JP2562564Y2 - Grinding wheel wear measurement system for robot applications - Google Patents

Description

[Detailed description of the invention] A. Industrial application field This invention relates to a grindstone wear amount measuring device to which a robot is applied.

B. Outline of the invention This invention is based on a grinding wheel wear amount measuring device, in which the robot controller calculates the outer diameter of the grinding wheel detected by the photoelectric switch provided on the hand part of the robot body and the outer diameter of the reference grinding wheel with a robot controller. By calculating the amount, it is inexpensive, easy to maintain, and the data detected by the photoelectric switch can be directly input to the robot controller to obtain the wear amount of the grindstone with a simple configuration.

C. Prior Art In recent years, automation using robots has been performed in factories. One of these types is a robot that grips a casting product and removes burrs of the casting product with a grindstone. This kind of robot is usually configured to operate by a teaching method called a teaching playback method. In the teaching playback method, the robot repeatedly moves in the same range according to a program taught to the robot. For this reason, in the work to remove the flash of the casting using a grindstone, when the grindstone wears,
Since the teaching range of the robot is widened, the distance between the robot and the grindstone is gradually increased, and the contact between the grindstone and the casting is reduced, so that the initial finishing accuracy cannot be obtained, and burrs remain. Therefore, the amount of wear of the grindstone is automatically measured by a measuring instrument, or the correction amount for the X, Y, Z components of the robot coordinate system is calculated by a method input by the operator, and the robot coordinate system is calculated using this value. To correct the wear of the grinding wheel.

FIG. 5 is a configuration explanatory view showing a conventional floor-mounted grinder grindstone wear amount measuring device, and FIG. 6 is a plan view of FIG. 5 and 6, reference numeral 11 denotes a robot main body, and the robot main body 11 is controlled by a command such as a cutting control command from a robot controller 12. Reference numeral 13 denotes a floor-mounted grinder, and the grinder 13 is provided with grinding wheels 15, 16 driven by a motor 14. The grindstones 15 and 16 are provided with optical wear amount measuring devices 17 and 18, respectively. The wear amount measuring devices 17 and 18 are connected to the robot controller 12 via a measuring device interface 19.

Reference numeral 20 denotes a work, which is a member to be cut held by the hand unit 21 of the robot body 11, and burrs of the work 22 are cut and removed by the grindstone 15. Reference numeral 23 denotes an operation panel for the operator to manually input the amount of wear of the grinding wheel. The correction value corresponding to the amount of wear set on the operation panel 23 is an operation panel interface.
It is supplied to the robot controller 12 via 24.

D. Problems to be Solved by the Invention In the grindstone wear amount measuring device shown in FIGS. 5 and 6, in order to measure the wear amount of the grindstone 15, the wear amount measuring devices 17 and 18 are used.
Was sent to the robot controller 12 via the measuring instrument interface 19. The robot controller 12 moves the robot body 11 according to the amount of wear sent.
Is given a control command.

The wear amount of the grindstone 15 is manually controlled by the operator on the operation panel.
Set to 22 and set the value to the operation panel interface
There is also a means for correcting by supplying to the robot controller 12 via 23.

However, the above measuring device has the following problems.

(1) Since it is necessary to provide a wear amount measuring device for each grindstone of the floor grinder, it becomes expensive.

(2) An interface is required to supply the measured data of the wear amount to the robot controller.

(3) Since the wear amount measuring device needs to be configured in a dustproof structure, it becomes expensive.

(4) It is necessary to periodically check the finished state of the product and input the correction amount.

(5) Since there is an individual difference in the judgment of the finished state of the product, the finished accuracy of the product varies widely.

The present invention has been made in view of the above circumstances, and has as its object to provide a grindstone wear amount measuring device in a robot application which is inexpensive, easy to maintain, and can obtain the amount of wear of the grindstone with a simple configuration. And

E. Means for Solving the Problems This invention makes the hand of the robot body grip the workpiece, presses the workpiece against the grindstone, and controls the workpiece based on the cutting control command from the robot controller. In a robot application device for cutting, a whetstone measuring means is provided in a hand portion of the robot body,
Move the hand part of the robot body from the grinding wheel wear amount measurement start point, which is a fixed distance away from the outer peripheral end of the grinding stone, to the measurement center of the grinding stone in the axial direction of the grinding stone. Is calculated from the travel distance b to the outer peripheral end of the grindstone detected by the above and the travel distance a to the outer peripheral end of the reference grindstone measured in advance, and the amount of wear of the grindstone (ba) is calculated. ) Is calculated.

F. Action The moving distance of the worn whetstone to the outer peripheral end is detected by whetstone measuring means provided in the hand part of the robot body.
The detected moving distance and the previously measured moving distance to the reference grindstone are calculated by the robot controller, and the wear amount of the grindstone is calculated from the calculation result.

G. Embodiment Hereinafter, an embodiment of the present invention will be described with reference to the accompanying drawings.

In FIG. 1, a photoelectric switch 26 is provided on a hand portion 21 of a robot main body 11 via an L-shaped fixture 25.
The photoelectric switch 26 is formed in a U-shape as shown in FIG. 2 and is disposed so as to sandwich the grindstone 15. FIG. 3 shows the second
It is a front view of a figure. The output of the photoelectric switch 26 is input to a digital input unit of the robot controller 12. The robot controller 12 has an adaptive control function (ASPEED) and a robot arm current position reading function (HEAR). The adaptive control function interrupts the MOV command during the execution of the MOV command when an external condition is satisfied and executes the next step. The function of reading the current position of the robot arm is a function of reading the current position data and the attitude data of the robot arm in a robot language.

Next, the operation of the embodiment configured as described above will be described.

When the burrs of the work 22 to be cut have been cut by the grindstone 15, the work 22 is removed from the hand unit 21. After that, the hand unit 21 is rotated, and first, the photoelectric switch 26 is
It is arranged at the position (measurement start point S) shown in FIG. The photoelectric switch 26 moves from the measurement start point S to the measurement end point E in the axial direction of the grindstone 15 so that the robot body is moved.
Control eleven arms. During this movement, the photoelectric switch 26
Detects the outer peripheral end of the grindstone 15 and gives a detection signal to the robot controller 12. The robot controller 12 sends a control command to stop the operation of the robot body 11 using the detection signal and the adaptive control function. Here, assuming that the distance from the measurement start point S to the moving distance of the photoelectric switch 26 to which the detection signal is sent is b, and the moving distance to the outer peripheral end of the reference grindstone measured by the same means in advance is a, the wear amount c of the grindstone 15 Can be calculated by performing the calculation of (ba).

H. Effects of the Invention As described above, according to the invention, the following various effects can be obtained.

(1) An inexpensive photoelectric switch serving as a whetstone wear amount measurement sensor.

(2) Since it is not necessary to provide a measurement sensor for each grindstone of the floor-standing grinder, the time for inspection and maintenance can be reduced.

(3) Since the configuration of the wear amount measuring device is simple, the number of failures is small, and the recovery from the failure can be quickened.

(4) Since the wear amount is calculated from the data inside the robot controller, the conventional interface device is not required. Therefore, the entire apparatus can be configured at very low cost.

(5) Since the measurement sensor is located at a position where dust is relatively small, a dustproof device can be dispensed with.

(6) Since the functions of measurement operation, wear amount calculation, and wear amount correction are configured by a robot program,
Easy to change.

(7) Variation in deburring accuracy is small due to automatic measurement.

[Brief description of the drawings]

FIG. 1 is an explanatory view showing the configuration of an embodiment of the present invention, FIGS. 2 and 3 are front views and plan views of the above embodiment at the time of measuring the amount of grinding wheel wear, and FIG. 4 is the amount of grinding wheel wear by a photoelectric switch. FIGS. 5 and 6 are an explanatory view illustrating a measuring means, a structural explanatory view and a plan view showing a conventional example. 11: Robot body, 12: Robot controller, 15
…… Whetstone, 21… Hand part, 22… Work, 26… Photoelectric switch.

 ──────────────────────────────────────────────────続 き Continuation of the front page (56) References JP-A-1-92052 (JP, A) JP-A-60-85865 (JP, A) JP-A-62-130866 (JP, U)

Claims (1)

(57) [Scope of request for utility model registration] 1. A robot in which a hand of a robot body grips a member to be cut, the member to be cut is pressed against a grindstone, and the robot body cuts the member to be cut based on a cutting control command from a robot controller. In the apparatus, a whetstone measuring means is provided in the hand part of the robot main body, and the whetstone measuring means is provided from a whetstone wear amount measurement starting point at a certain distance from an outer peripheral end of the whetstone to a measurement end point thereof in the axial direction of the whetstone. The hand part of the robot body is moved, and the movement distance b to the outer peripheral end of the grindstone detected by the grindstone measuring means during the movement and the moving distance a to the outer peripheral end of the reference grindstone measured in the same manner in advance (b A grinding wheel wear amount measuring device for robot application, wherein the calculation of -a) is performed to calculate the grinding wheel wear amount (ba).