.

When the mold is completely separated into a fixed mold 40 and a movable mold 41, the slide frame 42 of the hot press machine 23 moves in the direction of arrow A (
(see Figure 2) and enters between them, the movable mold 4
The workpiece in 1 is extruded by an extrusion bottle (not shown).

The extruded workpiece is directly transferred to the hot press machine 23
It is inserted into the female mold 43 of.

The extrusion bottle is retracted into the movable mold 41.

In response to the extrusion bottle return signal, the slide frame 42 is removed from the space between the fixed foot m40 and the movable mold 41 and returns to its original position.

In response to the slide frame 42 return signal, the transfer robot 25
The opening/closing claws 52 and 52 are applied to the work extrusion side surface of the female mold 43 of the hot press machine 23.

Meanwhile, the die casting machine 22 enters the next cycle.

The transfer robot 25 sends a male die movement start signal to the hot press machine 23.

The male die 46 of the hot press machine 23 is moved by the cylinder 47 in the direction of arrow C (see FIG. 4) and punches out the workpiece, thereby removing the sprue and pool formed on the workpiece.

In response to the extrusion signal from the male mold 46, the transfer robot 25 takes out the workpiece, and the hot press machine 230 male mold 46 retracts to its original position.

“Work Cooling Process” The transfer robot 25 transfers the work taken out from the hot press machine 23 to the work cooling device 24! ! lIl cooling jig 5
Place it on 01.

When the workpiece is placed on the first cooling jig 501,! 11
1 Reflective photoelectric switch a attached to cooling jig 501
(See Figure 1) confirms whether the workpiece is placed correctly. When the workpiece is placed accurately, the transfer robot 25 issues a clamp command to the first cooling jig 501.

When the first cooling jig 501 accurately clamps the workpiece, it sends a clamp confirmation signal to the transfer port bot 25. The clamp confirmation signal is issued by a limit switch (not shown) actuated by the operation of a clamp cylinder (not shown) that actuates the clamp.

The transfer robot 25 returns to the female die 43 of the hot press machine 23 to take out the next workpiece.

Such operations are repeated until the workpiece is placed on the sixth cooling jig 506.

When the transfer robot 25 receives the clamp confirmation signal from the sixth cooling jig 506, it moves onto the workpiece placed on the first cooling jig 501 and locks the hair clamp on the first cooling jig 501. Send commands.

The first cooling jig 501 unclamps the workpiece.

Once the first cooling jig 501 has accurately unclamped, it sends an unclamp confirmation signal to the transfer robot 25.

An unclamp signal is issued by the limit switch of the clamp cylinder.

The transfer robot 25 grasps and lifts the cooled workpiece, and transfers it to the shaving press machine 26.

Then, the transfer robot 25 picks up a new workpiece from the hot press machine 23, and the empty first cooling jig 5
01, and take the cooled work from the second cooling jig 502 and transfer it to the shaving press machine 26.
Transfer to.

[Shaving press machine process] The transfer robot 25 confirms whether or not the shaving press machine 26 has issued a workpiece carry-in request signal.

If the workpiece loading signal has been output, the transfer robot 25 places the workpiece onto the female die 60 of the shaving press machine 26.

Whether or not the workpiece has been accurately placed on the female mold 60 is confirmed by reflective photoelectric switches b (see FIG. 1) installed at two locations on the female mold 60. If the workpiece is correctly attached to the female die 60, the photoelectric switch b sends a workpiece seating normal signal to the transfer robot 25.

Upon receiving this signal, the transfer robot 25 sends a start signal for the shaving press machine 2B to the shaving press machine 26.

Then, the female mold 60 is carried to the bolster 61, and the male mold 6
Move to the press position directly below 2.

Further, in response to a start signal for the shaving press machine 26 issued from the transfer robot 25, a stopper (not shown) protruding from the central lower part of the bed 64 stops the bolster 61 at the press position. When the press position confirmation limit switch C (see FIG. 1) reacts, the ram 63 is lowered, the male die 62 engages with the female die 60, and the cast holes and other ridges of the workpiece are removed.

When the burr is removed, the stopper is lowered, the female mold 60 is carried by the bolster 61 and moved toward the first robot, and the travel limit confirmation limit switch d (see FIG. 1) is activated. Switch d sends a workpiece removal request signal to the first robot 30.

The first robot 30 moves onto the female die 60, grabs the workpiece, and lifts it vertically.

A transmission-type photoelectric switch e (number M in Figure 1) is installed at that height, and this is used to check the horizontality of the workpiece.

This confirmation is performed by placing the workpiece on a hanger (hereinafter, this hanger will be referred to as the "first hanger").

) 33 to ensure proper hanging.

If the posture is normal, the shaving press machine 26 sends a normal removal posture signal to the first robot 30 . The first robot 30 receiving this signal sends a workpiece unloading completion signal to the shaving press machine 26. In response to the workpiece unloading completion signal, the bolster 61 transports the female mso to the original workpiece loading position.

After the female die 60 moves, the limit switch f at the carry-in position
(see FIG. 1) responds and sends a workpiece carry-in request signal to the transfer robot 25.

"Sanding machine process" After the first robot 30 takes out the workpiece from the shaving press machine 26, it confirms whether or not there is a carry-in request signal from the first table 27.

At this time, the first hanger 33 is positioned so as to face the direction in which the workpiece can be easily hung. The first robot 30 suspends the workpiece taken out from the female die 60 from the first hanger 33 on the first stand 27 .

The #i10 bot 30 repeats this process three times and hangs the three workpieces on the first hanger 33. When the three hangers have been hung, the first robot 30 hangs the three workpieces on the first hanger 33.
7, a command is sent to rotate the first hanger 33 by 180 degrees. Based on this command, the first
The limit switch reacts when the lock piece 70 that positions the hanger 33 retracts and the dog lock cylinder 71 retreats.

When the limit switch is activated, a motor (not shown) that rotates the first hanger 33 on the first stand 27 is started, and the first hanger 33 is rotated 180 degrees. Sensor 74 detects dog 82 and stops rotation of the first hanger. After that, the lock cylinder 71 moves forward and the dog 82
lock.

The switch is turned on as long as the dog lock cylinder 71 moves forward, and a workpiece installation start signal is sent to the first robot 30.

At this time, the first robot 30 is waiting while grasping the workpiece transferred from the female die 60 of the shaving press machine 2B.

The first robot 30 similarly suspends the workpieces at the remaining three locations on the first hanger 33, and then sends a workpiece suspension completion signal to the first mounting table 27. The lock piece 70 engaged with the dog 82 of the first hanger on the first stand 27 is connected to the first robot 3.
Retract from 0 based on the glue hanging completion signal.

The retraction limit switch of the dog lock cylinder 71 reacts and sends a first hanger transfer signal to the first robot 30.

The first robot 30 moves the arm 51 to a position where it grasps the first hanger.

The first robot 30 confirms whether or not the second robot 32 is emitting a signal indicating that the second robot 32 is entering the interference area in front of the hanger discharge port 92 of the cleaning machine 31. If so, this information is sent to the first robot 30. In addition,
The interference area refers to an area that overlaps each other among the moving areas of the 1st and 20th bots 30 and 32.

If the signal indicates that the interference area is not entered, the Ill robot 30 grabs the first hanger and lifts it from the first stand 27.

The first robot 30 confirms again whether a signal indicating that the second robot 32 has entered the interference area in front of the hanger loading/unloading entrance 82 is being output. If so, an operation stop signal is sent to the first robot 30. If the signal indicates that the first hanger is not loaded, the first robot 30 starts operation after confirming whether the cleaning machine 31 has issued a request to carry in the first hanger.

The 1Jil robot 30 approaches the cleaning machine 31 while sending a signal to the second robot 32 that it is intruding into the interference area, and attaches the first hanger 33 to the boss 86 that has been exposed in advance from the hanger carry-out port 92. I'll put it on. Then, the first robot 30 sends a cleaning machine start signal to the cleaning machine 31.

The first robot 30 returns to a position outside the interference area in front of the hanger exporter 92 and turns off the signal indicating that it is intruding into the interference area.

The W410 bot 30 has a third stand 2 on the second robot 32.
A command signal is sent to transfer the empty hanger (not shown; hereinafter, this hanger will be referred to as a "second hanger") on the first mounting table 27.

Upon receiving this signal, the second robot 32 carries the empty second hanger from the third table 29 to the first table 27 .

The second robot 32 connects the empty IF 12 to the first robot 30.
Sends a hanger loading completion signal.

11 A motor (not shown) that rotates the empty second hanger on the stand 27 detects when the empty second hanger has been carried by a transparent charging switch h (see Figure 1) attached to the first stand 27. After confirming, start it up and rotate the empty second hanger.

The motor stops rotating when the dog 83 on which the first robot 30 first suspends the work responds to the sensor 74.

The dog lock cylinder 71 is connected to the dog 83 of the second hanger.
to secure the second hanger.

As the dog lock cylinder 71 moves forward, a forward limit switch (not shown) is activated, and a work suspension opening signal is sent to the tenth pot 30.

The first robot 30 hangs the workpiece transferred from the shaving press machine 26 on the second hanger as before.

The $20 bot 32 has an empty hanger (not shown; hereinafter, this hanger will be referred to as the "third hanger") on the second stand 28.
It is called. ) to the third stand 29 (the third hanger is
Only in the first case, it is originally empty, but from the next time on, the suspended workpiece is removed, and after it becomes empty, it is moved. )
.

The first hanger after the polishing process is moved to the plunger 8.
8 (see FIG. 9), the hanger is pushed out from the inside of the cleaner 31 to the surface of the hanger carrying out port 92. Cleaning machine 31 (first
(see figure) sends a hanger unloading signal to the second robot 32.

In response to this signal, the second robot 32 assumes a hanger unloading attitude.

The second robot 32 checks whether a signal indicating that the first robot 30 has entered the interference area in front of the hanger loading/unloading entrance of the grinder is being output.

If the signal is that it is not in, the second robot 3
2 sends a signal to the first robot 30 that it is intruding into the interference area.

In consideration of the case where the first robot 30 enters the interference area by mistake, the second robot 32 moves the first robot 30 again.
Check whether there is a signal being output that is in the interference area in front of the insertion port of the cleaner.

If there is no signal indicating that the first robot 30 is also not in, the second robot 32 carries out the first hanger on which the six workpieces that have been cleaned have been suspended, and places it on the right side of the hanger carry-out port 92. The base of the first hanger (the reference hole for attaching the hanger) approaches above the air nozzle 93 (see Figure 1), and the air nozzle 93 removes the aluminum accumulated in the reference hole (not shown) at the base of the first hanger. Remove grains.

The second robot 32 turns off the signal indicating that the first robot 30 is entering the interference area, and places the first hanger on the second stand 28 .

Transmissive photoelectric switch k installed on the second mounting stand 28
(See Figure 1) Check the presence or absence of the first hanger, and
The motor (not shown) of the table 28 is started. The motor rotates the first hanger and stops rotating when the dog 83 that takes out the work first responds to the sensor 74.

The lock piece 70 fixes the dog 83 by the operation of the lock cylinder 71.

The forward limit switch of the lock cylinder 71 detects the operation of the lock cylinder 71, and the second robot 32
Sends signal to start work removal.

@20 Bot 32 removes the first workpiece.

A transmission-type photoelectric switch m (see Fig. 1) installed in front of the plastic box 95 (the box closest to the bottom end of Fig. 1) that stores the workpiece detects the presence of the workpiece taken out by the second robot 32. Check whether the posture is vertical.

The second robot 32 places the workpiece in the box 95 based on the good posture signal.

When the third workpiece is placed in the box 95, the second robot 32 sends a command to the second mounting table 28 to rotate the first hanger 180 degrees. ! The lock cylinder 71 that positions the first hanger on the fI2 stand 28 is retracted based on a command signal from the second robot 32.

As a result, the rearward limit switch of the dogrotator cylinder 71 reacts. Then, the first
The motor that rotates the hanger starts and rotates the hanger 1
Rotate the paper 80 degrees.

The dog 82 attached to the first hanger is the sensor 7
4 to stop the rotation of the hanger. The lock cylinder 71 moves forward and locks the dog 82.

As a result, the forward limit switch of the lock cylinder 71 is activated and sends a removal start signal to the second robot 32 to remove the remaining three workpieces (at this time, the second robot 32 waits in the removal state). ing.)
.

! The J20 bot 32 similarly takes out the remaining three works from the first hanger and puts them into the box 95.

The second robot 32 places the first hanger on the second stand 28.
Sends a command to rotate the paper 80 degrees. The lock cylinder 71 that positions the first hanger on the second stand 28 is
112 Retracts based on a command signal from the robot 32.

Then, a motor (not shown) that rotates the first hanger on the second stand 28 is started, and the first hanger is rotated 180 degrees (when the first hanger is placed on the first stand, the workpiece is immediately To install, intentionally rotate the paper another 180 degrees to bring it into position.)

The dog 83 of the IJ1 hanger activates the sensor 74,
Stop the motor rotation.

The lock cylinder 71 moves forward to lock the dog 83 and stop the first hanger in the correct position. Thereafter, the lock cylinder 71 is retracted.

The second robot 32 uses a transmission type photoelectric switch 0 (see FIG. 1) to check whether there is another hanger (hereinafter referred to as the "third hanger") on the third stand 29.

If there is no third hanger, the second robot 32 moves the empty hanger from the second stand 28 to the third stand 29.

Thereafter, each hanger is sequentially replaced with each stand and a grinder, and the above-mentioned grinder grinding process is repeated. During this time, the workpiece and foreign matter attached to the workpiece are removed by the grinder 31.
removed by

1 Box Packing Process When the box 95 is filled with workpieces, the second robot 32 issues a box unloading signal and retracts a positioning cylinder (not shown) that has been pushing and positioning the box 95.

The box 95 filled with works is pushed out toward the box discharge port by an extrusion cylinder (not shown).

The box moves by its own weight on the inclined roller conveyor 99 toward the right end in FIG.

When the first box is ejected, the next, empty box is fed into the position where the first box was. Transmissive photoelectric switch p
(See Figure 1) checks whether the empty box has been sent.

When an empty box is delivered, the positioning cylinder is activated. A limit switch (not shown) of this positioning cylinder sends a boxing start permission signal to the second robot 32.

After that, the second robot 32 continues packing the boxes.

Effects of the invention: The receiver picks up the workpiece before being polished and transfers it to the grinder, and the other robot transfers the workpiece after being polished from the grinder to the next process. As a result, there is no play in each machine that processes the workpiece, and the flow of the workpiece becomes smooth, resulting in a significant improvement in workpiece production efficiency.

[Brief explanation of the drawing]

Fig. 1 is a layout diagram of a workpiece production line equipped with the grinding transfer system of the present invention, Fig. 2 is a view from the 2-2 arrow in Fig. 1 and is a front view of the hot press machine, and Fig. 133 is a Fig. 4 is a right side view of Fig. 2, Fig. 5 is a perspective view of the robot, Fig. 6 is a front view of the shaving press machine,
Fig. 7 is a right side view of Fig. 6, Fig. 8 is a perspective view of the hanger placed on the stand, Fig. 149 is a front view of the cleaner, and Fig. 11110 is a left side view of Fig. 8. It is. W...Workpiece 20...Grinding transfer system 27...First mounting stand 28...Second mounting stand 29...
・Third stand 30...First robot 31...Grinding machine 32...Second robot 33...Hanger Figure 2 Figure 3 Footer 5 Figure 6 Figure 7 Figure 9

Claims (1)

[Claims] After hanging the work sent from the workpiece forming process to the empty hanger on the first stand, a first robot that transfers the hanger to a cleaning machine that removes burrs from the workpiece and foreign matter adhering to the surface of the workpiece; and a robot that transfers the hanger in the cleaning machine to the second stand and hangs the hanger. a second robot that removes the workpiece and sends the workpiece to the next process, and then transfers the empty hanger to the first stand via the third stand; .