JP2017202591A - Wood pre-cutting device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a wood pre-cutting device with high versatility, capable of coping with wide varieties of objects to be cut and/or specifications of cutting, using an articulated robot.SOLUTION: A pre-cutting device comprises: a plurality of saddles 50 movable along a Z-direction guide rail 3 passing a cutting area 5, controls driving servo motors MT59 and a geared motors MT57 to repeatedly performing control for positioning a work-piece using two or more saddles selected on the basis of a cutting position and a cutting specification identified from a pre-cutting data PCD, so as to clamp the work-piece by a vice 57 of at least one of the saddles and to move other saddles to the clamp positions while maintaining the above-mentioned state, before clamping the work-piece by the other saddles, and at the same time optionally performs tilting the saddle during cutting and/or a Z-axis movement. In this operation, during cutting, a part near the cutting position is clamped by at least one of the saddles to prevent occurrence of cutting defects due to vibrations and the like.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a wood precut machining apparatus using an articulated robot.

  The applicant arranges the articulated robot and the processing blade stock part at the processing position, changes the blade by the auto changer mechanism according to the type of the blade material, and performs the streak processing for the studs, etc. The ATC selects the tool necessary for machining from the tool yard equipped with a device (Patent Document 1), an articulated robot and an auto tool changer (ATC) and equipped with multiple types of cutters, drills, saws, router bits, etc. And then attach it to the articulated robot. After finishing the processing, the ATC removes the tool from the articulated robot and returns it to the original position of the tool storage. (Patent Document 2) is proposed.

  Other than the applicant, a plurality of (6 in the embodiment) articulated robots are installed on both sides of the conveyor table, and a processing tool table in which a plurality of processing tools are arranged within the movable range of the robot arm is provided. A precut material manufacturing apparatus has been proposed in which a processing tool is appropriately changed by an adapter device to perform processing (Patent Document 3).

  According to the techniques described in the embodiments of Patent Documents 1 to 3, a tool that can be exchanged for an articulated robot is taken out from a predetermined position different for each tool, and is returned to a predetermined position after processing. It has become.

JP 2001-347503 (0019,0026, FIG. 1) JP 2005-178172 (0034, 0035, FIG. 2) JP2004-160667 (0014, 0024, 0041-0044, FIG. 1, FIG. 2)

  By the way, the proposal of a large-section and large-span laminated material such as “a large-section laminated material for composite structures (Japanese Utility Model Laid-open No. 5-78739)” and “a large-section laminated material (Japanese Patent Laid-Open No. 7-52110)” Column / beam joint structure and column / beam frame structure (Japanese Patent Laid-Open No. Hei 6-185115) ”and“ rigid joint structure of laminated columns and beams (Japanese Patent Laid-Open No. 2012-149464) ”. In addition to the proposal, joints of lamella domes and other frames, which are composed of rigidly joined wooden beams made of laminated material for large cross-sectional structure, etc., entitled “Joint structure of wooden beams (JP-A-9-268656)” There are proposals for using "large cross-section and large-span laminated timber" for architectural purposes, as seen in proposals related to "joint structure of wooden beams suitable for application to". Recently, there has been a growing demand for the use of wood in large buildings such as gymnasiums and exhibition halls, such as the Olympic Stadium construction project. Due to the development of manufacturing technology and joining technology for laminated wood, and design technology for large wooden structures, there is a demand for more new types of processing in precut processing.

  In response to such demands, precut machining using the articulated robot described in Patent Documents 1 to 3 is expected. However, the precut machining is performed on a wider variety of workpieces in response to a wider variety of machining contents. For this purpose, further ingenuity is required.

  Accordingly, an object of the present invention is to realize a highly versatile wood precut machining apparatus that can cope with a variety of machining objects and machining contents using an articulated robot.

In order to achieve the above object, a wood precut machining apparatus according to the present invention transfers a workpiece to an articulated robot whose operation is controlled by a robot controller, and a machining area where the machining operation by the articulated robot can be performed. And a pre-cut machining control device for giving a command for driving and controlling the workpiece transfer means and the articulated robot based on pre-cut machining data, and further comprising the following configuration: Features.
(1A) The work transfer means includes a guide rail installed so as to extend in the transfer direction of the work passing through the machining region, and a plurality of saddles movable along the guide rail.
(1B) The plurality of saddles each have an upper surface as a work placement surface, a tilt table supported by a base body so that the work placement surface can be tilted, and approaching / separating along the work placement surface A vise for centripetally clamping the workpiece, a movement control means for moving the base body along the guide rail, a tilt control means for tilting the tilt table, and a clamp / unclamp on the vise. Vice control means to be executed.
(1C) The precut machining control device uses at least the machining position using two or more saddles selected from the plurality of saddles by specifying a machining position and machining content based on the precut machining data. The two or more saddles are positioned along the guide rail so that the vicinity of each of the saddles is clamped, and each saddle is moved along the guide rail while the workpiece is clamped by a vise of at least one saddle. And positioning command means for giving a command to execute positioning of the workpiece in the machining area by the two or more saddles by clamping / unclamping the workpiece while controlling the position of each saddle. about.
(1D) The saddle control means specifies the machining position and machining content based on the precut machining data, determines the clamp position based on the specific result, and within the machining area until all machining on the workpiece is completed. In order to perform positioning of the workpiece in the above, it is configured as means capable of repeatedly executing drive control for the movement control means and vice control means.

  According to the wood pre-cut processing apparatus of the present invention, when two or more of the plurality of saddles are selected and these two or more saddles are separately moved along the guide rail, the work is performed with at least one saddle. Therefore, when the saddle is moved to the clamping position or positioned in the machining area, the workpiece is not displaced by the movement of the unclamped saddle. At this time, the saddle that clamps the workpiece is unclamped when the unclamped saddle moves to the predetermined clamping position and clamps the workpiece, and moves along the guide rail to its own clamping position. Clamp the workpiece. During this time, even if the saddle clamping the workpiece is moved along the guide rail and the workpiece is clamped with another saddle, the movement control means and the vise control means of each saddle can be driven and controlled. Alternatively, positioning may be performed by operating the movement control means of each saddle in synchronization after the workpiece is clamped by all the saddles. Since the workpiece thus positioned in the machining area is clamped in the vicinity of the machining position, it is possible to suppress the occurrence of machining defects due to vibration or the like during machining by an articulated robot. In addition, when the machining position and the machining content are specified, the clamp position is determined and the saddle unclamping / clamping and movement are repeatedly executed, so that machining in a state where the vicinity of the machining position is always clamped is possible. At the same time, the saddle that clamps the part other than the vicinity of the machining position clamps the position away from the machining position, so that the operation of the articulated robot and the workpiece transfer means can be avoided. As a result, even when machining a workpiece having a large span, machining using an articulated robot can be executed under optimum clamping conditions.

The wood precut processing device of the present invention may further include the following configuration.
(2) The pre-cut machining control device determines whether or not the workpiece positioned by the saddle control means is tilted, and if it is determined to tilt, the workpiece before the machining operation by the articulated robot is started. The machining operation information is instructed so as to correspond to the workpiece in a state where the workpiece mounting surface is tilted to a predetermined angle by operating the tilt control means of two or more saddles clamped with Tilting machining operation information command means.

  According to the wood precut machining apparatus having the configuration of (2), if the precut machining control apparatus determines to tilt the workpiece positioned by the saddle control means, before starting the machining operation by the articulated robot. By tilting the tilt control means of two or more saddles that clamp the workpiece, the workpiece mounting surface is tilted to a predetermined angle. And since the machining operation information command means at the time of tilting commands the machining operation information so as to correspond to the workpiece after tilting, the saddle is tilted so that the side closer to the articulated robot is lifted, and the robot arm is effortlessly moved. It is possible to work around the bottom surface of the workpiece and perform machining from the bottom surface side, or tilt the saddle so as to lift the far side as viewed from the articulated robot and perform machining at a far position of the workpiece without difficulty. At this time as well, the vicinity of the machining position is firmly clamped, so there is no machining failure due to vibration, etc., and the saddle that clamps the position other than the vicinity of the machining position is separated, so interference with the robot arm is also avoided. Is done. Thereby, even if it is processing with respect to a work of a large section, processing using an articulated robot can be performed under optimal clamping conditions.

These wood precut processing devices of the present invention may further include the following configuration.
(3) The movement control unit is provided in the robot control device, and the robot control device includes a robot-linked movement control unit that operates the movement control unit in synchronization with a machining operation by the articulated robot. .

  According to the wood precut machining apparatus having the configuration of (3), the robot control apparatus starts the machining operation by the articulated robot and synchronizes the movement control means of two or more saddles that clamp the workpiece. To move the workpiece along the guide rail. This makes it possible, for example, to form a long notch for the workpiece by moving the saddle along the guide rail while the position of the robot arm is fixed. To. In addition, since the saddle movement and the robot arm movement along the guide rail can be accurately synchronized, for example, a cutting plane inclined with respect to any of the XY plane, the XZ plane, and the YZ plane is formed. This makes it possible to perform complex machining on large cross-section workpieces without complicating the operation of the articulated robot.

  (2) In the case of a wood pre-cut processing device having both the configurations of (3), it is viewed from the robot by performing processing by an articulated robot while moving along the guide rail while the saddle is tilted. Long groove engraving on the upper surface of the workpiece on the far side and long groove engraving on the bottom surface on the near side as viewed from the robot can be easily performed.

The wood precut processing apparatus provided with a configuration for controlling the movement of the saddle along the guide rail by the robot control device may further include the following configuration.
(4) The positioning command means of the precut processing control device transmits a command for moving a saddle along the guide rail to the robot control device, and the robot control device that has received the command, The configuration is such that each saddle is moved to the clamp position and the workpiece is positioned by operating the movement control means.

  With such a configuration as well, the robot control device executes the positioning of the workpiece itself for processing using an articulated robot. Since the robot controller is very good at controlling the drive of multiple servo motors synchronously, each saddle is moved to the clamp position determined by the pre-cut processing controller while moving the individual saddles. Can be moved smoothly, or the workpiece can be positioned in the machining area while moving to the clamp position. At this time, since the plurality of saddles can be controlled simultaneously in such a manner that the movement operations of the saddles are synchronized or not synchronized, the clamping position changing operation can also be executed smoothly and quickly.

  ADVANTAGE OF THE INVENTION According to this invention, the versatile wood precut processing apparatus which can respond | correspond to the diversity of a process target and process content is realizable using a multi joint robot.

It is the perspective view which looked at the wood precut processing apparatus of Example 1 from the front side. It is the perspective view which looked at the wood precut processing apparatus of Example 1 from the back side. It is a top view of the wood precut processing apparatus of Example 1. FIG. It is a right view of the wood precut processing apparatus of Example 1. The rotation index type | mold tool stocker with which the wood precut processing apparatus of Example 1 is provided is shown by removing an upper cover, (A) is a top view, (B) is a front view. It is explanatory drawing of planar view which shows arrangement | positioning of the tool holder and stud bolt of the rotation index type tool stocker with which the wood precut processing apparatus of Example 1 is provided. The position fixed type tool stocker with which the wood precut processing apparatus of Example 1 is provided is shown with the upper cover removed, (A) is a plan view and (B) is a front view. It is explanatory drawing of the left view which shows the tilt function of the saddle with which the wood precut processing apparatus of Example 1 is provided. It is a block diagram which shows the control system in the wood precut processing apparatus of Example 1. FIG. 3 is a flowchart illustrating a procedure of precut processing control by the precut processing control device according to the first embodiment. 4 is a flowchart illustrating a procedure of saddle control by the precut processing control device according to the first embodiment. It is a flowchart which shows the procedure of the tool stocker control (tool extraction) by the pre-cut process control apparatus in Example 1. It is a flowchart which shows the procedure of the tool stocker control (tool return) by the precut process control apparatus in Example 1. 3 is a flowchart illustrating a procedure of robot control by the robot control device according to the first embodiment. It is explanatory drawing which shows a mode that a notch groove process is performed using the tilt function of a saddle in the wood precut processing apparatus of Example 1. FIG. It is explanatory drawing which shows a mode that a back surface drilling process is performed using the tilt function of a saddle in the wood precut processing apparatus of Example 1. FIG. It is explanatory drawing which shows a mode that a long groove process is performed using the Z direction movement function of a saddle in the wood precut processing apparatus of Example 1. FIG. In the wood precut processing apparatus of Example 1, it is explanatory drawing which shows a mode that diagonal cutting is performed using the Z direction movement function of a saddle synchronizing with the arm operation | movement of an articulated robot.

  Below, the Example of the wood precut processing apparatus provided with the articulated robot to which this invention is applied is described.

  As shown in FIGS. 1 to 4, the wood precut processing device 1 of the first embodiment has two guide rails 3 on a plurality of sleeper members 2, 2... Installed at predetermined intervals in the Z direction. , 3 are installed so as to extend parallel to the Z direction. A processing region 5 covered with a cover 4 is provided at the center of the guide rails 3 and 3. The machining area 5 includes one articulated robot 10, one rotary indexing tool stocker 20, and one position fixed tool stocker 40. The workpiece W is clamped by two or more of the plurality of saddles 50A, 50B,... That can move in the Z direction along the guide rails 3 and 3, and is moved to the machining area 5. For the workpiece W, various types of processing such as cutting, cutting, grooving, and drilling are performed in the processing region 5 by the articulated robot 10 equipped with the tool taken out from any of the tool stockers 20 and 40.

  The rotary indexing type tool stocker 20 includes 16 tool holders and can hold a maximum of 16 tools. The rotary index type tool stocker 20 rotates one of the 16 tool holders to the tool extraction position PUP. Therefore, a maximum of 16 tools can be taken out and returned from one tool take-out position PUP.

  The fixed position type tool stocker 40 includes seven tool holders having predetermined positions, and can hold a maximum of seven tools. The tool is taken out and returned at every predetermined position of the seven tool holders. When taking out or returning the tool from these seven tool holders, the upper cover 49 covering the upper part of the tool holder is opened.

  As shown in FIGS. 5 and 6, the rotary indexing tool stocker 20 includes a ring-shaped gear 24 that is rotatably supported via a bearing 23 with respect to a pivot shaft 22 at the upper part of the tool stand 21. . A disc 25 is attached to the ring-shaped gear 24 so as to be integrally rotatable. A ring-shaped tool plate 26 that can rotate integrally with the disk is attached above the disk 25. The tool plate 26 includes 16 tool holders HLD01 to HLD16 so that the outer periphery is equally divided into 16. By rotating the gear 27 meshed with the ring-shaped gear 24 from the outside by the servo motor MT 27, the tool holders HLD 01 to HLD 16 are rotated forward and backward about the turning shaft 22. The upper cover 29 has a cutout only at the tool take-out position PUP.

  On the upper surface of the disk 25, stud bolts selectively attached to the intersections of four concentric circles CR1 to CR4 and radial straight lines extending from the center of the disk 25 toward the tool holders HLD01 to HLD16. 28 is installed. On the other hand, the swivel shaft 22 is provided with a first sensor stay 31 to which proximity sensors SE31 and SE32 capable of detecting the stud bolts 28 located on the two concentric circles CR1 and CR2 on the inner peripheral side are attached, and two on the outer peripheral side. A second sensor stay 33 to which proximity sensors SE33 and SE34 capable of detecting the stud bolt 28 located on the two concentric circles CR3 and CR4 are attached is provided. The first sensor stay 31 extends toward the tool extraction position PUP, and the second sensor stay 33 extends toward the opposite side of the tool extraction position PUP, and is positioned so as to be shifted from each other by 180 degrees. .

  The 16 tool holders HLD01 to HLD16 detect 4-bit signals based on the presence or absence of stud bolts 28 at the intersections formed by four straight lines extending from each of them toward the center of the disc 25 and concentric circles CR1 to CR4. The tool holder stopped at the tool extraction position PUP can be specified. In this embodiment, the tool holder is specified by rotating the tool plate 26 by driving the servo motor MT27 and the upper 2 bits detected by the proximity sensors SE33 and SE34 and the tool removal position PUP by rotating 180 degrees. A specific method based on a 4-bit signal determined from the lower 2 bits detected by the proximity sensors SE31 and SE32 when being moved to is adopted. The proximity sensors SE31 to SE34 are divided into the lower 2 bits and the upper 2 bits, and the tool holder is specified while the tool plate 26 is rotated for the purpose of preventing erroneous detection due to the use of the proximity sensor. Yes.

  In the present embodiment, as shown in FIG. 6, the second tool holder HLD02 having a 4-bit signal = [0001] and the 4-bit signal are rotated clockwise from the first tool holder HLD01 in which the 4-bit signal is [0000]. = [0010] third tool holder HLD03,..., 4-bit signal = [1111] 16th tool holder HLD16 and the stat bolt 28 are arranged so that the tool holders are arranged in order.

  Further, as shown in FIG. 5A, proximity dogs DG01 to DG16 are installed at the roots of the tool holders HLD01 to HLD16, respectively. When the tool is held by the tool holders HLD01 to HLD16, the proximity dogs DG01 to DG16 protrude rearward as shown in FIG. In the tool removal position PUP, a proximity sensor SE35 supported by a third sensor stay 35 attached so as to extend in the vertical direction from the tool stand 21 is installed, and the tool holder located at the tool removal position PUP It is configured to detect whether or not the tool is being held.

  As shown in FIG. 7, the fixed position type tool stocker 40 has seven tool holders that are set so that the position of the tool holder directly becomes the tool extraction position with respect to the tool plate 46 fixed to the upper end of the tool stand 41. Tool holders HLD17 to HLD23 are provided. As shown in FIG. 4, the upper cover 49 is opened and closed by an air cylinder CYL49. The 17th tool holder HLD17 to the 23rd tool holder HDL23 are also provided with proximity dogs DG17 to DG23, respectively, and although not shown, proximity sensors are installed at corresponding 7 locations on the tool stand 41. .

  As shown in FIGS. 5B and 7B, the tools TL03, TL11, and TL17 held in the rotary indexing tool stocker 20 and the fixed position tool stocker 40 are all articulated robots 10. The gripped portions TL03a, TL11a, and TL17a gripped at the tip of each arm have the same size and shape. On the other hand, the blades TL03b, TL11b, and TL17b are of different types, and the tool tip reference positions TL03c, TL11c, and TL17c are also unique. The tool tip reference position TL03c or the like corresponds to an offset amount in the XYZWPR control operation with respect to the center of the arm tip when the gripped portion TL03a or the like is gripped by the arm tip of the articulated robot 10, and the tool tip position and orientation are determined. Information specific to each tool is set as the specification of the blade as information for specifying. It should be noted that which tool is held in the tool holders HLD01 to HLD23 is arbitrary, and the same type of tool can be held in a plurality of tool holders, and can be used properly depending on the usage history. The tool held in one of the rotary index tool stocker 20 and the fixed position tool stocker 40 is gripped with the gripped portion TL03a and the like inserted in the chuck 11 at the tip of the articulated robot 10. It is taken out and rotated by the blade drive motor MT11.

  As shown in FIGS. 1 to 3, the saddles 50A, 50B,... All have the same structure, and as shown in FIG. 4, a base body 51 having a substantially triangular shape and the vicinity of the apex of the base body 51 are centered. And a tilt table 52 supported so as to be tiltable. The tilt table 52 has an upper surface as a work placement surface 53 and an arcuate protrusion 54 on the bottom surface side. An arc-shaped rack 55 is attached to the arc-shaped projecting portion 54, and a pinion gear 56 provided so as to center on the Z axis is engaged with the base body 51. The pinion gear 56 is rotated forward and backward by a servo motor MT56 installed on the base body 51, and the tilt table 52 is lowered forward 55 as shown in FIG. 8 with the vicinity of the apex of the triangular base body 51 as the center of tilting. Tilt is performed while controlling the tilt angle to be an arbitrary angle within the range of ° to 35 °.

  The upper surface of the tilt table 52 is provided with vises 57 and 57 that are moved toward and away from each other by a geared motor MT57. With the vices 57, 57, the workpiece placed on the workpiece placement surface 53 of the tilt table 52 can be centripetally clamped.

  As shown in FIG. 4, linear guides 6 and 6 and racks 7 and 7 are installed on the inner side surfaces of the guide rails 3 and 3. The saddle 50 is guided through linear sliders 58 and 58 fitted to the linear guides 6 and 6, and pinion gears 59 and 59 meshing with the racks 7 and 7 are driven to rotate in the forward and reverse directions by the servo motor MT59. It is configured to be able to move while being controlled in position.

  Next, the control system of the wood precut processing apparatus 1 of the present embodiment will be described. As shown in FIG. 9, the precut processing control device 1 of this embodiment includes a precut data generation device 110, a precut processing control device 120, and a robot control device 130.

  The precut data generation device 110 inputs CAD data for precut processing, and generates precut processing data PCD converted into CAM data for performing precut processing using the wood precut processing device 1. The precut data generation device 110 is connected to output the precut processing data PCD generated in this way to the precut processing control device 120.

  The precut processing control device 120 includes a blade specification data storage unit 120A, a blade stock position storage unit 120B, and a processing information storage unit 120C. The blade specification data storage unit 120A is unique to each tool, such as the type of the tool held by the rotary indexing tool stocker 20 and the fixed position tool stocker 40, the tool tip reference position, and the rotational driving condition of the tool. (Blade setting information) is stored together with the tool number. In the blade stock position storage unit 120B, a tool number and a holder number are associated in advance with which tool is held in a total of 23 tool holders of the rotary index type tool stocker 20 and the fixed position type tool stocker 40. Is stored as a result. The pre-cut processing data PCD input from the pre-cut data generation device 110 is stored in the processing information storage unit 120C.

  The precut machining control device 120 outputs a control signal to the servo motor MT27 of the rotary indexing tool stocker 20, inputs detection signals from the sensors SE31 to SE34, SE35, and the air cylinder CYL49 of the position fixed tool stocker 40. Control signals are output to the servo motors MT56 for tilting the saddles 50A, 50B,... And the geared motor MT57 for clamping, and the blade setting information DATA and machining operations are transmitted to the robot controller 130. It is connected so as to output information CMND. As shown in FIGS. 1 and 2, the detection signal for the tip Wa of the workpiece W by the tip detection optical sensor SE5 provided in the printing apparatus 70 installed in the processing region 5 is also inputted. ing.

  The cutter setting information DATA is associated with the tool number as described above, and is unique information such as the type of the cutter provided in each tool, the tool tip reference position, and the rotational drive condition of the cutter. The tool number is stored together with the holder number in the blade stock position storage unit 120B. Therefore, when a plurality of tools of the same type are held in different tool holders, the cutter related to the tool specified by the tool number for each of the holder numbers, even if the tools are of the same type in relation to the holder numbers. Setting information DATA exists.

  The machining operation information CMND is CAM data that is XYZWPR position control information that represents a trajectory of a tool tip for machining a notch shape or the like designed as CAD data by driving the articulated robot 10. The machining operation information CMND may be formed so that the saddle 50 moves in the Z-axis direction so as to synchronize with the operation of the arm of the articulated robot 10. Further, when the tilt table 52 of the saddle 50 is tilted from the horizontal state, the coordinate conversion is performed so that the tilted work is processed such as a notch shape corresponding to CAD data. Sometimes it is.

  Further, the precut processing control device 120 outputs a control signal to the servo motor MT27 when the articulated robot 10 takes out or returns a tool from the rotary indexing type tool stocker 20, and the proximity sensors SE31 to SE34 and A detection signal from the proximity sensor SE35 is input, and the rotation index and the presence / absence check of the tool are executed. The pre-cut processing control device 120 outputs a control signal to the air cylinder CYL 49 to open and close the upper cover 49 when the articulated robot 10 takes out or returns the tool from the fixed position tool stocker 40. . The precut processing control device 120 instructs the robot control device 130 to perform a tool take-out operation when performing such a tool take-out preparation operation, as well as the tool tip reference position of the taken-out tool, the rotational drive conditions, and the like. The tool-specific blade setting information is also transmitted.

  Further, the pre-cut machining control device 120 includes a servo motor MT59 for moving in the Z-axis direction and a servo motor for tilt provided in the saddle used for the current machining among the plurality of saddles 50A, 50B,. A control signal for driving the MT 56 and the geared motor MT57 for clamping is output to execute clamping and positioning of the workpiece. Note that the precut machining control device 120 directly controls the workpiece positioning and clamping is a tilt servomotor MT56 and a clamp geared motor MT57, and the Z-axis movement servomotor MT59 is a robot control device. 130. That is, in this embodiment, the robot control device 130 includes the saddles 50A, 50B,... In addition to the first to sixth servo motors MT10a to MT10f for rotating the arm of the articulated robot 10. The drive control of the servo motor MT59 for moving in the Z-axis direction is also executed. Thereby, it is possible to execute the long groove processing as illustrated in FIG. 17 in synchronization with the movement of the saddle 50 in the Z-axis direction, or to execute complicated oblique cutting as illustrated in FIG.

  Then, when the precut machining control device 120 starts the precut machining, based on the precut machining data PCD, the robot control device 130 receives machining operation information CMND for XYZWPR control for controlling the trajectory of the tool tip. Output. At this time, in the case of the long groove processing illustrated in FIG. 17, a control signal for operation in the Z-axis direction for the servo motor MT59 of the saddle that clamps the workpiece is also included in the processing operation information CMND for the robot control device 130. To output. In the machining operation information CMND when performing machining in which the operations of the saddle in the Z-axis direction are coordinated, the data for controlling the trajectory in the Z-axis direction for XYZWPR control for the operation of the articulated robot 10 is In addition to the Z-axis direction component for the movement of the saddle in the Z-axis direction, the pre-cut machining control device 120 generates the machining shape determined from the CAD data. .

  The robot control device 130 drives the blade drive motor MT11 based on the blade setting information DATA input from the precut processing control device 120, and based on the processing operation information input from the precut processing control device 120, the articulated robot 10 These blade drive motors MT11 are used to control the tool tip trajectory using the first to sixth servomotors MT10a to MT10f and the servomotor MT59 for moving the saddle that clamps the workpiece in the Z-axis direction. The first to sixth servomotors MT10a to MT10f and all the saddles are moved so as to output drive signals to the Z-axis direction moving servomotors MT59A, MT59B,.

  Further, the robot control device 130 includes a blade take-out operation storage unit 130A, a blade setting information storage unit 130B, and a machining operation information storage unit 130C. In the blade take-out operation storage unit 130A, the first teaching data regarding the operation of the arm when taking out and returning the tool from the tool take-out position PUP of the rotary indexing type tool stocker 20, and 7 of the fixed position type tool stocker 40 are stored. Second to eighth teaching data relating to the arm operation at the time of taking out and returning the tool with respect to the tool holder are stored. In the present embodiment, the rotary indexing tool stocker 20 is configured to be able to hold a maximum of 16 tools, but the operation of taking out and returning the tools can be executed with one teaching data.

  The blade setting information storage unit 130B stores blade setting information (specific information such as a tool tip reference position and rotation driving conditions) related to a tool used for machining. The blade control information storage unit 130B is rewritten by the robot control device 130 every time a command for taking out a tool is instructed from the precut processing control device 120. Each time the precut machining control device 120 instructs to take out a tool, the precut machining control device 120 commands the tool control information DATA of the tool used for the current machining to the robot control device 130, and based on this command, the cutter by the robot control device 130. Rewriting of the setting information storage unit 130B is executed.

  In the machining operation information storage unit 130C, the trajectory of the tool tip of the cutting tool provided for the current machining is moved in the Z-axis direction of the first to sixth servo motors MT10a to MT10f of the articulated robot 10 and the saddle 50. The machining operation information CMND for XYZWPR control to be executed by the servo motor MT59 is stored. The precut machining control device 120 commands the robot control device 130 with machining operation information CMND for controlling the tool tip trajectory to be realized by the robot control device 130 every time it issues a tool removal command. Based on this command, the robot controller 130 rewrites the machining operation information storage unit 130C.

  In the present embodiment, as shown in FIG. 1, a workpiece W is introduced from the right side into the machining area 5, and machining using the multi-joint robot 10 is performed in the machining area 5. Move to the left side of region 5 and take it out. When processing the workpiece W, as shown in FIG. 1, two or more saddles out of a plurality of saddles 50A, 50B,... W clamp and positioning. Depending on the machining content and machining position, the tilt table is tilted or the saddle is moved in the Z-axis direction in synchronization with the arm operation of the articulated robot 10.

  Next, the control process will be described. As shown in FIG. 10, the pre-cut processing control device 120 moves the saddles 50A, 50B,... To the initial state where they are assembled at one end of the guide rails 3 and 3 (S110). It waits for the total length to be input (S120). 3 shows a state in which the saddles 50A, 50B,... Are gathered at the left end of the guide rails 3, 3, but the initial state by the processing of S110 is the work input side in this embodiment. The saddle is assembled at the right end of the device.

  In the initial state, the tilt table 52 of each saddle is in a state in which the work placing surface 53 is horizontal and the work can be placed horizontally. The worker places the workpiece so that the center of the workpiece is placed at the center of the tilt table 52 group, and inputs the total length of the workpiece and the member number.

  When the member number and the workpiece total length are input (S120: YES), the precut machining control device 120 reads precut machining data PCD corresponding to the member number from the machining information storage unit 120C (S130). Then, from among various types of processing such as “cutting”, “grooving”, “drilling”, and “notch groove cutting” included in the precut processing data PCD, the processing content and processing position to be executed first are specified. (S140). Subsequently, the clamping condition is determined based on the machining position specified in S140 and the workpiece total length input in S130 (S150). In determining the clamping conditions, the clamping position with respect to the entire length of the workpiece is determined in the following priority order.

[1] Clamp the vicinity of the machining position.
[2] Clamp the vicinity of both ends of the workpiece.
[3] Clamp the intermediate part of the work as necessary from the relationship with the overall length of the work.
[4] The clamp position is a position that does not interfere with processing.
[5] The clamp position is a position that is not within the clamp prohibition range.

  Here, the “position that does not interfere with processing” is determined by the precut processing control device 120 for each processing position according to the relationship between the processing direction and the processing depth. Further, the “clamping prohibition range” is set by the precut processing control device 120 as needed according to the progress of processing, depending on the relationship with the processed region.

  Next, saddle control is executed based on the clamping condition determined in S150 (S160).

  In this saddle control (S160), as shown in FIG. 11, based on the clamping conditions determined in S150, a plurality of saddles to be used are determined among all the saddles provided in the wood pre-cut processing device 1 (S410). ). Next, in order to first cut the tip of the workpiece, the saddle located on the machining portion side among the plurality of saddles is moved toward the end closer to the machining area 5 of the workpiece, and then the workpiece is moved. Clamping is performed (S412). At this time, if there is a saddle that is not used this time, it is brought close to, for example, the end on the workpiece input side or workpiece extraction side so as not to disturb the processing.

  When the workpiece is clamped by the saddle on the side close to the machining area 5 in this manner, the saddle group used for the current machining is moved in the Z direction while keeping an interval between the saddles in consideration of the overall length of the workpiece (S414). Then, when the workpiece is moved to a position where the tip of the workpiece is detected by the tip detection optical sensor SE5 (S416: YES), the movement of the saddle group in the Z direction is stopped (or stopped after deceleration) (S418).

  Subsequently, it is determined whether the processing position is the workpiece front end side, the workpiece rear end side, or any other position (S422, S424). When the machining position is on the workpiece tip side (S422: YES), the saddle clamping position other than the saddle for clamping the workpiece on the most tip side is determined based on the tip detection position and the workpiece total length on the condition [2], [3] and [5] are determined so as to satisfy (S432), and the saddle clamping position for clamping the workpiece on the most distal side based on the tip detection position, the workpiece total length, the machining position and the machining content Are determined so as to satisfy the conditions [1] and [4] (S434). When the machining position is on the rear end side of the workpiece (S422: NO, S424: YES), a saddle clamp other than the saddle for clamping the workpiece on the rearmost end side is based on the tip detection position and the total workpiece length. The position is determined so as to satisfy the conditions [2], [3], and [5] (S442), and the workpiece is detected at the most rear end side based on the tip detection position, the workpiece total length, the machining position, and the machining content. The saddle clamping position for clamping is determined based on the conditions [1] and [4] so as to satisfy (S444). On the other hand, when the machining position is neither the workpiece front end side nor the workpiece rear end side (S422: NO, S424: NO), other than the saddle for clamping the middle of the workpiece based on the tip detection position and the workpiece total length. The clamp position of the saddle is determined so as to satisfy the conditions [2], [3], and [5] (S462), and the intermediate position of the workpiece is determined based on the tip detection position, the workpiece total length, the machining position, and the machining content. Is determined so as to satisfy the conditions [1] and [4] (S464).

  When the clamping position of each saddle is thus determined, first, the unclamped saddle is moved to the clamping position, and the geared motor MT57 is driven to clamp the workpiece with the vise 57 (S482). Next, the vise of the saddle that clamped the workpiece at the time of drawing out the workpiece is unclamped and moved to the clamping position, and the workpiece is clamped (S484).

  Next, it is determined whether or not the tilt condition is included in the clamp condition (S492). When the tilt condition is included (S492: YES), the servo motor MT57 of each saddle is driven according to the tilt condition, and the tilt table 52 is tilted by the synchronized movement of the saddles (S494). Then, each saddle is moved so that the machining position of the current workpiece is positioned to the machining start position by the articulated robot 10 (S496).

  After executing the saddle control (S160) in this way, the precut machining control device 120 next determines a tool to be used for the current machining (S170), and executes tool stocker control for taking out the tool (S180).

  In the tool stocker control (S180) for taking out the tool, as shown in FIG. 12, it is determined whether or not the fixed position type tool stocker 40 holds the tool determined in S170 (S510). If it is a fixed position type tool stocker (S510: YES), the air cylinder CYL49 is operated to open the upper cover 49 (S512). On the other hand, if it is the rotation index type tool stocker 20 (S510: NO), the tool holder holding the tool is specified based on the information stored in the blade stock position storage unit 120B (S522). Then, while inputting the detection signals from the proximity sensors SE31 to SE34, the servo motor MT27 is driven to rotate the tool plate 26 once (S524), and the number of the tool holder stopped at the tool extraction position PUP is determined. It is detected (S526). From the relationship between the tool holder specified in S522 and the tool holder detected in S526, the rotation direction and the rotation amount of the gear 27 for moving the tool holder holding the tool to be extracted by the articulated robot 10 to the tool extraction position PUP. (S528), and drive control for the servo motor MT27 is executed (S530).

  In S528, the rotation direction of the gear 27 is determined in consideration of whether the rotation amount is smaller in the forward or reverse direction.

  Even after the servo motor MT27 is driven, the tool plate 26 is rotated while inputting detection signals from the proximity sensors SE31 to SE34 (S532), and when it is detected that the tool holder has arrived at the tool removal position PUP (S534), Whether or not a tool is mounted on the tool holder is determined based on a detection signal of the proximity sensor SE35 (S536).

  The processing from S524 to S534 may be processing for specifying the position of the tool holder from the drive history of the servomotor MT27 and drivingly controlling the servomotor MT27 so as to move to the tool extraction position PUP. The signals of the proximity sensors SE31 to SE34 are input when the servo motor MT27 has some troubles such as step-out and the auxiliary role for accurately specifying the position of the tool holder, or the final positioning of the correct positioning. It has a role of confirmation.

  Here, when S536 is “NO”, it is determined whether or not the tool determined in S170 is also held in another tool holder (S538). After specifying the tool holder (S540), the process returns to S528. If S538 is “NO”, an error is notified (S542), and the process waits for the tool to be mounted on the tool holder at the tool removal position PUP based on the detection signal from the proximity sensor SE35 (S544). If S536 is “YES”, this routine ends.

  After executing the tool stocker control (S180) in this way, the precut machining control device 120 outputs a tool removal command to the robot control device 130 (S190), and a notification of the completion of tool removal is input from the robot control device 130. (S200).

  The tool takeout command indicates whether the tool takeout target is a tool holder positioned at the tool takeout position PUP of the rotary indexing type tool stocker 20 or any of the seven tool holders of the fixed position type tool stocker 40. Output as specified command. In this embodiment, the rotary indexing tool stocker 20 and the fixed position tool stocker 40 are provided with a total of 23 tool holders, but the tool indexing tool holder for the rotary indexing tool stocker 20 is The tool holder indexed to the tool removal position PUP is designated. For the tool held in the fixed position type tool stocker 40, any one of the tool holders HLD17 to HLD23 is specified.

  If there is a notification of tool removal completion (S200: YES), the precut processing control device 120 determines whether or not tool removal has been executed from the tool holder of the fixed position tool stocker 40 at the time of the current processing. (S210). When the tool is taken out from the tool holder of the fixed position type tool stocker 40 (S210: YES), the air cylinder CYL49 is instructed to close the upper cover 49 (S220). On the other hand, in the case of taking out the tool from the tool holder indexed at the tool take-out position PUP of the rotary index type tool stocker 20 (S210: NO), a command to rotate the tool plate 26 once with respect to the servo motor MT27. Is output (S230), and it is confirmed that the removal of the tool is surely executed based on the detection signal of the proximity sensor SE35 of the tool holder which is rotated once and is again indexed to the tool removal position PUP (S240). ). When S240 is “NO”, an error is notified (S250), and the process returns to S180 and subsequent steps.

  When it is confirmed that the tool has been correctly taken out (S240: YES), the precut machining control device 120 outputs a reset signal for causing the robot control device 130 to reset the blade setting information DATA and the machining operation information CMND. After the transmission (S270), the blade setting information DATA and the machining operation information CMND for the current machining are transmitted again (S280). Then, it waits for notification from the robot controller 130 that the tool tip reference position of the blade has been moved to the machining start position (S290). As will be described later, the robot controller 130 notifies the completion of movement when the operation of moving the tool tip reference position determined from the blade setting information to the standby position for starting machining is completed.

  If there is a movement completion notification from the robot controller 130 (S290: YES), a machining start command is transmitted to the robot controller 130 (S300). The robot control device 130 that has received this machining start command drives and controls the articulated robot 10 while performing synchronous control in cooperation with the movement of the saddle 50 in the Z-axis direction as will be described later. A machining operation along the tool tip locus specified by the information CMND is executed. At this time, in the long groove processing illustrated in FIG. 17, after the cutting tool is cut to a predetermined depth by the articulated robot 10, a groove having a predetermined length may be formed only by moving the saddle 50 in the Z-axis direction. is there.

  The precut machining control device 120 waits for a transition to the next process until the completion of machining is notified from the robot control device 130 (S310: NO). When processing completion is notified from the robot controller 130 (S310: YES), tool stocker control (S320) for tool return is executed.

  In tool stocker control for tool return (S320), as shown in FIG. 13, it is determined whether or not the tool return target is the fixed position type tool stocker 40 (S610). If it is a fixed position type tool stocker (S610: YES), the air cylinder CYL49 is operated to open the upper cover 49 (S612). On the other hand, if it is the rotation index type tool stocker 20 (S610: NO), the tool holder to which the tool is to be returned is specified (S622). Then, the servo motor MT27 is driven while inputting the detection signals from the proximity sensors SE31 to SE34 to rotate the tool plate 26 once (S624), and the tool holder stopped at the tool extraction position PUP is detected (S626). Based on the relationship between the tool holder specified in S622 and the tool holder detected in S626, the rotation direction and the rotation amount of the gear 27 for moving the tool holder to which the articulated robot 10 should return the tool to the tool extraction position PUP are determined. Determination is made (S628), and drive control for the servo motor MT27 is executed (S630).

  Even after the servo motor MT27 is driven, the tool plate 26 is rotated while inputting detection signals from the proximity sensors SE31 to SE34 (S632), and when it is detected that the tool holder has arrived at the tool removal position PUP (S634), It is determined based on the detection signal of the proximity sensor SE35 that no tool is mounted on the tool holder (S636).

  The processing from S624 to S634 may be processing for specifying the position of the tool holder from the drive history of the servomotor MT27 and controlling the drive of the servomotor MT27 so as to move to the tool extraction position PUP.

  If S636 is “NO”, the tool holder is indexed to the tool extraction position PUP so that the tool holders are sent one by one in a predetermined direction (S638), and the newly indexed tool is determined. It is determined based on the detection signal of the proximity sensor SE35 that no tool is mounted on the holder (S640). S638 is repeatedly executed until S640 becomes “YES”. If the determination in S640 is “YES”, the tool holder determined in S638 is identified based on the detection signals of the proximity sensors SE31 to SE34 (S642), and the tool holder is set as the blade stock position. Then, the blade stock position storage unit 120B is updated (S644).

  After the tool can be returned in this manner, a tool return operation is instructed to the robot controller 130 (S330), and it is determined whether there is a next machining position (S340). If there is a next machining position (S340: YES), the process returns to S140, and if there is no next machining position (S340: NO), workpiece unloading control is executed (S350). In the workpiece unloading control (S350), when the tilt table is not horizontal, the tilt table is returned to the horizontal level, and the other saddle is unclamped while the clamp of any one of the saddles is maintained, and the workpiece is moved away from the machining area 5. In the same manner, each saddle is moved in the Z direction while maintaining a predetermined interval, and then the saddle is controlled as an operation of unclamping the workpiece.

  As shown in FIG. 14, the robot control device 130 repeatedly executes determination (S710) as to whether or not a tool removal command has been received from the pre-cut processing control device 120. Then, when a tool takeout command is received (S710: YES), the articulated robot 10 is caused to execute a tool takeout operation (S720).

  Here, when the same tool is continuously used even if the machining position is changed, the tool removal command is not transmitted from the precut machining control device 120. In this case, the machining operation information CMND is configured so that the machining operation information CMND configured to execute continuous XYZWPR control including temporary stop until the change of the machining position is completed for a plurality of machining positions. The information is transmitted from the control device 120 to the robot control device 130, and commands to stop the operation and resume the operation are instructed. In this case, when commanding the resumption of operation, it is possible to reset only the blade setting information storage unit 130B and rewrite the same blade setting information again.

  The robot control device 130 determines which teaching operation is used as the tool removal operation based on information specifying the tool holder transmitted together with the tool removal command from the pre-cut processing control device 120, and controls for the teaching operation. Data is read from the blade take-out operation storage unit 130A. The tool take-out operation storage unit 130A stores in advance the tool take-out operation by teaching with respect to the tool take-out position PUP of the rotary indexing tool stocker 20 and the predetermined positions of the seven tool holders HLD17 to HLD23 of the fixed tool stocker 40. I'm allowed.

  When the robot control device 130 has taken out the tool, the robot control device 130 transmits removal completion to the precut processing control device 120 (S730), and waits for a reset signal to be transmitted from the precut processing control device 120 (S740).

  When receiving the reset signal from the pre-cut machining control device 120 (S740: YES), the robot control device 130 resets the blade setting information DATA in the blade setting information storage unit 130B and the machining operation information CMND in the machining operation information storage unit 130C. (S750). Then, it waits for new cutter setting information DATA and machining operation information CMND to be transmitted from the precut machining control device 120 (S760).

  When the robot control device 130 receives the new blade setting information DATA and the machining operation information CMND from the precut processing control device 120 (S760: YES), based on these, the blade setting information DATA in the blade setting information storage unit 130B. Then, the machining operation information CMND in the machining operation information storage unit 130C is rewritten (S770).

  Then, the robot control device 130 moves to the machining start position for starting machining for the machining position specified by the machining operation information CMND, based on the tool tip reference position of the blade setting information DATA rewritten in S770. The arm of the robot 10 is operated to move the blade to the machining start position and notify the precut machining control device 120 of the completion of movement (S780). Then, it waits for a machining start command to be transmitted from the precut machining control device 120 (S790).

  When the machining start command is received from the precut machining control device 120 (S790: YES), the robot control device 130 commands the control frequency to the blade drive motor MT11 based on the blade drive condition of the blade setting information DATA rewritten this time. Then, the blade is rotationally driven (S800). Then, the robot controller 130 performs XYZWPR control on the arm of the articulated robot 10 based on the machining operation information CMND, and executes machining with the blade (S810). At this time, if the current machining is executed in synchronization with the Z-direction movement of the saddle 50, the drive control of the servo motor MT59 for moving the saddle clamping the workpiece in the Z-axis direction is also performed by the arm. It is executed while synchronizing with the control of This XYZWPR control is executed until the machining operation specified in the machining operation information CMND is completed (S820).

  When the machining operation specified in the machining operation information CMND is completed (S820: YES), a stop command is transmitted to the blade drive motor MT11 to stop the rotation of the blade (S830). Then, it waits for a tool return command from the precut machining control device 120 (S840).

  When a tool return command is received from the precut machining control device 120 (S840: YES), a tool return operation that is the reverse of the tool removal is executed (S850).

  15 to 18 show processing examples in which precut processing is performed on a 300 × 1200 mm large cross-section and large-span laminated WW by the wood precut processing device 1 of the present embodiment.

  FIG. 15 shows that the saddle 50 is tilted to an inclination angle of −35 ° (backward downward 35 °) when a notch groove is formed with respect to a position on the far side when viewed from the articulated robot 10 using the cutter CUT. By doing so, it is shown that the notch groove machining is performed without forcing the robot arm to perform an excessive operation.

  FIG. 16 shows that when drilling is performed from the bottom side of the large cross-section and large-span laminated WW using the drill DRL, the saddle 50 is tilted to an inclination angle of 55 ° (front downward 55 °). It shows a state in which drilling is being performed without forcing the arm to move excessively.

  FIG. 17 shows that when a long groove is machined on the rear upper surface of a large cross-section and large-span laminated WW using a router RUT, the saddle 50 is moved in the Z-axis direction while the position of the robot arm is fixed. It shows a situation where long groove machining is performed over a wide range without forcing the robot arm to perform excessive motion. From the state in which the position of the vise 57 changes with respect to the robot arm of the articulated robot 10 in the ellipses A1 to A4 in the drawing, the saddle 50 moves greatly in the Z direction to form a long notch. I understand.

  FIG. 18 shows the saddle 50 synchronized with the operation of the circular saw SAW held obliquely when the rear end side (the back in the figure) of the large cross-section and large-span laminated WW is obliquely cut using the circular saw SAW. It shows a state in which an oblique cut that is a cut surface inclined with respect to any of the XY plane, the XZ plane, and the YZ plane is executed by moving in the Z-axis direction. From the state of change in the positional relationship between the front cover 4 and the geared motor MT57 in the circles B1 to B4 in the figure, the saddle 50 is twisted by moving in the Z direction in synchronization with the movement of the circular saw SAW. It can be seen that the inclined oblique cutting is being executed.

  As described above, according to the present embodiment, a large number of tools can be taken out from the same tool take-out position PUP by using the rotary indexing tool stocker 20, and as a result, there is no need to increase teaching work on the robot controller 130. Increase, decrease, and change can be performed. Then, since the blade control information is rewritten to the robot control device 130 every time the tool is taken out and the machining operation is executed, it is not necessary to store a large number of blade setting information on the robot control device 130 side.

  As a result, the robot controller 130 also responds to requests such as wanting to use many types of tools, changing the type of tools, or holding multiple tools of the same type and replacing the tools according to the frequency of use. The information that should be stored in advance is not increased. Normally, the number of blades that can be stored is limited by the specifications of the robot, but by adopting a configuration in which the blade setting information is rewritten each time the blade is changed, it can even be theoretically unlimited. Recently, the use of large cross-section and large-span laminated lumber for large buildings that are not for residential use has been demanded, and a wide variety of hardware has been developed one after another due to the widespread use of hardware construction methods. For this reason, new specifications have been developed one after another for tools (cutlery) used when performing pre-cut processing for attaching such a wide variety of hardware. In such a situation, it can be said that it is extremely remarkable that the present invention can be dealt with quickly and accurately without waiting for a design change or function addition on the robot side.

  The machining operation information is also rewritten every time a tool removal is commanded, and when the machining operation is executed, a large amount of machining operation information is given to the robot controller 130 by using the rewritten machining operation information. It is not necessary to store the information in the robot controller, and the information to be stored in advance on the robot controller side in accordance with the increase / decrease or change of the tool is not increased or the operator is not required to rewrite the information. Even if various measures on the CAD data side are made in accordance with the spread of the recent hardware construction method as described above, this only needs to be dealt with on the precut processing control device 120 side, without waiting for improvement on the robot side. The good point is that the present invention has great potential as well as the remarkable effect of the present invention on the increase in the types of blades.

  Further, since the blade setting information storage unit 130B and the machining operation information storage unit 130C are reset each time the tool is taken out, it is possible to reliably rewrite the information. As a result, it is possible to accurately prevent malfunction when responding to various demands such as increase / decrease or change of tools, and the provision of a plurality of tools of the same type. Note that by clearing the blade setting information by resetting, the robot control device 130 cannot operate the articulated robot 10 and remains on standby even if there is machining operation information. As a result, it is possible to prevent wrong machining based on the wrong blade setting information. In the embodiment, not only the blade setting information but also the machining operation information is reset, but the problem of using the wrong blade setting information does not occur even if only the blade setting information is reset.

  In addition, when detecting the position of the tool holder in the rotary indexing type tool stocker 20, the tool holder confirmation by the 4-bit signal is also performed by the proximity sensors SE31 to SE34, so that the rotation indexing fails due to the failure of the servo motor MT27. It can also be detected. Therefore, there is no problem of processing using the wrong tool due to the rotation index failure. And since the arrangement | positioning of the upper 2 bits and lower 2 bits on the opposite side 180 degree is employ | adopted for arrangement | positioning of the proximity sensors SE31-SE34 for that purpose, there also exists an effect that the position detection error by a proximity sensor can be prevented. .

  Further, when two or more of the plurality of saddles are selected and these two or more saddles are separately moved in the Z-axis direction, the workpiece is clamped by at least one saddle. The other saddle can be moved in the Z-axis direction to a predetermined clamping position while being held at the predetermined position in the axial direction. At this time, when the saddle that clamps the workpiece moves to the predetermined clamping position and clamps the workpiece, the saddle moves to its own clamping position in the Z-axis direction to clamp the workpiece. During this time, the saddle servo motor MT59 and the geared motor MT57 of each saddle may be driven and controlled so that the saddle clamping the workpiece can also be positioned when moving the workpiece in the Z-axis direction and clamping the workpiece with another saddle. Then, after the workpiece is clamped by all the saddles, positioning may be performed by operating the servo motors MT59 of the respective saddles in synchronization. Since the workpiece thus positioned is clamped at least in the vicinity of the machining position, it is possible to suppress the occurrence of machining defects due to vibration or the like during machining by the articulated robot 10. In addition, after specifying the machining position and machining content, the clamp position is determined and the saddle is moved in the Z-axis direction and the workpiece is clamped repeatedly. Therefore, machining in a state where the vicinity of the machining position is always clamped is performed. In addition, the other saddle clamps a position away from the machining position, so that interference between the articulated robot 10 and the saddle 50 can be avoided. Thereby, even if it is a process with respect to a workpiece | work of a long span, the process using the articulated robot 10 can be performed under optimal clamping conditions.

  Further, when the precut machining control device 120 determines that the workpiece positioned by the saddle control is tilted, two or more saddle servomotors MT56 that clamp the workpiece before the machining operation by the articulated robot 10 is started. Are moved in synchronization with each other so that the workpiece placement surface 53 is tilted to a predetermined angle. Then, since the machining operation information is instructed to operate the articulated robot 10 based on the machining operation information obtained by coordinate-converting the CAD data so as to correspond to the workpiece mounting surface 53 after tilting, it is viewed from the articulated robot 10. Tilt table 52 is tilted so as to lift the near side, and the robot arm is forced to turn to the bottom surface side of the work and processed from the bottom surface side, or tilt table 52 is lifted far side as viewed from articulated robot 10. It is possible to perform machining at a distant position of the workpiece without difficulty by tilting. At this time as well, the vicinity of the machining position is firmly clamped, so there is no machining failure due to vibration, etc., and the saddle that clamps the position other than the vicinity of the machining position is separated, so interference with the robot arm is also avoided. Is done. Thereby, even if it is a process with respect to a workpiece | work of a large cross section, the process using the articulated robot 10 can be performed under optimal clamping conditions.

  In addition, by causing the robot controller 130 to control not only the servo motors MT10a to MT10f of each axis of the articulated robot 10, but also the servo motors MT50A, MT50B,. A long notch groove can be formed by moving the workpiece in the Z-axis direction while the position of the robot arm is fixed, and a wide range of machining can be performed on a workpiece having a large span. It is also possible to synchronize the movement of the workpiece in the Z-axis direction and the movement of the robot arm. For example, a cutting surface inclined with respect to any of the XY plane, the XZ plane, and the YZ plane is formed. Machining is also possible, and complex machining of large-section workpieces can be performed without complicating the operation of the articulated robot 10. Since the robot controller 130 executes the synchronous control itself between the articulated robot 10 and the saddle 50, it is possible to accurately synchronize the movement of the saddle in the Z-axis direction and the XYZWPR control of the tool tip position of the robot arm. it can. In addition, the robot controller 130 executes the positioning of the workpiece itself for processing using the multi-joint robot 10. Since the robot controller 130 is good at processing to synchronize and drive a plurality of servo motors, each of the saddles is moved to the clamp position determined by the pre-cut processing controller while performing individual movement operations. The saddle can move smoothly. At this time, since the plurality of saddles can be controlled simultaneously in such a manner that the movement operations of the saddles are synchronized or not synchronized, the clamping position changing operation can also be executed smoothly and quickly.

  By performing machining by the articulated robot 10 while moving in the Z-axis direction with the tilt table 52 tilted, long groove engraving on the upper surface of the workpiece far from the robot, or on the side closer to the robot is seen. Long groove engraving on the bottom surface can be easily performed.

  As mentioned above, although the Example of this invention was described, this invention is not restricted to the Example mentioned above, In the range which does not deviate from the summary, it can implement in a various aspect further.

  For example, two or more rotary index type tool stockers 20 may be provided.

  It can be used for wood precut processing for wooden houses.

  DESCRIPTION OF SYMBOLS 1 ... Wood precut processing apparatus, 2 ... Sleeper member, 3 ... Guide rail, 4 ... Cover, 5 ... Processing area, 6 ... Linear guide, 7 ... Rack, 10 ... Articulated robot, 11 ... Chuck, 20 ... Rotation index type tool stocker, 21 ... Tool stand, 22 ... Turning axis, 23 ... Bearing, 24 ... Ring shape Gear, 25 ... disc, 26 ... tool plate, 27 ... gear, 28 ... stud bolt, 29 ... upper cover, 31 ... first sensor stay, 33 ... 2nd sensor stay, 35 ... 3rd sensor stay, 40 ... fixed position type tool stocker, 41 ... tool stand, 46 ... tool plate, 49 ... upper cover, 50 (50A , 50B, ...) ... saddle, 51 ... Base body 52 ... Tilt table 53 ... Work placement surface 54 ... Projection part 55 ... Arc-shaped rack 56 ... Pinion gear 57 ... Vise 58 ... Linear slider, 59... Pinion gear, 110... Precut data generation device, 120... Precut processing control device, 120 A... Blade specification data storage unit, 120 B.・ Processing information storage unit, 130... Robot control device, 130A... Blade extraction operation storage unit, 130B... Blade setting information storage unit, 130C .. Machining operation information storage unit, CR1 to CR4. Concentric circles, CMND ... machining operation information, CYL49 ... air cylinder, CUT ... cutter, DATA ... cutter setting information, DG01 to DG23 ... near Dog, DRL ... drill, HLD01-HLD16 ... tool holder, HLD17-HLD23 ... tool holder, MT10a-MT10f ... servo motor, MT11 ... blade drive motor, MT27 ... servo motor, MT56 ... Servo motor, MT57 ... Geared motor, MT59 (MT59A, MT59B, ...) ... Servo motor, PCD ... Precut data, PUP ... Tool removal position, RUT ... Router, SAW ... circular saw, SE5 ... optical sensor for tip detection, SE31, SE32, SE33, SE34 ... proximity sensor, SE35 ... proximity sensor, TL03, TL11, TL17 ... tool, TL03a, TL11a, TL17a ... gripped part, TL03b, TL11b, TL17b ..Cutting tool, TL03c, TL11c, TL17c... Tool tip reference position, W... Work, Wa .. Work tip, WW.

Claims (4)

An articulated robot whose operation is controlled by a robot control device, a workpiece transfer means for transferring a workpiece to a machining area where the machining operation by the articulated robot can be performed, the workpiece transfer means based on precut machining data, and the A wood precut machining apparatus comprising: a precut machining control device that issues a command to drive and control the articulated robot; and further comprising the following configuration.
(1A) The work transfer means includes a guide rail installed so as to extend in the transfer direction of the work passing through the machining region, and a plurality of saddles movable along the guide rail.
(1B) The plurality of saddles each have an upper surface as a work placement surface, a tilt table supported by a base body so that the work placement surface can be tilted, and approaching / separating along the work placement surface A vise for centripetally clamping the workpiece, a movement control means for moving the base body along the guide rail, a tilt control means for tilting the tilt table, and a clamp / unclamp on the vise. Vice control means to be executed.
(1C) The precut machining control device uses at least the machining position using two or more saddles selected from the plurality of saddles by specifying a machining position and machining content based on the precut machining data. The two or more saddles are positioned along the guide rail so that the vicinity of each of the saddles is clamped, and each saddle is moved along the guide rail while the workpiece is clamped by a vise of at least one saddle. And positioning command means for giving a command to execute positioning of the workpiece in the machining area by the two or more saddles by clamping / unclamping the workpiece while controlling the position of each saddle. about.
(1D) The saddle control means specifies the machining position and machining content based on the precut machining data, determines the clamp position based on the specific result, and within the machining area until all machining on the workpiece is completed. In order to perform positioning of the workpiece in the above, it is configured as means capable of repeatedly executing drive control for the movement control means and vice control means. The wood precut processing device according to claim 1, further comprising the following configuration.
(2) The pre-cut machining control device determines whether or not the workpiece positioned by the saddle control means is tilted, and if it is determined to tilt, the workpiece before the machining operation by the articulated robot is started. The machining operation information is instructed so as to correspond to the workpiece in a state where the workpiece mounting surface is tilted to a predetermined angle by operating the tilt control means of two or more saddles clamped with Tilting machining operation information command means. The wood precut processing apparatus according to claim 1 or 2, further comprising the following configuration.
(3) The movement control unit is provided in the robot control device, and the robot control device includes a robot-linked movement control unit that operates the movement control unit in synchronization with a machining operation by the articulated robot. . The wood precut processing device according to claim 3, further comprising the following configuration.
(4) The positioning command means of the precut processing control device transmits a command for moving a saddle along the guide rail to the robot control device, and the robot control device that has received the command, The configuration is such that each saddle is moved to the clamp position and the workpiece is positioned by operating the movement control means.