JPH06270084A - Work selecting robot and work device having this robot - Google Patents

Abstract

PURPOSE:To provide a work selecting robot and a work device having this robot by which a part number of a work can be read automatically even if the part number of the work is different variously and a robot and a work machine can be also operated automatically. CONSTITUTION:A work device has a work W having an identification code 1 where part number data is recorded in a prescribed surface position, a robot 3 having a work holding part 7 to hold the work W in the vicinity of this work W, the first robot control device to move this robot 3 to a position of the work W from a standby position and a reading device 15 to identify and read the identification code of the work W arranged in the work holding part 7.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention automatically reads a part number of a work to be processed and selects the work.
The present invention relates to a work selection robot capable of automatically processing the selected work and a processing apparatus equipped with the robot.

[0002]

2. Description of the Related Art Conventionally, an operator identifies a part number of a work to be machined each time, and based on the identification, the operator inputs an operation signal to a robot controller to operate the robot. Further, in the processing machine, the operator identifies the part number of the work, and based on the identification, the operator inputs an operation signal to the NC device to operate the processing machine, and the workpiece is transferred to the processing machine by the robot. In addition to being transported, the work machine was allowed to perform desired processing.

[0003]

By the way, in the above-mentioned conventional work transfer and processing, various setups such as processing instructions and robot operation are required every time the part number of the work changes. Therefore, there is a problem that it is not very suitable for high-volume low-volume production.

In order to solve the above problems, an object of the present invention is to automatically read the work part number even if the work part numbers are different, and to automatically operate the robot and the processing machine. It is an object of the present invention to provide a work selection robot and a processing apparatus equipped with the robot.

[0005]

In order to achieve the above object, the present invention provides a work in which an identification code containing part number data is provided at a predetermined position on the surface, and a work which holds the work near the work. A robot having a holding portion, a first robot control device for operating the robot from a standby position to a work position, and a reading device provided in the work holding portion for identifying and reading the identification code of the work;
A robot for selecting workpieces was configured with.

Further, according to the present invention, in the work selecting robot, the work identifying code read by the reading device is taken in, and the work holding section holds the work based on the identification code and conveys the work to the processing machine. A control device having a first file in which a transfer program is stored, a second file in which a processing program for causing a workpiece to perform a desired processing based on the identification code is stored, and a first file stored in the control device. A second robot controller that loads a transfer program selected from one file to operate the robot, and a processing program that is selected from a second file stored in the controller to operate the processing machine The processing apparatus is configured to include an NC apparatus for urging.

[0007]

By employing the work selection robot of the present invention and the processing apparatus equipped with the robot, an identification code containing part number data is provided at a predetermined position on the surface of the work to be processed. A robot is arranged in the vicinity of the placed work, and a work holding section for holding the work is provided at the tip of the robot. Moreover, the work holding unit is provided with a reading device for reading the identification code provided on the work.

Therefore, the robot is moved from the standby position to the position of the work by the first robot control device and the reading device provided on the work holding portion is positioned above the identification code provided on the work. By reading the identification code with the reading device in this state, the part number data of the work can be automatically read. The read part number data of the work is taken into the first and second files stored in the control device, and the carrying program and the machining program based on the part number data of the work are designated. The designated transfer program and processing program are transferred to the second robot control device and the NC device of the processing machine, respectively. Then, by controlling the second robot control device and the NC device, the robot and the processing machine operate, the work is held by the work holding part of the robot and conveyed to the processing machine, and then the processing machine performs desired processing on the work. It is done automatically.

[0009]

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

Referring to FIG. 1, a work W to be processed is placed. For example, a bar code 1 is attached as an identification code on a predetermined position on the surface of the work W, for example, on the lower right side in FIG. The bar code 1 contains the part number data of the work W.

A robot 3 is arranged in the vicinity of where the work W is placed. Although this robot 3 is already known and its detailed description is omitted, each arm rotates as shown by, for example, an arrow in FIG. 1 and the arm 5 provided at the tip thereof moves in the X, Y, Z axis directions. It moves and rotates in the horizontal axis and vertical axis directions.

A work holder 7 is provided on the arm 5. As the work holding unit 7, a rod 9 is provided on the arm 5, and a plate 11 is attached to the lower portion of the rod 9. A plurality of suction pads 13 are mounted on the plate 11, for example. On the right side of the plate 11, for example, a bar code reader 15 is provided as a reading device.

As shown in FIG. 2, the bar code reader 15 is connected to a control device 17 in which the part number data of the work identified by the bar code 1, the transfer program and the machining program are stored. There is. An NC device 19 of a processing machine and a robot control device 21 for operating the robot 3 are connected to the control device 17, respectively. The robot control device 21 is switchable between a first robot control device 21A that operates to read the barcode 1 provided on the work W and a second robot device 21B that operates to convey the work W to the processing machine. I have it.

As shown in FIG. 3, the control device 17 is provided with a CPU 23, and the CPU 23 is connected with a conversion device 23 for converting the code read by the bar code reader 15. Further, the CPU 23 includes the NC device 19, the first robot control device 21A, and the second robot control device 21B, respectively, as interface I / Fs.
Connected through.

Further, in the CPU 23, a first file 27 in which a transfer program for operating the robot 3 to transfer the work W to the processing machine is stored, and operating the processing machine to perform desired processing on the work W. The second files 29 containing the machining programs to be executed are connected to each other.

With the above configuration, the operation will be described based on the flowchart shown in FIG. 4. In FIG. 4, the robot 3 is operated by the transfer program stored in the first file 27 in step S401, and the arm 5 is moved. The workpiece W is moved from the standby position to a position above the work W. Step S
The rod 9 descends at 402 and the bar code 1 provided on the work W is read by the bar code reader 15 and the work W is adsorbed by the adsorption pad 13.

Next, in step S404, the code of the barcode 1 read by the barcode reader 15 is converted into the conversion device 25.
Through the second file 29 of the control device 17, the arm 5 is moved above the work table of the processing machine in step S405, and then the suction pad 13 is released to place the work W on the work table. Put on.

In step S406, the second file 29
The machining program based on the part number data of the workpiece W is searched by the code of the bar code 1 taken in by the NC device 19 and the machining program found in step S407 is searched.
Transferred to. In step S408, the NC device 19 is operated to perform the desired machining on the work W according to the designated machining program.

In the above description of the operation, the bar code 1 of the work W is read by the bar code reader 15 and the work W is transferred to the processing machine. However, the bar code 1 of the work W is read by the first robot controller 21A. It is usual to carry out only the operation of reading, and then switch to the second robot controller 21B to convey the work W to the processing machine.

As described above, the bar code 1 provided on the work W can be automatically read by the bar code reader 15, and the processing machine can be automatically operated based on the result read by the bar code reader 15. The work W can be automatically processed by operating.

The present invention is not limited to the above-described embodiments, but can be implemented in other modes by making appropriate changes. In this embodiment, the example in which the bar code 1 is provided on the work W has been described. However, other identification codes may be coded to identify this identification code.

[0022]

As will be understood from the above description of the embodiments, according to the present invention, since the structure is as described in the claims, the data of the part number provided on the work is stored. The identification code can be identified and automatically read by the reader. Moreover, based on this result, the processing machine can be automatically operated to perform desired processing on the work.

[Brief description of drawings]

FIG. 1 is an explanatory diagram of a robot according to an embodiment for carrying out the present invention.

FIG. 2 is an explanatory diagram showing a connection between a control device, a robot control device, and an NC device.

FIG. 3 is a configuration block diagram of a control device.

FIG. 4 is a flowchart explaining the operation of the present invention.

[Explanation of symbols]

 1 Bar Code 3 Robot 7 Work Holding Section 13 Suction Pad 15 Bar Code Reader (Reading Device) 17 Control Device 19 NC Device 21 Robot Control Device 21A First Robot Control Device 21B Second Robot Control Device 27, 29 1st, 2nd File

Claims (2)

[Claims] 1. A work provided with an identification code containing part number data at a predetermined position on the surface, a robot having a work holding section for holding the work in the vicinity of the work, and a robot from the standby position to the position of the work. First to move to
A work selection robot, comprising: a robot control device; and a reading device which is provided in the work holding portion and which identifies and reads the identification code of the work. 2. A carrying program according to claim 1, wherein the work identification code of the work read by the reading device is taken in, and the work holding unit holds the work based on the identification code and conveys the work to a processing machine. A control device having a filed first file, a second file in which a machining program for causing a workpiece to perform a desired machining based on the identification code is filed, and a first file filed in the control device is selected. A second robot control device for taking in the carried transfer program and operating the robot;
A machining device comprising: an NC device for operating a machining machine by loading a machining program selected from a second file stored in the control device.