JP3291026B2 - Control device for press brake with industrial robot - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION The present invention provides an industrial robot .
Relates to a control device for controlling the operation of the example was press brake and the robot, an operation of the operation and the press brake of the robot hand for performing press working with particular gripping the sheet material
The present invention relates to a control device that performs synchronous control .

[0002]

2. Description of the Related Art Conventionally, when bending a plate material while gripping the plate material by a robot hand, the robot hand needs to operate in accordance with the plate material in order to maintain the processing accuracy of the plate material.

[0003] Accordingly, a start signal for starting operation is transmitted from a system controller that transmits an operation command to the robot and the press brake to a robot controller and a press brake controller that control the operation of each driving member of the robot and the press brake, respectively. did.

[0004]

However, there is a difference between the start signal received by each of the controllers and the time required for the mechanical units controlled by the respective controllers to actually start operating. For this reason, the robot hand that grasps the plate material cannot synchronously follow the movement of the plate material that is bent by the press brake. Was.

In order to solve the above-mentioned problems, the present invention synchronizes the operation of a robot hand with the movement of a plate material bent by a press brake, thereby preventing a decrease in product accuracy and improving quality. The purpose is to:

[0006]

Means for Solving the Problems Conventional problems as described above
In view of the above, the present invention provides a press plate for bending a plate material.
Press brake control to control rake operation
Roller and plate material supply to the above press brake
Robot controller for controlling the operation of the robot
And the robot controller and press brake controller
And a system controller that commands the operation of the
The press brake control device,
The controller adjusts the robot according to the bending angle of the plate.
Of robot robot's following movement position in robot
And a calculation unit for calculating a following operation time.
Control sent from the system controller
An operation analysis unit for analyzing the content of the tracking operation data obtained,
The motion trajectory of the robot hand obtained by this motion analysis unit
Various models for moving the robot hand according to
Calculation unit for calculating the driving conditions of the motor
The shape of the plate material, the current gripping point of the robot hand
A storage unit storing various information such as
In addition, the robot hand depends on the driving conditions of
Control the movement of the robot hand according to the
Movement control unit for controlling the press brake control
Operation start signal for outputting an operation start signal to the
An output unit, wherein the press brake controller comprises:
Follow-up operation time transmitted from the system controller
Calculation unit that calculates the operation speed of the press brake based on the
And a bending start command from the system controller
And an operation start signal from the robot controller.
The operating speed and the robot
Of the various motors per unit time
Calculate the amount of movement of the brakes per unit time and play
And a control unit for controlling the brake .

[0007]

[0008]

DESCRIPTION OF THE PREFERRED EMBODIMENTS Embodiments according to the present invention will be described below with reference to FIGS.
It will be described based on.

FIG. 1 is a configuration diagram of an embodiment to which a control method for an industrial robot (hereinafter, referred to as a robot) according to the present invention is applied. A robot 3 for supplying the plate material W to the press brake 1 is provided on the right side in the Y-axis direction (left-right direction in FIG. 1) of the press brake 1 for bending the plate material W as a machine tool. Robot 3 has
The operation of the robot 3 is controlled, and a robot controller 5 as a robot control device is connected. The press brake 1 is connected to a press brake controller 7 that controls the operation of the press brake 1 and is a machine tool control device. The robot controller 5 and the press brake controller 7 are connected to a system controller 9 for instructing the operation of these devices 5 and 7.

The information transmitted from the system controller 9 to the robot controller 5 includes the robot 3
(Hereinafter, referred to as “follow-up operation”), and a follow-up start instruction 13 which is a start instruction of the follow-up operation data 11.

The information transmitted from the system controller 9 to the press brake controller 7 includes a bending start signal 15 which is one of the start signals for starting the bending process of the plate material W performed by the press brake 1. I have.

In the above configuration, based on the bending angle of the plate material W to be processed, the system controller 9 performs the following operation of the robot hand 17 to calculate the operation time of the press brake 1 (hereinafter, the following operation time). This data is transmitted to the press brake controller 7, and the following operation data 11 and the following command 13 are transmitted to the robot controller 5. The robot controller 5 performs arithmetic processing necessary for the operation of the robot 3 based on the transmitted command. After the robot controller 5 finishes the arithmetic processing, the system controller 9 transmits to the press brake controller 7 a bending start instruction 15 which is a start instruction for starting the bending processing of the plate material W. When the press brake controller 7 receives the bending start command 15 and the operation start signal 21 transmitted from the robot controller 5, the press brake 1 starts the bending process.

Hereinafter, each component will be described in detail.

FIG. 2 is a perspective view of a press brake 1 for bending the plate material W and a robot 3 for supplying the plate material W to the press brake 1.

The press brake 1 has an upper frame 23 and a lower frame 25. An upper mold 27 is detachably provided on the upper frame 23.
The lower frame 25 is provided with a lower mold 29.

When the plate material W is bent,
By moving one of the lower frames 23 and 25 up and down to engage the upper mold 27 and the lower mold 29, the upper mold 27 is moved.
The bending process is performed on the plate material W installed between the lower die 29 and the lower die 29.

The robot 3 is mounted on a base plate 31 integrally mounted on a lower frame 25 which can be moved up and down. The base plate 31 extends in the X-axis direction (the left-right direction in FIG. 2) of the lower mold 29, and a first moving table 33 is supported on the front surface of the base plate 31 so as to be movable in the X-axis direction. The first moving table 33 includes:
X-axis direction rack bar 3 provided on the base plate 31
A pinion (not shown) meshing with the pinion 5 is rotatably provided, and a first servomotor 37 for controlling the rotation of the pinion is provided.

The first movable table 33 is provided with a fan-shaped portion 39 whose upper side is enlarged in the front-rear direction (the Y-axis direction in FIG. 2), and an arc-shaped rack member is provided above the fan-shaped portion 39. 41 are provided. The rack member 41 has a second movable member in the Y-axis direction along the rack member 41.
A moving table 43 is supported. A pinion meshed with the rack member 41 is rotatably provided on the second moving table 43, and a second servomotor 45 for rotating the pinion is mounted.

The second moving table 43 includes a second moving table 43
An up-and-down support column 47 movable in the Z-axis direction (vertical direction in FIG. 2) perpendicular to the moving direction is supported.
A vertical rack is formed on the lifting column 47. The pinion meshed with the rack is used for the second movable table 4.
The third servomotor 51 for rotatably driving the pinion is mounted on the second movable table 43.

An arm 53 extending in the Y-axis direction is appropriately fixed on the upper part of the elevating column 47. A robot hand 17 capable of gripping one end of the plate material W is attached to the distal end of the arm 53. Robot hand 17
Is provided so as to be rotatable up and down around a B axis parallel to the X axis, and to be rotatable around an A axis orthogonal to the B axis. A fourth servo motor 55 for rotating the robot hand 17 up and down about the A axis and the robot hand 17 about the B axis;
A fifth servomotor 57 for rotating the arm vertically is mounted on the arm 53.

Hereinafter, the processing contents performed by the controllers 5, 7, and 9 will be described with reference to flowcharts. FIG. 3 shows a flowchart of a bending process performed by the system controller 9 for controlling the operations of the press brake 1 and the robot 3. In step 1001, the position of the robot hand 17 performing the following operation in accordance with the bending angle of the plate material W is calculated.

FIG. 4 is an explanatory diagram schematically showing the following operation of the robot hand 17 when the plate material W is bent. In the figure, A indicates a position where the robot hand 17 grips the plate material W, and A 'indicates a position corresponding to the position of A after bending. Further, v indicates a moving speed until the point A on the plate material W moves to A 'by bending.
'Indicates the operating speed of the mold 29. Where v is v ′
Is a function of

In step 1001, the coordinates of point A 'corresponding to point A are obtained, and the distance between these points is calculated.

In step 1003, a process of calculating the following operation time 19 from the point A to the point A 'is performed. The following operation time 19 is obtained by dividing the moving distance from the point A to the point A 'by the moving speed. The following operation time 19 is transmitted to the press brake controller 7 (step 10).
05), which is used to calculate the operation time of the press brake 1.

In step 1007, the tracking operation data 11 recording the content of the tracking operation and the tracking start command 13 which is the operation start command of the tracking operation are transmitted to the robot controller 5 for controlling the operation of the robot 3. Step 1
At 009, a bending start command 15 for starting the bending process of the plate material W is transmitted to the press brake controller 7, and the bending process performed by the system controller 9 is ended.

FIG. 5 is a flowchart showing the operation control of the robot 3. In step 1101, the contents of the following operation data 11 transmitted from the system controller 9 are analyzed, and the trajectory of the movement of the robot 3 is calculated (step 1103). In step 1105, step 1
A movement distance is obtained from the motion trajectory of the robot 3 calculated in step 103, and the motors 37, 45, 51,
The number of pulses required to operate 55 and 57 is calculated. The preparation for operating the robot 3 in the processing up to step 1105 is completed.

[0027] At step 1107, sends an operation start signal 21 is a start signal for operating the press brake 1 from the robot controller 5 to the press brake controller 7, in step 110 9, motor 37 for driving the robot 3 , 45, 51, 55, and 57 are driven (step 1107). In step 1111, it is determined whether or not the robot hand 17 has reached the target position.
Repeat the following, if the robot reaches the target position, the robot 3
Is ended.

FIG. 6 is a flowchart showing the operation control of the press brake 1 performed by the press brake controller 7.

In step 1201, the following operation time (step 1005) 19 transmitted from the system controller 9 is set in order to make the following operation time 19 of the robot 3 and the bending time of the press brake 1 the same time. Next, the operation speed of the press brake 1 is calculated. In step 1203, it is determined whether the bending start command 15 transmitted from the system controller 9 has been received by the press brake controller 7, and if it has been received, whether the operation start signal 21 transmitted from the robot controller 5 has been received. It is determined whether or not there is (Step 1205). That is, the start command of the press brake 1 receives the bending start signal 15 from the system controller 9 and the operation start signal 21 from the robot controller, and the press brake 1 starts operating. The press brake controller 7 controls the bending start signal 15 and the operation start signal 2
If 1 has not been received, steps 1203 and 1205 are repeated until the signals 15 and 21 are received.

When the signals 15 and 21 are received, the moving distance of the press brake 1 can be calculated from the moving speed calculated in step 1201.

In step 1207, the motors 37, 4
The amount of operation movement of the press brake 1 due to the rotation of the motor 37, 45, 51, 55, 57 per unit time (hereinafter referred to as motor movement amount) or the drive pulse per unit time which is the driving condition of 5, 51, 55, 57 To determine the number, after calculating the moving distance of the motor 37, 45, 51, 55, 57 in the unit pulse, the number of pulses per unit time, that is, the motor moving amount is calculated. After calculating the motor movement amount, the press brake 1 starts the bending process by driving the motors 37, 45, 51, 55, and 57 (step 120).
9).

In step 1211, it is determined whether or not the ram (not shown) that can be moved up and down has reached the target position. If the ram has deviated from the target position, steps 1207 and subsequent steps are repeated. The operation control of the brake 1 ends.

From the flowcharts shown in FIG. 5 and FIG.
After the press brake 1 receives the start signal from the robot controller 5 to the press brake controller 7, the motors 37, 4 are processed only in step 1207.
5, 51, 55, and 57 can be driven. Therefore, the following operation of the robot 3 in accordance with the operation of the press brake 1 can be performed more accurately.

Hereinafter, a block diagram of the robot controller 5 will be described with reference to FIG.

The robot controller 5 has an operation command input section 59 for inputting the following operation data 11 and the following command 13 of the robot 3 from the system controller 9. The operation command input unit 59 is connected to an operation analysis unit 61 for obtaining the position of the plate material W that changes according to the processing. The motion analyzing unit 61 includes motors 37, 45, and 5 for moving the robot hand 17 according to the motion locus of the robot hand 17 obtained by the motion analyzing unit 61.
A calculation unit 6 for calculating the drive conditions of 1, 55, 57 by calculation
3 is connected. The calculation unit 63 stores various information such as the shape of the plate material W to be processed, the location of the processing target, and the current gripping point being recognized, and the motors 37, 45, 51, It is connected to a movement control section 67 for controlling the movement of the robot hand 17 based on the driving conditions 55 and 57. The movement control unit 67 is connected to the motors 37, 45, 51, 55, and 57 via a servo amplifier 71 and an operation start signal output unit 69 for outputting a start signal of the operation to the press brake 1.

As described above, the operation necessary for bending the plate material W is calculated from the following operation time 19 of the robot 3 sent from the system controller 9 by the arithmetic processing, and the operation start signal 21 of the press brake 1 is generated from the robot controller 5. By transmitting the signal, the operation of the press brake 1 is started.
Therefore, the operations of the press brake 1 and the robot 3 can be synchronized.

It should be noted that the present invention is not limited to the above-described embodiment, and that the present invention can be practiced in modes other than the above-described embodiment.

[0038]

The present invention can be understood from the above description of the embodiments.
As described above , according to the present invention, the operation necessary for bending the plate material W is calculated from the robot information sent from the system controller by the arithmetic processing, and
To initiate the operation of the press brake and transmits the operation start instruction of the press brake the press brake controller, are both to be able to synchronize the start of operation of the press brake and robot robot operation and the press brake
Operation can be synchronized. At this time, the robot
The follow-up operation position and follow-up operation time of the robot hand
Computed by the system controller, the robot controller
Controller and the following operation time
Since it is sent to the brake controller,
Bot controller and press brake controller
The load can be reduced, and the operation of the press brake and the robot
Synchronization can be easily performed .

For this reason, since a reduction in the processing accuracy and quality of the plate material W can be prevented, a reduction in product yield and an improvement in work efficiency can be achieved.

[Brief description of the drawings]

FIG. 1 is a system configuration diagram of a bending apparatus according to the present invention.

FIG. 2 is a perspective view of a bending apparatus used in FIG.

FIG. 3 is a flowchart performed by a system controller.

FIG. 4 is an explanatory diagram schematically showing a bending process.

FIG. 5 is a flowchart performed by a robot controller.

FIG. 6 is a flowchart performed by a press brake controller.

FIG. 7 is a block diagram of a robot controller.

[Explanation of symbols]

Reference Signs List 1 press brake (machine tool) 5 robot controller (robot controller) 7 press brake controller (machine tool controller) 9 system controller (system controller) 11 following operation data (information) 13 following start command (information) 17 robot hand 21 Operation start signal 37, 45, 51, 55, 57 Motor

Claims (1)

(57) [Claims] 1. A press brake for bending a plate material.
Press brake control for controlling the operation of (1)
Plate material for the roller (7) and the press brake (1)
For controlling the operation of the robot (3) that supplies
Bot controller (5) and the above robot controller
(5) and operation of press brake controller (7)
And a system controller (9) for instructing
In the brake control device, the system controller (9) is configured to determine a bending angle of the plate material.
Robot hand in the robot (3) according to
(17) The following operation position is calculated and the following operation time is calculated.
(19) is provided, and the robot control (5) is provided with the system controller.
Of the following operation data (11) transmitted from the roller (9)
An operation analysis unit (61) for analyzing the contents, and the operation analysis unit
The motion gauge of the robot hand (17) obtained in (61)
The robot hand (17) is moved according to the trace.
Of various motors (37, 45, 51, 55, 57)
An operation unit (63) for calculating dynamic conditions by operation, and a processing object
Of the plate material (w) of the robot hand (1)
7) A storage unit (6) storing various information such as grip points.
5) and the various motors determined by the arithmetic unit (63)
(37, 45, 51, 55, 57)
Movement for controlling movement of the robot hand (17)
A control unit (67) and the press brake controller
(7) for outputting an operation start signal (21)
An operation start signal output section (69), wherein the press brake controller (7)
Tracking operation time (1
Calculate the operating speed of the press brake (1) based on 9)
Operating unit, and a song from the system controller (9)
Start command (15) and the robot controller
When the operation start signal (21) from (5) is received,
The operation speed obtained by the calculation unit and various modes of the robot (3)
Data (37, 45, 51, 55, 57) per unit time
Unit time of press brake (1) corresponding to the driving condition of
Calculate the amount of movement per hit to control the press brake (1)
And a control unit for controlling
Press brake control device with industrial robot .