JPH0455817B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a handling robot that carries a workpiece into and out of a machine tool.

Recently, proposals have been made to use handling robots to automatically load and unload workpieces into and out of machine tools, thereby enabling efficient machining operations. In order to effectively realize these proposals, an important problem to be solved is how to easily and quickly perform the teaching task of instructing the robot on the actions it should perform when loading and unloading workpieces. .

Traditionally, teaching for handling robots involves the operator breaking down the movements necessary for handling into movement steps, which are the lowest movement units that make up the robot's movement, and actually executing the movement commands corresponding to those movement steps. A method has been adopted in which commands are manually given from a keyboard or the like and stored in a memory, and when executed, a predetermined action is performed by sequentially reading and executing the action commands stored in the memory.

However, with these methods, since commands can only be given for each movement step, the number of movement commands that must be input to the robot is extremely large, which not only requires a lot of time for teaching, but also allows the operator to perform all the possible actions of the robot. It required a thorough knowledge of the movement steps, requiring a high degree of knowledge and skill.

SUMMARY OF THE INVENTION In order to solve the above-mentioned drawbacks, the present invention provides a handling robot that can easily instruct a recharging operation without having to perform teaching to instruct the recharging operation for each operation step, and therefore requires a short teaching time. The purpose is to

That is, the present invention provides a memory storing an operation program configured to be able to selectively execute a recharging operation routine consisting of two or more operation steps, and a routine instruction for instructing selection of the recharging operation routine. A device is provided, and by operating the instruction device, it is possible to instruct execution of a recharging operation.

Embodiments of the present invention will be described below based on the drawings.

Fig. 1 is a perspective view showing an example of a handling robot according to an embodiment of the present invention mounted on a numerically controlled lathe, and Fig. 2 is a diagram showing a double hand.
3 is a perspective view showing a single hand, FIG. 4 is a control block diagram of the handling robot shown in FIG. 1, and FIG. 5 is a flowchart showing an example of a double hand operation program. 6 is a flowchart showing an example of a single hand operation program, FIG. 7 is a flowchart showing an example of an inner tightening gripping operation subroutine, and FIG. 8 is a flowchart showing an example of an outer tightening gripping operation subroutine. FIG. 9 is a flowchart showing an example of the recharging operation subroutine, No. 10.
FIG. 11 is a flowchart showing an example of a subroutine for reversing the outside of the machine; FIG. 11 is a diagram showing an operation mode based on the operation program shown in FIG. 5 for double hands;
FIG. 12 is a diagram showing the operation mode based on the operation program shown in FIG. 6 for a single hand, and FIG. 13 is a diagram showing the dimensional relationship between the hand, workpiece, pallet of the conveyor unit, and chuck of the numerically controlled lathe.
Figure 14 is a diagram showing the state of each part during machining when using a double hand, Figure 15 is a diagram showing the state of each part during machining when using a single hand, and Figure 16 is a diagram showing each operation. FIG. 6 is a diagram showing an example of a display pattern corresponding to a step on a display.

As shown in FIG. 1, the handling robot 1 has a main body 3 on the front side of a numerically controlled lathe 2, with arrows A,
The main arm 5 is provided on the main body 3 so as to be rotatable in the directions of arrows E and F and to be extendable and retractable in the directions of arrows C and D. A sub-arm 6 is provided on the main arm 5 so as to be rotatable in the directions of arrows G and H, and a hand 7 is provided on the sub-arm 6 so as to be detachable and replaceable. As shown in FIG. 2, the hand 7 includes a double hand for carrying light loads, in which a holding part 7b consisting of holding claws 7a and 7a is provided on both sides of the hand 7, and a third hand.
As shown in the figure, there is a single hand for heavy loads in which only one holding portion 7b is provided, and both can be freely attached to and removed from the sub-arm 6. As shown in FIG. 2, the double-handed hand 7 has an unloading hand 7c attached to the sub-arm 6, and the unloading hand 7c has holding claws 7a that open and close in the directions of arrows H and I. It is set freely. The unloading hand 7c is provided with an arm 7d,
The arm 7d is provided with shafts 7i, 7i. A loading hand 7e is supported on the shafts 7i, 7i so as to be movable in the directions of arrows J and K via an arm 7f, and coil springs 7h, 7h cover the shafts 7i, 7i between the arms 7d, 7f. The spring 7h constantly urges the loading hand 7e in the direction of arrow J. Further, the loading hand 7e has holding claws 7a, 7.
a is provided so as to be openable and closable in the directions of arrows H and I, and the workpiece 26 can be gripped by opening and closing the holding claws 7a and 7a (the same applies to the holding claws 7a and 7a of the unloading hand 7c). ) On the other hand, as shown in FIG. 3, in the single hand, three holding claws 7a are provided on the main body 7j in a radial manner that can be freely opened and closed, and the gripping operation of the workpiece 26 is controlled by opening and closing the holding claws 7a. can be done.

On the other hand, a conveyor unit 9 constituting the handling robot 1 is installed on the left side of the main body 3 in FIG. 1, and a large number of pallets 9a are movably provided on the conveyor unit 9. In addition, the numerically controlled lathe 2 is provided with a chuck 2a that can be freely rotated and mounted on the main shaft, and a door 2b is installed on an air cylinder 2 provided above the machine body 2d.
It is provided so as to be openable and closable in the directions of arrows K and L as indicated by e.

The handling robot 1 also has a main control section 10, as shown in FIG. 4, and the main control section 10 includes a drive control section 11 and a teaching data memory 1.
2, a keyboard 13, a display control unit 15, an operation program memory 16, a specific operation memory 17, an axis movement amount memory 20, etc. are connected via a bus line 14. A large number of actuators 21 are connected to the drive control section 11 as drive sources for causing the robot 1 to perform various operations, and an operation name memory 23 and a display 25 are connected to the display control section 15.

Since the handling robot 1 has the above configuration, in order to have the robot 1 load and unload workpieces into and out of the numerically controlled lathe 2,
Of the keys 13a provided on the keyboard 13, the operator selects a hand designation key 13e, a grasping motion designation key 13b, and a recharging designation key 13.
c. Operate the reversal designation key 13d to select the type of hand, gripping mode of the workpiece, whether or not to recharge,
Enter the workpiece reversal position for double hand. That is, when the hand designation key 13e is pressed, the hand attached to the sub-arm 6 is a single hand with one holding part 7b, and the hand specified by the key 13e is
If you do not press , it is double handed. Furthermore, when the holding operation designation key 13b is pressed, when gripping the workpiece, the gripping is performed from the inner diameter side of the workpiece, and when the holding operation designation key 13b is not pressed,
This is an external clamping grip in which the workpiece is gripped from the outside diameter side.
Further, when the recharging command key 13c is pressed, recharging is performed when chucking the workpiece, and when the recharging command key 13c is not pressed, no recharging is performed. In addition, the reverse designation key 13b
If the button is pressed, the workpiece reversal position is specified outside the machine, and if it is not pressed, the workpiece is reversed inside the machine. In this way, all data input from the keyboard 13 is stored in the teaching data memory 12 as teaching data TDT. The operator further determines the number of workpieces to be machined, the gripping devices g, g′ before and after machining the workpieces, and the total length of the workpieces l.
(See FIGS. 13b, c, and g) is input from the keyboard 13 and stored in the teaching data memory 12 as teaching data TDT. These teaching data
When inputting the TDT, that is, teaching, is completed, the operator places the unprocessed workpieces 26 to be processed on each pallet 9a of the conveyor unit 9, as shown in FIGS. Press the execution key 13f.

As a result, the main control unit 10 immediately searches the teaching data TDT in the teaching data memory 12, first reads whether the hand 7 attached to the sub-arm 6 is a double hand or a single hand, and then inputs the type of hand from the operation program memory 16. The corresponding operation program APRO is read out, and each actuator 21 is drive-controlled via the drive control section 11 based on the operation program APRO.

That is, the operation program memory 16 stores a double hand operation program DHP and a single hand operation program SHS as an operation program APRO. First, to explain the double hand operation program DHP, the program
As shown in FIGS. 5 and 11, in operation steps S1 and S2, the DHP raises the main body 3 in the direction B in FIG. to be restored. At this time, pallet 9 of conveyor unit 9
a, chuck 2a and hand 7 of numerically controlled lathe 2
The dimensional relationship is defined as shown in FIG. 13a. That is, CHH is the distance from the chuck 2a to the hand 7, CH is the height of the claw 2f of the chuck 2a, and COH is the distance when the main arm 5 is held at the origin ZP and the main body 3 is moved in the direction A. When brought down (shown by imaginary lines in Figure 13a)
This is the distance from pallet 9a to hand 7.
Next, in step S3, the main arm 5 is moved in the direction C in FIG.
Movement in the D direction is referred to as "axis movement." ), hand 7
As shown in Fig. 13b, 1D=COH-l...(1) l: Position the workpiece at a position shifted in the direction C from the origin ZP by the total length input by the operator. Next, in step S4, the body is lowered in the A direction, and in step S5, the sub-arm 6 is rotated to load the loading hand (see "(L)" in the flowchart).
(displayed as "Hand") 7e toward the pallet 9a. In step S6, the teaching data memory 12 is searched, and if the operator specifies inner tightening grip in the teaching data TDT, the operation enters the inner tightening grip operation subroutine SUB1, and if the operator specifies outer tightening grip, the outer tightening grip is executed. Operation subroutine
Enter SUB2.

The inner tightening gripping operation subroutine SUB1 is the seventh
As shown in the figure, in step S7, the holding claws 7a, 7a on the side of the loading hand 7e, which has already been selected in step S5, are moved in the direction I in FIG. , Step S9 is entered, and the hand 7 is moved from the origin ZP shown in FIG.

The shaft is moved to the position shown in FIG.
from the inner diameter side (holding claw 7 shown in Fig. 2a)
a, 7a are for gripping the external shape, holding claws 7a,
7a can be replaced with holding claws 7a, 7a for gripping the inner diameter formed with protrusions 7g, 7g as shown in FIG. 2b, and when gripping the inner diameter, the holding claws 7a, 7
Replace a with one for inner diameter gripping. ). Further, as shown in FIG. 8, the outer tightening gripping subroutine SUB2 opens the holding claws 7a, 7a on the loading hand 7e side selected in step S11 in the direction H in FIG. Then, in step S14, the holding claws 7a, 7a are moved in the I direction to grip the workpiece 26 from the outer diameter side (see FIG. 11, 4).

After holding the workpiece 26, return to the double hand operation program DHP, move the axis to position 1D in step S15, and move to position 1D in step S16.
In step S17, the door 2b of the numerically controlled lathe 2 is opened in the L direction, and in step S19 it is moved to the position shown in FIG. 13d.
3D 3D=[CHH−(CH+α+g)] …(3) α: Move the axis to the clearance amount.

On the other hand, in step S18, the conveyor unit 9 is driven to move the pallet 9a so that a new work 26 can be supplied to the hand 7. Next, in step 20, the main arm 5 and the sub arm 6 are rotated in the direction E in FIG.
As shown in FIGS. 7 and 8, the hook 2f of the chuck 2a is set opposite to the chuck 2a, and the claw 2f of the chuck 2a is opened in step S21.
is opened, and further, in step S22, hand 7 is moved to the first
Position 4D 4D=[CHH-(g-β)] as shown in Figure 3e (4) β: The axis is moved to the pressing amount and the workpiece 26 is inserted into the open chuck 2a. At this time, after the workpiece 26 comes into contact with the chuck 2a, the hand 7 further moves in the J direction by an amount corresponding to the pressing amount β, and therefore the loading hand 7e moves against the elasticity of the coil spring 7h. The workpiece 26 moves by β in the K direction in Fig. 2, and as a reaction, the workpiece 26 is pressed with a predetermined pressure in the J direction, that is, the chuck direction.
6 is securely inserted into a predetermined position of the chuck 2a. Next, in step 23, the chuck 2a is clamped, and the workpiece 26 is held by the chuck 2a. If internal tightening is performed at step S24, step S
25, close the holding claw 7a of the hand 7 (hereinafter simply referred to as "closing the hand 7"), and in the case of external tightening, proceed to step 26, open the holding claw 7a, and close the workpiece 26 of the hand 7. Release the grip state on.

Next, in step S90, the teaching data memory 12 is searched to determine whether or not the operator has instructed re-charging at the time of teaching.If re-charging has not been instructed, the process immediately proceeds to step S27, and the 13th The axis is moved to the position 5D 5D=[CHH-(l+α)] (5) shown in FIG. f, but if a recharging instruction has been issued, the recharging operation subroutine SUB3 is entered. In the recharging operation subroutine SUB3, as shown in FIG. 9, the axis is moved to position 5D in step S28, the loading hand 7e in the selected state is closed in step S5, and the loading hand 7e in the selected state is closed in step S29. The axis is moved to the position 10D 10D=[CHH-(l-β)]...(6) shown in FIG. Then, the loading hand 7e comes into contact with the workpiece 26 held by the chuck 2a, and is further pushed in the direction J in FIG. 2 by β.
The workpiece 26 is pressed in the J direction by the coil spring 7h with a force corresponding to the pressing amount β. In this state, check 2a is selected in steps S30 and S31.
By opening and closing the workpiece 26 once, the workpiece 26 is recharged and held more securely.

After recharging, position in step S27.
After the axis moves to 5D, the sub-arm 6 is raised in the direction F in Fig. 1 in step S32, and then in step S33.
The door 2b is closed and machining by the numerically controlled lathe 2 is started. Next, in step S34, it is determined whether there is an unprocessed work 26 on the pallet 9a of the conveyor unit 9 based on the number of works in the teaching data TDT, and if there is a work 26, the position is determined in steps S35 and S36. Move the axis to 1D and lower the body 3 in the A direction. Below, the 11th
As shown in FIGS. 12 to 14, in steps S37 to S38, the new unprocessed workpiece 26 on the pallet 9a is gripped by the loading hand 7e, and in step S39, the unloading hand (indicated as "(U) hand" in the flowchart) .) Work 2 on 7c
6, the process jumps to step S54, but since the workpiece 26 is not gripped by the unloading hand 7c at first, the process jumps to step S54.
At step S1, the main body 3 is lifted up in the direction B, and at step S42, the pallet 9a of the conveyor unit 9 is moved so that the workpiece 26 to be processed next can be supplied to the hand 7. Furthermore, in step S43, the sub-arm 6 is rotated in the G direction to select the unloading hand 7c (Fig. 11, 16), and when the machining is completed and the door 2b is opened, the unloading hand 7c is rotated in the G direction in steps S44 and S45. , the sub-arm 6 is lowered in the E direction, and from step S45 onwards, the processed workpiece 26 of the chuck 2a is gripped using the unloading hand 7c as shown in FIGS. 17 to 19. At this time, in each of the gripping operation subroutines SUB1 and SUB2, the main body 3 is not in the body-down state, so steps S47 and S4 are performed.
9 is executed, and the unloading hand 7c is at a position 6D 6D [CHH-g'] where the unloading hand 7c can grip the workpiece 26 in the chuck 2a. (7) g': Workpiece gripping position after machining input by the operator.

The processed workpiece 26 is gripped in steps S10 and S14. When the workpiece 26 is gripped, the chuck 2a is opened in steps S47 and S48, and the axis is moved to the position 7D 7D=[CHH-(CH+γ+*)]...(8) γ: Clearance amount *: Larger of g and g' Do as much as you like. Therefore, in step S49, it is determined whether or not there is a workpiece 26 in the loading hand 7e (the workpiece 26 is present in the loading hand 7e except when machining of a predetermined number of workpieces 26 is completed). If so, step S50
When teaching, the operator is outside the machine.
That is, it is determined from the teaching data TDT whether or not reversal outside the numerically controlled lathe 2 has been instructed, and if not, the sub-arm 6 is immediately rotated in step S51 to grip the unprocessed workpiece 26. Check loading hand 7e in machine 2
Turn it toward the a side (Fig. 11, 20). On the other hand, if a reversal outside the machine is instructed, the reversal operation outside the machine subroutine SUB4 is entered, and in steps S52 and below, the sub arm 6 is once raised in the direction F, and the hand 7 is taken out of the machine together with the workpiece 26. After the hand 7 is reversed, the sub-arm 6 is lowered again in the E direction, and the workpiece 26 is put into the machine. When the reversing operation is completed in this way, the axis is moved again to position 4D in step S52, the unprocessed workpiece 26 is mounted on the chuck 2a, and steps S53 to S2
4, and thereafter performs the same operations as described above through step S34 and up to step S39 according to the flowchart, and causes the loading hand 7e to grip a new workpiece 26 while the other workpiece is being processed (the 10th Figures 21 to 26).

In this case, the unloading hand 7c includes:
Since the machined workpiece 26 is being gripped, the process jumps from step S39 to S54 and returns to the origin once.
After the main arm 5 is axially moved to ZP, the unloading hand 7c is selected in step S55 (FIG. 12, 27), and the conveyor unit 9 is driven in step S56 to remove the processed workpiece 2 held by the hand 7c. The pallet 9a on which the
After the axis movement to 2D, the processed workpiece 26 is placed on the pallet 9a in steps S57 and S58 (first
0 Figure 28).

After that, when the axis is moved and the body is raised in the direction B in steps S59 and S60, as shown in FIG.
The state will be as shown in FIGS. 9 and 14. That is,
Two of the pallets 9a are now empty, and of the two workpieces 26 that were loaded on the pallet 9a, one is being held by the chuck 2a and is being processed, and the other is being held by the loading hand. 7e.

Next, in step S61, it is determined whether the numerically controlled lathe 2 is currently machining the workpiece 26,
If machining is in progress, wait until machining is completed and repeat the same operations as described above from step S62.

In this way, while the processing progresses, the pallet 9a
When there is no more unprocessed work 26 on top and the end of the machining operation approaches, the process jumps from step S34 to S54, stops the gripping operation of the new unprocessed work 26 from above the pallet 9a, and starts machining. Only the completed workpiece 26 is returned to the pallet 9a, and the process further jumps from step S61 to S62, and the last workpiece 26 currently being processed is taken out from the chuck 2a upon completion of processing. However, no longer
Since the unprocessed workpiece 26 is not held by the loading hand 7e, steps S49 to S6 are performed.
3, the hand 7 moves the sub-arm 6 up in the F direction without performing a reversal operation, and after lowering the body, jumps to step S40, returns the last machined workpiece 26 onto the pallet 9a, and goes through step S61. to finish all work.

Now that the explanation of the double hand operation program DHP has been completed, the single hand operation program SHP will be explained below with reference to FIGS. 6 and 12. In addition, in each step,
Descriptions of actions common to double hand will be omitted. First, in steps S70 and S71, the body is raised and the axis is moved to the origin, and then in step S72
Then, the axis is moved to the position 1S 1S=[COH-l] . . . (9) shown in FIG. 13b. Next, after lowering the body, the process enters the inner tightening gripping operation subroutine SUB1 or the outer tightening gripping operation subroutine SUB2 (of course, the single-handed hand 7 can also perform both inner tightening and outer tightening by replacing the holding claw 7a. ). The axis movement position 2S in steps S9 and S13 in subroutines SUB1 and SUB2 is the 13th
As shown in Figure c, 2S=[COH-g]...(10). In this way, as shown in FIGS. 1 to 5, after gripping the workpiece 26 on the pallet 9a of the conveyor unit 9, the body is lifted up in step S73, and up to step S74, the workpiece 26 is
is inserted and held in the chuck 2a (FIG. 12, 6 to 9), and if recharging is instructed in step S75, the recharging operation subroutine SUB3 shown in FIG. 9 is entered. Note that step S7
7, S79 and position 3S in subroutine SUB3,
4S, 5S, and 10S are as shown in Figure 13 d, e, and f, 3S = [CHH-(CH+α+g)]...(11) 4S=[CHH-(g-β)]...(12) 5S=[CHH-(l+α)]...(13) 10S=[CHH-(l-β)]...(14).

Next, the sub-arm 6 moves up in the F direction together with the hand 7 (FIGS. 12, 10 and 11), the door 2b closes, and machining of the workpiece 26 is started. After machining is started in step S76, the single hand waits until the machining is completed. Therefore, as shown in FIG. 15, the pallet 9a of the conveyor unit 9 is empty only for the one corresponding to the workpiece 26 currently being processed, and the hand 7 also waits without gripping the workpiece 26. When the machining is completed in step S77, the sub-arm 6 enters the machine, and as shown in FIG.
As shown in 2 to 15, the processed workpiece 26
Remove from chuck 2a. The axial movement positions 6S and 7S in the grasping operation subroutines SUB1 and SUB2 and step S80 are as shown in FIG. ′)] ...(16). Next, in step S81, after moving the axis to position 8S, 8S=[COH-(g'+α)]...(17), the body is lowered and pallet 9a is moved.
Return the processed workpiece 26 on top (Fig. 12 1)
6 to 18), the axis moves to the position 9S=[COH-(α+l)]...(18) shown in FIG. 13k, and in step S82, the unprocessed workpiece 26
is on the pallet 9a of the conveyor unit 9, and if so, in step S83 the conveyor unit 9 is moved to supply and position a new work 26 to a position where the hand 7 can grip it, The process jumps to step S84, and a new workpiece 26 is gripped. In this way, palette 9
The same operation is repeated until there are no more unprocessed workpieces 26 on a, and the machining operation ends when there are no more workpieces 26 at step S82.

In this way, the main control unit 10, based on the operation program APRO in the operation program memory 16,
The workpiece 26 is carried in and out of the numerically controlled lathe 2, and subroutines SUB1 to SUB4 in each operation program APRO are stored in the specific operation memory 1.
When execution of subroutines SUB1 to SUB4 is instructed in the operation program APRO, the subroutines SUB1 to SUB4 are read from the specific operation memory 17 and executed. In addition, the various dimensions and distances mentioned above, namely the distance CHH from the chuck 2a to the hand 7 in FIG. 13, the distance COH from the pallet 9a to the hand 7, the height CH of the claw 2f of the chuck 2a, the clearance amount α,
Since the values of the pushing amount β, the clearance amount γ, etc. are set as fixed values in the axis movement amount memory 20, the workpiece total length l,
When the gripping positions g and g' of the workpiece 26 before and after machining are input, the positions 1D, 2D, ...7D, 9D,
10D, 1S, 2S, . . . 10S are calculated and determined by the main control unit 10 and stored in the memory 20. Therefore,
When executing the operation program APRO, memory 2
By searching for 0, the predetermined axis movement position can be immediately determined, and the handling robot 1 can operate smoothly and quickly.

By the way, the main control unit 10 drives and controls the actuator 21 via the drive control unit 11 according to the operation program APRO in the operation program memory 16, and causes the handling robot 1 to perform a predetermined operation. Each operation step S1, S2, S3 . In response to this, the display control unit 15 searches the operation name memory 23 and creates a display pattern corresponding to each operation step S1, S2,...
The PAT is read out and displayed on the display 25. For example, when executing the double hand operation program DHP, the main control unit 10 executes the program DHP.
When the drive control unit 11 is instructed to raise the body in step S16 based on
5, the display pattern PAT corresponding to the body up in step S16 is shown, for example, in FIG. 16a.
will be displayed as shown. When the body raising of the main body 3 is completed, the "BODY-UP" indication on the display 25 disappears. Main control unit 10
Next, the controller 11 instructs the drive control section 11 to execute step S17. Immediately, the display pattern PAT corresponding to the door opening in step S17 is read out from the operation name memory 23, and the following is displayed on the display 25.
It is displayed as shown in FIG. 16b. In addition, when displaying the axis movement in step S19, etc., the display pattern PAT corresponding to the axis movement, for example, "Z-
In addition to “DRIVE”, the position to move to is 1D, 2D…1S,
2S... etc. are also displayed on the display 25.
It is displayed as shown in Figure c (Figure 16c shows the axis movement to position 3D). Since the operation name memory 23 stores display patterns PTA corresponding to each operation step S1, S2, ... executed by the handling robot 1, the steps S1, S2, ... currently executed by the robot 1 are
It is always displayed on the display 25, and the operator can immediately know which steps S1, S2, etc. are currently being executed by the robot 1 just by looking at the display 25. The display on the display 25 is
The same display pattern will continue until the operation of the step corresponding to the displayed pattern PAT is completed and a command for the next step is not issued from the main control unit 10.
PAT will continue to be displayed, so in the event of unattended operation,
Even if a failure occurs in the operation of the robot 1 and the robot automatically enters an emergency stop state for safety reasons, the operator can immediately tell in what state the robot 1 is currently stopped by simply looking at the display on the display 25. can be recognized.

In addition, the operation program APRO and each subroutine SUB1, SUB in the operation program APRO
The operation steps S1, S2, etc. that make up 2. (including operation steps not shown in the embodiment), reduction, etc. can be freely performed.

As explained above, according to the present invention, the operation step is composed of two or more operation steps S1, S2...
Memories such as the operation program memory 16 and the specific operation memory 17, which store an operation program APRO that is provided so as to be able to selectively execute a recharging operation routine such as a recharging operation subroutine SUB3, and instruct the selection of the routine. Since a routine instruction means such as a recharging command key 13c is provided, during teaching, it is possible to instruct whether or not to perform a recharging operation simply by operating the instruction means. There is no need to give instructions one by one, which can contribute to shortening teaching time. In addition, the operator does not need to know what kind of operation steps the handling robot 1 goes through regarding the recharging operation, and only needs to operate the routine instruction means, so that even a beginner can easily instruct the recharging operation.

[Brief explanation of the drawing]

Fig. 1 is a perspective view showing an example of a handling robot according to an embodiment of the present invention mounted on a numerically controlled lathe, and Fig. 2 is a diagram showing a double hand.
3 is a perspective view showing a single hand, FIG. 4 is a control block diagram of the handling robot shown in FIG. 1, and FIG. 5 is a flowchart showing an example of a double hand operation program. 6 is a flowchart showing an example of a single hand operation program, FIG. 7 is a flowchart showing an example of an inner tightening gripping operation subroutine, and FIG. 8 is a flowchart showing an example of an outer tightening gripping operation subroutine. FIG. 9 is a flowchart showing an example of the recharging operation subroutine, No. 10.
FIG. 11 is a flowchart showing an example of a subroutine for reversing the outside of the machine, FIG. 11 is a diagram showing an operation mode based on the operation program shown in FIG.
FIG. 12 is a diagram showing the operation mode based on the operation program shown in FIG. 6 for a single hand, and FIG. 13 is a diagram showing the dimensional relationship between the hand, workpiece, pallet of the conveyor unit, and chuck of the numerically controlled lathe.
Figure 14 is a diagram showing the state of each part during machining when using a double hand, Figure 15 is a diagram showing the state of each part during machining when using a single hand, and Figure 16 is a diagram showing each operation. FIG. 6 is a diagram showing an example of a display pattern corresponding to a step on a display. 1... Handling robot, 2... Machine tool (numerically controlled lathe), 13c... Routine instruction means (recharging command key), 16... Memory (operation program memory), 17... Memory (specific operation memory), 26 ...Work, SUB3... Recharging operation routine (recharging operation subroutine), APRO... Operation program, S1,
S2, S3...operation steps.

Claims (1)

[Claims] 1 In a handling robot that grips a workpiece and carries the workpiece into and out of a machine tool, an operation program configured to selectively execute a recharging operation routine consisting of two or more operation steps is provided. The handling robot is provided with a stored memory and a routine instruction means for instructing selection of the recharging operation routine, and is configured to be able to instruct execution of the recharging operation by operating the instruction means.