JPH0655505A - Positioning device of nc router - Google Patents

Abstract

PURPOSE:To realize the exact positioning of a plate to be processed without changing the software of a robot by a method wherein the plate to be processed is sucked at its almost same position at all times regardless of its dimensions. CONSTITUTION:At the positioning of a plate to be processed, which is sucked with the suction pads 21 of a robot, under the state that the plate to be processed is conveyed, a first member 13 and a second member 14 are in the immobile state by means of cylinders 16 and 18. Under the above-mentioned state, the plate to be processed is sucked by the suction pads 21 so as to move the plate to be processed to the X-direction with the arm 11 of the robot in order to abut the plate to be processed against the positioning stopper 3b of a NC router 1, which controls the movement of a coveying matter to the X-direction, when the plate to be processed arrives the predetermined position. After that, though the actuating arm 11 of the robot 8 moves to the X-direction by (X) by means of the cylinder 16, the plate to be processed, a pedestal 15 and an indicating bar 20 are positioned so as to remain to the position of a positioning plate. Thus, the plate to be processed can be conveyed regardless of its dimensions.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an NC router capable of accurately positioning a work plate without changing the software of a robot by always adsorbing the work piece at a substantially same position regardless of the size of the work plate. The present invention relates to a positioning device.

[0002]

2. Description of the Related Art Conventionally, in an NC router, a pad of a robot is set so as to adsorb a central portion of a predetermined standard work plate. The robot pad is set to move to the center position, and the robot pad is also moved to the position where the standard work plate is positioned on the NC router table. .

[0003]

In the NC router constructed as described above, when the size of the plate to be processed is different from the movement amount of the arm of the robot for processing the standard plate to be processed, However, since the robot arm movement amount differs and positioning cannot be performed, the software of the robot arm movement amount must be changed according to the size of the plate to be processed, which is a problem that the work is very troublesome. there were.

[0004]

SUMMARY OF THE INVENTION According to the present invention, at a predetermined robot suction position of a pad, two large and small workpiece plates are processed.
Orthogonal stoppers are installed so that the sides come into contact with each other, and the pad of the robot arm is moved to almost the same suction position regardless of the size of the work plate to adsorb the work plate, and the NC router's The two sides of the plate to be processed are brought into contact with a positioning stopper on the table for positioning.

[0005]

In the present invention, the work plate sent to the carrying position is always installed so that the two sides of the work plate are in contact with the stoppers at the preset suction positions regardless of their size.

The pad provided on the arm of the robot is moved to a predetermined position of the suction position and sucks the work plate at substantially the same position regardless of the size of the work plate.

Then, the arm of the robot is moved to bring the two sides positioned at the suction position of the plate to be processed into contact with the positioning stopper of the table of the NC router for positioning.

As described above, the two sides of the work plate positioned at the suction position are brought into contact with the positioning stoppers of the table of the NC router to accurately position the work plate on the table regardless of the size of the work plate. can do.

[0009]

1 is a plan view of a positioning device for an NC router according to one embodiment of the present invention. In this embodiment, two NC routers 1 are provided with their tables 2 facing each other. However, one NC router may be provided, or two NC routers may be provided at right angles to other NC routers.

The table 2 of the NC router 1 is provided with positioning stoppers 3a and 3b on two sides, and the NC router 1 is provided with a presser dust collecting device 4 and a head structure 5, and a head. A rail 6 for moving the structure 5 and a rail 7 for moving the table are provided, and a robot 8 is provided between the NC routers 1, and both sides of the robot 8 are provided with a supply conveyor 9 for supplying a plate to be processed and an object to be processed. A carry-out conveyor 10 for carrying out the processed plate is provided.

Further, as shown in FIGS. 2 and 3, the connecting portion 12 is connected to the arm 11 of the robot 8, and the first member 13 is fixed to the connecting portion 12.

A second member 14 is attached to the first member 13 so as to be movable in one direction, and a pedestal 15 is attached to the second member 14 in a direction orthogonal to the moving direction of the second member 14. Equipped to move.

The working shaft 1 of the cylinder 16 is attached to the first member 13.
6a are connected, and the cylinder 16 is fixed to the support member 17 of the extension of the second member 14, and the movement of the first member 13 in one direction is restricted with respect to the second member 14.

Further, an operating shaft 18a of a cylinder 18 is connected to the second member 14, and the cylinder 18 is fixed to a supporting member 19 of a pedestal 15 so that the cylinder 18 is secondly attached to the pedestal 15.
The movement of the member 14 is restricted.

Further, a plurality of support bars 20 are fixed to the pedestal 15, and a large number of suction pads 21 are mounted on the support bar 20. However, the pedestal 15 is made large and a large number of suction pads 21 are mounted on the pedestal 15. You may wear it.

As shown in FIG. 4, this suction pad 21 has a pad member 23 attached to one end of a pad body 22 and a suction device (not shown) at the other end of the pad body 22.
The pipe body 24 connected to is connected.

A valve chamber 25 is provided in the pad body 22, and the valve chamber 25 has a main connecting hole 26 for connecting with the pipe 24.
And a micro connecting hole 27 are provided, and a ball valve 28 is provided in the valve chamber 25.
And a stopper 29 is provided at the lower end of the valve chamber 25 to prevent the ball valve 28 from falling.

In the suction pad 21 thus constructed, when the suction device is operated, air is drawn from the main connecting hole 26 and the minute connecting hole 27 of the valve chamber 25 of the suction pad 21, and thereby the sucking pad 21. Since the inside of the valve chamber 25 of 21 becomes a negative pressure, the ball valve 28 rises to close the main connecting hole 26 as shown in FIG. 4, and the minute connecting hole 27 is in a state of communicating with the atmosphere, so that air is constantly supplied. Suction.

Here, as shown in FIG. 5, the pad member 23
When the workpiece plate 30 comes into contact with the workpiece plate 30, air is drawn between the valve chamber 25 and the pad member 23 and the workpiece plate 30 from the minute connecting holes 27, so that the inside of the workpiece plate 30 gradually becomes a vacuum and the pipe member 24
When the internal pressure becomes the same, the ball valve 28 falls onto the stopper 29, the work plate 30 is adsorbed by the main connecting hole 26, and the ball valve 28 of the adsorption pad 21 that is not in contact with the work plate 30 becomes It remains elevated so as to close the main connecting hole 26.

Therefore, if even one suction pad 21 is in contact with the plate 30 to be processed, the plate 30 to be processed is sucked, and
Since there is not much difference between the suction pressures of the suction pads 21 that are not in contact with each other, the suctioned work plate 30 can be conveyed without falling because of insufficient suction force.

In such a robot, when the workpiece plate 30 sucked by the suction pad 21 of the robot is positioned, when the workpiece plate 30 is conveyed, the first member 13 and the second member 14 are As shown in FIG. 6, the cylinders 16 and 18 do not move.

Here, the work plate 3 is processed by the suction pad 21.
0 is adsorbed, the work plate 30 is moved in the X direction by the arm 11 of the robot, and when the workpiece 30 reaches a predetermined position, the workpiece 30 is restricted by the positioning stopper 3b of the NC router 1 which is restricted from moving in the X direction. When the plate 30 to be processed comes into contact, the operating arm 11 of the robot 8 moves to the cylinder 1 as shown in FIG.
6 moves further in the X direction by x, but the processed plate 3
0, the pedestal 15 and the instruction bar 20 are positioned and fixed to the position of the positioning plate.

Similarly, when the plate 11 is moved in the Y direction by the arm 11 of the robot and reaches a predetermined position, the plate 30 is restricted from moving in the Y direction.
When the plate 20 to be processed comes into contact with the positioning stopper 3a of the C router 1, the arm 11 of the robot is further moved by the cylinder 18 in the Y direction by y as shown in FIG.
The plate 30 to be processed, the pedestal 15 and the instruction bar 20 are positioned and fixed at the position of the positioning stopper 3b.

As described above, in the robot of this embodiment, when the work plate 30 is sucked by only one suction pad 21,
Since the main connection hole 26 of the other suction pad 21 is closed by the ball valve 28, the work plate 30 can be transported regardless of its size.

Further, the first member 13 and the second member 14 are mounted between the connecting portion 12 of the arm 1 of the robot and the pedestal 15, and the first and second members 1 are mounted by the cylinders 16 and 18.
Since the movements of 3 and 14 are restricted, the arm 11
The plate to be processed 30 can be positioned at a predetermined position by moving the plate 30 more than the predetermined position.

Although the example in which the ball valve 18 is provided on the suction pad 11 has been shown, if the valve body is configured to close only the main connecting hole 16 when the suction device is operated, only the upper side of the disc is provided. It may be hemispherical.

FIG. 9 is a side view of the transfer pallet used in the positioning device of the present invention, FIG. 10 is a rear view of the transfer pallet of FIG. 9, and FIG. 11 is a plan view of the device of FIG. The support member 31 is provided at an end portion between the plate members 31a and 31b.
It is constituted by fixing c and 31d, and bar-shaped stoppers 32 and 33 are fixedly or detachably attached to the two sides of the pallet base 31 which intersect at right angles.

A sloping table 34 is provided on the pallet table 31 and is inclined in the direction of two corners orthogonal to each other. The plate 30 placed on the sloping table 34 is automatically provided with a stopper 32, It is positioned so as to contact 33.

Therefore, the work plate 30 placed on the pallet table 31 transported from the warehouse or the like to the predetermined position of the supply conveyor 9 is positioned in contact with the stoppers 32 and 33 regardless of size. , 33, which are in contact with the workpieces 33, are adsorbed by the pads 21 provided on the arm 11 of the robot 8, the arm 11 rotates as described above, and the plate 30 is provided around the table 2 mounted on the NC router 11. The plate 30 is positioned on the table 2 by abutting the plate 30 to be processed on the positioning stoppers 3a and 3b.

The positioning of the arm 11 of the robot 8 is performed by positioning the positioning stopper 3 on the same side of the two NC routers 1.
Since a and 3b are provided, the robot 8 can be positioned by the operation of the same arm 11 of the robot 8.

In this embodiment, the bar-shaped stoppers 32 and 33 are provided on the pallet base 31 on the two sides of the pallet base 31, but orthogonal frame bodies are fixedly or detachably mounted on the pallet base 31. Good.

Although the work plate 30 is conveyed and positioned by the pallet base 31, a perpendicular frame may be fixedly or detachably provided on the supply conveyor 9.
Orthogonal orthogonal lines may be drawn on the conveyor 9 and large and small plates to be processed may be installed in accordance with the lines.

[0032]

As described above, in the transport positioning apparatus of the present invention, orthogonal stoppers or orthogonal lines are provided at the suction position of the pad of the robot, and the plate to be processed is brought into contact with the stoppers or the orthogonal lines. By contacting or providing it on the line, regardless of the size of the plate to be processed, the pad of the robot arm is moved to the same suction position to suck the plate to be processed. There is an advantage that the plate to be processed can be accurately positioned on the table of the NC router without changing the software.

[Brief description of drawings]

FIG. 1 is a plan view of an NC router according to an embodiment of the present invention.

2 is a side view of a pad portion of the robot of FIG. 1. FIG.

FIG. 3 is a plan view of a pad portion of the robot shown in FIG.

4 is a cross-sectional view of a pad of the robot of FIG.

5 is a cross-sectional view showing a usage state of the pad of the robot of FIG.

FIG. 6 is a perspective view showing a transportation state of the robot of FIG.

FIG. 7 is a perspective view showing one operation state of the robot of FIG.

8 is a perspective view showing one operating state of the robot of FIG. 1. FIG.

9 is a side view of a transfer pallet that transfers a plate to be processed to the NC router of FIG.

FIG. 10 is a rear view of the transfer pallet of FIG.

FIG. 11 is a plan view of the transfer pallet of FIG.

[Explanation of Codes] 1 NC Router 2 Table 3a, 3b Positioning Stopper 4 Presser Dust Collector 5 Head Structure 6, 7 Rail 8 Robot 9 Supply Conveyor 10 Carry-out Conveyor 11 Arm 12 Connection Part 12 First Member 14 Second Member 15 Pedestal 16 Cylinder 17 Supporting member 18 Cylinder 19 Supporting member 20 Supporting bar 21 Cylinder 22 Pad body 23 Pad member 24 Tubular body 25 Valve chamber 26 Main connecting hole 27 Micro connecting hole 28 Ball valve 29 Stopper 30 Worked plate 31 Delivery pallet

[Procedure amendment]

[Submission date] June 15, 1993

[Procedure Amendment 2]

[Document name to be corrected] Drawing

[Correction target item name] All drawings

[Correction method] Change

[Correction content]

[Figure 1]

[Fig. 2]

[Figure 3]

[Figure 4]

[Figure 5]

[Figure 6]

[Figure 7]

[Figure 8]

[Figure 9]

[Figure 10]

FIG. 11

Claims (3)

[Claims] 1. A perpendicular stopper is provided so that two sides of a large and small workpiece plate come into contact with each other at a predetermined robot pad suction position, and a pad of the robot arm is attached to the workpiece plate of the robot arm. The NC is characterized in that the workpiece is sucked by moving to the substantially same suction position of large or small and the workpiece is sucked, and the two sides of the workpiece are brought into contact with the positioning stopper on the table of the NC router to position the workpiece. Positioning device for router. 2. The NC router positioning device according to claim 1, wherein the orthogonal stoppers are provided on two sides of a transfer pallet that transfers the plate to be processed. 3. A predetermined robot suction pad position is installed so that two sides of a large and small plate to be processed are in contact with or on an orthogonal line, and the pad of the robot arm is Regardless of the size of the work plate, the work plate is moved to almost the same suction position to suck the work plate, and the two sides of the work plate are brought into contact with the positioning stopper on the table of the NC router for positioning. Characterizing NC router positioning device.