JPH0771791B2 - Rotary tilt positioner - Google Patents

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a sprue, riser,
Used for cutting runners and weirs. The present invention is used for the above-mentioned automatic work device for gas cutting, but it can also be used for manual finishing work and other manual work performed after work by the automatic work device.

[0002]

2. Description of the Related Art Conventionally, finishing work for cutting a sprue, riser, runner, weir, etc. of a cast steel product has been manually performed by an operator having special knowledge and experience and a high degree of skill.

[0003]

This type of work requires special knowledge and skill because the degree of heating at the cutting point and the cutting timing after heating differ depending on the size and shape of the work piece. In addition, when the work to be worked is large and heavy such as an axle housing or a cylinder head, a plurality of work assistants are needed.

Further, there is a problem that working with a gas burner is dangerous, and that work must be promptly improved in terms of occupational health for working in a bad environment where sparks and iron powder scatter around. is there.

In order to solve such a problem, the applicant of the present application discloses, in Japanese Patent Application No. 3-101929, a multi-axis articulated robot apparatus equipped with an impact detection apparatus and an automatic ignition apparatus, a program control apparatus, and Applied for an automatic gas cutting device composed of a rotary tilt positioner.

The present invention relates to a rotary tilt positioner according to this automatic gas cutting apparatus, in which a workpiece positioned and mounted on a surface plate is moved by program control in accordance with the operation of a multi-axis articulated robot apparatus. It is an object of the present invention to provide a rotary tilt positioner for an automatic gas cutting device, which can efficiently perform cutting work.

[0007]

The present invention is mounted on a surface plate.
Robot equipped with a gas crater for cutting a workpiece
Device and control means for controlling the operation of the robot device
Provided in an automatic gas cutting device having a leg and a bracket attached to the leg so as to be rotatable around a horizontal axis,
An electric means that includes a surface plate rotatably attached to the bracket and a jig for mounting a workpiece on the surface plate, and an electric means for changing and fixing the rotation angle of the bracket around the horizontal axis and the surface plate. In a rotary tilt positioner equipped with an electric drive means for changing and fixing a rotation angle with respect to the bracket, and a program control circuit for controlling the two drive means, the jig has a protrusion shape with respect to the surface plate. And a fixture for fixing the workpiece set at the position reference to the surface plate, and the program control circuit attaches the workpiece to the surface plate. the mode includes means for stopping the position reference is tilted to a small angle the plate so that the downstream, in the cutting operation mode away from the workpiece attached to the surface plate on the plate Operation of stop or the robotic device is tilted to a sufficient large angle at the object is tumbled fall
It is characterized in that it includes means for corresponding to the range .

The small angle is 2 ° to 5 ° with respect to the horizontal.
In the work mode, the program control circuit includes means for waiting in a state in which the surface plate is tilted at the large angle until a confirmation button is pressed, and the program control circuit is provided downstream of the state tilted at the large angle. It is desirable to have a conveyor to carry the loose material.

[0009]

When the mounting mode is instructed from the operation panel, the program control circuit mounts the table inclining at a small angle of 2 ° to 5 ° so that the positioning reference block is on the lower side according to the instruction. The workpiece is allowed to slide down by its own weight, and its end is brought into contact with the positioning reference block. After the workpiece positioned in this way is fixed by the fixture, when the operation mode is instructed from the operation panel, the surface plate is tilted at a large angle to the side where the conveyor is installed, and the program control circuit According to the instruction, the cutting operation is performed by making the movement of the surface plate correspond to the operation range of the multi-axis multi-joint robot apparatus. Due to the inclination of the surface plate, the detached material from the workpiece is naturally dropped on the conveyor and automatically carried out to a predetermined collecting place.

As a result, the work from the cutting process to the delivery of the detached product can be automatically carried out, which saves labor.
And the working efficiency can be improved.

[0011]

【Example】

Next, embodiments of the present invention will be described with reference to the drawings. 1 is a front view showing the configuration of the embodiment of the present invention, FIG. 2 is a side view showing the configuration of the embodiment of the present invention, FIG. 3 is a plan view showing the configuration of the embodiment of the present invention, and FIG. It is a figure showing the whole gas cutting device composition.

As shown in FIG. 4, the automatic gas cutting apparatus according to the present invention has a multi-axis articulated robot apparatus 2 having a gas crater 1 attached to its tip, and a program control for controlling the multi-axis articulated robot apparatus 2. A rotary control positioner 5 that includes a program control device 3 including a circuit 3a, is installed on a base 4 that is common to the multi-axis multi-joint robot device 2, and a surface plate 6 that is position-controlled by the rotary tilt positioner 5. The rotary tilt positioner 5 is controlled by the program control device 3, an automatic ignition device 8 controlled by the program control device 3 is provided in the gas crater 1, and the program control device 3 is operated to change the teaching mode. And a plurality of operation modes including the execution mode, the series of operations input in the teaching mode is activated by operation input. Control means for repeatedly executed at run mode is implemented.

An interface board (sequence control board) 1 is provided between the multi-axis articulated robot apparatus 2 and the program control apparatus 3.
0, and the operation panel 11 is connected to the interface panel 10.

Further, the gas crater 1 is provided with an impact detection device 9, and the program control device 3 stops the motions of the multi-axis articulated robot device 2 and the rotary tilt positioner 5 by the detection output of the impact detection device 9. The control means may include means for sending an alarm output, and the control means may input a plurality of the series of operations corresponding to a plurality of workpieces having different shapes in the teaching mode. The series of operations is selected in accordance with the shape of the workpiece, and the control means sets the surface plate 6 so that the separated object cut by the cutting operation in the execution mode falls to a predetermined position. Including means for tilting.

As shown in FIGS. 1 to 3, the rotary tilt positioner provided in the automatic gas cutting apparatus constructed as described above has a leg 5a and a bracket attached to the leg 5a so as to be rotatable about a horizontal axis. 5b and, as platen 6 mounted rotatably on the bracket 5b, and a jig 7 attaching the workpiece to the base plate 6, a bracket 5b controlled by the program control circuit 3a of the program control device 3 Is provided with an electric drive means 5c for changing and fixing the rotation angle around the horizontal axis and a driving means 5d for changing and rotating the rotation angle of the surface plate 6 with respect to the bracket 5b. Further, as a feature of the present invention, The tool 7 is a positioning reference block 7a for the workpiece, which is formed in a protrusion shape on the surface plate 6.
And a fixture 7b for fixing the workpiece set on the positioning reference block 7a to the surface plate 6, the program control circuit 3a includes the positioning reference block 7a in the mounting mode for mounting the workpiece on the surface plate 6. In the working mode, the platen 6 is tilted at a small angle so that the platen 6 is located downstream, and the platen 6 is sufficient to roll off the object detached from the workpiece attached to the platen 6. It includes means for tilting to a large angle and stopping.

The small angle in the mounting mode is 2 ° to 5 ° relative to the horizontal, and the program control circuit 3a causes the surface plate 6 to be in a large angle in the working mode until the confirmation button on the operation panel 11 is pressed. A means for holding the tilted state is included, and a conveyer for carrying the detached material is installed downstream of the tilted state at a large angle.

Next, the operation of the embodiment of the present invention thus constructed will be described. 5 is a flow chart showing the flow of the operation of the embodiment of the present invention, FIG. 6 is a view showing the inclined state of the surface plate in the embodiment of the present invention, FIG. 7 is a view for explaining the cutting operation in the embodiment of the present invention, and FIG. It is a figure explaining carrying out of the detached thing in the example of the present invention.

When the operator designates the mounting mode from the operation panel 11 shown in FIG. 4, the program control circuit 3a provided in the program control device 3 drives the electric means 5c in accordance with the designation, and FIG. As shown, the surface plate 6 is tilted so that the positioning reference block 7a is on the lower side, and the table is stopped.

When a worker places a work (cast steel product) on the surface plate 6 stopped, the positioning end of the work is brought into contact with the positioning reference block 7a by the sliding due to the inclination, and the work is fixed. It is fixed by 7b.

When the workpiece is fixed and a cutting operation instruction is input from the operation panel 11, the gas crater 1 held by the multi-axis articulated robot apparatus 2 is ignited by the control of the program control circuit 3a, and the gas is ignited. The crater 1 moves to a preheating point and preheats the workpiece. When the preheating is completed, the surface plate 6 is tilted by the driving means 5d at an angle larger than that at the time of positioning, and the cutting work is executed for each workpiece in accordance with the program preset by teaching.

In this cutting process, depending on the shape of the cutting point of the work piece, when cutting along a straight line and a gentle arc as shown in part A of FIG. 7, the surface plate 6 is stopped and the gas crater 1 Only move. When cutting along a small arc as shown in part B of the figure, the platen 6 and the gas crater 1 move simultaneously, and when cutting on a plane, the gas crater 1 is in a stopped state and the platen Only 6 performs rotation and tilting movements.

If the surface plate 6 is maintained in an inclined state during the cutting process, the slag generated during the cutting naturally falls along the slope, so that the slag is welded between the workpiece and the detached object. Can be prevented. Further, if the cutting operation is performed by inclining the inclination direction of the surface plate 6 toward the worker, the worker can easily grasp the cutting situation. Further, by effectively utilizing the rotation of the surface plate 6, it is possible to bring the workpiece into close proximity to the gas crater 1 even when the workpiece is attached, even if the cutting location is far away. The articulated robot can easily perform the cutting work without requiring the device 2 to have an unreasonable posture.

When the cutting operation is completed in this way, the belt conveyor 12 for collecting the detached material shown in FIG. 8 is activated, and the detached material slid from the inclined surface plate 6 is chute 13.
It is dropped onto the belt conveyor 12 via and is automatically carried out to the collection box 14.

The above-described operation is repeated until all the cutting work of the workpiece fixed on the surface plate 6 is completed. When the gas crater 1 is moved for this repetitive operation, the platen 6 can be moved while being appropriately rotated and tilted so as not to come into contact with a large number of feeders or the like existing on the workpiece.

When all cutting work is completed, the gas crater 1
When the supply of gas to the is cut off and the surface plate 6 is stopped, the processing state of the workpiece is confirmed, and when an instruction to end the confirmation is given, the gas crater 1 is moved to the standby position, and
Put the surface plate 6 in a standby state.

[0026]

As described above, according to the present invention, since the surface plate can be tilted at a small angle and brought into a stopped state, the work piece can be positioned and fixed easily and accurately. In addition, the tilting of the surface plate at a large angle allows the movement of a multi-axis multi-joint robot equipped with a gas crater.
Since the cutting process can be performed according to the work, there is an effect that the slag and the detached object from the workpiece can be automatically dropped and collected in a safe state.

Furthermore, since the movement corresponding to the movement of the gas crater can be realized by combining the tilting and rotating motions of the surface plate, the shortest movement distance can be obtained while avoiding the contact between the gas crater and the workpiece. Therefore, the working efficiency can be further improved.

[Brief description of drawings]

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

FIG. 2 is a side view showing the configuration of the embodiment of the present invention.

FIG. 3 is a plan view showing a configuration of an embodiment of the present invention.

FIG. 4 is a diagram showing an overall configuration of an automatic gas cutting device according to the present invention.

FIG. 5 is a flowchart showing a flow of operations of the embodiment of the present invention.

FIG. 6 is a view showing an inclined state of a surface plate in the embodiment of the present invention.

FIG. 7 is a diagram illustrating a cutting operation according to the embodiment of the present invention.

FIG. 8 is a view for explaining the carry-out of a detached material in the embodiment of the present invention.

[Explanation of symbols]

 1 Gas crater 2 Multi-axis articulated robot device 3 Program control device 3a Program control circuit 4 Base 5 Rotating tilt positioner 5a Leg 5b Bracket 5c Electric means 5d Driving means 6 Surface plate 7 Jig 7a Positioning reference block 7b Fixing device 8 Automatic ignition Equipment 9 Impact detection equipment 10 Interface board (sequence control board) 11 Operation board 12 Belt conveyor 13 Chute 14 Collection box

Claims (4)

[Claims] 1. A workpiece attached to a surface plate is cut.
A robot device equipped with a gas crater and a control means for controlling the operation of the robot device were provided.
Provided automatic gas cutting device, a leg, and a bracket attached to the leg rotatably about a horizontal axis, said plate rotatably mounted to the bracket, the workpiece to the platen An electric drive means for changing and fixing the rotation angle of the bracket about the horizontal axis, and an electric drive means for changing and fixing the rotation angle of the surface plate with respect to the bracket; A rotary tilt positioner having a program control circuit for controlling the means, wherein the jig is a position reference of a work piece formed in a protrusion shape with respect to the surface plate, and a work piece set to the position reference. A fixture for fixing an object to the surface plate, and the program control circuit sets the surface plate to a small angle so that the position reference is downstream in a mode in which the workpiece is attached to the surface plate. It includes means for stopping by tilting, switch
In the cutting work mode, the platen is stopped by tilting the platen at an angle large enough for a detached object from the work piece attached to the platen to fall or fall within the operating range of the robot apparatus.
A rotary tilt positioner, characterized in that it comprises means for matching . 2. The small angle is 2 ° to 5 with respect to the horizontal.
The rotary tilt positioner according to claim 1, wherein the rotary tilt positioner is 0 °. 3. The rotary tilt positioner according to claim 1, wherein the program control circuit includes means for holding the surface plate in a state of being tilted at the large angle in the working mode until a confirmation button is pressed. 4. The rotary tilt positioner according to claim 1, further comprising a conveyer for carrying the detached material downstream of the state of being tilted at the large angle.