JP2017177286A - Work-piece exchange device, work-piece exchange method and computer program - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a work-piece exchange device, work-piece exchange method and computer program capable of reducing a footprint as well as securing safety.SOLUTION: A work-piece exchange device is arranged between a cover disposed outside a wall covering a machine tool, and the wall, and comprises a robot for exchanging work-pieces inside and outside of the wall. The robot comprises an exchange mechanism for exchanging work-pieces between inside the wall and outside the cover. The work-piece exchange device comprises: a position determination part for determining whether or not the exchange mechanism is positioned outside the cover; and a speed setting part which sets an operation speed of the exchange mechanism to a first speed when the position determination part determines the exchange mechanism is positioned outside the cover, while sets the operation speed of the exchange mechanism to a second speed, slower than the first speed, when the position determination part determines the exchange mechanism is not positioned outside the cover; and a control part for drive-controlling the exchange mechanism at the speed which has been set by the speed setting part.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a workpiece exchange device, a workpiece exchange method, and a computer program for exchanging a workpiece using a robot inside and outside a wall covering a machine tool.

  A wall covers the machine tool to prevent scattering of chips and coolant. The wall has an open / close door. A robot is positioned outside the door, and the robot exchanges workpieces in conjunction with opening and closing of the door. A safety fence is located outside the wall. The robot is located between the fence and the wall, and performs an exchange operation inside the fence (for example, see Patent Document 1).

JP2015-205385A

  Since the robot replacement work space is secured in the fence, the occupied area of the machine tool, the wall, the robot and the fence increases, and only a few machine tools can be arranged in the factory.

  The present invention has been made in view of such circumstances, and an object of the present invention is to provide a workpiece exchange device, a workpiece exchange method, and a computer program that can reduce the occupied area and ensure safety.

  The workpiece changer according to the present invention is a workpiece changer provided with a robot that is positioned between a wall disposed outside a wall that covers a machine tool and the wall, and that exchanges workpieces inside and outside the wall. Has a replacement mechanism for exchanging a workpiece between the inside of the wall and the outside of the cover, and a position determination unit that determines whether or not the replacement mechanism is positioned outside the cover; and the position determination unit When it is determined that the replacement mechanism is located outside the cover, the operating speed of the replacement mechanism is set to the first speed, and the position determination unit determines that the replacement mechanism is not located outside the cover. And a speed setting unit that sets the operating speed of the exchange mechanism to a second speed that is slower than the first speed, and a control unit that drives and controls the exchange mechanism at a speed set by the speed setting unit. The And butterflies.

  In the workpiece exchanging apparatus according to the present invention, the exchanging mechanism includes a first arm that rotates around one end, a first drive source that rotationally drives the first arm, and the gripping portion at one end. A second arm rotatably connected to the other end of the first arm; and a second drive source for rotationally driving the second arm; A first rotation angle calculation unit that calculates a rotation angle; and a second rotation angle calculation unit that calculates a rotation angle of the second arm, wherein the position determination unit includes the first rotation angle calculation unit and the second rotation. Based on the calculation result of the angle calculation unit, it is determined whether at least a part of the first arm or the second arm is located outside the cover.

  The workpiece exchanging apparatus according to the present invention is characterized in that the robot exchanges the workpiece in conjunction with opening / closing of an opening / closing door provided on the wall.

  The workpiece replacement method according to the present invention is a workpiece replacement method in which a robot positioned between a wall disposed on the outside of a wall covering a machine tool and the wall replaces the workpiece inside and outside the wall. Having an exchange mechanism for exchanging a workpiece between the inside of the cover and the outside of the cover, determining whether the exchange mechanism is located outside the cover and determining that the exchange mechanism is located outside the cover If the operation speed of the exchange mechanism is set to the first speed and it is determined that the exchange mechanism is not located outside the cover, the operation speed of the exchange mechanism is set to a second speed that is slower than the first speed. And the drive mechanism of the exchange mechanism is controlled at the set speed.

  The computer program according to the present invention is a computer that can be executed by a control device that controls the driving of a robot that is located between a wall disposed outside a wall that covers a machine tool and the wall and that exchanges workpieces inside and outside the wall. In the program, the robot has an exchange mechanism for exchanging a workpiece between the inside of the wall and the outside of the cover, and the control device determines whether the exchange mechanism is located outside the cover. If the replacement mechanism is determined to be located outside the cover, the operating speed of the replacement mechanism is set to the first speed, and if it is determined that the replacement mechanism is not located outside the cover, the replacement mechanism The operation speed is set to a second speed slower than the first speed, and the exchange mechanism is driven and controlled at the set speed.

  In the present invention, the robot exchanging mechanism exchanges the workpiece between the inside of the wall and the outside of the cover. That is, the movable range of the exchange mechanism includes a region outside the range where the cover covers the robot. Therefore, when the exchange mechanism is located outside the cover, the drive speed of the exchange mechanism is lowered, the area occupied by the robot and the cover is reduced, and safety is ensured. When the exchange mechanism is not located outside the cover, the drive speed of the exchange mechanism is increased and the workpiece is exchanged in a short time.

  In the present invention, the exchange mechanism includes a rotatable first arm and a second arm. Based on the rotation angle of the first arm and the second arm, whether the exchange mechanism is located outside the cover, in other words, whether at least a part of the first arm or the second arm is located outside the cover. Determine.

  In the present invention, the robot exchanges workpieces in conjunction with opening / closing of the opening / closing door provided on the wall, thereby realizing smooth workpiece exchange.

  In the workpiece exchange device, workpiece exchange method, and computer program according to the present invention, the robot exchange mechanism exchanges workpieces between the inside of the wall and the outside of the cover. That is, the movable range of the exchange mechanism includes a region outside the range where the cover covers the robot. Therefore, when the replacement mechanism is located outside the cover, the drive speed of the replacement mechanism can be lowered, the area occupied by the robot and the cover can be reduced, and safety can be ensured. When the exchange mechanism is not located outside the cover, the drive speed of the exchange mechanism can be increased and the workpiece can be exchanged in a short time.

It is a perspective view which briefly shows a machine tool, a wall, a door unit, a robot, and a cover. It is a perspective view which briefly shows a machine tool, a wall, and a door unit. It is a partial expansion perspective view which shows a plunger and a block schematically. It is a longitudinal cross-sectional view which shows a plunger schematically. It is a partial cross-section right side view schematically showing the robot. It is a simplified enlarged vertical sectional view of the vicinity of the gripping part. It is a schematic perspective view of an exchange mechanism. It is a partial enlarged front view which shows the plunger and engagement groove of a non-engagement state. It is a partial expanded front view which shows the plunger and engagement groove of an engagement state. It is a block diagram which shows schematically the structure of the vicinity of the control apparatus which controls the drive of a robot. It is a partial enlarged front view which shows the reference | standard which measures the 1st rotation angle of a 1st arm, and the 2nd rotation angle of a 2nd arm. It is a flowchart explaining the speed setting process by a control apparatus. It is a flowchart explaining the workpiece | work exchange process by a control apparatus. It is a top view which briefly shows the robot of an initial state. It is a front view which briefly shows the robot of an initial state. It is a top view which shows schematically the robot of the state which the opening-and-closing door closed and the ball | bowl engaged with the engagement groove | channel. FIG. 6 is a partial cross-sectional front view schematically showing the robot in a state where the open / close door is closed and the ball is engaged with the engagement groove. It is a top view which shows schematically the robot of the state where the opening-and-closing door opened and the exchange mechanism entered the inner side of the wall. FIG. 6 is a partial cross-sectional front view schematically showing the robot in a state where the opening / closing door is opened and the exchange mechanism is inside the wall. FIG. 6 is a plan view schematically showing the robot in a state where the exchange mechanism exchanges the workpiece on the outside of the cover. FIG. 6 is a front cross-sectional view schematically showing a robot in a state in which an exchange mechanism exchanges a workpiece outside a cover.

  Hereinafter, a work exchanging apparatus according to the present invention will be described based on the drawings. In the following description, the top / bottom / left / right front / rear shown in the figure are used. FIG. 1 is a perspective view schematically showing the machine tool 100, the wall 101, the door unit 4, the robot 1, and the cover 2.

  A wall 101 covering the machine tool 100 is provided around the machine tool 100. An opening (not shown) is provided on the right portion of the wall 101, and the door unit 4 is provided on the right side of the opening. A U-shaped cover 2 in plan view is provided on the right side of the door unit 4.

  The cover 2 includes a front plate portion 2a and a rear plate portion 2b extending in the vertical and horizontal directions, and a right plate portion 2c extending in the vertical and longitudinal directions. The right plate portion 2c connects the right end of the front plate portion 2a and the right end of the rear plate portion 2b. An opening 2d is provided in the right plate portion 2c.

  The robot 1 is provided between the cover 2 and the wall 101 and the door unit 4. On the right side of the cover 2, a mounting table 90 for mounting the work 91 is provided. The mounting table 90 is located right next to the opening 2d. The robot 1, the cover 2, and the door unit 4 constitute a work changer.

  2 is a perspective view schematically showing the machine tool 100, the wall 101, and the door unit 4. FIG. 3 is a partially enlarged perspective view schematically showing the plunger 44 and the block 45a. FIG. 4 is a longitudinal sectional view schematically showing the plunger 44. is there.

  The door unit 4 has a rectangular parallelepiped shape and includes a thin casing 41 extending in the up-down and front-back directions. The housing 41 includes an opening 42, and the opening 42 penetrates right and left sides of the housing 41 left and right. The opening 42 of the housing 41 is arranged at a position corresponding to the opening of the wall 101. The housing 41 accommodates an open / close door 43 that is movable in the front-rear direction. The open / close door 43 is substantially parallel to the housing 41 and moves back and forth to open and close the opening 42.

  As shown in FIGS. 2 and 3, a plunger 44 and a block 45 a are provided at the front end portion of the opening / closing door 43 via an L-shaped attachment 46. The plunger 44 is located above the block 45a. As shown in FIG. 4, the plunger 44 is provided in the case 44a that protrudes rightward from the open / close door 43, a cylindrical storage chamber 44b that extends in the left and right directions, and is stored in the storage chamber 44b. Provided with an elastic member 44c and a ball 44d provided at the right end of the elastic member 44c. The storage chamber 44b penetrates the right side surface of the case 44a, and the diameter of the right end of the storage chamber 44b is smaller than other portions.

  The diameter of the ball 44d is larger than the diameter at the right end of the storage chamber 44b and smaller than the other part of the storage chamber 44b. Therefore, the ball 44d can move left and right in the storage chamber 44b, but does not jump rightward from the storage chamber 44b. The elastic member 44c biases the ball 44d to the right. The elastic member 44c is, for example, a spring or rubber. The block 45a is a member that is detected by a proximity sensor 45b, which will be described later, and is a box-shaped member formed of a metal such as iron.

  FIG. 5 is a partial right side view schematically showing the robot 1, FIG. 6 is a schematic enlarged vertical sectional view of the vicinity of the gripping portion 60, and FIG. 7 is a schematic perspective view of the exchange mechanism 70. FIG. 5 shows the exchange mechanism 70 in a longitudinal section. The robot 1 includes a rectangular parallelepiped base 12 extending forward and backward. Two tracks 13 extending in the front-rear direction are provided on the right side surface of the base 12. The two tracks 13 are separated from each other in the vertical direction.

  A screw shaft 14 extending in the front-rear direction is provided between the two tracks 13. Two bearings 15 support the front part and the rear part of the screw shaft 14, respectively. A first motor 11 is provided at the rear end of the screw shaft 14. The nut 16 is connected to the middle portion of the screw shaft 14 via a rolling element (not shown). A support plate 18 is provided on the right side of the nut 16.

  The support plate 18 has a reverse L shape when viewed from the front, and includes a right plate portion 18a extending in the vertical direction and an upper plate portion 18b protruding leftward from the upper end of the right plate portion 18a. The right plate portion 18 a is connected to the nut 16 via the mounting plate 17. As the first motor 11 rotates, the nut 16 and the support plate 18 move back and forth. The upper plate portion 18b supports an exchange mechanism 70 that exchanges workpieces. As shown in FIGS. 5 and 7, a proximity sensor 45b is provided in the direction of the wall 101 of the upper plate portion 18b. The proximity sensor 45b is, for example, a hall sensor, an optical sensor, or an ultrasonic sensor, and detects the proximity of an object.

  The exchange mechanism 70 includes a front support 20 and a rear support 21. The front support body 20 and the rear support body 21 are separated from each other in the front-rear direction and are fixed to the upper surface of the upper plate portion 18b. The rear support 21 has a cylindrical shape with the front-rear direction as the axial direction, and a second motor 22 (first drive source) is provided at the rear of the rear support 21. A transmission cylinder 24 with the front-rear direction as the axial direction is provided inside the rear support 21. The rotating shaft 22 a of the second motor 22 is coaxially connected to the shaft portion of the transmission cylinder 24.

  The front support 20 has a cylindrical shape with the front-rear direction as the axial direction, and accommodates the third motor 23 (second drive source). The rotation shaft 23 a of the third motor 23 projects rearward from the front support 20.

  A first arm 31 is provided between the front support 20 and the rear support 21. The first arm 31 has a box shape extending vertically. The lower end of the first arm 31 has a cylindrical shape penetrating in the front-rear direction. The lower end portion of the first arm 31 protrudes rearward. As shown in FIGS. 5 and 7, an engagement groove 31 a for engaging the ball 44 d of the plunger 44 is provided on the rear outer peripheral surface of the lower end portion of the first arm 31. The engagement groove 31a is located right next to the plunger 44 in the left-right direction. The engaging groove 31a is formed in an arc shape and is provided in a part of the rear outer peripheral surface of the lower end portion. A transmission cylinder 24 is coaxially connected to the rear portion of the lower end portion via a disc-shaped hub 25.

  A rotating shaft 23 a of the third motor 23 is inserted into the front portion of the lower end portion of the first arm 31. A pulley 26 is provided on the rotation shaft 23 a of the third motor 23. The rotation shaft 23a of the third motor 23, the rotation shaft 22a of the second motor 22, the shaft portion of the transmission cylinder 24, and the shaft center of the lower end portion of the first arm 31 are located on the first shaft (see FIG. 7). The second motor 22 rotates, the transmission cylinder 24 rotates around the first axis, and the first arm 31 rotates around the first axis around the lower end.

  A transmission cylinder 33 is provided on the front side of the upper end of the first arm 31 with the front-rear direction as the axial direction. The transmission cylinder 33 includes a shaft portion 33a projecting forward and backward. The rear end portion of the shaft portion 33 a passes through the upper end portion of the first arm 31 and is located inside the first arm 31. A pulley 33b is provided at the rear end of the shaft portion 33a. A belt 36 is hung on two pulleys 26 and 33 b provided on the rotary shaft 23 a and the shaft portion 33 a of the third motor 23.

  A second arm 32 is provided on the front side of the transmission cylinder 33. The second arm 32 has a box shape extending vertically. A transmission cylinder 33 is connected to the upper end of the second arm 32. The shaft portion 33a is located on the second shaft (see FIG. 7). The third motor 23 rotates, the shaft portion 33a and the transmission cylinder 33 rotate around the axis via the belt 36, and the second arm 32 rotates around the second axis around the upper end portion.

  The lower end of the second arm 32 accommodates the fourth motor 34. An opening 32 a is provided on the rear side of the lower end portion of the second arm 32. The rotation shaft 34a of the fourth motor 34 protrudes rearward from the opening 32a. A pulley 35 is provided on the rotating shaft 34a.

  A support cylinder 66 is provided on the lower surface of the lower end of the second arm 32 with the front-rear direction as the axial direction. The support cylinder 66 has a bottomed cylindrical shape. The bottom of the support tube 66 is located on the rear side. A transmission body 65 is provided in the support cylinder 66. The transmission body 65 has a disk shape with the front-rear direction as the axial direction. A rotating shaft 67 is provided at the center of the transmission body 65. The rotating shaft 67 extends forward and backward from the transmission body 65. The rear end portion of the rotation shaft 67 passes through the bottom portion of the support tube 66 and protrudes to the rear side of the support tube 66. A pulley 36 is provided at the rear end of the rotary shaft 67. A belt 37 is hung on two pulleys 35 and 36 provided on the rotating shaft 34 a and the rotating shaft 67 of the fourth motor 34.

  A disc portion 68 is provided at the front end portion of the rotating shaft 67. An L-shaped support plate 64 in front view is provided on the front side of the disc portion 68. The disc portion 68 is connected to the corner portion 64 a of the support plate 64. The fourth motor 34 and the pulley 35 rotate, the pulley 36, the rotation shaft 67, and the transmission body 65 rotate via the belt 37, and the support plate 64 rotates. The support plate 64 rotates around the corner 64a with the front-rear direction as the rotation axis direction.

  A gripping portion 60 that grips the workpiece 91 is provided at each of both ends of the support plate 64. The gripping unit 60 includes a cylinder 61, a moving plate 62 that moves by driving the cylinder 61, and a receiving member 63 that faces the moving plate 62. The cylinder 61 is driven, and the moving plate 62 approaches the receiving member 63 or moves away from the receiving member 63. When the work 91 is positioned between the moving plate 62 and the receiving member 63 and the moving plate 62 approaches the receiving member 63, the moving plate 62 and the receiving member 63 grip the work 91. When the moving plate 62 and the receiving member 63 grip the work 91 and the moving plate 62 is separated from the receiving member 63, the moving plate 62 and the receiving member 63 release the work 91.

  FIG. 8 is a partially enlarged front view showing the plunger 44 and the engaging groove 31a in the non-engaged state, and FIG. 9 is a partially enlarged front view showing the plunger 44 and the engaging groove 31a in the engaged state. As shown in FIG. 8, when the first arm 31 is rotated to the right side (the wall 101 side), the engagement groove 31a is separated upward from the ball 44d. The ball 44d does not engage with the engaging groove 31a.

  As shown in FIG. 9, when the first arm 31 rotates to the left (opposite the wall 101), the engagement groove 31a is located in a range from the upper side to the lower side of the ball 44d. In other words, the vertical range in which the engagement groove 31a is located includes the vertical position of the ball 44d. When the front and rear positions of the engagement groove 31a and the ball 44d are substantially the same, the engagement groove 31a in the non-engagement state approaches the plunger 44, whereby the ball 44d is engaged with the engagement groove 31a.

  FIG. 10 is a block diagram schematically showing a configuration in the vicinity of the control device 80 that controls the driving of the robot 1. The control device 80 (position determination unit, speed setting unit, control unit) includes a CPU 81, a ROM 82, a RAM 83, a nonvolatile memory 84, an input interface 85, and an output interface 86. The CPU 81 reads the control program stored in the ROM 82 into the RAM 83, and controls the drive of the machine tool 100 and the workpiece changer. The ROM 82 stores an exchange program for exchanging the work 91. The CPU 81 sequentially reads a plurality of blocks constituting the exchange program and executes a work exchange process.

  The first motor 11 to the fourth motor 34 include a first encoder 11b to a fourth encoder 34b, respectively. The first encoder 11 b to the fourth encoder 34 b detect the rotation angles of the first motor 11 to the fourth motor 34 and input the detected rotation angles to the control device 80 via the input interface 85. The proximity sensor 45 b inputs a signal indicating whether or not the exchange mechanism 70 has approached to the control device 80. The control device 80 outputs drive signals to the first motor 11 to the fourth motor 34 and the cylinder 61 via the output interface 86.

  The control device 80 calculates the front-rear position of the transport device based on the rotation angle of the first motor 11 input from the first encoder 11b, and based on the rotation angle of the second motor 22 input from the second encoder 22b, The rotation angle of the first arm 31 is calculated, the second rotation angle of the second arm 32 is calculated based on the rotation angle of the third motor 23 input from the third encoder 23b, and the second rotation angle input from the fourth encoder 34b. Based on the rotation angle of the four motors 34, the direction of the support plate 64 around the rotation axis 67 is calculated.

  FIG. 11 is a partially enlarged front view showing a reference for measuring the first rotation angle of the first arm 31 and the second rotation angle of the second arm 32. The first rotation angle of the first arm 31 is based on a first reference line (vertical line) extending upward from the first axis, and the first rotation angle to the right is positive and the first rotation angle to the left Is negative. When the upper end portion of the first arm 31 rotates to the right of the first reference line, the angle formed by the first arm 31 and the first reference line is the positive first rotation angle of the first arm 31. When the upper end portion of the first arm 31 rotates to the left of the first reference line, the angle formed by the first arm 31 and the first reference line becomes the negative first rotation angle of the first arm 31.

  The second rotation angle of the second arm 32 is based on the second reference line extending in the longitudinal direction of the first arm 31 from the first axis, the second rotation angle to the right is positive, and the second rotation to the left The angle is negative. When the upper end portion of the second arm 32 rotates to the right of the first reference line, the angle formed by the second arm 32 and the second reference line becomes the positive second rotation angle of the second arm 32. When the upper end portion of the second arm 32 rotates to the left of the second reference line, the angle formed by the second arm 32 and the second reference line becomes the negative second rotation angle of the second arm 32.

  FIG. 12 is a flowchart for explaining speed setting processing by the control device 80. In the workpiece replacement process described later, the control device 80 pre-reads the replacement program and appropriately executes a speed setting process for setting the rotation speeds of the first arm 31, the second arm 32, and the support plate 64.

  The CPU 81 of the control device 80 reads a block for executing the rotation process of the first arm 31 to be executed next, and calculates the first rotation angle (step S1). CPU81 reads the block which performs the rotation process of the 2nd arm 32 performed next, and calculates the 2nd rotation angle of the 2nd arm 32 (step S2).

  The CPU 81 determines whether or not the calculated first rotation angle is less than 0 degrees and the second rotation angle is less than 0 degrees (step S3). When the calculated first rotation angle is less than 0 degrees and the second rotation angle is less than 0 degrees (step S3: YES), the speed indicating “high speed” is set in the RAM 83 or the nonvolatile memory 84 (step S4). ), The process is terminated.

  When the calculated first rotation angle is less than 0 degrees and the second rotation angle is not less than 0 degrees (step S3: NO), the speed indicating “low speed” is set in the RAM 83 or the nonvolatile memory 84 (step S5). The process is terminated.

  FIG. 13 is a flowchart for explaining the workpiece replacement process by the control device 80. FIG. 14 is a plan view schematically showing the robot 1 in the initial state, and FIG. 15 is a front view schematically showing the robot 1 in the initial state. 14 and 15, the exchange mechanism 70 protrudes outward (right side) from the opening 2 d of the cover 2. 16 is a plan view schematically showing the robot 1 with the door 43 closed and the ball 44d engaged with the engaging groove 31a. FIG. 17 is a plan view of the robot 1 closed and the ball 44d engaged with the engaging groove 31a. FIG. 3 is a partial cross-sectional front view schematically showing the robot 1 in a state of being performed.

  18 is a plan view schematically showing the robot 1 with the opening / closing door 43 opened and the exchange mechanism 70 inside the wall 101. FIG. 19 is a plan view showing the robot 1 opened and the exchange mechanism 70 inside the wall 101. FIG. 2 is a partial cross-sectional front view schematically showing the robot 1 in a state where 20 is a plan view schematically showing the robot 1 in a state where the exchange mechanism 70 exchanges the work 91 outside the cover 2, and FIG. 21 shows the robot 1 in a state where the exchange mechanism 70 exchanges the work 91 outside the cover 2. It is front sectional drawing to show schematically.

  A work exchange process will be described. In the initial state, it is assumed that the open / close door 43 is closed and the robot 1 is located at the rear end of the track 13. Further, it is assumed that the first rotation angle and the second rotation angle are 0 degrees or more (see FIGS. 14 and 15). The CPU 81 executes speed setting processing and sets the speed (step S11). The CPU 81 pre-reads the machining program, reads the target angles (first rotation angle and second rotation angle) of the first arm 31 and the second arm 32 to be executed next, and executes a speed setting process.

  The CPU 81 rotates the first arm 31 to the right until the engagement groove 31a does not engage with the ball 44d (step S12). The CPU 81 takes in the detection value of the second encoder 22b and feedback-controls the second motor 22. In step S11, the CPU 81 reads the angle (first rotation angle) at which the first arm 31 rotates to the right until the engagement groove 31a does not engage with the ball 44d. Therefore, in step S12, a speed indicating "low speed" has been set, and the first arm 31 rotates at a low speed.

  The CPU 81 outputs a drive signal to the first motor 11, and the robot 1 moves forward to a predetermined position (step S13). The CPU 81 takes in the detection value of the first encoder 11b and feedback-controls the first motor 11. The predetermined position is a position where the ball 44d can be engaged with the engagement groove 31a. When the robot 1 reaches the position where it can be engaged, the proximity sensor 45b detects the block 45a provided at the front end portion of the open / close door 43 via the L-shaped attachment 46 and turns on. The proximity sensor 45b maintains the ON state even when the robot 1 moves forward and backward when the ball 44d is in a position where the ball 44d can be engaged with the engagement groove 31a.

  The CPU 81 captures the signal from the proximity sensor 45b and waits until the proximity sensor 45b is turned on (step S14: NO). When the proximity sensor 45b is turned on (step S14: YES), the CPU 81 executes a speed setting process and sets the speed (step S15).

  The CPU 81 rotates the first arm 31 to the left until the engagement groove 31a engages with the ball 44d (step S16). The CPU 81 takes in the detection value of the second encoder 22b and feedback-controls the second motor 22. After performing the process of step S16, the first rotation angle is 0 degree or more (see FIGS. 16 and 17).

  In step S15, the CPU 81 reads an angle at which the first arm 31 rotates to the left side (first rotation angle), that is, an angle of 0 degree or more until the engagement groove 31a engages with the ball 44d. Therefore, in step S16, a speed indicating "low speed" has been set, and the first arm 31 rotates at a low speed.

  The CPU 81 outputs a drive signal to the first motor 11, and the robot 1 moves backward to a predetermined position (the opening degree of the opening / closing door 43 is a position at which the exchange mechanism 70 can enter the inside of the wall 101). (Step S17). Since the ball 44d is engaged with the engagement groove 31a, the open / close door 43 is opened by the backward movement of the robot 1. The CPU 81 takes in the detection value of the first encoder 11b and feedback-controls the first motor 11.

  The CPU 81 executes speed setting processing and sets the speed (step S18). The CPU 81 rotates the first arm 31 and the second arm 32 to the left until the inside of the wall 101 (step S19). The CPU 81 takes in the detection values of the second encoder 22b and the third encoder 23b, and feedback-controls the second motor 22 and the third motor 23. After performing the process of step S19, the first rotation angle is less than 0 degrees (see FIGS. 18 and 19).

  In step S <b> 18, the CPU 81 reads an angle at which the first arm 31 rotates to the left (first rotation angle) until it is positioned inside the wall 101, that is, an angle of less than 0 degrees. Therefore, in step S19, the speed indicating “high speed” has been set, and the first arm 31 and the second arm 32 rotate at high speed. One gripping portion 60 is positioned above the processed workpiece 91 placed on the workpiece holder of the machine tool 100.

  The CPU 81 exchanges the processed workpiece 91 and the unprocessed workpiece 91 inside the wall 101 (step S20). The CPU 81 outputs a drive signal to the cylinder 61 and grips the processed workpiece 91 with one gripping portion 60. The CPU 81 rotates the support plate 64 at a high speed of about 90 degrees. The CPU 81 takes in the detected value of the fourth encoder 34b and feedback-controls the fourth motor 34. The CPU 81 outputs a drive signal to the cylinder 61, releases the unprocessed workpiece 91 previously held by the other holding portion 60, and places it on the workpiece holding table.

  The CPU 81 rotates the first arm 31 and the second arm 32 rightward to the outside of the wall 101 (step S21). The CPU 81 takes in the detection values of the second encoder 22b and the third encoder 23b, and feedback-controls the second motor 22 and the third motor 23. The first arm 31 and the second arm 32 rotate to the outside of the wall 101 at high speed. For example, outside the wall 101, the first rotation angle of the first arm 31 is 0 degree, and the second rotation angle of the second arm 32 is 180 degrees. That is, the front view is as shown in FIG.

  The CPU 81 outputs a drive signal to the first motor 11, and the robot 1 moves forward to a position where the open / close door 43 is closed (step S22). The CPU 81 takes in the detection value of the first encoder 11b and feedback-controls the first motor 11. When the robot 1 reaches a position where the open / close door 43 closes, the proximity sensor 45b is a position where the ball 44d can be engaged with the engagement groove 31a and is kept in an ON state.

  The CPU 81 takes in the signal from the proximity sensor 45b and waits until it is confirmed that the proximity sensor 45b is on (step S23: NO). When the proximity sensor 45b is turned on (step S23: YES), the CPU 81 executes a speed setting process and sets the speed (step S24).

  The CPU 81 rotates the first arm 31 to the right until the engagement groove 31a does not engage with the ball 44d (step S25). The CPU 81 takes in the detection value of the second encoder 22b and feedback-controls the second motor 22. In step S24, the CPU 81 reads the angle (first rotation angle) by which the first arm 31 rotates to the right until the engagement groove 31a does not engage with the ball 44d. Therefore, in step S25, the speed indicating “low speed” has been set, and the first arm 31 rotates at a low speed.

  The CPU 81 outputs a drive signal to the first motor 11, and the robot 1 moves backward to a predetermined position (a position where the processed workpiece 91 gripped by the gripper 60 can be mounted on the mounting table 90) (step S26). Since the ball 44d is not engaged with the engagement groove 31a, the open / close door 43 is not opened by the backward movement of the robot 1. The CPU 81 takes in the detection value of the first encoder 11b and feedback-controls the first motor 11.

  The CPU 81 executes speed setting processing and sets the speed (step S27). The CPU 81 rotates the first arm 31 and the second arm 32 to the right, takes out the exchange mechanism 70 to the outside (right side) from the opening 2d of the cover 2, and replaces the work 91 (see step S28, FIG. 20 and FIG. 21). ).

  In step S <b> 27, the CPU 81 reads an angle at which the first arm 31 rotates to the left side (first rotation angle) until it is positioned outside the cover 2, that is, an angle of 0 ° or more. Therefore, in step S28, a speed indicating "low speed" has been set, and the first arm 31 and the second arm 32 rotate at a low speed. One gripper 60 that grips the processed workpiece 91 is positioned above the mounting table 90.

  The CPU 81 outputs a drive signal to the cylinder 61 of one gripper 60. On the outside of the cover 2, one gripper 60 separates the processed workpiece 91 and places it on the mounting table 90. The CPU 81 rotates the support plate 64 at a low speed of approximately 90 degrees. The CPU 81 takes in the detected value of the fourth encoder 34b and feedback-controls the fourth motor 34. The CPU 81 outputs a drive signal to the cylinder 61 of the other gripping unit 60, and the other gripping unit 60 grips an unprocessed work 91 that is previously placed on the mounting table 90. The CPU 81 ends the work exchange process.

  In the workpiece exchange apparatus according to the embodiment, the exchange mechanism 70 of the robot 1 exchanges the workpiece 91 between the inside of the wall 101 and the outside of the cover 2. That is, the movable range of the exchange mechanism 70 includes a region outside the range where the cover 2 covers the robot 1. Therefore, when the exchange mechanism 70 is located outside the cover 2, the drive speed of the exchange mechanism 70 can be lowered, the area occupied by the robot 1 and the cover 2 can be reduced, and safety can be ensured. When the exchange mechanism 70 is not located outside the cover 2, the drive speed of the exchange mechanism 70 can be increased and the workpiece can be exchanged in a short time.

  The exchange mechanism 70 includes a rotatable first arm 31 and a second arm 32. Based on the rotation angle of the first arm 31 and the second arm 32, whether or not the exchange mechanism 70 is located outside the cover 2, in other words, at least a part of the first arm 31 or the second arm 32 is the cover 2. It is determined whether it is located outside. The robot 1 exchanges the workpiece 91 in conjunction with opening / closing of the opening / closing door 43 provided on the wall 101, thereby realizing smooth workpiece exchange.

  In addition, the proximity sensor 45b may be provided in the open / close door 43, and the block 45a may be provided in the upper plate part 18b.

1 Robot 2 Cover 22 Second Motor (First Drive Source)
23 Third motor (second drive source)
31 First Arm 32 Second Arm 4 Door Unit 43 Opening / Closing Door 44 Plunger 45a Block 45b Proximity Sensor 70 Exchange Mechanism 80 Controller (Position Judgment Unit, Speed Setting Unit, Control Unit)
81 CPU
82 ROM
83 RAM
84 Non-volatile memory 85 Input interface 86 Output interface 91 Work 100 Machine tool 101 Wall

Claims (5)

In a work exchanging apparatus including a robot arranged on the outside of a wall covering a machine tool and the wall, and having a robot for exchanging a work inside and outside the wall,
The robot has an exchange mechanism for exchanging a workpiece between the inside of the wall and the outside of the cover,
A position determination unit that determines whether or not the exchange mechanism is located outside the cover;
When the position determination unit determines that the replacement mechanism is located outside the cover, the operating speed of the replacement mechanism is set to a first speed, and the position determination unit causes the replacement mechanism to be outside the cover. A speed setting unit that sets the operating speed of the exchange mechanism to a second speed that is slower than the first speed;
And a control unit that drives and controls the exchange mechanism at a speed set by the speed setting unit. The exchange mechanism is
A first arm that rotates about one end;
A first drive source for rotationally driving the first arm;
A second arm having the grip portion at one end and rotatably connecting the other end to the other end of the first arm;
A second drive source for rotationally driving the second arm,
The position determination unit
A first rotation angle calculation unit for calculating the rotation angle of the first arm;
A second rotation angle calculation unit for calculating the rotation angle of the second arm,
The position determination unit determines whether at least a part of the first arm or the second arm is located outside the cover based on the calculation results of the first rotation angle calculation unit and the second rotation angle calculation unit. The workpiece changing device according to claim 1, wherein the workpiece changing device is determined. The work exchanging apparatus according to claim 1, wherein the robot exchanges the work in conjunction with opening / closing of an opening / closing door provided on the wall. In a work exchanging method in which a robot positioned between a cover disposed outside a wall covering a machine tool and the wall exchanges a work inside and outside the wall,
The robot has an exchange mechanism for exchanging a workpiece between the inside of the wall and the outside of the cover,
Determining whether the exchange mechanism is located outside the cover;
If it is determined that the exchange mechanism is located outside the cover, the operating speed of the exchange mechanism is set to the first speed,
If it is determined that the exchange mechanism is not located outside the cover, the operating speed of the exchange mechanism is set to a second speed that is slower than the first speed,
A work exchanging method characterized in that the exchanging mechanism is driven and controlled at a set speed. In a computer program that can be executed by a control device that controls the drive of a robot that is located between a wall disposed outside a wall that covers a machine tool and the wall and exchanges a workpiece inside and outside the wall,
The robot has an exchange mechanism for exchanging a workpiece between the inside of the wall and the outside of the cover,
In the control device,
Determining whether the exchange mechanism is located outside the cover;
If it is determined that the exchange mechanism is located outside the cover, the operating speed of the exchange mechanism is set to the first speed,
If it is determined that the exchange mechanism is not located outside the cover, the operating speed of the exchange mechanism is set to a second speed that is slower than the first speed,
A computer program for driving and controlling the exchange mechanism at a set speed.

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