CN110270872B - Machining device and machining method using same - Google Patents
Machining device and machining method using same Download PDFInfo
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- CN110270872B CN110270872B CN201910116570.XA CN201910116570A CN110270872B CN 110270872 B CN110270872 B CN 110270872B CN 201910116570 A CN201910116570 A CN 201910116570A CN 110270872 B CN110270872 B CN 110270872B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q7/00—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B41/00—Component parts such as frames, beds, carriages, headstocks
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B41/00—Component parts such as frames, beds, carriages, headstocks
- B24B41/005—Feeding or manipulating devices specially adapted to grinding machines
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- Mechanical Engineering (AREA)
- Multi-Process Working Machines And Systems (AREA)
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- Machine Tool Sensing Apparatuses (AREA)
- Feeding Of Workpieces (AREA)
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Abstract
The invention provides a processing device and a processing method using the same. The purpose is to prevent a situation where a part not accommodating workpieces exists in a tray even when an abnormality exists in one processing unit in a processing device provided with two processing units, simultaneously conveying two workpieces by one conveying unit, and discharging the workpieces assigned with numbers to the tray in order of the numbers. The control unit (50) controls the operations of the first processing unit (11), the second processing unit (12), and the conveying unit (40). When it is determined that there is an abnormality in the first processing unit (11), the control unit (50) processes the workpieces (W1) of the first group (G1) by the second processing unit (12), grips the workpieces (W1) of the first group (G1) by the first gripping unit (41) or the second gripping unit (42), and conveys the workpieces in the order of the supply unit (60), the second processing unit (12), and the discharge unit (70) by the conveying unit (40).
Description
Technical Field
The present invention relates to a processing apparatus and a processing method using the processing apparatus.
Background
Conventionally, a conveying device that arranges and discharges workpieces on a tray is known. For example, patent document 1 discloses a robot arm that arranges and discharges workpieces on a tray.
Patent document 1: japanese laid-open publication No. H04-343077
In recent years, a processing apparatus has been known which automatically performs processing and a conveying process in a plurality of lines at the same time in order to improve work efficiency. For example, a processing apparatus is also known which is provided with two processing sections and uses one conveying section to convey two workpieces simultaneously.
In recent years, the following are some processing apparatuses: the workpieces are assigned numbers, provided in the order of the numbers, and discharged in the order of the numbers. By assigning a number to a workpiece, the machined workpiece can be checked against the machining history of the machining apparatus.
Here, in a processing apparatus provided with two processing sections, simultaneously conveying two workpieces using one conveying section, and discharging the workpieces assigned numbers to a tray in order of numbers, when there is an abnormality in one processing section, the following control is generally performed: the machining section having the abnormality is stopped, and the workpiece is not conveyed to the stopped machining section.
However, when the above control is performed, the workpiece is discharged in a state where there is a portion of the tray where the workpiece is not stored.
Disclosure of Invention
The present invention has an object to prevent a situation where a part not accommodating a workpiece exists in a pallet even when an abnormality exists in one processing unit in a processing apparatus which is provided with two processing units, simultaneously conveys two workpieces by using one conveying unit, and discharges the workpieces assigned with numbers to the pallet in order of the numbers.
A machining apparatus according to an exemplary embodiment of the present application machines a plurality of workpieces that are assigned numbers and divided into a first group and a second group. The processing device includes a supply unit, a first processing unit, a second processing unit, a discharge unit, a conveyance unit, and a control unit. The supply section supplies a plurality of workpieces. The first processing unit processes the first group of workpieces. The second processing unit processes the second group of workpieces. The discharge unit discharges a plurality of workpieces. The conveying section conveys the workpieces of the first group by the first gripping section and the workpieces of the second group by the second gripping section in the order of the supply section, the first processing section, the second processing section, and the discharge section. The control unit controls the operations of the first processing unit, the second processing unit, and the conveying unit. When it is determined that the first processing unit is abnormal, the control unit processes the first group of workpieces by the second processing unit, grips the first group of workpieces by the first gripping unit or the second gripping unit, and conveys the workpieces by the conveying unit in the order of the supply unit, the second processing unit, and the discharge unit.
According to an exemplary embodiment of the present application, two processing units are provided, and two workpieces are simultaneously conveyed by one conveying unit and the workpieces assigned numbers are discharged to the tray in order of the numbers, but even if there is an abnormality in one processing unit, it is possible to prevent a situation where there is a portion of the tray that does not accommodate a workpiece.
The above and other features, elements, steps, features and advantages of the present invention will be more clearly understood from the following detailed description of preferred embodiments of the present invention with reference to the accompanying drawings.
Drawings
FIG. 1 is a schematic view of a workpiece.
Fig. 2 is a schematic view of a processing apparatus.
Fig. 3 is a schematic view of the conveying section.
Fig. 4A is a schematic view of the supply portion.
Fig. 4B is a schematic view of the discharge portion.
Fig. 5 is a block diagram showing a control structure of the processing apparatus.
Fig. 6 is a flowchart showing the machining control.
Fig. 7 is a flowchart showing the first quality determination control.
Fig. 8 is a flowchart showing a first alternative control.
Detailed Description
Hereinafter, embodiments of the present invention will be described with reference to the drawings. The scope of the present invention is not limited to the following embodiments, and can be arbitrarily changed within the scope of the technical idea of the present invention.
The drawings used in the following description may be enlarged for convenience in order to emphasize characteristic portions. Thus, the size and the ratio of each component are not necessarily the same as those in the actual case. In some cases, parts that are not characteristic may be omitted from the drawings for the same purpose.
< 1-1. work
The structure of the workpiece W will be described with reference to fig. 1.
For example, a cylindrical metal having a hole formed in the axial direction is used as the workpiece W. All the works W are assigned numbers. That is, the workpieces W are recognized as individual pieces. In addition, the workpieces W are divided into a first group G1 and a second group G2.
Hereinafter, the odd-numbered workpieces W are assigned to the first group G1, and the even-numbered workpieces W are assigned to the second group G2. In addition, in the following, the workpiece W of the first group G1 is referred to as a workpiece W1, and the workpiece W of the second group G2 is referred to as a workpiece W2. When both of the works W1 and W2 are shown, only the work W is referred to.
< 1-2. processing device
The structure of the processing apparatus 100 will be described with reference to fig. 2.
The machining apparatus 100 is an apparatus that machines a workpiece W. The processing apparatus 100 includes a first processing unit 11, a second processing unit 12, a first measuring unit 21, a second measuring unit 22, a conveying unit 40, a control unit 50, a supply unit 60, and a discharge unit 70.
< 1-2-1. processing section >
The first processing portion 11 processes the workpiece W1. As the machining of the workpiece W1, for example, burnishing is performed to polish the inside of the hole of the workpiece W1. The polishing process is performed using a polishing blade. A detailed description of the configuration of the first processing unit 11 will be omitted.
The second processing portion 12 processes the workpiece W2. As the machining of the workpiece W2, for example, burnishing is performed to polish the inside of the hole of the workpiece W2. The polishing process is performed using a polishing blade. That is, the second processing portion 12 performs exactly the same processing as the first processing portion 11. A detailed description of the configuration of the second processing portion 12 is omitted.
< 1-2-2. measuring part >
The first measuring unit 21 measures the result of processing the workpiece W1 processed by the first processing unit 11. As a result of the machining, for example, the inner diameter of the hole of the workpiece W1 is measured. As a measuring method, for example, an air gauge is used. A detailed description of the configuration of the first measurement unit 21 is omitted.
The second measuring unit 22 measures the result of processing the workpiece W2 processed by the second processing unit 12. As a result of the machining, for example, the inner diameter of the hole of the workpiece W2 is measured. As a measuring method, for example, an air gauge is used. That is, the second measuring unit 22 performs the same measurement as the first measuring unit 21. A detailed description of the configuration of the second measurement unit 22 will be omitted.
With this configuration, the machining result of the workpiece W can be checked, and the defective workpiece W can be detected. Further, by having two measuring sections, the efficiency of the processing apparatus 100 can be improved.
Further, by providing the first measuring section 21 for measuring the processing result of the first processing section 11 and the second measuring section 22 for measuring the processing result of the second processing section 12, respectively, it is possible to absorb the characteristics inherent to each of the processing sections and the measuring sections and to reflect them to the processing with high accuracy.
< 1-2-3. transfer part >
The structure of the conveying unit 40 will be described with reference to fig. 3.
The transport unit 40 uses, for example, a robot arm. The conveyance unit 40 is provided substantially at the center of the processing apparatus 100 (see fig. 2). The conveying unit 40 includes a first gripping unit 41, a second gripping unit 42, and an arm unit 43.
The first gripping portion 41 grips the workpiece W1. The first grip 41 is provided on the distal end side of the arm 43. The first grip portion 41 is provided adjacent to the second grip portion 42. A detailed description of the structure of the first grip portion 41 is omitted.
The second gripping portion 42 grips the workpiece W2. The second grip 42 is provided on the distal end side of the arm 43. The second grip portion 42 is provided adjacent to the first grip portion 41. A detailed description of the structure of the second grip portion 42 is omitted.
The arm portion 43 is constituted by a plurality of arms. A motor is provided at the joints of the arms to each other. The arm portion 43 is driven by a motor to move the first gripping portion 41 and the second gripping portion 42 freely in the processing apparatus 100.
The conveying unit 40 conveys the workpiece W1 from the supply unit 60 to the first processing unit 11 by the first gripping unit 41 gripping the workpiece W1, conveys the workpiece W1 from the first processing unit 11 to the first measuring unit 21, and conveys the workpiece W21 to the discharge unit 70.
At the same time, the conveying unit 40 conveys the workpiece W2 from the supply unit 60 to the second processing unit 12 by the second gripping unit 42 gripping the workpiece W2, conveys the workpiece W from the second processing unit 12 to the second measuring unit 22, and conveys the workpiece W from the second measuring unit 22 to the discharge unit 70.
< 1-2-4. supply part >
The structure of the supply unit 60 will be described with reference to fig. 4A.
The supply unit 60 supplies the processing apparatus 100 with the work W arranged therein. As the supply unit 60, for example, a tray is used. The supply unit 60 is formed by arranging storage units for individually storing the works W. Each storage unit is assigned a number.
The workpiece W is stored in a storage portion assigned the same number as the number assigned to the workpiece W and supplied to the processing apparatus 100. The workpieces W are supplied from the supply section 60 in order of number. The supply unit 60 can be attached or detached by an operator or an automatic conveying device.
< 1-2-5. discharge part >
The structure of the discharge unit 70 will be described with reference to fig. 4B.
The discharge section 70 arranges the work W and discharges it from the processing apparatus 100. As the discharge portion 70, for example, a tray is used. The discharge portion 70 is formed by arranging storage portions for individually storing the works W. Each storage unit is assigned a number.
The workpiece W is stored in a storage portion assigned the same number as the number assigned to the workpiece W and is discharged from the machining apparatus 100. The discharge unit 70 discharges the workpieces W in the order of the numbers. The discharge portion 70 may be attached or detached by an operator or an automatic conveying device.
With such a configuration, for example, when it is determined that the first processing unit 11 is abnormal, it is possible to determine which workpiece W1 the processing has already proceeded to. Therefore, the abnormality of the first processing portion 11 and the processing history can be easily checked.
< 1-2-6. control part >
The configuration of the control unit 50 will be described with reference to fig. 5.
The control unit 50 is electrically connected to the first processing unit 11, the second processing unit 12, the first measuring unit 21, the second measuring unit 22, and the conveying unit 40.
The control unit 50 adjusts the processing conditions of the first processing unit 11. The adjustment of the processing conditions refers to adjustment of the processing parameters of the first processing unit 11. The machining parameters include, for example, the amount of movement of the polishing blade, and the rotational speed of the polishing blade. Similarly, the control unit 50 adjusts the processing conditions of the second processing unit 12.
The control unit 50 controls driving of the motor of the arm portion 43 of the conveying unit 40. The control unit 50 controls the tightening or releasing of the first grip portion 41 and the tightening or releasing of the second grip portion 42.
The control unit 50 adjusts the processing conditions of the first processing unit 11 based on the measurement result of the first measuring unit 21. Similarly, the control unit 50 adjusts the processing conditions of the second processing unit 12 based on the measurement result of the second measurement unit 22.
With such a configuration, in the machining device 100, the machining conditions can be adjusted according to the amount of wear of the machining tool. For example, when the polishing blade is worn more, adjustment such as increasing the amount of movement of the polishing blade is performed. Thus, even when the machining tool is worn, the machining quality can be maintained at a constant level.
The control unit 50 determines whether the workpiece W1 is a non-defective product or a defective product based on the measurement result of the first measuring unit 21. The determination of being a non-defective product is made, for example, based on whether or not the inner diameter of the hole after polishing is equal to or larger than a predetermined value. Similarly, the control unit 50 determines whether the workpiece W2 is a non-defective product or a defective product based on the measurement result of the second measuring unit 22.
< 1-3-1. process control >
The flow of the machining control S100 will be described with reference to fig. 6.
The machining control S100 is a machining method for machining the workpiece W using the machining apparatus 100.
In step S110, control unit 50 conveys workpiece W1 from supply unit 60 to first processing unit 11 and conveys workpiece W2 from supply unit 60 to second processing unit 12 via conveying unit 40. At this time, the adjacent works W1 and W2 of the supply section 60 are conveyed at the same time.
In step S121, the control unit 50 machines the workpiece W1 by the first machining unit 11. In step S122, the control unit 50 machines the workpiece W2 by the second machining unit 12.
In step S130, the control unit 50 conveys the workpiece W1 from the first processing unit 11 to the first measuring station 21 and conveys the workpiece W2 from the second processing unit 12 to the second measuring station 22 via the conveying unit 40.
In step S141, the control unit 50 measures the machined workpiece W1 by the first measuring unit 21. In step S142, the control unit 50 measures the machined workpiece W2 by the second measuring unit 22.
Here, the control section 50 executes the first quality determination control S210. Details regarding the first quality determination control S210 are described later. In addition, the control section 50 executes second quality determination control S220.
In step S150, the control unit 50 conveys the workpiece W1 from the first measuring station 21 to the discharge unit 70 via the conveying unit 40, and simultaneously conveys the workpiece W2 from the second measuring station 22 to the discharge unit 70. At this time, the works W1 and W2 are simultaneously conveyed to the adjacent storage sections of the discharge section 70.
< 1-3-2. quality control
The flow of the first quality determination control S210 will be described with reference to fig. 7.
The first quality determination control S210 is control of: the control unit 50 determines whether the workpiece W (normally, the workpiece W1) processed by the first processing unit 11 and measured by the first measuring unit 21 as a result of the processing is a non-defective product or a defective product.
In step S211, control unit 50 determines whether or not workpiece W1 is a non-defective product. As the non-defective product determination, for example, if the inner diameter size of the hole after polishing is equal to or larger than a predetermined value, the non-defective product is determined. If the workpiece W1 is a non-defective product, the first quality determination control S210 ends. If the workpiece W1 is not a non-defective product (defective product), the process proceeds to step S212.
In step S212, the control section 50 conveys the workpiece W1 determined to be a defective item to a defective item discharge section provided separately from the conveyance discharge section 70. The defective product discharge unit may be provided as a predetermined space in the vicinity of the discharge unit 70, for example.
In step S213, the control unit 50 checks whether or not the workpiece W1 is determined to be a defective product three consecutive times. If it is confirmed that the workpiece W1 is a defective product three consecutive times, it is determined that there is an abnormality in the first processing unit 11, and the process proceeds to the first substitute control S310. If it is not confirmed that the workpiece W1 is a defective product three consecutive times, the first quality determination control S210 ends.
Here, the abnormality of the first processing portion 11 includes, for example, a case where the processing tool of the first processing portion 11 is worn to such an extent that replacement is necessary. At this time, the first replacement control S310 is executed before the working tool is replaced by the operator.
With this configuration, it is possible to determine an abnormality of the first processing portion 11 from the result of processing the workpiece W1. As a result, for example, the replacement timing of the cutting tool can be determined from the wear of the cutting tool.
The second quality determination control S220 is control of: the control unit 50 determines whether the workpiece W (usually, the workpiece W2) that has been machined by the second machining unit 12 and whose machining result has been measured by the second measuring unit 22 is a non-defective product or a defective product. The details of the second quality determination control S220 are substantially the same as those of the first quality determination control S210, and therefore, the description thereof is omitted.
< 1-3-3. alternative control >
The flow of the first alternative control S310 will be described with reference to fig. 8.
The first alternative control S310 is the following control: even when it is determined that the first processing unit 11 is abnormal, the workpiece W is processed by using the processing apparatus 100.
In step S311, the control unit 50 feeds the workpiece W1 from the supply unit 60 to the second processing unit 12 via the feeding unit 40. At this time, the conveying unit 40 conveys only the workpiece W1.
In step S312, the control unit 50 performs the polishing process on the workpiece W1 by the second processing unit 12.
In step S313, the control unit 50 conveys the workpiece W1 from the second processing unit 12 to the second measuring unit 22 via the conveying unit 40. At this time, the conveying unit 40 conveys only the workpiece W1.
In step S314, the control unit 50 measures the machined workpiece W1 by the second measuring unit 22. Here, the control section 50 executes the second quality determination control S220.
In step S315, the control unit 50 conveys the workpiece W1 from the second measuring station 22 to the discharge unit 70 via the conveying unit 40. At this time, the conveying unit 40 conveys only the workpiece W1.
In step S321, the control unit 50 feeds the workpiece W2 from the supply unit 60 to the second processing unit 12 via the feeding unit 40. At this time, the conveying unit 40 conveys only the workpiece W2.
In step S322, the control unit 50 performs the burnishing process on the workpiece W2 by the second processing unit 12.
In step S323, the control unit 50 conveys the workpiece W2 from the second processing unit 12 to the second measuring unit 22 via the conveying unit 40. At this time, the conveying unit 40 conveys only the workpiece W2.
In step S324, the control unit 50 measures the machined workpiece W2 by the second measuring unit 22. Here, the control section 50 executes the second quality determination control S220.
In step S325, the control unit 50 conveys the workpiece W2 from the second measuring station 22 to the discharge unit 70 via the conveying unit 40. At this time, the conveying unit 40 conveys only the workpiece W2.
The second alternative control is the following control: even when it is determined that the second processing unit 12 has an abnormality, the workpiece W is processed by using the processing apparatus 100. Since the details of the second alternative control are the same as those of the first alternative control S310, the description is omitted.
< 1-4. Effect >
Normally, in the machining device 100, when it is determined that there is an abnormality in the first machining unit 11, the following control is executed: the first processing unit 11 is stopped, and the workpiece W1 is not conveyed to the stopped first processing unit 11. However, in this case, the discharge portion 70 is in a state where there is a portion where the workpiece is not stored.
However, according to the first alternative control S310 of the present embodiment, even when it is determined that there is an abnormality in the first processing unit 11, it is possible to prevent the discharge unit 70 from being in a state where there is a portion where no work is stored.
< 2. other modifications
In the present embodiment, the following structure is adopted: the workpiece W is divided into two groups and processed in two lines each including a processing portion and a measuring portion, but the processing is not limited to this. For example, the following structure may be adopted: the workpiece W is divided into three groups and processed by three lines each including a processing portion and a measuring portion. In this case, as the first alternative control, even when there is an abnormality in the first line, the workpiece of the first line may be processed by the second line or the third line.
In the present embodiment, the first processing portion 11 that processes the workpiece W1 and the second processing portion 12 that processes the workpiece W2 are used, but the present invention is not limited thereto. For example, a first coating portion that coats the workpiece W1 with the polishing agent and a second coating portion that coats the workpiece W2 with the polishing agent may be employed.
In the present embodiment, the configuration is adopted in which the workpiece W1 and the workpiece W2 are held and conveyed by one conveying section 40, respectively, but the configuration may be adopted in which the workpiece W1 and the workpiece W2 are held and conveyed simultaneously by two conveying sections 40, respectively.
In the present embodiment, the arrangement of the storage sections of the supply section 60 and the discharge section 70 is the same, but the present invention is not limited thereto, and for example, the arrangement of the storage sections of the supply section 60 and the discharge section 70 may be different.
Claims (8)
1. A processing apparatus that processes a plurality of workpieces assigned numbers and divided into a first group and a second group,
the processing device comprises:
a supply section that supplies the plurality of workpieces;
a first processing unit that processes the first group of workpieces;
a second processing unit that processes the second group of workpieces;
a discharge unit that discharges the plurality of workpieces;
a conveying unit configured to convey the workpieces of the first group by a first gripping unit and the workpieces of the second group by a second gripping unit in the order of the supply unit, the first processing unit, or the second processing unit, and the discharge unit; and
a control unit that controls operations of the first processing unit, the second processing unit, and the conveying unit,
when it is determined that the first processing unit is abnormal, the control unit processes the first group of workpieces by the second processing unit, grips the first group of workpieces by the first gripping unit or the second gripping unit, and conveys the workpieces by the conveying unit in the order of the supply unit, the second processing unit, and the discharge unit.
2. The processing device according to claim 1,
the supply section supplies the plurality of workpieces in the order of the numbers,
the discharge unit discharges the plurality of workpieces in the order of the numbers.
3. The processing device according to claim 2,
when it is determined that the first processing unit is abnormal, the control unit processes the first group of workpieces by the second processing unit, grips the first group of workpieces by the first gripping unit or the second gripping unit, conveys the first group of workpieces by the conveying unit in the order of the supply unit, the second processing unit, and the discharge unit, processes the second group of workpieces by the second processing unit, grips the second group of workpieces by the first gripping unit or the second gripping unit, and conveys the second group of workpieces by the conveying unit in the order of the supply unit, the second processing unit, and the discharge unit.
4. The processing apparatus according to any one of claims 1 to 3,
the processing apparatus further includes a measuring unit that measures a processing result of the workpiece processed by the first processing unit and the second processing unit.
5. The processing device according to claim 4,
the measurement unit includes:
a first measuring unit that measures a machining result of the workpiece machined by the first machining unit; and
and a second measuring unit that measures a machining result of the workpiece machined by the second machining unit.
6. The processing device according to claim 4,
the control unit adjusts the machining of the first machining unit or the second machining unit based on the machining result of the workpiece measured by the measuring unit.
7. The processing device according to claim 5,
the control unit adjusts the machining of the first machining unit based on the machining result of the workpiece measured by the first measuring unit, and adjusts the machining of the second machining unit based on the machining result of the workpiece measured by the second measuring unit.
8. A processing method of a processing apparatus that processes a plurality of workpieces assigned with numbers and divided into a first group and a second group,
the processing device comprises:
a supply section that supplies the plurality of workpieces;
a first processing unit that processes the first group of workpieces;
a second processing unit that processes the second group of workpieces;
a discharge unit that discharges the plurality of workpieces; and
a conveying section that grips the first group of workpieces by a first gripping section and grips the second group of workpieces by a second gripping section, and conveys the workpieces in the order of the supply section, the first processing section or the second processing section, and the discharge section,
when it is determined that the first processing unit is abnormal, the second processing unit processes the first group of workpieces, the first gripping unit or the second gripping unit grips the first group of workpieces, and the conveying unit conveys the workpieces in the order of the supply unit, the second processing unit, and the discharge unit.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
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| JP2018045354A JP2019155528A (en) | 2018-03-13 | 2018-03-13 | Processing device and processing method using the same |
| JP2018-045354 | 2018-03-13 |
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| CN110270872A CN110270872A (en) | 2019-09-24 |
| CN110270872B true CN110270872B (en) | 2021-07-20 |
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| CN206484379U (en) * | 2017-02-21 | 2017-09-12 | 东莞市晋拓自动化科技有限公司 | A kind of flat panel products polissoir automatic loading and unloading system |
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2018
- 2018-03-13 JP JP2018045354A patent/JP2019155528A/en active Pending
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- 2019-02-13 CN CN201910116570.XA patent/CN110270872B/en active Active
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| JPH04343077A (en) * | 1991-05-21 | 1992-11-30 | Mitsubishi Electric Corp | Method and apparatus for forming and sorting storage of semiconductor product |
| KR20120083983A (en) * | 2011-01-19 | 2012-07-27 | 두산인프라코어 주식회사 | A structure setup unit using servo control and setup method thereof |
| KR20150121507A (en) * | 2014-04-21 | 2015-10-29 | 두산인프라코어 주식회사 | Pallet clamping/unclamping checking device of auto pallet changer |
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| CN206484379U (en) * | 2017-02-21 | 2017-09-12 | 东莞市晋拓自动化科技有限公司 | A kind of flat panel products polissoir automatic loading and unloading system |
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| CN110270872A (en) | 2019-09-24 |
| JP2019155528A (en) | 2019-09-19 |
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