JPH0255629A - Schedule operating device in work carrying-in/out device - Google Patents

Abstract

PURPOSE:To execute an effective schedule operation management of a work carrying-in/out device by reading schedule data in a schedule operation control module from an external memory and transferring this data to an NC device form this operation control module. CONSTITUTION:A controller is installed in a work carrying-in/out device of a working machine. In this state, a schedule operation is executed by a schedule operation control module 77. Schedule data generated in advance by an external memory 55 is stored and the schedule data is read in the operation module 77. An NC program in the data which is read in is transferred to an NC device 63 and worked. Subsequently, data of a work required for working is inputted to the schedule operation control module 77 by an input means. In such a way, an effective schedule operation management of the work carrying-in/out device can be executed.

Description

Detailed Description of the Invention [Object of the Invention] (Industrial Application Field) The present invention relates to a schedule operation device in a workpiece loading/unloading device.

(Prior art) Conventionally, processing machines that perform hole drilling, laser cutting, etc. on a workpiece basically manually set a workpiece on the table of the processing machine and press the start button on the NC@11 to select the workpiece. Processing is performed using the NG program or NC tape stored in the memory. When the machining is completed, the workpiece is also manually removed from the table.

Since the above-mentioned workpiece setting is not rational because it relies on manual labor, workpieces have come to be automatically carried into and out of processing machines using carrying-in lifting devices. That is, by automatically loading and unloading the workpieces using the workpiece loading/unloading device, it is possible to automatically adjust the number of workpieces to be processed, which is set in the controller of the workpiece loading/unloading device, for the same processing.

However, since the workpiece loading/unloading device is equipped with a function to detect multiple pieces of workpieces (materials) being taken, the thickness of the workpiece (material) is set as the input data of this detector to the controller of the workpiece loading/unloading device. There is a need to.

Therefore, when using the workpiece loading/unloading device, the operator must set the number of workpieces to be processed and the thickness of the workpieces in the controller of the workpiece loading/unloading device. Although the processing is automated, it is only possible to process the same material using the same program.

In order to improve the above-mentioned problem, a schedule function of the NC device has been used to automatically perform different types of machining based on a schedule program.

In the schedule program for performing the different types of processing described above, "NC program name" and "number of sheets to be processed" can be registered in up to 10 steps. Scheduled operation is performed based on this schedule program, but in this case, the called NC
The program must necessarily exist in the memory within the NC device δ.

Furthermore, the scheduled operation function determines the NC program to be executed and manages the number of sheets to be processed based on the schedule program.

When performing this scheduled operation, the thickness of the workpiece basically differs for each NC program, and an "external thickness controller" is used to autonomously change the thickness data. Each NC program includes the thickness of the workpiece (material)! An M code for determining the thickness is written at the beginning, and when this NC program is executed, this M code is converted to BCD data and output to the external plate thickness controller.

Therefore, when performing scheduled operation, the "plate thickness data" is the external plate thickness installed in the workpiece loading/unloading device according to the M code written for each NC program.
The controller is driven to automatically set plate thickness data, and the number of sheets to be processed is set based on the total number of sheets to be processed during scheduled operation.

(Problem to be Solved by the Invention) By the way, in the scheduled operation performed using the above-mentioned scheduled operation function on the NC device side and an external plate thickness controller, the NC device has a memory for registering a plurality of NC programs. A prerequisite was the ability to add a scheduled operation function as an option. For this reason, there was a problem in that the target NC devices were naturally limited to high-end models.

In addition, it is necessary to install an external plate thickness controller for the workpiece loading/unloading device, and if this scheduled operation function is added to the existing delivery line (processing machine and workpiece loading/unloading device), a large amount of man-hours will be required. It was occurring.

That is, in addition to being limited in the number of NC devices, it is also necessary to install an external plate thickness controller and add a scheduled operation function, resulting in considerable costs.

The purpose of this invention is to improve the above-mentioned problems by allowing schedule operation to be performed by importing schedule data that has been created in advance and stored in an external memory, without installing an external plate thickness controller. An object of the present invention is to provide a schedule operation device for a workpiece loading/unloading device.

[Structure of the Invention] (Means for Solving Problem 1) In order to achieve the above object, the present invention provides a control device for a workpiece loading/unloading device for loading/unloading a workpiece to/from a processing machine that processes the workpiece. , a schedule operation tjllll module for performing scheduled operation, an external memory that stores schedule data created in advance and reads the schedule data into the schedule operation control module, and a schedule read into the schedule operation control module. A schedule operation device in the workpiece loading/unloading device is configured by comprising an NC device for transferring NG programs among the data to be processed, and an input means for inputting workpiece data necessary for machining to the schedule operation control module. did.

In the above schedule operation device, the external memory is an IC.
It is preferable that the scheduled operation control module is equipped with an internal memory for feeding back the machining time and actual number of sheets processed calculated by the schedule operation control module to an external memory.

(Function) By employing the schedule operation device in the workpiece loading/unloading device of the present invention, when the workpiece loading/unloading device is scheduled to be operated, schedule data is generated and stored in advance in an external memory, and the schedule data is stored in the scheduled operation. When read into the control module, the schedule data is transferred from the schedule operation control module to the NCaW, and the workpieces are automatically transferred from the workpiece loading/unloading device to the processing dawn, and the workpieces are processed for each predetermined lot.

The workpiece data required for machining is input and stored in advance from the input means into the internal memory of the schedule operation control module, so the schedule operation control module calculates the machining time and the actual number of pieces to be machined, and the results are sent externally. transferred to memory.

(Example) Hereinafter, examples of the present invention will be described in detail based on the drawings. Punch presses, jarring machines, etc. are collectively referred to as processing machines, and this example will be described using a turret punch press as an example.

Referring to FIGS. 10 and 11, the workpiece loading/unloading device 3 for carrying the workpiece W into the turret punch press 1 can be roughly divided into a loading device and a loading device for the workpiece W.

The workpiece W carrying-in device includes a material cart 5 that is movable orthogonally to the workpiece transport line, and a plurality of suction devices 7 that suck and hold the workpiece W (material) placed on the material cart 5. The loader 9 is equipped with a loader 9 and is movable in the left and right directions in FIG. 10, and a slider 11 that moves the loader 9 up and down.

The workpiece W unloading device includes an unloader 15 equipped with a clamp 13 for gripping the workpiece W (product) after press working, and an unloader 15 equipped with a clamp 13 for gripping the workpiece W (product) after pressing, and a workpiece W (product) provided on the lower side of the material cart 5 for loading and unloading. It consists of a traveling and direct mounting product trolley 17.

The material cart 5, which is a loading device, is connected to a turret punch press 1.
A base 23 provided with a plurality of wheels 21 is movably provided on a rail 19 provided perpendicularly to a carry-in direction as a conveyance direction in which the workpiece W is conveyed. Works W (materials) are stacked on the base 23 via a pallet 25.

When the workpiece W (product) is gripped by the clamp 13 from the turret punch press 1 and unloaded by the unloader 15, the support roller 27, which is movable in the left-right direction in FIG. material).

The unloader 15 and support rollers 27 are used to stack the work W (product) on the product cart 17 so as not to interfere with the operation of the suction device 7 when the work W (material) is carried into the turret punch press 1. In order not to get in the way when doing so, the condition is that it be in a retreated position, that is, at the original position, as shown by the dotted line at the right end of FIG.

A lift lid 29 is provided at the bottom of the product truck 17, and the product truck 17 can be moved up and down by the operation of the lifter 29. Further, an O-cate bin 31 is provided in, for example, approximately the center of the product cart 17, and is movable in and out of the container bin 31 for positioning short workpieces W.

To explain the operation of carrying the workpiece W (material) into the turret punch press 1 with the above configuration, the unloader 15 and the support roller 27 are shown by dotted lines in FIG. It is located at the origin position.

In this state, the suction device f is
f17 descends and carries the workpiece W (material) on the material cart 5 -
Adsorb the sheet. Then, by operating the slider 11, the work W
(Material) is raised while being adsorbed by the adsorption device 7. At this time, in order to ensure that one piece of the workpiece W (material) is taken, a detection means for picking up one piece of the workpiece W (material) and other i
, II 1111 means are of course provided.

Next, move the loader 9 forward (move to the left in Figure 10)
The workpiece W (raw material) is transported to the processing position of the turret punch press 1. After carrying the workpiece W (material) to the processing position of the turret punch press 1, the suction of the suction device 7 is released and the loader 9 is moved to the origin position Il! (backward limit),
Subsequently, the workpiece W (material) to be processed on the material cart 5 is kept in a state where it is suctioned and pulled up by the suction device 7.

Workpiece W pressed with turret punch press 1 (
To explain the operation of transporting the product), the material cart 5
is moved backward (moved downward in FIG. 11). Next, the lifter 29 is activated to lift the product cart 17 upward.

Move the unloader 15 forward (move to the left in Figure 10)
Grip the end face of the workpiece W (product) with the clamp 13,
Release the turret punch brace 1 from its clamp. The support roller 27 is set at the position shown by the solid line in FIG. It will be placed there.

At the same time, since the workpiece W (material) to be processed next has already been suctioned and held by the suction device 7, the loader 9 releases the suction at a predetermined processing position after transporting it to the turret punch press 1, and the loader 9 moves to the origin position. Move to.

The workpiece W (product) is placed on the product trolley 17, and at the same time the lifter 29 is operated to lower the product trolley 17, the descent is completed, and the material trolley 5 moves upward in FIG. 11 onto the conveyance line. .

By repeating the above-described operations, the loading and unloading work of the workpiece W is automatically performed.

FIG. 9 shows IIJtllI in the workpiece loading/unloading device 3.
A configuration block diagram of the device is shown.

In FIG. 9, axis control units 37A and 378.37G of each axis are connected to CPtJ33 (central processing unit) via I/F (interface) 35.
Motors 41A, 41B are connected to each axis control unit 37A, 37B, 37C via amplifiers 39A, 39B, 39C, respectively.
, 410 are connected.

The CPU 33 is connected to a CRT & MDi via an I/F 43.
A controller 45 is connected to the controller 45, and to this controller 45 are connected a CRT 47 as a display means and a keyboard 49 as an input means.

An IC card driver 53 is connected to the CPLI 33 via an r/F 51 (the C card driver 53 controls the memory of an IC card 55 as an external memory).

The RLY module 5 is connected to the CPU 33 via the I/F 57.
9 is connected, and controls signals from sensors, actuators, etc. in the workpiece loading/unloading device 3 as Di (input signal)/Do (output signal).

An NC device 63 is connected to the CPU 33 via an I/F 61, and a remote buffer 7 is connected to the NC device 63.
65 (product name) is installed.

By installing this remote buffer 65, it is possible to transfer an NC program from an external memory and perform processing using the NC program.

Remote buff? Is there an internal buffer for 65? When the NC program in the internal bag 1 is consumed in response to external transfer, it outputs a transfer request for the NC program to the external memory, and when the internal buffer becomes full, it outputs a transfer stop request.

The CPU 33 includes a ROM 67, a RAM 69. B-RAM
71 (referred to as a battery backup RAM) and a PC 73 (referred to as a programmable controller) are respectively connected.

The ROM 67 is configured and controlled by various modules as shown in FIG.

That is, in FIG. 8, the main module 75 performs overall management of the controller, and controls the lower schedule operation control module 77, the man/machine 1/F module 79, and the operation control module 81.

In the schedule operation control module 77, the IC card read/write module 83. Controls the R/B communication module 85 and schedule management module 87.

The man/machine 1/F module 79 controls the human-machine interface, and mainly displays the CRT 47, edits various data, and performs manual key operations using the keyboard 49.
It controls the RT&MDI control module 89 and a manual operation control module 91 that performs manual operation using a manual switch.

In the motion control module 81, the drive shaft control module 93
and the Di/DO control module 95.

The IC card read/write module 83 performs data write/write processing for the IC card 55, which creates and stores schedule data on the side of a separate computer system.

Schedule data is a schedule program, N
In this embodiment, the C program and processing information are collectively called.

That is, the read processing of the IC card 55 processes the schedule program, the NC program, and the processing information, and the write processing of the IC card 55 processes the updating of the processing time and the actual number of sheets processed.

The R/B communication module 85 performs communication control mainly for transferring NC program data to a remote buffer 765 installed in the NC device 63.

The schedule management module 87 has functions 111I for controlling execution steps during schedule operation, controlling the actual number of sheets processed, and monitoring processing time.

The CRT&MDi control module 89 controls data display on the CRT 47, status display, data input from the keyboard 49, mode switching, and the like.

The manual operation control module 91 performs illumination of manual operation using a manual switch installed in the controller.

The drive shaft control module 93 performs servo-controlled drive shaft speed υJtll, position control, and time constant control.
The Di/Do control module 95 controls D1 signals of sensors, LS, etc., and DO multiplied signals of actuators, etc.

The schedule data is created in a separate computer system. The data for each workpiece loading/unloading δ3. is passed to the PC 73. This PC
73 performs scheduled operation based on the schedule data written in the IC card 55.

The schedule data is basic data for performing scheduled operation, and as shown in FIG. 7, the schedule data includes an NC program.

The planned number of sheets to be machined, the actual number of sheets to be machined, and the execution mode (continue/stop) can each be set in a maximum of 10 steps.

In order to perform scheduled operation, this "schedule program", "rNC program called within the schedule program", and "processing information" corresponding to each NC program are required.

The scheduled number of sheets to be processed is entered into the column of the planned number of sheets to be processed written in the schedule program by inputting it from the keyboard 49.

In the column of the actual number of sheets processed, when scheduled operation is performed, the actual number of sheets processed is set to 1 each time 1 & loading/unloading, that is, processing is completed. Therefore, the actual processing is calculated as (planned number of sheets to be processed - actual number of sheets to be processed).

In the execution mode column, the execution mode specified in the schedule program specifies whether to "stop" the step before executing it, or to "continue" unconditionally.

The machining information exists corresponding to each NG program data, and contents such as work data, machining time, unloading override, and plate thickness detection on/off are set. The work data includes the material name, plate thickness, and size (X, Y) of the work (material) required for processing.
is set.

As the machining time, the machining time for one sheet by this NC program is set, and this time is automatically set by the PC 73 in the workpiece loading/unloading device 3 measuring the machining time. In the unloading override, the speed change when unloading the workpiece from the processing table is set from 1 to 100%. Further, in the plate thickness detection on/off setting, ON/OFF of detection of two sheets when one sheet is taken is set.

Each module shown in FIG. 8 is incorporated into the PC 73, resulting in a control configuration block diagram as shown in FIG. 6, and each data exchange is performed as shown by the arrows in FIG. .

A block diagram of the schedule operation, which is the main part of this embodiment, is shown in FIG.

In FIG. 1, schedule data as shown in FIG. 7 is created and stored in an IC card 55 using a separate computer system. The schedule operation control module 77 incorporated into the PC 73 includes a schedule management module 87°, an IC card read/write module 83. A module 85 for R/B communication is provided.

The schedule operation module 77 is provided with an internal memory 97, which includes a schedule program memory that temporarily stores the schedule program from the IC card 55 via the IC card read/write module 83. 99. An NC program area 101 that temporarily stores NC programs and a data setting area that temporarily stores machining information such as work size (X, Y), plate thickness, machining time, unloading override, and plate thickness detection on/off. 103 is provided.

The N'C program stored in the IC card 55 is temporarily stored in the NC machining program area 101, and then sent to the NC device 63 via the R/B communication module 85. 65.

By feeding back the processing time and the actual number of sheets processed to the IC card 55, the IC card can be read in a separate computer system to control production,
Data processing for process control can be performed.

The operation of scheduled operation will be explained based on the flowchart shown in FIG. 2. In step S1, the IC card 5
5, the schedule program is read into the schedule operation control module 77, and the schedule program memory 99 of the internal memory 97 is accessed via the IC card read/write module 83. Sue up S2
Then, the NC program of the first step is read from the IC card 55 into the schedule operation control module 77.
It is set to the NC program area 1o1 of the internal memory 97 via the IC card read/write module 83.

In step S3, the first step N is selected from the IC card 55.
The processing information corresponding to the C program is read into the schedule operation control module and set into the data setting area 103 of the internal memory 97 via the IC card read/write module 83. In step S4, it is determined whether or not there is a remaining number of sheets to be processed by comparing the actual number of sheets to be processed at that step with the planned number of sheets to be processed, and if there is a number of remaining sheets to be processed, the process proceeds to step S5.

After loading the workpiece (material) onto the processing table of the turret punch press 1 in step $5, the origin is set. At step $6, a start command (Do times signal) indicating the start of machining is issued to the NC device 63.

In step S7, the NC program area 101 responds to the request from the remote buffer 765 of the NC device 63.
B' Transfer the NC program to the NC device 63 via the iV communication module 85. In step S8, Qi
Wait for the processing completion signal from.

That is, it is determined whether or not there is a machining completion signal. If there is no machining completion signal, the process returns to step S8, and if there is a machining completion signal, the process proceeds to step S9.

When the machining completion signal goes up in step S9, the workpiece (product) is unloaded. In step 810,
At this point, the processing time (processing information) and the actual number of sheets processed in the IC card 55 are updated. Step S11: It is determined whether the step currently being executed has reached the actual number of pieces processed - the planned number of pieces processed. If the actual number of pieces processed does not become the planned number of pieces processed, the step is returned to before step $5, and the actual number of pieces processed is the planned number. When the number of sheets to be processed is reached, the process advances to step S12.

In step S12, it is determined whether there is a next step, and if there is no next step, the process ends.

If there is a next step, the N of the next step is selected in step S13.
The C/J duram is read from the IC card 55 into the schedule operation control module 77 and set in the NC program area 101 of the internal memory 97 via the IC card read/write module 83. Next, step 81
In step 4, the processing information for the next step is read from the IC card 55 into the schedule operation control 'a''U: module 77, and the IC
The data is set in the data setting area 103 of the internal memory 97 via the card read/write module 83.

Next, the process returns to before step S4, and the subsequent processing is performed as described above.

If the number of remaining sheets is &J in step S4, step 31
2, and the same processing is performed thereafter.

When scheduled operation is performed using the IC card 55 as an external memory, the status of the IC card operation is displayed on the screen of the CRT 47 as shown in FIG. The driving situation can be grasped by looking at the driving state.

Further, the local operation state is displayed on the screen of the CRT 4.7 as shown in FIG. 4, and the local operation mode when the IC card is removed as shown in FIG. Therefore, the operator can grasp the local operation status and the local operation mode status.

In this way, schedule data is created using a separate computer system, and this schedule data is stored in the IC card 55. Scheduled operation can be automatically performed by reading this schedule data from the stored IC card 55 into the scheduled operation control module 77 and transferring the NC program to the NC device 63.

Therefore, there is no need to install an external plate thickness controller, there is no need to store an NC program in the NC device, and there is no need to add a scheduled operation function. Scheduled operation can be performed.

Note that the present invention is not limited to the embodiments described above, and can be implemented in other embodiments by making appropriate changes. For example, it may be a workpiece loading/unloading device in which a robot loads and finds a workpiece.

[Effects of the Invention] As can be understood from the above description of the embodiments, according to the present invention, when scheduled operation of the workpiece loading/unloading machine is performed, schedule data is created and stored in advance in an external memory. When the schedule data is read into the schedule operation control 211"E Joule, the schedule data is transferred from the schedule operation control module to the NC.
The workpieces are transferred to the device and are automatically transferred from the workpiece loading/unloading device to the processing machine, where the workpieces are processed for each predetermined lot, and scheduled operation can be performed automatically.

Therefore, scheduled operation is not limited to the type of NC device, there is no need to install an external plate thickness controller, there is no need to store an NC program in the NC device, and there is no need to add a scheduled operation function. be able to.

Since the workpiece data necessary for machining is input and stored in advance from the input means into the internal memory of the schedule operation I control module, the schedule operation control module calculates the machining time and the actual number of pieces to be machined, and then displays the results. The data is transferred to external memory and can be effectively used for subsequent management.

[Brief explanation of the drawing]

FIG. 1 is a block diagram of the configuration of the scheduled operation device which is the main part of the present invention, FIG. 2 is a flowchart 17 for explaining the operation during scheduled operation, and FIGS. 3, 4 and 5 are the scheduled operation. Figure 6 is a block diagram of the overall configuration of the PC, Figure 7 is an example diagram showing schedule data, and Figure 8 is the system of each module in the ROM. Figure 9 is a block diagram of the control device in the workpiece loading/unloading device.
FIG. 0 is a front view of a workpiece loading/unloading device for loading a workpiece into a turret punch press according to an embodiment of the present invention, and FIG. 11 is a plan view of FIG. 10. 3... Work loading/unloading device 47... CRT (display means) 4... Keyboard (input means) 55... IC card (external memory) 63... NC device 65... R/B77 ... Schedule operation control module 83 ... IC card read/write module 85 ... R/B communication module 97 ... Internal memory 99 ... Schedule program memory 101 ...
NC program area 103...Data setting area representative Patent attorney Yasuo Miyoshi Figure 1 Figure 2 Figure 11

Claims (3)

[Claims] (1) A control device for a workpiece loading/unloading device that loads/unloads a workpiece into/out of a processing machine that processes the workpiece, and stores a schedule operation control module for performing scheduled operation and schedule data created in advance. an external memory for reading schedule data into the scheduled operation control module; an NC device for transferring an NC machining program of the schedule data read into the schedule operation control module to be processed; A schedule operation device for a workpiece loading/unloading device, comprising: input means for inputting workpiece data required for processing. (2) The schedule operation device for a workpiece loading/unloading device according to claim 1, wherein the external memory is an IC card. (3) In claim 1, the scheduled operation control module is characterized in that the scheduled operation control module includes an internal memory for feeding back the machining time and actual number of sheets processed by the scheduled operation control module to the external memory. Schedule operation device for work loading/unloading equipment.