JPH0557499A - Controller of work transferring robot - Google Patents

Abstract

(57) [Abstract] [Purpose] To automate the change of the feed motion of the work transfer robot and prevent the change error. [Structure] When a work type is set on an operation unit 1001, data indicating the work type is sent to each control device 11.
0, 210, 310. Each control device 110,
In 210 and 310, the feed motion data corresponding to the sent work type data is stored in the memories 114 and 21.
4 and 314, the work transfer robot corresponding to each control device is driven and controlled based on this feed motion data.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an apparatus for controlling a work transfer robot which sequentially transfers a work to a subsequent processing machine in a processing line where a plurality of processing machines are sequentially machined to carry out a predetermined product.

[0002]

2. Description of the Related Art In a press line in which a work is sequentially conveyed to a subsequent-stage press and a predetermined product is carried out and a predetermined product is conveyed out, a work-conveying robot that conveys the work to the latter-stage press corresponds to a plurality of presses. Are provided.

In this case, the transfer operation of the work transfer robot according to the type of product to be processed on the press line,
That is, the feed motion is different. The work transfer robot is provided with an operation panel for setting the data indicating the feed motion, and the work transfer robot is controlled to be driven by the feed motion according to the data set on the operation panel. Therefore, every time the product is changed, the operation panel is operated to reset the feed motion according to the product.

[0004]

However, since a large number of work transfer robots are provided in the press line, it is time-consuming to reset the feed motion for each of the plurality of work transfer robots whenever the product is changed. In addition, it imposes a heavy burden on the operator. If there are frequent product type changes, it will be enormous. Further, there is a possibility that a feed motion that does not correspond to the product to be processed is erroneously set, and in such a case, not only the desired product cannot be processed, but also a serious accident may occur.

The present invention has been made in view of the above circumstances, and it is possible to efficiently change a feed motion according to the type of a product, which is work efficient, does not impose a burden on the operator, and is more reliable and error-free. Its purpose is to provide a control device for a robot.

[0006]

Therefore, in the present invention,
Work transfer robots that transfer the work that has been processed by the processing machine to the next processing machine are provided for each of the multiple processing machines, and these multiple work transfer robots are driven by the feed motion according to the type of work. In the control device of the work transfer robot that controls so that
With an operation panel for instructing the type of work,
Each of the plurality of work transfer robots is provided with a storage unit that stores data indicating a feed motion according to the type of work, and the plurality of work transfer robots is provided with data indicating a type of work specified by the operation panel. It controls to drive each of the plurality of work transfer robots in accordance with the stored data of the storage means corresponding to the transmitted data.

[0007]

According to this structure, when the type of work is set on the operation panel, data indicating the type of work is sent to each work transfer robot. In each work transfer robot, feed motion data corresponding to the sent work type is read from the storage means and driven by the feed motion based on the read data. That is, since the feed motion is automatically changed only by instructing the type of product, the work efficiency is improved and the operator is not burdened. Further, since the feed motion is stored in advance according to the type of work, it can be surely changed to the optimum one according to the type of work without error.

[0008]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of a work transfer robot control device according to the present invention will be described below with reference to the drawings.

FIG. 2 shows the appearance of the press line applied to the embodiment.

As shown in the figure, the press line is adapted to sequentially process the work WK by the presses 100, 200, 300, ... To produce a predetermined product and carry it out. In addition, there is a supply device for supplying the work WK to the press line at the front of the press line.
There is a reversing device for reversing the work WK as required, and a carry-out device for carrying out the processed product at the end of the press line, but these are omitted.

The presses 100, 200 and 300 are respectively provided with internal work transfer robots 120, 220 and 320 by a so-called single feed bar method.

Each work transfer robot 120, 220, 3
20 is provided to convey the work WK which has been processed by the former press to the latter press. The work transfer robot 220 will be described as a representative example. The work WK placed on the intermediate table 230 after processing by the press 100 in the preceding stage is clamped by the two vacuum pads 225 arranged at the left end of the feed bar 223. The work WK, which has been carried into the mold 240 in the press and has been pressed by the press 200, is clamped by the two vacuum pads 225 arranged at the right end of the feed bar 223 and carried out from the mold 240, and the latter stage It operates so as to be placed on the intermediate table 330 of the press 300.

Here, the vacuum pads 225 are provided on the left and right of the feed bar 223 because the work WK is carried into the die 240 from the intermediate table 230 and the die 2 is used.
This is to carry out the work WK from the intermediate table 330 to the work table 40 at the same time. The series of movements of the work transfer robot 220 is realized by causing the feed bar 223 to perform a vertical two-dimensional (lift (up and down) + feed (left and right)) feed motion. The feed motion of the work transfer robot 220 will be described later with reference to FIGS. The other work transfer robots 120 and 320 operate similarly to the robot 220.

The control device 210 drives and controls the press 200 and the work transfer robot 220, and the control devices 110 and 310 similarly correspond to the press 1.
00, 300 and work transfer robots 120, 320
Drive control.

The integrated control unit 1000 includes the control unit 11
0, 210, 310 are controlled in an integrated manner, and when a signal instructing the start of line-interlocked operation is input, a control command is output to each control device 110-310 to drive each press and each work transfer robot. The line interlocking operation is performed, and when a signal instructing to stop the line interlocking operation is input, the control command to each of the control devices 110 to 310 is turned off to stop the line interlocking operation.

For example, when a control command is input to the controller 210, the work W by the work transfer robot 220 is input.
Inserting K into the press 200 → press work WK by the press 200 → drive control of the press 200 and the transfer robot 220 such that the work WK is taken out from the press 200 by the work transfer robot 220 as one cycle. To be done. Other control devices 110, 310
Is also the same.

FIG. 3 is a perspective view of the work transfer robot 220. The work transfer robot 220 is roughly composed of a base 221 fixed to the frame of the press 200 and a lift direction (up / down direction) with respect to the base 221. ) Movably disposed on the guide 222, a feed bar 223 movably disposed on the guide 222 in the feed direction (horizontal direction) via rollers, and the front surface of the press at the left and right ends of the feed bar 223. And a vacuum pad 225 disposed on a finger 224 extending in the horizontal direction.

The servo motor 226 drives the guide 222 in the lift direction, and the driving force of the servo motor 226 is, for example, a pinion or a rack mechanism to guide the guide 2.
22 and the guide 222 is moved up and down. The servo motor 227 drives the feed bar 223 in the feed direction, and similarly, a driving force is transmitted to the feed bar 223 via a pinion and a rack mechanism and moved left and right. The vacuum pad 225 attracts the work WK by supplying a negative pressure from a vacuum pump (not shown) to a clamp state, and releases the work WK by interrupting the negative pressure from the vacuum pump to an unclamp state. To do. The servo motors 226 and 227
The driving of the vacuum pump and the switching of the supply and interruption of the negative pressure of the vacuum pump are performed according to the drive signal output from the control device 210. Further, the punch 200 is also driven in accordance with a drive signal output from the control device 210.

FIG. 4 shows a general feed motion of the work transfer robot 220 performed in response to the drive signal. That is, 1) to
It operates in the order of 11).

1) The feed bar 222 starts moving from the standby position P0 toward the left end point P1 in the feed direction (left row).

2) At a point before the left end position P1 and at a position separated by a distance l1, the movement toward the suction position P2 in the lift direction is started (downward).

3) When the suction position P2 is reached, the vacuum pad 225 is operated to clamp the work WK.

4) When the predetermined time T1 has elapsed, the movement in the lift direction toward the position P1 is started (raised).

5) At a point before the position P1 and at a position separated by the distance l2, the movement starts in the feed direction toward the right end position P3 (right row).

6) At the point before the right end position P3 and at a position separated by a distance l3, the open position P4 in the lift direction is reached.
Start moving toward (to descend).

7) When the open position P4 is reached, the vacuum pad 225 is turned off and the work WK is unclamped.

8) After a lapse of a predetermined time T2, the movement toward the position P3 in the lift direction is started (raised).

9) At a point before the position P3 and at a position separated by a distance l4, the movement starts in the feed direction toward the standby position P0 (left row).

10) The press 200 is started at a point before the standby position P0 and at a position separated by a distance l5,
Perform press processing.

11) When the standby position P0 is reached, a 1-cycle end command is output, and the system waits for a predetermined time T3. Then return to 1).

As can be seen from the above, the feed motion performed by the work transfer robot 220 is from position P0 to
It is determined by designating P4, the distances l1 to l5, the times T1 to T3 and the data FD (hereinafter referred to as feed data FD) indicating the transport speed at each step 1) to 11).

By the way, when the type of product to be obtained on the press line is different, the shape of the work, the height of the mold, etc. are different, so that interference is avoided and the like. It is necessary to change the stroke (see FIG. 4) to the optimum one according to the type of product.

Therefore, in this embodiment, the feed data FD is set and stored in advance according to the type of product,
When the product is changed, the stored data FD is read out, and the work transfer robot 220 and the press 200 are driven based on this read out data FD.

The same applies to the other work transfer robots 120 and 320. The feed data FD corresponding to the type of product is stored in advance for each robot, and when the product is changed, the corresponding data FD is read out. , The robot 12 by the feed motion based on the data FD
0 and 320 are driven.

FIG. 1 is a block diagram showing the configuration of the integrated control device 1000 and the control devices 110, 210, 310, .... As shown in FIG.
Switches are operated to instruct the above-mentioned line interlocking operation according to the operation of the operator, and the types of products to be created on the press line are "1", "2", and "3".
An operation unit 1001 in which a key operation for designating ... Is performed, a control command for inputting the operation content of the operation unit 1001 and performing the above-mentioned line-interlocked operation, and the specified product types “1”, “2” , "3" ... Data WD (hereinafter,
This is referred to as work data WD) via the output unit 1003 and the line 1004 to the control devices 110, 210, 310.
It is composed of a CPU 1002 for sending to ...

The control devices 110, 210 and 310 will be described by taking the control device 210 as a representative.
Based on the contents of the work data WD input via the input unit 212, the corresponding feed data FD is stored in the memory 214.
And drives the work transfer robot 220 with a feed motion based on the data FD,
A CPU 213 that outputs a drive signal for driving the press 200 via an output unit 215, and the work data WD.
With the operation unit 211 and the operation unit 211, the feed data FD (FD1, FD2, FD3 ...) Corresponding to each of (“1”, “2”, “3” ...) Is created over various kinds of products by key operation. The memory 21 in which the created feed data FD is stored and stored in association with the work data WD.
4 and.

The operation unit 211 is, for example, a ten-key type teaching box, and determines in advance a variety of products “1”, “2”, “3” ... Teaching is performed by actually operating the work transfer robot 220 to teach the optimum feed motion. Therefore, as a result of such teaching,
The feed data FD1, FD2, FD3 ... Are associated with the work data “1”, “2”, “3” ...
14 is stored. This teaching is based on another control device 11
0, 310 ... Is similarly performed, and optimum feed data FD1, FD2, FD3 ... Corresponding to each work data “1”, “2”, “3” ...
It will be stored in the memory 314.

When the line control operation is instructed in the integrated control device 1000, the control devices 110, 210, 310.
The presses 100, 200, 300 are started via the ... And work transfer robots 120, 220, 320.
... is activated.

When the product "1" is designated in the integrated control unit 1000, the control units 110 and 21 are selected.
0, 310, ..., The feed data FD1 corresponding to the work data “1” is stored in the memories 114, 214, 314 ,.
Are read from the work transfer robots 120, 220, 320, and the like so that the feed motions (1) to 11)) based on the feed data FD1 are performed. Whether the position in the lift direction or the feed direction has reached the target position is determined by the servo motor 226,
It is determined based on the output of the encoder attached to 227.

When the product "1" is processed a predetermined number of times and then the operation unit 1001 is operated to change to the product "2", the work data "" is similarly set in each of the control devices 110, 210, 310 ... Feed data F corresponding to 2 "
D2 is read from the memories 114, 214, 314, ... And the work transfer robots 120, 22 are operated so that the feed motion is performed based on the feed data FD2.
0, 320 ... Are driven and controlled. In the same manner, if the product is changed, the robot is automatically and promptly driven by the corresponding feed motion.

As described above, according to the embodiment, the feed motion is automatically changed only by instructing the type of product, so that the working efficiency is improved and the operator is not burdened. Further, since the feed motion is stored in advance in association with the type of work, it can be surely changed to the optimum one according to the type of work without error.

In the embodiment, a press working line is assumed, but the present invention is not limited to this and can be applied to a work transfer robot in any machining line.

[0043]

As described above, according to the present invention, the feed motion of the work transfer robot can be changed efficiently and without burdening the operator. Also, since the optimum feed motion according to the type of product is changed without error, the safety and reliability of the machining line are dramatically improved.

[Brief description of drawings]

FIG. 1 is a block diagram showing a configuration of an embodiment of a control device for a work transfer robot according to the present invention.

FIG. 2 is a diagram showing an appearance of a press working line of the embodiment.

FIG. 3 is a perspective view showing a configuration of a work transfer robot.

FIG. 4 is a diagram used for explaining a feed motion of a work transfer robot.

[Explanation of symbols]

 100 Press 114 Memory 120 Work Transfer Robot 200 Press 214 Memory 220 Work Transfer Robot 300 Press 314 Memory 320 Work Transfer Robot 1001 Operation Unit

Claims (1)

[Claims] 1. A work transfer robot that transfers a work finished by a processing machine to a next processing machine is provided corresponding to each of the plurality of processing machines, and the plurality of work transfer robots feed the work according to the type of the work. In a control device for a work transfer robot that is controlled to be driven by motion, the storage device includes an operation panel for instructing the type of the work, and a storage unit for storing data indicating a feed motion according to the type of the work. Each of the plurality of work transfer robots is provided with data indicating the type of work specified by the operation panel, and is sent to the plurality of work transfer robots. According to the stored data of the storage means corresponding to the sent data. And a work transfer robot control device for controlling each of the plurality of work transfer robots to be driven.