JPH0325506A - Work carry-in/out device - Google Patents

Abstract

PURPOSE:To eliminate a need of input of dimensions to automatically perform working by calculating dimensions from the leading edge to the trailing edge of a material in accordance with respective position data of a servo motor which are obtained at the time of detecting the leading edge and the trailing edge of the material by a detecting means provided in a material passing position. CONSTITUTION:A main control part 1 outputs a command signal of a positioning command or the like for a material 6 to a distributing part 2, and the distributing part 2 controls the operation of a servo amplifier 3 in accordance with the command. The servo amplifier 3 drives a motor 4, and the extent of rotation of the motor 4 is detected by an encoder 5 and is outputted to the distributing part 2. The distributing part 2 momently outputs the detection value of this encoder 5 to a main control part 1 as position data of the motor 4, and a positioning completion signal is outputted to the main control part 1 when the material 6 is positioned to a prescribed position on a working machine. Dimensions from the leading edge to the trailing edge of the material are calculated by respective position data of the servo motor 4 which are obtained at the time of detecting the leading edge and the trailing edge of the material 6. Thus, input of dimensions is unnecessary and automatic working is performed.

Description

DETAILED DESCRIPTION OF THE INVENTION [Object of the Invention] (Industrial Application Field) The present invention relates to a workpiece loading/unloading device for conveying a sheet metal material to a processing machine.

(Prior technology) Workpiece loading/unloading devices that transport sheet metal, etc. are required to be faster and more accurate, and as a result, their control is progressing from sequence control to NC using machine control devices. .

In such NC-based control, the dimensions of the material are required as control data in order to control the operation of the loading/unloading device. Therefore, generally, after measuring the dimensions of the material, the dimensions of the material are input using an input device such as a keyboard.

(Problems to be Solved by the Invention) However, in such a conventional method, not only is the work of inputting the material dimensions complicated, but there is also a risk that the material dimensions may be inputted incorrectly. If the dimensions of the material are incorrect, not only will the control operation not be performed normally, but the material may also be damaged.

The present invention has focused on such problems and aims to provide a workpiece loading/unloading device that can automatically measure the dimensions of a material with a simple device and perform automatic processing without requiring input of dimensions.

[Purchase of the Invention] (Means for Solving the Problems) In order to solve the above problems, the present invention conveys a material to a processing machine by driving a servo motor, and transfers the material to the processing machine by controlling the servo motor. In a work loading/unloading device that positions a workpiece at a predetermined position, a detection means for detecting the material is provided at a position where the material passes, and each position data of the servo motor is provided when the detection means detects the leading and trailing ends of the material. The present invention is characterized in that a material dimension calculating means is provided for calculating the dimension from the leading end to the trailing end of the material.

(Operation) In the present invention, the dimensions of the material are calculated using the position data of the servo motor from the respective position data when the leading end of the material is detected and the trailing end of the material is detected by the detection means for detecting the material. Therefore, in addition to automatically measuring the dimensions of the material, since the position data of the servo motor is used, the dimensions of the material can be measured simply by providing a detection means, and the structure is not complicated and can be easily measured. Material dimension measurement can be achieved with the configuration.

(Example) Hereinafter, an example of the present invention will be described with reference to the drawings. 1st
The figure is a block diagram showing the main part structure of the workpiece loading/unloading device of the present invention.

In FIG. 1, a main control section 1 is a control circuit that controls the operation of the workpiece loading/unloading device, and sends and receives various data to and from the distribution section 2. As shown in FIG. Here, the main control section 1 outputs a command signal such as a positioning command for the material 6 to the distribution section 2, and the distribution section 2 controls the operation of the servo amplifier 3 in accordance with the command. The servo amplifier 3 drives a motor 4, and this drive causes the motor 4 to drive a suction device for material conveyance, etc., which will be described later. The amount of rotation of the motor 4 is detected by the encoder 5 and output to the distribution section 2 . The distribution unit 2 outputs the detected value of the encoder 5 to the main control unit 1 every moment as position data of the motor 4, and when the positioning of the material 6 to a predetermined position in the processing machine is completed, the positioning completion signal is sent to the main control unit 1. Output to control section 1.

Here, as will be described in detail later, a sheet metal is transported as a material 6 to a press processing machine, and position data of the motor 4 is detected by an encoder 5 and output to the main control section 1. Therefore, the position data of the motor 4 is outputted from the distribution section 2 to the main control section 1 every moment. In this embodiment, the control from conveying the material 6 to positioning it at a predetermined position is controlled using the number of pulses, and the amount of movement of the material 6 per pulse is △R.

On the other hand, the main control section 1 is a D i /D o control section 7
It is connected to the optical sensor 8 via. The optical sensor 8 is
- It is a light transmission type sensor, which is disposed at a position where the material 6 passes, and detects the passage of the material 6.

The detection signal is sent to the main control section 1, where it is used to calculate the dimensions of the material.

Figures 2(a) and (b) show the schematic structure of the workpiece loading/unloading device, with Figure 2(a) showing the front view. Figure, Figure 2(b)
is its plan view. Figure 2 shows a manipulator type.

The material 6 is loaded on a material truck 9, and a suction device 10 that is movable up and down is disposed on the upper surface of the material truck 9. The suction device 10 has a plurality of suction pads 11 on the back surface, and the pads 11 suction the uppermost layer material 6, lift it upward, and transfer it to the conveyor 12 in this state. Material 6
is conveyed to the processing machine 13 while being placed on the conveyor 12, and positioned at a predetermined position. In this case, material 6
When the tip passes the optical sensor 8 while being transported, the optical sensor 8 is turned on, and this on signal is output to the main control section 1. Further, when the rear end of the material 6 passes the optical sensor 8, the optical sensor 8 is turned off, and the output is similarly output to the main control section 1. These signals are used to calculate the dimensions of the material 6 as described later.

The processing machine 13 is a punch press machine in this example, and when the pressing operation is finished, the material 6 is transferred to the conveyor 12 again to form the product 1.
4 and is transferred in the opposite direction. Then, the product 14 is moved onto the product cart 16 while being held by the clamp 15,
The product is placed on the product trolley 16. In this way, the materials 6 are conveyed one by one to the processing machine 13 starting from the top layer. When the pressing is completed, the sheets are loaded one by one onto the product cart 16.

Next, the structure of the L-UL type will be explained with reference to FIGS. 3(a) and 3(b).

The materials 6 loaded on the material cart 9 are sucked one by one by the suction pad 11 of the suction device 10 starting from the top layer.

The sucked material 6 is lifted upward by the suction device 10 and transferred to the processing machine 13. Next, the material 6 is placed in a predetermined position on the processing machine 13, and a pressing operation is performed. When the pressing is finished, the material 6 is grabbed by the clamp 15 as a product 14 and placed on a product cart 16. Even in this example, the optical sensor 8 is turned on when the leading edge of the material 6 is detected, and continues to be turned on until the rear end of the material 6 passes. The detection signal from the sensor 8 is similarly output to the main control section 1.

Next, the operation of the embodiment will be explained with reference to the flowchart shown in FIG.

First, step 401 is a material advance command from the main control section 1, and this command causes the distribution section 2 to move forward to the servo amplifier 3.
Outputs drive commands to. As a result, the motor 4 is driven, and the aforementioned suction device, conveyor, etc. are started, and the material 6 is
Start conveying the material to the processing machine. Then step 4
When the optical sensor 8 detects the leading edge of the transported material 6 in step 02, the main control section 1 requests position data of the motor 4 from the distribution section 2 in step 403. Since the amount of rotation of the motor 4 is detected by the encoder 5, the position data of the motor 4, that is, the position of the suction device driven by the motor 4, can be determined from this detected amount, and the position of the material 6 to be transferred can be determined from this. I also understand.

The main control unit 1 sets this position data to a variable XoN in step 404. In addition, the position data XoN is
In this example, it is the number of pulses, and this number of pulses is temporarily stored in the memory within the main control unit 1. Next, when the material 6 is transferred and the rear end of the material 6 passes the optical sensor 8, the optical sensor 8 is turned off in step 405. Main control part 1
requests the distribution unit 2 for position data in step 406,
The position data obtained in step 407 is set to the variable xOFF. As a result, the main control unit 1 calculates the material size X using the following equation in step 408 using Xon and XoFF.

x- (XoF F -XoN) This material size X is used as control data for the loading/unloading device.

FIG. 5 shows a schematic diagram of the entire system including the work loading/unloading device and its peripheral devices according to the present invention.

The NC device 17 is a machine control device that automatically controls the processing machine 13, and sends and receives signals to and from the processing machine 13 and the loading/unloading device controller 18. In this example, the processing machine 13 is the second
This is the punch press machine shown in Fig. 3. Further, the loading/unloading device controller 18 controls the loading/unloading device 19, and controls the loading/unloading device 19 whose specific structure is shown in FIGS. 2 and 3 to transfer the material 6 to the processing machine 13. The completed product 14 is also transported from the processing machine 13.

Further, the carry-in/out device controller 18 also performs settings such as the number of sheets of material 6 to be processed.

FIG. 6 is a block diagram showing the internal structure of the loading/unloading device controller 18.

The central processing unit (CPU) 20 is a processor circuit that controls the overall operation of the device. The CPU 20 connects to a ROM that stores the operating program of the device via the system bus 21.
22. RAM 23 for storing various data, B-RAM 24 backed up by a backup battery, programmable controller (PC) in charge of sequence
It is connected to 25 etc. Further, the NC device 17 is connected via a serial interface (SLo) 26, and the NC device 17 uses an internal buffer 27 to transfer an NC program from the outside, for example.
The program is used to perform processing.

The RLY module 28 converts signals from various sensors, actuators, etc. installed in the loading/unloading equipment 119 into D i /
The CPU 20 is connected to the CPU 20 via a serial interface 26. ! C
The two card drivers are installed as external memory.
It controls writing and reading of the C card 30, and is similarly connected via the serial interface 26. Further, the CRT/MDI controller 31 controls a keyboard (MDI) 32 and a CRT (display unit) 33, and is connected to the CP020 and the like via a serial interface 26. Furthermore, the plurality of axis control units 34 each control each drive unit in the loading/unloading device 19, and the motor 36
A servo amplifier 35 for driving this motor is also provided. The servo amplifier 3 and motor 4 described in FIG. 1 are also one of them, and their operations are controlled by the axis control section 34.

The present invention is not limited to the above-mentioned embodiments, but can be implemented in other appropriate forms by making appropriate design changes.

[Effects of the Invention] As explained above, according to the present invention, the dimensions of the material are automatically defined using a simple device, so that the dimensions can be processed automatically without the need for human labor, greatly improving work efficiency. Can be done.

[Brief Description of the Drawings] Fig. 1 is a block diagram showing the main structure of an embodiment of the workpiece loading/unloading device according to the present invention, and Fig. 2(a) shows the structure of the manipulator type workpiece loading/unloading device. Front view, 2nd
Figure (b) is its plan view, Figure 3 (a) is a front view showing the structure of the L-UL type workpiece loading/unloading device, Figure 3 (b)
4 is a flowchart showing the operation of the embodiment, FIG. 5 is a block diagram showing the configuration of the entire system including the workpiece loading/unloading device and its peripheral devices according to the present invention, and FIG. 6 is a flowchart showing the operation of the above embodiment. FIG. 2 is a block diagram showing the internal configuration of the output controller. 1... Main control section, 2... Distribution section, 3... Servo amplifier, 5... Encoder, 6... Material, 8.
... Optical sensor, 13... Processing machine, 14... Product, 17... NC device, 18... Carrying in/out device controller, 19... Carrying in/out device.

Claims (1)

[Claims] In a work loading/unloading device that transports a material to a processing machine by driving a servo motor and positions the material at a predetermined position of the processing machine by controlling the servo motor, a detection means for detecting the material is provided at a position where the material passes. , further comprising a material dimension calculating means for calculating a dimension from the leading edge to the rear end of the material from each position data of the servo motor when the detecting means detects the leading edge and the trailing edge of the material. A workpiece loading/unloading device.