JP3344849B2 - NC device for manipulator - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an NC device for a manipulator for transferring a work from a work supply device to a plate processing machine such as a panel bending device.

[0002]

2. Description of the Related Art Conventionally, as shown in FIG. 5, a manipulator 5 is rotatably arranged between a work supply device 1 and a panel processing device, for example, a panel bending device 3. The work W in the work supply device 1 is clamped by a work clamp at the tip of the manipulator 5, the manipulator 5 is turned, and the work W is carried into the panel handling device 3.

In addition, the manipulator 5 includes a main body frame 7 as shown in FIG. 6, and a clamp beam 11 is rotated by a rotation pin 9 on a protruding portion 7 T protruding from a part of the main body frame 7. Are rotatably supported. A lower clamp support member 15 having a lower clamp 13 is provided at a front end portion (right end portion in FIG. 6) of the main body frame 7. In addition, a plurality of LM guides 17 are provided at the front of the lower clamp support member 15 so as to extend in a direction perpendicular to the plane of FIG. An upper clamp support member 21 having an upper clamp 19 is provided at a tip portion (right end portion in FIG. 6) of the clamp beam 11.

One end of a link 25 is connected via a pin 23 to a rear end (left end in FIG. 6) of the main body frame 7. One end of a link 29 is connected via a pin 27 to a rear end (the left end in FIG. 6) below the clamp beam 11. Further, a rear end of the fluid cylinder 31 is attached to a protruding portion 7T of the main body frame 7. The tip of a piston rod 33 attached to the fluid cylinder 31 and the other ends of the links 25 and 29 are connected by pins 35.

When the fluid cylinder 31 is operated to extend the piston rod 33 in FIG. 6, the clamp beam 11 pivots on the pivot pin 9 via the pin 35, the links 25 and 29, and the pins 23 and 27. 6, the upper die 19 also rotates in the same direction, and the work placed on the lower clamp 13 is clamped by the cooperation of the lower clamp 13 and the upper clamp 19. Will be done.

When the fluid cylinder 31 is operated to retract the piston rod 33 in FIG. 6, the clamp beam 11 is rotated counterclockwise and the upper clamp 19 is also rotated in the same direction. Will be unclamped.

As shown in FIG. 5, the manipulator 5 is provided so as to be pivotable from a position indicated by a dotted line to a position indicated by a two-dot chain line while the work W is clamped by a lower clamp 13 and an upper clamp 19. I have. In order to turn the manipulator 5 in this manner, the manipulator 5 is turned by a turning drive motor having an encoder as a position detecting device.
Is turned.

The lower clamp 13 and the upper clamp 19
7A is moved from the state shown in FIG.
(B) The amount of deflection δ due to the deflection of the lower clamp 13 and the upper clamp 19 when clamped in the state shown in FIG.
(Work W displacement) occurs. There is a problem that dimensional accuracy is degraded by this deflection. In order to solve this problem, a correction is given to the positioning of the manipulator 5 in the machining program.

[0009]

By the way, the above-mentioned conventional lower clamp 13 and upper clamp 19 are used to work W
Since the bending amount δ generated when clamping is clamped in the machining program, many dimensional corrections are required in the machining program. For example, the amount of correction differs depending on the plate thickness of the work W, and the amount of correction differs depending on the position of positioning due to the structure of the manipulator 5.

[0010] For the above-mentioned reason, there is a problem that complicated work including calculation is required when a correction is made to the machining program.

An object of the present invention is to eliminate the work of making corrections in a machining program, to automatically perform a correction process in an NC device, to simplify the creation of a machining program, and to prevent the processing of defective products due to program errors. The present invention provides an NC device for a manipulator.

[0012]

In order to achieve the above object, an NC device of a manipulator according to the present invention comprises a turning drive motor provided with a position detecting device for a main body frame having a work clamped by a lower clamp and an upper clamp. in in the NC device of the manipulator for conveying pivoted work, the relationship between the plate thickness that <br/> Wami amount of the upper and lower clamp of the workpiece when clamped workpiece and the lower clamp and the upper clamp A filed deflection amount data file, a tilt angle data file in which the relationship between the position of the body frame and the tilt angle is filed, and a deflection amount obtained from the deflection amount data file and the tilt angle data file, respectively. Correction calculating means for calculating the amount of deflection of the workpiece transport direction component based on the tilt angle. It is characterized in.

[0013]

[0014]

According to the NC device of the manipulator of the present invention as described above, based on the thickness of the work in the machining program,
Thickness is incorporated into the amount of deflection for the data files of up and down
The amount of deflection of the clamp is determined. Further, the position of the manipulator is taken into the tilt angle data file according to the manipulator command of the machining program, and the tilt angle is obtained.

The amount of deflection and the angle of inclination of the upper and lower clamps are taken into the correction calculating means, and the amount of deflection of the component in the work transport direction is calculated. The positioning of the manipulator is performed based on the correction data subjected to the arithmetic processing.

Therefore, since the correction processing is automatically performed by the NC apparatus without performing the correction processing by the processing program, the preparation of the processing program can be simplified, and the processing of defective products due to a program error can be prevented. .

[0017]

[0018]

Embodiments of the present invention will be described below in detail with reference to the drawings.

The arrangement and structure of the manipulator according to the present invention are not different from those already described with reference to FIGS. 5 and 6 in the prior art, so that the description will be omitted, and the NC device of the manipulator will be described.

Referring to FIG. 1, N of the manipulator 5
The C device 37 includes a deflection data file 39 indicating the relationship between the thickness t of the workpiece W and the deflection δ as shown in FIG. 2, and a manipulator 5 as shown in FIG. The inclination angle data file 41, the deflection amount data file 39 indicating the relationship between the position and the inclination angle θ, and the deflection amount δ and the inclination θ obtained in the inclination angle data file 41, and the component The amount of deflection
In the relationship shown in FIG. 4, it is composed of a correction operation means 43 for performing an arithmetic operation with δ _w = manipulator command value− (δ · sin θ). Further, the NC device 37 is provided with manipulator switching means 45 for manipulator commands. A positioning unit 47 of the manipulator 5 is connected to the manipulator switching means 45, and a turning drive motor M having an encoder E of a position detection device is connected to the positioning unit 47 via an amplifier 49. .

With the above configuration, the work W is moved from the work supply device 1 to the panel bending device 3 by the manipulator 5.
When the workpiece is conveyed, the plate thickness of the work W stored in the machining program is first taken into the deflection amount data file 39 by the NC device 37, and the difference between the plate thickness t and the deflection amount δ shown in FIG. The amount of deflection δ is determined from the relationship. Next, the position of the manipulator 5 at the time of final workpiece positioning is taken into the inclination angle data file 41 by the manipulator command contained in the machining program, and the position of the manipulator 5 and the inclination angle θ as shown in FIG. Is obtained from the relationship.

The deflection amount .delta. And the inclination angle .theta. Obtained from the deflection amount data file 39 and the inclination angle data file 41 are taken into the correction calculating means 43, and are obtained from the relationship shown in FIG. deflection of .delta.w of click conveyance direction component, .delta.w = manipulator command value - ([delta] · sin
θ).

[0023] When switching the manipulator switching means 45, the correction arithmetic means calculating treated [delta] _w 43 is sent to the positioning unit 47 of the manipulator 5 rotation driving motor M via the amplifier 49 is positioned under the control Will be. When the manipulator 5 is not clamping the work W, the manipulator switching means 45
Are switched and output.

As a result, high-precision bending can be performed by automatically performing the correction processing by the NC device 37 without adding the dimensional correction to the processing program by the bending program. Therefore, accuracy degradation unique to the machine is eliminated,
The operator only has to create a machining program according to the workpiece. Thus, the creation of the machining program can be simplified, and the processing of defective products due to program errors can be prevented.

The present invention is not limited to the above-described embodiment, but can be embodied in other modes by making appropriate changes. The clamp structure of the manipulator 5 is not limited to the structure described in the related art, and may be of any type as long as the clamp generates deflection. The correction operation of the manipulator 5 is effective not only for the Y component but also for the x component.

[0026]

As will be understood from the above description of the embodiments, according to the present invention, the correction processing can be automatically performed by the NC apparatus without performing the correction processing by the machining program. Therefore, it is possible to simplify the creation of the machining program and to prevent machining of defective products due to a program error.

[0027]

[Brief description of the drawings]

FIG. 1 is a configuration block diagram of an NC device of a manipulator of the present invention.

FIG. 2 is an example of a flexure amount data file showing a relationship between a work thickness and a flexure amount.

FIG. 3 is an example of a tilt angle data file showing a relationship between a position of a manipulator and a tilt angle;

FIG. 4 is an explanatory diagram of an example of obtaining a deflection amount of a component in a work conveyance direction by a correction calculation unit.

FIG. 5 is a plan view showing an arrangement relationship of a work supply device, a panel bending device, and a manipulator.

6 is a side view of the manipulator shown in FIG.

FIG. 7 is an explanatory diagram illustrating a deflection amount generated when a work is clamped by a clamp of a manipulator.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Work supply device 3 Panel bending device 5 Manipulator 37 NC device 39 Data file for deflection amount 41 Data file for inclination angle 43 Correction calculation means 45 Manipulator switching means 47 Positioning unit

Claims (1)

(57) [Claims] 1. An NC device for a manipulator for conveying a work by turning a main body frame, on which a work is clamped by a lower clamp and an upper clamp, by a turning drive motor provided with a position detecting device, wherein the lower clamp and the upper clamp are provided. A data file for a deflection amount filed with a relationship between the thickness of the workpiece and a deflection amount of the upper and lower clamps when the workpiece is clamped, and a tilt angle data file for a relationship between the position of the body frame and the tilt angle. <br/> file, the deflection amount obtained from the deflection amount data file and the inclination angle data file, respectively,
An NC device for a manipulator, comprising: a correction calculating unit that calculates a deflection amount of a component in a workpiece conveying direction based on a tilt angle.