JPH07236944A - Teaching device of core laying robot and method thereof - Google Patents

Abstract

PURPOSE:To execute teaching of core laying position with use of a real main mold and core when core laying to a main mold is executed with use of a core placing robot. CONSTITUTION:A hand part 17 is mounted at the tip part of an arm 16 of a core placing robot through a compliance device 18. A core 2 is laid in a main mold 1 positioned at a specific core laying position, by moving the hand 17 to a position above of the core 2 and lowering the hand part 17, the core 2 is clamped. Oscillatinging of the hand 17 at clamping the core 2 is detected by an oscillatinging detecting means 19, the arm 16 is position corrected to the position to eliminate oscillating, the position of arm 16 after corrected is stored in a memory part 11 as the teaching position of core laying.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention has made it possible to easily perform teaching at a core-retracting position when a core-retracting robot is used to retract a core into a main mold in a casting process. BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a teaching device and method for a core-paying robot.

[0002]

2. Description of the Related Art When a core-retracting robot is used to insert a core into a main mold in a casting process of a casting, it is necessary to teach a core-retracting position to the core-retracting robot. However, since the main mold formed by solidifying sand is soft, the main mold collapses when teaching is performed by a normal method, and it is difficult to perform the teaching.

Therefore, instead of the actual main mold, a model for teaching is formed by a self-hardening mold or a wooden mold, and teaching is performed using this model.

[0004]

However, under the recent multi-model, small-quantity production, the number of models to be formed increases, the manufacturing cost of the models increases, and a storage place for the formed models is secured. I am having a hard time.

[0005]

The invention according to claim 1 is
A hand-holding robot that attaches a hand part for holding the core to the tip part of the arm and stores the core held by the hand part in a main mold is provided between the tip part of the arm and the hand part. A compliance device that is interposed to allow the hand part to swing horizontally, and a hand part that is moved to a position above the core that is housed in a main mold that is located at a predetermined core housing position. Swing detecting means for detecting the swing direction and swing amount of the hand portion when the hand is lowered to grip the core, and the arm is positioned to a position for canceling the swing detected by the swing detecting means. A correction unit for correcting and a storage unit for storing the corrected position as a teaching position for core insertion are provided.

According to a second aspect of the present invention, the first step of putting the core in the main mold located at the predetermined core storing position and the upper position of the core stored in the main mold The second process of moving the hand part, which is horizontally swingably and rockably locked at the tip of the arm of the subcontracting robot, in the rocking lock state, and the rocking lock of the hand part is released and A third step of lowering the hand part to grip the core, a fourth step of detecting a swing amount and a swing direction of the hand part when gripping the core in the third step, and a fourth step The fifth step of correcting the position of the arm to a position where the swing of the hand portion is canceled based on the swing amount and the swing direction of the hand portion detected in step 5, and the position of the arm corrected in the fifth step Sixth pass remembered as a teaching position for child care It was constructed by the.

[0007]

According to the first aspect of the invention, the core is stored in the main mold located at the predetermined core storing position, and the arm of the core storing robot is driven to move the hand portion to the upper position of the core. Move to. Then, the arm is lowered to grip the core with the hand portion, and the swing amount and the swing direction of the hand portion by the compliance device at this time are detected by the swing detecting means. Then, the position of the arm is corrected by the correcting means so as to eliminate this swing, and the corrected position of the arm is stored in the storage unit as the teaching position for core insertion. Therefore, teaching of the position where the core is stored can be performed using the actual master mold.

According to the second aspect of the invention, in the first step, the core is housed in the main mold located at the predetermined core storing position, and in the second step, it is attached to the tip of the arm of the core storing robot. The hand part is moved to the upper position of the main mold housed in the main mold in the swing lock state with respect to the arm, and in the third process, the swing lock of the hand part is released and the hand part is lowered to move the core. To hold. Then, the swing amount and swing direction of the hand portion when gripping the core are detected in the fourth process, and in the fifth process based on the swing amount and swing direction of the hand portion detected in the fourth process. The position of the arm is corrected to a position where the swing of the hand portion is eliminated, and the position of the arm corrected in the fifth process is stored as the teaching position for the core insertion in the sixth process.

[0009]

DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described with reference to the drawings. First, FIG. 2 is a block diagram showing the overall structure of the casting core housing device, in which a main mold supply line (not shown) for transferring the main mold 1 and a core supply line 3 for transferring the core 2 are provided. A core-containing robot 4 that grips the core 2 and stores the core 2 into the main mold 1 is installed at a side position of the main mold supply line.

Next, a core position detecting means 5 for detecting the position of the core 2 conveyed by the core supply line 3 and stopped at a predetermined position, and a main mold stopping device 6 conveyed by the main mold supply line. Main mold 1 stopped at the specified core storage position
And a main mold position detecting means 7 for detecting the position of. The core position detecting means 5 includes two CCD cameras 8 arranged in the vicinity of the stop position of the core 2 and Cs of these CCD cameras 8.
The main mold position detecting means 7 is formed by an image processing unit 9 that performs matching processing with preset teaching information for gripping the core 2 based on information from the CD camera 8. 2 near the stop position
It is formed by one CCD camera 10 and the image processing unit 9 which performs matching processing with preset teaching information of the core storage position based on the information from these CCD cameras 10.

The image processing unit 9 calculates the error from the teaching information based on the matching process performed by the image processing unit 9 and controls the position of the core-placing robot 4 in a direction to eliminate the error. It is connected to the FA computer 11, and this FA computer 11 is connected to the robot controller 12. The FA computer 11, the robot controller 12, the core supply line 3 and the main die stopping device 6 are connected to a sequencer 13, and the sequencer 13 has an operation panel 14 on which various operation switches and display lamps are arranged. And a molding line 15 forming the main mold 1 as a host system.

An arm 16 is provided in the core-containing robot 4, and a hand portion 17 for gripping the core 2 is attached to the tip of the arm 16 and the tip of the arm 16 and the hand. This hand part 1 is connected to the part 17.
A parallel link mechanism 18, which is a compliance device for swinging 7 in a horizontal direction, is interposed. A lock mechanism (not shown) that locks the swinging state of the hand portion 17 by the parallel ring mechanism 18 is provided at the tip of the arm 16. Also, the hand unit 1
Three potentiometers 19, which are rocking detecting means for detecting the rocking amount and the rocking direction of the hand portion 17 by the parallel link mechanism 18, are attached to 7, and these potentiometers 19 rock the hand portion 17. The position correction amount of the arm 16 necessary to cancel the movement is calculated, and a signal based on the calculation result is sent to the robot controller 12
It is connected to the FA computer 11 which is a correction means for outputting to.

Further, the FA computer 11 has the arm 16 corrected based on the calculated position correction amount.
It is also referred to as a storage unit that stores the position of as a teaching position for core insertion.

A procedure for teaching the core retracted position in such a configuration will be described with reference to the flowchart of FIG. First, the core 2 is manually inserted into the main mold 1 which is conveyed by the main mold supply line and stopped at a predetermined core storing position by the main mold stopping device 6.

Then, the core receiving robot 4 is manually operated to move the hand portion 17 to a position above the core 2 stored in the main mold 1. During this movement, the parallel link mechanism 18 is locked by the lock mechanism, and the hand unit 1
After moving 7 to the position above the core 2, the lock is released. Then, after releasing the lock of the lock mechanism, the hand part 17 is lowered together with the arm 16 and the core 2 is gripped by the hand part 17.

The potentiometer 19 detects the swing amount and swing direction of the hand portion 17 when the core 2 is gripped, and it is necessary to eliminate the swing of the hand portion 17 based on the detection result. The position correction amount of the arm 16 is calculated by the FA computer 11, and a signal based on the calculation result is output to the robot controller 12 to correct the position of the arm 16. Then, the corrected position of the arm 16 is used as the teaching position for the core insertion and the FA computer 11
To memorize.

Therefore, the teaching of the core storage position is
It can be performed by using the actual main mold 1, there is no need to form the main mold model used in the conventional teaching, the cost is greatly reduced, and a large number of formed models are stored. The complexity of securing space is eliminated.

In this embodiment, the position of the arm 16 is corrected, and then the position of the arm 16 is immediately stored as the teaching position for core insertion. However, the position of the arm 16 is corrected. After that, by moving the hand portion 17 upward while holding the core 2, the core 2 is once taken out from the inside of the main mold 1, and the core 2 is put into the main mold 1 again to shake the hand part 17. If the potentiometer 19 detects whether or not it has moved and the position of the arm 16 is stored as the teaching position for core insertion when it does not swing, teaching for core insertion can be performed more accurately. . If the hand part 17 swings when the core 2 is stored again in the main mold 1, the teaching operation is restarted from the beginning.

[0019]

As described above, according to the first aspect of the present invention, the core holder is provided in which the hand portion for holding the core is attached to the tip of the arm and the core held by the hand portion is stored in the main mold. A compliance device, which is provided between a tip portion of the arm and the hand portion and is capable of swinging the hand portion in a horizontal direction, and a main mold located at a predetermined core receiving position Rocking detection means for detecting the rocking direction and the rocking amount of the hand part when the hand part moved to the upper position of the core is lowered to grip the core. Since the correction means for correcting the position of the arm to the position for eliminating the swing detected by the motion detection means and the storage section for storing the corrected position as the teaching position for the core insertion, the core insertion robot is provided. When using the core At this point, the teaching of the core storage position can be performed using the actual main mold, and therefore it is not necessary to form a model of the main mold to perform the teaching of the core storage position. This has the effects of reducing the cost required and eliminating the complexity of securing a space for storing the formed model.

According to the second aspect of the present invention, as described above, the first step of putting the core in the main mold located at the predetermined core storing position, and the core stored in the main mold To the upper position, the second step of moving the hand part, which is attached to the tip of the arm of the core-placing robot so that it can swing and lock in the horizontal direction in the swing lock state, and the swing lock of the hand part A third step of releasing the hand part and lowering the hand part to grip the core, and a fourth step of detecting a swing amount and a swing direction of the hand part when gripping the core in the third process. A fifth step of correcting the position of the arm to a position where the swing of the hand portion is canceled based on the swing amount and the swing direction of the hand portion detected in the fourth step, and the arm corrected in the fifth step The position is marked as the teaching position for the core. Since it is configured by the sixth step, when the core-conveying robot is used for core-conveying, it is possible to teach the core-contracting position by using the actual master mold. It is no longer necessary to form a main model for teaching, and the cost required to form the model can be reduced and the complexity of securing a space for storing the formed model can be eliminated. It has the effect of being able to do so.

[Brief description of drawings]

FIG. 1 is a front view showing a teaching state of a core storage position in an embodiment of the present invention.

FIG. 2 is a block diagram showing the overall configuration of a casting core housing device.

FIG. 3 is a flowchart showing a procedure for teaching a core storage position.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Main type 2 Core 4 Robot 11 Correction means, memory part 16 Arm 17 Hand part 18 Compliance device 19 Swing detection means

─────────────────────────────────────────────────── ─── Continuation of the front page (51) Int.Cl. ⁶ Identification number Internal reference number FI Technical display location B25J 13/08 A G05B 19/42 (72) Inventor Hiroyuki Hagiwara 1-chome, Ishiba, Matsumoto-shi, Nagano No. 1 Ishikawajima Shibaura Machinery Co., Ltd. Matsumoto Factory (72) Inventor Tsuyoshi Mizuno 1-11-1 Ishishiba, Matsumoto City, Nagano Prefecture Ishikawajima Shibaura Machinery Co., Ltd. Matsumoto Factory (72) Inventor Hideki Miyamoto 1chome Ishiba, Matsumoto City, Nagano Prefecture 1-1 Ishikawajima Shibaura Machinery Co., Ltd. Matsumoto Factory (72) Inventor Hiroki Murakami 3-21-16 Hoyoshu, Koto-ku, Tokyo Ishikawajima Harima Heavy Industries Co., Ltd. Hoshu General Office (72) Inventor Shusaku Yamazaki Tokyo 3-2-16 Hoshu, Koto-ku Ishikawajima Harima Heavy Industries Co., Ltd. inside the Hoshu General Office

Claims (2)

[Claims] 1. A core-conveying robot is provided which attaches a hand part for grasping a core to a tip part of an arm and stores the core grasped by the hand part in a main mold, wherein the tip part of the arm and the hand are provided. A compliance device that is interposed between the hand part and the hand part to allow the hand part to swing horizontally.
The swinging direction and swing of the hand part when the hand part is gripped by lowering the hand part moved to a position above the core stored in the main mold located at the predetermined core storage position A swing detecting means for detecting the amount of movement, a correcting means for correcting the position of the arm to a position for canceling the swing detected by the swing detecting means, and the corrected position is stored as a teaching position for core insertion. A teaching device for a core-containing robot, which is provided with a storage section. 2. A first step of placing a core in a main mold located at a predetermined core storing position, and an arm of a core storing robot to a position above the core stored in the main mold. The second process of moving the hand part, which is attached to the tip end in a swingable and lockable manner in the horizontal direction in the swing lock state, and the swing lock of the hand part is released and the hand part is lowered. A third step of gripping the core, a fourth step of detecting a swing amount and a swing direction of the hand portion when gripping the core in the third step, and the hand portion detected in the fourth step A fifth step of correcting the position of the arm to a position where the swing of the hand part is canceled based on the swing amount and the swing direction of the hand, and the position of the arm corrected in the fifth step is used as a teaching position for core insertion. Characterized by the sixth process of remembering Teaching method for a core-conveying robot.