KR102189998B1 - Apparatus for supplying workpiece automatically - Google Patents

Abstract

Disclosed is an automatic workpiece supply device comprising: a tray storage unit for stacking and storing trays in which workpieces are accommodated; a first tray transfer unit positioned at one side of the tray storage unit in a first direction, and individually transferring the trays in the first direction to be positioned at a first transfer position; a transfer rail provided in a second direction perpendicular to the first direction over a front side of the tray storage unit and a front side of the first tray transfer unit, and having a longitudinal direction thereof parallel to the first direction; and a workpiece transfer robot movable along the transfer rail, receiving a workpiece from the trays placed at the first transfer position, and supplying the workpiece in the second direction. According to the present invention, the workpiece can be automatically supplied to a workpiece processing device.

Description

Apparatus for supplying workpiece automatically

The present invention relates to an automatic workpiece feeding device, and more particularly, to an automatic workpiece feeding device capable of automatically supplying a workpiece to a workpiece processing device.

In general, automatic lathes are mainly used for mass cutting and precision processing of industrial machines or industrial parts after the introduction of numerical control and automation concepts. Such an automatic lathe requires a device that automatically supplies the workpiece to automate the machining process.

As an example of such an automatic workpiece supply device, Korean Utility Model Publication No. 20-0424966 discloses an autoloader device for a CNC lathe in which a material feed unit for supplying a material to a lathe chuck is coupled to a CNC lathe.

Since such an automatic workpiece feeding device should be designed in consideration of integral coupling with a CNC lathe, it is not easy to combine it with other types of CNC lathes. In addition, for the maintenance of an automatic workpiece supply device or a CNC lathe, it is required to remove the material conveying part mounted on the CNC lathe, and when remounting, the alignment and setting process between the devices is required. Since such maintenance requires highly specialized personnel, it becomes a factor that increases the maintenance cost.

In addition, the automatic workpiece supply device is supplied to the lathe chuck through a material input unit, a material supply unit, a material discharge unit, and a material transfer unit. This supply method complicates the device configuration and increases manufacturing cost.

The present invention discloses an automatic workpiece feeding device capable of minimizing the facility area of the device for automatically feeding the workpiece.

In addition, the present invention discloses an automatic workpiece feeding device capable of minimizing the supply path of the workpiece and supplying the workpiece with a simple configuration.

In addition, the present invention discloses an automatic workpiece supplying device for easy maintenance.

The automatic workpiece supply device according to the present invention includes a tray storage unit in which trays in which the workpieces are stored are stacked and stored; A first tray transfer unit positioned at one side of the tray storage unit in a first direction, and individually transferring the trays in the first direction to be positioned at a first transfer position; A transfer rail provided in a second direction perpendicular to the first direction across the front of the tray storage unit and across the front of the first tray transfer unit, the longitudinal direction being disposed parallel to the first direction; And a work transfer robot movable along the transfer rail, receiving a work from the tray placed in the first transfer position, and supplying the work in the second direction.

In addition, the transfer rail extends from a first point in front of the tray storage unit to a second point in front of the first tray transfer unit, and the workpiece transfer robot crosses the transfer rail in the second direction. Can supply.

In addition, the workpiece transfer robot, a moving body placed on the transfer rail; A first arm coupled to the moving body such that one end is rotatable about a first axis parallel to the first direction; A second arm coupled to the other end of the first arm such that one end is rotatable about a second axis parallel to the first direction; A third arm coupled to the other end of the second arm such that one end is rotatable about a third axis parallel to the first direction; It is coupled to the other end of the third arm, it may include a tongs for gripping the work.

In addition, further comprising a second tray transfer unit positioned on the other side of the tray storage unit in the first direction, and individually transferring the tray in the first direction to be positioned at a second transfer position, and the second transfer position Is located on the opposite side of the first transfer position based on the tray storage unit, and the transfer rail extends from the second point in the second direction to a third point in front of the second tray transfer unit, and the workpiece When located at the second point, the transfer robot receives a workpiece from the tray placed at the first transfer position and supplies the workpiece to the first workpiece processing device placed in front of the second point in the second direction. , When located at the third point, the workpiece may be received from the tray placed at the second transfer position and supplied to the second workpiece processing apparatus placed in front of the third point in the second direction.

In addition, a work support part on which the work is placed is provided on an upper surface of the tray, and the work support part includes: a support body made of an elastic material having a support part protruding to a predetermined height and an inclined surface inclined downward toward the support part; And a magnet inserted into the support part, wherein the work piece may be supported on the support part and the inclined surface.

According to the present invention, the tray storage unit, the first tray transfer unit, the transfer rail, and the workpiece transfer robot are integrally combined, and the tray is transferred in the first direction from the first tray transfer unit, and the workpiece transfer robot is transferred in the second direction. Since the transmission to the workpiece processing device, the equipment area of the device and the supply path and space required for the workpiece delivery can be minimized.

In addition, according to the present invention, since the automatic workpiece supply device is installed separately from the workpiece processing device, the automatic workpiece supply device and the workpiece processing device are easy to maintain, and the workpiece can be supplied to various types of workpiece processing devices.

In addition, according to the present invention, the automatic workpiece supply device is a combination of arms that rotate in the first direction as an axis and a moving body that moves linearly in the first direction, and can supply the workpiece to the workpiece processing apparatus through a simple supply path. .

1 is a perspective view showing an automatic workpiece supply device according to an embodiment of the present invention.
FIG. 2 is a cross-sectional view showing the automatic workpiece supply device of FIG. 1.
3 is a plan view showing the automatic workpiece feeding device and the workpiece processing device of FIG. 1.
4 and 5 are views sequentially showing a process in which a workpiece transfer robot according to the present invention transfers a workpiece.
6 is a view showing an automatic workpiece supplying device and a workpiece processing device according to another embodiment of the present invention.
7 is a cross-sectional view showing the automatic workpiece supply device of FIG. 6.
8 is a view showing a tray according to an embodiment of the present invention.
9 is a perspective view showing a transfer rail according to another embodiment of the present invention.
10 is a view showing a clamp according to another embodiment of the present invention.

Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings. However, the technical idea of the present invention is not limited to the embodiments described herein and may be embodied in other forms. Rather, the embodiments introduced herein are provided so that the disclosed content may be thorough and complete, and the spirit of the present invention may be sufficiently conveyed to those skilled in the art.

In the present specification, when a component is referred to as being on another component, it means that it may be formed directly on the other component or that a third component may be interposed between them. In addition, in the drawings, thicknesses of films and regions are exaggerated for effective description of technical content.

In addition, in various embodiments of the present specification, terms such as first, second, and third are used to describe various components, but these components should not be limited by these terms. These terms are only used to distinguish one component from another component. Accordingly, what is referred to as a first component in one embodiment may be referred to as a second component in another embodiment. Each embodiment described and illustrated herein also includes its complementary embodiment. In addition, in the present specification,'and/or' is used to mean including at least one of the elements listed before and after.

In the specification, expressions in the singular include plural expressions unless the context clearly indicates otherwise. In addition, terms such as "comprise" or "have" are intended to designate the presence of features, numbers, steps, elements, or a combination of the features described in the specification, and one or more other features, numbers, steps, and configurations It is not to be understood as excluding the possibility of the presence or addition of elements or combinations thereof. In addition, in the present specification, "connection" is used to include both indirectly connecting a plurality of constituent elements and direct connecting.

Further, in the following description of the present invention, when it is determined that a detailed description of a related known function or configuration may unnecessarily obscure the subject matter of the present invention, a detailed description thereof will be omitted.

1 is a perspective view showing an automatic workpiece supply device according to an embodiment of the present invention, FIG. 2 is a cross-sectional view showing the automatic workpiece supply device of FIG. 1, and FIG. 3 is a view showing the automatic workpiece supply device and the workpiece processing device of FIG. It is a plan view showing.

1 to 3, the automatic workpiece supply device 100 is located on one side of the workpiece processing device 10, and automatically supplies the workpiece to the chucking portion 11 of the workpiece processing device 10. The automatic workpiece supply device 100 is located separately from the workpiece processing device 10 and is movable independently of the workpiece processing device 10. The work piece processing apparatus 10 is a device capable of producing various machine parts by processing the work piece M, and according to an example, a CNC machine tool may be provided. The work piece M is a base material of a machine part and has a cylindrical shape.

The automatic workpiece supply device 100 includes a tray storage unit 110, a first tray transport unit 120, a transport rail 130, and a workpiece transport robot 140.

The tray storage unit 110 is stacked and stored in a vertical direction of a plurality of trays T, and individually transfers the trays T to the first tray transfer unit 120. The tray (T) is configured to accommodate the workpieces (M), the workpieces (M) are received in a predetermined row and column.

The tray storage unit 110 includes a housing 111 and a tray elevator 115. The housing 111 has a storage space 112 in which the trays T are stacked and stored, and on one side of the housing 111, a first opening through which the trays T can be individually transferred to the first tray transfer unit 120 ( 113) is formed.

The tray elevator 115 lifts all of the trays T within the storage space 112. Specifically, the tray elevator 115 lifts the trays T so that the position of the tray T to be transferred to the first tray transfer unit 120 is located at a height corresponding to the first opening 113.

The first tray transfer unit 120 is located at one side of the tray storage unit 110 and individually transfers the tray T in the first direction Y. The first tray transfer unit 120 includes a first tray transfer rail 121 and a first tray support unit 125.

The first tray transfer rail 121 is located at the same height as the first opening 113 and is disposed in a first direction (Y). The tray T moves linearly in the first direction Y along the first tray transfer rail 121 and may be located at the first transfer position P1. The first transfer position P1 is a position where the work M placed on the tray T is received by the work transfer robot 140 or unloaded to the tray T by the work transfer robot 140. It may be located adjacent to the end of the tray transfer rail 121.

When viewed from above, the first tray support 125 is provided on both sides of the first tray transfer rail 121 in a second direction X perpendicular to the first direction Y. Hold both sides. As the first tray support 125 moves linearly in the first direction Y, the tray T may move along the first tray transfer rail 121.

The transfer rail 130 is provided across the front of the tray storage unit 110 and the front of the first tray transfer unit 120 in the second direction (X), and the tray storage unit 110 and the rail support unit 135 It is combined with the first tray transfer unit 120. The transfer rail 130 is disposed in a longitudinal direction parallel to the first direction Y, and is disposed in parallel with the first tray transfer rail 121. According to the embodiment, one end of the transfer rail 130 is located at a first point in front of the tray storage unit 110 and the other end is located at a second point in front of the first tray transfer unit 120. The transfer rail 130 extends from the first point to the second point. The transfer rail 130 may be located at a lower height than the first tray transfer rail 121.

The workpiece transfer robot 140 is installed on the transfer rail 121. The workpiece transfer robot 140 receives the workpiece M from the tray T located at the first transfer position P1 and supplies the received workpiece to the chucking part 11 of the workpiece processing device 10. In addition, the workpiece transfer robot 140 collects the workpiece M, which has been processed, from the chucking portion 11 of the workpiece processing device 10 and loads it into the tray T.

The workpiece transfer robot 140 includes a moving body 141, a first arm 142, a second arm 143, a third arm 144, and a clamp 145.

The moving body 141 is placed on the transfer rail 130 and is movable along the transfer rail 130 by driving the driving unit.

One end of the first arm 142 is coupled to the upper end of the moving body 141. The first arm 142 can rotate relative to the moving body 141 about a first axis Y1 parallel to the first direction Y. The second arm 143 has one end coupled to the other end of the first arm 142, and has a relative rotation with respect to the first arm 142 around a second axis (Y2) parallel to the first direction (Y). It is possible. The third arm 144 has one end coupled with the other end of the second arm 143, and has a relative rotation with respect to the second arm 143 around a third axis (Y3) parallel to the first direction (Y). It is possible. The clamp 145 is fixedly coupled to the other end of the third arm 144 and grips the outer peripheral surface of the work M. The two clamps move in opposite directions to each other, and the clamp part 145 grips the work M by adjusting the interval between them.

4 and 5 are views sequentially showing a process in which a workpiece transfer robot according to the present invention transfers a workpiece.

4 and 5, when the tray T is positioned at the first transfer position P1 by the first tray transfer unit 120, the moving body 141 of the workpiece transfer robot 140 is driven by the driving unit. Is located in front of the first transfer position P1 by moving linearly in the first direction Y along the transfer rail 130.

The workpiece transfer robot 140 rotates individually around an axis (Y1, Y2, Y3) in which the first arm 142, the second arm 143, and the third arm 144 are parallel to the first direction (Y). Then, the tongs 145 are driven to grip the work M placed on the tray T.

When the clamp part 145 grips the workpiece (M), the first to third arms (142 to 144) rotate individually around the axis (Y1, Y2, Y3) parallel to the first direction (Y) 145 moves to the front of the transfer rail 130 across the transfer rail 130 in the second direction X. The workpiece transfer robot 140 controls the first to third arms 142 to 144 so that the workpiece M is positioned in front of the chucking portion 11 of the first workpiece processing device 10.

Thereafter, the moving body 141 moves forward along the transfer rail 130 in the first direction Y, so that the work M may be inserted into the chucking part 11.

The recovery of the workpiece, which has been processed by the workpiece processing device 10, is performed in the reverse order of the above process, and detailed descriptions are omitted.

Since the above-described automatic workpiece supply device 100 is provided with a tray storage unit 110, a first tray transport unit 120, a transport rail 130, and a workpiece transport robot 140, the equipment area of the device is minimized. can do. In addition, the tray (T) is transferred in the first direction (Y) from the first tray transfer unit 120, and the workpiece transfer robot 140 moves the work (M) in the second direction (X), and the workpiece processing device 10 Because it is delivered to, the space required for the supply path and delivery of the workpiece (M) can be minimized.

6 is a diagram illustrating an automatic workpiece supplying device and a workpiece processing apparatus according to another embodiment of the present invention, and FIG. 7 is a cross-sectional view illustrating the automatic workpiece supplying apparatus of FIG. 6.

6 and 7, the automatic workpiece supply device 200 automatically supplies the workpiece M to the two workpiece processing devices 10 and 20, respectively. The workpiece processing devices 10 and 20 are respectively positioned in front of the automatic workpiece feeding device 200 in the second direction Y.

The automatic workpiece supply device 200 includes a tray storage unit 210, a first tray transport unit 220, a second tray transport unit 230, a transport rail 240, and a workpiece transport robot 250.

The tray storage unit 210 stacks and stores a plurality of trays T in the vertical direction, and individually transfers the trays T to the first tray transfer unit 220 and the second tray transfer unit 230, respectively. A first opening 212 and a second opening 213 are formed in the housing 211 of the tray storage unit 210. The first opening 212 is formed on one sidewall of the housing 211, and the second opening 214 is formed on the other sidewall of the housing 211. The first opening 212 and the second opening 213 face each other and may be formed at the same height. Alternatively, the first opening 212 and the second opening 213 may be formed at different heights.

The tray elevator 215 lifts the trays T such that at least one of the trays T is located at a height corresponding to the first opening 212 and the second opening 213.

The first tray transfer unit 220 is located on one side of the tray storage unit 210 in the first direction (Y), and receives the tray T1 through the first opening 212 to transfer the tray T1 to the first Transfer in direction (Y). The first tray transfer unit 220 may position the tray T1 at the first transfer position P1 along the first tray transfer rail 221. Both sides of the tray T1 are gripped by the first tray support 225 and move together with the first tray support 225.

The second tray transfer unit 230 is located on the other side of the tray storage unit 210 in the first direction (Y). The second tray transfer unit 230 is located on the opposite side of the first tray transfer unit 220 with respect to the tray storage unit 210. The second tray transfer unit 230 receives the tray T2 through the second opening 213 and transfers the tray T2 in the first direction Y. The second tray transfer unit 230 includes a second tray transfer rail 231 and a second tray support unit 235. The second tray transfer rail 231 is located at the same height as the second opening 213, and its longitudinal direction is arranged parallel to the first direction Y. The second tray transfer rail 231 may be positioned on the same line as the first tray transfer rail 221 in the first direction (Y). The tray T2 is gripped on both sides by the second tray support 235 and moves in the first direction Y along the second tray transfer rail 231 by the movement of the second tray support 235 , May be located at the second transfer position P2. The second transfer position P2 is a position where the work M2 placed on the tray T2 is received by the work transfer robot 250 or unloaded to the tray T2 by the work transfer robot 250, and the second It may be located adjacent to the end of the tray transfer rail (231).

The transfer rail 240 is located in front of the first tray transfer unit 220, the tray storage unit 210, and the second tray transfer unit 230 in the second direction (X), and is controlled through the rail support unit 245. It is combined with the one tray transfer unit 220, the tray storage unit 210, and the second tray transfer unit 230. The transfer rail 240 is positioned at one end corresponding to the end of the first tray transfer unit 220 and the other end is positioned to correspond to the end of the second tray transfer unit 230. The transfer rail 240 is provided over a first point in front of the tray storage unit 210, a second point in front of the first tray transfer unit 220, and a third point in front of the second tray transfer unit 230 do. The transport rail 240 is disposed in a longitudinal direction parallel to the first direction Y.

The workpiece transfer robot 250 is movable along the transfer rail 240. Specifically, the workpiece transfer robot 250 may linearly move between the second point and the third point. The workpiece transfer robot 250 is provided in the same structure as the workpiece transfer robot 140 described in FIGS. 1 to 3, and thus detailed descriptions thereof will be omitted.

When the workpiece transfer robot 250 is located at the second point, the workpiece M1 may be received from the tray T1 placed at the first transfer position P1. The workpiece transfer robot 250 may supply the workpiece M1 to the chucking portion 11 of the first workpiece processing device 10 by moving the received workpiece M1 in the second direction X. In addition, the first workpiece processing device 10 may receive the processed workpiece M1 and supply it to the tray T1 placed at the first transfer position P1.

In addition, when the workpiece transfer robot 250 is located at the third point, the workpiece M2 may be received from the tray T2 placed at the second transfer position P2. The workpiece transfer robot 250 may supply the workpiece M2 to the chucking portion 21 of the second workpiece processing device 20 by moving the received workpiece M2 in the second direction X. In addition, the second workpiece processing apparatus 20 may receive the processed workpiece M2 and supply it to the tray T2 placed at the second transfer position P2.

The workpiece transfer robot 250 supplies a workpiece (M2) to the other workpiece processing device 20 by moving along the transfer rail 240 while the workpiece is being processed in any one workpiece processing device 10 Alternatively, the workpiece M2, which has been processed by another workpiece processing device 20, may be supplied to the tray T2. For example, after supplying the workpiece M1 to the first workpiece processing device 10 at the second point, the workpiece transfer robot 250 may move to the third point while the machining process is in progress. At the third point, the workpiece transfer robot 250 may receive the workpiece M2 from the tray T2 placed at the second transfer position P2 and supply it to the second workpiece processing device 20. Alternatively, the second workpiece processing apparatus 20 may supply the finished workpiece M2 to the tray T2 placed at the second transfer position P2.

In this way, the automatic workpiece supply device 200 according to the present invention can supply the workpieces M1 and M2 to the two workpiece processing apparatuses 10 and 20 with one device.

8 is a view showing a tray according to an embodiment of the present invention.

Referring to FIG. 8, a plurality of workpiece support portions 30 are provided on the upper surface of the tray T. The work supports 30 are combined in pairs to support one work M. Each of the workpiece supports 30 includes a support body 31 and a magnet 35.

The support body 31 protrudes from the upper surface of the tray T to a predetermined height. The support body 31 is made of an elastic material, and has a support part 32 and an inclined surface 33. The support part 32 protrudes from one side of the inclined surface 33 to a height higher than the inclined surface 33, and supports the side of the work M. The inclined surface 33 is provided to be inclined downward toward the support part 32 and supports the bottom surface of the work M. The work M may be rolled toward the support part 32 by the inclined surface 33 to be supported by the support part 32.

The magnet 35 is located in the support 32. The magnet 35 fixes the work M to the support body 31 by applying a magnetic force to the work M.

By the above-described inclined surface and magnetic force, the workpiece (M) does not deviate from the workpiece support portion (30) during transport of the tray (T), and is located at a predetermined point on the support body (31), the workpiece transport robot (140, 250) The clamping part of can accurately grip the workpiece (M).

9 is a perspective view showing a transfer rail according to another embodiment of the present invention.

Referring to FIG. 9, the upper surface 131 of the transfer rail 130 may be provided as an inclined surface. Specifically, the upper surface 131 of the transfer rail has a height (d1>d2) in which one of the four vertices 131a to 131d is lower than the other vertices 131a, 131b, and 131d. Thereby, the upper surface 131 of the transfer rail is provided as an inclined surface inclined downward to the vertex 131c.

The tray T moves along the upper surface 131 of the transfer rail, and is disposed to be inclined downward toward the vertex 131c toward the end of the transfer rail 130. Specifically, the tray T is positioned with its upper surface inclined in the arrow direction K1 at the first transfer position P1, whereby the workpieces M are aligned by receiving a force in the arrow direction K1.

In this way, the above-described transfer rail 130 facilitates alignment of the workpieces M, and the tongs of the workpiece transfer robots 140 and 250 can accurately grip the workpiece M.

10 is a view showing a clamp according to another embodiment of the present invention.

Referring to FIG. 10, the tongs 150 are provided at the other end of the third arm 144. The clamp unit 150 includes a first clamp member 151, a second clamp member 152, a support member 155, and a rotation member 158.

The first tongs member 151 is coupled to the first surface 155a of the support member 155, the two tongs move in opposite directions, and grips the work Ma by adjusting the interval between them.

The second clamp member 152 is coupled to the second surface 155b of the support member 155 and has the same structure as the first clamp member 151. The second surface 155b of the support member 155 is disposed perpendicular to the first surface 155a of the support member 155. Accordingly, the second clamp member 152 is disposed perpendicular to the first clamp member 151.

The rotating member 158 is a rotation shaft and is coupled to the third surface 155c of the support member 155. The third surface 155c of the support member 155 is provided as an inclined surface inclined at a predetermined angle with respect to the first surface 155a and the second surface 155b. According to an embodiment, the third surface 155c of the support member 155 may be inclined at 45 degrees with respect to the first surface 155a and the second surface 155b.

Due to the rotation of the pivot member 158, one of the first clamp member 151 and the second clamp member 152 may be positioned in the Z-axis direction, and the other may be positioned in the Y-axis direction. One of the first clamp member 151 and the second clamp member 152 may grip the raw work Ma, and the other grips the work Mb that has been processed in the work piece processing device 10 can do.

According to an embodiment, when the first clamp member 151 is capable of gripping the raw work Ma in the tray T, the axes Y1, Y2, and Y3 of the work transfer robot 140 rotate separately 150 moves to the workpiece processing device 10. In this process, the rotation member 158 is rotated so that the second clamp member 152 is positioned in the Z-axis direction, and the first clamp member 151 is positioned in the Y-axis direction. The second clamp member 152 grips the workpiece Mb on which the process has been completed in the chucking portion 11 of the workpiece processing device 10. When the second clamp member 152 grips the finished workpiece Mb, the rotation member 158 rotates so that the first clamp member 151 is positioned in the Z-axis direction, and the first clamp member 151 The unprocessed work Ma is transferred to the chucking part 11 of the work processing device 10.

In a state in which the second clamp member 152 grips the finished workpiece Mb, the axes (Y1, Y2, Y3) of the workpiece transfer robot 140 rotate individually so that the clamp unit 150 is moved to the tray (T). It is located at the top of ). During this process, the rotating member 158 rotates so that the second clamp member 152 is positioned in the Z-axis direction, and the processed workpiece Mb gripped by the second clamp member 152 is transferred to the tray T. do.

As described above, in the clamp unit 150 according to the present invention, the supply of the unprocessed work Ma and the recovery of the finished work Mb may be continuously performed in a series of processes.

In the above, the present invention has been described in detail using preferred embodiments, but the scope of the present invention is not limited to specific embodiments, and should be interpreted by the appended claims. In addition, those who have acquired ordinary knowledge in this technical field should understand that many modifications and variations can be made without departing from the scope of the present invention.

100: Automatic workpiece feeding device
110: tray storage unit
111: housing
115: tray lift
120: first tray transfer unit
121: first tray transfer rail
125: first tray support
130: transfer rail
140: workpiece transfer robot
141: moving body
142: first arm
143: second arm
144: third arm
145: clamp

Claims (5)

A tray storage unit in which the trays in which the workpieces are stored are stacked and stored;
A first tray transfer unit positioned at one side of the tray storage unit in a first direction, and individually transferring the trays in the first direction to be positioned at a first transfer position;
A transfer rail provided in a second direction perpendicular to the first direction across the front of the tray storage unit and the front of the first tray transfer unit, the longitudinal direction being disposed parallel to the first direction; And
A work transfer robot movable along the transfer rail, receiving a work from the tray placed in the first transfer position, and supplying the work in the second direction,
The transfer rail,
It extends from a first point in front of the tray storage unit to a second point in front of the first tray transfer unit,
The workpiece transfer robot supplies the workpiece across the transfer rail in the second direction,
Further comprising a second tray transfer unit positioned on the other side of the tray storage unit in the first direction, and individually transferring the trays in the first direction to be positioned at a second transfer position,
The second transfer position is located on the opposite side of the first transfer position based on the tray storage unit,
The transfer rail extends from the second point in the second direction to a third point in front of the second tray transfer unit,
The workpiece transfer robot,
When located at the second point, the workpiece is received from the tray placed at the first transfer position and supplied to the first workpiece processing device placed in front of the second point in the second direction,
When located at the third point, a workpiece automatic supply device that receives a workpiece from the tray placed at the second transfer position and supplies the workpiece to a second workpiece processing apparatus placed in front of the third point in the second direction . delete The method of claim 1,
The workpiece transfer robot,
A moving body placed on the transfer rail;
A first arm coupled to the moving body so that one end is rotatable about a first axis parallel to the first direction;
A second arm coupled to the other end of the first arm such that one end is rotatable about a second axis parallel to the first direction;
A third arm coupled to the other end of the second arm such that one end is rotatable about a third axis parallel to the first direction;
An automatic workpiece supplying device that is coupled to the other end of the third arm and includes a tong portion for gripping the workpiece. delete A tray storage unit in which the trays in which the workpieces are stored are stacked and stored;
A first tray transfer unit positioned at one side of the tray storage unit in a first direction, and individually transferring the trays in the first direction to be positioned at a first transfer position;
A transfer rail provided in a second direction perpendicular to the first direction across the front of the tray storage unit and across the front of the first tray transfer unit, the longitudinal direction being disposed parallel to the first direction; And
A work transfer robot movable along the transfer rail, receiving a work from the tray placed in the first transfer position, and supplying the work in the second direction,
A work support portion on which the work is placed is provided on the upper surface of the tray,
The workpiece support,
A support body made of an elastic material having a support portion protruding to a predetermined height and an inclined surface inclined downward toward the support portion; And
Including a magnet inserted into the inside of the support,
The work piece automatic supply device is supported on the support and the inclined surface.

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