CN108218196A - System of processing, processing method and robot system - Google Patents
System of processing, processing method and robot system Download PDFInfo
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- CN108218196A CN108218196A CN201711328087.5A CN201711328087A CN108218196A CN 108218196 A CN108218196 A CN 108218196A CN 201711328087 A CN201711328087 A CN 201711328087A CN 108218196 A CN108218196 A CN 108218196A
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- mold
- processing
- tool
- joint arm
- forming surface
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Classifications
-
- C—CHEMISTRY; METALLURGY
- C03—GLASS; MINERAL OR SLAG WOOL
- C03B—MANUFACTURE, SHAPING, OR SUPPLEMENTARY PROCESSES
- C03B23/00—Re-forming shaped glass
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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
- B24B19/00—Single-purpose machines or devices for particular grinding operations not covered by any other main group
- B24B19/22—Single-purpose machines or devices for particular grinding operations not covered by any other main group characterised by a special design with respect to properties of the material of non-metallic articles to be ground
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
-
- C—CHEMISTRY; METALLURGY
- C03—GLASS; MINERAL OR SLAG WOOL
- C03B—MANUFACTURE, SHAPING, OR SUPPLEMENTARY PROCESSES
- C03B23/00—Re-forming shaped glass
- C03B23/02—Re-forming glass sheets
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Mechanical Engineering (AREA)
- Materials Engineering (AREA)
- Organic Chemistry (AREA)
- Robotics (AREA)
- Moulds For Moulding Plastics Or The Like (AREA)
- Manipulator (AREA)
- Re-Forming, After-Treatment, Cutting And Transporting Of Glass Products (AREA)
Abstract
System of processing, processing method and robot system, the quality raising for processing and forming product is effective.System of processing (1) has：First device carries out processing and forming by the mold (12) comprising the forming surface (16) contacted with shaped object object (W)；And second device (20), forming surface is ground, second device has：Tool (40) is ground forming surface (16)；Robot (50), including multi-joint arm (70)；And controller (100), the first control of execution is consisted of, robot (50) is controlled as follows in first control：Mold after tool or processing and forming is maintained on the terminal part (76) of multi-joint arm (70), in the state of the forming surface (16) for making the tool contact mold, the mold (11,12) and tool (40) relative shift are made by multi-joint arm (70).
Description
Technical field
This disclosure relates to system of processing, processing method and robot system.
Background technology
In patent document 1, following method is disclosed as the processing method of substitution processing and forming：This method includes
Prepare the process of female glass plate, the female glass for making female glass plate that the process of flexible deformation and the state to flexible deformation occur
Plate carries out the process that heating makes its plastic deformation assign curve form.
Citation
Patent document
Patent document 1：International Publication No. 2015/015842
Invention content
It is effective system of processing, processing method the purpose of the present disclosure is to provide the quality raising to processing and forming product
And robot system.
Means for solving the problems
The system of processing of an aspect of this disclosure has：First device, by comprising being contacted with molding object
The mold of forming surface carries out processing and forming；And second device, forming surface is ground, second device has：Tool,
It is ground forming surface；Robot, including multi-joint arm；And controller, the first control of execution is consisted of, at this
Robot is controlled as follows in first control：Mold after tool or processing and forming is maintained to the terminal part of multi-joint arm
On, in the state of the tool is made to be contacted with the forming surface of the mold, the type and the tool relative shift are made by multi-joint arm.
The processing method of another aspect of the disclosure includes the following steps：By comprising with molding object contact into
The mold in type face carries out processing and forming；Using the robot with multi-joint arm, robot is controlled as follows：Will into
Mold after tool or processing and forming that type face is ground is maintained on the terminal part of multi-joint arm, makes tool and the mold
Forming surface contact in the state of, the mold and the tool relative shift are made by multi-joint arm.
The robot system of another aspect of the disclosure has：Tool, to comprising with molding object contact into
The forming surface of the mold of the processing and forming in type face is ground；Robot, including multi-joint arm；And controller, structure
As the first control is performed, robot is controlled as follows in first control：By the mold after tool or processing and forming
It is maintained on the terminal part of multi-joint arm, in the state of the tool is made to be contacted with the forming surface of the mold, passes through multi-joint arm
Make the mold and the tool relative shift.
Invention effect
According to the disclosure, it is possible to provide the quality raising to processing and forming product is effective system of processing, processing method and machine
Device people's system.
Description of the drawings
Fig. 1 is the plan view for the structure for schematically showing system of processing.
Fig. 2 is the schematic diagram of the summary for the processing and forming for representing first device.
Fig. 3 is the schematic diagram for the structure for representing second device.
Fig. 4 is the block diagram for the hardware configuration that citing represents controller.
Fig. 5 is the flow chart for the procedure of processing for representing system of processing.
Fig. 6 is the flow chart for representing mold grinding control sequence.
Fig. 7 is the schematic diagram for the state for representing to be maintained at mold by multi-joint arm in maintaining part.
Fig. 8 is the schematic diagram of state for representing to shift tool by multi-joint arm.
Fig. 9 is the schematic diagram for representing to make by multi-joint arm the state of die shift.
Label declaration
1：System of processing, 10：First device, 20：Second device, 30：3rd device, 11,12：Mold, W：Shaped object
Object, 14,16：Forming surface, 40：Tool, 70：Multi-joint arm, 50：Robot, 76：Terminal part, 60：Maintaining part, 100：Controller.
Specific embodiment
Hereinafter, embodiment is described in detail with reference to attached drawing.In explanation, to same element or has same function
Element assign same label, the repetitive description thereof will be omitted.
(system of processing)
The system of processing 1 of present embodiment is to perform to carry out processing and forming by mold, and in the recycling of the mold
The system being ground before to the mold." grinding " is including passing through the attachment reamed in forming surface, reaming molding
The surface part in face and wipe at least any one party in attachment in forming surface away.System of processing 1 passes through above-mentioned molding
Processing, such as the cloche of mobile terminal is processed.
As shown in Figure 1, system of processing 1 has first device 10, second device 20 (robot system) and 3rd device 30.
First device 10 comprising the mold of forming surface contacted with molding object by carrying out processing and forming.Second device 20 is to mould
The forming surface of tool is ground.Mold after processing and forming is delivered to second device 20 by 3rd device 30 from first device 10,
And the mold after grinding is delivered to first device 10 from second device 20.
Such as 3rd device 30 has supply unit 31 and supply unit 32.Supply unit 31 is by mold from first device 10
It is delivered to second device 20.Mold is delivered to first device 10 by supply unit 32 from second device 20.As supply unit 31,
32 concrete example can enumerate belt conveyer, circulating conveyer or automatic conveying vehicle etc..
(first device)
As shown in Fig. 2, first device 10 for example carries out processing and forming by a pair of of mold 11,12.Shaped object object W
Glass plate in this way.
Mold 11 has the forming surface 14 of convex.Such as mold 11 has planar end face 13 and dashes forward relative to end face 13
The forming surface 14 gone out.More specifically, mold 11 has the shape of rectangular-shape, and one face becomes above-mentioned end face 13.Molding
Face 14 includes planar top 14a and surrounds top 14a and the curved peripheral part 14b being connected with end face 13.Top
14a is smoothly connected with peripheral part 14b.Forming surface 14 is contacted with the one side (the face Wa of diagram) of shaped object object W.
Mold 12 has concave forming surface 16.Such as mold 12 has planar end face 15 and recessed relative to end face 15
Sunken forming surface 16.Specifically, mold 12 has the shape of rectangular-shape, one face becomes above-mentioned end face 15.Forming surface
16 include planar bottom 16a and surround bottom 16a and the curved peripheral part 16b being connected with end face 15.Bottom
16a is smoothly connected with peripheral part 16b.End face 15 is opposed with the end face 13 of mold 11.Forming surface 16 and the forming surface 14 of mold 11
It is opposed, and contacted with the one side (the face Wb of the opposite side of face Wa) of shaped object object W.
Mold 11,12 can be for example made up of the material comprising vitreous carbon.As long as mold 11,12 end faces 13,15 phases
Mutually opposed, forming surface 14,16 is mutually opposed, then how to be configured can.For example, mold 12 can be configured in the upper of mold 11
Side.In this case, shaped object object W is configured in the top of mold 11 in a manner that face Wa is opposed with forming surface 14.Mold
11 can also be configured in the top of mold 12.In this case, shaped object object W is in a manner that face Wb is opposed with forming surface 16
It is configured in the top of mold 12.Hereinafter, it is illustrated in a manner of the top that mold 12 is configured in mold 11.
The processing and forming of object W is for example formed in first device 10 by following step.First, first device 10
Shaped object object W is configured in the upper of mold 11 in a manner that the face Wa of shaped object object W is contacted with the top 14a of forming surface 14
Side (with reference to (a) of Fig. 2).
Then, first device 10 is in a state that the bottom 16a for making forming surface 16 is opposed with the face Wb of shaped object object W,
Decline mold 12 and close to mold 11 (with reference to Fig. 2 (b)).
Then, first device 10 is in the shape to mold 12 to 11 side of mold pressurization (or pressurizeing to mold 11 to 12 side of mold)
Under state, mold 11,12 is heated to the temperature that can make shaped object object W softenings.With the softening of shaped object object W, mold
11st, 12 is close to each other.As a result, to shaped object object in a manner that face Wa and forming surface 14 are consistent and face Wb is consistent with forming surface 16
W is molded (with reference to (c) of Fig. 2).
Next, mold 11,12 is cooled to the temperature that can harden shaped object object W by first device 10, and by mould
Separation from shaped object object W of tool 11,12 (with reference to (d) of Fig. 2).More than, the processing and forming of shaped object object W is completed.
(second device)
As shown in figure 3, second device 20 is with the tool 40 being ground to forming surface 14,16 and including multi-joint
The robot 50 of arm 70.Hereinafter, the more specifically structure of exemplified second device 20.
Robot 50 is so-called vertical multi-joint robot, has the multi-joint arm 70 of series connection rod-type.Such as multi-joint
Arm 70 has base portion 71, rotating part 72, arm 73,74,75, terminal part 76, actuator 77A, 77B, 77C, 77D, 77E, 77F.
Base portion 71 is fixed in the setting face of top (vertical top).Rotating part 72 is arranged on base portion 71,
It can be turned round around vertical axis Ax1.
The one end of arm 73 is connect with rotating part 72, can be swung around by the axis Ax2 of the connecting portion.Axis
Ax2 intersects (such as vertical) with axis Ax1.In addition, intersect the relationship for including torsion.It is also the same below this point.
The one end of arm 74 is connect with the terminal part (end of the opposite side of rotating part 72) of arm 73, and can around with axis
Axis Ax3 parallel line Ax2 is swung.The terminal part (end of the opposite side of arm 73) of arm 74 can be relative to the base end part of arm 75
(end of 73 side of arm) is turned round.That is, the terminal part of arm 74 can be turned round around the axis Ax4 in the direction extended along arm 74.
The one end of arm 75 is connect with the terminal part of arm 74, and can be swung around by the axis Ax5 of the connecting portion.Axis
Line Ax5 intersects (such as vertical) with axis Ax4.
Terminal part 76 is arranged on the terminal part (end of the opposite side of arm 74) of arm 75, can intersect around with axis Ax5
The axis Ax6 revolutions of (such as vertical).
Actuator 77A, 77B, 77C, 77D, 77E, 77F are using electro-motor etc. as power source to the movable of multi-joint arm 70
Portion is driven.Specifically, actuator 77A makes rotating part 72 be turned round around axis Ax1.Actuator 77B makes arm 73 be put around axis Ax2
It is dynamic.Actuator 77C makes arm 74 be swung around axis Ax3.Actuator 77D makes the terminal part of arm 74 be turned round around axis Ax4.Actuator
77E makes arm 75 be swung around axis Ax5.Actuator 77F makes terminal part 76 be turned round around axis Ax6.
Terminal part 76 has the hand 80 of the releasing of the holding and the holding that carry out mold 11,12.Such as hand 80 has extremely
Few two finger portions 81,82 and actuator 83.It clamps mold 11,12 and it is held in finger portion 81,82.Actuator 83 is for example with electricity
Dynamic motor etc. drives finger portion 81,82 in a manner of carrying out the releasing of holding and holding of mold 11,12 as power source
It is dynamic.
Above structure only as an example of, as long as its terminal part can be adjusted to desired position, posture by multi-joint arm 70,
Then how to form.
Tool 40 is maintained at the terminal part 76 of multi-joint arm 70.Such as tool 40 is installed on hand 80.Tool 40
With driving portion 41 and grind section 42.Grind section 42 is, for example, the grinding tools such as polishing wheel or grinding wheel.It is electronic built in driving portion 41
Motor etc. rotates grind section 42.
Second device 20 can also have the maintaining part 60 being maintained at mold 11,12 on fixed position.Maintaining part 60 with
The top 14a of the forming surface 14 or bottom 16a of forming surface 16 keeps mold 11,12 to the inclined mode in 71 side of base portion.
As an example, maintaining part 60 has main body 61 and pillar 62.Main body 61 is from the opposite side supporting mould of end face 13,15
11、12.Main body 61 has pedestal 63 and at least one protrusion 64.Pedestal 63 includes end face 13 with mold 11,12,15 opposite sides
Face contact bearing surface 63a.Protrusion 64 is protruded from bearing surface 63a, and (end face 13,15 is surrounded with the side of mold 11,12
Face) contact.Mold 11,12 is maintained at the fixed position on bearing surface 63a as a result,.
Pillar 62 is fixed on around the base portion 71 of robot 50, from below supporting base 63.Such as pillar 62 is with branch
Bearing surface 63a is to the inclined mode supporting base 63 in 71 side of base portion.End face 13,15 rolls tiltedly to base portion 71 as a result, forming surface 14
Top 14a or the bottom 16a of forming surface 16 are rolled tiltedly to base portion 71.In addition, bearing surface 63a, end face 13,15, top 14a and bottom
Portion 16a is rolled to base portion 71 tiltedly means that their normal vector is tilted to 71 side of base portion (such as oblique upper of 71 side of base portion).
Controller 100 is configured to perform the first control, in first control, controls robot 50 as follows：It will
Mold 11,12 after tool 40 or processing and forming is maintained on the terminal part 76 of multi-joint arm 70, makes the tool 40 and the mould
In a state that the forming surface 14,16 of tool 11,12 contacts, the mold 11,12 and the opposite shifting of the tool 40 are made by multi-joint arm 70
Position.
Controller 100 can also control robot 50 as follows in the first control：Tool 40 is maintained to close
On the terminal part 76 of joint arm 70, shift the tool 40 by multi-joint arm 70.
Controller 100 is configured to also perform the second control, in second control, controls robot 50 as follows：
Mold 11,12 after processing and forming is maintained on the terminal part 76 of multi-joint arm 70, by multi-joint arm 70 by the mold 11,
12 configurations in the first control, can also control robot 50 as follows in maintaining part 60：Tool 40 is maintained at more
On the terminal part 76 of joint arm 70, connect making the forming surface 14,16 of mold 11,12 of the tool 40 with being configured in maintaining part 60
In the state of touching, shift the tool 40 by multi-joint arm 70.
As an example, controller 100 has the first control as structural element (hereinafter referred to as " functional block ") functionally
Portion 111 processed, the second control unit 112, menu storage part 113, die information acquisition unit 114 and menu configuration part 115.
The first control units 111 perform above-mentioned first control.Second control unit 112 performs above-mentioned second control.Such as second
Control unit 112 has Configuration Control Board 116 and returns to control unit 117.Configuration Control Board 116 controls robot as follows
50：Mold 11,12 after the processing and forming conveyed by supply unit 31 is maintained on the terminal part 76 of multi-joint arm 70, is passed through
The mold 11,12 is configured in maintaining part 60 multi-joint arm 70.It returns to control unit 117 and controls robot 50 as follows：
The mold 11,12 for being configured in maintaining part 60 and being ground is maintained on the terminal part 76 of multi-joint arm 70, passes through multi-joint
The mold 11,12 is configured at supply unit 32 by arm 70.
Menu storage part 113 stores multiple control menus of the type setting according to mold 11,12.It is basis to control menu
The type of mold 11,12 determines the data of the control content of 111 and second control unit 112 of the first control units, passes through operator
Teaching etc. and be generated in advance.For example, control menu includes following content.
I) position in the finger portion 81, the 82 during releasing of holding and the holding of progress mold 11,12
The position of mold 11,12 when ii) being configured at maintaining part 60, posture
The position of tool 40 when iii) being contacted with forming surface 14,16, posture
Iv the range that tool 40) is made to be shifted in the state of being contacted with forming surface 14,16
Die information acquisition unit 114 obtains and 11,12 related information of mold.Such as die information acquisition unit 114 passes through
Wired or wireless communication obtains the information related to the conveying condition of mold 11,12 with supply unit 31 from 3rd device 30,
And the information related with the type of mold 11,12 is obtained from first device 10 by wired or wireless communication.With mold 11,12
The related information of type be, for example, title or admin number of mold 11,12 etc., as long as can determine the kind of mold 11,12
The information of class can be then arbitrary information.
Menu configuration part 115 sets above-mentioned control menu according to the information obtained by die information acquisition unit 114.Such as
Menu configuration part 115 selects the type pair with mold 11,12 being stored in multiple control menus in menu storage part 113
The control menu answered, and the control menu is set as to the control menu of 111 and second control unit 112 of the first control units.
Fig. 4 is the block diagram of the hardware configuration of exemplified controller 100.As shown in figure 4, controller 100 has circuit
120, circuit 120 has one or more processors 121, memory 122, memory 123, input/output port 124 and driver
125A、125B、125C、125D、125E、125F、125G。
Memory 123 record for form controller 100 above-mentioned each functional block program.As long as memory 123 can
It can be with for arbitrary structures by computer reading.As concrete example, hard disk, non-volatile semiconductor memory, disk can be enumerated
With CD etc..Memory 122 temporarily stores operation result of the program read from memory 123 and processor 121 etc..Processor
121 cooperate with memory 122 performs program, thus forms each functional block.
Input/output port 124 is according to the input that electric signal is carried out between the instruction from processor 121, with tool 40
Output.Driver 125A, 125B, 125C, 125D, 125E, 125F, 125G are according to the instruction from processor 121, respectively to causing
Dynamic device 77A, 77B, 77C, 77D, 77E, 77F and actuator 83 are driven.
In addition, the hardware configuration of controller 100 is not necessarily limited to form each functional block by program.Such as controller 100
At least part of above-mentioned functional block also can be by dedicated logic circuit or the ASIC integrated to the logic circuit
(Application Specific Integrated Circuit：Application-specific integrated circuit) it forms.
(processing method)
Then, as an example of processing method, the processing and forming step performed to system of processing 1 illustrates.
As shown in figure 5, step S01 is first carried out in system of processing 1.In step S01, first device 10 by mold 11,
12 are formed the processing and forming of object W.
Next, system of processing 1 performs step S02.In step S02, the supply unit 31 of 3rd device 30 is by step
Mold 11,12 after processing and forming in S01 is delivered to second device 20 from first device 10.
Then, system of processing 1 performs step S03.In step S03, second device 20 in step S02 to being conveyed what is come
The forming surface 14,16 of mold 11,12 is ground.
Then, system of processing 1 performs step S04.In step S04, the supply unit 32 of 3rd device 30 will be in step
The mold 11,12 being polished in S03 is delivered to first device 10 from second device 20.
Next, system of processing 1 confirms the halt instruction (step S05) for whetheing there is processing, it is being determined as that there is no stop referring to
Make to the processing returns to step S01 in the case of order.After, alternate repetition performs the step that processing and forming is carried out by first device 10
Suddenly the step of being ground and by second device 20 to the mold 11,12 after processing and forming, until there is the stopping of processing
Instruction.In the case of being determined to have the halt instruction of processing in step S05, system of processing 1 completes processing and forming.
In addition, system of processing 1 may not necessarily be alternately performed the step of carrying out processing and forming by first device 10, Yi Jitong
Cross the step of second device 20 is ground the mold 11,12 after processing and forming.For example, system of processing 1 can also be performed as
Lower step：After the processing and forming using same mold 11,12 is performed a plurality of times in first device 10, by second device 20 to this
Mold 11,12 is ground.
Then, the content of step S03 is further described.Fig. 6 is to represent to be performed by controller 100 in step S03
Control sequence flow chart.
As shown in fig. 6, step S11 is first carried out in controller 100.In step s 11, die information acquisition unit 114 is from
Three devices 30 obtain the information related to the conveying condition of mold 11,12 with supply unit 31, wait for supply unit 31 to mold
11st, the completion of 12 conveying.
Next, controller 100 performs step S12.In step s 12, die information acquisition unit 114 is from first device 10
Obtain the information related with the type that the mold 11,12 come is conveyed by supply unit 31.
Then, controller 100 performs step S13.In step s 13, menu configuration part 115 according to taking in step s 12
The information obtained sets the control menu of 111 and second control unit 112 of the first control units.
Such as menu configuration part 115 select be previously stored in menu storage part 113 control menu in mold 11,
The 12 corresponding control menu of type, and the control menu is set as the control in 111 and second control unit 112 of the first control units
Menu processed.Following content is for example set according to the type of mold 11,12 as a result,.
I) position in the finger portion 81, the 82 during releasing of holding and the holding of progress mold 11,12
The position of mold 11,12 when ii) being configured in maintaining part 60, posture
The position of tool 40 when iii) being contacted with forming surface 14,16, posture
Iv the range that tool 40) is made to be shifted in the state of being contacted with forming surface 14,16
Next, controller 100 performs step S14.In step S14, the control machine as follows of Configuration Control Board 116
Device people 50：Mold 11,12 after processing and forming is maintained on the terminal part 76 of multi-joint arm 70, it should by multi-joint arm 70
Mold 11,12 is configured at maintaining part 60.Such as Configuration Control Board 116 controls robot 50 so that performs following steps successively：It will
The position of the mold 11,12 on supply unit 31 is configured in terminal part 76；The mold is held by the finger portion 81,82 of hand 80
11、12；The mold 11,12 is configured at by maintaining part 60 by multi-joint arm 70；Release holding of the hand 80 to mold 11,12.
Fig. 7 represents that robot 50 holds mold 12 and pass through multi-joint arm 70 by hand 80 and the mold 12 is configured at maintaining part 60
State.
In addition, in step S14, Configuration Control Board 116 controls robot according to the control menu set in step S13
50.Hand 80 is acted according to the shape of mold 11,12, size as a result, can suitably hold mold 11,12.This
Outside, multi-joint arm 70 is acted according to mold 11, the shape of mold 12, size, mold 11,12 can be configured and kept
The appropriate position in portion 60.
Fig. 6 is returned to, controller 100 then performs step S15.In step S15, the first control units 111 are to start to drive
The mode that portion 41 drives the rotation of grind section 42 controls tool 40.
Then, controller 100 performs step S16.In step s 16, the first control units 111 control machine as follows
People 50：Tool 40 is maintained on the terminal part 76 of multi-joint arm 70, tool 40 is made to contact the mold for being configured in maintaining part 60
11st, 12 forming surface 14,16.Such as the first control units 111 control robot 50 so that make to be maintained at end by multi-joint arm 70
The grind section 42 of tool 40 on end 76 moves, and makes the grind section 42 and the mold 11,12 that is configured in maintaining part 60
Forming surface 14,16 contacts.(a) of Fig. 8 represents that robot 50 makes grind section 42 and the mold 12 that is configured in maintaining part 60
The state that forming surface 16 contacts.
In addition, in the present embodiment, tool 40 is maintained on terminal part 76 and (is installed on hand 80) in advance, so
It is and without being limited thereto.For example, tool 40 can not also be maintained on terminal part 76 but rule are configured in around base portion 71
At fixed position, the first control units 111 can hold tool 40 (on terminal part 76 according to the finger portion 81,82 by hand 80
Holding tool 40) mode control robot 50.
Fig. 6 is returned to, controller 100 then performs step S17.In step S17, the first control units 111 are as follows
Control robot 50：In the state that tool 40 is made to be contacted with the forming surface 14,16 for the mold 11,12 being configured in maintaining part 60
Under, shift the tool 40 by multi-joint arm 70.40 relative shift of mold 11,12 and tool as a result,.Such as the first control units
111 control robots 50 so that while the state that maintenance grind section 42 is contacted with forming surface 14,16, pass through multi-joint arm
70 make tool 40 shift (with reference to (b) of Fig. 8).
Then, controller 100 performs step S18.In step S18, the first control units 111 control machine as follows
People 50：Persistently shift tool 40, until grind section 42 is moved through in entire scope." entire scope " is, for example, in step S13
In be set to control menu a part " making tool 40 in the range of state shift contacted with forming surface 14,16 " it is complete
Portion.
Then, controller 100 performs step S19.In step S19, the first control units 111 by multi-joint arm 70 to be made
The mode that the grind section 42 of tool 40 is left from forming surface 14,16 controls robot 50.
In addition, in step S16~S19, the first control units 111 are controlled according to the control menu set in step s 13
Robot 50 processed.Move grind section 42 according to the shape of forming surface 14,16, size and location as a result, can suitably into
Type face 14,16 is ground.
Next, controller 100 performs step S20.In step S20, the first control units 111 are right to stop driving portion 41
The mode of the rotation driving of grind section 42 controls tool 40.
Then, controller 100 performs step S21.In the step s 21, control unit 117 is returned to be incited somebody to action by multi-joint arm 70
The mode that mold 11,12 is configured at the supply unit 32 of 3rd device 30 controls robot 50.Such as it returns to control unit 117 and controls
Robot 50 so that perform following steps successively：Terminal part 76 is configured to the mold 11,12 on maintaining part 60 is configured in
Position；The mold 11,12 is held by the finger portion 81,82 of hand 80；The mold 11,12 is configured at by multi-joint arm 70 defeated
Send unit 32；And release holding of the hand 80 to mold 11,12.
In addition, it in the step s 21, returns to control unit 117 and robot is controlled according to the control menu set in step S13
50.Hand 80 is acted according to the shape of mold 11,12, size as a result, can suitably hold mold 11,12.This
Outside, multi-joint arm 70 is acted according to mold 11, the shape of mold 12, size, mold 11,12 can be configured and conveyed
The appropriate position of unit 32.
(effect of present embodiment)
System of processing 1 has：First device 10, by including the mould of forming surface 14,16 contacted with shaped object object W
Have 11,12 to carry out processing and forming；And second device 20, forming surface 14,16 is ground, second device 20 has：
Tool 40 is ground forming surface 14,16；Robot 50, including multi-joint arm 70；And controller 100, it forms
To perform the first control, in first control, robot 50 is controlled as follows：By the mould after tool 40 or processing and forming
Tool 11,12 is maintained on the terminal part 76 of multi-joint arm 70, is connect making the forming surface 14,16 of the tool 40 and the mold 11,12
In the state of touching, the mold 11,12 and 40 relative shift of tool are made by multi-joint arm 70.
According to system of processing 1, other than there is the first device 10 for carrying out processing and forming, also have to forming surface 14,
16 second devices 20 being ground, so as to which forming surface 14,16 can be arranged before the recycling of the mold of first device 10.
Second device 20 is configured to, and makes 40 relative shift of mold 11,12 and tool by the robot 50 for including multi-joint arm 70, therefore
Position and posture of the tool 40 relative to mold 11,12 can be freely adjusted, with stable condition to the big model of forming surface 14,16
It encloses and is ground.Therefore, it is effective to the raising of the quality of processing and forming product.
Second device 20 also has the maintaining part 60 being maintained at mold 11,12 on fixed position, and controller 100 is configured to
The second control is also performed, in second control, controls robot 50 as follows：By the mold 11,12 after processing and forming
It is maintained on the terminal part 76 of multi-joint arm 70, which is configured at by maintaining part 60 by multi-joint arm 70, first
In control, robot 50 can also be controlled as follows：Tool 40 is maintained on the terminal part 76 of multi-joint arm 70, is made
In a state that the tool 40 is contacted with the forming surface 14,16 for the mold 11,12 being configured in maintaining part 60, pass through multi-joint arm
70 shift the tool 40.
In this case, mold 11,12 is configured at by maintaining part 60 by the second control, so that in the first control
The position of mold 11,12 becomes stable.Therefore, it is possible to be ground with more stable condition to forming surface 14,16.Therefore,
The quality of processing and forming product is improved more effective.
Can also be that mold 11,12 has forming surface 14,16 concavely or convexly, and maintaining part 60 is with forming surface 14,16
Bottom 16a or top 14a keeps mold 11,12 to the inclined mode in 71 side of base portion of multi-joint arm 70.In this case, do not make
The terminal part 76 of multi-joint arm 70 is around the back side (in the case of using 71 side of base portion of the multi-joint arm 70 as table side of maintaining part 60
Back side), it will be able in a wide range of interior configuration tool 40 of forming surface 14,16, therefore be easy to minimize multi-joint arm 70.
System of processing 1 can also have a 3rd device 30, and the 3rd device 30 is by the mold 11,12 after processing and forming from the
One device 10 is delivered to second device 20, and (in second device 20 mold 11,12 after grinding has been ground forming surface
14th, 16 mold 11,12) be delivered to first device 10 from second device 20.In this case, also make first device 10 and second
Automation is also realized in the conveying of mold 11,12 between device 20, and thus, it is possible to improve the efficiency of processing and forming.
More than, embodiment is illustrated, however the present invention is not necessarily limited to the above embodiment, is not departing from its master
Various modifications can be carried out in the range of purport.Controller 100 is in the first control, to make the mold 11,12 by multi-joint arm 70
Robot 50 is controlled with the mode of 40 relative shift of tool, therefore can replace moving tool 40 by multi-joint arm 70
Position, and control robot 50 by way of making mold 11,12 displacements multi-joint arm 70.
Fig. 9 is exemplified in the first control, and the signal of the situation of the displacement of mold 11,12 is made by multi-joint arm 70
Figure.In the example of figure 9, tool 40 is so that the state of grind section 42 upward is fixed in around base portion 71.Controller 100 with
Following manner controls robot 50：On the terminal part 76 of multi-joint arm 70 keep mold 11,12, make forming surface 14,16 with
In a state that grind section 42 contacts, shift mold 11,12 by multi-joint arm 70.
System of processing 1 can also be configured to, and the mold 11,12 after processing and forming is ground except through second device 20
Except mill, also the shaped object object W after processing and forming is ground by second device 20.Such as the conveying of 3rd device 30
Unit 31 is configured to, other than the mold 11,12 after conveying processing and forming, also by the shaped object object after processing and forming
W is delivered to second device 20 from first device 10.The controller 100 of second device 20 is configured to also perform third control,
In third control, robot 50 is controlled as follows：Shaped object object W after tool 40 or processing and forming is maintained at
On the terminal part 76 of multi-joint arm 70, in the state that the tool 40 is made to be contacted with the one side (face Wa, Wb) of shaped object object W
Under, the shaped object object W and 40 relative shift of tool are made by multi-joint arm 70.Controller 100 is configured to also perform the 4th
Control in the 4th control, controls robot 50 as follows：Shaped object object W after processing and forming is maintained at more
On the terminal part 76 of joint arm 70 (such as pass through hand 80 and hold shaped object object W), by multi-joint arm 70 by the forming pair
As object W is configured at maintaining part 60, in third control, robot 50 can also be controlled as follows：Tool 40 is maintained at
On the terminal part 76 of multi-joint arm 70, make contacting on one side for shaped object object W of the tool 40 with being configured in maintaining part 60
In the state of, shift the tool 40 by multi-joint arm 70.
System of processing 1 can not have 3rd device 30.In this case, it can will be molded by second device 20 to perform
Mold 11,12 or shaped object object W after processing take out from first device 10 and return to the mold 11,12 after grinding
First device 10.Specifically, multi-joint arm 70 can be configured in following location：It is able to carry out the mold after processing and forming
11st, 12 or shaped object object W takes out from first device 10 and the mold 11,12 after grinding is returned to first device 10.Control
Device 100 processed is configured to also execute the following steps：Control robot 50 so that by the mold 11,12 after processing and forming or into
Shape object W is maintained on the terminal part 76 of multi-joint arm 70, by multi-joint arm 70 by the mold 11,12 or shaped object object
W takes out from first device 10；And control robot 50 so that the mold 11,12 after grinding is maintained at multi-joint arm 70
On terminal part 76, which is returned to by first device 10 by multi-joint arm 70.Further, it is also possible to by operator Lai
It performs and takes out the mold 11,12 after processing and forming or shaped object object W from first device 10 and by the mold after grinding
11st, 12 first device 10 is returned to.
Claims (11)
1. a kind of system of processing, which has：
First device, by carrying out processing and forming comprising the mold of forming surface contacted with molding object；And
Second device is ground the forming surface,
The second device has：
Tool is ground the forming surface；
Robot, including multi-joint arm；And
Controller consists of the first control of execution, and the robot is controlled as follows in first control：By described in
The mold after tool or processing and forming is maintained on the terminal part of the multi-joint arm, makes the tool contact mold
In the state of the forming surface, the mold and the tool relative shift are made by the multi-joint arm.
2. system of processing according to claim 1, wherein,
The controller controls the robot as follows in the described first control：The tool is maintained at described more
On the terminal part of joint arm, shift the tool by the multi-joint arm.
3. system of processing according to claim 2, wherein,
The second device also has the maintaining part being maintained at the mold on fixed position,
The controller is configured to also perform the second control, and the robot is controlled as follows in second control：It will
The mold after processing and forming is maintained on the terminal part of the multi-joint arm, by the multi-joint arm by the mold arrangement
In the maintaining part,
The robot is controlled as follows in the described first control：The tool is maintained to the end of the multi-joint arm
On end, in the state of the forming surface of the mold that the tool contact is made to be configured in the maintaining part, pass through
The multi-joint arm shifts the tool.
4. system of processing according to claim 3, wherein,
The mold has the forming surface concavely or convexly,
The maintaining part keeps institute in a manner that the base portion side of the bottom of the forming surface or top to the multi-joint arm is inclined
State mold.
5. the system of processing described in any one in Claims 1-4, wherein,
The system of processing also has 3rd device, and the 3rd device is defeated from the first device by the mold after processing and forming
It send to the second device, and the mold after grinding is delivered to the first device from the second device.
6. the system of processing described in any one in Claims 1-4, wherein,
The molding object is glass plate,
The mold includes the forming surface contacted with the one side of the glass plate.
7. system of processing according to claim 5, wherein,
The molding object is glass plate,
The mold includes the forming surface contacted with the one side of the glass plate.
8. system of processing according to claim 6, wherein,
The material of the mold includes vitreous carbon.
9. system of processing according to claim 7, wherein,
The material of the mold includes vitreous carbon.
10. a kind of processing method, which includes the following steps：
By carrying out processing and forming comprising the mold of forming surface contacted with molding object；
Using the robot with multi-joint arm, the robot is controlled as follows：The forming surface will be ground
Tool or processing and forming after the mold be maintained on the terminal part of the multi-joint arm, make the tool and the mold
The forming surface contact in the state of, the mold and the tool relative shift are made by the multi-joint arm.
11. a kind of robot system, which has：
Tool, to being ground comprising the forming surface of the mold of the processing and forming of forming surface contacted with molding object
Mill；
Robot, including multi-joint arm；And
Controller consists of the first control of execution, and the robot is controlled as follows in first control：By described in
The mold after tool or processing and forming is maintained on the terminal part of the multi-joint arm, in the institute for making the tool and the mold
In the state of stating forming surface contact, the mold and the tool relative shift are made by the multi-joint arm.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2016-242340 | 2016-12-14 | ||
| JP2016242340A JP2018095521A (en) | 2016-12-14 | 2016-12-14 | Processing system, processing method and robot system |
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| Publication Number | Publication Date |
|---|---|
| CN108218196A true CN108218196A (en) | 2018-06-29 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711328087.5A Pending CN108218196A (en) | 2016-12-14 | 2017-12-13 | System of processing, processing method and robot system |
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| JP (1) | JP2018095521A (en) |
| CN (1) | CN108218196A (en) |
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|---|---|---|---|---|
| KR102277383B1 (en) * | 2019-11-28 | 2021-07-14 | (주)대호테크 | Wide area forming device |
-
2016
- 2016-12-14 JP JP2016242340A patent/JP2018095521A/en active Pending
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2017
- 2017-12-13 CN CN201711328087.5A patent/CN108218196A/en active Pending
Non-Patent Citations (2)
| Title |
|---|
| 尹代群: "《把科技馆搬回家 机器人面对面》", 31 December 2015, 四川少年儿童出版社出版 * |
| 蒋新松著: "《机器人与工业自动化》", 30 April 2003, 河北教育出版社 * |
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