JPS59166454A - Equipment for automatic processing - Google Patents

Abstract

PURPOSE:To efficiently produce many kinds of articles in small quantity, by previously storing all processing data for the various kinds of the articles, reading out a required part of the data on each occasion, and applying the read-out data to a procesing means, to facilitate a preparation to the starting of processing. CONSTITUTION:Various kinds of workpieces are put one after another in a prescribed direction on a pallet PT and circulated stepwise by a belt conveyor BC. When a predetermined workpiece is placed in a position Pa, an electric calculator CMP judges it from the output of an image sensor IS and applies an instruction to a robot controller RC through a relay unit RU and a system controller SC. When the workpiece is placed in a position Pc, it is held by the hands RH of a robot RB and automatically sent to the chuck CH of a numerical-controlled machine tool NM. A previously-stored processing data is then read out and applied to a numerical controller CNC to process the workpiece. Various kinds of articles in small quantity can thus be produced efficiently.

Description

DETAILED DESCRIPTION OF THE INVENTION [Technical Field of the Invention] The present invention relates to an automatic processing device that automatically processes various objects having different processing conditions.

[Prior art]

Conventionally, automatic processing equipment includes NC control equipment and NC
A machine tool is used, and if a series of machining data is replaced with a punch tape and sent to an NC control device, the NC machine tool automatically and continuously processes the object according to the control of the punch tape. However, if the workpiece is produced in a wide variety of small quantities, it is necessary to select a punch tape for each different type of workpiece and load it into the NC control device, which requires preparation before the start of processing. This has the disadvantage that it takes a lot of time to process, which in turn reduces work efficiency.

In other words, conventional NC control devices mainly have the function of converting a series of machining data given by punch tape etc. into command signals for the NC machine tool, and are capable of converting all kinds of objects of various types. After memorizing the processing data,
It is impossible to read and use only the required data as needed, and it is not suitable for high-variety, low-volume production.

[Summary of the invention]

The present invention has an object of fundamentally solving the drawbacks of the conventional art, and stores machining data in a storage means, and temporarily stores machining data sequentially read out according to a machining schedule in a temporary storage means. means for storing and transmitting the processing data read out from the temporary storage means to the processing means for processing the object according to the processing data; means for supplying the object to the processing means in response to the operation of the processing means;
A means for discharging the object from the processing means upon completion of processing of the object is provided, and all processing data of various objects are stored in advance in the storage means, and required data is read out as necessary to the processing means. The present invention provides an extremely effective automatic processing device that can continuously process various objects.

〔Example〕

Hereinafter, the present invention will be explained in detail with reference to figures showing examples.

Figure 1 is a diagram showing the overall configuration, including multiple pants) PT'
(The belt conveyor Be equipped with r moves stepwise in the direction of the arrow at a pitch of one pallet PT, and circulates.) On the PT, each The workpieces are placed one by one in a predetermined direction.

An image sensor IS that photoelectrically detects the height, width, and other dimensions of the object is installed opposite the position P with the belt conveyor BC. Check on computer C whether it was scheduled in advance or not.
MP makes a judgment and gives a command to the robot control unit RC via the relay unit RU and system controller SC, and when the object comes to the position PC, the robot RB's hand RHt
'! or RB2 controls whether or not to grip the object.

Position P via position Pb. The object that has arrived at
In addition, according to the machining data given from the computer CMP to the NC control unit CN, it is machined by the NC machine tool 3-NM as a machining means, and when the machining is completed, the hand R is
Pallet PT where the object is removed from chuck CI (by HI) and moved two steps during processing to position P.
is discharged upwards.

In addition, the next object that has reached position pc by one step movement during processing is gripped by the other hand RH2, and furthermore, one step movement of pants) PT is performed, and the hand R) (Following removal in step 1, the supply to chuck CH is performed by hand RH2, and the same operation will be continued thereafter, so NC
Corresponding to the operation of the machine tool NM, the object is supplied and discharged using the hand RMt, R) (as a supply means and a discharge means).
z alternately and repeatedly.

Tasoshi, belt conveyor BC, image sensor ■S10
(B) The operations of RB, NC machine tool NM, etc. are performed in synchronization with each other under the control of the system controller SC.

In addition, the computer CMP gives operation commands to the NC machine tool NM via the relay unit RU, and also sends display data to the cathode ray tube display CRTM provided on the NC machine tool NM side. Pants) P
It is intended to display the type and order of objects to be placed on the T, processing setup, type of object being processed, type of object to be processed, etc.

Figure 2 is a block diagram of the electrical configuration. The connections between the NC machine tool NM, robot control unit RC, system control ISC, image sensor IS, and relay unit (RU) are controlled by DC24V to prevent noise. Information is exchanged between the cathode ray tube display CRT M NNC control unit CNC1 image sensor IS and the computer CMP using digital signals. It has become.

On the other hand, in computer CMP, a personal computer or the like is mainly used, and has a processor CPU at its center, a fixed memory ROM, and a variable memory RAM.

Floppy desk FD1+FD2, keyboard KB.

CRT display CRT cs tape reader PTR1
The printer PRT and interface "/F" are arranged around the printer, and they are connected by a mother aBU.
The instructions stored in the fixed memory IJROM are transferred to the processor CP.
U executes, accesses the management data given from the keyboard KB and the processed data read from the bunch tape by the tape reader PTH to the variable memory RAM, stores the management data in the floppy desk FDI, and stores the processed data on the floppy disk. While storing it in the data area of the desk FD2, it reads out the required processing data according to the management data such as the type and quantity of the object and sends it to the NC control unit CN via the interface I/F. There is.

In addition, these conditions are sent to the cathode ray tube display CRTc to display the necessary information (te), and the machining status is printed out using the printer PRT, while monitoring each part for abnormalities, and if an abnormality occurs, it will be displayed. , the contents thereof are also displayed on the cathode ray tube display CRTc and printed out on the printer PRT.

FIG. 3 is a flowchart showing the data processing status performed before the processed data stored in the data area of the floppy disk FD2 is read out and sent out. , quantity, special notes = input ", 1 drawing number,
Search for machining data addresses based on the type, extract the required one from the addresses where machining data is stored, arrange these single machining data addresses for each process, and perform continuous machining with the same chuck diameter. In order to make it possible, each process is grouped by chuck diameter.
After arranging the processing data addresses according to the 1st addition schedule, determining the quantity for each process and the order of each process, create a file of 1-stage information including the shape data and quantity data of the object. Create ' and store it in the file area of floppy disk FD2.

Therefore, the file area of the floppy desk FD2 stores processed data addresses arranged according to the processing schedule, and according to the contents, the processing data 71 is transferred from the data area serving as a storage means according to the processing schedule. The data are sequentially read out and temporarily stored in a variable memory RAM as a temporary storage means, and after being temporarily stored, they are read out and sent out in response to a request from the NC control unit CN. Through the interface I/F k as a means, NC
The processing schedule is sent to the control unit CN, and the above operations are repeated until the machining schedule is completed.

That is, in this example, the first setup information' of the file area and the processor CPU constitute a reading means for sequentially reading out the machining data, whereby the machining data is read out in accordance with the machining schedule.

FIG. 4 is a flowchart showing the control situation by the processor CPU, in which the parameters required for control by 1 initialization, namely, the number m1 of pallet PT.
Add 1 to the number of the object to be grasped by hands RH, RH2.
For example, if the number N of the object to be processed is zero, then the pants) P
Is it one measurement request if T moves one? If ' is YES, the m counter in the processor CPU is incremented by 'm=m+1', and one measurement process' is performed according to the detection power of the image sensor Is. Do, 'm=≧3?
'Measurement request?' until ' is YES. “Repeat the following.

Is the pallet PT being moved?'m≧3? If ' is YES, the object on which the first measurement process ' was performed is the first object.
Since the position Pc in the figure has been reached, 1 is added to the counter in the cyclocessor CPU by 1 = +1', and 3 is added to 'data? ' determines whether the shape data of the object corresponding to the current K exists in the file area, and if this is YES, it becomes 1 data = measurement data? ′, the current K and the corresponding shape data and 1
A comparison is made with the measurement data obtained through the measurement process.
If this is YES, the pants) PT will move further.
One measurement request until m≧47′ becomes YES? ′ and repeat, ′m≧4? “ is YES, then 'N=N
+1' registers 1 to the counter for N in the cyclocessor CPU, and then the 1-added data N is transferred to FD2→
Transfer the processing data corresponding to N in the Cheetah file to the variable memo "J RAM" and set '7yZ>4?
“N.

Assuming that, variable memory I is created by ``RAM-+CNC''.
The processing data read from JRAM is sent to the NC control unit CN.
After sending the data to the 'CRTM display', the CRT display CRTy displays the processing in progress and the processing data, and the above operations are repeated.

In addition, 1 data = measurement data? “If YES,
Grasping objects with hand RHI and NCC machine tool N
For example, supply is made and N according to 'RAM→CNC'
The operation of the Nth CC machine tool is started.

Then, hand RH grips the object, and as the pallet PT moves one step, hand RH2 grips the next object.
The object is fed by s, and the pant) PT then moves one step, so that when the first object is being processed, the pant) PT of m=5 reaches the position PIL, and the pant) PT moves one step. One measurement process' is performed for this.

Therefore, if 'm>47' is YES, the process is completed according to the information from the NC control unit CN. If `` is YES, ``output processing'' is performed, and the management data of the processed object is stored in the floppy disk FDI, a finished product list is created, and the creation status and ENDFLAG described later are stored. 1 machining complete?” according to the result, and repeat the steps from 'RAM-+CNC' until this becomes YES. If this becomes YES, 1 night?" is determined. ', it is determined whether it is day or night, and if this is no, it is instructed to replace one stage.
Instructions to replace the object are given on the cathode ray tube display CRTH, and if YES, there is no personnel present, so ' EN
Move to D' and stop each part.

Also, 1 data = measurement data? If ' is NO, the object that arrived at the position PC is different from the planned one, so the read address of the shape data file is moved to the next one by 1 skip, and the object is moved to the next one on the belt conveyor B.
Let C move one step and exchange one data.
The shape data that has been used so far is stored at the final address of the file area.

If each object is processed sequentially and the last object is attached to the NCC machine tool N, there will be no object in the panties (PT) at position Pc, and the shape data in the file area will be removed. Also, there will be no unused data, so there will be no data left. ' is No, 'ENDFLAG='l'?
ENDFLAG is set to '1' by 1END FLAG = '1' through 'NO', and 'N
=N+1' and subsequent steps are repeated once, and is there one data? 'N
o and'ENDFLAG='l'? ENDF by 'YES' ENDFLAG==% 01N
After LAG is set at 0, is machining completed? ′
``Processing completed?'' through ``YES'' and ``Output processing''. ``1 machining completed?'' becomes yEs in response to the change in ENDFLAG from '1' to 10' and the completion of creation of the finished product list.

FIG. 5 is a flowchart for performing the same control as in FIG. 4 by counting objects without using the image sensor Is. 7,'-> 1? If YES is selected, the process moves to 1 machining completed?', and 'm=t?' compares - with the planned number of machining t, and if this is YES, 'E
It is basically the same as FIG. 4 except that it becomes "ND".

However, in FIG. 1, only one of the hands RH1rR)(2 may be used, and the image sensor Is may be installed at any other position along the belt conveyor BC, depending on the shape of the object. Alternatively, other supply means and discharge means may be used without using the robot RB.

In addition, the configuration of FIG. 2 can be arbitrarily selected depending on the conditions, and the steps in FIGS. 3 and 4 may be replaced or unnecessary steps may be omitted depending on the situation. If necessary, the present invention can be modified in various ways, such as optionally adding a feedback gauging function to the NCC machine tool that actually measures the dimensions of the workpiece after machining and corrects the machining data according to the results. It is free.

〔Effect of the invention〕

As is clear from the above explanation, according to the present invention, by storing all processing data of various objects and providing management data of the objects, rational and automatic processing can be performed depending on the type of object. Since the process can be carried out continuously, preparations before the start of processing are facilitated, and it is suitable for small-lot production of a wide variety of products, resulting in great effects as an automatic processing device for various types of objects.

[Brief explanation of the drawing]

The figures show an embodiment of the present invention, in which Fig. 1 is an overall configuration diagram, Fig. 2 is a block diagram of the electrical configuration, Fig. 3 is a flowchart showing the data processing situation, and Fig. 4 is the control situation by the processor. Flowchart, FIG. 5 is a flowchart similar to FIG. 4 when no image sensor is used. NM-...IINC machine tool, CNC...-NC control section, RB...-Robot, RH1+ R'H2Φ...
Hand, RCψ...Robot control unit, BC...-Belt conveyor, PT・e...Pallet, Is...Image sensor, CPU11#φe processor, RAMφ
...Variable memory, FDl, FD20...-Floppy desk, Engineering/F・φ...Interface, KB・
... Keyboard, CRTM rCRTC fist ... CRT display, PTR ... Tape reader. Patent applicant Yamatake Honeywell Co., Ltd. Agent
Masaki Yamakawa (and 1 other person)

Claims (1)

[Claims] processing means for processing the object according to the processing data;
a storage means for storing the processed data; a reading means for sequentially reading out the processed data from the storage means according to a processing schedule; and a temporary storage means for temporarily storing the processed data sequentially read by the means. a sending means for sending the processing data read from the temporary storage means to the processing means; a supply means for supplying the object to the processing means in response to the operation of the processing means; An automatic processing device comprising a discharge means for discharging the object from the processing means upon completion of processing.