JPS62176752A - Full automatic gyro machining device - Google Patents

Abstract

PURPOSE:To improve machining efficiency, by a method wherein two workpiece shafts are simultaneously raised, works are simultaneously attached to and detached from the two shafts, and the grasping parts of robot hands are adapted to simultaneously grasp the two works. CONSTITUTION:Two workpiece shafts 12a and 12b are simultaneously elevated through a workpiece shaft casing by means of a hydraulic cylinder 14 for elevation. The workpiece shaft is inserted in chucking, and by lifting upward the chucking, a workpiece is fastened through taper engagement. By introducing pressurized fluid to the piston sides of cylinders 29a and 29b for unchucking, the workpiece is released from the chucking. Since the grasping parts of robot hands 3a and 3b are adapted to simultaneously grasp the two workpieces, one swing of the robot hands 3a and 3b will suffice for replacement of the workpiece, resulting in the possibility to reduce an attaching and detaching time. This constitution produces an effect in that machining efficiency is improved.

Description

DETAILED DESCRIPTION OF THE INVENTION (Field of Industrial Application) This invention relates to a fully automatic gyro processing machine, and belongs to the industrial field of manufacturing, sales and use of gyro processing machines.

(Prior Art) Gyro processing machines have been widely known in the past, and some have been automated, but all of them have a single workpiece holding axis.

(Problems to be solved by the invention) In conventional fully automatic gyro processing machines, when replacing a workpiece, one shaft is lifted up to attach and detach the workpiece, and the workpiece mounted on the other shaft is removed. The process was continued in the machining tank, eliminating wasted time due to interruptions in polishing due to workpiece changes. However, although this device is effective in eliminating wasted time, it has the disadvantage that it requires a mechanism to lift each axis upward, making the structure complicated. In addition, the robot hand for attaching and detaching workpieces could only grip one piece, so it was necessary to remove the workpieces from the machining corner and place them on the transfer device, and to take out the unprocessed workpieces from the transfer device and set them on the loading machine. Therefore, it was necessary to move the robot hand back and forth between the transfer device and the transfer device twice, and it took time to attach and detach the robot hand.

(Means for solving the problem) However, in this invention, since the workpiece is attached and detached when the two axes are circumferential, especially when the gyro processing machine has two axes, the workpiece axis is moved up and down one axis at a time. There is no need for it, and it only needs to be raised together with the turret 1~ when rotating around the 2nd axis, which has the advantage of making the structure much simpler.Also, the gripping parts of the tax robot 1~hand can grip two pieces at the same time. If the robot 1 is shifted in this manner, the hand only needs to be swung once to the robot 1 when changing the workpiece, and the time required for attachment and detachment can be reduced.

(Operation of the Invention) According to the present invention, in a two-axis gyro processing machine, the spindle and the turret are placed on the back.

Furthermore, since two gripping parts of the robot hand can be gripped at the same time, the time required for attachment and detachment can be reduced.

(Example) Embodiments of the invention will now be described with reference to the accompanying drawings.

1 and 2 show schematic diagrams of the apparatus of the invention. (
! 11. A conveyance device 2 is installed in front of the gyro processing machine 1, and the unprocessed workpiece on the conveyance device 2 is loaded into the gyro processing machine 1 by two robot hands 3a and 3b.
The finished workpiece is returned to the conveying device 2 via the gyro processing machine 1J. Details of the gyro processing are shown in Figures 3 and 4.

In these figures, the polishing tank shaft 5 is fixed upright on the base 4,
The polishing tank inner cylinder 6 is rotatably attached to this, and the polishing tank inner cylinder 6 is
A polishing tank 7 is fixed thereto. A chain wheel 8 is fixed to the lower end of the inner tube 6 of the polishing tank, and a chain 10 is installed between the chain wheel 8a of the gear motor 9 and the chain wheel 8, thereby rotating the polishing tank 7. A polishing material 11 is placed inside the polishing tank 7. If the abrasive material 11 is a dry type, for example, pulverized material such as walnut husk or corn cob is sprinkled with fine abrasive material and oil, and if a wet type abrasive material 11 is used, a small shaped abrasive stone is usually coated with a compound solution. Mix and use. The gyro processing machine has a polishing tank 7 containing the polishing material 11 as described above.
This is a processing method in which a workpiece is placed inside the ω1 polishing material 11 that rotates and moves, and polishing is performed. Workpiece axis 12a, 1
2b is attached to the workpiece shaft housing 13. The structure of the mounting plate is shown in a separate figure. The workpiece shaft housing 13 has a lifting hydraulic cylinder 14
The workpiece shafts 12a and 12b are fixed to the tips of the screws 1 to 15 of the workpiece shafts 12a and 12b through the workpiece shaft housing 13. In this embodiment, the workpiece axes 12a and 12b are two axes. The number of workpiece axes is not limited to two, and the apparatus of the present invention can be applied as long as there is an even number of workpiece axes, but since the effect is greatest in the case of two axes, the case of two axes will be described. If there are four axes or more, it is necessary to install a mechanism to individually raise two axes to change the workpiece, or to raise all axes at once.

The processing shaft cylinder 13 is movably attached to a branch 16 fixed on the base 4, and in order to make it easy to move up and down the processing shaft cylinder 13, one end of cables 17a and 17b is fixed to one side thereof. Cables 17a, 17b are pulleys isa, 18b, 18
A balance weight is hung from the other end to balance C118d and facilitate the lifting and lowering of the workpiece shaft casing 13. Workpiece axis 12a
, 12b are shown in FIGS. 5 and 6. Zuna,
The workpiece shaft bearing 21 is located in a horizontal position within the workpiece physics 13. The workpiece ikt+ rotary bearing 20 of
a, 20b so as to be rotatable by a small angle (see Fig. 6). The workpiece shafts 12a and 12b have a double structure, with an inner and outer structure, and the outer workpiece shaft 1122 is inserted into the workpiece shaft bearing 21 by 1rf through a bearing, so that it can rotate freely. The workpiece inner shaft 23 is movably inserted inside the workpiece outer shaft 22, and the workpiece outer shaft 23 is movably inserted inside the workpiece outer shaft 22.
l1! The lower end of I22 is inserted into the upper end of the chuck 26 and connected to the chuck 2G. A chucking outer cylinder 2 is provided at the lower end of the outside of the workpiece 22.
14 is fixed, and inside it is a chucking inner cylinder 2.
5 is fixed, and the lower end of the chucking inner cylinder 25 forms a downwardly wide taper, and the chucking 26 is held by fitting into the taper. The chucking 2
6 has a hole in the center and a slit in the circumferential wall so that the shaft of the workpiece 27 can be inserted and gripped or released. By pulling the chucking 26 upward,
The taper fit contracts the hole and tightens the workpiece.

This lifting action is achieved by a spring 28 provided between the upper end of the workpiece outer shaft 22 and the workpiece inner shaft 23, and the workpiece 27 is clamped onto the chuck 26. In order to release the tension of the workpiece 27, unchucking cylinders 2'9a and 29b are provided at the upper end of the branch 16 and at opposing positions above the two workpiece shafts 12a and 12b. , that is, the unchucking cylinder 29a,
When pressurized fluid is introduced to the piston side of 29b, each screw rod descends, and its lower ends 30a, 30t
) comes into contact with the upper end of the workpiece inner shaft 23 and pushes down the neck to release the workpiece 27 from the chucking 26;
In order to rotate the workpiece 27, a pulley 31 is fixed to the upper extension of the workpiece outer shaft 22;
and brackets 1 to 1 fixed to the outside of the workpiece bearing 21.
A bell (~33) is attached between the motor 32 and the IJIIll pulley 39 on the motor 38 to transmit rotation.

Depending on the shape of the workpiece, uneven polishing may occur at corners, eccentric parts, etc., but in order to avoid this, it is preferable to give the workpiece axes 12a and 12b an inclination angle. For this purpose, a workpiece axis tilting device is provided.

Details of the structure of the workpiece axis tilting device are shown in FIGS. 5 and 6. The workpiece bearing 21 is provided with a flange 34, and when the flange 34 is raised and lowered, the workpiece bearing 21 rotates within the workpiece shaft rotation bearings 20a and 2Ob, and the workpiece IN112a is tilted. In order to perform this lifting and lowering, a flange 35 is fixed above the workpiece shaft housing 13, and a distance between the flange 34 and the flange 34 is 2.
There are two fluid pressure cylinders 36a, 361) interposed therebetween.

If both fluid pressure cylinders 36a and 36b are fixed back to back as shown in the figure, each piston rod 37
The workpiece axis 12a is tilted by the protrusion of a and 37b.

The reason why two fluid pressure cylinders 36a and 36b are provided is so that the inclination angle can be adjusted in two stages.

After gyro processing (or before processing if necessary)
, clean the workpiece. The cleaning device continues to chuck the workpiece above the polishing tank 7, and in the case of wet processing, the cleaning water is directly flowed into the polishing tank 7 and used as a compound solution.

During processing, the cleaning equipment must be evacuated to a location where it will not be exposed to +All damage. Details of the cleaning device are shown in FIGS. 7 and 8. There are two washing tanks 41a and 41b, which are connected by a connecting plate 42. The washing tanks 41a and 41b are provided with washing water inlets 43a and 43b and washing water outlets 44a and 44b. The connecting plate 42
Niva sliding pieces 45a and 45b are fixed, and the sliding pieces 4
5a and 45b slide on shafts 46a and 46b, and I'
9. The shafts 46a and 46b are fixed to a lifting piece 47. On the other hand, guides 48a and 48b are fixed to the support column 16, and linear ways 49a and 49b fixed to the elevating piece 47 slide on the guides 48a and 48b. A boss 56 is fixed to the upper center of the lifting piece 47, and an extension of the screw 1 hen rod 51 of the washing machine lifting cylinder 50 fixed above the column 16 is fixed above the boss 56, and the extension of the screw 1 rod 51 is fixed above the boss 56. A cylinder 53 for advancing and retracting the washer is fixed to 52 (fixed part), and its screw 1
The extension part 54 of the connecting rod is fixed to the connecting plate 42, and a subring 55 is interposed between the tip end of the extension part 54 and the lift J147. In other words, by introducing pressurized fluid to the screw 1 rod side of the cylinder 53 for advancing and retracting the washer, the cleaning tank 41a takes the position 41C, and at the same time, the cleaning tank 41b also moves back at the same relative position J:, which prevents it from getting in the way of machining. Occupy a position that should not be taken.

Further, when pressurized fluid is introduced to the piston rod side of the cleaning tank interface cylinder 50 at the positions of the cleaning tanks 41a and 41b, the cleaning tank 41b rises and takes the position 41d, and the workpiece 27
Take a position to wash. The same applies to the washing tank 41a.

An example of a workpiece processed by this device is shown in FIG. 9i. In other words, it is necessary to have a handle for chucking as shown in the figure. However, the inner surface and bottom surface of the slit must be processed using separate equipment. In addition, transportation also takes advantage of the difference in level between the handle and the main body.

Next, the conveyance device 2 will be explained. The conveyance device 2 is installed in the front of the gyro processing machine as shown in FIGS. 1 and 2,
This is a device that receives the workpiece processed at the previous stage, supplies it to the robot hands 3a and 3b, and sends the received workpiece to the next process from the robot hands 3a and 3b. The gist of this invention is that one of the workpieces to be supplied is supplied to the gyro processing machine by the robot hand 3b, and one of the workpieces is supplied to the gyro processing machine by the robot hand 3a. That is, the robot hand 3b picks up every other workpiece that is supplied, and the robot hand 3b transports the workpieces for the robots 1 to 3a. As shown in FIGS. 10 and 11, the upper part of the conveyance device 2 has two guide plates 61a and 61b arranged in parallel, and the interval between them is larger than the diameter of the handle 40 in FIG.
Make it smaller than the diameter of the cylindrical part. Therefore, the guide plate 61a in the cylindrical part for turning one crop with its handle down.
61b. If necessary, a round seat 62 and a C-shaped seat plate 63 are installed at each station.

This is to ensure accurate positioning and seating of the workpiece and ensure reliable transportation. The guide plates 61a, 61b are fixed on the intermediate plate 65 using an appropriate number of supports 64a, 64b, 64c, 64d.

An elevating frame 66 is provided between the intermediate board 65 and the guide plates 61a and 61b. At the center of the elevating frame 66, there is an intermediate board 65.
An extension of a piston rod 68 of a fluid pressure cylinder 67 fixed below is fixed, and guide balls 69a and 69b are fixed on both sides of the piston rod, and guide balls 69a and 69b are fixed on both sides of the piston rod, and guide balls 69a and 69b are fixed on both sides of the piston rod. The elevating frame 66 is designed to guide the elevating and lowering of the elevating frame 66. A fluid pressure cylinder 71 is fixed horizontally above the lifting frame 66, and its screw 1
A mounting frame 74 is fixed to the tip of the D-shaped rod 72, which is fixed to the lower end of a conveyor plate 73 arranged below and parallel to the guide plates 61a and 61b. Workpiece support plates 75a, 75b, . . . are fixed on the conveyance plate 73. The workpiece support plates 75a, 75b, . . . , etc. are shaped like flat plates, the width of which is smaller than the width of the guide plates 61a, 61b, and has a hole in the center, which supports the handle of the workpiece shown in FIG. The number of seats is equal to the number of seat plates 63 for receiving the workpieces.

Based on the J: eel mechanism described above, this conveying device 2
Explain the operation. When the workpiece transported by the robot hand (not shown) of the pre-processing culm is loaded into the first stillage 78, the transport plate 73 is assumed to be in the processing position and at the left end position. . Daiichi Steel John 7
When it is confirmed by a known phototube method or a proximity switch that a workpiece is present in the workpiece 8, pressurized fluid is introduced to the piston side of the fluid pressure cylinder 67 according to a command from the CPU, and the conveyance plate 73 is raised. Therefore, the workpieces at each station are supported by the workpiece support plates 75a and 75b and lifted. This rise is also detected by a phototube or other sensor. Therefore, if pressurized fluid is introduced into the piston side of the fluid pressure cylinder 71 in response to a command from the CPU that receives the output, the workpiece is conveyed by a pitch while being mounted on the conveyance plate 73. If the conveyance plate 73 is then lowered,
The workpiece is placed on the seat plate 63 at that position, and the transfer device 2
One pitch transfer of all the workpieces above is completed.

Therefore, workpiece 2 that was previously in station 78
7 yells that he has moved to station 79.

Meanwhile, the station controller 78 has J
A stiff workpiece will be sent to you. In this state, station 8
If there is no workpiece at station 0 or a workpiece at the corner of the 1st filler machine is loaded, the workpiece at station 7 is not taken out and is fed one pitch in the same manner as described above. If the station 80 has a workpiece that is not subject to gyro machining, the workpiece is sent to the gyro machining machine by the robot hand 3b, which will be described later. When the robot hand 3b is loading the workpiece, the robot hand holds the workpiece that has been machined in a diagonal direction and moves to the station 79 by 1δ. In this way, in a steady operating state in which workpieces are loaded on all of the conveyance devices, workpieces for workpieces and unfinished workpieces are lined up at every other station. That is, if the number of stations is an even number, workpieces that have not been gyro-processed at every other station 79 and 81 can be loaded into the gyro-processing machine at 114 stations. Said station 8
All workpieces sent from Station 1 to the next station 82 can be processed by di-filo processing.

In this embodiment, the station 82 has a slightly different form from 79 to 81, but this is for delivery to the next step 1] Bot 1 to Hand, and there is no need to change it, but it can be easily changed. Let me explain. That is, the final workpiece support plate 758.75b is hook-shaped to save space and to prevent the workpiece W1. (7) Another workpiece upper back shirt 1 to 84 and a workpiece upper back cylinder 85 are provided. The lifted workpiece is sent to the next -stroke by another robot hand.

Next, the structure of the robot hands 3a and 3b will be explained. Since both are the same except for the turning direction,
The 3b side will be explained. The feature of this is that, as mentioned above, the gripping claws are doubled so that the workpiece can be detached and attached in one motion. As shown in Figure 12,
A support 102 is erected from a base 101, and a lower part f; 1103 is slid up and down.

For raising and lowering, O1 to switch cylinder 104 are provided at the lower end. As shown in FIG. 13, an arm support 105 is fixed above the lower spring 103, and a rotary actuator 106 is fixed below one end of the arm support 105.
The @107 extends upward and takes out the pinion 108. A gear 109 meshing with the pinion 108 is connected to the rotary cylinder 1 having a rotation center extending from the axis of the lower cylinder 103.
10, and the rotary cylinder 110 is fixed to the lower cylinder 10.
It is rotatably supported on the tip 111 of No. 3.

The robot 1 to the arm bearing 112 are fixed horizontally to the upper end of the rotary cylinder 110. Details of the structure of the robot arm are shown in FIGS. 14 and 15. The robot 1 to arm bearing 112
The robot 1 to the arm shaft 113 are rotatably assembled in the center of the robot arm 113, and one end of the robot 1 to the arm shaft 113 is fixed to the rotation shaft of a rotary actuator 114 fixed to the robot arm bearing 112 by a method such as a key. Two fluid pressure cylinders 115a, 115b are fixed to the tip of the arm shaft 113, and each piston rod 116a, 116b
The tip is fixed to the claw opening/closing J4' 117a, 117b.

On the other hand, a box-shaped frame 118 is fixed to the front surface of the fluid pressure cylinders 115a and 115b, and a claw shaft 119 passes through it.
b, 120c, and 120d are rotatably fitted. The winds 120a, 120b, 120c, and 120d are provided with protrusions 121a, 121b, and 121C1121d, respectively, which fit into the oval holes of the claw opening/closing pieces 117a, 117b. The tips of the claws are provided with pads 122a and 122b, forming a gripping portion that matches the curvature of the workpiece to be gripped. A partition wall plate 123 is fixed to the box-shaped frame 118 so as to hold two workpieces 124a and 124b in the middle when they are gripped, as shown in FIG.

This partition plate 123 is attached to the workpiece axis when the rtll polished workpiece is removed from the gyro processing machine. If the workpiece is held with a robot hand while it is still attached, there is a risk of scratches on the workpiece due to stress due to vibration or misalignment, so first remove the BT from the gyro processing machine, lower it onto the bulkhead plate, and then hold it with the robot hand. It was made in Niuni.

Based on the mechanism described above, the operation of this D-Bot 1 hand will be explained. A3 on the gyro processing machine, specified 1i
When the JI polishing period 11.1 is completed, the power to the gear motor 9 and the motor 32 is cut off by the action of the timer, and the engine is stopped. Next, pressure fluid is introduced into the piston rod side of the lowering hydraulic cylinder 14 to raise the workpiece axis. At this time, if the workpiece axis is tilted, pressure fluid is introduced to the piston rod side of the fluid pressure cylinders 36a, 36b to make the workpiece axis upright. Next, the height of the robot hand is set to the middle stage, and with the claws open, the robot hand 3b moves above station 79 (the cobot hand 3a moves above station 80). Lower, lower claw 12
When the 0C1120d or the like is closed, the workpiece that has not been gyro-processed is gripped by the robot hand. Next, set the height of the robot hand to the middle stage, and set the rotary actuator 10.
Rotate the robot hand 90 degrees by 6. As is clear from FIG. 2, the direction of this rotation is in the clockwise direction for the robot hand 3a and the counterclockwise direction for the robot hand 3b. In this state, the robot hands 3a, 3
The open pawls 120a, 120b, etc. above b are located directly below the cutting workpiece of the gyro processing machine. Next, when pressurized fluid is introduced into the screw 1 rod side of the fluid pressure cylinder 115a, the claws 120a and 120b are closed, and the workpiece of the gyro processing machine is held by the robot hand. Then Ji-X
・Unjack cylinders 29a and 29b on the iro processing machine side
By introducing pressurized fluid into the piston side and pushing down the workpiece inner shaft 23, the jiggling is released and the workpiece is moved to the robot hand side. Furthermore, the robot hand is the middle stage,
When the robot arm shaft 113 is rotated by 180 degrees by the rotary actuator 114, the gyro-machined workpiece is moved downward, and the gyro-processed workpiece is moved upward. Therefore, if you perform the opposite operation to the separation, that is, raise the robot hand, V-kick it, open it upward, and lower the robot hand to the intermediate position, the workpiece that has not yet been machined can be sewn into the gyro processing machine. be done.

Further, by turning the robot hand 90° and lowering it to the lower position, the machined workpiece is moved to stations 79 and 8.
It is brought onto the seat plate 63 of No. 1. In this (device,
When the claws 120a, 120b, etc. are opened, the gyro-processed corner workpiece has been transferred to the conveyance device. When the robot hand is raised to the intermediate position and the transfer device is sent two bits, the workpieces at stations 79 and 81 are subjected to gyro machining (unfinished workpieces remain, so the above-mentioned operation is repeated thereafter).

A sequence diagram of this device is shown in FIG.

Proximity switches are built in at both ends of the movement by the fluid pressure cylinder, and a command to complete the operation is sent to CPtJ.
PU commands the next operation. A known programmable sequence control device may be used as the CPU, and in this embodiment, T-500 manufactured by Tateishi Electric is used.

(Effects of the Invention) According to the invention described above, in a gyro machining machine having a plurality of workpiece axes, the distance between the two axes is 1 (1, 1 is the epigastric axis, the workpiece is simultaneously attached to the 2 axes, 1 is ground, and the robot is By making the gripping claws of the hand two-stage, it is possible to remove the workpiece in one cycle, and it has a medium movement that improves the efficiency of gyro machining.

[Brief explanation of drawings]

Fig. 1 is a partially omitted front view of an apparatus for carrying out the present invention, Fig. 2 is a plan view thereof, Fig. 3 is an enlarged front view showing a partial cross section of the gyro processing machine body, and Fig. 4 is a partially omitted front view of the apparatus for carrying out the invention. The figure is also an enlarged side view, Figure 5 is an enlarged sectional view showing details of the MIJ structure of the workpiece axis of the gyro processing machine body, and Figure 6 is an enlarged cross-sectional view of a part showing details of the workpiece tilting device. 7 is a partially enlarged plan view showing details of the cleaning device, FIG. 8 is a partially enlarged side view in section, FIG. 9 is an enlarged perspective view of an example of a workpiece, and FIG. 10 is a partially enlarged plan view showing details of the cleaning device. Front view showing details of the transport device, 1st
1 is a side view, FIG. 12 is an enlarged partially sectional front view showing details of the lowering device of the robot hand, FIG. 13 is an enlarged partially sectional front view showing the rotating device N of the robot hand, and FIG. 14 15 is an enlarged front view showing details of the gripping portion of the robot hand, FIG. 15 is a partially enlarged side view, and FIG. 16 is a sequence diagram of the device of the present invention. 1... Gyro processing unit 2... Conveyance device 3a, 3
b...Robot hand 4...Base 5...Polishing tank shaft 6...
Polishing tank inner cylinder 7... Polishing tank 8... Chain wheel
9... Gear V motor 10... Chain
11... rtll polishing material 12a, 12b-I 1 piece 4 parts 13... Workpiece shaft housing 14... Fluid pressure cylinder for lifting and lowering 15... Piston rod 16... Support column 17a, 1
7b...Cables 18a, iab, 18c, 18d-...Pulley 19.
... Balance weight 20a ... Workpiece shaft rotation bearing 21 ... Workpiece shaft bearing 22 ... Workpiece outer shaft 23
... Workpiece inner shaft 24 ... Chucking outer cylinder 2
5...Chucking inner cylinder 26...Chucking 27...Workpiece (chucking position) 28...Springs 29a, 29b...Cylinder 30a for anti-11 locking
, 30b...Unchuck screw j~unrod extension 31...Pulley 32...Motor 33...
・Peru・ 34...Flange 35...Flange 36a 136b River fluid pressure cylinder 37a, 37b...Fluid pressure cylinder screw 1 to rod 41a, 41b...Washing tank 41c, /11d...Washing tank Another position 42...Connecting plates 43a, 43b...Washing water inlet 44a, /14b...Washing water outlet 45a, 45b...Sliding pieces 46a, 46b...Shaft 47...Elevating Frames 48a, 48b...Guides 49a, 49b...Linear way 50...Cylinder 51 for back-down for washing...Screw rod 52 for lifting/lowering for washing...Polishing tank outer peripheral plate 53... Cylinder 54 for advancing and retracting the washer...extension portion 5 of the piston rod for advancing and retracting the washer
5...Spring 56...Boss 61a, 61
b...Guide plate 62...Round seat 63...Seat plate 64a, 6
5b, 65c, 65 d... Support column 65... Intermediate board 66... Lifting frame 67... Fluid pressure cylinder 68... Piston rod 69a, 69b... Guide ball 70a, 70b... Bearing 71...Fluid pressure cylinder 72...Piston rod 73...Transport plate 74...
・Mounting frames 75a, 75b...Workpiece support plate 76...Substrate 77...Transfer plate position 7
8... First station 79... Second stealth station 80... Third station 8'1... Final station 82... Next stroke station 83... Hook-shaped workpiece support plate 101. ... Base 102 ... Support 103
...Lower cylinder 104...Auto switch cylinder 105...Arm support stand 106...Rotary actuator 107...Rotary actuator shaft 108...Pinion
109...Gear 110...Rotating tube 111
... Lower cylinder tip 112 ... Robot 1 - arm bearing 113 ... Robot 1 - r @ shaft 114 ... Rotary actuator 115a, 11
5b...Fluid pressure cylinder 11 (30, 116b...
Piston rods 117a, 117b,...Claw opening/closing piece 118...Box-shaped frame 119...Heavy duty shaft 120
a, 120b, 120c, 120d...claws 121a,
121b, 121C1121d ---Protrusion 122a,
122b... Money 123... Bulkhead machine

Claims (1)

[Claims] 1. In a gyro processing machine that polishes a workpiece by inserting it into a polishing tank in which an abrasive is charged and the workpiece rotates around a vertical axis, the workpiece holding axis is set to two axes. a chucking at the lower end, two axes rotatably attached to a workpiece shaft housing, a mechanism for raising and lowering the workpiece shaft housing, and a workpiece conveyance device provided in front of the gyro processing machine, One robot hand for transporting the workpiece from the transport device to the workpiece axis of the gyro processing machine is provided on the left and right in front of the gyro processing machine and at the start and end points of the transport device, and the robot hand has a three-stage lifting function. It has two upper and lower stages of gripping claws and a rotation function for the robot arm axis that holds the gripping claws, and when in the middle stage, it can rotate between the transfer device and the gyro processing machine, and the first robot hand is The structure is such that every other workpiece sent to the transfer device is transferred to the gyro processing machine, and the remaining workpieces are transferred to the gyro processing machine by the second robot hand at the same time as the first robot hand, and
The gripping arm of the stage is configured to detach the machined corner workpiece while gripping it, reverse the rotation, and attach the unprocessed workpiece to the workpiece shaft of the gyro processing machine, and perform polishing and workpiece mounting.・Fully automatic gyro processing machine 2 characterized in that the release sequence is controlled by a sequence control device.A fully automatic gyro processing machine 2 characterized in that the sequence of detachment is controlled by a sequence control device. automatic gyro processing machine