JPH09182947A - Teaching method of die spraying robot - Google Patents

Abstract

PROBLEM TO BE SOLVED: To execute precisely, easily and efficiently spraying by instructing a spraying route on a screen of a screen display device displayed with a model after a three dimensional shape of complicated die working face is converted into a simple model and inputted into a robot controller. SOLUTION: Based on input information, a personal computer executes the intersecting discrimination between a set route and set model by the program given beforehand. As a result of the discrimination, in the case there is no intersecting contact between the set route and set model, the set route is turned to a final one and the set route is fixed. Further, in the case intersecting contact is caused, an intersecting point on a two dimensional display screen between the route and model is searched, the intersecting point is added to the route on a two dimensional display screen. When intersecting in this way, a bent and corrected set route Y is obtained.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method for teaching a die spray robot in a molding apparatus such as a die casting machine for casting an aluminum alloy or a magnesium alloy in a die, and particularly to a die spray robot for spraying work. The present invention relates to a teaching method for a die spray robot that teaches easily and efficiently.

[0002]

2. Description of the Related Art Conventionally, a method of spray-applying a spray agent such as a mold release agent or a heat retaining agent to the mold cavity surface of a die casting machine is, for example, as shown in FIG. The spraying agent is blown under pressure to feed the spraying agent from the filter 3 and is sent to the spraying device 10 via the solenoid valve 4 and the flow rate adjusting valve 5, and the spraying air supplied from the compressor 6 is supplied to the solenoid valve. 7 and the pipe 8 to the spray device 10 to spray the spray agent L, and a pair of left and right platens (fixed platen 11) from the spray nozzle 10a.
A, the surface of the mold 12 (fixed mold 12A, movable mold 12B) attached to the movable platen 11B) was sprayed.
The spray device 10 is configured to reciprocate vertically in the center vertical direction of both molds 12A, 12B in the open state by an actuator such as a hydraulic cylinder 9, and a plurality of sprays attached to the side surface of the spray head 10A of the spray device 10. It was taken into consideration that the nozzle 10a uniformly and evenly applied the entire surface of the die 12 to be sprayed. Further, the adjustment of the supply amount of the spray agent L spray-applied to the mold 12 was controlled by adjusting the opening degree of the flow rate adjusting valve 5 provided between the tank 1 of the spray agent L and the spray device 10. As described above, the spraying method of the conventional die-casting machine keeps the flow rate of the spraying agent and the spray distance between the spray nozzle and the mold cavity surface constant, and sprays the mold under a constant spray condition. The agent had been sprayed. On the other hand, in recent years, a mold spray robot has begun to be used for spray work of a mold, and in this case, it was necessary to instruct the robot control device attached to the mold spray robot how to perform the spray work in advance. .

[0003]

Such a teaching method for a mold spray robot is usually taught by online teaching, that is, so-called teaching playback. However, this work is extremely complicated and requires a long time. Further, the teaching work for the high-mix low-volume production requires the teaching work of the spray work every time the product changes, which is not suitable for the die spray robot. For this reason, in recent years, offline teaching has become mainstream by connecting a computer and a robot. In offline teaching, the user (operator) constructs a three-dimensional work area on the computer screen where the robot works, and sets the robot's motion path three-dimensionally. There were problems such as requiring skill. The present invention solves these problems, simply and easily,
In addition, it is intended to enable efficient teaching of spray work.

[0004]

In order to solve the above-mentioned problems, in the present invention, in the first invention, a spray work procedure for a mold spray robot for spraying a spray agent onto a mold cavity surface of a die casting machine. A method for teaching a die spray robot for teaching a method, comprising: inputting a complicated three-dimensional shape of a die work surface to be sprayed with a spray agent to a robot controller that controls the die spray robot. By using the screen of the screen display device provided in the robot controller having the two functions of the three-dimensional display surface display and the cross-sectional shape display surface display at the same time, the required single shape can be selected from various prepared single shapes. By extracting and combining one shape, the three-dimensional shape of the complicated work surface of the mold is converted into a simple model, and the model is input to the robot controller. And so as to direct the spray working path on the screen of the screen display device which displays the model.
Further, in the second invention, in the first invention, the spray work route is set by setting a spray start point and a spray end point on a two-dimensional display screen using a screen of a screen display device provided in the robot controller. When the contact type is set, the path type (straight line or non-straight line) from the splay start point to the splay end point is set, and as a result of the intersection determination between the set route and the set model to be executed by the robot controller, cross contact occurs. Is the area where the path intersects
The final spraying work route is set by changing the route on the two-dimensional display screen in a direction orthogonal to the two-dimensional display screen without changing the route on the two-dimensional display screen. Further, in a third invention, in the first and second inventions, a spray distance to the robot control device of the die spray robot during the spray work performed according to the set spray work path,
Not only the spray movement such as the spray moving speed and the spray posture, but also the desired spray flow rate and spray spray timing are set in advance by a program and given.

[0005]

BEST MODE FOR CARRYING OUT THE INVENTION In the first aspect of the present invention, in the method for teaching a die spray robot, a complicated die work surface three-dimensional shape to be sprayed with a spray agent is provided to the die spray robot. When inputting to the robot control device for controlling the robot, it is prepared in advance by using the screen of the screen display device provided in the robot control device that has two functions of two-dimensional display surface display and cross-sectional shape display surface display at the same time. The required single shape is extracted from the various single shapes obtained and combined to convert the complicated three-dimensional shape of the work surface of the mold into a simple model, and the model is input to the robot controller. After that, the spray work route is instructed on the screen of the screen display device displaying the model. In the second invention, the spray work route is set by setting the spray start point and the spray end point on the two-dimensional display screen by using the screen of the screen display device provided in the robot control device. The route type (straight line or non-linear line) to reach the spray end point is set, and as a result of the intersection determination between the set route and the set model executed by the robot control device, if the intersection is a contact, the route is intersected. The contact area is detoured in a direction orthogonal to the two-dimensional display screen based on a previously entered route correction program without changing the route on the two-dimensional display screen to set the final spray work route. As a result, as a result, it is possible to easily and easily create a complicated mold cavity shape into a simple model, and display this created model on the screen. You can easily set the start point, end point and the route of the spray work by drawing on the screen of the table, and avoid it if the set route interferes with the actual work (mold). It is designed to change the route with proper detour correction. According to the third aspect of the invention, the robot control device of the die spray robot performing the spraying work according to the set spraying work path is not limited to the spraying operation such as the spraying distance, the spray moving speed, and the spraying posture, and the desired operation. Since the spray flow rate and spray spray timing of the above are programmed and given in advance, the operation of the die spray robot and the operation of supplying the spray agent are linked to totally control the entire spray work, which is extremely rational. A good spraying work is achieved.

[0006]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Embodiments of the present invention will be described below in detail with reference to the drawings. 1 to 9 relate to an embodiment of the present invention,
1 is an overall configuration diagram of a die casting machine, FIG. 2 is a configuration diagram of a control device, FIG. 3 is a display screen diagram of a screen display device, FIG. 4 is a display screen diagram illustrating a spray route setting method, and FIG. 5 is a spray route setting. Of FIG. 6, FIG. 6 is a flowchart for explaining the allocation of external input / output signals when the spray operation condition is set, FIG. 7 is an explanatory view showing a method of setting the spray operation condition, and FIG. 8 is a flowchart showing the spray operation condition setting for the route. FIG. 9 is a display screen diagram showing a work generation screen and a spray path setting screen.

FIG. 1 shows an embodiment of the overall structure of a die casting machine 100 according to the present invention.
00 is equipped with a mold spray robot 200 and a control device 300 for controlling the mold spray robot 200 as an auxiliary device. The mold spray robot 200 is a multi-joint type spray robot. The mold spray robot 200 has a rotating seat 210 that stands upright on the top of the fixed platen 11A, and rotates around a vertical axis by a motor 210a. A first arm 220 and a second arm 230, a motor 240 pin-connected to the lower end of the second arm 230, a vertical shaft 250 connected to the motor and rotatable about a vertical axis, and a spray head 260 connected to the lower end. The spray head 260 has a pair of left and right or plural pairs of spray nozzles (also referred to as spray guns) 260a opposed to the mold surface. Then, the spray agent is spray-applied toward the mold cavity surface at a required spray flow rate through the illustrated spray piping.

On the other hand, the control device 300 for controlling the operation of the mold spray robot 200 is
Control device 310 that controls the operation of the mold spray robot 200, a personal computer (personal computer) 320 that gives a spray operation command to the robot control device 310 offline, and a sequencer 3 that controls the sequential activation of the mold spray robot 200.
30, a valve 340 for shutting off the supply of the spray agent and the compressed air based on an operation command of the sequencer 330, a die casting machine operation panel 350, and the like.

FIG. 2 shows a detailed configuration of the control device 300. The offline programming device 320 used in place of the personal computer 320 includes:
As shown, the mouse 320a and the keyboard 320b
, A storage device 320c, a screen display device (CRT screen) 320d, and a printer 320e.

A teaching method of the die spray robot of the die casting machine 100 of FIG. 1 and FIG. 2 configured as described above will be described. First, the personal computer 32
As shown in FIG. 3, the display screen of the screen display device 320d attached to the work area 0 includes a work area display screen A displaying the front of a mold as a work, and a vertical and vertical display which can be arbitrarily moved to the side and below. A cross-sectional shape display area B and a horizontal cross-sectional shape display area C indicating a cross-sectional shape cut by a cursor line m are shown. Then, in order to model an actual mold having a complicated shape into a simple model, for example, a single shape such as a cylinder, a prism, a rectangular parallelepiped, a cube, a sphere, or the like is previously stored in a personal computer (or an offline programming device) 320. They are stored and called up as necessary to combine them to model a complicated mold shape into a simple shape. The model M in the case of FIG. 3 has a rectangular flat plate and a prism having a cylindrical hole attached diagonally. In the vertical sectional shape display area B and the horizontal sectional shape display area C, the cross section cut by the sectional shape display cursor line m arbitrarily designated on the work area display screen A is respectively displayed. It is displayed as a sectional shape display area B and a sectional shape display area C in the horizontal axis direction.
The above is the work creation work (work modeling) for converting the mold shape into a simple model.

Next, a method of setting the spray operation path will be described with reference to FIGS. The procedure of the spray operation path setting is set according to the flowcharts shown in FIGS. That is, what the operator performs in the spray operation setting is the setting of the spray start point, the designation of the spray path, and the designation of the spray end point. Based on this input information, the personal computer 320 is set by the program given in advance. The intersection of the path and the setting model (the actual mold) is determined. As a result of the intersection determination, if there is no cross-contact between the set route and the set model, the set route is final and the set route is determined. However, if crossing contact occurs as a result of the crossing determination, the route must be changed to avoid this crossing contact. In the intersection determination, the intersection between the set route and the model is determined. If the route intersects, the intersection of the route and the model on the two-dimensional display screen is obtained, and the intersection is defined as intersections S _{1 and} S ₂ .
Intersections S _{1 and} S ₂ are added to the path on the two-dimensional display screen. On the other hand, the model has a height in a direction (height direction) orthogonal to the two-dimensional display screen, and the height h is added to the intersections S _{1 and} S ₂ to avoid the height h of the model. Points S _{1 a} and S _{2 a} are added to the sectional shape display screen. In this way, when the route intersects with the model, FIG.
Is obtained. FIG.
This shows a situation in which the initial set path X that has crossed is bent at a right angle to avoid and change the path (the set path Y modified and changed).

The corrected path may not only be bent at a right angle as described above, but may also be smoothly detoured according to an arc or other curve, and the detour path may be changed according to a path correction program which is programmed and stored in advance. The correction path may be obtained by automatically setting the personal computer 320. FIG. 7 shows the embodiment. In the drawing, the editing of the route means setting of detailed use such as a spray distance, a spray moving speed, and a spray injection angle in a spray operation. In addition, the positioning degree represents the smoothness of the route to be changed, and is 0%.
Is a case in which the curve is bent at a right angle, and the curve bends smoothly as the value of the positioning degree x% increases.

The flowchart of FIG. 5 describes the above-described teaching procedure in detail. The above-described designation of the spray route is actually such that a desired route is selected from a pre-programmed route type. It has become.
In the case of FIG. 5, a straight line or a non-straight line is selected. In the case of a straight line, the setting is completed by designating an end point. In the case of a non-straight line, an arc is formed. The end point is automatically calculated and set by specifying and inputting the center point and the rotation angle of the arc. Then, an intersection between the set route and the model is determined. The processing of the result of the intersection determination is as described above. After the final setting path is determined in this way, the operation proceeds to the setting of the operation condition in the next step.

The spray operation condition setting defines the operation of the mold spray robot 300 in detail when the mold spray robot 300 performs a spray operation in accordance with the set final setting path. For example, the spray distance (spray nozzle and mold surface) The distance is specified over time, the spray moving speed, the spray angle (how many times the liquid is sprayed on the application surface), the spray flow rate, and the like. In particular,
Various spray operation items are set according to the operation condition setting flowchart shown in FIG. As can be seen from the flowchart for explaining the assignment of external input / output signals when setting the operation conditions shown in FIG. 6, the operation (distance, speed, posture) of the above-described robot with respect to the set path
At the same time, the spraying operation (spray agent flow rate, air flow rate, valve opening / closing timing, etc.) can be specified in detail to perform a finer and more advanced spraying operation.

[0015] The spray operation condition setting is displayed as a menu in which abbreviations of external input / output signals assigned in advance are displayed as menus, and are registered as operation path additional conditions by selecting the path to be added with an input device such as a mouse. Is done. This eliminates the need for the user operator to add the setting of the spraying operation such as opening and closing of the valve to the taught program each time, so that the teaching operation can be performed efficiently. As described above, the details of the teaching method of the mold spray robot according to the present invention including the modeling of the work, the setting of the spray work path, and the setting of the spray operation conditions have been described. Was. FIG. 9 (a)
Shows a work generation screen, and FIG. 9B shows a spray route setting screen.

The mold spraying operation is a work in which a spray agent is sprayed onto the surface of the mold with a certain spread from a position that is a certain distance away from the mold, and does not require precise positioning accuracy such as gripping or processing an object. Accuracy in the order of 1 mm is sufficient, and there is no need to accurately input a complicated actual mold shape to a personal computer as it is. From this, an approximate simple model is created and input by appropriately combining the work, ie, the mold surface shape with a simple single shape, and this model is displayed on a screen and used for setting an operation path. I did it.

As described above, according to the present invention, there is provided a die spray robot teaching method for teaching a die spray robot a spray work procedure, which is a complicated die work surface to be sprayed with a spray agent. A screen display provided in the robot control device that simultaneously has two functions of two-dimensional display surface display and cross-sectional shape display surface display when a three-dimensional shape is input to a robot control device that controls the mold spray robot. After converting the complicated three-dimensional shape of the work surface into a simple model by extracting and combining the required single shapes from various prepared single shapes using the screen of the device. After inputting the model to the robot control device, the spray work route is instructed on the screen of the screen display device displaying the model. Simple and easy, and correct routing that does not interfere with the actual mold surface with can be carried out efficiently, setting spray process conditions can be easily performed.

[0018]

As described above, according to the present invention, the following excellent effects can be obtained. (1) Teaching work for a robot can be performed easily, easily, and efficiently. In other words, by simply modeling a complex mold shape,
Work creation is accurate and fast. Routing can be easily performed using the model. Not only can the spray operation condition be set easily, but the spray injection operation can be linked to the spray injection operation. Therefore, it is possible to perform a sophisticated spray operation that comprehensively determines the spray operation. (2) Repetitive work such as teaching, actual spraying work, and route changing work can be performed quickly and accurately,
The conventional trial and error dead time can be saved and productivity can be improved. (3) Since the spray point can be accurately set to the target point, a good and uniform spray coating film can be formed.

[Brief description of the drawings]

FIG. 1 is an overall configuration diagram of a die casting machine according to an embodiment of the present invention.

FIG. 2 is a configuration diagram of a control device according to an embodiment of the present invention.

FIG. 3 is a display screen diagram of the screen display device according to the embodiment of the present invention.

FIG. 4 is a display screen diagram illustrating a spray route setting method according to an embodiment of the present invention.

FIG. 5 is a flowchart of a spray path setting according to the embodiment of the present invention.

FIG. 6 is a flowchart illustrating assignment of external input / output signals when a spray operation condition is set according to the embodiment of the present invention.

FIG. 7 is an explanatory diagram showing a method of setting a spray operation condition according to the embodiment of the present invention.

FIG. 8 is a flowchart showing a spray operation condition setting for a route according to the embodiment of the present invention.

FIG. 9 is a display screen diagram showing a work generation screen and a spray route setting screen according to the embodiment of the present invention.

FIG. 10 is an overall configuration diagram of a conventional die casting machine.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 Tank 2 Compressed air source (compressor) 3 Filter 4 Solenoid valve 5 Flow control valve 6 Compressed air source (compressor) 7 Solenoid valve 8 Piping 9 Hydraulic cylinder 10 Spray device 11 Platen 11A Fixed platen 11B Movable platen 12 Mold 12A Fixed mold 12B Movable mold 100 Die casting machine 200 Spray robot 210 Rotary seat 210a Motor 220 First arm 230 Second arm 240 Motor 250 Vertical axis 260 Spray head 260a Spray nozzle (spray gun) 300 Controller 310 Robot controller 320 Personal computer (offline programming) Device) 320a mouse 320b keyboard 320c storage device 320d CRT screen 320e printer 330 sequencer 340 valve 350 die casting Machine operation panel A Work area B Cross-section in the vertical axis C Cross-section in the horizontal axis M Model m Cursor line for cross-sectional shape display X Initial setting path Y Modified setting path

Claims (3)

[Claims] 1. A teaching method of a die spray robot, which teaches a spray work procedure to a die spray robot that sprays a spray agent onto a die cavity surface of a die casting machine, which is a complicated object to be sprayed with the spray agent. Provided to the robot controller that has two functions of two-dimensional display surface display and cross-sectional shape display surface display at the same time when the three-dimensional shape of the mold work surface is input to the robot control device that controls the mold spray robot. Using the screen of the prepared screen display device, a required single shape is extracted from various prepared single shapes and combined to form a simple model of the complicated die work surface three-dimensional shape. After inputting the model into the robot controller, the spray work route is indicated on the screen of the screen display device displaying the model. The method of teaching a mold spray robot according to claim. 2. The setting of a spray work route is performed by setting a spray start point and a spray end point on a two-dimensional display screen by using a screen of a screen display device provided in the robot controller, and from the spray start point to the spray end point. The path type (straight line or non-linear line) is reached and the result of the intersection determination between the set route and the set model to be executed by the robot controller, if there is cross contact, the area of the cross contact of the route. Is set to the final spray work route by changing the route in a direction orthogonal to the two-dimensional display screen based on a route correction program input in advance without changing the route on the two-dimensional display screen. The teaching method for the die spray robot according to claim 1. 3. A spray control device for a mold spray robot performing a spray operation, which is performed in accordance with a set spray operation route, performs not only a spray operation such as a spray distance, a spray moving speed, and a spray posture, but also a desired spray flow rate and a desired spray flow. 3. The spray timing according to claim 1 or 2, wherein the spray timing is preset and given.
The teaching method of the mold spray robot described above.