JP6920261B2 - Loader automatic teaching method - Google Patents

Description

The present invention relates to an automatic loader teaching method capable of teaching a loader only by setting a reference position of a machine tool and inputting the dimensions of a machined product. Furthermore, the present invention relates to an automatic loader teaching method that can be easily changed even if the dimensions of the processed product are changed.

In recent years, unmanned production lines have progressed, and mass production lines (mass production lines that connect machine tools to machine tools) have been constructed by connecting multiple machine tools, etc., and initial products of metal materials such as blocks and round bars. Products (processed products) that start from the beginning and complete all processing up to the finished product only by an automated process are mass-produced. When the initial metal material is processed by a machine tool, transported to another machine tool, processed step by step, and processed into a final product, the processed product (processed product) transported from the conveyor is inserted through a loader. Then, it is conveyed to the chuck of the next machine tool and processed in the next process. At this time, it is necessary to set a teaching point for controlling the movement of the loader in order to convey the processed product (product in the middle of processing).

Conventionally, when teaching the loader (teaching the operation during transport of the loader in advance), eight teaching points (8 points are sufficient when performing the basic operation), which is a passing point during the operation of the loader. (It may be 10 points or more) is described in the work manual, etc., and the worker manually inputs the teaching point (specifically, the spatial coordinates) for each teaching point described in the work manual. Not only is it very time-consuming, but there are also problems such as damage to the machine tool due to input errors, damage to the machined product, etc., which was an unfavorable situation. Therefore, a good teaching method to overcome this situation was desired. ..

In Patent Document 1, for the purpose of automatically teaching teaching points in the chuck direction corresponding to workpieces having various lengths, "a loader chuck capable of delivering a workpiece facing a chuck of a machine tool and a loader chuck. In a loader including a loader main mechanism portion for moving the loader chuck in the chuck axial direction of the machine tool and in other directions, a load for detecting the load current of the motor for driving the chuck axial direction of the loader main mechanism portion. A loader teaching device including a current monitoring means and a teaching point determining means for detecting a loader position when the load current detected value by this means exceeds a set value and determining the detected position as a teaching point (Patent Document). 1: Claim 1). ”Is disclosed.

Japanese Unexamined Patent Publication No. 4-330504

The loader teaching device (Patent Document 1: title of the invention) according to Patent Document 1 is provided with a load current monitoring means for detecting the load current of the chuck axial drive motor of the loader main mechanism, and the load current detection value. The loader position is detected when the value exceeds a predetermined value, and that position is used as the teaching point. However, a load current monitoring means must be installed in addition to the machine tool, and the load current must be installed. The monitoring means is considered to be a means that requires high accuracy, and an error in measurement accuracy may occur due to factors such as vibration during machining, and maintenance is required, which is not preferable.

An object of the present invention is an automatic loader teaching method capable of teaching a loader simply by setting a reference position of a machine tool and inputting the dimensions of a workpiece, and moreover, easily and quickly even if the dimensions of a workpiece are changed. The purpose is to provide a loader automatic teaching method capable of changing teaching.

In order to solve the above problems, the invention according to claim 1 is a method of controlling a transfer operation of a loader that conveys a processed product in a production line composed of a plurality of machine tools.
By inputting the preset process of setting the teaching point that is not affected by the dimensions of the processed product, the chuck reference position setting process of adjusting the position of the chuck end face to the loader finger end face by inputting the chuck reference position, and the conveyor reference position. Processing when the dimensions of the processed product are set in the conveyor reference position setting process that adjusts the position of the conveyor end to the end face of the loader finger, the processed product dimension setting process that inputs the dimensions of the processed product, and the processed product dimension setting process. A point writing process for setting a processed product supply position (2), a loading position (8), and an unloading position (5) , which are teaching points affected by the dimensions of the product, is provided, and the point writing process is a loader finger. It is characterized in that it is a loader automatic teaching method including a step of inputting a position for gripping a processed product and a process for inputting a processing product gripping allowance when fixing a processed product with a chuck.

The invention according to claim 2 is a loader automatic teaching method for visualizing the chuck, the loader finger, and the conveyor on a monitor screen according to claim 1.

The present invention is a method of controlling the transport operation of a loader that transports a processed product in a production line composed of a plurality of machine tools. The loader automatic teaching method according to the present invention includes a preset step of setting a teaching point that is not affected by the size of the processed product, and a chuck reference position setting step of adjusting the position of the chuck end face to the loader finger end face by inputting the chuck reference position. And, in the conveyor reference position setting process of adjusting the position of the conveyor end to the loader finger end face by inputting the conveyor reference position, the processed product dimension setting process of inputting the dimensions of the processed product, and the processed product in the processed product dimension setting process. It is provided with a point writing process for setting a teaching point that is affected by the dimensions of the processed product when the dimensions of are set.

The preset process for setting a teaching point that is not affected by the size of the processed product can be applied semi-permanently as it is once it is set, so the operator does not need to do anything. The chuck reference position process and the conveyor reference position process require input work again when the chuck and the conveyor are replaced, but it is not necessary to perform the input work each time the processed product is replaced. Therefore, a normal worker sets the machine tool dimension setting and the teaching point for setting the position where the loader finger grips the machine tool, which is affected by the size and shape of the machine tool by inputting the machine tool dimensions. The input work only needs to be performed in the point writing process, and as a result, the operator can significantly reduce the setup time until the machine tool is operated. Furthermore, by visualizing the chuck, loader finger, and conveyor on the monitor screen, the operator can visually grasp what he / she is currently doing, so that he / she can understand what he / she is currently doing smoothly and accurately without making a mistake. You can now work.

It is a figure for demonstrating the basic operation of a loader at the time of loader transfer of the loader automatic teaching which concerns on this invention. It is a transfer work flow chart of the loader automatic teaching which concerns on this invention. It is a figure for demonstrating the positional relationship at the time of setting a chuck reference position. It is a figure for demonstrating the positional relationship at the time of setting a conveyor reference position. It is a figure for demonstrating the positional relationship at the time of setting a processed product dimension.

<Basic operation of loader automatic teaching>
Hereinafter, an embodiment of the loader automatic teaching 10 according to the present invention will be described in detail with reference to FIGS. 1 to 5. FIG. 1 is a diagram for explaining the basic operation of the loader during loader transfer of the loader automatic teaching according to the present invention. In the present specification, teaching is to teach the loader of the machine tool the movement (teaching point) at the time of transporting the processed product.

Conventionally, when teaching a teaching point (a passing point in a three-dimensional space where the loader changes direction or speed changes) to the loader of a machine tool, the loader is moved to a desired position by operating a switch in a manual mode. It is a method to set the position (may be 8 to 10 points or more) as a teaching point, or manually input the determined spatial coordinates (may be 8 to 10 points or more). Because the method of setting (as a teaching point) was common, it was very troublesome and there was a possibility that an error such as an input error would occur. It is significant that the loader automatic teaching method 10 according to the present invention improves work efficiency and work accuracy by simplifying the setup when setting the teaching point.

Before explaining the loader automatic teaching method 10 according to the present invention, the position (spatial coordinates) at which the teaching point should be set during loader transfer will be described with reference to FIG. In a mass production line composed of a plurality of machine tools, after being processed by a certain machine tool, the processed product (processed product) placed on the conveyor 100 is processed by the next machine tool. It will be transported to the position where the chuck 90 of the machine tool installed in the machine tool is installed.

In FIG. 1, (0) to (8) are teaching points during loader transfer. Note that (0) is the loader origin, (1) is the loader escape position, (2) is the processed product supply position, (3) is the off-machine standby position, (4) is the loader retract position (at the time of unloading), and (5). ) Is the unloading position, (6) is the loader retracting position (during loading), (7) is the slowdown position, and (8) is the loading position.

The teaching points to be set when transporting the processed product from the conveyor 100 to the chuck 90 are as follows. The loader is located at the loader origin (0) at the time when the loader transfer is started. That is, the origin coordinates of the loader (X, Y, Z = 0, 0, 0). Move from (0) to (1) along the Y axis (adjust the height so that the loader finger can grab the work piece), and move from (1) to (2) along the Z axis (2). Adjust the distance so that the loader finger can grab the processed product), and by grasping the processed product placed on the conveyor 100 with the loader finger (attached to the tip of the loader), the previous machine tool (in short, the previous process) ) Will be received.

After that, (2) → (1) → (0) (and return to the origin) → (3) (keep a sufficient distance between the processed product and the chuck 90 on the Z axis) → (6) (with the processed product) Adjust the height on the Y-axis with the chuck 90) → (7) (Since the distance from here to the chuck 90 will be even closer, slow down for safety) → (8) (Position to attach the machine tool to the chuck 90) ), And by fixing the processed product conveyed at the position (8) to the chuck 90, it will be handed over to the next machine tool (in short, the next process).

After processing, it is further conveyed to the next machine tool (in short, the next process) through the teaching points (5) → (4). In the present specification, the X-axis refers to the radial direction of the processed product, the Y-axis refers to the direction perpendicular to the ground, and the Z-axis refers to the length direction of the processed product. Furthermore, (4) and (6), (5) and (8) are at the same position in the three-dimensional space, but loading (movement in which the processed product is supplied: in) and unloading (processing product is discharged). Depending on the movement to be performed: out), it will be counted as a different teaching point.

The loader is a mechanism that can freely move between machine tools in the vertical, horizontal, and front-back directions by inputting and setting spatial coordinates using a mechanism such as a drive motor. Occasionally, the loader evacuates upwards to the extent that it does not affect machining, so that the machined product can be machined. When the machining is completed, the loader returns again and the machined processed product is conveyed on the conveyor to the next machine tool.

<Automatic loader teaching method>
FIG. 2 is a diagram for explaining the flow of the loader automatic teaching method 10. As described in FIG. 2, one of the features of the loader automatic teaching method 10 according to the present invention is that the loader automatic teaching method 10 includes a preset step 20 for setting a teaching point that is not affected by the size of the processed product. Specifically, with respect to the spatial coordinates forming the XY plane (teaching points (0) (1) (3) (4) (6) (7) in FIG. 1), the movement of the loader 70 is that of the processed product. Since it is not affected by the dimensions, it was decided to set it in advance in order to reduce the burden on the operator. That is, since the teaching points (0), (1), (3), (4), (6), and (7) in FIG. 1 are set at the start of the loader automatic teaching method 10, the operator needs to perform the setting work. There is no.

The loader automatic teaching method 10 includes a chuck reference position setting step 30, a conveyor reference position setting step 40, a processed product dimension setting step 50, and a point writing step 60. Here, either the chuck reference position setting step 30 or the conveyor reference position setting step 40 may be performed first. The chuck reference setting step 30 does not need to be performed unless the chuck 90 is replaced, and the conveyor reference position setting step 40 does not need to be performed unless the conveyor 100 is replaced. The processed product dimension setting step 50 and the point writing step 60 are performed after the chuck reference position setting step 30 and the conveyor reference position setting step 40 are completed (see FIG. 2). The details of the chuck reference position setting step 30, the conveyor reference position setting step 40, the processed product dimension setting step 50, and the point writing step 60 will be described later.

FIG. 3 is a diagram for explaining the positional relationship (between the loader finger 80 and the chuck 90) when setting the chuck reference position. The chuck reference position setting step 30 will be described with reference to FIG.

A loader finger 80 for gripping a processed product is installed at the tip of the loader 70 (see FIG. 3). In the chuck reference position setting step 30 when setting the chuck reference position in the loader automatic teaching method 10, the origin coordinates of the loader 70 when the position of the chuck 90 end face is aligned with the loader finger 80 end face are set to (0,0,0). ), The coordinates of the chuck 90 (X-axis, Y-axis, Z-axis) are set (the state where the chuck 90 and the loader finger 80 are in the positional relationship shown in FIG. 3). In the actual work, since the X-axis is preset, it is set by inputting the coordinates (Z-axis, Y-axis) of the loader finger 80. That is, when the position of the end face of the chuck 90 is aligned with the end face of the loader finger 80, the coordinates in the length direction and the coordinates in the height direction of the processed product of the loader finger 80 are input.

The teaching point (0) in FIG. 1 corresponds to the origin coordinates of the loader. The chuck reference position setting step 30 is not reset unless the chuck 80 is replaced in the machine tool. In the loader automatic teaching method 10, data relating to up to 10 chuck reference positions can be registered in advance.

FIG. 4 is a diagram for explaining the positional relationship (between the loader finger 80 and the conveyor 100) when setting the conveyor reference position. The conveyor reference position setting step 40 will be described with reference to FIG.

In the conveyor reference position setting step 40 when setting the conveyor reference position in the loader automatic teaching method 10, the workability of the loader finger 80 is determined from the position of the conveyor 100 end (not the end face) as shown in FIG. The coordinates (Z-axis, Y-axis) of the loader finger 80 when taken into consideration will be set (the X-axis is preset, so the operator does not need to set it). That is, the coordinates (Z-axis direction) and height of the processed product of the loader finger 80 when the processed product placed on the end of the conveyor 100 is aligned so that the loader finger 80 can sufficiently grasp the processed product. Enter the coordinates of the direction (Y-axis direction).

The teaching point (0) in FIG. 1 corresponds to the origin (0, 0, 0) of the loader. The conveyor reference position setting step 40 is not reset unless the conveyor 90 is replaced in the machine tool. Data related to up to 10 conveyor reference positions can be registered in advance.

FIG. 5 is a diagram for explaining the positional relationship (the loader finger 80, the chuck 90, and the processed product) when setting the dimensions of the processed product. The processed product dimension setting step 50 and the point writing step 60 will be described with reference to FIG.

In the machined product dimension setting step 50 in which the reference position is set each time the dimensions of the machined product are changed in the loader automatic teaching method 10, as described in FIG. 5, machining is performed between the loader finger 80 and the chuck 90. The Z coordinate (for the dimensions of the processed product) will be corrected by setting the product. Specifically, the operator sets the coordinates by inputting the coordinates related to the Z-axis direction determined by the dimensions of the processed product. Specifically, in addition to the processed product dimensions (Z-axis direction), the position for gripping the processed product with the loader finger 80, the processed product gripping allowance for fixing the processed product with the chuck 90, and the like are set by inputting ( (See FIG. 5). As an example, the processed product size is 50 mm, the position where the processed product is gripped by the loader finger 80 (distance between the left end surface of the loader finger 80 and the right end surface of the processed product in FIG. 5), and the processed product when fixing the processed product with the chuck 90. Input the gripping allowance of 10 mm (in FIG. 5, the distance at which the left side of the processed product is gripped by the chuck 90).

The point writing step 60 includes a point writing step 60 for setting a teaching point to be changed in conjunction with the setting of the dimensions of the processed product in the processed product dimension setting step 50. Specifically, the processed product supply position (teaching point (2)), unloading position (teaching point (5)), loading position (teaching point (8)), and the like are set.

It is not necessary to reset the processed product dimension setting step 50 and the point writing step 60 as long as the processed products have the same dimensions. If the dimensions of the processed product are changed (when another product is flown), the settings will have to be reset. The loader automatic teaching method 10 can register these data related to the dimensions of up to 10 processed products in advance.

<Effect of loader automatic teaching method>
According to the loader automatic teaching method 10 according to the present invention, it has become possible to realize a loader automatic teaching method capable of teaching a loader only by setting a reference position of a machine tool and inputting the dimensions of a machined product. It has become possible to realize a loader automatic teaching method that can easily and quickly change the teaching even if the dimensions of the processed product are changed.

The preset step 20, which is a step of setting a teaching point that is not affected by the size of the processed product of the loader automatic teaching method 10, can be said to be a unique teaching point of the machine tool. Since it can be applied, the worker does not need to do anything.

The chuck reference position setting step 30 for adjusting the position of the chuck end face to the loader finger end face by inputting the chuck reference position and the step 40 for inputting the conveyor reference position are input again when the chuck 90 and the conveyor 100 are replaced. You will have to do the work, but you do not have to do it every time you replace the processed product.

In normal work, the worker only needs to perform the input work only in the processed product dimension setting step 50 for setting the teaching point affected by the dimensions of the processed product by inputting the dimensions of the processed product, and as a result, the work. The person has become able to significantly reduce the setup time.

Further, as shown in FIGS. 3, 4, and 5, the chuck 90 (end face), the loader finger 80 (end face), and the conveyor 100 (end face) can be visualized on the monitor screen. Since the worker can grasp what kind of work he / she is doing at a glance, the worker can surely work without making a mistake.

<Example of changing automatic teaching>
The automatic teaching according to the present invention is not limited to the embodiments described above, and is not limited to the above-described embodiments, but is a chuck reference position setting process, a conveyor reference position setting process, a processed product dimension setting process, a point writing process, a loader, and a loader finger. , Chuck, conveyor and the like can be appropriately changed as necessary without departing from the spirit of the present invention. For example, instead of 8 teaching points, 9 teaching points (in addition to the 8 teaching points in the example, one more point to blow during transportation) can be set, or an out-conveyor can be set. It is also possible to set a teaching point for transporting to. The number of teaching points may be 9 or more.

Since the automatic teaching according to the present invention exerts an excellent effect as described above, it relates to a field of loader transfer in a mass production line (mass production line connecting a machine tool to a machine tool) by connecting a plurality of machine tools and the like. It can be suitably used as an automatic teaching method.

10 ・ ・ Loader automatic teaching method 20 ・ ・ Pre-setting process 30 ・ ・ Chuck reference position setting process 40 ・ ・ Conveyor reference position setting process 50 ・ ・ Processed product dimension setting process 60 ・ ・ Point writing process 70 ・ ・ Loader 80 ・ ・Loader Finger 90 ... Chuck 100 ... Conveyor

Claims (2)

It is a method of controlling the transport operation of a loader that transports a processed product in a production line composed of a plurality of machine tools.
Pre-setting process to set teaching points that are not affected by the dimensions of the processed product,
Chuck reference position setting process that aligns the position of the chuck end face with the loader finger end face by inputting the chuck reference position,
Conveyor reference position setting process that adjusts the position of the conveyor end to the end face of the loader finger by inputting the conveyor reference position,
Processed product dimension setting process for inputting processed product dimensions and
When the dimensions of the processed product are set in the processed product dimension setting process, the processed product supply position (2), loading position (8), and unloading position (5), which are teaching points affected by the dimensions of the processed product. It has a point writing process to set
The point writing step is a loader automatic teaching method characterized in that the loader automatic teaching method includes a step of inputting a position for gripping a processed product with a loader finger and a process for gripping a processed product when fixing the processed product with a chuck. The loader automatic teaching method according to claim 1, wherein the chuck, the loader finger, and the conveyor are visualized on a monitor screen.

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