JP2001347377A - Automatic working device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an automatic working device with an inexpensive and simple constitution, whose time required from a working completion to a next working start is shortened and whose working efficiency is improved. SOLUTION: A moving type loader 13 is moved back and forth between a first and a second working stations S1, S2. This loader 13 is equipped with four welding robots 21 performing the working of a work positioned in each working station and a pushing means pushing the work against a working table 11 in each of the working stations S1, S2.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic machining apparatus used for various automatic machining such as plasma welding.

[0002]

2. Description of the Related Art Conventionally, there has been known an automatic processing apparatus for automatically performing processing such as welding, cutting, bending, and punching on a workpiece.

[0003] As such an automatic processing apparatus, the applicant has previously provided a preparation station including a preparation table, and a processing station including a processing machine body and a processing table.
An automatic processing device that automatically loads a work from the preparation station to the processing station, positions the loaded work, and fixes the work for processing, and is a movable type that reciprocates between the two stations. The loader is provided with means for holding and transporting the work on the preparation table and placing it on the processing table, and means for pressing the work against the processing table. Japanese Patent Application Laid-Open No. 7-53825 discloses a device in which means for positioning a work placed on a table is provided.

In such an apparatus, when the processing at the processing station is completed, the loader returns to the preparation station for the next work to be processed, and returns to the processing station with the work. In addition, the loader always moves back and forth between the preparation station and the processing station. Also, when the loader is in the processing station, the work to be processed next is only preset in the preparation station, and the work such as positioning of the work for processing, the loader moves to the processing station side, This is performed after the work is placed on the processing station.

[0005]

Therefore, in the above-described automatic processing apparatus, the time from the completion of one processing to the start of the next processing includes the time required for the reciprocating movement.
The work time for positioning and the like is added, so that the cycle time per machining becomes considerably long and the machining efficiency is low.

If the preparation stations are provided on both sides of the processing station, and the work is alternately transported to the processing stations from the two preparation stations, the processing efficiency can be improved. Two sets of loaders and processing machines are required for one automatic processing apparatus, which is expensive.

In order to improve the processing efficiency by shortening the cycle time, Japanese Patent Laid-Open Publication No.
As described in Japanese Unexamined Patent Application Publication No. 2000-209, a laser processing machine provided with a laser processing head for irradiating a laser beam at a position above a work table for supporting and fixing the work so as to be movable in the left-right direction and the vertical direction. A table has been proposed in which a table is divided into a plurality of divided tables and each divided table is movably provided in the front-rear direction. However, in this apparatus, not only the laser processing head can be moved in the horizontal direction and the vertical direction, but also the divided table (work table) on which the work is supported and fixed can be moved in the laser processing machine in the front-rear direction. Therefore, not only the number of motors increases and the cost becomes high, but also the number of control axes increases and control becomes complicated.

Therefore, the inventor has a plurality of processing stations including a processing table, and a movable loader that moves between the plurality of processing stations, and performs processing of a positioned work at each processing station. An automatic processing apparatus has been invented in which the loader is provided with a processing machine and pressing means for pressing a work against the processing table. Hei 11-31742).

However, in such an apparatus, since the processing machine is moved in the X-axis direction parallel to the moving direction of the loader and in the Y-axis direction orthogonal thereto, the processing machine is fixed in the X-axis direction. The machine in Y
In the case where there are a plurality of processing locations, it is necessary to move the loader in the X-axis direction at the processing station a plurality of times in correspondence with the processing locations, since the processing is performed in the axial direction. There was room for improvement in efficiency.

The present invention provides an automatic machining apparatus which uses an industrial robot, has a simple and inexpensive configuration, shortens the time from the completion of machining to the start of the next machining, and improves machining efficiency. The purpose is to:

[0011]

According to the present invention, there is provided an automatic processing apparatus comprising: a plurality of processing stations including a processing table;
A movable loader that moves between the plurality of processing stations, and at each processing station, an automatic processing apparatus that performs processing of a positioned work; An industrial robot that performs processing and a pressing unit that presses a work against the processing table at each of the processing stations are provided. That is,
According to the present invention, unlike the apparatus described in Japanese Utility Model Publication No. 7-53825, a loader is not used as a means for placing a work on a processing table, but rather as an industrial robot for processing a positioned work. It is used as a means for performing Therefore, the work is not transported by the loader. Here, the "industrial robot" means a robot generally used in the industry that has a manipulation function by automatic control and can perform various operations by a program. It is possible to apply all types of robots that can perform linear interpolation that is approximated by a group of points along a straight line by a mathematical operation.

Here, it is of course possible to perform different processing for each processing station. In this case, the industrial robot has different teaching points for each processing station on the loader. May be moved to perform different movements, or a positioning means for positioning each station in a different state may be provided so that the processing operation is the same or different processing modes.

According to the automatic processing apparatus of the present invention, first, when the loader is located at a specific processing station and the processing is being performed, the processing completion on the processing table of the processing station which has already been completed. Is removed, and the unprocessed work is placed on the processing table of the processing station to be processed next, and is appropriately positioned by the positioning means of the processing station or other means, and is temporarily held. You. As described above, when processing is performed at a specific processing station, processing of a completed workpiece and setting of an unprocessed work are performed at another processing station, and the time required for these is counted as a cycle time. Not done. Also, during processing by the industrial robot, since the loader is located at the processing station performing the processing, the processing stations other than the processing station where the loader is located, the upper part is open, Preparation work for a workpiece to be processed next can be easily performed.

After the processing is completed at a specific processing station, the loader moves to the processing station where the next processing is performed, and the work positioned at the processing station is pressed on the processing table by the pressing means of the loader. It is pressed down and fixed. The next processing is performed in the state of being fixed as described above.

In this way, with a low-cost and simple configuration,
It is possible to shorten the time from the completion of processing to the start of the next processing, thereby improving the processing efficiency.
Since the work is no longer transported, the work moves to the processing station where the work is positioned, and during the processing operation by the industrial robot, the operation of staying at the processing station is repeated.
The loader does not reciprocate between the processing stations between the completion of the processing and the start of the next processing as in the apparatus described in Japanese Patent No. 53825, and the cycle time is shortened. Further, the ratio of the machining time in one cycle time is increased, the machining efficiency is improved, and the cost can be reduced.

In this case, a plurality of the industrial robots are provided, and all of the industrial robots are provided on the loader in such a manner that all positions on the processing table can be set as teaching points of any of the robots. Is desirable. Here, a plurality of units means that the number is equal to or more than the number of processing parts (for example, welding lines) in the work, and by doing so, the processing parts are assigned to each industrial robot. It is desirable from the viewpoint that the processing can be performed simultaneously to improve the processing efficiency.

In this way, in each processing station, with the loader stopped, all parts of the work placed on the processing table are not restricted by the processing parts and modes. Processing by an industrial robot is easily realized.

Further, as the industrial robot, an industrial robot having a high trajectory accuracy or a mechanical or electric linear copying means is attached to an end effector to secure a high trajectory accuracy in order to secure processing accuracy. Although it is necessary to use an industrial robot that performs welding, for example, in the case of an apparatus that performs welding, the industrial robot is used as an end effector and a multi-joint including a welding tool that can obtain a wide welding bead. As a robot, a wide weld bead can be obtained even if the linear trajectory accuracy of the articulated robot itself is low, so the welding process can be performed without special measures to ensure the linear trajectory accuracy. It can be performed. Here, `` providing a welding tool that can obtain a wide welding bead '' means a welding head that uses a laser as a heat source for welding and uses spinning, scanning, etc. to obtain a wide welding bead. When using, plasma, MIG,
This means that the case corresponds to a case where a heat source such as TIG or semi-automatic is used.

It is preferable that a positioning means for positioning the loader is provided between the processing station and the loader.

In this manner, in each processing station, the loader is positioned at a fixed position, the pressing means is applied to the work with high accuracy, and as a result, the position of the robot is also determined with high accuracy, and the processing is performed. Even if it is repeated, the same portion is processed with high accuracy.

The positioning means includes an actuator provided on the processing station or the loader side, an engaging member driven forward and backward by the actuator,
An engaging member provided on the loader or the processing station side, wherein the engaging member is detachably engaged with the engaging member.

With this configuration, by operating the actuator, mechanical positioning by engaging and disengaging the engaging member on the processing station or the loader side and the engaged member on the loader or the processing station side can be performed easily and easily. Is achieved.

[0023]

Embodiments of the present invention will be described below with reference to the drawings.

FIG. 1A is a plan view of an automatic plasma welding apparatus according to the present invention.

Automatic plasma welding apparatus 1 according to the present invention
Has a first processing station S1 on one side and a second processing station S2 on the other side, as shown in FIG. The first and second processing stations S1 and S2 are both portions for performing a welding process, and a processing table (the processing table 11 of the second processing station S2).
(Only shown).

First and second processing stations S1, S
2, a movable loader 13 that reciprocates between them is provided. The loader 13 includes a gate-shaped frame 14 that is long in the direction of movement, and a motor 15 for movement provided on both left and right sides thereof, and is configured to be self-propelled.

Further, the two processing stations S1, S2
Between them, guide rails 16 are provided in parallel with which a slider on the lower side of the frame 14 is slidably engaged.
The loader 13 reciprocates between the two processing stations S1 and S2 along the guide rail 16.

That is, the motor 15 has a motor shaft (not shown) which extends in the vertical direction and has a pinion fixed to the lower end.
The pinion is configured to mesh with a rack 18 provided along a guide rail 16, and the rotation of the movement motor 15 is controlled by control means (not shown) to rotate the pinion, so that the loader 13 is rotated. Is the guide rail 16
It is configured to move with high accuracy.

Although not specifically shown, the frame 14 is a pressing means (not shown) for pressing the work against the processing table 11 in order to prevent the work positioned during the processing from moving. (Not shown).

Above the frame 14, four plasma welding robots 21 (industrial robots), which are articulated robots, are provided so as to be symmetrically located in plan view.
Each of the welding robots 21 is provided with a plasma welding tool that can obtain a wide welding bead as an end effector. By arranging in this positional relationship, the four welding robots 21 can set all positions on the processing tables 11 and 12 as teaching points of any one of the robots 21, and teaching for them is not shown. Made by the robot controller. Therefore, welding to a workpiece can be realized by the four welding robots 21 without moving the loader in a state where the loaders are stopped at predetermined positions in the processing stations S1 and S2. In the case where only one welding robot is used and the teaching points of the welding robot cannot be set to all positions on the processing tables 11 and 12, it is necessary to change the pressing position by the pressing means. In some cases, the loader may be moved one or more times between the start of processing and the end of processing.

Further, the two processing stations S1. S
A work carrying robot 22 common to both stations is provided on one side (front side) of the apparatus 2, and a finished product carrying out robot 23 common to both stations is provided on the other side (rear side). In the work loading robot, a work loading portion 22b is provided rotatably and movably on a base table 22a extending along the first and second processing stations S1 and S2. , A common robot that carries in the workpieces W11 and W21 before processing. On the other hand, similarly, the finished product unloading robot 23 also performs the first and second processing stations S
A work unloading part 23b is provided rotatably and movably on a base table 23a extending along the lines S1, S2, and the work W12, W22 after the processing is completed from both the processing stations S1, S2 (completed product). It is a common robot that carries out unloading.

On both front and rear sides of the processing stations S1 and S2, four work carrying conveyors 24 are respectively provided.
A, 24A, 24B, 24B and four finished product unloading conveyors 25A, 25A, 25B, 25B are arranged in parallel, and the work unloading robot 22 is operated by an end of the work unloading conveyors 24A, 24B before processing. Work W1
1 and W21, the work W11 is loaded into the first processing station S1, and the work W21 is loaded into the second processing station S2. The conveyors 24A and 24B position and transport the workpieces W11 and W21 on the transport pallet 26. At a predetermined position, the workpiece loading robot 22 moves the transport pallet 26
Work pieces W11 and W21 are received from above.

The processing stations S1, S
Although not specifically shown, a fixing pin and a movable setting gauge as positioning means for positioning the workpieces W11 and W12 to be plasma-welded at predetermined processing positions are provided on the processing tables 11 and 12, respectively. It is provided above.

When the machining is completed, the finished product unloading robot 23 moves the workpiece W12 from the first machining station S1 and the workpiece W from the second machining station S2.
22 and the conveyer 25 for carrying out the finished product.
Welded work W1 is attached to the ends of A and 25B.
2, W22. Each of the conveyors 25A and 25B also positions and transports the workpieces W12 and W22 on the transport pallet 27, and the finished product unloading robot 23 receives the workpieces W12 and W22 from the transport pallet 27 at a predetermined position. ing. The work of carrying in and carrying out the work W11, W21, W12, and W22 is not necessarily performed by the robot, and may be performed by other mechanical means or manually.

The processing stations S1. On one side of S2, an NG product unloading pallet 31 and a dowel punch device 32
On the other side, a plurality of robot control panels 33 and a system control panel 34 are provided.

Subsequently, the above automatic plasma welding apparatus 1
Will be described.

For example, when the loader 13 is located at the first processing station S1, the work loading robot 22 places the loader 13 on the processing table 11 of the second processing station S2 where the loader 13 is not currently located. , Work W
21 (for example, a tailored blank material for welding plate materials having different thicknesses) is placed, and a series of operations such as positioning by the positioning means such as the gauge in the processing station S2 are performed. This series of operations is performed manually or by mechanical means such as a robot.
In the first processing station S1, the upper part of the processing table 11 of the second processing station S2 is open, so that it can be performed extremely smoothly.

When the processing at the first processing station S1 is completed, the loader 13 moves from the first processing station S1 to the second processing station S2. During this movement and the second processing station S
2, the upper part of the processing table of the first processing station S1 is opened, the completed work W12 is carried out, and the work W11 to be processed next is loaded. And a series of operations such as positioning are performed.

On the other hand, when the loader 13 reaches the second station S2, the positioned work is pressed immovably onto the processing table 11 by the pressing means mounted on the loader 13. The stop position of the loader 13 is configured to be determined by a motor control by a control unit (not shown) using a servomotor as the motor 15 for movement. , S2 and the loader 13 may be provided with positioning means for positioning the loader 13 so as to be mechanically positioned.

After being fixed in this way, the loader 1
The workpiece W21 is welded by moving a plasma welding tool, which is an end effector of each welding robot 21 mounted on the workpiece 3, according to a predetermined program. In addition, a workpiece has a plurality of welding lines, and a plurality of welding robots 21 corresponding thereto.
(In this example, there are four welding lines, so the same number of four welding robots) are provided. Since the welding lines can be welded at the same time, welding can be performed efficiently and processing can be performed in a short time. Can be terminated. Further, since the plasma welding tool is capable of obtaining a wide welding bead, the welding robot 21 is configured with a highly versatile articulated robot, and even if the linear trajectory accuracy of the welding robot 21 decreases, The welding process can be performed without any special measures for ensuring the linear trajectory accuracy.

After the completion of the welding at the second processing station S2, the pressing by the pressing means is released, and then the loader 13 is moved to the first processing station S1 and a new one is obtained at the first processing station S1. While the welding process is performed on the workpiece W11 before the welding process, the workpiece W22 after the welding process is completed in the second processing station S2 is taken out of the processing table 11 by the finished product unloading robot 23.

As described above, the loader 13 moves between the two processing stations S1 and S2, and the processing is performed alternately in each of the processing stations S1 and S2. Therefore, the loss time is reduced from one processing station to the other. This is only the time required to move to the processing station and the time required to fix the work to the processing table by the pressing means.
The cycle time can be reduced as compared with the device described in Japanese Patent Application Laid-Open Publication No. H10-209,878.

Although the embodiment of the automatic machining apparatus according to the present invention has been described above, the present invention is not limited to this. As will be described below, the automatic plasma welding process according to the present invention described above will be described. Various modifications can be made to the details of the device. (1) The loader 13 is configured to have a single frame 14, but the present invention is not limited to this. For example, as shown in FIG. It is also possible to have a main frame 14A that supports (not shown) and another sub-frame 14B, and the pressing means 41 is supported by the sub-frame 14B. Here, the pressing means 41 includes an actuator 42 and a pressing tool 43 which is moved up and down by the actuator 42 in the vertical direction. If the work is clamped in between, the work can be prevented from moving.

With this configuration, when the work is pressed against the processing table 11 by the pressing means 41,
The reaction force is received by the sub-frame 14B, and the sub-frame 14B may be deflected, but the industrial robot has a different main frame 14A from the sub-frame 14B.
Is not affected by the deflection,
Processing accuracy by the industrial robot can be prevented from being impaired.

Further, each of the processing stations S1, S
2, a positioning means 45 for positioning the loader 13 is provided. The positioning means 45 is provided between the sub-frame 14B of the loader and the processing station as shown in detail in FIG. 3, for example, but may be provided between the main frame 14A and the processing station. . The positioning means 45 includes:
An actuator 46 provided on the processing stations S1 and S2 side, an engaging rod member 47 driven forward and backward by the actuator 46, and the engaging rod member 47 provided on the subframe 14B side are detachable. Although the configuration includes the engaged member 48 to be engaged, the engaged member may be provided on the processing station side, and the engaging rod member may be provided on the frame side of the loader.

In this way, each processing station S
In steps S1 and S2, the loader is mechanically positioned at a fixed position, the pressing means 41 is applied to the work with high accuracy, and even when the same processing is repeated, the loader is positioned at the same position. Can be processed well.

Further, the main frame 14A
And the sub-frame 14B are connected by separable connecting means. At each processing station, the main frame 14A and the sub-frame 14B are connected to each other in order to extend the processing range of the robot or to change the portion pressed by the pressing means. The main motor 14A may be released so that only the main frame 14A can be moved (in this case, the moving motor 15 is provided on the main frame 14A, and the positioning means 45 is provided on the sub-frame 14B). In this case, the main frame 14A and the sub-frame 14B do not necessarily need to move on a common guide rail, and they may move on different guide rails. (2) The loader 13 is a self-propelled type having a moving means (moving motor 15) itself, but is not limited thereto. The loader 13 does not have a moving means itself, and includes a ball screw means, a traction means, and the like. It goes without saying that it is also possible to use one that is moved by conveyor means.

Also, an industrial robot as a loader driving means may be provided outside, and the tip of the arm of the industrial robot may be connected to the loader, and the industrial robot may move the loader. (3) The pressing means mounted on the loader is as described above. The pressing tool 43 is moved up and down by the actuator 42, and the work is pressed from above by the pressing tool 43 against the working table. However, a push rod, a fluid pressure cylinder, or the like may be used as the actuator. Needless to say, any other configuration can be used as long as the presser can be lowered to maintain the pressurized state.

Thus, for example, in the automatic processing apparatus, the loader is provided with the pressing means for pressing the work against the processing table at each of the processing stations together with the industrial robot. As a pressing means, an industrial robot (articulated robot) having a pressing tool as an end effector can be used. That is, an automatic processing apparatus that includes a plurality of processing stations including a processing table, and a movable loader that moves between the plurality of processing stations, and performs processing of a positioned workpiece at each processing station, The loader is configured to perform processing on the positioned work.
And a second industrial robot that presses a workpiece against the processing table at each of the processing stations.

Further, the pressing means does not necessarily need to be transported by the loader, but may be installed at each processing station. For example, as pressing means
When an industrial robot having a holding tool is used as an end effector, an industrial robot having such a holding function is used, that is, a plurality of working stations including a working table and a plurality of working stations between the working stations. An automatic processing apparatus for processing a positioned work at a processing station, comprising: a movable loader that moves; a first industrial robot that processes the positioned work on the loader; On the other hand, a second industrial robot that presses a workpiece against the processing table may be provided at each of the processing stations.

In this manner, the work of the work and the pressing of the work can be performed by the industrial robot, and the control thereof can be performed collectively. Also in these cases, the first industrial robot is provided on the loader with a positional relationship in which all positions on the processing table can be set as teaching points of any of the robots. It is desirable that the number of the first industrial robots is equal to or greater than the number of processing parts (for example, welding lines) in the workpiece, and that the processing parts are simultaneously processed by each robot. From the viewpoint of improving the processing efficiency,
desirable.

As the second industrial robot, it is desirable to use, as an end effector, an articulated robot having a pressing tool for pressing a work against the processing table. (4) To perform a multi-step process such as a welding robot repeating a welding operation at the same processing station as in the case of welding a work having a plurality of welding lines greater than the number of the welding robots 21. Can also. (5) The target work is not limited to a thin steel plate (tailored blank material), and the industrial robot is not limited to one that performs plasma welding, and various types of laser welding, cutting, bending, punching, and the like are performed. Which performs the above-mentioned processing operation can be adopted. (6) The number of processing stations is not limited to two. The number of processing stations may be plural, and the processing may be performed by sequentially moving the loader.

[0053]

The present invention is embodied as described above, and has the following effects.

In the automatic processing apparatus of the present invention, a mobile loader supporting an industrial robot for processing a work positioned at each processing station moves between a plurality of processing stations. The processing can be performed using a general-purpose industrial robot, and the design becomes easier and the cost can be significantly reduced as compared with the case where a dedicated processing device is manufactured.

Processing can be performed except when the loader moves between the processing stations. During processing in one processing station, positioning of a workpiece is performed in a processing station for performing the next processing. Since necessary work such as the above can be performed, the recycling time can be reduced. Therefore, processing efficiency can be improved and cost can be reduced. In addition, since the loader is not used as a means for transferring the work, a means for holding the work such as a vacuum is not required. In this way, it is possible to reduce the time from the completion of processing to the start of the next processing and improve the processing efficiency with an inexpensive and simple configuration.

In this case, if the plurality of industrial robots are provided, and all positions on the processing table are provided on the loader in such a positional relationship that they can be used as teaching points of any of the robots, In each processing station, with the loader stopped, all parts of the work placed on the processing table can be processed by the industrial robot without being restricted by the processing mode. Further, since processing can be performed simultaneously by a plurality of industrial robots, the processing time is shortened, and the processing efficiency is improved.

If the industrial robot is a multi-joint robot having a welding tool capable of obtaining a wide welding bead as an end effector, a wide welding bead can be obtained even if the linear trajectory accuracy of the multi-joint robot is low. Therefore, welding can be performed without any special measures to secure the linear trajectory accuracy.

In each of the processing stations,
If the positioning means for positioning the loader is provided, in each processing station, the loader can be mechanically positioned at a fixed position, and the pressing means can be accurately applied to the work, Further, even if processing is repeated, processing can be performed at the same location with high accuracy.

Further, the positioning means includes an actuator provided on the processing station or the loader side, an engaging member driven forward and backward by the actuator,
Since the engaging member is provided on the side of the loader or the processing station and the engaged member is removably engaged, by operating the actuator,
Disengagement (mechanical positioning) between the engaging member and the engaged member can be easily and easily realized.

[Brief description of the drawings]

FIG. 1 is a plan view of an automatic plasma welding apparatus according to the present invention.

FIG. 2 is a side view of an automatic plasma welding apparatus according to another embodiment.

FIG. 3 is a detailed view of a part III in FIG. 2;

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Automatic plasma welding apparatus 11 Processing table 12 Processing table 13 Loader 14 Frame 15 Motor for movement 16 Guide rail 21 Plasma welding robot 41 Pressing means 45 Positioning means 46 Actuator 47 Engaging rod member 48 Engaged member S1 First Processing station S2 Second processing station W11 Work before processing W12 Work after processing W21 Work before processing W22 Work after processing

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Claims (5)

[Claims] A plurality of processing stations each including a processing table; and a movable loader that moves between the plurality of processing stations.
An automatic processing apparatus for processing a positioned work, comprising: an industrial robot that performs processing on the positioned work; and a work that presses the work against the processing table in each of the processing stations. An automatic processing device comprising a pressing means. 2. A plurality of industrial robots are provided on the loader in such a manner that all positions on the processing table can be set as teaching points of any of the robots. The automatic processing device according to claim 1. 3. The automatic machining apparatus according to claim 1, wherein the industrial robot is a multi-joint robot including a welding tool capable of obtaining a wide welding bead as an end effector. 4. The automatic processing apparatus according to claim 1, wherein positioning means for positioning the loader is provided between the processing station and the loader. 5. The positioning means includes an actuator provided on the processing station or the loader side, an engaging member driven forward and backward by the actuator, and an engaging member provided on the loader or the processing station side. The automatic processing apparatus according to claim 4, further comprising an engaged member that is removably engaged.