JPH10249762A - Die spray robot teaching method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an accurate, quick, convenient, easy and efficient die spray robot teaching method for a die spray robot and a small attitude control mechanism. SOLUTION: In a die spray robot 200 teaching method for a die cast machine 100, the shapes of dies 12A, 12B are previously input to a two-dimensional display screen for a controller 400 and displayed thereon and spray conditions including a spray distance and a spray attitude are given to linear or circular section passages out of a spray passage, which is set by connecting plural linear or circular section passages onto the displayed screen, to set a spray operating passage (a tool end point passage for a small attitude control mechanism 300) on a three-dimensional space, so that the operating procesure of a die spray robot tool end point can be computed to be made by the controller in preset algorithm sequence for each linear or circular section passage constituting the spray operating passage at the tool end point of the small attitude control mechanism.

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 mold spray robot in a molding apparatus such as a die casting machine for casting an aluminum alloy or a magnesium alloy into a mold. A mold sprayer having at least one or more small attitude control mechanisms, which easily and efficiently teaches the mold spray robot to perform a spray operation on a mold work surface having a complicated three-dimensional shape via a control device. The present invention relates to a robot teaching method.

[0002]

2. Description of the Related Art Conventionally, a method of spray-coating a spray agent such as a release agent or a heat insulating agent onto a mold cavity surface of a die casting machine is, for example, as shown in FIG. The spray agent is blown into the spray device 10 via the solenoid valve 4 and the flow control valve 5, and the spray air supplied from the compressor 6 is sent to the solenoid valve. The spraying agent L is sprayed to the spraying device 10 via the spray nozzle 10a via the spraying nozzle 10a via a spray nozzle 10a and a fixed platen 11
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 be able to reciprocate up and down in the vertical direction at the center of both dies 12A and 12B in an open state by an actuator such as a hydraulic cylinder 9, and a plurality of spray devices attached to the side surface of a spray head 10A of the spray device 10. The nozzle 10a has been designed so that the entire surface of the sprayed surface of the mold 12 is evenly and evenly applied. Adjustment of the supply amount of the spray agent L to be spray-applied to the mold 12 was controlled by adjusting the opening of a flow control valve 5 provided between the spray agent L tank 1 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, mold spray robots have begun to be used for mold spray work, and in this case, it was necessary to teach the operation of the spray work to a robot controller attached to the mold spray robot in advance. .

[0003]

Such a teaching method of a mold spray robot is usually taught by online teaching, that is, teaching playback. However, this operation is extremely complicated and requires a long time. In addition, teaching work for high-mix low-volume production requires a teaching work for spraying in advance every time a product is changed, which is not suitable for a mold spray robot. For this reason,
Recently, off-line teaching has become mainstream by connecting computers and robots. 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 includes at least one or more small attitude control mechanism at the tip of the wrist of the mold spray robot, and the position of the small attitude control mechanism and the tip of the mold spray robot tool from the set spray path and spray conditions,
You can get the attitude, so solve the above problem,
It is intended that teaching of the spraying operation can be performed simply, easily and efficiently.

[0004]

In order to solve the above-mentioned problems, according to the first aspect of the present invention, at least one of the robot wrist tips can be freely operated independently of the mold spray robot. A method for teaching a mold spray robot that includes the above-described small attitude control mechanism and that teaches a spray operation procedure to a control device that controls a mold spray robot that sprays a spray agent onto a mold cavity surface of a die casting machine. After displaying the mold shape input in advance on the two-dimensional display screen of the control device, each of the straight-line section paths of the spray path set by connecting a plurality of straight-section sections or arc-section sections on the two-dimensional display screen. Alternatively, spray conditions such as a spray distance and a spray attitude are respectively given to the arc segmented paths, and a spray operation path (a small Force control mechanism tool tip point path), and sets the control device based on the order of the algorithm described below for each of the straight section path and the arc section path constituting the spray operation path of the small attitude control mechanism tool tip point. The operation procedure of the die spray robot tool tip point was calculated and created. For each of the straight section path and the arc section path that constitute the spray movement path of the set small attitude control mechanism tool tip point, the small attitude control mechanism origin (die) The range in which the spray robot tool tip can move in the forward / rearward direction Z is determined (forward limit position Zmin and reverse limit position Z).
max). The X-axis and the Y-axis are set with the Z-axis intermediate point Zc of the operable range obtained from the spray operation path start point as an initial value.
The axis intermediate point coordinates Xc and Yc are obtained, and these coordinates are registered as the die spray robot tool tip point coordinates (Xm, Ym, Zm). From the coordinates and posture of the tip of the small attitude control mechanism tool at the end point of each spray operation path, the range in which the origin of the small attitude control mechanism (the tip of the mold spray robot tool) can operate in the forward and backward movement direction Z is determined (the forward limit position Zmin and The backward limit position Zmax is obtained). The X-axis and Y-axis intermediate point coordinates Xc and Yc are determined using the Z-axis intermediate point Zc of the operable range determined from the spray operation path end point as the initial value, and the die spray robot tool tip point coordinates (Xc, Yc, Zc). It is checked whether the small attitude control mechanism can continuously operate the set spray operation path and the die spray robot tool tip point path. If the small attitude control mechanism cannot operate continuously, the Z coordinate is set to Z within the operable range of the spray operation path end point.
The Z coordinate is corrected by being shifted by the minute deviation ΔZ in the axial direction, and the X coordinate and the Y coordinate are obtained to confirm that there is no change. It is checked whether the small attitude control mechanism can continuously operate the set spray operation path and the die spray robot tool tip point path obtained in the preceding paragraph, and if possible, the die spray robot tool tip point coordinates (Xm,
Ym, Zm). If it cannot operate continuously, repeat the operation described in the previous section.

According to a second aspect of the present invention, in the first aspect, a timing command is input to the control device so that the operation procedure of the small attitude control mechanism and the operation procedure of the tip of the die spray robot tool can be synchronized. Thus, the control device automatically sets and creates a comprehensive operation procedure for linking the two operation procedures with time. Further, in the third invention, in the first and second inventions, the control device for the mold spray robot during the spraying operation performed in accordance with the set spraying operation path is provided with a spray distance, a spray moving speed, a spray posture, and the like. In addition to the operation, the desired spray flow rate and spray spray timing are set in advance and given.

[0006]

DESCRIPTION OF THE PREFERRED EMBODIMENTS In the present invention, at least one or more small attitude control mechanisms that can freely operate independently of the mold spray robot are provided at the tip of the robot wrist, and are provided on the mold cavity surface of the die casting machine. A method of teaching a mold spray robot that teaches a spray operation procedure to a control device that controls a mold spray robot that sprays a spray agent, wherein a previously input mold shape is displayed on a two-dimensional display screen of the control device. Thereafter, a spray condition such as a spray distance and a spray attitude is given to each of the straight section paths or the arc section paths of the spray path set by connecting the plurality of straight section paths or the arc section paths on the two-dimensional display screen. To set the spray motion path (small attitude control mechanism tool tip point path) in the three-dimensional space The control device calculates the operation procedure of the die spray robot tool tip point based on the above-mentioned algorithm order for each of the straight section path and the circular section path constituting the spray operation path of the control mechanism tool tip point. In this way, the robot controller creates a series of smooth integrated work procedures by linking the operation procedure of the small attitude control mechanism created separately and the operation procedure of the tip point of the mold spray robot tool, and unifying them.
Since the operation can be performed based on the procedure, a uniform and consistent spraying operation is performed.

In the second invention, a timing command for synchronizing the operation procedure of the small attitude control mechanism with the operation procedure of the tip point of the mold spray robot tool is input to the control device, and the control device transmits the timing command to the control device. Since the general operation procedure for linking the two operation procedures with time is automatically set and created, the above-mentioned general operation procedure is automatically and easily set.

Furthermore, in the third invention, the spray distance, the spray distance, and the like are supplied to the control device of the mold spray robot during the spraying operation performed according to the set spraying operation path.
In addition to spray operations such as spray moving speed and spray posture, the desired spray flow rate and spray spray timing are pre-programmed and given, so that the operation of the die spray robot wrist tip and the small posture control operation are performed. The spraying agent supply operation is linked to the integrated overall operation procedure, so that the entire spraying operation is comprehensively controlled, and a very fine and rational spraying operation is achieved.

[0009]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Embodiments of the present invention will be described below in detail with reference to the drawings. 1 to 16 relate to an embodiment of the present invention. FIG. 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.
FIG. 5 is a display screen diagram for explaining a spray path setting method, FIG. 5 is a flowchart for setting a spray path, FIG. 6 is a flowchart for explaining assignment of external input / output signals when setting spray operation conditions, and FIG. 7 is a method for setting spray operation conditions. , FIG. 8 is a flowchart showing a spray operation condition setting for a path, FIG. 9 is a display screen showing a work generation screen and a spray path setting screen, and FIG. 10 is offline to a mold spray robot and a small attitude control mechanism. FIG. 11 is a flowchart of a teaching method to the mold spray robot and the small attitude control mechanism, and FIG. 12 is a coordinate of the tip of the mold spray robot tool from the spray operation path (the small point control mechanism tool tip point path). FIG. 13 is a flow chart for calculating a mold spray robot. FIG. 14 is an explanatory view showing a synchronous operation method of the mold attitude control mechanism, FIG. 14 is an operation flowchart of the mold spray robot and the small attitude control mechanism, and FIG. 15 shows an embodiment of an operation program of the mold spray robot and the small attitude control mechanism. FIG. 16 is a schematic side view of the tip of the mold spray robot wrist.

FIG. 1 shows an embodiment of the overall structure of a die casting machine 100 according to the present invention.
00 is a mold spray robot 200, a small attitude control mechanism 300 connected to the tip of the wrist of the mold spray robot 200, and a control device 400 which controls the mold spray robot 200 and the small attitude control mechanism 300. Equipped as ancillary equipment.

A mold spray robot (also referred to as a main robot) 200 is an articulated spray robot, and is erected on the top of a fixed platen 11A,
0a, a rotating seat 210 that pivots about a vertical axis, a first arm 220 and a second arm 230 that are pin-connected to the horizontal seat, a motor 240 that is pin-connected to the lower end of the second arm 230, and a connection to the motor 240 And a vertical attitude control mechanism (also referred to as a wrist robot) 300 that can be tilted independently and independently of the mold spray robot 200 at the lower end thereof. There is a head 310 and a spray head 310
Has a spray nozzle (also called a spray gun) 310a
Are attached to the surface of the mold so as to face each other. Then, the spray agent is spray-applied toward the mold cavity surface at a required spray flow rate by the illustrated spray pipe.

On the other hand, a control device 400 for controlling the operation of the mold spray robot 200 and the operation of the small attitude control mechanism 300.
Are a robot controller 410 for controlling the operation of the mold spray robot 200 and a small attitude control mechanism controller 420
A personal computer (personal computer) 430 for giving a spray operation command to the robot controller 410 and the small attitude control mechanism controller 420 offline; a sequencer 440 for controlling the sequential activation of the mold spray robot 200; and an operation command for the sequencer 440. And a flow control device 450 for interrupting the supply of the spray agent and the compressed air on the basis of the above, and a die casting machine operation panel 460.

A personal computer (personal computer) 43
Instead of 0, for example, as shown in FIG. 2, an offline programming device 430A may be used. The mouse 430 is provided in the offline programming device 430A.
input device such as a and keyboard 430b, and storage device 4
30c, a screen display device (CRT screen) 430d, and a printer 430e.

A method of teaching a spray operation to be applied to the die spray robot 200 and the small attitude control mechanism 300 of the die casting machine 100 configured as described above and shown in FIG. 1 will be described. FIG. 3 shows a display screen diagram of the screen display device. First, the display screen of the screen display device 430d attached to the personal computer 410 is, as shown in FIG. 3, a work area display screen A displaying the front of a mold as a work, and arbitrarily moved to the side and downward. Cursor line m for vertical and horizontal horizontal lines that can be specified
The vertical cross-sectional shape display area B and the horizontal cross-sectional shape display area C, which indicate the cross-sectional shape cut by the above, can be formed and displayed. 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, as a result of the intersection determination, if a cross contact has occurred, the route must be changed to avoid the cross 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 detoured smoothly in accordance with an arc or other curve, and the detour path may be changed according to a path correction program pre-programmed and stored. The correction path may be obtained by automatically setting the personal computer 320.

The flowchart of FIG. 5 describes the above-mentioned teaching procedure in detail. The above-mentioned designation of the spray route is performed in such a manner that a desired route is selected from a route type programmed in advance. 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 set 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. 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. The positioning degree indicates the degree of smoothness of the path to be changed.
% Is a case where the curve is bent at a right angle, and the curve bends smoothly as the value of the positioning degree x% increases. As can be seen from the flowchart for explaining the assignment of the external input / output signals when the operating conditions are set as shown in FIG. Spray agent flow rate, air flow rate, valve opening / closing timing, etc.) can also be specified in detail to perform a finer and more advanced spraying operation.

In the spray operation condition setting, abbreviations of external input / output signals assigned in advance are displayed as a menu, and the path to be added is selected as an additional condition of the operation path by selecting the path 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 work is a work of spraying the spray agent onto the mold surface 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.

Next, a description will be given of a synchronous cooperative operation in which the operation of the mold spray robot 200 and the operation of the small attitude control mechanism 300 are properly and properly aligned at a desired position and time. FIG. 10 is a control system diagram for explaining a method of teaching off-line to the mold spray robot and the small attitude control mechanism. This off-line teaching method (teaching method) includes an off-line teaching system for mold spray robot and a small-sized. A robot controller 410 and a small attitude control mechanism 420 using two systems, an offline teaching system for an attitude control mechanism.
To give a desired spray operation.

FIG. 11 illustrates a flowchart of a teaching method for the mold spray robot and the small attitude control mechanism. The operation path calculation procedure of the small attitude control mechanism 300 will be described later. FIG. 12 is a flowchart showing an algorithm sequence in which “small attitude control mechanism operation determination” and “die spray robot tool tip point coordinate correction” described in FIG. 11 are described in more detail. According to the flowchart, the operation procedure of the die spray robot tool tip point to the control device 400 based on the algorithm order for each of the straight section path and the arc section path constituting the spray path of the tool tip point of the small attitude control mechanism 300. Was calculated.

Here, the tool coordinate system of the small attitude control mechanism is constituted by the nozzle tip point (the tip point Q of the small attitude control mechanism tool), and the tool spray robot tool coordinate system is configured by using the small attitude control mechanism 300 and the mold spray robot 200. The reference point is fixed to the tip of the vertical axis 250 (a so-called small attitude control mechanism origin coordinate), and the origin of the coordinate system is the small attitude control mechanism tool tip point Q and gold, respectively. It becomes the tip point P of the type spray robot tool. This situation is shown in FIG. The posture (angle) of the die spray robot tool tip point is always constant (horizontal die direction, for example, the die spray robot tool coordinate system in FIG. 16), and the work is performed according to the following procedure.

Calculation of the position and orientation of the tip end point Q of the small attitude control mechanism tool The coordinates and orientation of the tip end point Q of the small attitude control mechanism tool (start point and end point) based on the spray distance and the spray attitude from two points (start point and end point). (World coordinate system). Calculation of the position and attitude of the die spray robot tool tip point P The small attitude control mechanism tool tip at the path start point for each of the straight section path and the arc segment path that constitute the spray operation path of the set small attitude control mechanism tool tip point From the point coordinates / posture, find the range in which the origin of the small posture control mechanism (the tip of the die spray robot tool) can move in the forward / backward moving direction Z (forward limit position Zmin and reverse limit position Zma).
x). Next, the X-axis and Y-axis intermediate point coordinates Xc and Yc are determined using the Z-axis intermediate point Zc of the operable range determined from the spray operation path start point as an initial value, and these coordinates are used as the tip of the mold spray robot tool. Point coordinates (Xm,
Ym, Zm). Further, a range in which the origin of the small attitude control mechanism (the tip point of the mold spray robot tool) can operate in the forward / rearward movement direction Z is obtained from the coordinates and attitude of the tip of the small attitude control mechanism tool at the end point of each spray operation path (forward limit position). Zmin and the retreat limit position Zmax are obtained). With the Z-axis intermediate point Zc of the operable range obtained from the splay operation path end point as an initial value, the X-axis and Y-axis
The axis intermediate point coordinates Xc and Yc are obtained and set as the die spray robot tool tip point coordinates (Xc, Yc, Zc). Judgment of small attitude control mechanism operation It is checked whether the small attitude control mechanism can continuously operate the set spray operation path and the die spray robot tool tip point path. If the small attitude control mechanism cannot be operated continuously, the Z coordinate is shifted by a small deviation ΔZ in the Z-axis direction in the operable range of the end point of the spray operation path to correct the Z coordinate and obtain the X coordinate and the Y coordinate. , Make sure there is no change. It is checked whether the small attitude control mechanism continuously operates the set spray operation path and the die spray robot tool tip point path obtained in the preceding paragraph, and if possible, the die spray robot tool tip point coordinates (Xm, Ym) , Zm). If the operation cannot be performed continuously, the operation described in the first half of this section is repeated. Calculation of operation speed of small attitude control mechanism Path length L between two points at both ends of spray path set on work
s and the path length Lw of the tip of the small attitude control mechanism tool are calculated, and the operation speed Vw between the two points of the tip of the small attitude control mechanism tool is calculated based on the operation speed Vs between the two ends of the spray path.
Is calculated. The calculation formula is as follows. Vw = Vs × (Lw / Ls)

Description of Small Attitude Control Mechanism Operation Program A program relating to the operation of the small attitude control mechanism between paths is created. The program includes coordinates Xw, Y between two points on the route.
In addition to w, Zw, postures Ww, Pw, Rw, and operation speed Vw, information on spray device control and flow rate control is also described. Die spray robot operation speed calculation Small attitude control mechanism Tool tip point path Length Lw between two points
And the path length Lm between the two points of the die spray robot tool tip point path are calculated, and the operation speed between the two points of the die spray robot tool tip point path is calculated from the operation speed Vw between the two points of the small attitude control mechanism tip point path. Calculate Vm. The calculation formula is
It is as follows. Vm = Vw × (Lm / Lw) Description of mold spray robot operation program A program relating to the operation of the mold spray robot between paths is described. The program contains the coordinates X between two points on the route.
m, Ym, Zm, posture Wm, Pm, Rm, operation speed Vm
Describe.

Next, a synchronous operation method of both operations of the mold spray robot 200 and the small attitude control mechanism 300 will be described.
This will be described with reference to FIGS. FIG. 13 is an explanatory diagram showing a synchronous operation method of the mold spray robot and the small attitude control mechanism. FIG. 13 is an operation flowchart of the mold spray robot and the small attitude control mechanism. FIG.
As shown in the figure, the small attitude control mechanism 300 is normally operated by receiving a standby signal until the mold spray robot 200 is activated by a motion program given to the robot controller 410 and reaches a predetermined position and time. Waiting. The small attitude control mechanism 300 operates when the mold spray robot 200 reaches a predetermined position or when a predetermined time elapses after being activated by the operation program given to the mold spray robot 200, from this operation program. This is the case where the small attitude control mechanism 300 receives the transmitted synchronization signal and executes the small attitude control mechanism operation program. The small attitude control mechanism operation program executes the following three operations. (1) Position / posture control of the small attitude control mechanism (2) Spray device control (3) Spray flow rate control

FIG. 14 shows that the signal spray robot 200 and the small attitude control mechanism 3 are exchanged by exchanging these signals.
00 indicates a state in which each operates. That is,
A synchronization signal transmitted each time the mold spray robot 200 passes through each path is constantly monitored by a small attitude control mechanism operation program that manages the small attitude control mechanism 300, and only when necessary, in response to this synchronization signal. It is supposed to work.

FIG. 15 shows an embodiment of an operation program of the mold spray robot and the small attitude control mechanism. The left box shows the operation of the mold spray robot 200, and the right box shows the operation of the small attitude control mechanism 300. Instructed. When a synchronization signal is output at number 1 on the left side, this signal is received at number 1 on the right side, and the mold spray robot 200 on the left side performs the operation of number 2, that is, point 1 ′.
While moving from point to point 2 ', the moving speed is 500
mm / s, while the right small attitude control mechanism 300 moves from point 1 to point 2 at a constant speed of 400 mm / s. Next, in response to the command of No. 3, the synchronization signal is output in the same manner, and the small attitude control mechanism 300 receives the same, and the operation of No. 4 is performed (the mold spray robot 200 moves from point 2 ′ to point 3 ′).
Up to 200mm / s, small attitude control mechanism 300
Moves from point 2 to point 3 at 250 mm / s). Note that L = 0% in the operation program
Indicates a perfect positioning condition, and indicates a condition for always passing through the arrival point (for example, when L = 10%, the vehicle does not pass through the arrival point but passes near the arrival point). The above points 1, 2, 3 and the like correspond to the spray head 310 attached to the small attitude control mechanism 300 set on the screen by the user.
Indicates the desired position of the spray nozzle 310a (the tip point Q of the small attitude control mechanism tool), and points 1 ', 2', 3 '
And the like indicate the position of the tool tip point P of the mold spray robot 200 calculated backward from the points 1, 2, 3 and the like.

As described above, in the present invention, at least one or more small attitude control mechanisms that can freely operate independently of the mold spray robot are provided at the tip end of the robot wrist, and the mold cavity of the die casting machine is provided. A method of teaching a mold spray robot to teach a spray operation procedure to a control device that controls a mold spray robot that sprays a spray agent on a surface, wherein a mold shape input in advance to a two-dimensional display screen of the control device is provided. After the display, a spray condition such as a spray distance and a spray attitude is given to the spray point and the spray path set on the two-dimensional display screen, and a straight line segment forming a spray operation path of a tool tip point of the small attitude control mechanism. Based on the above-described algorithm order for each of the path and the arc segmented path, Since the operation procedure of the tip of the mold spray robot tool is calculated and created, work creation is simple and easy, and appropriate route setting that does not interfere with the actual mold surface can be performed efficiently. Spray work conditions can also be easily set. In addition, a spray path is set on a previously input mold shape model screen, and spray operation conditions such as a spray distance and a spray attitude are given to the path to obtain an operation procedure (path) of the small attitude control mechanism. By calculating the operation procedure (path) of the mold spray robot,
A complicated teaching operation can be taught in a short time, simply, easily, and accurately. Further, by providing a synchronization timing signal output and a monitoring function when each operation procedure is created, a stable spraying operation can be performed by the mold spray robot and the small attitude control mechanism.

[0031]

As described above, in the present invention, the following excellent effects can be obtained. (1) Teaching work to the mold spray robot and the small attitude control mechanism can be performed in a short time, simply, easily, and accurately. 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 simply, but also the spray injection operation can be linked to the spray operation, so that a high-level spray operation that comprehensively determines the spray operation can be performed. (2) Since repetitive tasks such as teaching, actual spraying, and route changing can be performed quickly and accurately,
The conventional trial-and-error waste 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. (4) By performing the operation of the mold spray robot and the operation of the small attitude control mechanism in synchronization with a desired position and a desired time, a stable and fine textured spraying operation can be performed.

[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 a control system diagram of a method for off-line teaching to a mold spray robot and a small attitude control mechanism according to an embodiment of the present invention.

FIG. 11 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. 12 is a flowchart for calculating a die spray robot tool tip point coordinate from a spray operation path (small attitude control mechanism tool tip point path) according to the embodiment of the present invention.

FIG. 13 is an explanatory diagram showing a synchronous operation method of the mold spray robot and the small attitude control mechanism according to the embodiment of the present invention.

FIG. 14 is an operation flowchart of the mold spray robot and the small attitude control mechanism according to the embodiment of the present invention.

FIG. 15 is an explanatory diagram showing an embodiment of an operation program of the mold spray robot and the small attitude control mechanism according to the present invention.

FIG. 16 is a schematic side view of a tip portion of a mold spray robot wrist according to the present invention.

FIG. 17 is an overall configuration diagram of a conventional spray device.

[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 300 Small attitude control mechanism 310 Spray head 310a Spray nozzle 400 Control device 410 Robot control device 420 Small attitude control mechanism Control device 430 Personal computer (PC) 430A Offline programming device 430a Mouse 430b Keyboard 430c Storage device 430d CRT screen 430e Printer 440 Sequencer 450 Flow control device 460 Die casting machine operation panel A Work area B Vertical section C Horizontal section M Model P Mold spray robot tool tip point (main robot tool tip point) Q Small attitude control mechanism tool tip point (Wrist robot tool tip point) m Cursor line for cross-section shape display X Initial setting path Y Corrected and changed setting path

Continued on the front page (51) Int.Cl. ⁶ Identification code FI B22D 17/32 B22D 17/32 J G05B 19/409 G05B 19/405 C

Claims (3)

[Claims] A mold for spraying a spray agent on a mold cavity surface of a die casting machine, comprising at least one or more small attitude control mechanisms operable freely and independently of a mold spray robot at a robot wrist tip. A method of teaching a mold spray robot for teaching a spray operation procedure to a control device for controlling a spray robot, comprising: displaying a previously input mold shape on a two-dimensional display screen of the control device; A spray condition in a three-dimensional space is given by giving spray conditions such as a spray distance and a spray posture to each of the straight segment routes or the arc segment routes of the spray route set by connecting a plurality of straight segment routes or arc segment routes. Set an operation path (small attitude control mechanism tool tip point path), For each of the straight section path and the circular section path constituting the ray operation path, the controller is made to calculate the operation procedure of the tip point of the mold spray robot tool based on the order of the algorithm described below. Teaching method of mold spray robot. For each of the straight section path and the arc section path that constitute the spray movement path of the set small attitude control mechanism tool tip point, the small attitude control mechanism origin (die) The range in which the spray robot tool tip can move in the forward / rearward direction Z is determined (forward limit position Zmin and reverse limit position Z).
max). The X-axis and the Y-axis are set with the Z-axis intermediate point Zc of the operable range obtained from the spray operation path start point as an initial value.
The axis intermediate point coordinates Xc and Yc are obtained, and these coordinates are registered as the die spray robot tool tip point coordinates (Xm, Ym, Zm). From the coordinates and posture of the tip of the small attitude control mechanism tool at the end point of each spray operation path, the range in which the origin of the small attitude control mechanism (the tip of the mold spray robot tool) can operate in the forward and backward movement direction Z is determined (the forward limit position Zmin and the forward limit position Zmin). The backward limit position Zmax is obtained). The X-axis and Y-axis intermediate point coordinates Xc and Yc are determined using the Z-axis intermediate point Zc of the operable range determined from the spray operation path end point as the initial value, and the die spray robot tool tip point coordinates (Xc, Yc, Zc). It is checked whether the small attitude control mechanism can continuously operate the set spray operation path and the die spray robot tool tip point path. If the small attitude control mechanism cannot operate continuously, the Z coordinate is set to Z within the operable range of the spray operation path end point.
The Z coordinate is corrected by being shifted by the minute deviation ΔZ in the axial direction, and the X coordinate and the Y coordinate are obtained to confirm that there is no change. It is checked whether the small attitude control mechanism can continuously operate the set spray operation path and the die spray robot tool tip point path obtained in the preceding paragraph, and if possible, the die spray robot tool tip point coordinates (Xm,
Ym, Zm). If it cannot operate continuously, repeat the operation described in the previous section. 2. A timing command for synchronizing the operation procedure of the small attitude control mechanism and the operation procedure of the tip end point of the mold spray robot tool is input to the control device, and the control device executes the two operation procedures with time. 2. The method for teaching a die spray robot according to claim 1, wherein a comprehensive operation procedure to be automatically linked is automatically set and created. 3. A control device for a mold spray robot during a spraying operation performed according to a set spraying operation path includes not only a spraying operation such as a spraying distance, a spray moving speed, and a spraying posture, but also a desired spray flow rate and a spray spraying. 3. The teaching method for a mold spray robot according to claim 1, wherein the timing is set in advance by a program and given.