FI114293B - robotic device - Google Patents

Description

114293

ROBOTANORDNING ROBOT SYSTEM

The invention relates to a robot system according to the preamble of claim 1.

The use of robots is intended to automate the assembly, positioning and disassembly of machine tool tools. EP 451150 discloses a robot positioning machine for placing tool-cutting tool configurations on a cutting machine tool server. The robot handles tool transfer from tool storage one tool at a time to the cutting machine tool server and back.

However, such an arrangement is relatively slow and the reach of the robot is relatively small. US 5,735,782 discloses a robot assembly in which the robot itself has an intermediate storage, to which the robot retrieves tools from a warehouse and from which the robot transfers the tools to a cutting machine tool server, so-called. turning to the cross. Because of the heavy tool position of the cutting machine, the robot must be robust enough. A robust robot is not only expensive, but also quite slow in its movements. However, it is important that the cutting machine tools are changed quickly in order to maximize the utilization rate of the cutting machine.

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It is an object of the present invention to provide a robotic system which transmits the desired tool.

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• · 'Assemble in the desired order and quickly on the machine tool and minimize the time required for shunting'.

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The object of the invention is achieved as set forth in claim 1. The ro-bot system includes a moving robot in the tool storage area, a temporary storage • * * *. ···. a system where tools are assembled to form a specific order. a tooling arrangement or part thereof for use in a machine tool, and a transfer system, • · ·, ···, for transferring tools to a machine tool or machine tool. According to the invention, the interim storage system and the transfer system are combined

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. to create a removable interim repository comprising a separate interim repository robot, »which is capable of transiently storing and transferring the tool configurations brought to it by the transfer robot to a machine tool or to a machine tool. The separate 2 114293, with its removable intermediate storage, does not have to be extremely robust, since it carries quite a few light parts, usually single or at most a few parts of the tool assembly. On the other hand, the intermediate storage robot must be sufficiently robust, which does not cause any problems, since its movements are simple and can be relatively slow.

If an intermediate storage robot is positioned so that its operation does not obstruct the operation of the transfer robot, both can simultaneously perform their tasks as efficiently as possible.

By allocating space for multiple tooling brought by the transport robot to the intermediate storage system so that the intermediate storage robot can transport the desired tool assortment to a machine tool or machine tool serving at a single move, the entire system is rendered highly efficient.

For example, a cutting machine usually has a tool position both below and above the cutting board. By arranging an intermediate storage robot to transport both parts of such a pair of tool sets, preferably to and from a machine tool or machine tool serving machine at the same time, the time required for the movements is minimized.

· '·: The operation of the robot system can advantageously be controlled by a control center to which; i The desired configuration values for the tool configurations are entered. Based on the entered configuration values, the control center is arranged to control the movements of the robot system 'so as to minimize the time required for the movements. This is likely to increase efficiency.

, 'It is recommended that a single intermediate storage robot serve multiple machine tools.

: In this case, the robot system can be positioned, for example, between two machine tool plants so that it serves both of them equally efficiently. Such an arrangement; '·· Significant cost savings.

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If the intermediate storage robot is arranged to move on a floor or other supported platform, the intermediate storage robot can easily be made to withstand heavy tool assembly transport.

If the tool robot brings the tool robot into the intermediate storage, it is quite simple to move, if the tool positions are also in the vertical position in the storage area. In this case, the transfer robot does not need a swivel head to rotate the part, nor does it take time to turn.

It is advantageous to provide devices in the intermediate storage robot that can be used to rotate movable tool assemblies from a vertical position to a horizontal position and back during the displacement movement of the assembly. Known, quite simple devices can be used for such a turning motion. The time of translation can be determined quite freely in connection with the migration. Rotation is necessary if the tool positions are in a horizontal position on the machine tool.

The intermediate storage robot is preferably arranged to retrieve tool configurations from the machine tool or its servicing device and to place them in the intermediate storage so that the transfer robot is able to retrieve them from the intermediate storage and move each tool to its correct location in the tool storage or maintenance device. This will keep the tool • ·: the order of the toolbar while taking into account the maintenance of the tools;

The invention will now be described with reference to the accompanying schematic drawing, in which Fig. 1 is a plan view of the robotic system according to the invention, - Fig. 2 is a sectional view II-II of the robotic system of Fig. 1, .04 12:24 in Figures 2 means a transport robot of a robotic system according to the invention, which is a portal robot moving on rails 3a and 3b supported by pillars 4. The transfer robot 4 114293 2 moves in a tool storage area 6 arranged on the floor 5, in which disk or cylindrical cutting tools 8 are stored in a plurality of vertical racks 7. The transfer robot 2 has a vertical moving part 9 between the intermediate storage robot 10. The intermediate storage bot 10 can move to the floor 5 on a supported rail on the machine tool server 12, or so-called. near the cross. Because the intermediate storage robot 10 rests on a supported rail 11 on the floor 5, it has good load-bearing capacity and positioning accuracy. The tool arrangements 14 placed on the pivoting cross are transferred therefrom to a machine tool 16, which is a cutting machine for a thin plate 15. Operation of the robot system is controlled from the control center 18.

Figure 2 shows the lifting end 19 of the transfer robot 2 above one of the tool holders 7. If the transfer robot 2 carries only a light load at a time, e.g., only one tool, high speeds and accelerations / decelerations can be used in the displacement movements due to the low movable mass, which speeds up the operation. If the racks 7 are provided with devices (not shown) which automatically lift the tool stack in the rack 7 so that the upper tool 8 is always at the top of the rack 7, the operation and efficiency of the transfer robot 2 will be further improved. The intermediate robot 10 has a temporary storage rack 13 which is also movable vertically to minimize the movement paths of the transfer robot 2. Because the vertical movements of the robot system are quite short, the robot space need not be very high.

j In Figure 3, the intermediate storage robot 10 has moved in the vicinity of the pivot cross 12. The intermediate rack 13 has two shafts 17 for the tool set. These shafts can be rotated 90 degrees about the central axis 20 of the rack 13 to a horizontal position. They can also be moved to a height such that they are located at the upper axis 21 and lower axis 22 of the pivoting cross 12, whereby the tool arrangements can be rapidly moved to or from the pivoting cross 12 while subject to exchange. This: ··· The replacement work is performed by a separate transfer device 23. It may also be built in connection with a storage warehouse robot 10 or a swivel cross 12.

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Claims (10)

1. A robot system, which belongs to a moving robot (2) operating on a tool storage area (6), an intermediate storage system (7,8), in which tool (8) is assembled in a specific order to create one used on a machine tool (16) tool assembly or part thereof, and a transfer system, with which tool (8) is moved to the machine tool (16) or to an apparatus serving the machine tool, characterized in that the intermediate bearing system (7,8) and the transfer system are joined to form a movable intermediate layer, which comprises a separate intermediate layer robot (10), which can briefly store and transmit; tool assemblies retrieved by the moving robot (2) for tool ma- ·: ··; the shin (16) or into an apparatus operating the machine tool. • t • · • · * * »v Robot system according to claim 1, characterized in that the interlayer robot (10) is arranged to be moved so that its function does not prevent the function of the moving robot (2). Robot system according to Claim 2, characterized in that the intermediate storage system (10) of the intermediate storage system has space for several tool assemblies arranged by the moving robot (2) that the intermediate storage robot can move a desired tool assembly at one time. the machine tool (16) or to an apparatus operating the machine tool. 25.02.04 12:24 PM * 114293 Robot system according to any of the preceding claims, characterized in that the interlayer robot (10) is arranged to simultaneously transport and move the necessary tool assembly pairs to the machine tool (16) or to an appliance which serves the machine tool and the accessory. ka. Robot system according to any of the preceding claims, characterized in that the system comprises a control center (18) at which the desired assembly values of the tool assemblies are input and which is arranged to control movements based on the input assembly values so that use time is minimized. Robot system according to claim 5, characterized in that the interlayer robot (10) is arranged to operate several machine tools (16) or appliances which serve them. Robot system according to claim 6, characterized in that the interlayer robot (10) is arranged to be moved on a support supporting the floor. 8. Robot system according to any of the preceding claims, characterized in that they are arranged to be stored in vertical position by the intermediate bearing robot (10) retrieved into intermediate bearings (10) for intermediate layers. • i «• · *« <v ; Robot system according to claim 8, characterized in that the intermediate bearing robot (10) comprises devices (12), by means of which movable tool assemblies can be rotated in a horizontal position in connection with the movement movement of the tool assembly. ». t Robot system according to any of the preceding claims, characterized in that the intermediate bearing robot (10) is arranged to retrieve tool assemblies from. in the tool machine (16) or an appliance serving it and thus place them in the intermediate bearings so that the moving robot (2) can take them from the intermediate bearings and move each tool to its proper place in the tool bearing or in the service device . »I • '* 25.02.04 12:24