JPS59166456A - System for automatically producing many kinds of articles - Google Patents

Abstract

PURPOSE:To dispense with the addition of an automatic inspection device to each machine tool, by using an inspection robot to automatically check a manually set state and by using a pallet number to collate a conveyance after the automatic checking. CONSTITUTION:Under an instruction from a production controller, a workpiece 56 is conveyed to a workpiece setting area and a workman then sets the workpiece. A workpiece pallet 55 is conveyed to an inspection robot 5 by an unattended truck in accordance with a signal indicating the completion of the setting of the workpiece by the workman. A control unit 51 supplied with an inspection data from a superior device regulates the inspection robot body 52 to sequentially place a proximity sensor 53 in prescribed plural positions near the workpiece 56 to inspect it. After the inspection, the number of the pallet 55 is read by a dog detection limit switch 54 and sent to the superior device. The unattended truck is then conveyed to a predetermined machine tool 33 and collated with the number read by the limit switch 34, to execute a prescribed machining program.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a low-volume automated production system for winter products, and relates to a system configuration and control means for safely and reliably unmanned production.

The 11th woman is jealous of this F Ming's application system.

In general, automation of machining lines involves transporting workpieces and automatically attaching and detaching workpieces to and from workpieces.
Use the lift. Furthermore, unmanned carts, conveyors, or the like are used to transport the workpieces (and workpiece pallets). 1st
In the figure, (10Q) is the workbench, (101) is the workpiece,
(102) indicates a workpiece pallet, (1031H indicates a workpiece setting area, and the workpiece (101) is manually set in a predetermined position and posture using a scooping jig (not shown).・Futing Riruru.

6η indicates an unmanned trolley, which is an R1flNC machine tool □.The unmanned trolley automatically loads the work pallet onto the transport vehicle from a predetermined fixed position by the mechanism of the slide fork shown in the diagram. The work pallet is automatically transported to a predetermined NO machine tool, and then automatically transferred from the vehicle to a predetermined position on the NO machine tool using a similar mechanism.

From the machine tool G, the transferred workpiece is machined according to the contents of the NC processing tape or the machine data from the host computer. The workpieces that have been completed in 7111 are removed by an unmanned cart (41j) and conveyed to a lower comb (not shown), where the processing is repeated, and when all the machining is completed, the workpieces are removed from the pallet by hand. Nitaru.

In this way, uniformly processing items that have been manually set using separately provided processing data will result in errors in manual processing and unmanned transportation. .

Even if either of the above two mistakes occurs, there is always a possibility that the NO machine will be damaged or the workpiece will be damaged. In addition, in order to prevent fidgeting, the operator must be forced to tense up as much as possible when performing manual operations.

To solve the problems in automation mentioned above, ■ To detect manual errors,
Attach a self-addicted wine 1 fixed W tFJf to the O-chosaku block boy, 71
A system that includes a command to operate the spacecraft during 17Ql in the r data is disclosed as an information input and command device for automatic measurement correction in an rNC machine tool 6 (
(Japanese Unexamined Patent Publication No. 57-4F1609)■ In order to prevent truck and 7 king mistakes in unmanned conveyance, a dog representing a unique pallet number is provided in each NO pallet, and a dog is provided in each burial machine. The limit switch detects the pallet/soto NO.
A method for confirming this is disclosed as a "control method for m management system." (Unexamined Japanese Patent Publication No. 1-87286ff) However, in the former method, it is necessary to prepare a measuring device for each machine tool, and in order to include instructions for operating the measuring device as processing data, the tape length is It also has drawbacks such as being difficult to prepare and increasing cycle time. Furthermore, since the latter method does not involve manual judgment of the quality of the settings, it is very difficult to prevent manual errors.

This invention was made in order to eliminate the drawbacks of conventional ones such as 10P, and a lopo for inspection was provided at the beginning of the machine control line, where it was given in Totsubu Town. Based on the inspection data of the workpiece, the inspection log is
Judging the type of work and the quality of the setting,
Only one good workpiece pallet is recorded and transported, and the rest is detected by the pallet dog with a hoisting machine, but by hand, and by knowing the workpiece pallet number, it is possible to check the machining data and normality. The purpose of this invention is to provide a multi-product automatic production system that can perform comparison with workpieces that have been sorted and inspected.An embodiment of the present invention will be described below with reference to the drawings.(1)
A computer for UFA is shown, and α1) shows a computer view-yugetsu data file, which holds a plurality of machining data 02 and inspection data 0 of the workpiece. (
2) The 1dFA controller A connects the data link to the upper FA controller 1) via the data bus (1a).
It is. (3) shows a subsystem with a double-cut NO machine, which is data-linked via the FA controller (2) and TODAG bus (2a). (4) shows a bus system for an unmanned reversing vehicle, which is data-linked to the FA controller (2) via the MP converter and L (2a).

(5) shows the inspection robot and foot support system, which is connected to the FA controller 5 via the data bus (2a); (2'b) the Ult'A controller (1);
), which are installed in each machine tool C and unmanned trolley (4°C and robot η) vehicle, which will be described later. Pare...
, Azusa gX for limit switch 1 for reading NO dog,
has been done. FIG. 3 shows the machine tool subsystem in this embodiment, and shows C'1l)l? Nc] ri, C'u (1
Machine-side pi control panel, G' control machine main body, (A is the above-mentioned panel,...) NO dog reading limit switch. 4th += indicates the robot subsystem in the Kino'I@ example, and No. 1) is the robot controller, I! 5 is a vertically articulated robot, and the trowel is a proximity sensor for detecting a workpiece, which is composed of a negative limit detection sensor (58a3, planu limit cold release sensor (531)) and a collision rainproof sensor (53C). (Foundation) is the said pallet No. dog exclusion limit.
The foot switch (to) indicates the workpiece.

Next, the function and operation of this embodiment will be explained.

In FIG. 2, the FA computer is operated by an operator (not shown) or from a higher-level production control computer system to create a work plan that has been processed by each machine tool of this embodiment.
Receives the NO machining data and tool information (pre-7-7 data, etc.) required for pre-warning, determines the work order for several workpieces based on the warp, and stores them in the workpiece preset area (10B) corresponding to each workpiece. A terminal (not shown) is used to display the work details, and at the same time, via the data bus (1, a), the FA controller is sent workpiece information, machining data, type of machine tool, inspection program data for the robot, etc. to download. In response to the stiffness, the FA controller passes the work information @ (C base) a work transfer command from where to where to the unmanned trolley system (4) via the data bus (2a) i, and the unmanned trolley system For example, if a predetermined work is not illustrated after receiving ff,
Workpiece 7 is transported from the lift to the sorting area and flattened. 5 Workers set the workpiece according to the display of the work details.
Upon completion of the task, a completion report is sent from the terminal to the FA computer fiFA controller, and a message to that effect is sent via the data bus (1a). The FA controller transports the work pallets (1111) (1021) to the 1-plan robot/soto system (5) (unmanned R vehicle system (4)).
issue commands to. At the same time, the F'A controller (2) transfers the inspection program corresponding to the workpiece previously received from the FA computer (1) to the robot controller -9Fl>
Transfer in bulk to. When the unmanned cart system (4) completes transporting the workpiece to the predetermined position of the robot system,
A work signal is sent from the unillustrated controller of the unmanned trolley system to the FA controller (2) via the data buff (2a). Upon receiving the communication from FA controller=P(2), the robot controller starts the inspection operation based on the inspection program that has been transferred.

A series of inspection operations are performed according to the 1:1 control of the inspection robot f'52i controller (IFil). According to the inspection program, the robot 6 sequentially positions the false proximity sensor (to) on a plurality of predetermined contact surfaces of the workpiece, and checks the output of the proximity sensor each time. In Fig. 5, when the positioning is completed at the predetermined position, (53a) off f (58b)
) ON, (53C) The ON state is determined as normal by the test program, and the process moves to the next test point. That is,
It is necessary that the relative distance between the detection ends and the workpiece ω is approximately in the dl-CL2 region in FIG. In other words, the robot positions the sensor @ at a predetermined position in space according to the inspection program, and at that time measures the spatial position of the other workpiece. , the output condition of the sensor (to) is satisfied at the spatial position in the pan specified by the inspection program.
Then the inspection is over. The collision sensor (53c) is used when the shape of the workpiece or the setting position is significantly different from the predetermined one. At the time of completion, the robot controller 61) sends a completion signal to the FA silicon roller (2a) via the bus (2a).
2). The FA control roller (2) reads the operating status of the limit switch for the robot at that time from the input (2b), and reads the machining program data of the workpiece received from the previous VCF A computer (1). Add it as an index. After that, the FA controller 9 (2) issues a transport command to the unmanned trolley to a predetermined machine tool (to), and at the same time
3, the Kanji program is downloaded via the data bus (2a). The unmanned trolley (41) transports the work valet, and upon completion of transport, the FA controller
A completion report is sent to (2) via the data bus (2a). The FA switch roller (2) receives the same signal and reads the pallet NO. dog attached to the machine tool.
- Input the state of (goods) from (21')"1, compare it with the index of the nib program data for the relevant use, and if it is - seconds, issue a machining start command to the machine tool type NC device C' (1). The NC device 31) clamps the NC pallet at a predetermined position, starts machining, and returns a completion report to the iFA controller (2) upon completion.The FA controller My sends the same report f
F.A.:? y is sent to the unmanned trolley system (4) as a conveyance command to a predetermined downstream position.

The above explanation focused on one workpiece, but the process generally progresses like assembly line work, and once the work on one workpiece is finished at each station, the next work starts with a delay. Needless to say.

It was transported directly from the work set area (103) to the inspection robot system (5), and from the inspection robot system (5) directly to the machine S tool system (3), but there were multiple pallets between each. You can also place a Sotoba sofa. In addition, the NO reading limit is directly input to the FA controller ``I (2) in the form of an input signal, but it can also be input via the data link via the data bus (2a). You can also input it.Also, you can input
Is it inconsistent with the hierarchical structure of A controller?
A stand-based system may also be used.

As described above, according to the present invention, an inspection robot is introduced to automatically check the setting condition manually, and the subsequent conveyance is arranged according to the pallet number. , it is not necessary to add expensive external @inspection equipment to each workpiece, and since the work is divided into the Canadian program and the inspection program, and the work is done in the same manner as each flow, the creation and maintenance of the program is easy. It is easy to use, and since the working cycle time of the machine tool is reduced, the total takt time is also reduced and productivity is improved.

Furthermore, it is difficult to relieve the fear and tension of working with old trees in the setting area, where a mistake in work will immediately lead to an accident or loss, and conversely, the ratio of gauze to material is decreasing, which is burning with foreboding.

Furthermore, since accidents caused by tracking errors in control are often checked, the reliability of the system is greatly improved and the operating efficiency is greatly improved.

4. Figure 1 of the drawings is a conceptual diagram showing the configuration of a system to which this invention is applied;
FIG. 2 is a diagram showing the configuration of an embodiment of the present invention, and FIG. 5 is a diagram showing the operation of the proximity sensor of the inspection robot.

In addition, the same - symbol in the figure indicates the same - or equivalent part, (1)
is a computer, (2) is a controller, (3) is a No. machine tool, (4) is an unmanned trolley system, and (5) is an inspection robot system.

Nobuo Kuzuno - No. 10, Figure 5, Showa Year, Month, Day 1. Indication of the incident Patent application No. 58-040391 3,
Relationship with the case of the person making the amendment Patent Applicant Address 2-2-3 Marunouchi, Chiyoda-ku, Tokyo Name (601) Mitsubishi Electric Corporation Representative Hitoshi Katayama 4, Agent Address Marunouchi, Chiyoda-ku, Tokyo 2-2-3-6
, Contents of the amendment (11.7ff. Claims are amended as shown in the attached sheet.

(21 Mei In, page 3, line 14 K [(101)
is work.

(102) J is r (56) is work, (5
5) Correct it as J.

(31 Specification, page 3, lines 16 to 17 [(10
1) on the palette (102) J and all r (56) (
r Palette (55) Correct as J.

(4) In the second line of page 6 of the specification box, the word "redundant" should be corrected to "redundant."

(Corrected ``Town'' on page 6, line 10 of 51 Meisho 1 to read 1 down.''

(1 ring on page 7, line 5 of the 61 specification)
Correct it to "Link".

(71 Akechi (in the 7th page, line 15 of the book, ``Teru. Palette'' is corrected to ``Teru Palette''.

(In the 81 specification, page 9, line 11 [' (101) (1
02) All the sentences with J are corrected as (55) (56) J.

(In the 1991 Specification, page 9, line 15, the word ``program'' is corrected to read 1 program f131 J.

(2) (Corrections are made as per the attached appendix to 101 Man 1 N'.

Above (3) Claims (111 or more numerically controlled machine tools, and an NC control machine that connects these machine tools and work preset stations)
7. A transfer device that transfers the set machining workpiece, and a transfer device between the workpiece presetting field and the arbitrary numerically controlled machine tool group.7. In a multi-product automatic production system comprising an o-bot, at least the numerically controlled machine tool, an automatic transport device, and a control/monitoring computer that controls and monitors the o-bot, at least one proximity sensor is provided in the hand portion of the robot. established.

Regarding the unprocessed work on the NC pallet that is automatically transported from the work presetting station, the factory bot selects and operates its built-in operation program according to instructions from the control/monitoring computer.

The proximity sensor of the robot hand section is moved to the desired positions of the plurality of unprocessed workpieces, the proximity sensor of the robot hand portion is confirmed by the computer that the plurality of unprocessed workpieces are within a predetermined range, and information for numerical control processing of the workpieces is calculated. , The set position of unprocessed workpieces on the NC pallet (1) A multi-product automated quantity system that is characterized by automatically identifying the posture and the workpiece itself.

(21) A multi-product automatic production system according to claim 1, characterized in that a controller of the robot detects and confirms a plurality of desired positions of unprocessed workpieces.

(In Clause 1 of Claim 31, all NC pallets are provided with binary dogs for foreign object identification, and a multi-articulated robot)
During the work confirmation operation using IF, the unique binary evolution dog in front of the NC pallet where the work is set,
The computer reads and stores the information, and when each NC pallet with a workpiece is completely transferred to an arbitrary numerically controlled machine tool, the machine tool again reads and stores the unique binary dog of the same valve in the computer. Tracking errors in automatic conveyance can be detected by reading the data and checking the match with the previously stored value.
A multi-product automatic production system featuring preventive measures.

(2)

Claims (3)

[Claims] (1) 1 This evening, the numerical side of multiple units of T-sakudan and Kone et al.'s T-sakudan (sha) and work presets are NC.
C Ware Soto, sorted and burnt the machining workpiece.
J general reverse transfer device, the winter junction robot located between the work preset, the transfer to the optional numerical control machine group, and at least the front f + numerical control machine tool, Death and automatic transport device i! v and multi-direction robot/so)
In a multi-product automatic four-stage production system consisting of a control and monitoring computer for controlling and monitoring, at least one proximity sensor is provided in the hand section of the multi-articulated robot, and an automatic transfer type machine for processing the pre-layer workpiece presetting area is provided. 2 Regarding the number of unprocessed workpieces to be processed, the multi-connection robot is operated with its built-in manual production program according to the instructions from the control/monitoring pager, and the plurality of unprocessed workpieces are Place the proximity sensor of the robot/soto hand part in the solid position.
The work is moved, the sensor confirms that it is within the predetermined range, and the numerical control of the work is carried out at 11
′! A multi-product automatic production system characterized by automatically identifying information, the set position and posture of unprocessed workpieces on the NO papant, and the workpieces themselves. (2) The automatic multi-item cattle production system according to claim 1, characterized in that the detection and confirmation of a plurality of basin positions of unprocessed workpieces is performed by a controller of the robot. (3) In claim 1, a binary coded dog for foreign object identification is provided on the NO pallet pan, and when the multi-articulated robot performs the workpiece confirmation operation, the setting of the workpiece is performed. The binary code dog is read and memorized by the computer, and when each NO pallet with a workpiece is completely transferred to an arbitrary numerically controlled machine tool V, the machine tool side again reads and stores the pieces of the same pallet foot. A proprietary breed of cattle for each breed, characterized in that the binary evolution dog is read by the computer and matched with the previous memorized value, thereby preventing a tiger/socking error in the reverse of the vehicle's own vehicle. production system.