JPH0446644A - Loading device for positioning original position - Google Patents

Abstract

PURPOSE:To surely and efficiently position an appropriate origin by correcting the direction and posture of a plate member to be carried in with a gantry robot into a prescribed directional posture, positioning and carrying it into a prescribed original position. CONSTITUTION:A controller 65 operates the difference between the position, the directional posture of the plate member W sucked and held to a suction pad found from signals given by three sensors 59, 61, 63 and a prescribed original position and a prescribed directional posture and a control signal is outputted to each of an x-axis servo motor 25, a y-axis servo motor 35 and a z-axis servo motor so that plate member positions at the prescribed original position, in a prescribed directional posture in accordance with the result obtained. The plate member W sucked and held to the suction pad positions at a prescribed original position, then, an x-axis slider 23 moves to the left as far as the upper part of a worktable 11 of a bending machine 9 and the plate member W is carried into the bending machine 9 in the normal directional posture and to the normal original position.

Description

DETAILED DESCRIPTION OF THE INVENTION [Object of the Invention (Industrial Application Field) The present invention relates to an origin positioning and loading device used in a plate processing device such as a bending machine.

(Prior art) In sheet processing equipment such as bending machines, loading of the sheet materials is carried out by lifting the sheets one by one on the material pallet, that is, at the material accumulation position, using a vacuum pad or the like of the loading device. The board is then brought to a predetermined fixed origin position by an origin positioning device that is included in the board processing equipment or is provided separately, and in this state, the board is subjected to processing such as bending. Clamping is done for this purpose.

The origin positioning device in plate processing equipment generally has a separate structure from the loading device, and usually has three fixed pins, and two mutually orthogonal sides of the plate are brought into contact with these three fixed pins. By this, the plate material is positioned at a predetermined fixed origin position.

(Problems to be Solved by the Invention) In positioning the origin using the origin positioning device as described above, the plate must be pushed or pulled against a fixing pin for positioning. A device for abutting against the fixing pin is required, and positioning is not very efficient. In addition, when determining the origin, if the placement position of the material pallet is misaligned or the stacking position of the material itself is misaligned,
There is a possibility that proper origin positioning may not be performed.

In view of the above-mentioned problems in determining the origin of the plate material in conventional plate processing equipment, the present invention eliminates the need for a special device for abutting the plate material against a fixed bin, and prevents the material pallet from being misaligned. It is an object of the present invention to provide an origin positioning and loading device that can perform proper origin positioning with high work efficiency even if the stacking position of the material itself is shifted.

[Structure of the Invention] (Means for Solving the Problems) According to the present invention, the above object is to provide a gantry robot that holds a plate material and transports the plate material from a material accumulation position to a processing position in an arbitrary orientation; A sensor detects the position and orientation of the plate held by the gantry robot, and the plate is located at a predetermined origin position with a predetermined orientation based on the position and orientation of the plate detected by the sensor. This is achieved by an origin positioning and loading device characterized by having a drive control means for driving and controlling the gantry robot.

(effect) According to the above configuration, a gantry robot.

The directional posture of the plate material to be carried in is corrected to a predetermined directional posture by the robot, and the plate material is positioned and carried to a predetermined origin position with the corrected predetermined directional posture by the gantry robot.

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

1 and 2 show one embodiment of the origin positioning and loading device according to the present invention.

The origin positioning and loading device according to the present invention is indicated by reference numeral 1.
The loading device 1 has two ceiling beams 5.7 which are suspended substantially horizontally and parallel to each other by support columns 3.

The ceiling beams 5.7 each extend on both sides of the work table 11 of the bending machine 9 as a plate processing device (between the material collection table 13 and the product collection table 15 arranged here).

Guide rails 17.19 are provided on each of the ceiling beams 5.71 and ζ, and the guide rails 17.19 have X-axis sliders 2 connected to each other by two crossbars 21.
3 are engaged so as to be movable in the left-right direction, that is, in the X-axis direction as seen in FIGS. 1 and 2.

An X-axis servo motor 25 is attached to the X-axis slider 23, and a pinion 29 is attached to the output shaft 27 of this X-axis servo motor 25.

The pinion 29 is connected to the rack 3 attached to the ceiling beam 5.
1, and rotation about its own central axis by the X-axis servo motor 25 causes the X-axis slider 23 to reciprocate in the X-axis direction.

A Y-axis slider 33 is engaged with the two cross pars 21 so as to be able to reciprocate in the Y-axis direction, which is the L downward direction as seen in FIG. 1, that is, the direction in which the cross/<-21 extends. Y-axis slider 3
A Y-axis servo motor 35 is attached to the Y-axis servo motor 3, and a pinion 39 is attached to the output shaft 37 of the Y-axis servo motor 35.

The pinion 39 is connected to the ridge 4 formed on the cross spar 21.
1, and rotation about its own central axis by the Y-axis servo motor 35 causes the Y-axis slider 33 to reciprocate in the Y-axis direction.

A Z-axis servo motor 43 is attached to the Y-axis slider 33, and a gear 47 is attached to the output shaft 45 of the Z-axis servo motor 43. The gear 47 is the Y-axis slider 3
3, the cylinder member 51 of the fluid pressure cylinder device 49 is mounted rotatably around the vertical axis, and a gear 53 integrated with the gear 53 engages with the gear 53, and the cylinder member 51 is rotated around its own central axis by the rotation of the Z-axis servo motor 43. It is designed to rotate around a vertical axis, that is, around the Z axis.

A piston rod 53 of the fluid pressure cylinder device 49 extends below the Y-axis slider 33, and a suction pad plate 55 is attached to the tip thereof in a substantially horizontal state. A plurality of suction pads 57 are attached to the bottom surface of the suction pad 55.
7 is adapted to lift and hold the plate material W, which is a raw material, in a substantially horizontal state by suction.

Three sensors 59, 61, and 63 are fixedly arranged at positions corresponding to the arrangement position of the material accumulation table 13, respectively. The sensors 59, 61, and 63 are length measuring devices each composed of a potentiometer or the like, and the contactors 59, 61, and 61 are
, 63a are adapted to come into contact with the edge of the plate W held by suction pad 57, and among these, the contacts 59a and 161a abut against the edge of the plate W along the X-axis direction. On the other hand, the contactor 63a is adapted to abut on an edge in the Y-axis direction that is perpendicular to the edge in the X-axis direction.

The sensors 59, 61, and 63 each act as a length measuring device to detect the movement stroke of each of the contact pieces 59a, 61a, and 63a, and send signals related to the movement stroke individually to each of them as shown in FIG. It is designed to output to the control device 65 at the same time.

The control device 65 may be electronically controlled, including a microcomputer and three sensors 59.6.
1. Calculate the difference between the position and directional orientation of the plate W held by suction pad 57 found from the signal given by 1.63, and the predetermined directional orientation, predetermined origin position, and predetermined directional orientation, Based on this, the X-axis servo motor 25, Y-axis servo motor 35, and Z-axis servo motor 25, Y-axis servo motor 35, and
A control signal is output to each of the shaft servo motors 47.

As mentioned above, the X-axis servo motor 25 and the Y-axis servo motor 3
5. By controlling the two-axis servo motor 43, the plate material W held by the suction pad 57 comes to be located at a predetermined origin position with a predetermined orientation, and then the X-axis slider 23 moves to the first position. By moving to the left as seen in the figure to above the work table 11 of the bending machine 9, the plate material W can be carried into the bending machine 9 with a normal orientation and attitude toward the normal origin position. Note that the correction of the direction, posture, and position of the plate material W held by suction pad 57 may be performed during the transportation process in which the plate material W is transferred from the material accumulation position to the bending machine 9.

FIG. 4 shows a specific example of correcting the direction and posture of the plate material and the origin position for determining the origin. In FIG. 4, the solid line indicates the initial state in which the suction pad 57 lifts the plate material W from the material accumulation table 13 by suction. In this initial state, the movement stroke of the contact 59H detected by the sensor 59 is the same as that of the contact 6 detected by the A1 sensor 61.
If the movement stroke of 1a is B, the plate material W is inclined in the horizontal plane by B-A in the initial state. In this case,
In order to position this tilted plate material W at the standard origin position SHP, it was found that it was ultimately necessary to displace the plate material W by ΔX in the X-axis direction and by ΔY in the Y-axis direction. Contacts 59a to 63a detected by 63
The X-axis servo motor 25, the Y-axis servo motor 35 .
As each of the two-axis servo motors 43 is feedback-controlled in relation to each other, the plate material W moves in the X-axis direction or the Y-axis direction, or rotates around the Z-axis. It comes to be located at the standard origin position indicated by the virtual line SHP with a predetermined orientation, that is, a parallel orientation.

In addition, the movement of the plate material W to the origin position is performed at the standard origin position SHP.
This is not limited to movement to, for example, it may be a virtual origin position FHP where the plate material W attains a predetermined orientation with a minimum movement, and in this case, the standard origin position SHP and the virtual origin position FHP at that time may be The relative deviation in the X-axis direction and the Y-axis direction is detected from the signals from the controllers 59 to 63, and the amount of carry-in movement of the X-axis slider 23 in the The amount of carry-in movement in the Y-axis direction or the bending position in the bending machine 9 may be corrected.

Incidentally, the gantry robot 1 may perform an unloading action to transport the processed plate material W from the work table 11 of the bending machine 9 to the product stacking table 15; The processed plate material W is rotated by the Z-axis rotation of the piston rod 51.
As shown in FIG. 1, it is also possible to stack them vertically and horizontally by shifting them by 90 degrees.

Although the present invention has been described in detail with respect to specific embodiments above, the present invention is not limited thereto.
It will be obvious to those skilled in the art that various embodiments are possible within the scope of the present invention. In the apparatus, the directional posture of the plate material to be carried in is corrected to a predetermined directional posture by the gantry robot, and the plate material is positioned and carried to a predetermined origin position with the corrected predetermined directional posture by the gantry robot. There is no need for a special device to butt the plate material against a fixing pin, etc., and even if the placement position of the material pallet (material stacking table) is shifted or the stacking position of the material itself is shifted, the work can be performed to properly locate the origin. It will be done efficiently and reliably.

[Brief explanation of drawings]

The first factor is a plan view showing one embodiment of the origin positioning and loading device according to the present invention, and FIG. 2 is a line shown in FIG.
FIG. 3 is a block diagram showing the control system of the origin positioning and loading device according to the present invention, and FIG. 4 is a plan view showing an example of correcting the direction and posture of a plate in the origin positioning and loading device according to the present invention. It is. 1... Gantry robot 5.7... Ceiling beam 17.19... Guide rail 23... X-axis slider 25... X-axis servo motor 29... Pinion 31... Rack 33...・Y-axis slider 35...Y-axis servo motor 39...Pinion 41...Rack 43...Z-axis servo motor 49...Vertical dynamic fluid pressure cylinder device 53...Piston rod 57...Suction Pad 59.61.63...-Sensor 65...Control device

Claims (1)

[Claims] a gantry robot that holds a plate and transports the plate from a material accumulation position to a processing position in an arbitrary orientation; a sensor that detects the position and orientation of the plate held by the gantry robot; An origin positioning and loading device characterized by comprising a drive control means for driving and controlling the gantry robot so that the plate material is located at a predetermined origin position with a predetermined directional orientation based on the position and orientation of the plate material.