JPS59166455A - Equipment for automatic processing - Google Patents

Abstract

PURPOSE:To continuously process various kinds of objects depending on their forms, by previously storing all processing data and form data for the objects, searching for the form data corresponding to the form of the object, and reading out the processing data corresponding to the form data. CONSTITUTION:Each of workpieces on a pallet PT, which is moved stepwise by a belt conveyor BC, has its form detected in a position Pa by an image sensor IS. The detected form is compared with a previously stored data for the forms of the workpieces so that an electric calculator CMP judges whether the object is one to be processed. If the object is judged to be the one, an instruction is applied to a robot controller RC through a relay unit RU and a system controller SC to hold the workpiece in a position Pc by a robot RB to chuck the workpieces on a numerical-controlled machine tool NM. A previously stored processing data is then read out on the basis of the form data to regulate the machine tool NM by a numerical controller CNC. The workpiece can thus be continuously processed depending on their forms.

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 shapes.

[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 transferred to a punch tape and given to an NC control device, the NC machine tool will automatically and continuously process the object according to the control of the NC control device. However, when there are many types of workpieces, it is necessary to arrange the workpieces in a predetermined order and feed them to the NC machine tool. If the machining is not completed, the arrangement of the objects must be re-corrected from the beginning, resulting in a reduction in work efficiency.

[Summary of the invention]

The present invention has the purpose of fundamentally solving the conventional drawbacks, and stores processing data and object shape data,
Searching for shape data that matches the measurement data of the object obtained by the shape detection means, and sending processing data corresponding to the obtained shape data to the processing means,
A means for supplying the object to the processing means in response to the operation of the processing means, and a means for removing the object from the processing means in response to the completion of processing the object, and The present invention provides an extremely effective automatic processing device that can continuously process various objects based on processing data.

[Example J Hereinafter, the present invention will be described in detail with reference to figures showing examples.

Figure 1 is a diagram of the overall configuration, including a plurality of pants) PT
``f, The mounted belt compare BC moves in a stepwise manner with a pitch of one PT at a time, and circulates in the direction of the arrow.
Each workpiece is placed thereon one by one in a predetermined direction.

In addition, an image sensor Is is provided as a shape detection means for photoelectrically detecting dimensions such as the height and width of the object, facing the position Pa with respect to the belt conveyor Be, and based on its detection power, The computer CMP determines whether the target object is the one scheduled in advance, and relay unit RU
and robot controller RC via system controller SC.
Give commands to 1. When the object comes to position Pc, the robot RB's hands RHr, R&R control whether or not to grasp the object.

The object that has moved from position pb to level Pc is first gripped by hand RH+, automatically fed to chuck CH of NC machine tool NM, and transferred from computer CMP to NC
According to the control and machining data given to 15CNC,
The object is processed by the NC machine tool NMK as a processing means, and upon completion of processing, the object is removed from the chuck CH again by the hand RH and discharged onto the pallet PT, which moved two steps during processing and reached the position Pe. be done.

It should be noted that the next object that has reached the 1-step movement position Pc during processing is to be moved by 1 step of the other hand RT (grasped by the other hand RT 2, and furthermore, the pants) PT. Then, after the removal by hand RH1, the supply to the chuck CH is performed by hand RH2, and the same operation is continued thereafter, so the NC
A hand PH serves as a supply means and a discharge means for supplying and discharging objects in correspondence with the operation of the machine tool NM.

Alternately and repeatedly with PH2.

The operations of the conveyor belt, belt conveyor BC, image sensor IS, robot RB, NC machine tool, 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
NC machine tool N1. CRT display CR installed on lL side
The display data is sent to the TM and displays the type and order of the objects to be placed on the pants) PT, processing setup, type of object being processed, type of object to be processed, etc. There is.

Figure 2 is a block diagram of the electrical configuration.
To prevent noise, control signals and response signals are exchanged between the NM, robot control unit RC, system controller S01 image sensor IS, and relay unit (RU) using DC24V, and the CRT display is Vessel CRTM.

NC control unit CNC, image sensor IS and computer C
Digital signals and information are exchanged between MPs.

- In CMP, a personal computer or the like is used as a living body, and is centered around a processor CPU, fixed memory 'JROM', and variable memory RAM.

Floppy desk FDr, FDt, keyboard &
CRTc cathode ray tube display, PTR tag reader.

Printer PRT and interface I/F'
4 are placed around the periphery, and they are connected to each other by a bus line BU.The processor CPU executes the instructions stored in the fixed memory IJROfvi, and uses the management data given from the keyboard KB and the tape reader PTR. Processing data read from punch tape is stored in variable memory RAM
After accessing the management data, save it to the floppy disk FD.
In addition to storing the processed data in +, the processed data is stored in
While storing it in the data area of D2, 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 CNC via the interface I/F. .

In addition, these conditions are sent to the cathode ray tube display CRT c to display the necessary information, and the machining status is printed out by the printer PRT. At the same time, each part is monitored for abnormalities. If an abnormality occurs, The contents 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 FD 2 is read out and sent out.
1 figure number as object management data from the keyboard KB,
When "Type, Quantity, Special Notes - Input" is performed, processing data address search is performed from 1 figure number and type, the required one is extracted from the address where processed data is stored, and one of the Arrange processing data addresses for each process''
Moreover, it enables continuous machining with the same chuck diameter! After each process is grouped into groups based on the chuck diameter, the machining data addresses are arranged according to the 1-addition schedule, the quantity for each process and the order of each process are determined, and then the shape data of the object and A file of 1-stage setup information including quantity data is created and stored in the file area of floppy disk FD 2.

Therefore, the 70 TB desk F used as a storage means
In the file area of D2, processed data addresses arranged according to the processing schedule are stored, and according to the content of the processed data, processed data is sequentially read out from the data area according to the processing schedule, and is also used as a temporary storage means. The variable memo IJ is temporarily stored in the RAM, and after being temporarily memorized, the NC control unit C
The information is read out in response to a request from the N spatulas, and sent to the NC control unit CN via the interface I/F serving as a sending means, and the above operations are repeated until the machining schedule is completed.

That is, in this example, the file area ◆Setup information'' and the processor CPU constitute a reading unit that sequentially reads 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.
For example, if the number of the object to be gripped by the hand RHI and RHz is 1, and the number N of the object to be processed is set to zero, for example, if the pants) PT moves by one, it will be an N measurement request? “is YE
S, and for the m counter in the processor CPU
In addition to registering 1 with m=m101'', one measurement process is performed according to the detection power of the image sensor IS, and until 'm≧37'' becomes YES, a measurement request is made. Repeat the following.

Pants) PT is moved and m≧3? ” is YES
Then, since the object that was first subjected to one measurement process has arrived at the position Pc in Figure 1, Q is
In addition to registering 1 to the counter in the processor CPU, check whether it is in the 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 matches the measurement data obtained by ``Hayabusa measurement processing''. The matching shape data is searched from the file area, and ``Is there shadow shape data?'' becomes YES, and the pallet PT moves further, and ``m≧47'' becomes YES.
A quest to measure deafness until it becomes S? ''Repeat the following steps and
≧4? If `` is YES, ``N=N+1'' causes the counter for N in the CPU of the processor to register 1, and then the roughly modified data is transferred to FD2→RAM'' to match the shape data. Transfer the processed data of the corresponding data file to the variable memory RAM and 'm)4?“
Assuming No, ◆RAM-+ CNC' sends the machining data read from the variable memory RAM to the NC control unit CNC, and then the 'CRTuC indication' displays the machining process and the machining data on the cathode ray tube display CRTM. and repeat the above operations.

By the way, is the falcon shape data correct? If YES, hand R
The object is gripped by H1 and supplied to the NC machine tool NM, and the operation between the NO machine tools is started in response to "RAM-+CNC".

Then, hand RHs grasps the object L, and then hand RH2 grasps the next object in response to one step movement of pallet PT.
The object is fed by step 1, and the pant) PT then moves one step. Therefore, while the first object is being processed, the pallet PT of m=5 reaches the position Pa, and Ql for this 1 measurement process" is performed.

Therefore, 'm>47' becomes YES, and if 'm>47' becomes YES in response to the information from the NC control unit CNC, '1 output processing' is performed, and the floppy desk FDR
The management data of the processed object is stored, a finished product list is created, and the processing is completed according to the creation status and ENDFLAG, which will be described later. ``Judge,
Repeat the process from 'RAM → CNC' until this becomes YES, and if this becomes YES, determine whether it is day or night by ``1 night?'', and if this is No, use 1 stage change instruction''.
Instructions for object replacement are given on the cathode ray tube display (CRTM), and if YES, 'END' is issued due to the absence of personnel.
” and stop each part.

Also, if 1 shape data exists and 7'' is No, then ``Position P
Because the object that led to c is different from what was planned,
The belt conveyor BCil is moved one step by "1 skip process", and gripping of the object by hand RH+4 or RH2 is stopped.

In addition, when each object is processed one after another and the last object is attached to the NC machining root NM, there will be no object in the pants) PTK at position Pc, and the shape data in the file area will also be unused. Because I'm running out of things, I'm going to go to a cram school. ” is No and Kali, %END F'LAG-%
After NO of 1"?"* END F"l, AG=ship 1
END FLAG is set to cram school 1'' by ``'', and the steps after ``N=N+1'' are repeated once, and No and 11-Turtle END F'LAG=%1 ``?'' are entered. %E via YES
NDFLAG="O" END FLAG is a condolence
After the J helicopter was set! Finished processing? Is deaf processing completed through “YES” and “output processing”? ”, END
FLAG! The change from 1″ to %OLT,
And, is the music processing completed according to the completion of creating the finished product list?
” becomes YES.

However, in FIG. 1, only one of the hands RH1 and RH2 may be used, the image sensor IS may be installed at another position along the belt conveyor BC, or the image sensor IS may be replaced by a television camera. The same is true even if you use robots etc., depending on the shape of the object)
Other supply means and discharge means may be applied without using RBk.

In addition, the configuration in Figure 2 can be arbitrarily selected depending on the conditions, and in Figures 3 and 4, steps may be replaced or unnecessary steps may be omitted depending on the situation. Feedback gauging-12 = Function that measures the dimensions of the object after machining and corrects the machining data according to the results.It is also optional to add this function to all NC machine tools NM.
The present invention is open to various modifications.

〔Effect of the invention〕

As is clear from the above description, according to the present invention, all processing data and shape data of various objects are stored, shape data corresponding to the shape of the object is determined, and processing is performed using the corresponding processing data. Therefore, regardless of the arrangement of various objects, processing according to the object is performed continuously, and the work efficiency is greatly improved, making it outstanding as an automatic processing device for various objects. Effects can be obtained.

[BRIEF DESCRIPTION OF THE DRAWINGS] The drawings show an embodiment of the present invention. FIG. 1 is an overall configuration diagram, FIG. 2 is a block diagram of an electrical configuration, FIG. 3 is a flowchart showing a data processing situation, and FIG. FIG. 4 is a flowchart of the control situation by the processor. NM-kai IIINC machine tool, CNC@---NC control section, RB---robot, RH+, RHt...
...Hand, RC...Robot control unit, BC@...
・Belt conveyor, PTII...pallet, engineering S...
...Image sensor, cPU ...Processor, R
AM...Variable memory, FDl, FD2...9...
Floppy desk, VF...interface, K
B@・-・Kehoe)”, CRTM, CRTc”・
...Cathode-ray tube display, PTR--...Tape reader. Patent applicant Yamatake Honeywell Co., Ltd. Agent Masaki Yamakawa (and one other person) 15- Figure 1

Claims (1)

[Claims] processing means for processing the object according to the processing data;
a shape detection means for detecting the shape of the object; a means for storing the processing data and the shape data of the object; a search means for searching for the shape data that matches the measurement data obtained by the shape detection means; means for sending the processing data corresponding to the shape data obtained by the means to the processing means; supply means for supplying the object to the processing means in response to the operation of the processing means; and the object. an automatic processing device comprising a discharge means for discharging the object from the processing means upon completion of the processing of the object.