JP3312808B2 - Teaching device and method for core delivery robot - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention makes it possible to easily teach a core-loading position when a core-loading robot is used to load a core into a main die in a casting process. The present invention relates to a teaching device and a method for a core delivery robot.

[0002]

2. Description of the Related Art When a core is placed in a main mold in a casting process using a core placing robot, it is necessary to teach the core placing position to the core placing robot. However, since the main mold formed by solidifying the sand is soft, if the teaching is performed by a normal method, the main mold collapses, and it is difficult to perform the teaching.

[0003] Therefore, instead of the actual main mold, a teaching model is formed by a self-hardening mold or a wooden mold, and teaching is performed using this model.

[0004]

However, under the low-volume production of many models, as in recent years, the number of models to be formed increases, the manufacturing cost of the models increases, and a storage space for the formed models is secured. Is also struggling.

[0005]

According to the first aspect of the present invention,
A core holding robot for attaching the hand holding the core to the distal end of the arm and storing the core held by the hand in the main mold is provided, between the distal end of the arm and the hand. A compliance device that is interposed and makes the hand part swingable in the horizontal direction, and the hand part that is moved to a position above the core that is placed in the main mold that is located at a predetermined core receiving position. Swing detecting means for detecting a swing direction and a swing amount of the hand unit when the core is lowered and the core is gripped, and the arm necessary for canceling the swing detected by the swing detecting means Calculate the position correction amount of
Correction means for correcting the position of the arm based on the calculation result, and a storage unit for storing the corrected position as a teaching position for the core.

[0006] According to a second aspect of the invention, swingable horizontally core housed arm end of the robot to the position above said core which is accommodated in the main mold in which is positioned a predetermined core housed position And a second step of moving the hand part freely swingably mounted in the swing lock state, and releasing the swing lock of the hand part and lowering the hand part to grip the core. Step, a fourth step of detecting the swing amount and swing direction of the hand unit when gripping the core in the third step, and a swing amount and swing direction of the hand unit detected in the fourth step. Eliminates swing of this hand part based on
To calculate the position correction amount of the arm necessary for
And a sixth step of storing the position of the arm corrected in the fifth step as a teaching position for the core.

[0007]

According to the first aspect of the present invention, the core is placed in the main mold located at the predetermined core receiving position, and the arm of the core placing robot is driven to move the hand portion to the position above the core. Move to Next, the core is gripped by the hand unit by lowering the arm, and the swing amount and swing direction of the hand unit by the compliance device at this time are detected by the swing detection unit. Then, the position of the arm is corrected by the correction means so as to eliminate the swing, and the corrected position of the arm is stored in the storage unit as the teaching position for the core. Therefore, teaching of the core placement position can be performed using the actual main pattern.

According to the second aspect of the present invention, the core is placed in the main mold located at the predetermined core receiving position in the first step, and attached to the tip of the arm of the core placing robot in the second step. Move the hand unit to the upper position of the main mold housed in the main mold in the swing lock state with respect to the arm, release the swing lock of the hand unit in the third process, and lower this hand unit to set the core To grip. Then, the swing amount and the swing direction of the hand unit when gripping the core are detected in a fourth process, and the swing amount and the swing direction of the hand unit detected in the fourth process are detected in a fifth process. The position of the arm is corrected to a position at which the swing of the hand part is eliminated, and the position of the arm corrected in the fifth step is stored as the teaching position for the core in the sixth step.

[0009]

An embodiment of the present invention will be described with reference to the drawings. First, FIG. 2 is a block diagram showing the entire configuration of a casting core storage device, in which a main die supply line (not shown) for conveying the main die 1 and a core supply line 3 for conveying the core 2 are provided. At the side of the main mold supply line, a core placing robot 4 for holding the core 2 and placing it in the main mold 1 is provided.

Next, a core position detecting means 5 for detecting the position of the core 2 conveyed by the core supply line 3 and stopped at a predetermined position, and a main mold stopping device 6 conveyed by the main die supply line. Master type 1 stopped at the specified core storage position
And a main mold position detecting means 7 for detecting the position of the main mold. The core position detecting means 5 includes two CCD cameras 8 arranged near the stop position of the core 2 and these CCD cameras 8.
An image processing unit 9 for performing a matching process with teaching information for holding the core 2 set in advance based on information from the CD camera 8 is formed. 2 located near the stop position of
It is formed by the CCD cameras 10 and the image processing unit 9 that performs a matching process with teaching information of a preset core receiving position based on information from the CCD cameras 10.

The image processing section 9 calculates an error with the teaching information based on the matching processing performed by the image processing section 9 and controls the position of the core placing robot 4 in a direction to eliminate the error. It is connected to an FA computer 11, which is connected to a robot controller 12. The FA computer 11, the robot controller 12, the core supply line 3, and the master stop device 6 are connected to a sequencer 13. The sequencer 13 has an operation panel 14 on which various operation switches and display lamps are arranged. And, it is connected to a molding line 15 forming the main mold 1 as an upper system.

The arm 4 is provided with an arm 16, and a hand portion 17 for holding the core 2 is attached to a tip of the arm 16. This hand part 1 is located between
A parallel link mechanism 18, which is a compliance device that allows the 7 to swing freely in the horizontal direction, is interposed. A lock mechanism (not shown) for locking the swinging state of the hand unit 17 by the parallel ring mechanism 18 is provided at the tip of the arm 16. The hand unit 1
7 is mounted with three potentiometers 19, which are swing detecting means for detecting the swing amount and swing direction of the hand unit 17 by the parallel link mechanism 18. These potentiometers 19 The position correction amount of the arm 16 required to eliminate the movement is calculated, and a signal based on the calculation result is transmitted to the robot controller 12.
Is connected to the FA computer 11 which is a correction means for outputting to the computer.

Further, the FA computer 11 operates the arm 16 corrected based on the calculated position correction amount.
Is also stored as a teaching position for the core.

A procedure for teaching the core receiving position in such a configuration will be described with reference to the flowchart of FIG. First, the core 2 is manually put into the main die 1 which is transported by the main die supply line and stopped at the predetermined core receiving position by the main die stopping device 6.

Next, the core placing robot 4 is manually operated to move the hand portion 17 to a position above the core 2 placed in the main die 1. During this movement, the parallel link mechanism 18 is locked by the lock mechanism, and the hand unit 1 is locked.
After the 7 is moved to the position above the core 2, the lock is released. After releasing the lock of the lock mechanism, the hand unit 17 is lowered together with the arm 16, and the core 2 is gripped by the hand unit 17.

Then, the swing amount and swing direction of the hand unit 17 when the core 2 is gripped are detected by a potentiometer 19, and the swing of the hand unit 17 is required to be canceled based on the detection result. The FA computer 11 calculates the position correction amount of the arm 16 and outputs a signal based on the calculation result to the robot controller 12 to correct the position of the arm 16. Next, the position of the arm 16 after the correction is set as the teaching position for the core and the FA computer 11.
To memorize.

Therefore, the teaching at the core placement position is
This can be performed using the actual master mold 1, eliminating the need for forming a master mold model used in the conventional teaching, greatly reducing costs and storing a large number of formed models. The complexity of securing space is also eliminated.

In this embodiment, an example has been described in which the position of the arm 16 is immediately stored as the teaching position for the core after the position of the arm 16 is corrected, but the position of the arm 16 is corrected. Later, by moving the hand part 17 upward while holding the core 2, the core 2 is once taken out of the main mold 1, the core 2 is put back into the main mold 1, and the hand part 17 swings. If the movement of the arm 16 is detected by the potentiometer 19 and the position of the arm 16 is stored as the teaching position of the core when the swing is not performed, the teaching of the core can be performed more accurately. . If the hand unit 17 swings when the core 2 is put back into the main mold 1, the teaching operation is restarted from the beginning.

[0019]

According to the first aspect of the present invention, as described above, the core for gripping the core is attached to the tip of the arm and the core gripped by the hand is placed in the main mold. A compliance device provided with a robot and interposed between a tip portion of the arm and the hand portion to allow the hand portion to freely swing in a horizontal direction; and a main mold having a predetermined core position. Swing detection means for detecting the swing direction and the swing amount of the hand unit when the hand unit moved to the position above the core housed and gripping the core is lowered; and Calculating the position correction amount of the arm necessary for canceling the swing detected by the movement detecting means,
Since the correction means for correcting the position of the arm based on the calculation result and the storage unit for storing the corrected position as the teaching position for the core placement are provided, when the core delivery is performed using the core placement robot. In, it is possible to teach the core placement position using the actual main mold,
Therefore, it is not necessary to form a main model in order to teach the core placement position, which can reduce the cost required for forming the model and secure a space for storing the formed model. This has the effect of eliminating the problem.

[0020] As mentioned above the second aspect of the present invention, the horizontal direction on the tip of the arm of the core housed robot to a position above said core which is accommodated in the main mold in which is positioned a predetermined core housed position A second step of moving the hand part, which is swingably and rockably locked, in the swing locked state, and releases the swing lock of the hand part and lowers the hand part to lower the core. The third step of gripping, the fourth step of detecting the swing amount and swing direction of the hand unit when gripping the core in the third step, and the swing amount of the hand unit detected in the fourth step and The position correction amount of the arm required for canceling the swing of the hand unit based on the swing direction
And the fifth step of correcting the position of the arm based on the result of the calculation, and the sixth step of storing the position of the arm corrected in the fifth step as a teaching position for the core, When performing core delivery using a core delivery robot, teaching of the core delivery position can be performed using the actual master pattern. Therefore, a master model is used to teach the core delivery position. This eliminates the necessity of forming the model, thereby reducing the cost required for forming the model and eliminating the complexity of securing a space for storing the formed model.

[Brief description of the drawings]

FIG. 1 is a front view showing a teaching state of a core receiving position in one embodiment of the present invention.

FIG. 2 is a block diagram showing an entire configuration of a casting core placing device.

FIG. 3 is a flowchart showing a procedure of teaching a core receiving position.

[Explanation of symbols]

 REFERENCE SIGNS LIST 1 main mold 2 core 4 robot 11 correction means, storage unit 16 arm 17 hand unit 18 compliance device 19 swing detection means

──────────────────────────────────────────────────続 き Continued on front page (51) Int.Cl. ⁷ Identification symbol FI G05B 19/42 G05B 19/42 R (72) Inventor Hiroyuki Hagiwara 1-1-1 Ishiba, Matsumoto-shi, Nagano Pref. Ishikawa Shima Shibaura Machinery Stock (72) Inventor Tsuyoshi Mizuno 1-1-1 Ishiba, Matsumoto City, Nagano Prefecture Ishikawa Shima Shibaura Machinery Co., Ltd. Matsumoto Factory (72) Inventor Hideki Miyamoto 1-1-1, Ishiba, Matsumoto City, Nagano Prefecture Ishikawa Matsumoto Plant of Shima Shibaura Machinery Co., Ltd. (72) Hiroki Murakami, Inventor 3-2-1-16, Toyoshu, Koto-ku, Tokyo Ishikawa Shimaharima Heavy Industries, Ltd. state 3-chome No. 2 No. 16 Ishikawajima-Harima heavy Industries Co., Ltd. Toyoshu in the overall office (56) reference Patent Sho 63-183745 (JP, a) (58 ) investigated the field (Int.Cl. ^7, D Name) B22C 9/10 B22D 17/24 B25J 9/10 B25J 9/22 B25J 13/08 G05B 19/404 G05B 19/42

Claims (2)

(57) [Claims] A hand holding robot for holding a core holding a core to an end portion of an arm and storing the core held by the hand portion in a main mold is provided. A compliance device that is interposed between the first and second parts and makes the hand part swingable in the horizontal direction;
The hand part, which has been moved to a position above the core placed in the main mold placed at the predetermined core receiving position, is lowered, and the hand part swings and swings when the core is gripped. Swing detection means for detecting the amount of movement, and position correction of the arm necessary for canceling the swing detected by the swing detection means
A correction means for calculating the amount and correcting the position of the arm based on the calculation result; and a storage unit for storing the corrected position as a teaching position for the core. Teaching equipment. 2. A main mold located at a predetermined core receiving position .
A second step of moving the hand part attached to the tip of the arm of the core storage robot so as to be swingable and rockable in a horizontal direction to the position above the core stored in the rocking lock state, A third step of releasing the swing lock of the hand section and lowering the hand section to grip the core, and a swing amount and swing of the hand section when gripping the core in the third step and a fourth step of detecting the direction, the necessary for canceling the swing of the hand portion based on the swing amount and the swing direction of the hand unit detected in the fourth step
A fifth step of calculating the position correction amount of the arm and correcting the position of the arm based on the calculation result, and storing the position of the arm corrected in the fifth step as a teaching position for placing the core. A teaching method for a core delivery robot, which comprises a sixth step.