JP2826421B2 - Core mounting position teaching jig and core mounting position teaching method - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a jig used for teaching a core mounting position to a robot for exchanging a mold core in a molding machine, and a teaching method using the jig.

[0002]

2. Description of the Related Art In a molding machine using a core exchange mold, for example, an injection molding machine, a core is exchanged by a robot in order to realize relatively frequent core exchange and a long unmanned operation. It is being considered to replace the automatic. In this case, the clamp portion of the injection molding machine is arranged in the operation area of the robot, and in order to replace the core, in a state where the core of the robot is held by the hand of the robot, the position of the core hole in the clamp portion, that is, It is necessary to teach the core mounting position.

[0003] This teaching is based on a conventional core 2 mounted on a matrix 1 (a, b) of a clamp portion as shown in FIG.
This is performed as follows using (a, b). The hand 3 of the robot is gradually approached to the core 2 by manual operation, and the core 2 is actually grasped. The hand 3 is provided with a dial gauge 4, and it is monitored whether there is a difference in the value of the dial gauge 4 between when the hand 3 grips the core 2 and when the hand 3 releases the core 2.

When there is a difference, the position of each axis of the robot is adjusted so as to eliminate the difference, the core 2 is gripped and released again by the hand 3, and the value of the dial gauge 4 is monitored for fluctuation. . This operation is repeated, and when the difference between the values due to the vibration falls within an allowable predetermined range, the position is taught as the core mounting position of the hand.

[0005] However, this teaching requires trial and error using the actual core mounted on the mother die, so that it takes time, and in a state where the hand 3 still swings, the hand 3 Each time the robot 2 is gripped, an excessive force is applied to the robot side and the core side, and these may be damaged.

[0006]

The present invention relates to a jig capable of numerically determining a core mounting position by a robot hand and a method of using the jig to teach a robot the core mounting position.

[0007]

[Means for Solving the Problems]

[Teaching jig] A movable jig corresponding to the movable core and a fixed jig corresponding to the fixed core are provided. The movable jig includes a fixed portion for the movable matrix and a detection panel provided with a position detecting device, and the fixed jig includes an insertion portion and a grip portion formed in the same shape and accuracy as the real one. The number of position detection devices of the detection panel corresponding to the degrees of freedom provided by the robot is arranged so as to be able to detect the displacement of the direction and the attitude related to these degrees of freedom. The insertion portion of the fixed jig is separable from the grip portion, and the dog plate of the position detection device is fixed.

[Teaching method] Using the above-mentioned teaching jig, the following steps are performed. First step: The movable-side jig is fixed to a movable-side mother die attached to a molding machine. The fixed-side jig is attached to the core hole of the fixed-side mother die attached to the molding machine at the insertion portion. The movable platen is moved and the detection plate of the movable jig is brought into contact with the dog plate of the fixed jig and stopped. The value of each position detecting device at that time is recorded.

Second step: The gripper of the fixed jig from which the insertion portion is separated is gripped by the hand of the robot. The robot is driven and stopped so that the core held by the hand is substantially at the core hole position on the fixed-side mother die. Third step: The movable platen is moved to bring the detection plate of the movable jig into contact with the dog plate of the fixed jig, and the value of each position detector is read. When each value is different from the recorded value, each axis of the robot is driven to make each value coincide.

Fourth step: When the values match, the position of the robot hand at that time is taught as the core mounting position.

[0011]

The movable jig having the fixed jig provided with the dog plate and the detection panel provided with the position detecting device is a regular jig which holds the fixed jig and is disposed near the core hole. The swing from the position (core mounting position) is numerically displayed to provide a target for correcting the hand position. The configuration in which the insertion portion of the fixed-side core is separable from the holding portion enables the hand position adjustment to be performed while holding the fixed-side jig. In the first step of the teaching method, the normal position of the hand with respect to the core mounting position is detected and recorded. In the third step, the hand is placed at the regular position.

[0012]

FIG. 1 shows a jig 5 used for exchanging a core of a die attached to an injection molding machine. The jig 5 is used for teaching a core mounting position to a robot. The jig 5 includes a movable jig 6 and a fixed jig 7. The robot is attached to the injection molding machine and transports the core.
In addition to replacement, it also takes out molded products. Movable jig 6
Corresponds to the movable core 2a, and includes a movable matrix 1a attached to a movable platen of an injection molding machine.
And a detection panel 10 which is inserted into the core hole 8 and is fixed in position and posture with respect to the matrix 1a.

The detection panel 10 includes a vertical plate 11, a horizontal plate 12, and front and rear plates 13. Three dial gauges G1, G2, G3 face the vertical direction toward the mold clamping direction (front-back direction) and the detection needles face forward, and dial gauges G1, G2 are dial gauges in the width direction (left-right direction). G2 and G3 are arranged and mounted in the up-down direction, and two dial gauges G4 and G5 are mounted on the horizontal plate 12 with the detection needles arranged in the width direction with the detection needle directed upward.
A dial gauge G6 is attached to the front and rear plates 13 so that the detection needle faces leftward (front). The dial gauge is one of the position detecting devices.

Each of the dial gauges G1 to G6 is a normal one.
Each is provided with a display unit 14 so that an operator can read a numerical value. In other words, the dial gauges G1 to G6 of the detection panel 10 are provided in an arrangement capable of detecting a direction related to the degree of freedom provided by the robot and a displacement related to the posture of the held core.

The fixed-side jig 7 corresponds to the fixed-side core 2b, and includes an insertion portion 15, a grip portion 16, and a dog plate 17 corresponding to the dial gauges G1 to G6. ing. Insertion part 15 and grip part 16
Is made with the same shape and precision as the real thing, and when the insertion part 15 is mounted in the core hole 18 (FIG. 2) of the fixed-side core 1b, the posture of the fixed-side jig 7 is determined together with the front-back position. Insertion part 1
5 is also separable and separable from the holding part 16 by the fitting part 19 and the bolt 20. The dog plate 17 is vertically fixed to the rear end face of the grip 16.

Reference numeral 21 denotes a robot arm. The robot is a normal robot, and is a six-axis articulated robot having six degrees of freedom.

The jig 5 is used as follows.
At this time, the core mounting position teaching method of the present invention is performed on the robot. The fixed portion jig 7 is prepared by fitting and inserting the insertion portion 15 to the grip portion 16 and fixing both with the bolt 20.
The fixed side jig 7 is fixed to the fixed side matrix 1b at the insertion portion 15 thereof.
And fixed in the core hole 18. The movable jig 6
Is fixed to the core hole 8 of the movable-side mother die 1b. This work is performed carefully by hand by the operator.

Reference numerals 22 and 23 denote auxiliary jigs for arranging the movable jig 6 and the fixed jig 7 at the core gripping positions slightly extracted from the matrix 1 (a, b). Yes, it is mounted in advance by the operator at the beginning of the teaching operation.

Using the injection molding machine as a manual operation, the movable platen is slowly advanced in the mold clamping direction, and the detection plate 10 of the movable jig 6 is brought into contact with the dog plate 17 of the fixed jig 7 (FIG. 2). When all the hands of the dial gauges G1 to G6 swing, the movable platen stops moving, and the values of the dial gauges G1 to G6 are recorded as they are. Alternatively, the values of all the dial gauges G1 to G6 are adjusted to the same value (for example, 0). That is, the normal position of the dog plate 17, in other words, the normal position (excluding the front-rear direction) of the fixed core 2 b when the core is mounted is recorded by the values (normal values) of the dial gauges G 1 to G 6. To

The movable platen is retracted, and the fixed jig 7
After the movable jig 6 is released, the fixed jig 7 is pulled out from the fixed matrix 1b,
After separating 5, the robot hand 3 causes only the grip 16 provided with the detection board 17 to be gripped. The robot is manually driven, and the gripping portion 16 is moved to the core hole 18 in the fixed-side matrix 1b.
As close as possible.

The movable platen is manually advanced slowly in the mold clamping direction, and the detection plate 10 of the movable jig 6 is brought into contact with the dog plate 17 of the fixed jig 7 held by the hand 3 and then stopped. Then, the values (detected values) of the respective dial gauges G1 to G6 are compared with the normal values recorded above (FIG. 3). When all the detected values match the normal values, the position of the hand 3 at that time is instructed to the robot controller as the core mounting position. That is, the value of each axis of the robot at that time is recorded as the core mounting position of the hand 3 in the control device.

When the detected value does not match the normal value, each axis of the robot is driven to match these values. This is the next procedure. The β axis in the work coordinate system is driven to set the difference between the values of the dial gauges G2 and G3 within a predetermined allowable range. The γ-axis is driven to set the difference between the values of the dial gauges G1 and G2 within a predetermined allowable range. The X-axis is driven, and the values in the dial gauges G1 to G3 are set to the above-described normal values (± a predetermined allowable range).

The α-axis is driven to drive the Z-axis to keep the value difference between the dial gauges G4 and G5 within a predetermined allowable range, and the values of the dial gauges G4 and G5 are adjusted to the normal values (± the allowable predetermined values). Range). Then, the Y-axis is driven, and the value of the dial gauge G6 is set to the above-described normal value (± a predetermined allowable range).

The above is repeated, and finally, it is checked whether all the values of the dial gauges G1 to G6 are within the range of the normal value ± the allowable range, and when the values are confirmed, the values of the respective axes at that time are hand-operated. 3 is recorded in the robot controller as the core mounting position. Thereby, the core mounting position of the hand 3 is stored in the robot.

After the normal value is recorded, the operation of adjusting the position of the hand 21 in the above procedure so that the detected value matches this value may be performed by the robot controller.

In this case, the dial gauges G1 to G6 having a measured value output capability are used, and the detected values are transmitted to the input / output circuit of the control device. The control device records the normal value for each axis, and includes a register for recording the detection value, and each time the detection operation of bringing the detection plate 10 into contact with the dog plate 17 is performed, the control of the dial gauges G1 to G6 is performed. The detected values are stored, and the corresponding values are compared by the CPU. If there is a difference, the axis corresponding to the direction in which the difference is eliminated (the direction in which the difference is within an allowable predetermined range) is driven. Then, the values of all the dial gauges G1 to G6 are made to coincide with the normal values (± a predetermined allowable range). The procedure at this time is performed by repeating the comparison and correction one by one in the same sequence as described above. Then, when the difference between all the detected values and the corresponding normal value falls within a permissible predetermined range, the CPU determines that the position of each axis in the robot is the core mounting position in the control device. Capture and store.

The above is an example, and the present invention is not specifically limited to the illustrated example. A position detecting device other than the dial gauge can also be used. For example, a linear scale that automatically returns to the zero point can be used. The fixing portion 9 of the movable jig 6 may not be inserted into the core hole 8 of the mother die 1a, but may be fixed to an outer portion thereof. The dog plate 17 may be attached to the movable jig 6 and the detection panel 10 may be attached to the fixed jig 7. Dial gauge G1 to G6
For example, it is necessary that the position detecting devices have a number corresponding to the degree of freedom of the robot. The present invention can be applied to a molding machine using a core-exchangeable mold other than the injection molding machine.

[0028]

As described above, the hand shake relative to the normal position can be grasped numerically as the difference between the normal value and the detected value, and the hand position can be corrected rationally. As a result, the time required for teaching can be reduced. Further, the correction of the hand position can be easily automated.

Since the insertion part and the grip part of the jig held by the hand can be separated, the position of the hand can be corrected while holding the jig.

At the time of teaching, since the actual core mounted on the master mold is not gripped by the robot hand, the master mold, the core or the robot side is not damaged.

[Brief description of the drawings]

FIG. 1 is a perspective view.

FIG. 2 is a front view (partial cross section) of a main part showing a use state.

FIG. 3 is a front view (partial cross section) of a main part showing a use state.

FIG. 4 is a perspective view for explaining a correction procedure.

FIG. 5 is a plan view (partial cross section) for explaining a correction procedure in the related art.

[Explanation of symbols]

Reference Signs List 1 mother die 2 core 3 hand 4 dial gauge (position detection device) 5 core mounting position teaching jig 6 movable side jig 7 fixed side jig 8 core hole 9 fixing part 10 detection board 15 insertion part 16 grip Part 17 Plate for dog

────────────────────────────────────────────────── ─── of the front page continued (72) inventor Issei Ishima Yamanashi Prefecture Minamitsuru-gun, Oshino-mura Shinobugusa shaped Furubaba 3580 address Fanuc within Co., Ltd. (58) investigated the field (Int.Cl. ^6, DB name) B29C 45/00 -45/84 B29C 33/00-33/76

Claims (4)

(57) [Claims] When a core mounting position is instructed to a robot which is attached to a molding machine using a core-exchangeable mold and which grasps and replaces a core of the mold attached to the molding machine with a hand. A jig to be used, comprising a movable jig corresponding to the movable core and a fixed jig corresponding to the fixed core, wherein the movable jig includes Equipped with a detection panel provided with a number of position detection devices corresponding to the degrees of freedom provided by the robot and capable of detecting the displacement of the direction and posture related to the degrees of freedom, the fixed side jig is made with the same shape and accuracy as the real For inserting the core into the core mounting position, wherein the insertion part is separable from the grip part, and the dog plate of the position detecting device is fixed to the grip part. jig. 2. A method of using a teaching jig according to claim 1 to teach a core mounting position to a robot for transporting a core, wherein a movable jig is attached to a molding machine. Attach the fixed jig to the core hole of the fixed base mold attached to the molding machine at the insertion part, and move the movable platen to move the detection plate of the movable jig to the fixed side. The first step of contacting the jig with the dog plate and stopping, and recording the value of each position detecting device at that time, and separating the insertion portion of the fixed-side jig and holding the holding portion with the robot hand. A second step of arranging the movable platen at the approximate fixed core hole position, and moving the movable platen to the fixed jig dog plate located at the approximate core hole position. The detection panel is brought into contact, and the value of each position detection device is read, and each value matches the above-mentioned recorded value. A third step of driving each axis of the robot, and a fourth step of teaching the position of each axis in the robot at that time as the core mounting position when the values of the position detection devices match. A method of teaching a core mounting position to a robot, characterized in that: 3. The teaching jig according to claim 1, wherein the position detecting device is a dial gauge. 4. The teaching method according to claim 2, wherein the position detecting device is a dial gauge.