JPS61203264A - Automatic work mounting/dismounting method and device for lapping machine - Google Patents

Abstract

PURPOSE:To absorb the carrier and the work together simultaneously by absorbing the eccentric section of work through an absorption pad then applying a correcting/reinforcing board onto the rear face of thin unstable carrier fitted with a work and holding onto a plane. CONSTITUTION:A drive sun gear 3 is arranged in the center of lapping machine while an internal gear 4 is arranged on the outercircumference. A planetary pinion supported on an annular lapping table 5 is gearing between them 3, 4. A compatible pad will absorb the eccentric section of work W0. The eccentric section of work can be absorbed through weak force of small pad while supported by a flexure correcting/reinforcing board from the rear of carriers P1-P5 fitted with thin work W0 thus to enable simultaneous adsorption and mounting/dismounting. Furthermore, a feed relay center 6 and containing relay center 7 are provided in the feed line and the containing line.

Description

[Detailed Description of the Invention] (1) To the industrial field of application 1) Wrapping of #s≠other ceramics 2) Wrapping of metals in general (2) Conventional technology A driving sun gear in the center of the lapping machine and an interface on the outer periphery. A lapping machine that has a null gear and a granary pinion (hereinafter referred to as a carrier) supported by a ring-shaped lap table in the middle that engages with the gear and pressurizes the workpiece fitted to the carrier with an upper cover (upper surface plate). To load and unload the workpieces, the top cover is automatically raised and opened by pressing the button, and 5 to 6 carriers are loaded on the entire surface of the lap table, for a total of 50 to 60 pieces.
Two pieces of workpiece are inserted. While loading the workpiece, push the button and rotate the table at a slow speed while manually inserting, for example, a 125φ workpiece into a 12mm x 5φ carrier hole,
The lower surface of the top lid and the table surface are cleaned by spraying and spraying abrasive liquid using a hose, and when the wrapping process is completed [H To protect quality, always prevent drying, spray the liquid, and use a suction vat to insert and extract the workpiece into a carrier. Collect the sheets manually one by one using a holder, and then insert and store the sheets one by one into the grooves of the storage rack. Retrieval of unprocessed workpiece and rough butchy pull upper gear II
Loading is also a completely manual process, and can be described as a labor-intensive manual process that tends to be carried out by humans.

(3) Problems to be solved by the invention 1) Setting a reference point for centering the robot with the center of the carrier, which is difficult to position after disengaging with the lapping machine, and converting the robot operation to the carrier with small hole tolerances. Discovery of a method and device for fitting workpieces into

2) Discovery of a method and device to solve the complicated change-over time of suction bat groups on the underside of the robot by exchanging carriers with different work hole relationships.

3) Discovery of a method and device to resolve the rationalization contradiction caused by the expansion of cycle time and high costs that occur in the accumulation and conversion of simple, elaborate manual operations.

(4) Measures to solve the problem 1) When the gear is disengaged and there is no reference line on the table, there is no reference line on the table. The problem was solved by using a system that detects and stops tooth profiles at two locations at the same time.

2) Adoption of a method of loading and unloading carrier units in which workpieces are loaded by installing a relay center between the workpiece supply line and the storage line to reduce the time expansion caused by automatic mechanism conversion in manual multi-stage work to the total cycle time. and all incidental transportation were handled during the wrapping time to shorten cycle time.

(5) Example lapping machine The main table line has a driving sun gear ■ in the center and an internal gear ■ on the outer periphery, which mesh with a planetary binion P (hereinafter referred to as carrier) on which the work is fitted on the ring table ■ in the middle. In the current lapping machine operation, thin workpieces W are placed in the workpiece loading hole W with a small gap.
Insert 50 to 60 pieces of 0 by hand one by one, and after the net wrapping time is 6 to 7 minutes, manually extract from all carriers within 1 minute to maintain quality.Works wrapped in a short time. It is necessary to handle 50 to 60 sheets one by one at T1 without damaging them, and then insert and store them one by one into the rack groove. Inching operations, carrier meshing, loading, and other machine adjustments require skill, and even if manual work, which is originally the most sophisticated and reliable, is rationally combined with electronic and mechanical high technology to make it unmanned, it will not be possible to simply stack and automate the operations. On the contrary, it may lead to an increase in operation time, and a change in the way of thinking from simple automation is required. The success or failure of reducing the total cycle time determines the value of unmanned equipment, and unmanned wrapping is a win without the risk of cycle time expansion. Even if the functionality could be solved, the realization of complete automation has been delayed because it would lead to high costs and contradictions in terms of amortization. The present invention has a unique idea and has achieved complete unmanned operation. Insert the workpiece into the carrier! In addition, the use of interchangeable butt D3 dramatically reduces the number of bats and eliminates the lost time of stage gourd changes, and furthermore, there is a relay shelf in the supply and storage line. The operation between each storage rack is done during the wrapping time, thereby achieving a reduction in total cycle time.

The four table support rods on the base, which are fixed to the screw [phase] by the pulley [phase] ■ via the timing belt driven by the motor O, are vertically moved by the guide metals 391 to 39d. Loading and unloading of the trays 28 to 32 on which the carriers are placed is carried out by the clutch roller 1 via the clutch lever 0.
By crimping 8 (18'), the timing pulleys and belts on the shelf and lift table side can synchronize and move the tray reliably.

Tray support rollers 16 (16') to 18 (18')
By lifting and lowering the carrier support table in conjunction with the operation of the cylinder [phase], the carrier support table is lowered to the lower surface of the revolving table on the lift, and is fitted onto the table center boss, allowing for complete synchronous rotation.

Cleaning 2: The top lid rises by 300% in conjunction with the wrapping timeout, and the top lid is equipped with a cleaning liquid injection pipe on the inner wall.
It stops inside the cover〇, and the bottom surface of the top cover and the main table below■
After spraying the cleaning liquid on the upper surface, the shielding cover rises and sinks into the sun gear (2) and internal gear (2), disengaging from the carrier.The positioning of the carrier is the first step in automatically extracting the workpiece. Currently, in order to avoid scratches on the workpiece, the sun gear and the internal gear on the outer periphery, which are in mesh with the carrier, are sunk down and disengaged from each other on the table, so the meshing point cannot be used as a guide, so the table revolves around the workpiece. The butt mount installed on the underside of the robot, which is stopped at an appropriate height just above the center trajectory of the carrier P, is placed on the center of the disc and rests on the rotating table, approaching directly below the robot. Therefore, it is extremely difficult to center and stop using a simple projection sensor method using the outer diameter. Therefore, in this discovery, the deceleration point and the stopping point are set at two points apart on the carrier outer diameter tooth profile.
For example, magnetic sensors that capture two points sandwiching a circumferential angle of 45° are attached to the same relative positions on the robot disk directly above the robot disk.
The table is decelerated or the servo motor encoder command point is set by the first sensor n, which determines the detection is OK when the positions are simultaneously sensed, and the complete stop point is set at the second sensor m position. If the tooth profile position is detected by a sensor with a small diameter, the model = 3
In this case, there will be an error of about 7z between the top and bottom, so in order to improve accuracy, the tooth profile standard pitch of 20
Using a φ magnetic sensor, assuming that the top and bottom area ratios are approximately the same in units of even teeth on the P, C, and D meshing lines, a detection ON signal is generated when the magnetic sensor detects 50 teeth on the center line. When installing the sensor and setting the position and volume so that the sensor comes out, the detection error can be guaranteed to be less than α12, so combined with the precision stop control of the table, the carrier and robot reference line stop error can achieve 1 to 2. This discovery was made. Therefore, in conjunction with the simultaneous removal of the carrier with the workpiece still attached and the intermittent rotation of the carrier on the table of the primary storage table lift 0, the workpiece can be extracted and carried out using a traverser or conveyor with a workpiece extraction amount butt and stored in racks accurately.

In the unprocessed workpiece supply line, a precision table traverser equipped with a butt and a calculation function is used to accurately insert the workpieces one by one from the workpiece rack into the carrier hole on the supply table lift at the top of the supply relay stand, and wrap the workpieces. Table-equipped carrier unit l [Next, pool the workpieces in the carrier and use the robot head ■ to suck them all at once, and use the telescoping rotating arm ■ to connect the planetary pinion between the lapping plate sun gear ■ and the internal gear 0 on the outer periphery. To ensure proper engagement, the tooth tip sensor tracks and senses the teeth, performs precise automatic inching, and continuously loads the teeth. It is theoretically impossible in vacuum theory to adsorb the surface of a polished thin plate workpiece that is in vacuum contact with a smooth, wet, and highly adhesive metal grinding plate using a slightly small-diameter suction bat and separate the workpiece directly above the workpiece. If the workpiece is slightly visible, even if the eccentric part of the workpiece is suctioned with a small bat, the vacuum layer can be broken with a small force, making extraction easy. The main table of the lapping machine ■ has grooves on the base surface, so the suction resistance is much lower than that on a flat plate. Even if the bottom surface of the table is not machined with base grains, it can be suctioned with a small vat if the eccentric part of the workpiece is attracted. According to the principle, the holes DIDz of several carriers with different workpiece hole diameters and hole numbers are overlapped and projected, and a butt with a slightly smaller diameter than the inscribed circle of the part where the workpiece holes overlap is used as a compatible suction batt D3 that can be used for each model. In addition to the fact that the number of bat equipment is greatly reduced by the small vat arrangement method using eccentric suction, it also eliminates operational time loss by eliminating the cost of installing multiple suction bats and changeover time.

Each relay center for supplying unprocessed workpieces or storing processed workpieces simultaneously picks up carriers loaded with unprocessed workpieces, and continuously loads carriers onto the main table of the lapping machine to shorten cycle time or store processed workpieces. ! 5. This method shortens the total cycle time by suctioning loaded carriers at the same time, loading them continuously for a short period of time, preventing drying of the workpieces, and storing them in the primary storage.In addition, the process is completed during the 272-hour period of storing each line during the back hours of wrapping operations, which reduces the total cycle time. That is.

The relay center structure function uses a rotating arm robot to transfer trays 28 to 32 each having an external force-driven rotating table @ in the center, while receiving carriers loaded with unprocessed workpieces or loaded with processed workpieces. All the carriers on the lapping machine can be stored in a roller rail format that allows easy charging.However, after the work is extracted from the primary storage shelf, the carriers are transferred to the supply line relay center by the rotation of the robot's arm at the same time as the work. Further centering of the tray on the table prior to insertion facilitates carrier inching loading.

Tray operation is done by driving the loading ratio of trays, stopping each stage line, adjusting the loading ratio of each tray by a lift equipped with a shelf roller transmission drive function and lifting drive, and by rotating the robot suction arm or traversing between each storage rack. - Linked with.

(6) Effects of the invention 1) Freed from the simple and tedious continuous work that was traditionally used for manual labor, one person can manage the operation of four conventional Lanoping machines, resulting in a significant cost reduction. This makes it possible to depreciate the equipment.

2) Since the auxiliary operations of the supply and storage can lines were performed during the back-hours of the net wrapping time, the total cycle time was significantly shortened, resulting in a 40% improvement in productivity.

[Brief explanation of drawings]

Figure 1: Work loading and unloading robot system layout Figure 2: Lap machine main table plan layout Figure 3:
・Intermediate station storage shelf front view Figure 4...Intermediate stainless steel storage shelf top view Figure 5...Intermediate station storage shelf side view Figure 6...Robot head tooth profile sensing sensor m, nX diagram Figure 7... P, C, D line tooth profile sensor area sensing No. 8
Figure: In order to accurately insert the workpiece into the workpiece hole of the carrier supported by the relay center table, purchase 3 sensors A, B, and 0. In conjunction with the intermittent rotation of the table, hole detection is possible by simultaneous sensing of three points. Explanation diagram for centering Figure 9...When loading, center the carrier directly below the robot head, rotate the robot head after stopping, and purchase program sensors A and B that are calculated and determined in advance for each carrier model, etc. Hole phase detection is OK if the hole alignment and eccentric holes are detected at A and B respectively. Centering explanatory diagram Figure 10... 6-hole gear diagram Figure 11... 8-hole gear diagram Figure 12... Interchangeability of different types of carrier holes Bat arrangement diagram Figure 13...Cleaning liquid cut-off cover equipment diagram Figure 14...Robot head sectional view Figure 15...Robot bottom mounting diagram 1...Robot arm for carrier operation 2 ...Robot bottom mounting plate 3...Sun gear 4...Internal gear 5...Main table (ring-shaped table) 6...Supply center relay shelf 7...Primary storage relay shelf 8...・Raw work storage rack 9...Arithmetic table with butt 10...Slide rail 11...Arithmetic rotation butt 12...Swivel storage butt 13...Supply table lift 14...Storage table lift 15・...Carrier support table 16 (16') 17 (17') 18 (18'
)...Left (right) two rows of timing pulleys for lift 19...Transmission clutch link 20...Clutch actuation cylinders 21 (21') to 22 (22')...Table lift guide Rondo 23...・Guide rod support pace 24...Lift screw 5.26...Lift drive pulley correction...-Table lifting motors 28-32...Tray with rotating table 33 (33'
)~36 (36')...Tray shelf left (right) Belt pulley 37 (37')...Left (right) belt for lift table 38 (38')...Upper tier left (right) for relay Boolean shelf ) Belt 391-39a...Rod guide metal 40
... Lift top turning table 41, 42 ... Turning pulley invitation ... Turning motor 44 ... Washing shield cover 6 ... Cover operation cylinder 46 ... Top lid 47 ... Robot head turning motor Pl~P5...Carrier mn...Tooth profile detection sensor m' installed on the bottom of the robot
n'...Senna projection point on carrier W...Work hole Wo...Work Q...Work suction bat Z,...Carrier suction bat D3...Compatible suction bat Patent applicant Toa Kogyo Co., Ltd. Company 85 Diagram ・ 1 Incident Display 1985 Patent Application No. 024796
No. 3 Relationship with the case of the person making the amendment Patent Applicant Specification 1, Name of the invention Automatic workpiece loading and unloading method and device for a wrapping machine 2, Claims (1) A sun gear in the center of the lapping machine, There is an internal gear on the outer periphery. In the middle is a lap table (lower surface plate)
A planetary pinion loaded with a workpiece supported by
In order to shorten the lapping preparation cycle time in a lapping machine where the carriers (hereinafter referred to as carriers) are engaged and pressurized by the upper surface plate, the eccentric part of the workpiece that is in vacuum contact with the surface plate is used to make use of the flexibility of a small bat. Along with the discovery that the vacuum layer can be destroyed by suction with a small force, a correction reinforcing plate is applied from the back side of a thin, unstable carrier in which a thin workpiece is fitted, and the workpiece is held flat to prevent the problem of misalignment of the workpiece, and the carrier and the workpiece are simultaneously moved at once An automatic workpiece loading and unloading method for a wrapping machine featuring bat suction. (2) Even if the workpiece is thin and fragile and is in close vacuum contact, the workpiece can be easily peeled off with a weak force by suctioning a small eccentric part.The idea and the realization of a small compatible bat make it possible to suction the carrier unit without the need for set-up, and supply it with a robot. An automatic workpiece loading and unloading device is characterized in that it quickly transports storage cans between relay centers, supplies each relay center and transports workpieces between storage racks during the required time period for wrapping operations, thereby shortening cycle time. 8. Detailed description of the invention (1) Industrial fields of application 1) Lapping of wafers, ceramics, and non-metallic materials 2) Lapping of metals in general (2) Conventional technology A driving sun gear in the center of the lapping machine and an internal on the outer periphery Workpiece loading and unloading of a wrapping machine is carried out by having a gear and a planetary pinion (hereinafter referred to as carrier) supported by a ring-shaped lower surface plate in the middle meshing with each other to pressurize the workpiece fitted to the carrier on the upper surface plate. To exit, the upper surface plate is automatically raised and opened by about 300x by pressing a button, and 5 to 6 carriers are loaded on the entire surface of the lower surface plate, and 30 to 50 workpieces are fitted therein. Workpieces are manually inserted and extracted into the carrier hole, and the lower surface of the upper surface plate and table surface are sprayed with abrasive liquid using a nozzle and sprayed with a hose.A suction bat is used to insert and extract the workpieces into the carrier. Collecting the workpieces by hand, inserting them one by one into the grooves of the storage rack, taking out the unprocessed workpieces, and loading the carriers on the lower surface plate are completely repeated manual operations, and there is a tendency for humans to be used by machines. It can be said that it requires a lot of hard work and manual labor. (3) Problems to be solved by the invention 1) Setting a reference point for aligning the center of the carrier with the center of the robot, which is difficult to position after disengaging with the lapping machine, and changing the robot operation to create a carrier with small hole tolerance. Discovery of a method and device for fitting workpieces into 2) Discovery of a solution to the complicated set-up time for the group of suction bats on the bottom of the robot by exchanging carriers with different work hole relationships. 3) Discovery of a method and device to resolve the contradictions caused by the expansion of cycle time and high costs that occur in the accumulation and conversion of simple, elaborate manual operations. (4) Means for solving the problem 1) Accuracy stopping was solved using the following two methods using a carrier without a reference line, which revolves on the lower surface plate after the gears are disengaged, as the robot reference line. -1) Simultaneous detection of two points of internal gear line engagement. -2) Carrier standby system in which two sensors are installed on the back of the robot symmetrically with the robot stop baseline, and two sensor-related points on the carrier revolving on the lower surface plate are simultaneously detected directly below the robot sensors m and n. . However, if there is no workpiece hole in the center of the carrier, this can be achieved by detecting one mark hole provided at the center with one sensor provided at the center of the robot. (8) Even if multi-process work is converted to robots, in order to compress the total time from the time expansion that normally occurs due to interlocks, etc., a relay center is installed between the supply line and the storage line, and the loading of carrier units with workpieces is carried out. The loading method is adopted, and all incidental transportation after the relay center is handled during the wrapping time, significantly shortening the wrapping cycle time. (5) Example There is a driving sun gear (3) in the center of the lapping machine, an internal gear (4) on the outer periphery, and a planetary pinion P (hereinafter referred to as carrier) with a workpiece fitted on the intermediate lower surface plate (5). ) are engaged, in the current lapping machine operation, 30 to 50 thin workpieces Wo are manually inserted one by one into the workpiece loading hole W with a small gap, and the net lapping time is 6 to 7 minutes, and then 30 to 50 thin workpieces are manually inserted into the workpiece loading hole W. The wrapped workpieces must be inserted one by one into the rack groove in a short time in the form of a knife. Even if we rationally combine the most sophisticated and reliable manual work with high technology electronics and machinery to make it unmanned, the simple drawbacks of long operating times such as confirmation interlocks end up increasing time, and wrapping operations become more difficult. Since it takes a lot of preparation time, the success or failure of reducing the total cycle time will determine the productivity and amortization of unmanned systems. The present invention is a mixture of abrasive grains and water that utilizes the flexibility of a pressurized, vacuum-adhered workpiece, with the unique idea of being able to suction the eccentric part of a workpiece with a small bat with a weak force, and also fitting a thin workpiece into a thin carrier. Supporting the carrier on a flat surface with a deflection correction reinforcing plate from the back of the carrier enables batch loading and unloading by suction, and the idea of suctioning the eccentric part of the workpiece with a small force with a small vat led to the discovery of the compatible vat D8 and drastically reduced the number of vats. In addition, by installing relay centers (6) and (7) on the supply and storage lines, operations between each storage rack were performed during the wrapping time, and the total cycle time was significantly shortened. In the reference example of the relay center, the raising and lowering of the center table is driven by a motor (b) and a pulley (b) via a timing belt.
c) The four table support rods on the base (foundation) fixed to the screw (foundation) by
The charging ratio of the trays 28 to 32 on which the carrier rotating table is vertically raised and lowered by 39d is determined by compressing the clutch roller 18 (to)' with the cylinder (1) via the clutch lever α. The timing pulley and belt are synchronized and the tray can be moved reliably. The tray support rollers 16α0' to 18(to)' move up and down in conjunction with the operation of the cylinder (1) to move the carrier support table (
(G) can be modified so that it can be lowered onto the revolving table (■) on the lift and fitted into the table center boss to rotate in complete synchronization. The loading of the carrier is linked to the lapping timeout, and the upper surface plate ■ is raised and released by approximately 30 oz, and the upper surface plate ■ stops inside the cleaning shielding cover equipped with a cleaning liquid injection pipe on the inner wall, and the lower surface of the upper surface plate is released. After spraying the cleaning liquid on the upper surface of the lower surface plate (5) below, the shielding cover rises and the sun gear (3)
The internal gear (4) sinks and disengages from the carrier, and in order to unload the carrier, control the rotation of the lower surface plate on which the carrier is placed and stop it at a fixed point directly below the robot. A Yl detection sensor is installed at the internal gear meshing fixed point of ), the carrier tooth profile is detected again using the yo sensor installed at the visible point of the internal gear engagement on the lower surface of the robot (or the lower surface of the robot), and the lower surface plate is instantaneously stopped, allowing the carrier to be correctly stopped directly below the robot. Next, the robot head lower surface sensor XI SX2 detects the carrier marker hole
I,! 2 is detected, the phase of the hole is adjusted, the robot head descends, picks up the rear and the workpiece all at once, and the robot head places the carrier ω) on the tray of the storage center (7).
When guiding subsequent carriers to the robot baseline, the upper surface plate rises, and the sun gear (3) and internal gear (4) sink and are placed directly below the robot in the same manner as the first carrier. The carrier and workpieces are stopped at the same time, and the carrier and workpieces are sucked and loaded at once, and then transferred onto the table of the relay storage table lift α→.In conjunction with the intermittent rotation of the carrier, the workpieces are extracted and carried out using a traverser with a butt for extracting the workpieces or a conveyor. Allows for accurate rack storage. In the raw workpiece supply line, the supply table lift (to) of the supply relay center
A precision table traverser (b) equipped with a butt and calculation function is used to accurately insert one piece from the work rack into the carrier hole in the upper standby position, and the number of carriers equipped with the lower surface plate is pooled in order, and the workpieces are inserted into the carrier. The X-Y axis telescopic rotating arm (1) is created by suctioning all at once using the mama robot head (2).
Therefore, first, in order to properly mesh with the sun gear (3), a fiber or magnetic sensor S (sometimes it is sandwiched between two pieces)'t
``The X-Y table is guided to track and detect the tooth profile, and it engages and descends to just before the internal gear. Similarly, two sensors S that aim at the internal gear perform precise automatic inching and engage and load. How to load carriers without being equipped with an The carrier rotates back to the fixed point on the lower surface plate, and during the meshing operation of the carrier and the sun gear, the sun gear surface is kept 5 to 10 times higher than the internal gear surface to avoid contact between the carrier and the internal gear surface. (The detection accuracy can be improved by using two sensors.) The servo rotation of the carrier is instantaneously stopped to prevent the opposite end of the carrier from making angular contact with the internal gear. In order to engage and lower the carrier and engage the internal gear, the robot head rotation servo is turned OFF to allow the carrier to rotate freely, and the two sensors S check the engagement state with the internal gear by inching and rotating the robot arm. The moment it is detected, the slight turning is stopped and the carrier is finally lowered to finish loading. -2) Carrier loading robot from Na2 onwards The loaded carrier of rod 1 moves and reaches the fixed position Y2 of the next carrier, and then the internal When meshing with the gear is detected, the rotation of the lower surface plate is instantly stopped, the interlock is released, and the robot can start the loading process of the second carrier at a fixed point.Sequential loading is repeated and a fixed number of carriers are placed on the lower surface plate according to regulations. Even if the surface of a thin, polished workpiece that is vacuum-adhered to a smooth, wet metal grinding plate is pulled up directly with a slightly small-diameter suction bat, H-separation will not occur theoretically in a vacuum. Although this is impossible, if the eccentric part of the workpiece is suctioned by a small bat using the flexibility of the workpiece, the vacuum layer can be easily destroyed with a small force. Then, by overlapping and projecting D2, a compatible suction bat D8 with a diameter smaller than the inscribed circle of the part where the work holes overlap
Using a small vat system that adsorbs the eccentric part of the workpiece, we have significantly reduced the number of vats equipped and eliminated the time required for changeovers, improving operating time. Each relay center for supplying unprocessed workpieces or storing processed workpieces picks up carriers with unprocessed workpieces placed in them all at the same time and continuously loads carriers onto the lower surface plate to shorten cycle time or transfer carriers loaded with processed workpieces. This is the main pillar of shortening the preparation cycle time by simultaneously picking up and storing materials in a single carrier, quickly loading and storing them on a carrier basis, and eliminating the process between storage racks on each line during the back hours of the wrapping operation. The relay center function uses trays 28 to 32, which are placed in the center of the carrier rotation table (G), to be transferred to each column by an arm rotation robot with carriers loaded with unprocessed workpieces or loaded with processed workpieces. All carriers on the lapping machine can be stored in a roller rail format that allows for easy loading. However, the empty carriers after extracting the work from the storage shelf are transferred onto the supply line relay center tray with the center of the valley (or peak) of each carrier always regulated in a fixed direction by a sensor at the tip of the robot head. The relay center lift has tray charging ratio drive, each shelf line and shelf roller transmission drive function, and lift drive, and the robot is linked with a bat rotation arm or a traverser between each storage rack. (6) Effects of the invention 1) Humans are freed from the simple and tedious continuous work that was traditionally done with machines, and one person can easily manage the operations of 4 to 5 conventional machines, resulting in a significant cost reduction. Therefore, the depreciation of the equipment is also good. 2) By performing auxiliary operations on the supply and storage can line during the net wrapping time, the total cycle time has been significantly shortened and productivity has been improved by more than 3,096 points. 4. Brief explanation of the drawings Figure 1: Work loading and unloading robot system layout Figure 2: Lap plate lower surface plate plane layout Figure 3:
...Relay center storage shelf front view Figure 4...
・Relay center storage shelf plan view Figure 5...Relay center storage shelf side view Figure 6...Carrier loading/stop detection sensor arrangement diagram Figure 7...Carrier Detection sensor arrangement for loading stop Figure 8... Plan view of carrier with 6 workpiece holes evenly distributed around the circumference Figure 9... 9 holes in total, 8 equally distributed around the circumference and eccentric in the center. Figure 10 Plan view of carrier with workpiece hole...Explanation diagram of compatible bat Figure 11...
・・・・Robot head sectional view Figure 12 ・・Robot back view FIG. 13 ・・Cleaning liquid shielding cover sectional view FIG. 14 ・・・・Same figure just before sun gear and carrier mesh Figure 15・
...One-point sensor arrangement diagram for tooth pattern detection Figure 16...
... Sun gear engages and descends, and internal gear immediately engages. Figure 17... Two-point sensor arrangement for tooth profile detection Diagram 1
Figure 8: Sun gear and internal gear engagement diagram 1: Robot arm for carrier operation, 2:
...Robot bottom mounting plate, 3...Sun gear, 4...Internal gear, 5...Lower surface plate, 6...Supply relay center, 7...Storage relay center, 8...Raw work storage rack, 9...Calculation table with bat, 10...
...Slide rail, 11...Calculation rotating butt, 12...Swivel storage butt, 13...Supply table lift, 14...
・Storage table lift, 15...Carrier rotation support table, 16αQ'17αη'18 (to)'...
...Lift Tomitomo (right) double-row timing pulley, 19...Transmission clutch link, 20...
・Clutch actuation cylinder, 21(2)' to 22(a)'
...Table lift guide rod, 23...
...Guide rod support base, 24...Lift screw, 25.26...Lift drive pulley, 27...
...Table lift motor, 28-32...Swivel table tray, 88(l'-86(to)')...
...Tray shelf left (right) belt pulley, a7@'...
...Lift table circumferential (right) belt, 88 @'・
... Upper left (right) belt for relay center shelf, 39a
~39d...Rod guide metal, 40.
・・・・Swivel table on lift, 41.42・・・・
...Turning pulley, 43...Turning motor, 44...Cleaning shielding cover, 45...Cover operation cylinder, 46...
・Upper surface plate, 47...Robot head rotation motor, 48...
...Carrier adsorption back plane reinforcement plate, P1 to P6...
...Carrier, m:n...Tooth profile detection sensor installed on the bottom of the robot,
m'n'...Sensor projection point on carrier, W.
...Work hole, Xl:X2 ...Carrier phase detection sensor installed on the back of the robot, XI X2 ...Carrier phase marker, Wo
... Workpiece, Q ... Work suction bat, 2 ... Gear/rear suction bat, D8 ...
... Compatible suction bat, yo ... Robot stop baseline sensor, Yl ... Deceleration command sensor (or encoder 0N) S ... Carrier engagement and loading detection sensor.

Claims (1)

[Claims] 1. There is a driving sun gear in the center of the lapping machine and an internal gear on the outer periphery. A planetary pinion (hereinafter referred to as carrier) is supported by a ring-shaped lap table in the middle.
In order to reduce the total lapping cycle time when automatically loading and installing workpieces in a lapping machine that pressurizes with the upper lid, a compatible small suction pad is installed on carriers with different workpiece hole dimensions. A method in which the eccentric part of the workpiece is picked up, the flexibility of the workpiece is used for vacuum separation, and the workpieces are loaded and unloaded in units of carriers by suctioning them all at once with a rotating arm robot while the workpieces are still attached to the carrier. 2. During the wrapping time, one by one is taken out from the raw work rack and inserted into the carrier hole waiting at the raw work supply line relay center, and then the raw work pieces are taken out one by one from the unprocessed work rack and inserted into the carrier hole waiting at the raw work supply line relay center. Completed workpieces are stored one by one in a workpiece rack, and from the main table of the lapping machine to each relay center, the workpieces are loaded and unloaded in carrier units by an arm-swivel robot while the workpieces remain in the carriers, reducing the total cycle time. An automatic loading and unloading device characterized by: