JP3285209B2 - Control device for work transfer robot - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an apparatus for controlling a workpiece transfer robot for sequentially transporting a workpiece to a subsequent processing machine in a processing line for sequentially machining a plurality of processing machines and carrying out a predetermined product.

[0002]

2. Description of the Related Art In a press line for sequentially transferring a work to a subsequent press, sequentially performing press working, and carrying out a predetermined product, a work transfer robot for transferring the work to a subsequent press corresponds to each of a plurality of presses. It is provided.

In this case, the transfer operation of the work transfer robot is performed according to the type of the product to be processed in the press line.
That is, the feed motion is different. The work transfer robot is provided with an operation panel for setting data indicating a feed motion, and the work transfer robot is controlled to be driven by a feed motion corresponding to the data set on the operation panel. Therefore, every time there is a change in the product, the operation panel is operated to reset the feed motion according to the product.

[0004]

However, a large number of work transfer robots are provided in a press line, and it is time-consuming to reset the feed motion for each of a large number of work transfer robots each time a product is changed. And a heavy burden is imposed on the operator. Frequent product type changes can be enormous. Further, there is a possibility that a feed motion that does not correspond to a product to be processed is erroneously set. In such a case, not only a desired product cannot be processed, but also a serious accident may occur.

SUMMARY OF THE INVENTION The present invention has been made in view of the above circumstances, and has a work efficiency in which the feed motion can be changed according to the type of the product with high work efficiency, without imposing a burden on the operator, and without error. It is an object of the present invention to provide a control device for a robot.

[0006]

Accordingly, in the present invention,
A plurality of workpiece transfer robots are provided for each of the plurality of processing machines to transport a workpiece that has been processed by the processing machine to the next processing machine, and the plurality of workpiece transport robots are driven by a feed motion corresponding to the type of the workpiece. In the control device of the work transfer robot that controls
With an operation panel for instructing the type of the work,
A storage unit for storing data indicating a feed motion corresponding to the type of the work is provided in each of the plurality of work transfer robots, and the data indicating the type of the work instructed on the operation panel is stored in the plurality of work transfer robots. The plurality of work transfer robots are controlled so as to be driven according to the data stored in the storage unit corresponding to the transmitted data.

[0007]

With this configuration, when the type of work is set on the operation panel, data indicating the type of work is transmitted to each work transfer robot. In each work transfer robot, feed motion data corresponding to the transmitted work type is read from the storage means, and driven by a feed motion based on the read data. That is, since the change of the feed motion is automatically performed only by instructing the type of the product, the work efficiency is improved and the operator is not burdened. Further, since the feed motion is stored in advance according to the type of the work, the feed motion can be surely changed to the optimum one according to the type of the work without mistake.

[0008]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of a control device for a work transfer robot according to the present invention will be described below with reference to the drawings.

FIG. 2 shows the appearance of a press line applied to the embodiment.

[0010] As shown in the figure, the press line is configured to sequentially process the work WK by presses 100, 200, 300,... To produce a predetermined product, and to carry out the product. At the forefront of the press line, there is a supply device that supplies the work WK to the press line.
There is a reversing device for reversing the work WK as necessary, and a carry-out device for carrying out the processed product at the end of the press line, but these are omitted.

The presses 100, 200, and 300 are provided with work transport robots 120, 220, and 320, respectively, which are internally provided by a so-called single feed bar system.

Each work transfer robot 120, 220, 3
Reference numeral 20 is provided for transporting the work WK, which has been processed by the first-stage press, to the second-stage press. Describing the work transfer robot 220 as a representative, the work WK placed on the intermediate table 230 after the processing by the former press 100 is completed is clamped by two vacuum pads 225 provided at the left end of the feed bar 223. The work WK, which has been carried into the press 240 in the press, and has been pressed by the press 200, is clamped by the two vacuum pads 225 provided on the right end of the feed bar 223 and carried out of the mold 240, and It operates to be placed on the intermediate table 330 of the press 300.

Here, the vacuum pads 225 are provided on the left and right sides of the feed bar 223 because the work WK is transferred from the intermediate table 230 to the mold 240 and the mold
This is because the work WK is unloaded from the intermediate table 330 to the intermediate table 330 at the same time. Such a series of movements of the work transfer robot 220 is realized by causing the feed bar 223 to perform a vertical two-dimensional (lift (up and down) + feed (left and right)) feed motion as required. The feed motion of the work transfer robot 220 will be described later with reference to FIGS. The other work transfer robots 120 and 320 operate similarly to the robot 220.

The control device 210 drives and controls the press 200 and the work transfer robot 220, and the control devices 110 and 310 also correspond to the corresponding press 1
00, 300 and work transfer robots 120, 320
Drive control.

The general control device 1000 includes the control device 11
0, 210, and 310, and when a signal instructing the start of the line-linked operation is input, a control command is output to each of the control devices 110 to 310 to drive each press and each work transfer robot. When a signal instructing the stop of the line-linked operation is input, the control command to each of the control devices 110 to 310 is turned off to stop the line-linked operation.

For example, when a control command is input to the control device 210, the work W
Drive control of the press 200 and the transfer robot 220 so that the loading of the work WK from the inside of the press 200 by the injection of the K into the press 200 → the pressing of the work WK by the press 200 → the work transfer robot 220 is performed as one cycle. Is done. Other control devices 110, 310
The same applies to.

FIG. 3 is a perspective view of the work transfer robot 220. The work transfer robot 220 is roughly divided into a base 221 fixed to a frame of the press 200 and a lift direction (elevation / descent direction) with respect to the base 221. ), A feed bar 223 movably disposed in the feed direction (left-right direction) via rollers on the guide 222, and a press front surface at the left and right ends of the feed bar 223. And a vacuum pad 225 provided on a finger 224 extending in the horizontal direction.

The servomotor 226 drives the guide 222 in the lift direction, and the driving force of the servomotor 226 is transmitted through, for example, a pinion and a rack mechanism.
22 and the guide 222 is moved up and down. The servomotor 227 drives the feed bar 223 in the feed direction. Similarly, the driving force is transmitted to the feed bar 223 via, for example, a pinion and a rack mechanism, and is moved right and left. The vacuum pad 225 sucks the work WK by supplying a negative pressure from a vacuum pump (not shown) and causes the work WK to be in a clamped state, and releases the work WK by shutting off the negative pressure from the vacuum pump to be in an unclamped state. I do. Servo motors 226, 227
Of the vacuum pump and switching between supply and cutoff of the negative pressure of the vacuum pump are performed according to a drive signal output from the control device 210. The punch of the press 200 is also driven according to the drive signal output from the control device 210.

FIG. 4 shows a general feed motion of the work transfer robot 220 performed in response to the drive signal. That is, 1) to
It operates in a series of steps of 11).

1) The feed bar 222 starts moving in the feed direction from the standby position P0 toward the left end point P1 (left line).

2) At a point before the left end position P1 and at a position separated by a distance l1, movement in the lift direction toward the suction position P2 is started (downward).

3) When the suction position P2 is reached, the vacuum pad 225 is operated to clamp the work WK.

4) After a lapse of a predetermined time T1, the movement is started toward the position P1 in the lift direction (ascending).

5) At a point just before the position P1 and at a position separated by the distance l2, the movement is started toward the right end position P3 in the feed direction (right line).

6) At a point before the right end position P3 and a position separated by a distance l3, the release position P4 in the lift direction is reached.
Start moving toward (descending).

7) When reaching the release position P4, the vacuum pad 225 is turned off and the work WK is unclamped.

8) After a lapse of a predetermined time T2, the movement starts in the lift direction toward the position P3 (up).

9) At a point before the position P3 and a position separated by a distance l4, the robot starts moving toward the standby position P0 in the feed direction (left line).

10) The press 200 is started at a point before the standby position P0 and at a position separated by a distance l5,
Press working.

11) Upon reaching the standby position P0, a one-cycle end command is output, and the process waits for a predetermined time T3. Then, the process returns to 1).

As can be seen from the above, the feed motion performed by the work transfer robot 220 is from position P0 to position P0.
P4, distances l1 to l5, times T1 to T3, and data FD indicating the transport speed in each of steps 1) to 11) (hereinafter referred to as feed data FD) are determined.

When the type of product to be obtained on the press line is different, the shape of the workpiece, the height of the mold, and the like are different. It is necessary to change the stroke (see FIG. 4) to an optimal one according to the type of product.

Therefore, in this embodiment, the feed data FD is set and stored in advance according to the type of the product.
When there is a change in the product, the stored data FD is read, and the work transfer robot 220 and the press 200 are driven based on the read data FD.

The same applies to the other work transfer robots 120 and 320. Feed data FD corresponding to the type of product is stored in advance for each robot, and when there is a change in the product, the corresponding data FD is read out. , The robot 12 performs a feed motion based on the data FD.
0, 320 are driven.

FIG. 1 is a block diagram showing the configuration of the general control device 1000 and the control devices 110, 210, 310,... As shown in FIG.
Indicates that the switch operation for instructing the line interlocking operation is performed in accordance with the operation of the operator, and the types of products "1", "2", and "3" to be created on the press line
An operation unit 1001 for performing a key operation for designating..., An operation content of the operation unit 1001 is input, a control command for causing the line-linked operation to be performed, and a specified product type “1” or “2”. , WD (hereinafter, "3").
This is referred to as work data WD) via the output unit 1003 and the line 1004 to each of the control devices 110, 210, 310.
., And a CPU 1002 for sending to the.

The control devices 110, 210, and 310 will be described on behalf of the control device 210.
The corresponding feed data FD is stored in the memory 214 based on the contents of the work data WD input via the input unit 212.
And drives the work transfer robot 220 with a feed motion based on the data FD,
A CPU 213 for outputting a drive signal for driving the press 200 via an output unit 215;
The operation unit 211 creates feed data FD (FD1, FD2, FD3,...) Corresponding to each of “(1”, “2”, “3”,. A memory 21 in which the created feed data FD is stored and stored in association with the work data WD.
And 4.

The operation unit 211 is, for example, a ten-key type teaching box, and determines in advance various types of products "1", "2", "3",. Actually, the work transfer robot 220 is operated, and teaching for teaching an optimal feed motion is performed. Therefore, as a result of such teaching,
The feed data FD1, FD2, FD3... Are associated with the work data "1", "2", "3".
14 is stored. Such teaching is provided by the other control device 11.
., And the optimum feed data FD1, FD2, FD3... Corresponding to the respective work data “1”, “2”, “3”.
Are stored in the memories 314.

When the line control operation is instructed in the central control device 1000, the control devices 110, 210, 310
The presses 100, 200, and 300 are activated via... And the workpiece transfer robots 120, 220, and 320
... is activated.

Here, if the product “1” is designated in the central control device 1000, each of the control devices 110 and 21
., The feed data FD1 corresponding to the work data “1” in the memories 114, 214, 314,.
Are controlled so that the feed motions (1) to 11)) based on the feed data FD1 are performed. Whether the position in the lift direction or the feed direction has reached the target position is determined by the servo motor 226,
The determination is made based on the output of the encoder attached to 227.

When the operation of the product "1" is performed a predetermined number of times and then the operation unit 1001 is operated to change the product "2" to the product "2", the control unit 110, 210, 310,. Feed data F corresponding to "2"
.. Are read from the memories 114, 214, 314,..., And the workpiece transfer robots 120, 22 are controlled so that a feed motion based on the feed data FD2 is performed.
0, 320... Are driven and controlled. In the same manner, if there is a change in the product, the robot is automatically and promptly driven by the corresponding feed motion.

As described above, according to the embodiment, the change of the feed motion is automatically performed only by instructing the type of the product, so that the work efficiency is improved and the operator is not burdened. Further, since the feed motion is stored in advance in association with the type of the work, the feed motion is surely changed to an optimum one according to the type of the work without error.

In the embodiment, a press working line is assumed, but the present invention is not limited to this and can be applied to a work transfer robot in any machine working line.

[0043]

As described above, according to the present invention, it is possible to change the feed motion of the work transfer robot with high work efficiency and without imposing a burden on the operator. In addition, since the feed motion is optimally changed to the optimum feed motion according to the type of the product without error, the safety and reliability of the machining line are dramatically improved.

[Brief description of the drawings]

FIG. 1 is a block diagram showing a configuration of an embodiment of a control device of a work transfer robot according to the present invention.

FIG. 2 is a view showing an appearance of a press working line of the embodiment.

FIG. 3 is a perspective view illustrating a configuration of a work transfer robot.

FIG. 4 is a diagram used to explain a feed motion of a work transfer robot.

[Explanation of symbols]

 100 press 114 memory 120 work transfer robot 200 press 214 memory 220 work transfer robot 300 press 314 memory 320 work transfer robot 1001 operation unit

──────────────────────────────────────────────────続 き Continuation of front page (56) References JP-A-2-108499 (JP, A) JP-A-2-55629 (JP, A) JP-A-61-27129 (JP, A) JP-A-58-58 223575 (JP, A) JP-A-59-187442 (JP, A) JP-A-61-205630 (JP, U) (58) Fields investigated (Int. Cl. ⁷ , DB name) B30B 13/00 B21D 43 / 00 B23Q 41/02

Claims (1)

(57) [Claims] 1. A plurality of workpiece transfer robots are provided for each of a plurality of processing machines for transporting a workpiece that has been processed by the processing machine to a next processing machine, and the plurality of workpiece transport robots are adapted to feed the workpiece in accordance with the type of the workpiece. A control device for a work transfer robot that is controlled to be driven by motion, comprising: an operation panel for instructing a type of the work; and a storage unit that stores data indicating a feed motion corresponding to the type of the work. Each of the plurality of work transfer robots includes: a data indicating a type of work specified by the operation panel is sent to the plurality of work transfer robots; and the data is stored in the storage unit corresponding to the sent data. A control device for controlling the plurality of work transfer robots to drive the plurality of work transfer robots, respectively.