WO2020256199A1

WO2020256199A1 - Pickup tool device of handler for grinding hard metal insert products

Info

Publication number: WO2020256199A1
Application number: PCT/KR2019/007561
Authority: WO
Inventors: 송일재
Original assignee: 주식회사 윈텍오토메이션
Priority date: 2019-06-18
Filing date: 2019-06-22
Publication date: 2020-12-24
Also published as: KR102131110B1

Abstract

The present invention relates to a pickup tool device of a handler that supplies hard metal insert products to grinding equipment in order to grind the hard metal insert products. The pickup tool device of a handler for grinding hard metal insert products is characterized by comprising: a plurality of pickup tools configured to supply the hard metal insert products to the grinding equipment and eject same; a pallet transfer configured to convey a pallet loaded with the hard metal insert products; a pickup tool robot configured to move the pickup tool forward and backward, left and right, and up and down; a housing formed in a central region of the pickup tool device to have a box shape with open left, right, and bottom sides, the housing being coupled to the pickup tool, the pallet transfer, and the pickup tool robot; and position detection vision coupled to a side surface of the pickup tool and configured to detect the positions of the products inside the pallet and the position of a mask pocket of the grinding equipment. Therefore, the pickup tool device of a handler device for grinding hard metal insert products according to the present invention is coupled to or installed near existing grinding equipment, and is configured to safely supply the hard metal insert products to a small grinding space and automatically perform a process for safely ejecting the ground hard metal insert products, thus enabling mass production of high-quality hard metal insert products.

Description

Handler pickup tool device for grinding carbide inserts

The present invention relates to a pickup tool device of a handler for grinding carbide inserts, and more particularly, a carbide that can improve grinding precision and product productivity by automating the supply and take-out operation to a grinding equipment that professionally grinds carbide inserts. It relates to a pickup tool device of a handler for grinding insert products.

In general, cutting tools are mainly used for cutting iron-based, non-ferrous metals, and non-metallic materials, and are typically installed on machine tools to perform cutting in order to process a workpiece into a desired shape.

Carbide inserts used in cutting tools are iron (Fe), tungsten (W), cobalt (Co), copper (Cu), nickel (Ni), tin (Sn), copper, which are bonds of diamond powder or cemented carbide powder. -It is a sintered alloy mixed with metal powders such as tin (CuSn), zinc (Zn), copper-zinc (CuZn), silver (Ag), and then fired.

In the molding step before sintering, the mixed powder is put in a cuboid cavity and first press-molded, and the first press-molded mixture is put into the cavity of the carbon mold, and the shape of the puncher while applying relatively high pressure using a puncher. Form the cutting tip of the shape corresponding to. A diamond insert tip or insert tip is completed by firing the insert tip molded into a certain shape in a sintering furnace.

Sintered carbide inserts are subjected to a grinding step and then PVD (Physical Vapor Deposition) or CVD (Chemical Vapor Deposition) coating step. It goes through the inspection stage.

The grinding step is a process of grinding the upper and lower surfaces by putting them in a grinding-only equipment, and the existing grinding equipment grinding space is very narrow, and there is a problem of lowering production efficiency and quality by using manpower to supply, take out, and measure the amount of grinding.

The applicant of the present invention makes efforts to improve the above-described problems, and is a high-quality carbide insert product by safely supplying the carbide insert product to the grinding space by being coupled to or installed close to the existing grinding equipment, and safely taking out the carbide insert product that has been ground. We developed a pickup tool device for a handler that can produce a large amount of

An object of the present invention for solving the above-described problem is to provide a pickup tool apparatus of a handler for grinding carbide insert products comprising a pickup tool, a pallet transfer, a pickup tool robot, and a housing and a position detection vision. have.

Another object of the present invention is to provide a pickup tool device of a handler for grinding carbide insert products, wherein the pickup tool is configured to supply and take out a carbide insert product to the grinding equipment.

Another object of the present invention is that the pickup tool is capable of grinding a carbide insert product comprising an arm of a predetermined length to which a gripper for gripping the carbide insert product is attached at one end, and a stepping motor that rotates the gripper forward and backward. It is to provide a pick-up tool device for a handler.

Another object of the present invention is to provide a pick-up tool device of a handler for grinding carbide insert products, wherein the gripper is applied with a jaw and magnetic type and is configured to rotate by a belt in the stepping motor.

Another object of the present invention is that the length of the arm can be changed according to the standard of the grinding equipment, and the other end is coupled to the body, and the body is coupled to the Z-axis robot of the pick-up tool in the vertical direction. It is to provide a pick-up tool device of a handler for grinding carbide insert products configured to move to.

Another object of the present invention is to provide a pickup tool device of a handler for grinding carbide insert products, wherein the pallet transfer is configured to transfer a pallet loaded with the carbide insert product.

Another object of the present invention is a pickup of a handler for grinding carbide insert products comprising a pallet grip that grips the pallet to transfer the pallet and a drive motor that moves the pallet grip up and down. It is to provide a tool device.

Still another object of the present invention is to provide the pallet transfer by gripping the pallet with a pallet grip and transferring the pallet from the pallet supply unit to the pallet supply unit, and if necessary, from the pallet supply unit to the pallet supply unit. It is to provide a pick-up tool device of a handler for grinding carbide insert products, which is configured to move downward and move forward/rear, left/right by an X-axis robot and a Y-axis robot.

Another object of the present invention is that the pickup tool robot is an X-axis robot, Y to move the plurality of pickup tools forward/backward, left/right, up/down, and the pallet transfer forward/backward, left/right. It is to provide a pick-up tool device of a handler for grinding carbide insert products composed of an axis robot and a Z axis robot.

Another object of the present invention is to provide a pickup tool device of a handler for grinding carbide insert products, wherein the pickup tool robot comprises a plate to which the Y-axis robot is coupled and is suspended from the ceiling of the frame. .

Another object of the present invention is that the plate has two Y-axis robots installed at regular intervals to move the pickup tool in the left and right directions, and the X-axis forming a 90° right angle at the bottom of the Y-axis robot A robot is coupled to provide a pickup tool device of a handler for grinding carbide insert products configured to move the pickup tool in the forward and backward directions.

Another object of the present invention is that the housing is configured in a box shape with open left and right sides and lower sides in which the pickup tool, the pallet transfer, and the pickup tool robot are coupled to the center of the pickup tool device. It is to provide a pick-up tool device for a handler.

Another object of the present invention, the housing, a carbide insert consisting of a top plate to which the pickup tool robot is coupled, a front plate to which the plurality of pickup tools are coupled, and a rear plate on which the pallet transfer is installed inside It is to provide a pick-up tool device of a handler for product grinding.

Another object of the present invention is a robot fixing flange for fixing a ball screw of a Z-axis robot moving up and down of a plurality of pickup tools is formed on a front plate of the housing, and a drive motor for driving the pickup tool on the back side It is to provide a pick-up tool device of a handler for grinding carbide insert products configured to be fastened.

Another object of the present invention is that the position detection vision is coupled to the side of the pickup tool to detect the position of the product inside the pallet pocket and the position of the mask pocket of the grinding equipment. It is to provide a pickup tool device.

Another object of the present invention is that the position detection vision includes a mirror that reflects an image detected by a position of the pallet pocket and illumination irradiated to the mask pocket to a lens, and transmits an image reflected from the mirror and incident. It is to provide a pickup tool device of a handler for grinding a carbide insert product comprising a lens and a camera for photographing an image transmitted through the lens.

Another object of the present invention is the position detection vision, by detecting the position when the gripper grips the carbide insert product loaded in the pocket of the supply pallet and the position when entering the grinding operation position and inserting it into the pocket of the mask. It is to provide a pick-up tool device of a handler for grinding carbide insert products configured to be in place.

Another object of the present invention is that the hexahedron is installed while being suspended from the inner ceiling of the frame, and from above, a plate fastened to the ceiling, two Y-axis robots coupled to the plate, and the Y-axis robot An X-axis robot forming a 90° right angle is moved and coupled to the lower end of the X-axis robot, and the X-axis robot is fastened to an upper plate of a box-shaped housing, and a plurality of pickup tools and a position detection vision are coupled to the front plate of the housing, It is to provide a pickup tool device of a handler for grinding carbide insert products configured to be coupled to the pallet transfer in the inner center of the housing.

The features of the pickup tool apparatus of the handler for grinding carbide insert products of the present invention for achieving such an object include a pickup tool, a pallet transfer, a pickup tool robot, a housing and a position detection vision.

Another feature of the pickup tool apparatus of the handler for grinding carbide insert products of the present invention is that the pickup tool is configured in plural to supply and take out the carbide insert products to the grinding equipment.

Another feature of the pickup tool device of the handler for grinding carbide insert products of the present invention is that the pickup tool includes an arm of a predetermined length to which a gripper for gripping the carbide insert product is attached to one end, and the gripper is forward and backward. It consists of a stepping motor that rotates.

Another feature of the pick-up tool device of the handler for grinding carbide insert products of the present invention is that the gripper is applied with a jaw and magnetic type, and is configured to rotate by a belt in the stepping motor.

Another feature of the pickup tool device of the handler for grinding carbide insert products of the present invention is that the arm can change its length according to the standard of the grinding equipment, the other end is coupled to the body, and the body is the pickup It is coupled to the Z-axis robot of the tool and is configured to move in the vertical direction.

Another feature of the pickup tool device of a handler for grinding carbide insert products of the present invention is that the pallet transfer is configured to transfer a pallet loaded with the carbide insert products.

Another feature of the pickup tool device of the handler for grinding carbide insert products of the present invention is that the pallet transfer includes a pallet grip that grips the pallet to transport the pallet, and a drive motor that moves the pallet grip up and down. Consists of

Another feature of the pickup tool device of the handler for grinding carbide insert products of the present invention is, in the pallet transfer, the pallet transfer unit grips the pallet with a pallet grip and moves from the pallet supply unit to the pallet supply unit, and if necessary, from the pallet supply unit to the pallet supply unit It is conveyed, and is configured to move the pallet in an up-down direction by a drive motor, and to move in front/rear, left/right directions by an X-axis robot and a Y-axis robot.

Another feature of the pickup tool device of the handler for grinding carbide insert products of the present invention is that the pickup tool robot moves the plurality of pickup tools forward/backward, left/right, up/down, and the pallet transfer. Afterwards, it consists of an X-axis robot, a Y-axis robot, and a Z-axis robot to move left and right.

Another feature of the pickup tool device of a handler for grinding carbide insert products of the present invention is that the pickup tool robot includes a plate to which the Y-axis robot is coupled and is suspended from the ceiling of the frame.

Another feature of the pickup tool device of the handler for grinding carbide insert products of the present invention is that two Y-axis robots are installed on the plate at regular intervals to move the pickup tool in left and right directions, and the Y An X-axis robot forming a 90° right angle is coupled to the lower end of the axis robot to move the pickup tool in the forward and backward directions.

Another feature of the pickup tool device of the handler for grinding carbide insert products of the present invention is that the housing has left, right and lower sides in which the pickup tool, the pallet transfer, and the pickup tool robot are coupled to the center of the pickup tool device. It is composed of an open box shape.

Another feature of the pickup tool device of the handler for grinding carbide insert products of the present invention is that the housing includes a top plate to which the pickup tool robot is coupled, a front plate to which the plurality of pickup tools are coupled, and the pallet transfer. It consists of a rear plate installed on the inside.

Another feature of the pickup tool device of the handler for grinding carbide insert products of the present invention is that a robot fixing flange is formed on the front plate of the housing to fix the ball screw of the Z-axis robot moving up and down of a plurality of pickup tools. It is configured to be fastened to the rear surface of the drive motor for driving the pickup tool.

Another feature of the pickup tool device of the handler for grinding carbide insert products of the present invention is that the position detection vision is coupled to the side surface of the pickup tool to determine the position of the product inside the pallet pocket and the position of the mask pocket of the grinding equipment. Is configured to detect.

Another feature of the pickup tool device of the handler for grinding carbide insert products of the present invention is that the position detection vision includes a mirror reflecting the position of the pallet pocket and the image detected by illumination irradiated to the mask pocket to the lens. , A lens reflecting from the mirror and transmitting an incident image, and a camera that photographs an image transmitted through the lens.

Another feature of the pickup tool device of the handler for grinding carbide insert products of the present invention is, the position detection vision is when the gripper grips the carbide insert product loaded in the pocket of the supply pallet and enters the grinding work position. It is configured to detect the position at the time of loading into the pocket of the mask and place it in the correct position.

Another feature of the pickup tool device of the handler for grinding carbide insert products of the present invention is installed while being suspended from the inner ceiling of the frame forming the hexahedron, and from above, the plate fastened to the ceiling, the plate Two combined Y-axis robots, an X-axis robot forming a 90° right angle is moved and coupled to the lower end of the Y-axis robot, and the X-axis robot is fastened to the upper plate of the box-shaped housing, and the front plate of the housing A plurality of pickup tools and position detection vision are combined, and a pallet transfer is configured to be coupled to an inner center of the housing.

The pickup tool device of the handler for grinding carbide insert products according to the present invention as described above is a carbide insert product transfer device coupled to or installed close to the existing grinding equipment. Therefore, production efficiency and grinding precision can be improved by automating the supply and removal of carbide inserts to existing equipment that is difficult to automate due to the narrow grinding space.

In addition, the pick-up tool of the handler device for grinding carbide insert products according to the present invention is composed of a plurality of pick-up tools in which a gripper for holding the carbide insert product is attached to one end of an arm that can be changed to a predetermined length. Therefore, regardless of the size of the grinding equipment, it is easy to supply and take out carbide inserts by entering the grinding work space, thereby increasing work efficiency.

In addition, the position detection vision of the handler device for grinding carbide insert products according to the present invention is configured in a slim shape by applying no-young lighting and a protective filter. Therefore, it is possible to enter and enter a narrow grinding space, and it has the advantage of increasing work efficiency through accurate supply and extraction by minimizing contamination by dispersion of grinding oil.

1 is an overall perspective view schematically showing a handler for grinding a carbide insert product according to the present invention.

2 is a perspective view schematically showing a pickup tool apparatus for a handler for grinding a carbide insert product according to the present invention.

3 is a partial perspective view schematically showing the configuration of the pickup tool device according to the present invention.

4 is a perspective view schematically showing the configuration of a pickup tool of the pickup tool device according to the present invention.

5 is a perspective view schematically showing the configuration of a pallet transfer of the pickup tool device according to the present invention.

6 is a partial perspective view schematically showing the configuration of a pallet grip of the pallet transfer according to the present invention.

7 is a perspective view schematically showing the configuration of a housing of the pickup tool device according to the present invention.

8 is a partial perspective view schematically showing some configurations of a pickup tool and a housing of the pickup tool device according to the present invention.

9 is a perspective view schematically showing the configuration of a position detection vision of the pickup tool device according to the present invention.

FIG. 10 is a schematic view of a carbide insert product, a pallet, and a mask of a grinding machine, which is conveyed by the pickup tool device of the handler according to the present invention for grinding.

11 is a schematic block diagram showing a working process of a handler for grinding a carbide insert product according to the present invention.

Since the present invention can make various changes and have various embodiments, specific embodiments are illustrated in the drawings and will be described in detail in the description of the invention.

However, this is not intended to limit the present invention to a specific embodiment, it is to be understood to include all changes, equivalents, or substitutes included in the spirit and scope of the present invention.

The terms or words used in the present invention are used only to describe specific embodiments, and are not intended to limit the present invention. Based on the principle that the concept of terms can be appropriately defined in order to describe one's invention in the best way, it should be interpreted as a meaning and concept consistent with the technical idea of the present invention.

The pickup tool device of the handler for grinding carbide insert products according to the present invention is responsible for the function of supplying the carbide insert products by coupling or approaching the existing grinding equipment and taking out the carbide insert products after grinding.

Existing grinding equipment has a very narrow grinding space, so there is a problem of lowering production efficiency by using manpower for supply and extraction.

The pickup tool device of the handler for grinding carbide insert products according to the present invention is coupled to or installed close to the existing grinding equipment to safely supply the carbide insert products to the grinding space, and safely take out the carbide insert products that have been ground. It is configured to produce a large amount of carbide insert products.

First, in order to explain the pickup tool device of the handler for grinding carbide insert products according to the present invention, referring to FIG. 11, the operation sequence according to the working process of the handler for grinding carbide insert products, which is the main body equipment of the present invention, is schematically described. The explanation is as follows.

1. Supply of pallets

For the grinding operation, the supply pallet 1.2 loaded with the carbide insert product (1.1) is stacked on the pallet supply unit (not shown) of the pallet supply/discharge unit 13 and waits at the “supply position”.

2. Product gripping and alignment correction

The pickup tool 111 of the pickup tool device 11 grips the carbide insert product from the pocket of the supply pallet 1.2 using a gripper 111.1 to measure the amount of grinding and correct the alignment of the alignment correction unit 12 Alignment correction is performed equal to the angle of the mask pocket 2.11 of the grinding equipment while sequentially passing over the vision (not shown).

3. Supply and take-out to grinding equipment

The carbide insert product that has passed the grinding amount measurement and alignment correction unit 12 is loaded into the pocket 2.11 of each mask of the grinding machine to perform a grinding operation, and when the grinding is completed, the gripper of the pickup tool 111 ( 111.1).

4. Grinding amount measurement

The taken-out carbide insert product is again placed on a surface (not shown) of the grinding amount measurement and alignment correction unit 12 to measure the height, and the grinding amount is calculated by calculating this.

5. Charge to pallet and transfer pallet

Carbide insert products that have finished measuring the amount of grinding are sequentially gripped by the gripper and loaded into the pocket at the initial position of the supply pallet. The pallet loaded with the carbide insert product (1.1) is transferred to the'extract position' of the pallet ejection part (not shown) and is taken out when the pallet is full.

Hereinafter, the configuration of each part of the handler (hereinafter referred to as “body equipment”) for grinding the carbide insert product will be schematically described.

The main body equipment includes the pickup tool device 11, which is the configuration of the present invention, the grinding amount measurement and alignment correction unit 12, the pallet supply/takeout unit 13, the frame 14, and the above configuration. It is configured to include a controller (not shown) to control and command them.

The main body equipment is configured to share information through an interface with an existing grinding equipment by the controller.

The main body equipment is located inside the frame 14 forming a hexahedron, and the pickup tool device 11, the grinding amount measurement and alignment correction unit 12 are installed while being suspended from the ceiling 141 In addition, the pallet supply/takeout part 13 is configured to be placed in the lower frame 142.

The grinding amount measurement and alignment correction unit 12 of the main body equipment corrects the alignment of the carbide insert product supplied for grinding, and a height measurement unit (not shown) to measure the grinding amount of the carbide insert product. Si), a product measurement stage (not shown) that measures the cemented carbide insert product, and an alignment that corrects the alignment of the product according to the angle of the pocket 2.11 of the mask when supplying the carbide insert product to the grinding equipment. It consists of a phosphorus correction vision (not shown).

The pallet supply and take-out unit 13 of the main body equipment loads the pallet 1.2 loaded with carbide insert products for grinding, and the pallet 1.2 loaded with the carbide insert products completed with the grinding operation. It consists of a pallet supply unit (not shown) and a pallet outlet unit (not shown).

The pallet supply unit of the present invention includes a supply pallet loading unit (not shown) formed to stack pallets loaded with carbide inserts for grinding, and a supply lift (not shown) formed to move the stacked pallets up and down. Poetry).

The pallet take-out part of the present invention includes a take-out pallet loading part (not shown) formed to stack pallets loaded with carbide insert products that have finished grinding, and a take-out lift (not shown) formed to move the loaded pallets up and down. Poetry).

Specific features and advantages of the pickup tool device of the handler for grinding carbide insert products according to the present invention will become more apparent from the following description with reference to the accompanying drawings.

1 is an overall perspective view schematically showing a handler for grinding a carbide insert product according to the present invention, FIG. 2 is a perspective view schematically showing a pickup tool apparatus device of a handler for grinding a carbide insert product according to the present invention, and FIG. Is a partial perspective view schematically showing the configuration of the pickup tool device according to the present invention, FIG. 4 is a perspective view schematically showing the configuration of the pickup tool of the pickup tool device according to the present invention, and FIG. A perspective view schematically showing a configuration of a pallet transfer of a pickup tool device, FIG. 6 is a partial perspective view schematically showing a configuration of a pallet grip of the pallet transfer according to the present invention, and FIG. 7 is a view of the pickup tool device according to the present invention. A perspective view schematically showing a configuration of a housing, FIG. 8 is a partial perspective view schematically showing a pickup tool and a partial configuration of a housing of the pickup tool device according to the present invention, and FIG. 9 is a position of the pickup tool device according to the present invention It is a perspective view schematically showing the configuration of a detection vision, and FIG. 10 is a schematic view of a carbide insert product, a pallet, and a mask of a grinding equipment conveyed by the pickup tool device of the handler according to the present invention for grinding, and FIG. It is a schematic block diagram showing a working process of a handler for grinding a carbide insert product according to the invention.

2, the pickup tool device of the handler for grinding carbide insert products according to the present invention includes a pickup tool 111, a pallet transfer 112, a pickup tool robot 113, and a housing 114. ) And a location detection vision 115.

2 to 4, the pickup tool 111 of the pickup tool device of the handler for grinding carbide insert products according to the present invention is to supply and take out the carbide insert product 1.1 to the grinding equipment. It consists of a number of pieces.

The pickup tool 111 of the pickup tool device of a handler for grinding a carbide insert product according to the present invention includes an arm 111.2 of a predetermined length to which a gripper 111.1 for gripping the carbide insert product is attached to one end. And, a stepping motor 111.3 rotating the gripper forward and backward.

At this time, the gripper 111.1 is applied to the jaw and magnetic type, and is configured to rotate by a belt in the stepping motor 111.3. In addition, the length of the arm 111.2 can be changed according to the standard of the grinding equipment, and the other end is coupled to the body 111.5, and the body 111.5 is a Z-axis robot of the pickup tool 110 ( 113.3) and configured to move in the up and down directions.

5 and 6, the pallet transfer 112 of the pickup tool device of the handler for grinding carbide insert products according to the present invention is configured to transfer the pallet loaded with the carbide insert product.

The pallet transfer 112 of the pickup tool device of the handler for grinding carbide insert products according to the present invention includes a pallet grip 112.1 gripping the pallet 1.2 to transfer the pallet, and the pallet grip. It consists of a drive motor 112.2 that moves down *?*.

The pallet transfer 112 of the present invention grips the pallet with the pallet grip 112.1 and transfers it from the pallet supply unit (not shown) to the pallet take-out unit (not shown), and if necessary, from the pallet dispensing unit to the pallet supply unit. And, the pallet (1.2) is moved up and down by a drive motor (112.2), and the X-axis robot (113.1) and the Y-axis robot (113.2) are configured to move in the front and rear, left and right directions. do.

Referring again to Figs. 1 and 2, the pickup tool robot 113 of the pickup tool device of the handler for grinding carbide insert products according to the present invention, before and after the plurality of pickup tools 111, It is composed of an X-axis robot 113.1, a Y-axis robot 113.2, and a Z-axis robot 113.3 so as to move the pallet transfer 112 to the left/right, up/down, front/rear, left/right.

In addition, the pickup tool robot 113 of the present invention includes a plate 113.4 to which the Y-axis robot 113.2 is coupled and is suspended from the ceiling 141 of the frame.

At this time, on the plate 113.4, two Y-axis robots 113.2 are installed at regular intervals to move the pickup tool 111 in the left and right directions, and the lower end of the Y-axis robot 113.2 The X-axis robot 113.1 forming a 90° right angle is coupled thereto to move the pick-up tool 111 in the front and rear directions.

3, 7 and 8, the housing 114 of the pickup tool device of the handler for grinding carbide insert products according to the present invention, the pickup tool 111 in the center of the pickup tool device , The pallet transfer 112 and the pickup tool robot 113 are configured in the shape of a box with open left and right sides and lower sides.

The housing 114 of the pickup tool device of the handler for grinding carbide insert products according to the present invention includes an upper plate 114.1 to which the pickup tool robot 113 is coupled, and the plurality of pickup tools 111 It consists of a front plate 114.2 to be coupled, and a rear plate 114.4 on which the pallet transfer 112 is installed.

In addition, on the front surface of the front plate 114.2 of the housing 114 of the present invention, a robot fixing flange that fixes the ball screw 113.32 of the Z-axis robot 113.3 moving up and down of a plurality of pickup tools 111 (114.3) is formed, and a drive motor 113.31 for driving the pickup tool is fastened to the rear surface.

Referring to FIG. 9, the position detection vision 115 of the pickup tool device of the handler for grinding carbide insert products according to the present invention is coupled to the side surface of the pickup tool 111, and the position of the product inside the pallet pocket and the It is configured to detect the position of the mask pocket 2.11 of the grinding machine.

The position detection vision 115 of the pickup tool device of the handler for grinding carbide insert products according to the present invention is detected by the position of the pallet pocket 1.21 and the illumination 115.4 irradiated to the mask pocket 2.11 A mirror 115.1 that reflects the resulting image to the lens, a lens 115.2 that transmits an incident image reflected from the mirror 115.1, and a camera 115.3 that photographs an image transmitted through the lens.

The position detection vision 115 according to the present invention, when the gripper 111.1 grips the carbide insert product loaded in the pocket 1.21 of the supply pallet and enters the grinding operation position, and the pocket of the mask 2.1 It is configured to detect the position at the time of charging in (2.11) and place it in the correct position.

The position detection vision 115 of the pickup tool device of the handler for grinding carbide insert products according to the present invention is manufactured in a slim shape so as to enter and enter a narrow working space, and irradiate scattered light by using a blank light. , A protective filter (not shown) is applied to protect the lens 115.2 according to the scattering of the grinding oil, and it is configured to minimize diffuse reflection.

The position detection vision 115 of the pickup tool device of the handler for grinding carbide insert products according to the present invention detects information on the grinding equipment mask 2.1 and pocket 2.11 and provides it to the controller. When the mask is mounted, it is configured to detect the pocket information again and provide it to the controller.

The pickup tool device of the handler for grinding carbide insert products according to the present invention is installed in a state suspended from the inner ceiling 141 of the frame 14 forming the hexahedron, and fastened to the ceiling 141 from above. A plate 113.4, two Y-axis robots 113.2 coupled to the plate 113.4, and an X-axis robot 113.1 forming a 90° right angle at the lower end of the Y-axis robot 113.2 are movably coupled, The X-axis robot 113.1 is fastened to the top plate 114.1 of the box-shaped housing 114, and the front plate 114.2 of the housing 114 has a plurality of pick-up tools 111 and a position detection vision 115. Is coupled, the pallet transfer 112 is configured to be coupled to the inner center of the housing.

The handler device for grinding carbide insert products according to the present invention has the following advantages.

The pickup tool device of a handler for grinding carbide insert products according to the present invention is a cemented carbide insert product conveying device that is coupled to or installed close to existing grinding equipment.

Therefore, production efficiency and grinding precision can be improved by automating the supply and removal of carbide inserts to existing equipment that is difficult to automate due to the narrow grinding space.

In addition, the pick-up tool of the handler device for grinding carbide insert products according to the present invention is composed of a plurality of pick-up tools in which a gripper for holding the carbide insert product is attached to one end of an arm that can be changed to a predetermined length.

Therefore, regardless of the size of the grinding equipment, it is easy to supply and take out carbide inserts by entering the grinding work space, thereby increasing work efficiency.

In addition, the position detection vision of the handler device for grinding carbide insert products according to the present invention is configured in a slim shape by applying no-young lighting and a protective filter.

Therefore, it is possible to enter and enter a narrow grinding space, and it has the advantage of increasing work efficiency through accurate supply and extraction by minimizing contamination by dispersion of grinding oil.

Claims

It relates to a pick-up tool device for a handler that supplies carbide insert products to a grinding machine to grind carbide insert products,

A pick-up tool 111 configured to supply and take out the carbide insert product 1.1 to the grinding equipment;

A pallet transfer unit (112) positioned on the same line as the pickup tool and configured to transfer a pallet loaded with the carbide insert product;

A pickup tool robot 113 configured to move the pickup tool 111 and the pallet transfer 112;

A housing 114 configured in a box shape with open left and right sides and lower sides to which the pickup tool 111, the pallet transfer 112 and the pickup tool robot 113 are coupled to the center of the pickup tool device;

And a position detection vision 115 coupled to the side of the pickup tool 111 and configured to detect the position of the product inside the pallet and the position of the pocket 2.11 of the mask 2.1 of the grinding machine. Handler pickup tool device for grinding carbide inserts.
The method according to claim 1,

The pickup tool 111,

Carbide insert product grinding, characterized in that it consists of an arm 111.2 of a predetermined length to which a gripper 111.1 for gripping the carbide insert product is attached to one end, and a stepping motor 111.3 for rotating the gripper forward and backward. The pickup tool device of the handler for.
The method according to claim 2,

The pallet transfer 112,

Pick-up of a handler for grinding carbide insert products, characterized in that consisting of a pallet grip (112.1) that grips the pallet (1.2) to transfer the pallet, and a drive motor (112.2) that moves the pallet grip up and down Tool device.
The method of claim 3,

The pickup tool robot 113,

An X-axis robot 113.1 and a Y-axis robot 113.2 to move the plurality of pick-up tools 111 forward/backward, left/right, up/down, and the pallet transfer 112 forward/backward, left/right And a Z-axis robot (113.3), characterized in that the pickup tool device of the handler for grinding carbide insert products.
The method of claim 4,

The housing 114,

A top plate 114.1 to which the pickup tool robot 113 is coupled, a front plate 114.2 to which the plurality of pickup tools 111 are coupled, and a rear plate 114.4 on which the pallet transfer 112 is installed inside. ) Pickup tool device of a handler for grinding carbide insert products, characterized in that consisting of.
The method of claim 5,

The position detection vision 115,

A light 115.4 for irradiating the position of the pallet pocket 1.21 and the mask pocket 2.11, a mirror 115.1 reflecting the image detected by the illumination to the lens, and reflecting from the mirror 115.1 and incident A pickup tool device for a handler for grinding carbide inserts, comprising a lens (115.2) that transmits an image to be transmitted and a camera (115.3) that photographs an image that has passed through the lens.
The method of claim 4,

The pickup tool robot 113,

The pickup tool device of a handler for grinding carbide insert products, characterized in that it further comprises a plate (113.4) to which the Y-axis robot (113.2) is coupled and fastened to the ceiling (141) of the frame.