JPS58155183A - Flexible loader device and its application - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

Detailed Description of the Invention The present invention is a machine tool built-in type for feeding and unloading workpieces and/or tools to be transported to and from chucks, tables, and/or tool rests, etc. of machine tools. The present invention relates to an improvement of a flexible loader device and a method of using the same.

In recent years, general transportation robots have begun to be used to automate the supply of materials to machine tools and the unloading of workpieces to enable continuous machining operations 111, but the present applicant first proposed did! $11 fall t4-i12! ! The second newsletter introduces a flexible loader device that has good workability and high safety, and does not increase the required floor space, as well as this flexible I! The present invention further improves this and provides accurate positioning by providing a displacement correction amount of the flexible loader corresponding to the weight difference of multiple S* conveyed objects. A) Also, for each conveyed article of various mounting types and weights that are transported, exchanged, or assembled between the conveyed article storage means and the mounting means, the percentage is stored in the storage area of the device. Based on the conveyed object table including the tII period biased type J6 operation, the conveyance/exchange or assembly operation of the conveyed object of the Fukuki Fureshi bull loader device is selected.

When transporting, exchanging, or assembling conveyed objects such as tools or workpieces of different weights on the MO@ board, the flexible loader is given an operation command, such as the crop rotation number fN.
I order. C's command &1. In general, the bar will operate differently (depending on the weight of the item being transported), but this Q @ '1
? k'X Assuming the same operation number % be.

Also, when a control device such as an unmanned monitoring function monitors and determines automatic tool replacement in a state where the replacement tool cannot be predefined during unmanned transmission, the operation number of the flexible loader can be exchanged. By giving corresponding tools to

This enables automatic tool exchange during unmanned operation.

1#, In the following text, we will talk about tools as conveyed objects!
As will be explained, it is of course also used for transporting and assembling other heavy objects such as drive devices and other assemblies. It is also an object of the present invention to correct the displacement fII of the robot gripper corresponding to the difference in weight of tools when the tool is changed using a transport robot as an automatic tool change system in a 110 lathe.
This simplifies the crop rotation program that can be automatically generated in the VC1llllII controller and is automatically generated in the VC1llllII controller. Another object of the present invention is to easily change the order of tool exchange operations by using a robot, which allows fixed tools for turning (bite, etc.) and rotary tools for drilling and cutting tools (drills, etc.) to be easily changed. This makes it possible to realize an automatic exchange device for tools with different clamp types, such as in a multi-tasking machine tool that uses a combination of tools (such as a clamp cutter, price cutter, etc.).

Next, one embodiment of the present invention will be explained based on a detailed example shown in the drawings.

Figure 1A is a perspective view of the robot. II/)
Ill is a robot that is lazy without holding a tool 4
1-Y shows the control axis and control direction, respectively) b i is the robot, /a is the robot arm, /kl is the robot hand%, 10 is the robot meter claw, /1 is the robot body%
l. is a hand violet.

In general, robots have less rigidity than machine tools, so the weight W of the replacement parts that they grip will depend on the robot T-
The angle between the robot hand tb and the illustrated dust axis changes -x, #, and the fourth-order IIK. That is.

Now, the angular displacement Δ−! , ^#y (vertical axis) and gripped tool weight W
(horizontal axis) is shown by sigt in Figure 2.

It can be seen that the angular displacements Δ#x, Δ-1 and the gripping tool weight 1 are in a proportional relationship. l#, this proportional relationship is.

(depending on the mechanism such as the length of the robot's arm/a).

Therefore, the weight W and displacement (Δ#X and Δ
#Y

Tool weight storage area tO in the control device, which will be described later in FIG.
If you prepare the magazine number, machine weight W, and taught reference tool number #l (work odor table) in B as shown in Table 1 below, the correction amount by teaching will be automatically corrected for any tool. It becomes possible to do so.

Similar to table fs1, tool weight W and displacement (Δ#I
If we find the relationship between ta and Δ#ν).

It is possible to correct the amount of robot displacement at the tool magazine position when returning the tool. The correction amount due to the difference in tool weight is corrected using the following formula.

however! ,,! , is the correction amount corrected for the weight difference, X, t
, Y□ is the correction amount of the standard tool, and ``at'' is the weight of the standard tool.

W 410 The tool weight held by the bottom, then the J
muai1. The wtsys diagram is an individual diagram showing the arrangement relationship of the robot l, tool holder j&, and tool magazine reference at the program origin toe 90bot start position (V@W, X, x@Z@ in the robot program example below). , in the front view, 411 in FIG. 1 is a robot, I & is a robot arm, tbkl robot hardware,
zo6j robot claw, / chisel is robot body, // is hand violet % J kl tool rest, $142 tool magazine /, j& is tool holder. *14s The commanded movement amount of the robot in the program example is 1 pulse. be.

The reference figure shows an example of A-IJ (1111 connection) of a lathe tool.

Use the robot claw 10 to pull out the turning fixture Aha in the tool magazine a in one or two directions and remove it from the robot arm 11.
Swing 1 in the -X direction and move the hand 111 by +7TJ.
Ii [+L, and robot node tb in the direction] +w73
It moves 90" in the direction, and lowers the rear opening (bottom)/ in the +V direction to perform dovetail connection with the tool holder. When machining with the tool 61 is completed, the tool holder S&Y) rises in the -v73 direction. and pull out the fixed tool 6&.

Robot arm 76. The hand 111 and the robot 1b are respectively swung and rotated in the opposite direction to the casting direction, and the mouth ()/ is then moved in the 12 direction to create the tool magazine/φaKm.
I will wear K.

This is an example of a taper connection in the shank of the rotary drilling tool 41. The rotary drilling tool 4b is gripped by the robot claw IO from the tool holder y*b, raised 1 in the -V force direction, and the robot arm 11 is raised 1! At the same time as swinging in the +Y direction, the robot F node 1bf-W73 direction 11C900 times was made, and then the hand was turned in the +Y direction.
I is moved in the 4-z7j direction and fixed to the tool holder tb6c. When machining with the tool Ab is completed, the robot claw /6 grips the tool 6b again and pulls it out in two directions, and the robot arm 111 hand''#I. and robot hand/1
1 is swung and rotated in the opposite direction to the above, and then the robot 1 is lowered in the +ma direction and stored in the tool magazine tray. Mechanical operation performed by modifying the amount of correction,
That is, the operation pattern is selected by the tool table corresponding to each tool. and.

The mechanical motion of the robot based on this selected motion pattern is controlled by the robot controller having the circuit configuration shown in Figure 6, which controls the servo motor tacho 11 for swinging the robot arm l& in the X direction. Servomotor JJ for one-direction movement (robots)/two-direction movement servomotor JJ.

Servo motor taco for rotating the robot hand in the W direction (1) and servo motor tacho S for vertical movement in the M direction of the robot hand (1)
This is done by controlling the drive by a predetermined amount that is stored in the memory.

In Figure 0, which is a block diagram of the control device, γ is the teaching operation panel and the central processing unit oPa of the microcomputer t.
K II will be installed. This microcomputer to
orσK 41 ROM y and ku*mto are connected, of which ItOM 9 is the operation program storage area! The lAMzo is a working memory device T1.
It is equipped with a tool weight storage area and a tool weight storage area. Operation commands from microcomputer t are sent to servo amplifier / /
s' /Shima/J, /II and I! conveyed to Ct
According to LK, as mentioned above, the servo motor J/,! ! , Ko J
, J-tei and 1j, respectively. Also, servo amplifier //, /J, /J.

1 and iHc are servo motors J/JJ JJ
Pulse generators installed in Jll and Jj respectively/
Feedback signals are given and received from the number, it, it, tv, and Jo, and the ROM t stores the control program of the microcomputer l that controls the flexible loader), the jl of c, and the area dem of OM t. stores the operating program of the Furegyu Sible Loader.

A microcomputer 3 reads these programs and generates operation commands for the flexible loader.

RAM 10 k1 Used to change data contents when the microcomputer 1 processes data, memorize the operation order, generate operation commands, and store and correct ctL.

Of this RAM/7, 41 has an operation storage area lO
To explain about the program, among the operations of the flexible loader stored in the operation memory Area Tsum, the H shown in the program example is
The motion storage area 10m stores teaching motions given by the operator in correspondence with teaching command numbers such as li, Is, etc. Therefore, when the flexible loader operates at the end of the day, the operation is performed according to the contents of the operation program storage area t.

(2) As for the number, the action contents stored in accordance with the H number in the action storage area 10m are executed.

Area IOB is a tool weight storage area in which magazine numbers and tool weights as shown in Table 1 are stored in advance on the teaching operation panel 7 in association with each other.9. The contents stored in the operation storage area 10m are corrected due to the tool weight. In this way, the operation command from the microcomputer I is appropriately amplified by the servo amplifiers //, /J, /J, / and /1, and then the servo motors J/, J, JJ, Jll and J
j, respectively, thereby driving the % part of the flexible loader (robot)/ by a predetermined amount.

Also, Table 2 is a tool table for replacing tools of different clamp types with one exchange device, instead of the tool table in Table 1.

RhMto (7) By memorizing area 10BK), it is used for automatic one-man exchange of multi-tasking machines with different clamp types. Further, the mechanical operations of the robots, which have different tool mounting operation orders due to different clamping types, ie, operation patterns, are selected according to each tool table.

Table 2 Below is an example of a robot operation program.

An example of operation is shown in the case of a dovetail clamp type tool as shown in Fig. 1 and a taper clamp type tool as shown in Fig. 3. +, 2 in the tool magazine aill
Command the axes to move respectively, in the case of a taper, + is the tool, for the tool holder zb, the 2 axes are commanded, and for the tool magazine reference b @, the 7 wheels are commanded to move the tools, respectively. The dovetail #lI is effective as a clamp reduction for turning tools, and the taper is suitable as a cran-knob type for rotating tools.

The above is an example of a bot operation program, but if conventional weight correction was not performed, programs with changed program numbers and teaching amount memory numbers (Hll, etc.) would have to be prepared for the number of tools, and each tool Although it is necessary to perform teaching for each, if correction is performed based on weight as in the present invention, there is no need for such complicated program creation.

FIG. 7 shows a 70-chart for teaching motion. Regarding the teaching mode of this flowchart, please refer to JP-A-Z4-i.
The explanation will be omitted as it is exactly the same as in the case of the zazsJ No. o@tBoya chart, but during automatic operation, first use the command amount stored in Hll K in area 10m and the tool weight stored in area 1oByc. and modify it according to equation (2), then perform each action according to a predetermined order,
Complete Hll's command.

As described above, in the present invention, the zero displacement amounts Δθ and Δθa of the robot arm are determined from the weight table of each tool inputted in advance, and the correction amount is automatically determined, and teaching is performed only for one tool. Correction amounts are determined for all tools that account for weight differences, making setup easier. or,
By teaching the robot's operating order according to the tool type, it is possible to automatically exchange different tools in the Knob type with one robot. or,
Since a storage area is provided in the robot control device, it is necessary to prepare an operation program for each tool! will disappear.

[Brief explanation of the drawing]

The Islm diagram is a side view showing the relationship between the robot's claw/C and the tool rest 3, the JI/B diagram is a perspective view, and the JIJ diagram is a diagram showing the relationship between gripped tool weight W and internal vertical change. Iris 3A, Iris J
Figure B is a side view and a front view showing the arrangement relationship of the tool holder (ja) and the tool magazine tray (a) at the program origin; The figures are schematic diagrams showing an example of taper coupling of tools for i'pot rotary machining, Figure 6 is a block diagram of a control device according to the present invention, and Figure 7 is an example of a flowchart. In the figure, /it robot, /& is robot arm, /1) is robot hand, lo is robot claw, ko is replacement worker 3 is tool post, 41a, lbu magazine, ja, jtl are tool holder, 4% , 4b is a fixed and rotating tool, ri is an operation panel, l is a microcomputer,
t is ROM. Ari operation program storage area, IO is RAM. 10m is an operation storage area, 10B is a tool weight storage area, /-/jri servo amplifier, /4 to J0 are pulse generation clouds, and /-Jj is a servo cage. Patent applicant: Ikegai Iron Works Co., Ltd. 2nd loquat special tool weight W

Claims (1)

[Claims] l) In an automatic exchange or assembly system for conveyed objects using a flexible loader device. A flexible loader that is equipped with a memory that stores a table that specifies objects to be transported and the corresponding movements of the flexible loader, and is capable of automatically selecting the movement pattern of the #1 flexible loader for objects to be transported. How to use the device. 2) The storage area in the control area of the flexible loader is equipped with a motion storage area T and a transported object weight storage area.
111E/A method of using a flexible loader device according to claim 111E, characterized in that the motion product information of the flexible loader stored in the motion storage area is modified based on the difference in weight. J) In the automatic exchange of conveyed objects or No. 1 automatic ship launching system using a flexible loader device. At the threshold between the transported object storage means and the transported object mounting means, the storage area in the control eccentricity of the flexible loader is stored for each transport having the attachment type and weight of Class 11, which may be exchanged or stored in the storage area of the flexible loader. Transport/transfer of Renki Furegyu Sible Loader based on the transported object table including cast #e** format and weight.
In addition to selecting the stand-up motion for exchanging objects, the positioning error of the loader is corrected based on the weight of the object to be transported using the scissors prior to loading the specified object to the object loading means. Fureushishibu A/Loader device that produces mold. (Reference) In the storage area containing the micros/hue 11 that controls the crop rotation of the flexible loader, the C microcomputer 110M9 that gives constant motion commands, and the RAM 77 that inputs and outputs motion modification commands, the casting record ROM9 Write ERI TV 5 that stores the operation program of the loader device, and write the ERI TV 5 that stores the operation program of the loader in the #1 memory M10. Claim 1111J is characterized in that it includes a transported object weight storage area (toys) that corrects the contents stored in the operation memory storage device (97/#) based on the difference in the transported object weight. Flexible loader device.