JPS59227379A - Method and device for supplying work - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

DETAILED DESCRIPTION OF THE INVENTION [Technical Field of the Invention 1] The present invention particularly relates to a method and apparatus for supplying a workpiece to a processing robot.

[Technical front wheel of the invention and (Problem 1) Normally, the supply robot 1-a that supplies the workpiece to the processing machine is
3. If so, do you teach in advance, for example, according to the series of movements of (after) HoJru■-Cj'r? 1, operating l, ゛1 (51
The workpiece is fed to the processing machine according to the teaching operation.

■ Grip the workpiece from the t-field of the workpiece (hereinafter referred to as "workpiece") and perform machining 1-1i! ! )t ``C' I will send it.

■ The transported workpiece is applied to the back gauge of the machine, etc., and placed in the specified processing device.

■ Transport the machined piece to a predetermined unloading position and release the grip on the workpiece.

By the way, in machining J3, workpiece addition I II;'
The positioning accuracy at i has a significant influence on the product accuracy due to addition T. For this reason, in order to completely make positioning adjustments such as abutting the workpiece against the back gauge, it is necessary to perform teaching 4 for soak installation accurately and completely, which results in a time-consuming process for buoyancy. , a large amount of [Ii' is left in between.

In addition, even if the evening is perfect, the workpiece may be supplied at a position 1η out of the taught position due to other factors such as variations in the dimensions of the workpiece itself or the proximity of the workpiece to the workpiece storage area. There is a possibility that the accuracy will be affected.

[Objective J3 and Summary of the Invention] This invention has been developed in view of the above, and its main purpose is to provide a method for positioning the supply of workpieces in two directions: 7. Easily follow detailed instructions to help you master the positioning process. :Providing workpiece supply method J5 and equipment! It's about doing.

In order to achieve the above object, the present invention detects the position of the workpiece entering the processing machine by recording the position detecting means, and the workpiece feeding means is taught in advance. Addition of
(The above (C4
'ii When it is detected that there is a positional deviation from the beginning of U, the supplying means is controlled in accordance with the suspension. NiJ,
Then, adjust the position of the workpiece to the predetermined application position iF.
J is 4 days.

In addition, in order to achieve the above object, the present invention, as shown in FIG. Detecting the position of the two objects (1) Detecting the position of the two objects by applying the specified addition taught by P. 91. Processing of the object concerned)
Move to M, put out 1, r, 1, and i
1. The gist of this is that through the picture operation control means 7, the said Suiyoshi was scolded and the supply L stage 1 was re-driven. 1. The position of the liquid additive was corrected. 1. Embodiments of the Invention] The present invention will be described in detail below with reference to the drawings.

FIG. 2 shows an embodiment of the present invention in which a workpiece is fed into a bending machine.

In the same figure, 9 moves the workpiece W to the pre-taught machining position f
The supply constituting the supply means 1 that supplies jt [1 bot, 1,
．． 3 L, L, T43 As shown in figure 11
A plurality of (two in this embodiment (1) non-contact 11rJ) which are provided in the bank gauge 15 and constitute the position detection means 3.
: Mold displacement force 17a, 17b (V/1 energy, light, etc.) Based on the signal of force 1 etc., it is supplied according to the processing result described later, or according to a predetermined operation program. The supply port box 1 is controlled via the control means 7.
This is a microcomputer that drives and controls 9 to 9. NaJ
5. In Fig. 3 d3 and Figs. 5 and 6, which will be described later, (one point f1 embryo 11< is the bending line. J, ta,
The microcomputer has one C and j19 processing!
-f l: ROtv12 where 1 gram is stored 8 times
1. Temporary storage of data RΔM23, input/output capo-1~
25 @ Ij is 414 composition.

Next, the operation of this embodiment is shown in FIG.
The explanation will be based on the processing flowcharts 1/-1 to 1 of No. 19.

Mari, CP LJ 194. i, Before automatic reversal (co row/
'+: As shown in the following ■ to
It takes 4 people (Sfu-tsubu 100).

■ Supply the carry-in soak 〇Bottle-9 picks up the ISI and carries it to Pengu)'IS.

■ Hit the back gauge 15 (, positioning (j now,
.

■ Output bending signal.

■ Bending the workpiece.

6) Grasp the bent L workpiece and transport it at the 11f4 retract position J:.

When the i-eaching is completed, start the operation of the supply l] point 9 and proceed as described above! ,,:■～Φfu series σ〉movement i wo? "r'J wa B ru (suy-two, 1110・"
I50).

By the way, during this operation, the workpiece conveyed by the bolt 11 (supply 1-) is not sufficiently abutted against the bank gauge 15 due to an error in the dimensional accuracy of the workpiece. :In case 1. , L (stap 120), C
PU19 is a non-contact displacement sensor 17a.

Output from 171I (based on No. 8, the 0 required to completely strike the work) (stops the drive a3 of each joint of the feeding robot 9 and its drive bar 1 and supplies a command signal to the operation control means 7 -C Return to step 120, place 5
．． As shown in FIG. 19 is J1 contact type displacement lens 'j-1
7a, 171), it detects this and outputs a straight-line command signal to avoid moving the workpiece WA straight (step 180). , FIG. 6 (shows ji fJI+ < ,
If the CPU 19 is supplied in an inclined state with respect to the hack lever 15, the CPU 19 may be
a, based on the output cuff of 171+ (the work WB is the 6th
In order to rotate the arm 9a from the supply port box 1 to the arrow direction shown in the figure, a command is sent to the arm 9a (step 190).

[Effects of the Invention] According to the invention described above, means for detecting the position of the workpiece fed to the adding machine is provided (-), and adding I (iQ Whether the position of the workpiece supplied to
/J) When taught, there is a deviation of λ・1 from the specified position.
The small piece l- is driven to correct the position of the workpiece to the predetermined position. Now, even if the workpiece feeding instructions are insufficient, can the workpiece be fed perfectly? Compared to conventional devices, this makes it easier to teach and improves positioning accuracy.

[Brief explanation of drawings]

Fig. 1 shows a diagram of the Kley I
Figure 4 is a diagram of normal supply to the I-machine, Figure 4 is a diagram of the operation of Figure 2 - Nolobe 17-1~, Figure 55 J5 and Figure 6 are diagrams of abnormal supply due to workpiece addition. Note 1 of the figure indicates the part; 2) 1... Supply means 3... Position detection means 5... Correction hanging means 7... It' feeding operation control il + means 9. ... Supply port 11 ... Bending machine 13 ... Microphone 1-1
-'Input 1-ta 17... Non-contact displacement type patent applicant Kanaishi Co., Ltd. Figure 8 Figure 5 Figure 6

Claims (2)

[Claims] (1) A position detecting means is arranged in the position of the workpiece placed in the processing machine to detect the position 1i5T of the workpiece placed in the processing machine, and the workpiece is fed to a predetermined position taught by the liquid adding material supplying means. When the IC detects a positional deviation from the detection by the position detection means of the workpiece, the IC drives and controls the supplying means according to the deviation, and corrects the position of the workpiece. Characteristic method for supplying liquid-added V products. (2) Feeding the workpiece once to a predetermined machining position of Futatsuki as taught in advance) 1 (feeding means, position detection means for detecting the position of the fed workpiece From the detection signal, when it is detected that the workpiece is at the predetermined processing position -C ((7), the position of the workpiece is
A supply train 1'1 system i11 that drives and controls the supply means based on the detection signal, such as the correction amount n output means for ejecting the E year.
A supply device for J8 additives and one product.