KR101552253B1

KR101552253B1 - Machine of hard-metal insert supplier and collector for CVD pallets, its method

Info

Publication number: KR101552253B1
Application number: KR1020150070132A
Authority: KR
Inventors: 송일재
Original assignee: 주식회사 윈텍오토메이션
Priority date: 2015-05-20
Filing date: 2015-05-20
Publication date: 2015-10-21

Abstract

The present invention relates to an apparatus and a method for supplying a cemented carbide insert to a cemented carbide insert coating furnace for CVD coating and recovering a coated cemented carbide insert and includes a pallet transferring part formed to transfer a pallet to one side of a top surface of the frame, A coating tray transfer part formed to be capable of transferring the coating tray and facing the pallet transfer part on the other side of the upper surface; a cemented carbide insert inspection part and a reversing part formed between the pallet transfer part and the coating tray transfer part for inspecting and reversing the cemented carbide insert, A cemented carbide insert conveying portion configured to convey the cemented carbide insert and configured to traverse the air of the pallet transfer portion and the coating tray transfer portion and a moving camera portion for position detection formed in the same direction on the upper portion of the cemented carbide insert transfer portion After the carbide insert is supplied and coated Can, to an apparatus, and pallet transfer step, and a carbide insert inspection step and inverting step, and a coating supply and then coated carbide insert, characterized in that comprising an tray delivery step returns.

Description

Technical Field [0001] The present invention relates to a carbide insert, a carbide insert,

The present invention relates to an apparatus and a method for supplying a cemented carbide insert to a carbide insert coating furnace for CVD coating, and more particularly, to a carbide insert loaded in a pallet transferring unit, And then the coating is reversed as necessary. The apparatus is then loaded into a coating tray to be ready for supply to the coating furnace. In addition, the apparatus for recovering the cemented carbide insert, which has been coated in the coating furnace, .

In general, a cutting tool is mainly used for cutting an iron-based material, a non-ferrous metal, and a nonmetallic material, and is usually a tool that is mounted on a machine tool and performs cutting for machining a workpiece into a desired shape.

The cemented carbide insert used in the cutting tool is made of a diamond powder or a cemented carbide powder which is made of a metal such as iron (Fe), tungsten (W), cobalt (Co), copper (Cu), nickel (Ni), tin Is a sintered alloy formed by mixing with a metal powder such as tin (CuSn), zinc (Zn), copper-zinc (CunZn), silver (Ag)

The molding step before firing is carried out by placing the mixed powder in a rectangular parallelepiped cavity, firstly pressing the mixture, placing the first press-molded mixture into the cavity of the carbon mold, and applying a relatively large pressure using a puncher, A cutting tip having a shape corresponding to that of the cutting tool is formed. The diamond insert tip or the insert tip is completed by firing the insert tip formed in a predetermined shape in the sintering furnace.

The fused carbide inserts are produced only after the inspection step and the CVD (Chemical Vapor Deposition) coating step have been completed. The inspection is carried out by using a microscope one by one with naked eyes, and the cemented carbide inserts, which have been inspected, Respectively.

However, such a conventional cemented carbide insert supply apparatus has a defect rate due to a visual inspection being high, and there is no continuity of a stepwise process, resulting in a disadvantage that workability is very low.

Korean Patent Publication No. 10-2013-0022543

SUMMARY OF THE INVENTION It is an object of the present invention to solve the above problems and provide an apparatus for supplying a cemented carbide insert to a coating furnace for CVD coating or recovering a coated carbide insert in a coating furnace.

Another object of the present invention is to provide a pallet carrying apparatus and a pallet carrying apparatus in which the pallet carrying section is capable of loading pallets loaded with cemented carbide inserts at both ends thereof, The present invention also provides a device for supplying or recovering a cemented carbide insert to be transported to the other pallet loader.

It is still another object of the present invention to provide a device for supplying or recovering a cemented carbide insert which is arranged side by side with a pallet transferring portion and in which a coating tray transfer portion formed to transfer a coating tray is installed.

It is a further object of the present invention to provide a cemented carbide insert inspecting unit for inspecting and reversing a cemented carbide insert between a pallet transferring unit and a coating tray transferring unit, and an apparatus for supplying or recovering a cemented carbide insert for providing a reversing unit.

It is a further object of the present invention to provide a device for feeding or retrieving a cemented carbide insert which is configured to traverse the air of a pallet transfer part and a coating tray transfer part to transfer a cemented carbide insert.

It is still another object of the present invention to provide a device for feeding or retrieving a cemented carbide insert in which a moving camera for position detection is provided in the same direction as a cemented carbide insert transferring portion on an upper portion of a cemented carbide insert transferring portion.

It is still another object of the present invention to provide an apparatus for supplying or recovering a cemented carbide insert which is improved in workability and productivity by automating the above-described components throughout the entire process.

It is another object of the present invention to provide a method of supplying a sintered carbide insert to a coating furnace for CVD coating or recovering a coated carbide insert in a coating furnace.

In order to accomplish the above object, there is provided an apparatus for supplying a sintered cemented carbide insert to a coating furnace or recovering a coated carbide insert in a coating furnace to perform CVD coating of the present invention includes a pallet transferring unit, a coating tray transferring unit, An inverted portion, a cemented carbide insert transfer portion, and a position detecting moving camera portion.

Another feature of the cemented carbide insert supplying and coating posture collecting apparatus of the present invention is that the pallet transfer section is capable of loading pallets for loading the cemented carbide inserts at both ends thereof from the pallet loading box, A moving plate for moving the moving plate up and down, a moving frame for moving the moving plate horizontally, and a moving belt.

Another feature of the cemented carbide insert feeding and collecting apparatus of the present invention is that the coating tray transfer section is provided with a tray for loading a cemented carbide insert once inspected and a coating tray for storing a tray loaded on the auxiliary pallet An elevator section is formed.

Another feature of the cemented carbide insert supplying and collecting apparatus of the present invention is that the cemented carbide insert inspection unit and the reversing unit include a buffer table for lowering the cemented carbide insert transferred from the pallet transfer unit and a buffer table for inspecting the cemented carbide insert, And a position correcting camera for making the position of the coated tray to be mounted with the cemented carbide inserts inspected finished.

Another feature of the cemented carbide insert supplying and coating post-collecting apparatus of the present invention is that the cemented carbide insert transferring portion is provided with a transfer body supported by a plurality of legs and a plurality of And a stepping motor is attached to an upper end of the stepping motor. Below the first gripper is attached a head gripper to which a head gripper is fixed, And a head-to-gripper formed by a plurality of (or two to four, if necessary, a plurality of) grippers for holding the inspected cemented carbide inserts and transporting the cemented carbide inserts to the tray of the coating tray transferring portion. A stepping motor is attached, and below it is installed a gripper mover with a head block that holds the head-to-gripper .

Another feature of the present invention is that the gripper is divided into two sets such as a head circle gripper and a head to gripper so that the working area of the gripper is divided right and left around the buffer table so that the cemented carbide insert The feed time and distance are shortened, and the gripper is formed into a jaw so that sufficient gripping force is generated while expanding in the hole of the cemented carbide insert.

Another feature of the cemented carbide insert feeding and after-coating collecting apparatus of the present invention is that the poor cemented carbide insert found in the cemented carbide insert inspection unit is dropped by the head-to-gripper located outside the coating tray.

Another feature of the cemented carbide insert supplying and coating posture collecting apparatus of the present invention is that a moving camera for position detection is coupled to a plurality of fixing plates extended from a cemented carbide insert transferring portion to detect a position where the cemented carbide insert to be inspected is mounted, And the moving camera may be one or two cameras as needed.

Another feature of the present invention is that the moving plate moves the pallet loaded with the cemented carbide insert in the pallet loader A, which is loaded with a plurality of pallets, in the correct position, The empty pallet is loaded on the pallet stacker B, and the pallet stacker B moves the empty pallet to the correct position to store the coated palletized inserts on the pallet stacker A.

Another feature of the present invention is that the tray loaded with the cemented carbide insert in the coating tray elevator portion is loaded on the auxiliary pallet at various stages in the tray loading box and the coated cemented carbide insert is loaded The tray waits to move to the working position of the head-to-gripper (hereinafter referred to as "another correct position").

Another feature of the cemented carbide insert supplying and coating post-collecting apparatus of the present invention is that a cemented carbide insert inspection unit is provided with a camera block facing the cemented carbide insert transfer unit, a test camera is vertically installed on the front surface thereof, A ring illumination with LED illumination is installed at a predetermined interval so that a buffer table on which a cemented carbide insert is placed can be positioned at an inspection position.

Another feature of the cemented carbide insert supplying and collecting apparatus of the present invention is that a reversing gripper capable of rotating by 90 degrees is installed in the inverting portion, and the cemented carbide insert after inspection is reversed and gripped and transferred to the coating tray. At this time, the reverse gripper grips the outside of the carbide insert as a 2-jaw gripper and reverses and transports it.

Another feature of the present invention is that the buffer table on which the cemented carbide insert is placed is a glass plate which can easily project the reflected light and reciprocates to the position of the inspection camera, .

The cemented carbide insert and the method of recovering after coating according to the present invention are characterized in that the cemented carbide insert can be inspected and reversed between a pallet transferring part and a coating tray transferring part and a pallet transferring step of transferring a pallet to one side of the upper surface of the frame. And a coating tray transferring step of transferring the coating tray so as to be opposed to the pallet transferring part on the other side of the upper surface of the frame.

Another feature of the method of supplying and recovering the cemented carbide insert of the present invention further comprises a step of transferring the cemented carbide insert between the pallet transferring step, the cemented carbide insert inspection step and the reversing step.

Another feature of the cemented carbide insert feeding and post-cementing method of the present invention further comprises a cemented carbide insert inspection step and a cemented carbide insert transfer step between the reversing step and the coating tray transfer step.

Another feature of the cemented carbide insert feed and post-cure recovery method of the present invention further comprises a position detection step in the same orientation as the cemented carbide insert transfer section on top of the cemented carbide insert transfer section between the cemented carbide insert inspection step and the reversal step and the coating tray transfer step .

Another feature of the method of supplying and recovering the cemented carbide insert of the present invention is that a reversing gripper capable of rotating by 90 degrees is installed in the reversing step and the cemented carbide insert after inspection is reversed and gripped and transferred to the coating tray.

Another feature of the method of supplying and recovering the cemented carbide insert of the present invention is that the cemented carbide insert is reciprocated to the inspection camera position.

The present invention is characterized in that the carbide insert recovered in the CVD coating furnace recovers the stepwise process in the reverse order. The coating tray transfer step, the cemented carbide insert transfer step, the inspection and reversal steps are omitted, and the area is again transferred to the pallet through another pallet transfer step.

The pallet transfer part of the present invention as described above has a pallet loader for loading pallets for loading the cemented carbide inserts at both ends and a pallet loader for loading the pallet at a predetermined position from one pallet loader, .

The coating tray transfer portion of the present invention has a coating tray elevator portion with a tray loading tray on one side thereof on which a tray capable of inspecting a cemented carbide insert is placed on the auxiliary pallet and a tray loading tray on which another tray is loaded, It is possible to carry out the transfer.

The cemented carbide insert inspection unit and the reversing unit of the present invention include a buffer table for releasing the cemented carbide insert transferred from the pallet transfer unit, a reversing unit for inspecting the cemented carbide insert, if necessary, for reversing the coating tray, and a cemented carbide insert Since the position correcting camera is provided so that the position of the coating tray becomes equal to the position of the coating tray to be inspected, the inspection defect rate can be made zero, and accurate and rapid transfer can be performed.

The head area gripper and the head-to-gripper of the present invention are divided into two sets. The active area is divided into left and right centered on the buffer table. Thus, the operation time and distance are shortened and work efficiency is high.

The moving camera for position detection of the present invention is mounted on a plurality of fixing plates extended from a cemented carbide insert conveying unit, and a moving camera for detecting a position at which the cemented carbide insert to be inspected is installed is provided, so that accurate and rapid transfer can be performed.

The reversing grippers capable of rotating by 90 degrees are installed in the reversing portion of the present invention, and the tested cemented carbide inserts are reversed and gripped and transferred to the coating tray, so that various demands of consumers can be met.

INDUSTRIAL APPLICABILITY The present invention improves workability by chaining and automating the entire process, and enables to provide a high-quality cemented carbide insert in a stable manner by reducing the defect rate.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a schematic perspective view of a carbide insert feeding and coating post-
2 is a schematic plan view of the present invention
Figure 3 (a) is a schematic perspective view showing the pallet transfer part of the present invention.
Fig. 3 (b) is a schematic perspective view showing the pallet moving plate of Fig. 3 (a)
Figure 4 is a schematic perspective view showing the coating tray transfer part and the coating tray elevator part of the present invention.
5 is a schematic perspective view showing the cemented carbide insert inspection portion of the present invention.
6A is a schematic perspective view showing the moving camera unit for position detection of the present invention.
6 (b) is a schematic perspective view showing the cemented carbide insert transferring part of the present invention
FIG. 7 is a flowchart

Specific features and advantages of the present invention will become more apparent from the following description taken in conjunction with the accompanying drawings.

FIG. 2 is a schematic plan view of the present invention. FIG. 3 (a) is a schematic perspective view showing the pallet transferring part of the present invention, and FIG. 3 3 (b) is a schematic perspective view showing the pallet moving plate of Fig. 3 (a). FIG. 4 is a schematic perspective view showing a coating tray transfer part and a coating tray elevator part of the present invention, FIG. 5 is a schematic perspective view showing a cemented carbide insert inspection part of the present invention, FIG. 6 (a) FIG. 6 (b) is a schematic perspective view showing the cemented carbide insert transferring portion of the present invention, and FIG. 7 is a process drawing showing the carbide insert supplying and coating after the present invention.

The apparatus for supplying the cemented carbide insert to the coating furnace or recovering the coated cemented carbide insert in the coating furnace includes a pallet transfer unit 100, a coating tray transfer unit 200, a cemented carbide insert inspection unit 300, And an inverting unit 360, a cemented carbide insert transferring unit 400, and a moving camera unit 500 for position detection.

The pallet transporting unit 100 includes pallet stackers 102 and 112 capable of stacking pallets 101 for loading cemented carbide inserts at both ends thereof and pallet stackers 102 and 112 for transporting pallets from one pallet stacker to the other pallet stacker A moving plate 103 for moving the moving plate 103 upward and downward, a piston 106 for moving the moving plate 103 up and down, a moving frame 107 for moving the moving plate 103 horizontally, and a moving belt 105 .

The coating tray transfer unit 200 includes a tray loading bin 251 on one side of which a tray 201 capable of loading a cured cemented insert is placed on the auxiliary pallet 202 and a tray is loaded on the other side A coating tray elevator unit 550 is formed.

The tray stacker 251 of the multi-stage coating tray elevator unit 250 moves up and down by a bolt screw (not shown) to load or assemble the tray.

The cemented carbide insert inspection part 300 and the inverting part 360 are provided with a buffer table 350 for releasing the cemented carbide inserts transferred from the pallet transfer part 100 and a buffer table 350 for inspecting the cemented carbide inserts, And a position correcting camera 370 for making the entire surface 360 and the position of the coating tray to be inspected the cemented carbide insert to be mounted.

The cemented carbide insert transferring unit 400 is provided with a transfer body 407 supported by a plurality of legs 408 and a plurality of legs 408 disposed on a pallet transferring unit 100 side at a working position A head source gripper 401 mounted on a plurality of (two to four, as required) gripping cemented carbide inserts from the pallet 101 and a feed rail 409, A gripper 404 attached with a head block 402 for fixing the head source gripper 401 and a gripper 404 for gripping the cured carbide insert after the inspection, And a stepping motor 403 is attached to an upper end of the head gripper 411 and a transferring rail 409. The stepping motor 403 is attached to the upper end of the head gripper 411, Below the head-gripper 411, A gripper slider 414 to which a gripper 412 is attached is provided.

The gripper is installed in two sets such as the head circle gripper 401 and the head gripper 411 so that the work area of the gripper is divided left and right around the buffer table 350 to shorten the cemented carbide insert transfer time and distance, The gripper is a 3-jaw gripper that extends from the hole of the carbide insert to provide sufficient gripping force.

The moving camera 500 for position detection is provided with a moving camera 505 coupled to a plurality of fixing plates 406 extending from the cemented carbide insert transferring part 400 to detect a position at which the cemented carbide insert is inspected , And one or two units can be mounted as needed.

The moving plate 103 moves the pallet 101 loaded with the cemented carbide insert in a predetermined position in the pallet stacker A 102 on which a plurality of pallets are stacked and moves the empty pallet 101 The pallet 101 is loaded in the pallet stacker B 112 and the empty pallet 101 is moved to the correct position in the pallet stacker B 112 to store the coated cemented carbide insert into the pallet stacker A 102.

The coated tray elevator 250 is provided with a tray 201 loaded with a cemented carbide insert and loaded with various stages in a tray loading bin 251 loaded on the auxiliary pallet 202, Lt; RTI ID = 0.0 > position < / RTI >

The cemented carbide insert inspection part 300 is provided with a camera block 306 toward the cemented carbide insert transfer part 400. The inspection camera 301 is installed vertically on the front part of the cemented carbide insert inspection part 300. The inspection camera has a reflector and LED illumination A ring illumination 305 having LED illumination is installed at a predetermined interval so that the coaxial illumination 304 having a rectangular tube shape and the buffer table 350 having the cemented carbide insert placed at its lower end can be positioned at the inspection position do.

An inverting gripper 361 capable of rotating by 90 degrees is installed in the inverting unit 360, and the tested cemented carbide insert is reversed and gripped and transferred to the coating tray. In this case, the reversing gripper is a 2-jaw gripper, gripping the outside of the carbide insert, reversing and transporting.

The buffer table 350 is disposed between the coaxial illumination 304 and the ring illumination 305 at the time when the cemented carbide insert is moved to the position of the inspection camera 301 as a glass plate on which reflected light is easily projected.

The poor cemented carbide insert caught in the cemented carbide insert inspection part 300 is processed by dropping the head gripper 411 to a collection box (not shown) outside the coating tray.

7 is a process diagram showing a method of supplying a cemented carbide insert for CVD coating to a coating furnace or recovering a coated cemented carbide insert in a coating furnace, A cemented carbide insert inspecting step S200 for inspecting and reversing the cemented carbide insert between the pallet transferring part 100 and the coating tray transferring part 200 and a reversing step S200 for inspecting and reversing the carbide insert, S300) and a coating tray transfer step S400, which is arranged on the other side of the upper surface of the frame 10 so as to face the pallet transfer part 100 and is capable of transferring the coating tray 201.

And further includes a cemented carbide insert step S500 between the pallet transferring step S100 and the cemented carbide insert inspecting step S200 and the reversing step S300.

And further includes a cemented carbide insert transfer step S600 between the cemented carbide insert inspection step S200 and the reversing step S300 and the coating tray transfer step S400.

A position detection step S700 in the same direction as the cemented carbide insert transfer part 400 is provided on the upper side of the cemented carbide insert transfer part 400 between the cemented carbide insert inspection step S200 and the reversing step S300 and the coating tray transfer step S400 .

In the inversion step S300, an inverting gripper 361 capable of rotating by 90 degrees is installed, and the tested cemented carbide insert is reversed and gripped and transferred to the coating tray.

In the cemented carbide insert inspection step S200, the buffer table 350 on which the cemented carbide insert is placed moves the cemented carbide insert to the position of the inspection camera 301.

Also, the carbide inserts recovered from the CVD coating furnace are recovered in the reverse order of the stepwise process. The coating tray transfer step S400 is carried out through the cemented carbide insert transfer step S600 to the buffer table 350 and the cemented carbide insert transfer step S500 to the pallet transfer step S100. At this time, the cemented carbide insert inspection step S200 and the reversing step S300 are omitted.

10: frame
100: pallet transport part
101: Palette
102: pallet loader A
103: pallet moving plate
104: Fixing device
105: Moving belt
106: Piston
107: Moving frame
112: pallet loading box B
200: Coated tray transfer part
201: Tray
202: Auxiliary pallet
250: tray elevator section
251: Tray loading tray
300: carbide insert inspection part
301: Inspection camera
302: Feed motor
303: Camera holder
304: Coaxial lighting
305: Ring lights
306: camera block
350: buffer table
360: Inverse
361: Reverse Gripper
370: Position compensation camera
400: Carbide insert transport part
401: Head circle gripper
402: head block
403: Stepping motor
404: One gripper mover
405: Position detecting camera
406: Fixing plate
407: Transfer body
408: Leg
409: Feed rail
411: Head to Gripper
412: Head block
413: Stepping motor
414: Two-gripper mover
500: Moving camera part for position detection
505: Moving camera

Claims

The present invention relates to an apparatus for supplying a cemented carbide insert to a coating furnace for CVD coating or for recovering a coated cemented carbide insert from a furnace and to a pallet 101 for loading a cemented carbide insert on one side of a top surface of the frame 10 A pallet transporting unit 100 installed at both ends of the pallet stacking units 102 and 112 and configured to transport the pallet from the pallet stacking units 102 and 112;
A coating tray transfer part 200 facing the pallet transfer part 100 on the other side of the upper surface of the frame 10 and configured to transfer the coating tray 201;
A cemented carbide insert inspecting unit 300 and an inverting unit 360 positioned between the pallet transferring unit 100 and the coating tray transferring unit 200 and capable of inverting and inspecting the cemented carbide insert;
A cemented carbide insert conveying portion 400 configured to traverse the air of the pallet transferring portion 100 and the coating tray transferring portion 200 and configured to transfer the cemented carbide insert;
A movable body 407 supported by a plurality of legs 408 and a moving body 407 supported by the plurality of legs 408 are formed on the upper portion of the cemented carbide insert transferring part 400 in the same direction as the cemented carbide insert transferring part 400, And a conveying rail (409) installed on the bottom surface (407) for moving the head source gripper (401) holding the cemented carbide insert to the left and right.

The pallet transferring apparatus according to claim 1, wherein the pallet transferring unit (100) is provided with a moving plate (103) for transferring the pallet from the one end pallet loader to the working position of the head circle gripper (401) and the other end pallet loader ). The carbide insert feeding and coating post-recovering apparatus according to claim 1,

The coating tray transfer unit 200 according to claim 1, wherein the tray 201 to be loaded with the cemented carbide insert after inspection is placed on the auxiliary pallet 202 at one end thereof, and the tray 201, Wherein a coating tray elevator portion (250) having a tray stack (251) transported by a pallet (202) is formed.

The cemented carbide insert inspection part (300) and the inverting part (360) have a buffer table (350) on which the cemented carbide insert transferred from the pallet transfer part (100)
An inverting unit 360 for inverting the tested cemented carbide insert into the tray 201,
Further comprising a position correcting camera (370) for correcting the shape of the tray (201) to match the shape of the tray (201) at the position where the inspected cemented insert is to be mounted.

The cemented carbide insert according to claim 1, wherein the cemented carbide insert transferring part (400) comprises a plurality of formed head source grippers (401) for gripping the cemented carbide inserts from the pallet (101) positioned on the pallet transferring part (100)
And a head-to-gripper (411) for gripping the cemented carbide insert after inspection and transferring the cemented carbide insert to a tray of the coating tray transfer unit (200).

The position detecting moving camera unit 500 according to claim 1, wherein the position detecting moving camera unit 500 is mounted on a plurality of fixing plates 406 extending from the cemented carbide insert transferring unit 400, and detects a position where the cemented carbide insert, 505). &Lt; / RTI >

The moving plate (103) according to claim 2, wherein the moving plate (103) moves the pallet (101) loaded with the sintered cemented carbide insert from the pallet stacker A (102) to the pallet stacker B , And the empty pallet (101) is moved to a predetermined position in the pallet stacker (B) (112) to store the coated cemented carbide insert into the pallet stacker (A) (102) Recovery device.

The coating tray elevator according to claim 3, wherein the coating tray 201 having the cemented carbide insert loaded thereon is transported by the auxiliary pallet 202 to be stacked on the tray stacker 251 at various stages, Wherein the coating tray (201) loaded with the insert is waiting to move to another correct position.

4. The cemented carbide insert as set forth in claim 4, wherein the inverting portion (360) is provided with an inverting gripper (361) capable of being rotated by 90 degrees and reversing and gripping the inspected cemented insert and transferring the inverted cemented insert to the tray (201) Supply and return after coating.

A method of supplying a sintered cemented carbide insert to a coating furnace for CVD coating or recovering a coated cemented carbide insert in a coating furnace, the method comprising the steps of: (a) transferring a pallet onto a top surface of a frame (10) S100);
A carbide insert inspecting step S200 in which a buffer table 350 is reciprocally moved to a position of the inspection camera 301 in order to inspect the carbide insert between the pallet transferring unit 100 and the coating tray transferring unit 200;
An inverted gripper 361 capable of rotating through 90 degrees is installed between the pallet transporting unit 100 and the coating tray transferring unit 200 to invert the cemented carbide inserts and the inverted cemented carbide insert is reversed and gripped and transported to the tray 201 (S300);
And a coating tray transfer step (S400) for transferring the coating tray (201) to the other side of the upper surface of the frame (10) side by side with the pallet transferring part (100) Post recovery method.

The method of claim 10, further comprising a cemented insert transfer step (S500) between the pallet transfer step (S100), the cemented carbide insert inspection step (S200) and the inversion step (S300) .

The method according to claim 10, further comprising a cemented carbide insert feeding step (S600) between the cemented carbide insert inspection step (S200) and the reversing step (S300) and the coating tray transfer step (S400) Way.

The method according to claim 10, further comprising: positioning the cemented carbide insert in the same direction as the cemented carbide insert transfer part (400) on the upper side of the cemented carbide insert transfer part (400) between the cemented carbide insert inspection step (S200) and the reversing step (S300) (S700). &Lt; / RTI >

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