JPH05329737A - Arrangement data input of integral type robot integrated with numerically controlled machine tool - Google Patents

Abstract

PURPOSE:To change a position data changing for each workpiece by using an interactive screen in a program to supply and discharge workpieces of a robot for a numerically controlled machine tool. CONSTITUTION:An interactive screen is called. Regardless of input order, each data of claw height data 40, 41, material length and exposed core 45, 46, 47, 48, finished articles and exposed core 42, 43, 44 and a work step number 49 is inputted by sequentially moving a cursor. A robot control device sets a position data for a robot to automatically supply and discharge a workpiece to a numerically controlled tool from machine intrinsic data and a variable data.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a setup data input method for a numerically controlled machine tool and an integrated robot. More specifically, in a program for supplying / removing a workpiece of a robot for a numerically controlled machine tool, the input method for changing position data each time the workpiece changes is simplified. And a setup data input method for an integrated robot.

[0002]

2. Description of the Related Art Robots are used to automatically supply and remove workpieces from machine tools such as lathes. Various types of robots such as those controlled by numerical control are used for this robot, but the position data between the machine tool and the robot and between the robot and the work feeder are different for the work and the work chuck. The position data for moving the robot must be changed every time.

FIG. 7 is a flow chart showing the outline of the procedure of the conventional setup work. Attach the first product, the first material, to the machine tool. The robot hand is swung in the direction of the work feeder (feeding / excluding device for material and finished product). The material hand is gripped by one of the two hand hands, and waits until the processing is completed.
After the processing is completed, the robot hand is swung to the chuck side of the machine tool to remove the finished product from the finished product hand side. Reverse the hand and attach the material with the other hand, the material hand side, facing the chuck.

The processed product is returned to the work feeder side to perform a payout operation. It is necessary to modify the program so that all the above operations are searched for the changed position and assembled. Figure 8
Shows an outline of input by the conventional teaching method. The teaching method is a method of inputting each movement point while manually moving. Enter each point of the robot operation and confirm the operation.

In all of these conventional methods, the input method is complicated and the time required for input is long. In addition, there were many mistakes in changing data, leading to problems such as collision between robot and machine tool.

[0006]

The present invention has been invented in the above technical background, and achieves the following objects.

An object of the present invention is to provide a program for supplying / removing a workpiece for a robot for a numerically controlled machine tool, which is capable of changing position data which changes for each workpiece by using an interactive screen. It is to provide a setup data input method for a body robot.

Another object of the present invention is to provide a numerical control machine tool capable of promptly changing position data which changes for each workpiece in a program for supplying / removing a work of a robot for a numerical control machine tool. It is to provide a setup data input method for an integrated robot.

Still another object of the present invention is to integrate a numerical control machine tool with a small number of mistakes in changing position data which changes for each workpiece in a program for supplying / removing a workpiece of a robot for numerical control machine tools. It is to provide a setup data input method for a robot.

[0010]

The present invention adopts the following means in order to achieve the above object.

A numerically controlled machine tool, a workpiece feeder arranged in the vicinity of the numerically controlled machine tool for supplying / discharging a workpiece to / from the numerically controlled machine tool, and provided on the numerically controlled machine tool, In a processing system in which a robot for supplying / removing a workpiece is arranged, machine-specific data that is a relative positional relationship determined in advance by a mechanical arrangement between the robot, the numerically controlled machine tool, and the workpiece feeder is stored. By inputting, the geometry of the material of the workpiece, the geometry of the finished product of the workpiece, the geometry of the chuck for gripping the workpiece, and the grip allowance for the hand of the robot to grip the workpiece. At least certain variable data is input, and the robot automatically supplies the workpiece to the numerically controlled machine tool based on the machine-specific data and the variable data. Numerically controlled machine tool to set the position data to eliminate a machine and setup data input method of integrated robots.

The machine-specific data includes vertical height from the robot origin to the work magazine, horizontal distance, distance from the chuck, and center of the work spindle of the numerically controlled machine tool. Height is effective.

Further, it is preferable that the height adjustment allowance of the hand from the center of the work spindle and the number of stacked steps of the work are added to the variable data.

[0014]

[Operation] First, an interactive screen for variable data input is called. The machine-specific data is already entered, so the user does not need to enter it. The input order does not matter, but the nail shape data, material length, finished product length, gripping allowance by the robot hand, etc. are sequentially input while watching the screen. The robot controller 19
The robot automatically sets the position data for supplying / removing the workpiece to / from the numerically controlled machine tool from the machine-specific data and the variable data.

[0015]

Embodiments of the present invention will be described below with reference to the drawings. 1 and 2 show a machining system in which a robot 2 is mounted on a numerically controlled machine tool 1 and a workpiece feeder 3 is arranged adjacent to it. A spindle is rotatably supported on a spindle head 4 of a numerically controlled machine tool 1, and a workpiece chuck 5 is provided at the tip of the spindle. On the side of the headstock 4,
The horizontal guide rail 6 is fixed. Horizontal guide rail 6
On the upper part, the movable table 7 is screw-driven in the horizontal direction by a servo motor (not shown). On the moving table 7, a cross table 8 is screw-driven in the vertical direction by a servo motor (not shown).

A root of an arm 9 is provided on the cross base 8 so as to be swingable about an axis A. The swing angle is controlled by a servo motor (not shown).
A hand 10 is provided at the tip of the arm 9. The hand 10 includes two hands, a material hand 10a and a finished product 10b. Material hand 10a, finished product hand 10
Each b is driven by a hydraulic cylinder to grip and release the material and the finished product. The material hand 10a is for grasping the material, and the finished product hand 10b is for grasping the completed product, which is driven by a 180-degree servomotor about the C axis to be inverted and used properly.

The work feeder 3 is for mounting a work W on a pallet 11 connected to an endless chain which is intermittently driven. When processing is completed,
The endless chain is driven, and the next material is sequentially mounted on the chuck 5 by the material hand 10a and processed, and the finished product is mounted again.

The robot origin (O) is the mechanical origin of the robot. The distance from the robot origin (O) to the center line of the spindle is L ₂ , and the height is H ₂ . Similarly, the distance to the center of the pallet 11 of the work feeder 3 is L ₁ , and the height is H.
_Set to ₁ . The robot 2 draws an arch R between the distances L ₁ and L ₂ and the heights H ₁ and H ₂ to supply and remove the workpiece.

Robot Controller 19 FIG. 3 is a functional block diagram of the robot controller 19. The CPU 20 is a central processing unit for centrally controlling the entire robot control device. CPU20
Various input / output devices, memories, etc. are connected to the bus via the bus 21. The CRT 22 is a display unit that displays a data input / output screen, an instruction screen, and the like, which will be described later.

The keyboard 23 is an input means for inputting data, programs and the like. The machine-specific data memory 24 is a memory for storing and holding the relative positional relationship determined by the mechanical arrangement between the robot 2 and the numerically controlled machine tool 1, and between the robot 2 and the workpiece feeder 3, that is, machine-specific data. . Current position memory 25
Is a memory that always holds and stores the current position of the robot 2. Therefore, when the robot 2 moves, the contents stored in the current position memory 25 are constantly rewritten.

The variable data memory 26 is a memory for storing and holding variable data described later. ROM27
Stores and holds a system program for controlling the robot controller, an operation program for operating the robot 2, a program for calculating coordinates to be described later, and the like. The RAM 28 is a memory for temporarily storing and holding data, calculation results, various parameters, and the like.

The moving axis controller 29 receives commands from the CPU 20, such as moving speed, moving distance, and stop, and the amplifier 30 receives the commands.
Is a control unit for controlling the movement of the robot 2 by instructing the Z-axis servo motor 31 via. Z-axis servo motor 3
In No. 1, the outputs of the tacho generator 32 and the pulse encoder 33 are fed back to the amplifier 30 and the moving axis control unit 29, and the speed and position are controlled.

The robot 2 is further provided with a Z-axis servo motor 3
In addition to 1, a servo motor that drives the cross base 8 in the Y-axis direction, a servo motor that swings about the A-axis, a servo motor that rotates about the C-axis, and the like are provided. After all, the robot 2 is controlled to move in the direction of two orthogonal axes, and is also controlled to rotate about the two axes.

FIG. 4 shows an example of a dialogue screen on the CRT screen of the robot controller 19. This screen is a machine-specific data setting screen. This is a screen set when the robot 2 is installed in the numerically controlled machine tool 1. Normally, it is set by the manufacturer rather than the user. It is a screen that does not change even if the workpiece to be processed changes. Input position data between the robot 2 and the workpiece chuck 5.
Distance data (L ₂ ) 30 from the robot origin to the end surface of the workpiece chuck 5 in the Z-axis direction, and height data (H ₂ ) 31 between the robot origin (O) and the center of the spindle of the numerically controlled machine tool 1 The input area is displayed on the screen. The cursor 22 sequentially moves its position on the screen by operating the keyboard, so that the user can input the data while watching the screen at each position.

An input area for the distance data (L ₁ ) 33 in the Z-axis direction and the height data (H ₁ ) 34 in the Y-axis direction between the robot origin (O) and the pallet 11 is also displayed on the screen. Further, the dimensional error data 35 when the hand 10 is used as an in-hand or an out-hand is input.

FIG. 5 shows a variable data input screen. At the upper left position of FIG. 5, an input area for the height data 40, 41 of the nail of the workpiece chuck 5 is displayed on the screen. The upper right position is an input area for inputting the length of the finished product after machining and the data of the grip allowance by the finished product hand 10b. The finished product length data 43 is the length after the material is processed by the numerically controlled machine tool 1. The grip margin data 44 is the length from the end surface of the finished product to the position where it is gripped by the finished product hand 10b. The height adjustment data 42 is a height for shifting from the center of the spindle. Normally, the center line of the finished product hand 10b and the center line of the main shaft must match.

However, since the arm 9 may bend due to the weight of the finished product, this is the height for adjustment.
The lower left position of the screen is an area for inputting the material length and the grip allowance. The pressing amount data 45 indicates the pressing amount so that the end surface of the material W and the end surface of the claw are closely contacted with each other when the end surface of the material W is held by the claws of the chuck 5 due to gripping and dimensional error. Set it and push it by this amount.

The length data 46 is the length of the material W.
The grip allowance data 47 is the material hand 10 from the end surface of the material.
It is the length to the position where it is gripped with a. Height adjustment data 48
Is the same data as the height adjustment data 42 described above, and is determined by the weight of the material W and the like. The work step number data 49 at the lower right position of the screen is the step number when the material W or the workpiece is seeded and mounted on the pallet 11. The workpieces may be arranged in parallel instead of being stacked. These data are input from a ten key (not shown) by sequentially moving the cursor 32.

Operation FIG. 6 shows a flow for setting data. Since the machine-specific data as shown in FIG. 4 is input in advance, the user does not need to input it. The user can
Call the variable data setting dialog shown in. The order of input is not limited, but the height of the nail, the length of the material and the grip allowance, the length of the finished product and the grip allowance, and the number of work steps are sequentially input while moving the cursor while observing the screen. Robot controller 1
9 sets position data for the robot to automatically supply / exclude the workpiece to / from the numerically controlled machine tool from the machine-specific data and the variable data.

[0030]

Other Embodiments Although the robot 2 of the above-described embodiment is integrally fixed to the numerically controlled machine tool 1, it may be a separate type or traveling robot. Therefore, the numerically controlled machine tool and the integrated robot referred to in the present invention do not mean that they are physically integrated. The hand 10 is a so-called double hand type, but may be a single type.

[0031]

As described above in detail, according to the present invention, by simply inputting data such as the size of the workpiece chuck, the material and the length of the finished product, and the grip margin of the robot hand on the interactive screen, the robot can be operated. The controller automatically calculates and sets the position data, so the setup work of the robot can be done easily.

[Brief description of drawings]

FIG. 1 is a plan view of a numerically controlled machine tool, an integrated robot and a feeder.

FIG. 2 is a right side view of FIG.

FIG. 3 is a functional block diagram showing an outline of a robot controller.

FIG. 4 shows an interactive setting screen for machine-specific data.

FIG. 5 shows a variable data interactive setting screen.

FIG. 6 shows an example of a data input order on a variable data setting screen.

FIG. 7 is a flowchart of a conventional technique showing an example of a setup operation of a program changing method.

FIG. 8 is a flowchart of a conventional technique showing an example of a teaching-type setup work.

[Explanation of symbols]

 1 ... Numerical control machine tool 2 ... Robot 3 ... Workpiece feeder 19 ... Robot control device

Claims (3)

[Claims] 1. A numerically controlled machine tool, a workpiece feeder arranged in the vicinity of the numerically controlled machine tool for supplying / discharging a workpiece to / from the numerically controlled machine tool, and the numerically controlled machine tool. Supply the above-mentioned workpieces
In a machining system in which a robot for eliminating is arranged, machine-specific data which is a relative positional relationship determined by a mechanical arrangement between the robot, the numerically controlled machine tool, and the workpiece feeder is input in advance, At least the geometry of the material of the workpiece, the geometry of the finished product of the workpiece, the geometry of a chuck for gripping the workpiece, and variable data that is a grip allowance for the robot hand to grip the workpiece. A numerical control machine tool characterized by inputting and automatically setting position data for the robot to supply / exclude the workpiece to / from the numerical control machine tool from the machine specific data and the variable data. How to enter setup data for a body robot. 2. The machine-specific data according to claim 1, wherein the machine-specific data includes a height in a vertical direction and a distance in a horizontal direction from the robot origin to the workpiece magazine.
A setup data input method for a numerically controlled machine tool and an integrated robot, which is a distance from the chuck and a height from a center of a work spindle of the numerically controlled machine tool. 3. The numerically controlled machine tool according to claim 1, wherein the height adjustment allowance of the hand from the center of the workpiece spindle and the number of stacking steps of the workpiece are added to the variable data. How to enter setup data for a body robot.