KR20170006048A

KR20170006048A - Automatic finish grinding robot system using multi-head

Info

Publication number: KR20170006048A
Application number: KR1020150096416A
Authority: KR
Inventors: 이재영; 오석홍; 배기호
Original assignee: 이재영; 오석홍; 배기호; 주식회사 성남전자
Priority date: 2015-07-07
Filing date: 2015-07-07
Publication date: 2017-01-17

Abstract

Disclosed is an automatic finishing robot system using a multi-head which removes burrs of various types formed on a product surface by an automation process instead of manual work. The automatic finishing robot system comprises: a robot arm having a plurality of joints to move and rotate an end thereof; and a multi-head connected to the end of the robot arm. The multi-head comprises: a frame which is connected to the end of the robot arm and has a plurality of mounting surfaces; and a plurality of units mounted on the mounting surfaces to perform work for removing a burr formed on a product. Each of the units comprises a tool and a lifting actuator to support the tool and lift the tool between a work preparation position separated from the tool and a work position coming in contact with the tool. The tools and the lifting actuators of the units are individually driven.

Description

[0001] The present invention relates to an automatic finish grinding robot system using a multi-

BACKGROUND OF THE INVENTION 1. Field of the Invention [0002] The present invention relates to a mapper for removing and polishing a burr of a surface of a product such as a mobile phone case, and more particularly, to an automatic mapper robot system capable of performing various kinds of mapping works.

For example, a product such as a mobile phone case and a notebook case is produced by die casting or resin injection molding in consideration of productivity, cost, product strength, ease of molding, and aesthetics. On the other hand, an ejecting pin is provided in the mold to push the metal or resin filled in the cavity and separated from the mold. The metal or resin hardened at the boundary between the terminal of the microneedle and the cavity is not buried smoothly with the outer surface of the periphery, and protrudes step by step or is punched out stepwise, which is called burr.

Burrs of such products have been manually removed by workers. Particularly in the case of relatively small and precise products such as mobile phone cases, the burr is also small, so that it is difficult to precisely control the work when using a grinding wheel rotating rapidly unless it is a skilled worker, so it is manually removed by using a tool such as a line, . Therefore, there is a problem in that the work productivity of the burr removal is deteriorated and the deviation of the work quality becomes worse according to the skill and the condition of the worker.

Korean Patent Registration No. 10-0821625 Korean Registered Patent No. 10-1346786

The present invention provides an automatic threading robot system using a multi-head, which removes various kinds of burrs formed on the product surface by an automated process without manual operation.

The present invention provides a robot arm having a robot arm having a plurality of joints and capable of moving and rotating its distal end, and a multi-head connected to a distal end of the robot arm, A frame having a plurality of mounting surfaces connected to the distal end of the arm and a plurality of units mounted on the plurality of mounting surfaces to perform a task of removing a burr formed in the product, Each of said units having a tool and a lift actuator for supporting said tool and raising and lowering said tool between a working preparation position spaced apart from said burr and a working position in contact with said burr, The lift actuator provides an automatic mover robot system using a multi-head which is driven individually.

The automatic threading robot system using a multi-head according to the present invention comprises a dust collection pipe for sucking particles formed while the burr is removed and guiding the particles to move upward, a filter connected to the dust collection pipe, And a dust box for collecting dust particles collected through the dust collecting pipe.

The dust collection box may be supported by the robot arm.

The mounting surfaces and the dust collecting pipes are each provided with four, and the four mounting surfaces are orthogonal to the adjacent mounting surfaces, and the four dust collecting pipes may be disposed one by one on the adjacent portions of the pair of mounting surfaces .

The lift actuators of the plurality of units each include an air cylinder and the pressure inside the pneumatic cylinder can be controlled by a proportional control valve so that the tool maintains a constant height at the working position.

The multi-head further includes a damper fixedly coupled to the mounting surface, and a detent block fixedly coupled to the elevating actuator, wherein when the tool is lowered from the working ready position to the working position, The impact caused by the collision between the tool and the product can be alleviated by colliding with the damper.

At least one of the plurality of units may include a lapper as the tool that repeatedly strikes the burr to remove the burr.

The lapping blade of the rapper can be raised and lowered at a high speed, repeatedly striking the burr, or reciprocating right and left at a high speed to repeatedly strike the burr.

At least one of the plurality of units may be a grinding unit having as a grinder a grinder that rubs a polishing grindstone rotating at a high speed with the burr to remove the burr.

Wherein at least one of the plurality of units is a cutting unit that scrapes the surface of the product to the lower end of a cutting blade to remove the burr, It is possible to move in the direction of scratching the surface of the wafer.

According to the present invention, a burr formed in various forms according to a product can be removed by an automated process by selecting a tool and a tool operation control method that are applied without changing a work line according to a product.

Further, according to a preferred embodiment of the present invention, there is provided a hydraulic control apparatus comprising a lift actuator including a damping means for mitigating an impact upon collision of a tool with a product and a pneumatic cylinder whose internal pressure is controlled by a proportional control valve, The damage of the tool or the product due to the strong impact of the product is prevented.

In addition, the automatic roving robot system according to the preferred embodiment of the present invention includes a dust collection pipe and a dust collection box connected to the dust collection pipe, thereby collecting minute particles generated during the burr removal operation. Therefore, contamination of the working environment is prevented and work defects due to particles are prevented.

Figs. 1 to 3 are perspective views schematically showing a finishing operation using a lapping blade, a finishing operation using a polishing grindstone, and a finishing operation using a cutting blade.
4 is a front view showing an automatic mover robot system according to an embodiment of the present invention.
5 and 6 are a front view and a plan view showing a multi-head according to an embodiment of the present invention.
Figs. 7 and 8 are a front view and a plan view showing the frames of the multi-head of Figs. 5 and 6. Fig.
Fig. 9 is an enlarged front view of the lapping unit of Fig. 5;
Fig. 10 is an enlarged front view of the grinding unit of Fig. 5; Fig.
Fig. 11 is an enlarged side view of the cutting unit of Fig. 5; Fig.

Hereinafter, an automatic mover robot system using a multi-head according to an embodiment of the present invention will be described in detail with reference to the accompanying drawings. The terminology used herein is a term used to properly express the preferred embodiment of the present invention, which may vary depending on the intention of the user or operator or the custom in the field to which the present invention belongs. Therefore, the definitions of these terms should be based on the contents throughout this specification.

Figs. 1 to 3 are perspective views schematically showing a finishing operation using a lapping blade, a finishing operation using a polishing grindstone, and a finishing operation using a cutting blade. For example, a burr 2 formed on the surface of a product 1 such as a mobile phone case may be removed using a lapping blade 48 of a lapper as shown in Fig. 1, As shown in FIG. 3, or by using a cutting blade 67 as shown in FIG. 3.

The lapping blade 48 of Fig. 1 ascends at high speed and its lower end repeatedly strikes the burr 2 to remove it. On the other hand, instead of raising and lowering at a high speed, it may be configured to reciprocate in a horizontal direction at a high speed, and its lower end may repeatedly strike the burr 2 to be removed. The polishing grindstone 57 of FIG. 2 rotates at a high speed and its lower end rubs against the burr 2 to remove the burr 2. The cutting blade 67 shown in Fig. 3 moves in a direction in which the lower end thereof scrapes the surface of the product 1, and the burr 2 is removed. The cutting blade 67 is a substantially rectangular member having a smaller thickness than the width and the length and has an edge at the lower end of the cutting blade 67 cut in a direction parallel to the thickness direction of the cutting blade 67 And the buckets 2 are scraped and removed. On the other hand, the type of the tool to be applied may be changed depending on the shape and size of the burr 2, and a tool of a different kind may be applied in addition to the tool disclosed in Figs.

FIG. 4 is a front view showing an automatic mover robot system according to an embodiment of the present invention. Referring to FIG. 4, the automatic mover apparatus 10 of the present invention includes a robot arm 11, Head 20 connected to the distal end 15 of the head. The robot arm 11 has a plurality of joints 12 and 13 and a distal end portion 15 connected to the end joints 13 of the plurality of joints 12 and 13 can be moved and rotated.

If the automatic mapping robot system 10 is expressed differently, it can be regarded as an articulated robot having a multi-head 20 to perform a mapping operation. The articulated robot is a robot having three or more rotation joints (12, 13), which is made by fitting the human shoulders, arms, elbows, and wrist joints and can move like a human arm. Multi-joint robots are fast acting, take up little space, and have a wide operating range and can be used for assembly, painting, welding, etc.

A product 1 (see Figs. 1 to 3) such as a mobile phone case is supported on the conveying rail 5 provided on the table 4 and moved in parallel with the positive direction of the X axis to form a multi-head 20 , The robot arm 11 is operated to align the multi-head 20 and the product 1, and the mapping operation proceeds. The controller 19 controls the operation of the robot arm 11 and the operation of each unit 40, 50, 60 of the multi-head 20 to be described later.

FIGS. 5 and 6 are a front view and a plan view of a multi-head according to an embodiment of the present invention, and FIGS. 7 and 8 are a front view and a plan view of the frame of the multi-head of FIGS. 5 to 8, the multi-head 20 includes a frame 24 connected to the distal end 15 of the robot arm 11 and a plurality of units (not shown) 40, 50, 60).

Specifically, a ring-shaped coupling plate 21 is fixedly coupled to a distal end portion 15 connected to the distal joint 13 of the robot arm 11, and the frame 24 is fixed to the coupling plate 21 do. The frame 24 has first to fourth mounting surfaces 26, 27, 28, 29 disposed below the engaging plate 21. The first mounting surface 26 and the third mounting surface 28 are disposed opposite to each other with the rotation axis CL of the distal end portion 15 therebetween and the second mounting surface 27 and the fourth mounting surface 29 They are arranged to be opposite to each other. The first mounting surface 26 and the third mounting surface 28 are parallel to each other and the second mounting surface 27 and the fourth mounting surface 29 are parallel to each other. The surfaces 26, 27, 28, 29 are arranged in a rectangular shape.

1 to 3) formed on the product 1 (see Figs. 1 to 3) is attached to the first to fourth mounting surfaces 26, 27, 28, Four units 40, 50, and 60, respectively, are mounted. Specifically, a lapping unit 40 is mounted on the first mounting surface 26, a grinding unit 50 is mounted on the third mounting surface 28, 27 and the fourth mounting surface 29 are mounted with a cutting unit 60, respectively.

The wrapping unit 40 has a lapper 47 (see Fig. 9) as a tool for repeatedly striking the burr 2 formed on the product 1 to remove the burr 2. [ The grinding unit 50 includes a grinder 56 (see Fig. 10) for rubbing the grinding wheel 57 (refer to Fig. 10) rotating at high speed with the burr 2 formed on the product 1 to remove the burr 2 As a tool. The cutting unit 60 is provided with a cutting blade 67 (see Fig. 11) as a tool and scrapes the surface of the product 1 with the lower end of the cutting blade 67, 2) is removed.

A suitable one of the lapping unit 40, the grinding unit 50 and the cutting unit 60 is provided to the burr 2 according to the material of the product 1 and the shape and size of the bur 2 formed in the product 1. [ ) Removal. 6 shows a lapping unit 40 mounted on the first mounting surface 26, a grinding unit 50 mounted on the third mounting surface 28, A multihead 20 is disclosed in which a cutting unit 60 is mounted on a face 27 and a fourth mounting face 29 but in a different combination the units 40, . It is also possible to mount a unit for the finishing operation other than the lapping unit 40, the grinding unit 50 and the cutting unit 60 to the mounting surfaces 26, 27, 28 and 29.

Fig. 9 is an enlarged front view of the lapping unit of Fig. 5, Fig. 10 is an enlarged front view of the grinding unit of Fig. 5, Fig. 11 is a cutting unit of Fig. Fig. 5, 6 and 9, the lapping unit 40 includes a lapper 47 as a tool, a first mounting surface 26 for supporting the lapper 47, And a lifting actuator 41 for lifting and raising the wrapper 47 between a work preparation position spaced apart from the burr 2 (see FIG. 1) to be removed and a working position for contacting the burr 2.

Specifically, the elevating actuator 41 includes an actuator body 42 including a pneumatic cylinder fixedly fastened to the first mounting surface 26, and an actuator body 42 fixed to the actuator body 42 by a difference in air pressure in the pneumatic cylinder interior space. And a lift block 43 that ascends and descends in parallel with the Z axis with respect to the support shaft 42. A wrapper support plate 44 is fixedly coupled to the lifting block 43 and a wrapper 47 is inserted into an upper holder 45 and a lower holder 46 of the wrapper support plate 44 do.

When the product 1 (see Fig. 1) moves parallel to the X axis along the feed rail 5 (see Fig. 4) and stops at a specific position, the operation of the robot arm 11 47) moves to the job preparation position. The work preparation position is set such that the lapping blade 48 of the wrapper 47 is located on the upper side away from the burr 2 and the lapping blade 48 and the burr 2 are arranged on a straight line As shown in FIG. At this time, the distal end portion 15 of the robot arm 11 rotates about the rotation axis CL by a certain angle, for example, 90 degrees and 180 degrees, and the multi-head 20 may rotate by the same angle.

At the work preparation position, the operation of the elevating actuator 41 moves down the wrapper supporting plate 44 to move the wrapper 47 to the working position. The working position is the position where the lower end of the lapping blade 48 of the wrapper 47 contacts the burr 2.

The pressure inside the pneumatic cylinder is controlled by the proportional control valve so that the height of the wrapper 47 is kept constant at the working position. The reference value of the pressure inside the pneumatic cylinder is set when the rapper 47 is at the working position and the air inside the pneumatic cylinder is discharged when the pressure inside the pneumatic cylinder becomes larger than the reference value during the operation of the wrapper 47, When the pressure inside the pneumatic cylinder becomes smaller than the reference value, the proportional control valve operates so as to introduce air into the pneumatic cylinder. As a result, the height of the wrapper 47 is kept constant at the working position, so that the lapping blade 48 and the product 1 (see FIG. 1) collide with an excessive impact and are not damaged.

The wrapper 47 is called a so-called " reciprocating twister ", and is a so-called " electric reciprocating twister " in which the lapping blade 48 reciprocates by the power of the electric motor or the high pressure air is driven by the power to rotate the turbine Called " air reciprocating < / RTI > squirrel cage " in which the lapping blade 48 reciprocates is applicable. As described with reference to Fig. 1, the lapping blade 48 at the lower end of the wrapper 47 may be configured to ascend and descend at a high speed and the lower end of the lapping blade 48 may repeatedly strike the burr 2 to remove it, 9), and the lower end thereof may be configured to repeatedly strike and remove the burr 2.

5, 6, and 10, the grinding unit 50 includes a grinder 56 as a tool, a grinder 56 mounted on the third mounting surface 28 to support the grinder 56, And a lifting actuator 51 for lifting the grinder 56 between a work preparation position spaced apart from the burr 2 (see FIG. 2) to be removed and a working position in contact with the burr 2.

Specifically, the elevating actuator 51 includes an actuator body 52 including a pneumatic cylinder fixedly fastened to the third mounting surface 28, and an actuator body 52 fixed to the third mounting surface 28 by a difference in air pressure in the pneumatic cylinder interior space. And a lift block 53 ascending and descending in parallel with the Z-axis with respect to the Z-axis. A grinder support plate 54 is fixedly coupled to the lifting block 53 and a grinder 56 is inserted into a holder 55 of the grinder support plate 54 to be supported.

When the product 1 (see Fig. 2) moves parallel to the X axis along the transfer rail 5 (see Fig. 4) and stops at a specific position, the operation of the robot arm 11 56) moves to the job preparation position. The work preparation position is set such that the polishing grindstone 57 of the grinder 56 is spaced apart from the burr 2 and located on the upper side and the polishing grindstone 57 and the burr (2) are aligned on a straight line parallel to the Z-axis. At this time, the distal end portion 15 of the robot arm 11 rotates about the rotation axis CL by a certain angle, for example, 90 degrees and 180 degrees, and the multi-head 20 may rotate by the same angle.

The grinder support plate 54 is lowered by the operation of the elevating actuator 51 at the work preparation position and the polishing grindstone 57 is moved to the working position. The working position is a position where the lower end of the polishing grindstone 57 of the grinder 56 contacts the burr 2.

The pressure inside the pneumatic cylinder is controlled by the proportional control valve so that the height of the grinder 56 at the working position is kept constant. The reference value of the pressure inside the pneumatic cylinder is set when the grinder 56 is at the working position and the air inside the pneumatic cylinder is discharged when the pressure inside the pneumatic cylinder becomes larger than the reference value during the operation of the grinder 56, When the pressure inside the pneumatic cylinder becomes smaller than the reference value, the proportional control valve operates so as to introduce air into the pneumatic cylinder. As a result, the height of the grinder 56 is kept constant at the working position, so that the polishing grindstone 57 and the product 1 (see FIG. 2) collide with each other due to an excessive impact and are not damaged.

The grinder 56 is a so-called " electric grinder " in which the polishing grindstone 57 rotates by the power of the electric motor, or a so-called " electric grinder " in which the polishing grindstone 57 rotates by the power of rotating the turbine Grinder 'is applicable.

5, 6, and 11, the cutting unit 60 includes a cutting blade 67, which is a tool, and a second mounting surface 27 that is mounted on the second mounting surface 27 and the fourth mounting surface 29, And a lifting actuator 65 for lifting the cutting blade 67 between the work preparation position spaced apart from the burr 2 (see Fig. 3) to be removed and the work position contacting the burr 2, (61).

Specifically, the elevating actuator 61 includes an actuator body 62 including a pneumatic cylinder fixed to the second mounting surface 27 and the fourth mounting surface 29, And a lift block (63) that ascends and descends in parallel with the Z axis with respect to the actuator body (62) by a difference in air pressure of the actuator body (62). A cutting blade holder 65 is fixedly coupled to the lift block 63 and a cutting blade 67 is inserted and supported in the cutting blade holder 65.

When the product 1 (see Fig. 3) moves along the feed rail 5 (see Fig. 4) in parallel with the X axis and stops at a specific position, the operation of the robot arm 11 (67) moves to the work preparation position. The work preparation position as described above in the description of the lapping unit 40 is such that the cutting blade 67 is spaced apart from the burr 2 and the cutting blade 67 and the burr 2 are positioned on the Z Axis and aligned in a straight line parallel to the axis. At this time, the distal end portion 15 of the robot arm 11 rotates about the rotation axis CL by a certain angle, for example, 90 degrees and 180 degrees, and the multi-head 20 may rotate by the same angle.

The cutting blade holder 65 is lowered by the operation of the elevating actuator 61 at the work preparation position and the cutting blade 67 is moved to the working position. The working position is a position where the lower end of the cutting blade 67 can contact the burr 2.

The pressure inside the pneumatic cylinder is controlled by the proportional control valve so that the height of the cutting blade 67 at the working position is kept constant. In addition, when the cutting blade 67 is in the working position, a reference value of the pressure inside the pneumatic cylinder is set, and when the pressure inside the pneumatic cylinder becomes larger than the reference value during the operation of the cutting blade 67, And when the pressure inside the pneumatic cylinder becomes smaller than the reference value, the proportional control valve operates so as to introduce air into the pneumatic cylinder. As a result, the height of the cutting blade 67 is kept constant at the working position, so that the cutting blade 67 and the product 1 (see FIG. 3) collide with each other with an excessive impact and are not damaged.

The robot arm 11 is operated so that the cutting blade 67 descends to the working position and the lower end of the cutting blade 67 moves in the direction of scraping the product surface, . The cutting blade 67 is a substantially rectangular member having a smaller thickness than the width and the length and is configured to move the edge of the lower end once in the direction parallel to the thickness direction of the cutting blade 67, So that the burr 2 is scraped off.

Although not shown in other units 40 and 50, only the cutting unit 60 is shown in FIG. 5, the multi-head 20 of the present invention includes a wrapping unit 40, a grinding unit 50, Each of the cutting units 60 is provided with a damper 69 and a detent block 68 as shock absorber means for preventing damage due to collision of the products of the tools 47, 56 and 67. The damper 69 is fixedly coupled to the first to fourth mounting surfaces 26, 27, 28, 29, respectively. The damper 69 may include a spring or an air cylinder therein.

The stop block 68 is fixedly coupled to the elevating actuators 41, 51 and 61 of the units 40, 50 and 60, specifically to the elevating blocks 43, 53 and 63. When the tools 47, 56 and 67 of the units 40, 50 and 60 descend at the work preparatory position and reach the working position, the detent block 68 is lowered together with the tools 47, 56 and 67, 69). The kinetic energy of the lift blocks 43, 53 and 63 and the tools 47, 56 and 67 is absorbed by the damper 69 due to the collision between the stop block 68 and the damper 69, ) Stops at the working position. Thereby, the impact caused by the collision of the tools 47, 56, 67, specifically the lapping blade 48, the polishing grindstone 57, and the cutting blade 67 with the product 1 (see Figs. 1 to 3) So that the tools 47, 56, 67 and the product 1 are prevented from being damaged.

Referring again to FIGS. 4 to 8, the automatic threading robot system 10 further includes first to fourth dust collecting pipes 32, 33, 34, and 35 and a dust collecting box 17. The first to fourth dust collecting pipes 32, 33, 34 and 35 are connected to the burr 2 (see Figs. 1 to 3) by one of the lapping unit 40, the grinding unit 50 and the cutting unit 60 ) Is removed, and the particles that are formed are sucked and moved upward. The first to fourth dust collecting pipes 32, 33, 34 and 35 are connected to a dust collecting box 17 fixedly supported by the robot arm 11 by a hose. The dust collecting box 17 is connected to a compressor (not shown) for sucking air through a hose. Inside the dust collection box 17, a filter for filtering the particles is provided. Therefore, when the compressor is operated while performing the burr 2 removal operation to one of the wrapping unit 40, the grinding unit 50, and the cutting unit 60, the particles are discharged through the dust collecting pipes 32, 33, 34, And is collected in the dust collecting box 17.

The lower end of the first dust collecting pipe 32 is bent so as to extend toward the lapping blade 48 so as to suck particles generated in the lapping operation using the lapping unit 40. In the finishing operation using the grinding unit 50, The lower end of the third dust collection pipe 34 is bent to extend toward the polishing grindstone 57 so that the generated particles can be sucked in. The lower ends of the dust collecting pipe 33 and the fourth dust collecting pipe 35 are bent and extend toward the adjacent cutting blades 67, respectively.

The first to fourth dust collecting pipes 32, 33, 34 and 35 are arranged orthogonally one by one to a pair of adjacent mounting surfaces 26, 27, 28, 29 adjacent to each other. The first dust collecting pipe 32 is disposed at an edge portion adjacent to the fourth mounting surface 29 and the first mounting surface 26 and the first mounting surface 26 and the second mounting surface 27, The second dust collecting pipe 33 is disposed at the adjacent corner portion and the third dust collecting pipe 34 is disposed at the adjacent corner portion between the second mounting surface 27 and the third mounting surface 28, The fourth dust collecting pipe 35 is disposed at an edge portion where the third mounting surface 28 and the fourth mounting surface 29 are adjacent to each other. The frame 24 further includes a bracket 25 on the first to fourth mounting surfaces 26, 27, 28 and 29 and the first to fourth dust collecting pipes 32, 33, 34, 35 are fastened and supported.

A lapping unit 40 mounted on the first mounting surface 26, a cutting unit 60 mounted on the second mounting surface 27, a grinding unit 50 mounted on the third mounting surface 28, The actuators 41, 51, and 61 of the cutting unit 60 mounted on the mounting surface 29 are not connected to the actuators 41, 51 and 61, ) Control their operation.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the scope of the present invention. Therefore, the true scope of protection of the present invention should be defined only by the appended claims.

1: Product 11: Robot arm
20: Multihead 24: Frame
25: brackets 26, 27, 28, 29:
32, 33, 34, 35: Dust collection pipe 40: Wrapping unit
50: Grinding unit 60: Cutting unit

Claims

A robot arm having a plurality of joints and capable of moving and rotating the distal end; And a multi-head connected to a distal end of the robot arm,
The multi-head includes a frame having a plurality of mounting surfaces, which are connected to distal ends of the robot arm; And a plurality of units mounted on the plurality of mounting surfaces, respectively, for performing an operation of removing a burr formed in the product,
Each of said plurality of units having a tool and a lift actuator for supporting said tool and for lifting said tool between a working position spaced apart from said burr and a working position in contact with said burr,
Wherein the tools and the lift actuators of the plurality of units are driven individually.

The method according to claim 1,
A dust collecting pipe for sucking particles formed while the burr is removed to induce upward movement; And a dust box connected to the dust collecting pipe and having a filter therein for collecting dust particles sucked through the dust collecting pipe. Robot system.

3. The method of claim 2,
Wherein the dust collecting box is supported by the robot arm.

3. The method of claim 2,
Wherein each of the mounting surface and the dust collecting pipe is provided with four,
Wherein the four mounting surfaces are orthogonal to the adjacent mounting surfaces, and the four dust collecting pipes are arranged one by one on the adjacent portions of the pair of mounting surfaces.

The method according to claim 1,
Wherein the lift actuators of the plurality of units each include an air cylinder,
Wherein the pressure inside the pneumatic cylinder is controlled by a proportional control valve so that the tool maintains a constant height at the working position.

The method according to claim 1,
The multi-head further includes a damper fixedly coupled to the mounting surface, and a detent block fixedly coupled to the elevating actuator,
And the stop block descends together with the tool to collide with the damper when the tool is lowered from the work preparation position to the work position, thereby alleviating the impact due to the collision between the tool and the product. Automatic Robot System Using.

The method according to claim 1,
Characterized in that at least one of the plurality of units is a lapping unit having a lapper for removing the burr by repeatedly blowing the burr as the tool. system.

8. The method of claim 7,
Wherein the lapping blade of the rapper raises and lowers at a high speed and repeatedly strikes the burr or reciprocates at high speed in left and right to repeatedly strike the burr.

The method according to claim 1,
Characterized in that at least one of the plurality of units is a grinding unit having a grinder for grinding a polishing grindstone rotating at a high speed with the burr to remove the burr, Automatic Robot System Using.

The method according to claim 1,
Wherein at least one of the plurality of units is a cutting unit for scraping the surface of the product to the lower end of a cutting blade to remove the burr,
Wherein the robot arm is operated to move the cutting blade in a direction to scrape the surface of the product.