JPS60236011A - Device for deciding shape of material - Google Patents

Abstract

PURPOSE:To elevate workability by deciding automatically the size and shape of various sorts of works fed to NC machine tools using a robot provided on NC machine tool and by feeding an accepted product only. CONSTITUTION:A work is held by a robot 2 which drives 4 each driving shaft of the robot 2 and a position is decided 14 by a position sensor 6 provided on the locus drawn by the center of a holding part. CPU10 has a unit vector row storing part 12 and size row inputting part 13 and outputs 13 the size row inputted from the outside part and the output of the storing part 12 and the combination is performed by a composing part 15 and the position is decided 14 with the input from the position sensor 6. A controlling signal generating part 16 outputs to the driving device 4 a controlling signal in order that the central part of the holding part of the robot is in a position corresponding to each motion factor vector only on the accepted product corresponding to these motion factor vectors. The size and shape of a work are thus automatically decided and by feeding an accepted product only, a working is rationalized.

Description

[Detailed description of the invention]

(Industrial Application Field) The present invention relates to a cumulative shape determining device that recognizes the shape of a workpiece to be installed on a machining table of a numerical III machine tool and determines whether the shape is acceptable or not before installation. (Prior Art) Conventionally, a robot has been used to automatically carry in two objects in addition to a number 1-1 control: I bamboo machine (hereinafter referred to as an NCIC machine). It is preferable that the workpiece carried into this N CIC machine be a regular A5 cutter.Before carrying it in, it should be measured by the XJ method using a dimension measuring device, and then judged to pass or fail. It was being transported to. -2- Therefore, it is necessary to measure the culm of the 11 objects to be added before delivery. 1.: It is necessary to sort the material of method 11 which is within the specified pass range for LL, Y' into the type fit.
+! There is one culm in each naruki (・f1・1−)(
I, :'s (- is 1) i's family efficiency is extremely sad. ('f1. revised+
u Jurul kb's (゛Yes, NG-16
Using 11 bots installed in the machine (NGI
l'l I The name of the name brought into the machine - 1 - of the object) 1
Automatically determine the shape and shape and select acceptable products.NO
The purpose is to automatically load it into the I'1 machine. (Structure of the Invention) The ffi1 diagram represents the concept of the present invention. The present invention is an additive 14411'! I'11/, 441
JI ts L! ',) l l IB bit 2, the moving trajectory of the [1 bot 2] (, addition - 1 object reaches a predetermined position! Detect this point.) 6. Drive each of the drive shafts of [1 and 2]
The drive shaft @4 is inputted with the I8 input from the IQ setting 6, and the drive amount of each drive shaft is controlled to the drive %A circle 4 (from the control device 110 that outputs the The control I
Separate fi 10 i,L corresponds to the motion element vector sequence constituting the motion locus of [-1 Bot 1-2, and each v
Follow the order of operation of the J sodium bicarbonate water vector.
) and store it in Iko111 (17 vector string storage unit 12 and 11J Haku13! search vector I. input the humanity column of the le column, le: memorize motion 1B! Hata vector The strength column of the motion element vector stored in the size column human force section 13, +VI &! The size column of the motion element vector stored in the human reaping horn section 13, and the file column stored in the I11 vector (・le column storage section 12) a synthesizing section 15 that synthesizes motion element vector sequences from vector] help, and a synthesizing section 81
Control ti11 (;+
l: J to y! ! 1-Zuru i, 11 Wholesale Shingetsu 11 Part 16, and the illll quality/I that determines the presence or absence of a human signal from the above-mentioned (j/fat lxnri 6)-4- 3゜The rope material shape determination request of the present invention, which is a shape determination corrosion consultation, is added to the human scale 1] and the 11th bot 2 and 11 bot 2 of Iζ brought into the work. Kaku 0 no 14 edict 4 that drives the drive shaft,
[Installed at the motion trajectory drawn by the center of the grip of one pot]
control KPM (N to A11), which detects the arrival position of the object. 'l
It consists of a vector sequence ~1 memory part 12, a magnitude sequence human force A1113, a synthesis part 1h, and a 1.1111I i divination part 10. 111th place Vector Tari Storage Department 12 is Robots 1
The motion trajectory of ~ can be broken down and the motion that can be <El! The intermediate vector corresponding to the ii index vector sequence!・Memorize the words. This I1
The order of the first-place vector I-file sequence (corresponds to the order of operation). 1
The part for inputting the human size of j (there is. Synthesizer 15
LL Ill lfl Betator+II Synthesizes the motion element vector 911 from the storage section 12 and the human cutting input section 13
'am Noh right J. The control A Δ output unit 16 corresponds to these motion ** vector sequences, and the center of the grip of 11 points]・-5- corresponds to each motion axis element vector I,:
Drive the control signal K11 to drive each drive shaft to the position
Output to 4. The drive device 4 rotates each drive shaft of the robot 2 and can control the robot by a predetermined amount. Here, the 1IIJ operation trajectory is defined as the operation trajectory of the center point of the gripping part for the robot. FIG. 7 is an explanatory diagram showing a method of providing a rounding motion element vector i-- for controlling the motion trajectory of the robot. Of these, Fig. 7 (aN, L, motion element vectors are given as displacement vectors (rO, rl, r2, etc.) between operating points (PO, Pl, P2, etc.). That is, ro-110DI, rl, -p1p2, r2=
It is p2p3. Here, the coordinates of pOlpl, 02, etc. are (
×0, yO120), (×1, yl, zl), (x2,
y2, z2). follow-

[Change(a) If we express the beta 1-le in coordinates, rO-(Xl-XOlyl-yo, Zl-
XO) rl= (x2-xl, V2-Vl, z2-z
l) E (x3- x2, V3- V2, z3-z2)
becomes. In the conventional control method, the coordinate component of the displacement vector is given, and based on it, the drive amount -6- of the drive shaft of the robot I~ is expressed, and then the J and I robots are controlled ( In this invention, the following intermediate vector sequence 'bIrλ 9゜■−
π/il −< llX0, uyo, 11
10) u2-r2/l r21=<1lX2,
uy2, 1+/2) My father, in response to Zon's middle-ranked heta 1 hell, gave IJ people a small 11. IP+1! 'l' N-vector Tari is in mobile-branch order and (
T, the locus of violent movement made up of 1 plague human being! Jλru. , subordinate) (, remember this ψ-position vector IJII IIt tree first book first lLji?-le separately)
．． 1 Mushroom 1.171 In order to learn L, it is possible to perform actions that are in a certain relationship, such as J, S, Satsuki Dohaku locus, etc. , FIG. 7 (It
l +, -11, 11-like I1 relationship. 181 et al., V.
Mokodo Hakukiki i) 0 to λ・1, the same clam person Kisa Yu 11!ノλ1. ：In case 1, 11 Bot 1- Machine I
Iλ point 1) Centered on 0, similar (N motion n locus 51 is I
! 4. Sentence, (r-breathing person string 4! I) λ Lebo, in the corresponding section C building block 1Ill'i where is the trajectory 11
．． 411-7- A similar locus 52 in a broad sense is (q). In this way, if the 1% I it vector 1 ~ le sequence corresponding to the -1 it motion locus is converted into a modicoll and stored,
By giving the character sequence 1), we can easily obtain a motion trajectory that has a certain correlation with the basic motion trajectory. Therefore, the number of fingers is small, and the control grid can be simplified and the memory 44M can be used effectively. As shown in FIG. 7(C), the position pect that points the coordinate origin 0 to the gutter is in this case b (111 of these < Cl vector l - 1, 4 initial trajectory ( For io, by ascending the character sequence of the locus of movement that shows a certain relationship (11
In addition, the motion iI! prime vector contains [When the drive breakdown of one drive shaft is expressed as a 0 contact command η, the motion of each drive shaft can be summed up with each component, which is 9 torque. 6 is good. Cylindrical coordinate system a-axis tal between λpo, r-axis, θ-axis, and !-axis
In the case of + (well, each axis's drive 11 + FA is the component -〇 - 63-dimensional helishi Le (-rJλ is 1, in this case km
b. As mentioned above, the sequence is 1 yen 1 ba 1 pa^
Standard system IJ, I; 1 to 111th position iQ position vector 1-Key column × is an epidemic I☆ vector It consists of the 11th place vector sequence &!Memory part 12 Dojin Kisa Sennin no I/II 1 :) and is a separate disaster, and the human character sequence human power part 13 according to the first v1 order, 1. To read the data 1. '. yo-) and along the predetermined llI locus-)l,: first 11 to 1
1<fl! <. be able to. [Examples] Hereinafter, the present invention will be described in detail in specific examples. *4, 4 A small configuration diagram of the machine line part of the shape determination device (1, 1
1 bot 2 has a body 21 and a shim 22 that rotates C relative to 21, and 1 rim 22 has a 1L] 1 point 23 is disposed 41C.No. Mukdo 1fn2
:Mekoha-1 lesson + luruno'- for the elastic confession against Dere
arm 24 is installed and arm 24 is gripped.
ll 2 1 solid bucket -9-. This 11-bolt-2 can rotate the -1-1822 in the direction of the h Kl angle Di. Also, -1 thin 2
2C,))-The holding table 23 can move in the 1-upward/axial direction. ×, arm 2 = 1 i
The grip part 25, which extends and contracts in the direction of the JR axis, also rotates with respect to the arm 24. Add-1 object J (0) Place m Renri 6 is set (j.
0 and fixed (taken at 1112) (-JLI) consists of a judgment temporary holding spring 41, a light emitting j1M'51, a light receiving element 52, etc. Length judgment number / I01 communication / 1.40 a, and the communication When the hole /1071 is in the predetermined position, the light emitted from the light emitting element 51 passes through the communication hole 40a and is received by the light receiving system element.Similarly, I)iu /'I number 41 in the moving locus l in the direction of h
, IlInri 6 is set up. This much dL? Similarly, 6 is treated as 1, 2, and fixed 45) 1 cut A, 1 mouth, 1 cut, 1 judgment, presser spring/I/I, (Y judgment device/13, light emitting element f53, and light receiving element 4 h) )Become. (￥ Judgment 4k
A communicating hole 43a is provided in 43 (in front; similarly to E, the light emitting element 153 emits light).
The light is received by the light receiving element 54 through a. Next, I will explain how the bot works on this day. First, the workpiece 30 is grasped and the workpiece 30 is moved to the dimension measurement origin. At this time, 31 method measurement II; .At this time, one end of the first object 30 1ffi 3Qa
comes into contact with the quality judgment plate 40, pushes it 1, and the communication hole 40a is set to the specified value (i'/F/3! J J+ +, r
, the light emitted by the light emitting element 51 is transmitted through the communication hole /IOa
The light passes through and is received by the light receiving element 52. Therefore, the light detected by the light receiving element 52 is inputted to the control device 4, and it is determined that the processing object: 30 is X1γ), and the measurement 11
d in the Z-axis direction from point 11 (one movement I!I), it is possible to determine that the blood transfusion 30a has reached the correct position. That is, after moving a predetermined distance IJ, If light is detected from the quaternary Mizuko!j2, it can be determined that the additive 143(11,1 has a predetermined quality.
+1-11-) If no detection signal indicating movement is obtained, the quality of the workpiece 30 is whether it is shorter or longer than a predetermined dimension. To measure the diameter of the workpiece 30, the ram 22 is rotated in the θ direction from the dimension measurement origin, and the object 30 is rotated in the θ direction.
It's time to move. When rotated by a predetermined mβ, the side surface 30b of the workpiece 30 comes into contact with the diameter determination plate 43, the communication hole 43a moves to a predetermined position, and the light receiving element 54 receives light from the light emitting element 53. When this signal is detected, it can be determined that the cough-processed object 30 (, L) has a predetermined diameter. The configuration is shown in Figure 1-1 and Figure I7. 1) In the NO system, host]
is N C,=+runt 1-ra 62 as necessary.
Send data. N(,1n1~Roller 62 is NG'
When the drive shaft of the machine 64 is controlled, the workpiece 30 is transferred to the control device t'l 10 (also referred to as controller) and the workpiece 30 of the machine tool 64 is
Transfer to the stand -12- Output the i and II control data for printing. fljl
The all device 10 drives a predetermined button 2 based on the gram and data, determines the shape of the object 30, and determines whether the object is defective based on the determination result. Next, the operation of the hydrogen moon shape determination SAI will be explained together with the operation of the phos i/=1 nbulator. Figure number, Luli Il+ device (
11 bot control [1-ra) processing ()
11-1-. At step 100 A hn 1-
The NG program for the object is sent from the host=1 pump coater 60 to the NC roller 62. The NG program describes the external dimensions of A that are necessary to add 1J to the △+2F object. For example, if it is a cylindrical object, the length in the axial direction and the straightness (\) are written.Next, in step 102,
Upon receiving the instruction to execute the 010 gram, the N O] controller 62 controls the control device d10. The control device 1110 stores a predetermined A-13- vector vector string storage unit 12 in the Il1 vector sequence storage unit 12. FIG. 8 shows the operation lines. 1
The 11th place herittle sequence is defined as follows. Robot 1-'s mechanical origin is 01 judicial measurement origin is Q, add]-
Grip an object A1/neck [)1, add]] The object is a length judgment plate 40
The position detected by the light-receiving element 52 is P2, and the position detected by the light-receiving element 54 is P3, NC.
Set the workpiece on the processing table of the IC machine (1/set [)]
4. Arrange defective T objects (place W in P5. Gtqp3, u6Ltp3q, u7i, LQD4
, ua+, tp4o, ff+, iqp-vector 1~. Furthermore, the magnitudes of these motion element vectors are respectively A1. A2, . . . A10. The columns u1 to u10 for these unit patterns are stored as vector peaks in which the driving thoughts of each movement axis of n boxes necessary to perform the movement of the unit patterns 1 to 1 are expressed as coordinate components. has been done. In this motion path, regardless of the type of workpiece, the vector magnitudes A1, -14-A2, A7, A8, A9, and A10 are fixed (), and only the humanities A3, A4, Δt3, and A6 are fixed. In addition, it is made variable depending on the scale of the object.However, depending on the motion path taken, it is possible to vary the magnitude of the vector.Therefore, in this embodiment, In order to measure the length and IY of the object, only the amount of movement from point 0 is calculated by the frequency.Step 200: N (E-l
A3, A4, A5, and A6 are determined according to the 1 method. 1 In this embodiment, as shown in FIG.
It is an 11th-order vector, (1; 1, ll G IJ i
l1 place 1] The position angle is l-J rotated and the arc vector at k is taken as I. position) (, A3, A4 are /direction movement amount + l'
C exists, Δt), A6 moves in the direction of θI, and βC′ exists. A3 determined based on these input data,
A4, 85), 86, and A1, A2 that are specified.
, A7, A8, A9, A10, etc., II
I If/Vector 1~L sequence 111・~uH) (!Synthesize-
15- The C1 action vector sequence is synthesized. These motion vector sequences are converted into the drive amount of each drive shaft of the robot. In step 202, [ ] the gripping part of the bot is
1.It's the number one action! Move to the PI point, add
Grip an object 30. In the next step 204, move the gripping part of 1 pot 1 to A2 (J operation U (~11 method) to measurement source 0.Next, in step 206, move the gripping part to A2.
3. (It is 13 (operation 14', F)) It moves to two points.Next, at the slurry 7208, a signal is detected from the light receiving element 52. is determined to be a predetermined length, and in step 210 the ζ1 method measurement origin Q
Return to. Next, in step 212'c', the robot moves in the direction of the azimuth angle θ for a predetermined distance Δ5·u5 and moves to 1) three points. Now, in step 214, the light receiving element f is set from 54 to W.
When the ``initial knee'' is detected, it is determined that the diameter 1 of the object 30 is a predetermined diameter, and in step 216, the gripping portion is moved to the △6 IJ operation 1 method measurement origin. Return. Next, in step 218, grip 1\11 is driven by A7.07 and moved to point P4 on processing table 1 of the NCI machine tool 1! , transfer the workpiece to the NCI machine. Next, in step 220, 1) return the gripping part from the 4 points to the machine origin 0;
In step 2, the normal completion information is output to the small stroke coater, and one brush cutting measurement routine is completed! Jru. Step 208 'r 11/Iff 1. If i ii is if/', the workpiece has a predetermined value γ
), hold the grip part A7 immediately.
1・(14, A9・u'J continuous C drive, point 1-)5
Move to (μ, unmatched road side - 1 object is placed. Next, return to machine origin 0. 3. In step 214, if position I:! is not set 1) add 1 object J'IO. If the diameter is within a predetermined range Cr1 (ino (same as ゛, j-, i++)) = error processing is performed fj<z. Then, slap 2
At 34, information regarding the abnormality is transmitted to the boss combination coater. - The <l method measurement process is performed as described in /, :Ik'+, and in the small storage computer, the pass/fail judgment of step 10 /I (゛, addition) is made. In case of failure, the step In step 1114, the rejected product is processed (line 1) and passed (
- In some cases, the following 13+1-object processing is performed. Swipe '11- from step 106
17 -10 (, 1, 13 This is a cutting measurement routine for cutting objects. In the case of +371111 objects, △ processing objects are different values of 0, L, A3, A4, A5, A6 (J Even if the brush cutting is different in this way, the same path will be processed when processing the △ workpiece without reprogramming the operation order and direction. The process of measuring a processed object using one method is carried out by one method. In such one method measurement, regardless of the type of workpiece, the order and direction of movement of the 1-1 pot are common and the same. The difference lies in the amount of motion movement.Therefore, this system 10 stores the 11th vector string storage unit 12 that stores information on the motion order and motion direction. In this single i o vector sequence [)
The data in the storage unit 12 is engraved on various types of processed articles and converted into oil. FIG. 6 shows an example of the shape of another piece of wood. As shown in Fig. 6(a), the combination U of the circular hand-shaped objects
, even if it is eccentric, its outer diameter and diameter (respectively the length and axial length can be measured with a Junior high school 11
．． ＼Circle (1-shaped center hole A + J 6b (・A) (
(J, t for such \1 method measurement)
'll always have two or two. (91 Song Dynasty of Invention) 1, A11IIfJJ, it, 1. ni' lI
+Il all 'A v:11. , *jl l'l
(1) As long as the data of the person has been updated, f
It is possible to combine the vectors (゛sa, f Ishi1. two),【·
S (it points each drive 11 + axis to drive IJ + Rirl,
- It is possible to ffe'l (Ii) the second driving fi'il.
111 'l-For the crystal of the object (Φfu, pass 11 of the additive of f. −,'. ,!,: lj J, S19i fixed u> y=mendai, 1
,) /-IFJl 1'l 4s1+Bot I-LL
11 If it is (゛sadon,, (,Y)(,It
Bo Soto It, II Rei 11 Ren 11'li is wishing for a memory combination... 1 ← + U ＜Use it. 4. Translation of drawings 1
Gushim (゛Aru 3, Figure 2 it 4\Concrete I of Light 1)
Book related to Act #14+A 115th issue of fixed-sized mechanical section 5) Small size (14 construction drawings - 1 (゛), ff13 is the Ml using the same example device
The entire connection relationship of 'l is small rib block die no. 11
3, Figure 14 shows the details of the small pump 2-ta used in the same embodiment.
Figure 1. L Qllll all 菰-1's Senpaku explained]
n −7I・−t−. [Figure 5 is a small perspective view of the shape of another object to be added, and Figure 7 is a small explanatory diagram of the method of applying the shape of the object. FIG. 8 is an explanatory diagram ζ゛ for explaining the operating cost of the device of this embodiment. ...Beau f 22...
1''/l, 23...Arm holding base 24...)'-mu 25)...Gripping part!i'1, 4), i...Luminous water r1]2,;)4. ...Light receiving cable 40...1〈Sa711 Fixed plate 43...(¥ Judgment 1 + 30...1 object -20- Fig. 1 □ Ray -,, -, J Fig. 2 Fig. 3 Illustration ■ 31 helmets

Claims (1)

[Claims] (1) A 1-1 bot that grips and moves the workpiece,
In the motion trajectory of the robot, the robot 1 detects that the object has moved to a predetermined position at the same speed.
It consists of a drive device that drives each drive shaft of ~, and a control device that inputs the signal from the sensor and outputs a signal that controls the drive amount of each drive shaft to the M recording device, The control device adds the 111th vector sequence in which the 11th vector of the driving 4 element vector of 1] is stored in the 61st vector sequence constituting the movement locus of the bot in the order of the movements. ! 1m section, the size column of the motion element vector column is manually entered and stored in the motion vector column input section and the size insertion section I: 1lJl'i= a combining unit that combines the size sequence of the cost accumulation vector, the ti-order vectors 1 to 1 stored in the 111th-order vector sequence storage unit, and the /) r t et al. operation 61 vector-1- sequence; Generate control signals for driving each of the drive shafts according to the motion 61 vector sequence synthesized by -5
1'a A lunar shape determination narrow unit characterized by comprising a ToIJ control signal generation section and a determination section for determining the presence or absence of an input signal from the sensor.