JPH02160127A - Press fit/caulking device - Google Patents

Abstract

PURPOSE:To easily set an instruction related to an operation and to simplify the device by storing an instruction related to a series of operations of a moving device and a driving cylinder by a setting means, and controlling each operation, based thereon. CONSTITUTION:In a press fit caulking device, a RAM of a controller 56 is provided with a working data memory 58 and an operation program memory 60, and these data and program are inputted to a teaching box 62. From the controller 56, driving signals DX, DY and DZ are outputted to motor driving devices 74, 76 and 78 of an X axis motor 30, a Y axis motor 18 and a Z axis motor 42, and an operation of the motors 30, 18 and 42 is controlled. Also, to brake driving device 80 and a cylinder driving device 82, the respective signals DB, DC are outputted. Also, from the controller 56, a display signal DA for showing whether press fit, caulking working, etc., are executed satisfactorily or not is outputted, and supplied to a quality deciding lamp 84 through a PC 70.

Description

DETAILED DESCRIPTION OF THE INVENTION Field of the Invention The present invention relates to a press-fit caulking device, and particularly to a moving device for relatively moving a holding member that holds a workpiece and a machining head, and a moving device for relatively moving them together. The present invention relates to a press-fit caulking device in which drive cylinders driven separately are operated by a common control means.

Conventional technology In order to perform press-fitting, caulking, etc. on the workpiece, (a)
A holding member that holds a workpiece, (b) a processing head that is driven toward and away from the holding member by a drive cylinder, and (C) movement that moves the processing head and the holding member relative to each other. the moving device relatively moves the machining head and the holding member to a predetermined machining position, and the drive cylinder relatively moves the machining head and the holding member at the machining position. A press-fit caulking device is known that processes the workpiece by approaching the workpiece. and,
The above-mentioned moving device is usually a general-purpose 3-axis robot that moves the holding member and the processing head relative to each other in XY-Z axes directions perpendicular to each other, and one axis is equipped with a drive cylinder to perform press-fitting and caulking. etc.

Problems to be Solved by the Invention However, the above-mentioned moving device and drive cylinder have conventionally
Their operation was controlled by separate control means, and the commands for these operations were set separately, and they were operated while maintaining an ink lock between them. For this reason, there are disadvantages in that it is troublesome to set instructions regarding a series of operations of the moving device and the drive cylinder, and the device becomes complicated.

The present invention has been made against the background of the above-mentioned circumstances, and its purpose is to provide a press-fit caulking device with a simple configuration and easy to set regarding a series of operations of a moving device and a drive cylinder. be.

Means for Solving the Problems In order to achieve this object, the operation of the moving device and the drive cylinder may be controlled using a common control means, and the present invention provides the above-mentioned (a) holding member and , (b
) a machining head; and (C) a moving device, the moving device relatively moves the machining head and the holding member to a predetermined machining position, and the driving cylinder moves the machining member at the machining position. In a press-fit caulking device that processes the workpiece by bringing a head and a holding member relatively close to each other, (d) a storage means for storing instructions regarding a series of operations of the moving device and the drive cylinder; e) a setting means for storing instructions regarding the series of operations in the storage means; and (f) a control means for controlling the operation of the moving device and the drive cylinder in accordance with the instructions stored in the storage means. It is characterized by

Note that when processing multiple types of workpieces under different processing conditions, a series of operation commands for the moving device and the drive cylinder for each workpiece may be stored in the storage means. For example, the storage means may include (6) a machining data memory in which a plurality of types of machining data regarding the operation of the drive cylinder are stored according to machining conditions, and (b) one of the plurality of types of machining data. An operation program that has a specified data specifying instruction and an operation instruction regarding the operation of the moving device and defines a series of operations of the moving device and the drive cylinder with respect to one workpiece, depending on the type of the workpiece. and an operation program memory storing a plurality of types of workpieces, the control means reads an operation program corresponding to the type of workpiece to be machined from the operation program memory, and operates the moving device according to operation instructions of the operation program. It is also possible to control the operation of the drive cylinder, and read machining data corresponding to a data specifying command of the operation program from the machining data memory to control the operation of the drive cylinder.

Operation and Effects of the Invention In such a press-fit caulking device, instructions regarding a series of operations of the moving device and the drive cylinder are stored in the storage device by the setting device, and the control device operates the moving device according to the instructions stored in the storage device. and the drive cylinder, it is easy to set instructions regarding the movement of the moving device and the drive cylinder, and the device can be simplified since a common control means is used. It is.

In addition, when machining multiple types of workpieces under different machining conditions, the above-mentioned (machining data memory and (b) operation program memory) are provided as the storage means, and the types of workpieces to be machined are Reads a corresponding operation program from the operation program memo I↓, controls the operation of the mobile device according to the operation command of the operation program, and reads machining data corresponding to the data specifying command of the operation program from the machining data memory. If the operation of the drive cylinder is controlled by using the same machining conditions, there is no need to redundantly set commands regarding the operation of the drive cylinder when the machining conditions are the same, and the setting work becomes easier.

EXAMPLE Hereinafter, an example of the present invention will be described in detail based on the drawings.

FIG. 1 is a perspective view of a press-fit caulking device that is an embodiment of the present invention. In FIG. 1, 8 is a three-axis robot as a moving device, and a Y-axis moving table 12 is movably disposed on a substantially horizontal base 10 via a pair of guide rails 14.

This Y-axis moving table 12 constitutes a holding member, and a workpiece 16 as a workpiece is placed at a predetermined mounting position, and a screw shaft 20 is driven to rotate in both forward and reverse directions by a Y-axis motor 18. By doing so, the guide rail 1
4 and is reciprocated in the substantially horizontal Y-axis direction via a pole nut (not shown). An AC servo motor is used as the Y-axis motor 1, and the Y-axis direction position Y of the Y-axis moving table 12 is detected by a Y-axis encoder 22 provided at the rear of the Y-axis motor 18.

Further, a gate-shaped frame 24 is installed substantially vertically on the base 10, and an X-axis moving table 28 is movably arranged on the side surface of the upper frame via a pair of guide rails 26. . This X-axis moving table 28 is guided by a guide rail 26, is substantially horizontal, and has a screw shaft 32 rotated in both forward and reverse directions by an X-axis motor 30 via a timing belt (not shown), etc. It is reciprocated in the X-axis direction perpendicular to the X-axis direction via a pole nut (not shown). An AC servo motor is used as the X-axis motor 30, and the position X of the X-axis moving table 28 in the X-axis direction is
It is detected by an X-axis encoder 34 provided at the rear of the X-axis motor 30.

A Z-axis movable base 38 is movably disposed on the X-axis movable base 28 via a pair of guide rails 36, and a cylinder 40 with a brake is fixed to the upper end. The Z-axis moving table 38 is guided by a guide rail 36 via a pole nut by rotating a screw shaft 44 in both forward and reverse directions by a Z-axis motor 42, and rotates at right angles to the X-axis direction and the Y-axis direction. It is possible to reciprocate in the Z-axis direction, in other words, in the vertical direction. Z-axis motor 42
An AC servo motor is used, and the Z-axis direction position Z of the Z-axis moving table on the third day is detected by an X-axis encoder 46 provided at the rear of the Z-axis motor 42.

Further, the brake cylinder 40 is fixedly installed downward, and includes a not-illustrated iron that can be protruded and retracted downward, and a brake device 48 that prevents the iron from protruding or retracting.

The three-axis robot 8 is constructed as described above, and the drive cylinder 50 is fixed upwardly on the Z-axis moving table 38 along the Z-axis direction. The output rond of this drive cylinder 50 is connected to the rond of the brake-equipped cylinder 40, while a machining head 52 is fixed downwardly at the lower end of the cylinder body. This results in
When the brake device 48 is activated and the rond of the brake-equipped cylinder 40 is fixed, and the operation of the Z-axis motor 42 is stopped, that is, no driving power is supplied, the output ront of the drive cylinder 50 is driven to protrude and retract. Then, the drive cylinder 50 and processing head 52 are lowered and raised together with the Z-axis moving table 38, and are moved toward and away from the Y-axis moving table 12. At this time, the screw shaft 44 screwed into the Z-axis moving table 38 via the pole nut
is rotated according to its movement stroke, so
The Z-axis encoder 46 detects a change in the Z-axis position Z of the Z-axis moving table 38, in other words, the movement stroke of the processing head 52 by the drive cylinder 50.

The machining head 52 is lowered by the drive cylinder 50 to perform press-fitting or caulking on the workpiece 16 set on the Y-axis moving table 12, and parts to be press-fitted can be press-fitted as necessary. It is attached. Furthermore, a tool exchange device 54 is disposed in the middle of the gate-shaped frame 24 to replace the machining head 52 according to machining conditions and the like.

On the other hand, such a press-fit caulking device is equipped with a control device 56 shown in FIG. This control device 56 is constituted by a microcomputer having a CPU, RAM, and ROM, and performs signal processing according to a program stored in advance in the ROM while utilizing the temporary storage function of the RAM. The RAM includes a machining data memory 58 that stores machining data and an operation program memory 60 that stores operation programs.The machining data and operation programs are stored in a teaching box 62.
The information is input using keys manually or by teaching.

The ROM also contains a series of processing logic for operating the press-fit caulking device according to the processing data and operation program, such as processing for operating the press-fit caulking device according to the flowcharts shown in FIGS. 4 and 6 to 8. A program memory 64 in which logic is stored in advance is provided. The teaching box 62 serves as a setting means, but instead of using the teaching box 62, it may be configured to input machining data and operation programs using paper tape, magnetic tape, or the like.

The above machining data is press-fitted into the workpiece 16 by lowering the machining head 52 using the drive cylinder 50.

It relates to the downward stroke and descending speed of the machining head 52, pressure, judgment data for determining the quality of machining, and coefficient Kf when performing caulking etc., and depends on machining conditions such as press-fitting and caulking dimensions, rigidity of the workpiece 16, etc. Multiple types depending on
In this embodiment, approximately 30 types of processing data are stored as data No. 1, data No. 2, . . . . the downward stroke of the processing head 52;
The descending speed and pressure determine the protrusion stroke, oil pressure, and flow rate of the output lot of the drive cylinder 50, and the determination data determines the appropriate pressure at multiple determination positions including the descending end when the processing head 52 is lowered. It specifies a range.

In addition, the coefficient Kf is used for feedback control of the X-axis motor 30 and Y-axis motor 18 in order to position and hold the Y-axis moving table 12 and the machining head 52 at the machining position in the X-Y axis direction during machining. The coefficient of the control equation determines the positioning and holding force. This is based on processing conditions such as the height of the workpiece 16, the two-dimensional rigidity performance, and the accuracy of mounting on the Y-axis moving table 12, to prevent problems such as galling during press-fitting and caulking. determined. For example, when the workpiece 16 has high rigidity and is difficult to deform, the coefficient Kf is set so that the positioning holding force is small so that the processing head 52 can be displaced to some extent along the workpiece 16. If the workpiece 16 is low or high and easily deformed, the workpiece 16 is deformed along the machining radius 52. Therefore, the coefficient K is set so that the positioning and holding force is relatively large.

On the other hand, the operation program is configured to operate the X-axis motor 30 for each type of workpiece 16. Y-axis motor 18. Z-axis motor 42.
It defines a series of operations of the drive cylinder 50, etc., and includes operation commands and data specifying commands, and a plurality of types are stored depending on the type of workpiece 16. The operation command is X-axis mork 30. This relates to the operation of the Y-axis motor and the Z-axis motor 42, and determines a target position such as a machining position where the machining head 52 is located directly above the workpiece 16 or a predetermined original position. The data specifying command specifies one of the plurality of types of machining data stored in the machining data memory 58, and is determined for each machining position.

Figure 3 is an example of the above operating program.
rMOV at 2,004,008,009,012
, corresponds to an operation command, and step 005.006,01
0,01) corresponds to a data specific instruction. Step 005° OIO is related to the lowering of the processing head 52, and among the plurality of types of processing data stored in the processing data memory 58, each data N
α1. This is a command to perform processing using the processing data of data No. 18, and step 006
01) is a command to raise the machining head 52 to the position before machining, and is automatically set as a pair with steps 005 and 010 above. Also, steps 005 and 006,01
0 and 01) mean that machining is performed twice, and steps 002, 004.00B and 009 both mean that the machining position is moved in two steps.

The above figure 3 shows the operation program on the teaching box 6.
2, the operation program is inputted step by step through the teaching box 62. Further, in this example, one workpiece 16 is machined twice, but depending on the type of workpiece 16, it is set to be machined only once, or three or more times. In addition, in FIG. 3, rSP D, , is a command related to speed, rEXA is a command related to the timing to execute the next step, rOUT is a command related to signal output, and rENDJ is a command related to the end of a series of operations. It means something.

In this way, the machining data memory 58 and the operation program memory 60 store instructions regarding a series of operations of the three-axis robot 8 and drive cylinder 50, and correspond to storage means.

Returning to FIG. 2, the control device 56 as described above includes the X-axis encoder 34. Position signals sx, sy representing the X-axis position X, Y-axis position Y, and Z-axis position Z from the Y-axis encoder 22 and Z-axis encoder 46, respectively.
, sz are supplied, and a pressure signal SL is also supplied from the load sensor 66. The load sensor 66 is connected to the cylinder body of the drive cylinder 50 and the machining head 52, for example.
The pressure of the processing head 52 against the workpiece 16 is detected, and the pressure signal SL represents the pressure. Further, from the start switch 68 which is turned on by the worker, a start signal SS is supplied via a PC (programmable controller) 70, and from the identification device 72, an identification signal SK representing the type of work 16 is supplied to the same <Supplied via PC 70. The identification device 72 identifies the type of the supplied workpiece 16, and is configured by, for example, a reading device that reads symbols attached to a pallet.
Instead of using this, the operator may identify the type of workpiece 16 and input an identification signal.

On the other hand, from the control device 56, the X-axis motor 30, the Y-axis motor 18. Motor drive signals DX, D are sent to the motor drive devices 74, 76, and 78 that supply drive power to the Z-axis motor 42.
Y and DZ are output respectively, and their motors 30 and 1
8.42 operation is controlled. Also, a brake drive device 80 for driving the brake device 48. A brake drive signal DB and a cylinder drive signal DC are output to the cylinder drive device 82 that drives the drive cylinder 50, respectively, and the brake device 48. The operation of drive cylinder 50 is controlled. The brake drive device 80 is the brake device 4
The brake device 48 is configured to include a switching valve that supplies and shuts off hydraulic oil to the brake device 8, and switches the brake device 48 between an operating state and a non-operating state. The cylinder drive device 82 is configured to include a switching valve that supplies and shuts off hydraulic oil to the drive cylinder 50, a pressure adjustment valve that controls the oil pressure and flow rate of the hydraulic oil, a flow rate control valve, etc. The output rod of the cylinder 50 is driven to protrude and retract, and its protrusion speed and pressure can be adjusted. The control device 56 is further press-fitted.

Display signal D indicating whether caulking etc. have been performed satisfactorily.
A is output and supplied to the pass/fail judgment lamp 84 via the PC 70.

Next, the operation of the press-fitting and caulking device configured as above will be explained according to the flowchart shown in FIG. 4.

First, in step Sl, the start switch 68 is turned to O.
It is determined whether or not the start signal SS has been supplied by the N operation, the workpiece 16 is set on the Y-axis moving table 12, and the start switch 68 is turned on, then step S2 is executed. In step S2, the identification signal SK is read, and the operation program for the type of work represented by the identification signal SK is read out from the operation program memory 60 in step S3. Then, in step S4, the read operation program is executed.

FIG. 5 is an example of a flowchart executed according to the above operation program. First, in step P1, the processing head 52 and the Y-axis moving table 12 are moved to a processing position where the workpiece 16 is positioned directly below the processing head 52.
is moved relatively. This is executed by the operation command of the operation program, that is, rMOVJ, and is executed by the X-axis motor 30. Y-axis motor 18. Then, the Z-axis motor 42 is operated, and the X-axis motor 30 and Y-axis motor 18 are feedback-controlled according to the flowchart in FIG. 6, and the Z-axis motor 42 is feedback-controlled according to the flowchart in FIG.

That is, for the X-axis motor 30 and the Y-axis motor 18, position signals SX and SY are first read in step F1, and in step F2, the X-axis direction positions X and Y-axis indicated by these position signals SX and SY are read. The direction position Y and the target position Xo, Yo specified by the operation command of the operation program, specifically, X in the case of step 004 in FIG. =200. Based on Y, = 150, the position deviation ΔX, according to the following equations (1) and (2),
ΔY is calculated.

Δx=xo −x (1) Δ
Y=Y, -Y (2) After that, in step F3, whether or not this is a joining step for press-fitting or caulking the workpiece 16 is determined depending on, for example, whether or not rFITJ of the operation program is executed. If it is determined that rFITJ is being executed, Kf is set as a coefficient in step F5, but now rMOV
Since it is due to J, step F4 is executed and Ks is set as a coefficient. This coefficient Ks is a coefficient of a control formula for feedback controlling the motors 30 and 18 when relatively moving the processing head 52 and the Y-axis moving table 12 to the target position. It is set to be thicker than the coefficient Kf for positioning and holding. Note that this coefficient Ks may be set when the feedback control program is input into the program memory 64, but in this embodiment, it is set later by the teaching box 62.

Subsequently, step F6 is executed, and the positional deviations ΔX, Δ
Morph drive signals DX and DY are calculated based on Y and coefficient Ks according to the following equations (3) and (4), respectively.

Equations (3) and (4) are control equations for feedback control using proportional action, but it is also possible to use control equations that take differential action or integral action into consideration. The drive signals DX and DY thus obtained are output to the motor drive devices 74 and 76 in the next step F7, and drive power such as motor current is controlled in accordance with the drive signals DX and DY.

DX=Ks ・ΔX ・・−(3)D
Y=Ks・ΔY...(4) Then, by repeatedly executing each of the above steps Fl-F7, the processing head 52 and the Y-axis moving table 12 are quickly moved to the processing position in the X-Y axis direction. An X-axis motor 30 and a Y-axis motor 18 are used to move with high precision.
are each controlled by feedback.

-4. Feedback control of the Z-axis motor 42 is performed by the X-axis motor 30.-4, as is clear from the flowchart of FIG. Compared to the case of the Y-axis motor 18, the only difference is that the coefficient K is preset to a constant value Ks, and the other things are exactly the same. Therefore, the Z-axis moke 42 is operated by the X-axis motor 30 . Y
It is feedback-controlled in exactly the same way as the shaft motor 18.

The above description is for the case of moving from the original position to the machining position immediately, but when moving to the machining position in two stages as shown in the operation program in Figure 3 above, the target position must be changed. The feedback control described above is
It will be repeated several times.

Returning to FIG. 5, in this way the processing head 52 and Y
When the axis moving table 12 is moved to a predetermined machining position in the X-Y-Z axis directions, next step P
2 is executed. In this step P2, the brake drive signal DB is output and the switching valve of the brake drive device 80 is switched, so that hydraulic oil is supplied to the brake device 4 and the drive cylinder 5 is put into the operating state.
0 output Rondo is prevented from moving in the Z-axis direction.

In this state, step P3 is executed, and the processing head 52 is lowered by the drive cylinder 50 to remove the workpiece 1.
6 is subjected to processing such as press-fitting and caulking, and
The machining head 5 is operated by the axis motor 30 and the Y-axis motor 18.
2 and the Y-axis moving table 12 are positioned and held at processing positions in the X-Y axis directions.

Regarding the drive cylinder 50, the machining data specified by the data specifying command of the operation program, that is, rFIT, is read from the machining data memory 58,
It is controlled according to the flowchart of FIG. 8 so that it is operated according to the conditions set in the processing data. In the flowchart of FIG. 8, step R
1, the processing head 52 is lowered at the pressure and speed set in the processing data by outputting the cylinder drive signal DC and driving the switching valve, pressure adjustment valve, flow rate control valve, etc. of the cylinder drive device 82. The output rod of the drive cylinder 50 is pushed out so as to be moved. In addition,
At this time, the Z-axis motor 42 is inactive and no driving power is supplied.

Further, in step R2, the position signal SZ representing the Z-axis direction position Z and the pressure signal SL representing the pressure of the processing head 52 against the workpiece 16 are read, and in step R3, the position signal SZ representing the Z-axis direction position Z and the pressure signal SL representing the pressure against the workpiece 16 are read. The quality of the machining is determined. This pass/fail judgment is
Processing head 52 with a pressure range determined as judgment data
The determination is made at multiple determination positions including the descending end of The display signal DA is outputted, and the pass/fail judgment lamp 84 is turned on. Whether or not the processing head 52 has been lowered to the determination position is detected based on the position signal SZ.

Then, in step R4, it is determined whether the machining head 52 has been lowered by the downward stroke set in the machining data based on the z-axis direction position Z represented by the position signal SZ, and it is determined whether the downward stroke has not been reached yet. If not, steps R1 to R4 are repeatedly executed.

When the downward stroke of the machining head 52 reaches the downward stroke set in the machining data, machining such as press-fitting and caulking is completed, and step R5 is then executed to switch the switching valve of the cylinder drive device 82 and start driving. By retracting the output rod of the cylinder 50, the machining rod 52 is raised to the machining position in the Z-axis direction.

On the other hand, during this processing, the processing head 52 and the Y-axis moving table 1
The X-axis motor 30 and the Y-axis motor 18, which position and hold the machine 2 at the processing position in the X-Y axis direction, are feedback-controlled according to the flowchart of FIG. 6, as in the case of step PI. However, in this case, since "FIT" of the operation program is being executed, the judgment in step F3 is YES, and the processed data is converted into coefficients as shown in the following equations (5) and (6). The drive signal DX is generated by a control formula using the set coefficient Kf.

DY is calculated. As a result, the processing head 52 and the Y-axis movable table 12 are held in position by an appropriate positioning and holding force depending on the processing conditions, and the processes such as press-fitting and caulking described above are performed smoothly.

DX=Kf・ΔX...(5)DY=K
f・ΔY...(6) Returning to FIG. 5 again, when the press-fitting, caulking, etc. are completed in this way, step P4 is executed, the brake drive signal DB is output, and the brake drive device 80 is activated. By switching the switching valve, the brake device 48 is brought into a non-operating state. As a result, the Z-axis moving table 3 by the Z-axis motor 42
8 is allowed to move freely, and after this, if another machining position is set, the motors 30° 18 and 42
The machining head 52 and the Y-axis moving table 12 are moved to the machining position, and press-fitting is performed in the same manner as described above.
After processing such as caulking is performed, step P5 is performed J times. In addition, if there is only one machining position, immediately step P
5 is executed, and the processing head 52 and the Y-axis moving table 12 are moved by the motor 30. 1)1). and 42, it is returned to its original position.

Also in step P5 above, the X-axis motor 30 and the
The axis motor 18 is feedback-controlled according to the flowchart shown in FIG. 6, and the Z-axis motor 42 is feedback-controlled according to the flowchart shown in FIG. however,
In this case, since the operation program rFIT is not being executed, the determination in step F3 in FIG. 6 is NO, and the drive signal DX is
DY is calculated.

Here, in the press-fit caulking device of this embodiment,
Commands related to a series of operations of the 3-axis robot 8 and the drive cylinder 50 are set in the machining data memory 58 and the operation program memory 60 of the control device 56 by the teaching box 62, and the 3-axis robot 8 and the drive cylinder 50 are commonly used. Since the controller 56 is operated by the control device 56 of the controller 56, it is easier to set instructions for a series of operations and the device is simplified compared to a case where the controllers are operated using separate control means. It is.

Further, in this embodiment, the storage means for storing instructions regarding a series of operations of the three-axis robot 8 and the drive cylinder 50 are the machining data memory 58 and the operation program memory 60.
Therefore, there is no need to duplicate instructions regarding the operation of the drive cylinder 50 when the machining conditions are the same, and the setting work is further simplified.

Furthermore, in this embodiment, the downward stroke of the processing head 52 by the drive cylinder 50 is detected by the Z-axis encoder 46, so compared to the case where a separate detector is provided to detect the downward stroke. The device is easily configured. This is because the 3-axis robot 8 and the drive cylinder 50 are operated by a common control device 56, so the Z-axis encoder 46 of the 3-axis robot 8 is used to detect the operating state of the drive cylinder 50. This is because it becomes possible.

In this embodiment, the operation program related to the type of work represented by the identification signal SK is stored in the operation program memory 6 out of a series of signal processing logics executed by the control device 56.
The part that executes steps S3 and S4 in FIG. 4, which reads from 0 and operates the three-axis robot 8 and drive cylinder 50 according to the operation program, corresponds to a control means that controls the operation according to instructions stored in the storage means. do.

Although one embodiment of the present invention has been described above in detail based on the drawings, the present invention can also be implemented in other embodiments.

For example, in the above embodiment, a three-axis robot 8 is used as the moving device.
However, a two-axis robot that moves relatively in the X-Y axis direction perpendicular to the direction of movement of the processing head 52 by the drive cylinder 50, or a two-axis robot that moves relatively only in either the X-axis direction or the Y-axis direction. It is also possible to use an l-axis robot or the like for movement.

Further, in the embodiment described above, the processing head 52 is moved in the X-axis direction, and the Y-axis moving table 12 as a holding member is moved in the Y-axis direction.
It is also possible to move one of the holding members in the X-axis direction and the Y-axis direction, and to dispose the other holding member in a fixed position in the X-Y-axis direction.

Further, in the embodiment described above, the processing head 52 is moved toward and away from the Y-axis moving table 12 as a holding member by the driving cylinder 50, but it is possible to move the processing head 52 toward and away from the Y-axis moving table 12 as a holding member. It doesn't matter if you do that.

Furthermore, in the embodiment described above, the coefficient K of the control equation for feedback control is changed between when the processing head 52 and the Y-axis moving table 12 are moved and when they are held in position.
It is also possible to use different control formulas or perform feedback control according to separate programs. For example, during movement, by setting a target speed, target acceleration, etc., a control equation consisting of a plurality of arithmetic equations for performing feedback control by determining speed deviation, acceleration deviation, etc. may be used.

In addition, feedback control can be performed using the same coefficients as when moving when holding the position, or positioning can be performed so that relative movement in the X-Y axis directions is impossible by activating the motor brake when holding the position. It is possible.

Further, the press-fit caulking device of the above embodiment has a machining data memory 58. A plurality of types of machining data and operation programs are stored in the operation program memory 60, respectively, so that a plurality of types of workpieces 16 can be machined under a plurality of types of machining conditions. The present invention can be similarly applied to a press-fit caulking device that always performs machining under the same machining conditions according to a program.

In addition, the machining data of the embodiment includes the descending stroke and descending speed of the machining head 52, pressure 2 determination data, and coefficient K.
f is included, but it goes without saying that other than these may be set as machining data, and only some of these, for example, the downward stroke and pressure, may be set. It doesn't matter if you do that.

Although other examples are not provided, the present invention can be implemented with various modifications and improvements based on the knowledge of those skilled in the art.

[Brief explanation of the drawing]

FIG. 1 is a perspective view of a press-fit caulking device that is an embodiment of the present invention. FIG. 2 is a block diagram of a control system included in the press-fitting and caulking device of FIG. 1. FIG. 3 is a diagram showing an example of an operation program stored in the operation program memory of FIG. 2. FIG. 4 is a flowchart illustrating the operation of the press-fit crimping device shown in FIG. Figure 5 shows step S in Figure 4.
4 is a flowchart showing an example of step 4. FIG. 6 is a flowchart for feedback controlling the X-axis motor and the Y-axis motor in steps Pi, P3 and P5 in FIG. Figure 7 shows steps PI and P in Figure 5.
5 is a flowchart for feedback controlling the Z-axis motor in step 5. FIG. 8 is a flowchart when the processing head is driven to perform processing in step P3 of FIG. 5. 8: 3-axis robot (moving device) 12: Y-axis moving table (holding member) 16: Work (workpiece) 50: Drive cylinder 52: Processing head 56: Control device 58: Processing data memory 60: Operation program memory 62 : Teaching box (setting means) step S3
, 34: Control means applicant: Toyota Motor Corporation Kyoho Manufacturing Co., Ltd. Figure 3 - Figure 4 Figure 5 Figure 6 Figure 7 Figure 8

Claims (2)

[Claims] (1) A holding member that holds a workpiece, a processing head that is driven toward and away from the holding member by a drive cylinder, and a moving device that moves the processing head and the holding member relative to each other. The moving device moves the processing head and the holding member relatively to a predetermined processing position, and the driving cylinder moves the processing head and the holding member relatively close to each other at the processing position. In the press-fit caulking device for processing the workpiece, the storage means stores instructions related to a series of operations of the moving device and the drive cylinder, and a setting device stores instructions related to the series of operations in the storage device. A press-fit caulking device comprising: a control means for controlling the operation of the moving device and the drive cylinder according to a command stored in the storage means. (2) The storage means includes a machining data memory in which a plurality of types of machining data regarding the operation of the drive cylinder are stored according to machining conditions, and a data specifying command that specifies one of the plurality of types of machining data. A plurality of types of operation programs are stored in accordance with types of the workpiece, including operation instructions regarding the movement of the movement apparatus and defining a series of operations of the movement apparatus and the drive cylinder with respect to one workpiece. an operation program memory; the control means reads an operation program corresponding to the type of workpiece to be machined from the operation program memory;
Claim: 1. The operation of the moving device is controlled according to the operation command of the operation program, and the operation of the drive cylinder is controlled by reading machining data corresponding to a data specifying command of the operation program from the machining data memory. 1. The press-fit caulking device according to item 1.