JPH07241745A - Tray transfer method and transfer control device for tray changer - Google Patents

Abstract

PURPOSE:To shorten stand-by time by presetting the residual number of workpieces finished with machining, then comparing the residual number with the present value, and when unmachined material reaches the specified value, moving a transfer means into a carry-out position to store the machined workpieces in a tray. CONSTITUTION:The numeric value to move a tray T1 upon reaching the specified residual number of workppieces W is preset to the tray T1 positioned on the carry-in side and stored in a workpiece residual quantity set value memory. On the basis of this stored residual quantity, an orthogonal robot 20 is operated, and the residual number and the preset value are compared. When the preset value reaches the set residual number or less and unmachined material M reaches the specified value, the material M is carrired out of the tray T1. On the other hand, workpieces W finished with machining are returned to the tray T1 side for storage from the machine tool side through a temporary placing device 40. Stand-by time can be thereby shortened so as to improve the operating efficiency of the machine tool provided with a tray changer.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a tray transfer method and a transfer control device for a tray changer used in parallel with a processing machine. More specifically, an unprocessed material (hereinafter, referred to as a material) workpiece is supplied to the processing machine, a processed workpiece (hereinafter, referred to as a workpiece) is received from the processing machine, and is continuously stored in a tray. A tray for exchanging
The present invention relates to a tray transfer method and transfer control device for a changer.

[0002]

2. Description of the Related Art Generally, a plurality of materials (workpieces) are sequentially supplied to one processing machine for processing. Necessary processing is applied to each material. In order to efficiently and efficiently supply a plurality of raw materials to a processing machine, a tray that can store a plurality of raw materials in line is used. The material is carried in together with the tray, and the processed workpiece is carried out together with the tray. Robots transfer materials and workpieces between the tray and the processing machine. As described above, the material and the work are placed on the tray at the delivery position for delivery to and from the robot, and are also delivered from the delivery position on the tray.

Conventionally, all materials are taken out from one tray by a robot and processed by a processing machine, and after all the workpieces brought out and processed in this way are returned to the original tray, The transfer was taking place. That is, the trays were not moved or replaced until the work for one tray was returned to the same tray. More specifically, it is necessary to wait without loading a new tray between the time when the last material is taken out of the tray and the time when the last workpiece is returned to the same tray. Therefore, the waiting time is wasted.

[0004]

The present invention has been made based on the above technical background, and achieves the following objects.

An object of the present invention is to provide a tray transfer method and transfer control device for a tray changer in which the waiting time is shortened.

[0006]

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

The tray changer of the present invention has a first tray elevating means for raising and lowering a tray containing a plurality of unprocessed materials to a carry-in position, and carrying out the tray containing a plurality of processed workpieces. Second tray elevating means for moving down from the position, transfer means for transferring the tray from the carry-in position to the carry-out position, and raw material in the tray at the carry-in position for taking out the raw material A tray changer for carrying out the processed workpiece to the processing machine and returning the processed workpiece from the processing machine to the tray at the carry-in position or the carry-out position, in the tray at the carry-in position. Preset the remaining number of the machined workpiece that can be stored in, the current value reaches the set remaining number or less by comparing the set remaining number and the current value, One, the raw material is tray feeding method tray changer, characterized in that for accommodating the machined workpiece to the tray by moving the transfer means when it reaches a predetermined value to the unloading position.

A first tray elevating means for raising and lowering a tray containing a plurality of unprocessed materials to a carry-in position, and a first tray raising and lowering means for moving the tray containing a plurality of machined workpieces downward from the carry-out position. 2 tray elevating means, transfer means for transferring the tray from the carry-in position to the carry-out position, unprocessed material in the tray at the carry-in position is taken out to a processing machine, and the processed workpiece In the tray changer, which comprises a transfer means for returning the sheet from the processing machine to the tray at the carry-in position or the carry-out position, a raw material number counting means (81) for counting the raw material in the tray. , 8
4, 85) and a workpiece number counting means (81, 84,) for counting the number of processed workpieces in the tray.
87), a machined work number remaining amount setting means (81, 84, 87) for presetting a set value of the number of remaining machined works stored in the tray, and the unprocessed material number count The count value of the raw material of the means reaches a predetermined value, and the workpiece number counting means (81, 84, 8)
In order to issue a transfer command to the transfer means from the carry-in position to the carry-out position when the count value of 7) and the set value of the machined work remaining amount setting means (81, 84, 87) match. In addition, the transfer control device of the tray changer is characterized by comprising control means (81, 84) for integrally controlling the above-mentioned means.

[0009]

【Example】

(Embodiment 1) Next, an embodiment of the present invention will be described. Figure 1
9 shows a first embodiment of the tray changer of the present invention. FIG. 1 is a front view, FIG. 2 is a plan view, FIG. 3 is a right side view, and FIG. 4 is a carry-in tray elevator 17 and a carry-out tray elevator 15. FIG. The main body frame 1 has a substantially box shape, and is made of an angle material, a sheet metal material, or the like. A loading-side lifting drive motor 2 and a loading-side lifting drive motor 3 are mounted in the body frame 1.

Tray elevator 15 on the unloading side The tray elevator 15 on the unloading side stacks and supports the trays T _{2 in} which the processed workpieces W are stored, and the carriage 16
It is a mechanism for delivering to. A pulley is fixed to the output shaft of the carry-out side elevation drive motor 3 (see FIG. 3), and a toothed belt 4 is stretched between the pulley and the pulley 5. This pulley 5 is a vertical feed screw 6 which is a ball screw.
It is fixed at the top of. The top and bottom of the vertical feed screw 6 are rotatably supported by the body frame 1 by bearings 7 and 8. A nut 9 is screwed into the vertical feed screw 6. A vertical guide body 10 is fixed to the nut 9.

The upper and lower guide bodies 10 include four slide bodies 11
Has been fixed in place. The slide body 11 is movably attached on two guide rails 12. Since the two guide rails 12 are arranged parallel to the main body frame 1 in the vertical direction, the vertical guide body 10 can move up and down along the guide rails 12. Two forks 13 are fixed to the upper and lower guide bodies 10 in parallel. The two forks 13 are engaged with the edges of the tray T ₂ (hereinafter, the tray located on the unloading side is referred to as the tray T ₂ ) and engage with the tray T ₂ .
_{It is} for supporting and lowering ₂ .

Loading-side tray elevator 17 A loading-side tray elevator 17 is arranged in parallel with the loading-side tray elevator 15. Similarly, the carry-in side tray elevator 17 is a mechanism for supporting the tray T ₁ (hereinafter, the tray located on the carry-in side is referred to as the tray T ₁ ) by the carry-in side lifting drive motor 2 and supporting the tray T ₁ and raising it. Are arranged. Since this mechanism is the same as the carry-out tray elevator 15, its description is omitted. The carry-in tray elevator 17 is a mechanism for receiving and lifting the tray T ₁ from the carriage 18 carrying the tray T ₁ containing the material M.

Orthogonal Robot 20 The orthogonal robot 20 is for grasping and transferring the material M or the work W stored in the trays T ₁ and T ₂ . An X-axis guide rail 21 is arranged on the upper surface of the main body frame 1. On the X-axis guide rail 21, the X-axis moving table 22
Is movably mounted. The position of the X-axis moving base 22 is drive-controlled by an X-axis feed pulse motor 23 via a feed screw (not shown).

One end of a Y-axis guide rail 24 is fixed to the X-axis moving table 22 and cantilevered. A Y-axis moving base 25 is mounted on the Y-axis guide rail 24 so as to be movable in the Y-axis direction. The Y-axis moving base 25 is driven by a Y-axis feed pulse motor 26 via a feed screw (not shown) to move the Y-axis rail 2
4 is controlled to move. A Z-axis cylinder 27 is mounted on the Y-axis moving table 25. The Z-axis cylinder 27 is a cylinder with a guide in which a thin cylinder and a guide rod are integrated.

An L-shaped bracket 29 is fixed to the lower end of the guide rod 28 of the Z-axis cylinder 27 (see FIGS. 8 and 9), and a hand mechanism 30 is fixed to this L-shaped bracket 29. The L-shaped bracket 29 has a gripping cylinder 3
1 is fixed. The grip cylinder 31 is for driving the pair of grip claw members 32, 32. The grip claw members 32, 32 are driven by operating the grip cylinder 31, and grip the unprocessed material M and the workpiece W before processing.

Temporary Placement Device 40 FIG. 5 is a side view of the temporary placement device 40, and FIG. 6 is a front view of FIG.
FIG. 7 is a plan view of FIG. The temporary placement device 40 is made of the material M.
Further, the temporary table 42 on which the workpiece W is mounted is provided with a transfer position with the hand mechanism 30 of the orthogonal robot 20 and a transfer position with a transfer loader (not shown) provided on the machine tool (not shown) side. It is a device to transfer between. Temporary stand 42
Moves forward and backward by a rodless cylinder with a guide.
A cylinder tube 43 is provided at the center of the guide members 41, 41.
Are provided with plates 44a and 44b at both ends.
The cylinder body 42a is provided with one of the plates 44a, 4
As the pressure fluid is supplied from the supply port of 4b, it moves along the guide members 41, 41. A material mounting table 46 on which the material M is mounted and a workpiece mounting table 45 on which the workpiece W is mounted are attached to the upper portion of the cylinder body 42a with bolts (not shown). The temporary placing table 42 is the cylinder body 42.
a, a material placing table 46, and a workpiece placing table 45.

A material presence / absence 48 and a workpiece presence / absence sensor 47, which are photoelectric sensors for detecting the presence / absence of the material M and the workpiece W on the temporary placing table 42, are provided at the transfer position with the hand mechanism 30. .

Tray Moving Device 50 FIG. 8 is a plan view of the tray moving device 50. The tray moving device 50 is for holding the tray T ₁ and moving it horizontally. The tray moving device 50 is arranged in parallel with the uppermost position of the tray housing portion of the main body frame 1. Two guide rails 51 are provided on the body frame 1.
(Only the guide rail on one side is shown in FIG. 8) is arranged and fixed. At both ends of the guide rail 51, stoppers 52,
52 is arranged and fixed.

A rodless cylinder 53 is arranged in parallel with the guide rail 51, and both ends of the rodless cylinder 53 are fixed to the main body frame 1 by fixing fittings 54. Rodless cylinder 5
A piston and a magnet are built in 3,
By the movement of the piston and the magnet, the magnet fixedly arranged in the slide block 55 arranged on the outer circumference of the cylinder tube of the rodless cylinder 53 moves in conjunction with each other, and as a result, the slide block 55 moves.

The slide block 55 is a tray moving table 5.
It is built in 6 and fixed. Tray moving table 56
The slide body 5 which is guided to move on the guide rail 51.
7 is fixed. Eventually, the tray moving base 56 is driven by the rodless cylinder 53 and guided and moved along the guide rails 51. The tray holding / moving base 56 has a tray holding cylinder 58, which is a cylinder with a guide, built therein. The tray holding cylinder 58 guides and moves the two guide rods 59.

A tray holding claw 60 is fixed to the tip of the guide rod 59. Compressed air having a predetermined pressure is supplied to the tray holding cylinder 58 by a flexible tube 61.
Similar tray moving devices 50 are arranged to face each other with the trays T ₁ and T ₂ interposed therebetween. The compressed air moves the tray holding claw 60 in the tray T ₁ side by feeding the tray clamping cylinder 58 clamping the tray T ₁ from both sides, is moved on guide rails 51 by the rodless cylinder 53. At this time the tray T ₁ on appropriate is a tray T ₂ (identical trays T ₁ shown in FIG. 2 the tray T ₁ of the this position T
Called ₂ . ) Position.

Controller 80 FIG. 9 is a functional block diagram showing an outline of a controller (programmable controller) 80 for controlling the tray changer. The CPU 81 is a central processing unit for executing various commands of the control device 80 (creating, changing, storing programs, executing programs, etc.). CPU
81 is a system ROM 83 via a bus line 82.
Etc. are connected. The system ROM 83 stores a system program for writing and executing the program.

The user program memory 84 is a tray
This is a memory for teaching a transfer position, a transfer order, and the like of the material M (workpiece W) in the tray for operating the changer by an operation such as teaching, and storing a program created. The material remaining amount memory 85 is a memory for storing the remaining number of materials in the tray T ₁ in which the raw material M is stored. The work remaining amount memory 86 is a memory for storing the remaining number of the finished works W that can be stored in the tray T ₁ .

The work remaining amount set value memory 87 is for storing a numerical value indicating how many works W remain on the tray T ₁ located on the loading side to move the tray T _1. is there. In other words, the tray T ₁ is moved to the unloading side when the remaining number of workpieces in the tray T ₁ reaches this set value and the material M is exhausted. The material / workpiece coordinate position memory 88 is a memory area for setting coordinate positions for mounting the material M or the workpiece W in the tray. It depends on the type and number of materials M or workpieces W.

Work presence / absence sensor 47, material presence / absence sensor 4
An input signal of the input device 90 such as a sensor such as 8 or a proximity switch is input to the control device 80 via the input interface 89. A positioning unit (circuit) 90 is further connected to the CPU 81. The X-axis feed pulse motor 23 is rotationally controlled from the positioning unit 91 via the motor driver 92. Similarly, the rotation of the Y-axis feed pulse motor 26 is controlled via the motor driver 93. Further, the CPU 81 controls the above-mentioned electromagnetic switching valve via the output unit 94 to move the tray according to the sequence.

(Operation of First Embodiment) Next, the operation of the first embodiment will be described. 10 and 11 are flowcharts showing the outline of the operation of the tray changer. One tray T
_{In 1} , the materials M are arranged in multiple rows and multiple columns. The plurality of trays T ₁ stacked in multiple stages are carried in by one carriage 18. The dolly 18 enters in the right direction from the left side in FIG. Before the carriage 18 enters, the carry-in side elevator 17 is at the lowest position. A plurality of trays T ₁ stacked in multiple stages are lifted by the carriage 18 by raising the loading-side elevator 17.
Can be lifted from and raised.

The uppermost tray T ₁ is lifted to a predetermined highest lift position, and the tray setting at the carry-out position is completed (steps S _{1 to} S _{2 in} FIG. 10). First, it sets the value of the workpiece remaining A to the workpiece remaining set value memory 87 (step S ₃ ~S _4). The work remaining amount value A is a numerical value at which there is a remaining amount of unfinished work (the amount being processed on the machine tool side) in the tray T ₁ . That is, the number of remaining work pieces = the number of work pieces (materials) stored in the tray-the current number of work pieces stored. As described below, it is within the set workpiece remaining number, and the raw material M is, the tray T ₁ when eliminated from the tray T ₁ is a tray moving device to carry-out side 50
Will be transported in.

When the setting of the parameters is completed, the orthogonal robot 20 operates based on the material take-out command in step S ₅ , and the material M is placed on the material placing table 4 of the temporary placing device 40.
Place on 5. This material M is conveyed to the other end side of the temporary placement device 40, and is supplied to the machine tool by another transfer means such as a loader. After this operation is completed, 1 is subtracted from the numerical value in the material remaining amount memory 85 and the numerical value is stored (step S
₇ ).

Similarly, the material M is carried out from the tray T ₁ , and the material M is carried out one after another. When the machined work W is finally returned from the machine tool side to the tray T ₁ side via the temporary placement device 40 (step S ₈ ), a work storage command signal is output to the orthogonal robot 20. Based on such a workpiece storage command, the orthogonal robot 20 holds the machined workpiece W from the workpiece mounting table 45 and holds it in the tray T.
Return to ₁ and store them sequentially (step S ₉ ). The numerical value in the workpiece remaining amount memory 86 is also subtracted every time the workpiece is stored in the tray T ₁ and the numerical value is stored (step S ₁₀ ). The removal of the material M and the returning (storing) of the processed workpiece W are repeated.

When the tray T ₁ is free of unprocessed material M, the following determination is made in step S ₁₁ . That is, in step S ₁₂ shown in FIG. 11, the workpiece remaining a whether set value A and the same or equal or less in step S ₄ is determined. Since all material M of the tray T ₁ is is taken out from the tray T ₁ to the machine tool side, the tray T from the total number of the material M that were initially in the tray T ₁
The number of workpieces W returned to ₁ minus the total number of workpieces W is the workpiece remaining amount a.

For example, if the workpiece remaining amount setting value is 6, that is, if A ≧ a (6 ≧ a), then the process does not return from step S ₁₂ to step S ₅ , but the next step S ₅ .
_Move to ₁₃ . In step S _13, the tray T ₁ which is currently located in the loading position those final, i.e. it is determined whether the last or the tray T ₁ which is carried from the carriage 18. If the current tray T ₁ is not the last tray T ₁ , the process proceeds to step S ₁₄ . Step S ₁₄ is a tray-change process.

In the tray changing step, it is confirmed that the tray T ₂ is generally lowered by the driving motor 3 for raising and lowering the unloading side. The tray holding cylinder 58 is driven and the tray holding claws 60 hold the tray T ₁ from both sides. The rodless cylinder 53 is driven to move the tray T ₁ to the position of the tray T ₂ shown in FIG. Next, the loading-side elevating drive motor 2 is activated, the vertical feed screw rotates, and the loading-side tray elevator 17 moves up by the height of one tray T ₁ . This increase in the tray T _1, the tray T ₁ is is located housing a raw material M again loading position. Steps S ₁₇ and S ₁₈ correspond to steps S ₅ and S ₆ before tray change. Of the materials M in the tray T ₁ , for example, 6 pieces have not yet been returned to any of the trays T ₁ and T ₂ . Workpiece storage command in step S ₁₇ is issued.

According to this work storage command, the work W is
Instead of being returned to the tray T _1, it is returned to the empty position of the tray T ₂ that has been transferred to the carry-out position side, that is, the empty address position of the material / workpiece coordinate position memory 88. Note that this returning method is selected for convenience of explanation. For example, when the machining time is different for each work W, the work W conveyed to the machine tool side is returned first, so that not all work W is returned to the same address. Such a tray T ₂ (Tray T ₁ is moved and renamed to T ₂ )
When the return to the tray is repeated 6 times, it is determined in step S ₁₉ that all the materials M originally in the tray T ₁ have been returned to the tray T ₂ , and in step S ₂₀ , the unloading side lifting drive is performed. The motor 3 is activated, the upper and lower feed screws 6 on the carry-out side rotate, and the carry-out tray elevator 15 descends by the height of one tray.

From step S _{20 in} FIG. 11, the process proceeds to step S ₅ in FIG. 10, as indicated by the number 10 enclosed in a circle in the figure. The final tray in step S _13, i.e. carriage 18 whether the last or the tray T ₁ which is carried is determined, if it is the last tray T _1, the unloading elevator 15 at end step S ₂₁ is lowered to the lowest position, All trays T ₂ are dolly 1
It is loaded onto the machine 6, and is transported by the carriage 16 to the next machine tool or the like.

According to the above embodiment, all the workpieces W are returned to the same original tray T ₁ or tray T ₂ . That is, all the materials M that were in the tray T ₁ at the time of carry-in are in the tray T ₂ as the workpieces W that have been processed when carried out. further,
All the materials M are returned to the same address of the same original tray T ₂ . Except for a short period of time while the tray T ₁ is being transferred, the work of taking out the material M and returning the processed workpiece W are not interrupted. By changing the workpiece remaining amount set value A, it is possible to easily cope with a long or short machining time. When the workpiece W has a short machining time, the numerical value A is increased.

(Other Examples) The present invention is carried out by the above-mentioned examples, but the present invention is not limited to the above-mentioned examples and can be carried out by various embodiments. For example, if the workpiece temporarily placed on the temporary placement device 40 is a material, a workpiece, or the chuck portion of the robot hand,
It is also possible to determine whether to supply to the machine tool side or return to the tray side. Further, the forward movement of the temporary placement device 40 on which the material is placed can be performed after confirming that the workpiece is not placed. Further, the relay device 40 is not always necessary and may be directly transferred to the machine tool by the orthogonal robot 20.

The carry-out tray T ₂ is for filling the processed workpieces W, but in some cases it is not necessary to fill it up, and a set number may be used. The same can be said for the tray T ₁ containing the material M. Further, in the above-mentioned embodiment, the tray T ₁ is not moved to the carry-out side until the material M is 0 (zero) and the number of processed workpieces W reaches a predetermined number, but if necessary, the material M is not 0 (zero), It may be performed when the predetermined number is reached.

[0038]

According to the present invention, the following effects are exhibited. After the last material is taken out from one tray, that is, after the material has been taken out from one tray until the last machined workpiece is returned, that is, it is returned to the tray from the machine tool side. The waiting time is shortened by the time until the end of the process, and the operation rate of the machine tool equipped with the tray changer can be improved.

[Brief description of drawings]

FIG. 1 is a front view showing an embodiment of a tray changer of the present invention.

FIG. 2 is a plan view of FIG.

FIG. 3 is a right side view of FIG. 1.

FIG. 4 is a plan view of the carry-in side and carry-out side elevator portions.

FIG. 5 is an enlarged view of a hand mechanism 30 and a temporary placement device 40 portion of the orthogonal robot 20.

FIG. 6 is a right side view of FIG.

FIG. 7 is a plan view of FIG.

8 is an enlarged plan view of a portion of the tray moving device 50 of FIG.

FIG. 9 is a functional block diagram of a control device for controlling the tray changer.

FIG. 10 is the first half of a flowchart outlining the operation of the tray changer of the present invention.

11 is a second half of the flowchart of FIG.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 ... Main frame 2 ... Carry-in side elevation drive motor 3 ... Carry-out side elevation drive motor 15 ... Carry-out side tray elevator 17 ... Carry-in side tray elevator 16, 18 ... Cart 20 ... Cartesian robot 30 ... Hand mechanism 40 ... Temporary placement device 50 ... Tray moving device 60 ... Tray holding claw 80 ... Control device

Claims (2)

[Claims] 1. A first tray elevating means for raising and lowering a tray containing a plurality of raw materials to a carry-in position, and lowering the tray containing a plurality of processed workpieces from the carry-out position. Second tray elevating means, transfer means for transferring the tray from the carry-in position to the carry-out position, and the raw material in the tray at the carry-in position is taken out toward the take-out processing machine, and A tray changer comprising a transfer means for returning a processed workpiece from the processing machine to the tray at the carry-in position or the carry-out position, wherein the machined workpiece can be stored in the tray at the carry-in position. The remaining number of workpieces is set in advance, the set remaining number is compared with the current value, the current value reaches the set remaining number or less, and the raw material reaches a predetermined value. When reaching, the transfer means is moved to the carry-out position to store the processed workpiece in the tray, and a tray transfer method for a tray changer. 2. A first tray elevating means for raising and lowering a tray containing a plurality of unprocessed materials to a carry-in position, and lowering the tray containing a plurality of processed workpieces from the carry-out position. Second tray elevating means, transfer means for transferring the tray from the carry-in position to the carry-out position, and the raw material in the tray at the carry-in position is taken out to the take-out processing machine and processed. A tray changer comprising a transfer means for returning a workpiece from a processing machine to the tray at the carry-in position or the carry-out position, and a raw material number counting means for counting the raw material in the tray. (81, 84, 85), workpiece number counting means (81, 84, 87) for counting the number of processed workpieces in the tray, and Machined work number remaining amount setting means (81, 84, 87) for presetting the set value of the remaining number of processed workpieces stored in the tray, and the unprocessed material of the unprocessed material number counting means. Has reached a predetermined value, and the workpiece number counting means (8
1, 84, 87) and the set value of the machined work remaining amount setting means (81, 84, 87) match the transfer command from the carry-in position to the carry-out position. A transfer control device for a tray changer, characterized in that it comprises a control means (81, 84) for issuing control to each means and controlling the respective means as a whole.