JP2006231431A - Damping control method for transfer device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a damping control method for a small and inexpensive transfer device in which a cycle time is reduced by suppressing vibration at the tip of a loading device in the transfer device which is composed of a portal fixed part provided with legs and a beam, a traveling rail arranged to the fixed part, and the loading device fixed to a traveling part moving on the traveling rail. <P>SOLUTION: A damping control program is incorporated into a controller. The damping control program stores an operating condition data table. The traveling part and the loader part are driven by reading out an operating condition coefficient with two factors of an arm length and a mass of a workpiece in the operating condition data table. <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

  The present invention relates to a vibration damping control method for a conveying device that is mounted on a processing line or the like and is loaded with a loading device that transfers workpieces between a plurality of processing machines and travels above the processing machine.

  In order to supply and discharge workpieces to and from a plurality of processing machines in the processing line, a traveling rail is arranged above the processing machine, and a loading device for delivering the workpiece is mounted on the traveling unit that moves on the traveling rail. An apparatus for supplying and discharging a workpiece between processing machines by the apparatus is generally performed.

When transporting between processing machines, those with a long cycle time may be moved at a low speed, but those with a short cycle time must be moved at a high speed,
Since rapid acceleration / deceleration has to be performed, vibration is generated in the traveling portion on the traveling rail and the tip of the loading device, and the workpiece cannot be discharged and supplied unless the vibration is reduced.

  Therefore, when moving the workpiece, the motor speed, acceleration / deceleration time, filter, etc. are adjusted to suppress vibration after actually moving, and the setting is changed each time through trial and error to make the optimum setting. It depends largely on the experience of the operator, and it takes time to make the optimum settings.

  In addition, since there is a natural frequency depending on the device configuration, depending on the operating conditions, the vibration may not be settled by simply changing the acceleration / deceleration time. In such cases, there are many cases that cannot be solved only by the experience of the worker, which is a time-consuming factor.

There is also a type that attaches a sensor to the tip of the loading device, monitors the state of vibration, and feeds back the result to perform automatic setting, but the sensor and sensor control device and control method become complicated and constitute the device In addition to an increase in cost, there are also problems such as an increase in weight and an increase in operating time.
JP 2003-220535 A

The present invention aims to solve the above problems.
In other words, in a transport device comprising a fixed portion having legs and girders and having a gate shape, a traveling rail disposed on the fixed portion, and a loading device fixed to the traveling portion moving on the traveling rail, An object of the present invention is to provide a vibration damping control method for a conveying device that reduces the cycle time by suppressing vibration at the tip of the loading device, and is small and does not require manufacturing costs.

  It is another object of the present invention to make it easy to set operating conditions without depending on the experience of the operator.

  As a means for solving the above-mentioned problems, the present invention is fixed to a fixed part having a gate shape with legs and girders, a traveling rail disposed on the fixed part, and a traveling part moving on the traveling rail. The vibration control program is stored in the control controller, and the vibration control program stores the operation condition data table, which depends on two factors: arm length and work mass in the operation condition data table. The operating condition coefficient is read to drive the traveling unit and the loader unit.

  Also, the operating condition coefficient in the operating condition data table is specified from the matrix stored in the storage medium by eliminating the factor due to the natural frequency by setting the natural frequency of the loader to avoid resonance by calculation. Read and store data on arm length and workpiece mass.

  Further, the vibration suppression control program patterns a plurality of operation tables and sets them with operation condition coefficients.

  As described above, the conveyance unit includes a fixed portion having a gate shape with legs and girders, a traveling rail disposed on the stationary portion, and a loading device fixed to the traveling portion moving on the traveling rail. In the machine, a vibration suppression control program is incorporated into the controller, and the vibration suppression control program stores the operation condition data table, and reads out the operation condition coefficient from the two factors of arm length and workpiece mass in the operation condition data table, and the traveling unit In addition, anyone can easily perform the operation of suppressing the vibration set by the operator's experience by driving the loader unit regardless of the experience.

  Also, the operating condition coefficient in the operating condition data table is specified from the matrix stored in the storage medium by eliminating the factor due to the natural frequency by setting the natural frequency of the loader to avoid resonance by calculation. By reading and storing only data related to arm length and workpiece mass, the capacity of the control program can be reduced.

  Furthermore, the vibration suppression control program can perform an optimum operation in accordance with the operation such as the state of the workpiece being transferred and the insertion method by patterning a plurality of operation tables and setting them with the operation condition coefficient.

  Moreover, since the inertial force of the traveling unit and the loader unit can be accurately controlled by vibration suppression control, high-accuracy positioning can be performed.

Hereinafter, embodiments of the present invention will be described with reference to the drawings.

As shown in FIG. 1, the transport device of this embodiment includes a leg 5 and a girder 4 to form a fixed part 1 having a gate shape, and a traveling rail is parallel to the girder 4 on the girder 4 in the fixed part 1. It is fixed to.

A traveling unit 2 that moves on the traveling rail is disposed on the traveling rail, and a loading device 3 that is driven vertically and vertically with respect to the beam 4 is fixed to the traveling unit 2. Is fixed.

The traveling unit 2 and the loading device 3 are driven by a numerically controllable motor and can set operating conditions.

Next, operation | movement of this conveying apparatus is demonstrated.

In the processing line of the embodiment, the workpiece conveyed by the conveyor 7 is processed by the two processing machines 6 and then unloaded by another conveyor.

The workpiece conveyed by the conveyor 7 moves the loading device 3 waiting above the conveyor 7 up and down, clamps it with the hand 8 attached to the tip, and conveys it to the processing machine 6. The processed workpiece is again conveyed to the conveyor by the loading device that has been waiting above the processing machine, and the conveyor carries out.

In the present embodiment, the case where the two processing machines 6 perform the same processing is described, but the case where the two processing machines perform different processing, or the case where the processing machines are conveyed from the processing machine to the processing machine may be used.

Further, the hand 8 is of a type in which two hands turn in the drawing, but one or a plurality of hands may be exchanged.

Since the loading device 3 is moved left and right on the beam 4 by the traveling unit 2 and the loading device 3 is also driven up and down, the hand fixed to the tip end tends to vibrate by inertia force and natural frequency. If the vibration is large, mistakes in insertion into the processing machine will occur, so it will be inserted after the vibration is attenuated.In the present invention, the operating conditions that are difficult to cause vibration are determined by determining the arm length and the workpiece weight. The operation without vibration can be performed by calling and setting the operation conditions of each state.

As shown in FIG. 4, first, the arm length is set for each stop length.

In this embodiment, three positions are determined as the arm length: the loading device ascending end, the conveyor delivery position, and the processing machine delivery position.

Next, the work weight is determined in three ways: when the work is not clamped and when one or two are clamped.

When the arm length and the workpiece weight are determined, an operating condition data table for the traveling unit and loading device that meet the transfer work conditions is created.

The operating condition data table stores the motor operating conditions of the traveling unit and the loading device by selecting the arm length and the workpiece weight.

The motor operating conditions should be calculated and determined so that they do not become the natural frequency of the equipment, and prepared after testing.

Further, in order to store the motor operating conditions, it is preferable to prepare an operating condition matrix for the traveling section motor and the loading device motor as shown in FIG. 5 and read from the one stored in the storage medium. .

In addition to the arm length and workpiece weight, the vibration suppression control program patterns a plurality of operation tables, and each pattern is set by an operation condition coefficient, so that an optimum operation table can be selected.

The above configuration relates to a loading device that supplies and discharges workpieces to the processing machine, but is also effective for conveying devices such as an assembly process and a cleaning process.

Front view of the apparatus of this example Side view of the device of this example Front view showing the operation of the apparatus of the present embodiment Flow chart for determining operating conditions Table showing operating condition matrix for running motor

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Fixed part 2 Traveling part 3 Loading apparatus 4 Digit 5 Leg 6 Processing machine 7 Conveyor 8 Hand

Claims (4)

  A control controller in a transport device comprising a fixed part having a gate shape with legs and girders, a travel rail disposed on the fixed part, and a loading device fixed to the travel part moving on the travel rail The vibration suppression control program stores the operation condition data table, reads the operation condition coefficient from the two factors of arm length and workpiece mass in the operation condition data table, and sets the traveling unit and loader unit. A vibration damping control method for a conveying device, characterized by being driven.   2. The vibration suppression control method for a transfer apparatus according to claim 1, wherein the operation condition coefficient in the operation condition data table is set by avoiding resonance by calculating the natural frequency of the loader.   3. The vibration control method for a transfer apparatus according to claim 1 or 2, wherein the operation condition data table reads and stores data relating to a specified arm length and workpiece mass from a matrix stored in a storage medium. .   4. The vibration damping control program according to claim 1 or 3, wherein the vibration damping control program patterns a plurality of motion tables, and each pattern is set by a motion condition coefficient. Method.

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