JPS6096364A - Robot for gas cutting - Google Patents

Abstract

PURPOSE:To enable ejection of cut parts and to make teaching operation simple by equipping a robot for two- or three-dimensional positioning provided with a torch for gas cutting to a master robot for three-dimensional positioning provided with an electromagnet. CONSTITUTION:A robot R for gas cutting supports a slave robot for three-dimensional positioning having three degrees of freedom alpha1-alpha3 to a movable member, for example, a rotating body 6, of a master robot for three-dimensional positioning having four degrees of freedom, i.e., control axis X, beta1, beta2, Z. The master and slave robots are provided respectively with electromagnets MG and torches T for gas cutting as an end effector. The above-described degrees of freedom are controlled by a control device CB. A work W can be cut by the torch T of the slave robot and the cut part Wi can be taken out and ejected by the electromagnet MG of the master robot. The need for a separate crane as in the prior art is thus eliminated and if the master robot is positioned to the cutting position, the cutting is accomplished by the slave robot. Teaching is extremely simple in the stage of cutting the same parts.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a gas cutting robot that allows gas cutting parts to be easily transported to the next process.

Conventionally, there are various robots capable of two-dimensional or three-dimensional positioning that are equipped with gas cutting torches. When this robot is used to cut a desired shape of a part from a workpiece (plate material) into a hollow shape, it is extremely troublesome to take out the cut part from the workpiece. Particularly when the weight of the part is large, it is generally necessary to use a separate crane or the like to pick up and carry out the part, and the entire device becomes dependent on the equipment. Furthermore, multiple identical parts are often cut from a single plate, and conventional robots have to be taught all the cutting trajectories of those parts, which is extremely troublesome. Furthermore, if the area of the plate is approximately the same, the movable range of the cutting torch must be approximately the same, which poses a problem in the positioning accuracy of the robot.

This invention was made in view of the above-mentioned circumstances, and it is possible to carry out cut parts, simplify the teaching work, and furthermore, use gas that allows for good positioning accuracy even if the movable range of the cutting torch is large. The present invention aims to provide a cutting robot, and examples thereof will be described in detail below.

Reference numeral 1 denotes a horizontal guide, and the guide 1 supports a movable table 2, whose position in the X direction is forced by a hydraulic motor m.

The plate 83 is a horizontal first arm that is vertically supported on the movable table 2, and is forced to have a turning angle β1 by a hydraulic motor M1.

4 is a horizontal second arm that is vertically supported at the tip of the arm 3, and is forced to have a turning angle β2 by a hydraulic motor M2.

5 is a vertical arm supported at the tip of arm 4, and a hydraulic motor M
3 forces the Z direction position.

MG is an electromagnet attached to the lower end of the arm 5.

Reference numeral 6 denotes a rotating body coaxially supported with the arm 5 at the tip of the arm 4, and the rotation angle α is controlled by an electric motor M4 (not shown).
1 is forced.

Reference numeral 7 denotes a vertically rotating first arm that is horizontally pivoted 7a on the rotating body 6, and is forced to have an elevation angle α2 by an electric motor M5.

8 is a vertically rotating second arm that is horizontally pivoted 8a at the tip of the arm 7, and is forced to have an elevation angle α3 by an electric motor M6.

9 is a gas cutting torch T with a horizontal shaft support 9a at the tip of the arm 8
It is a holder.

10 is the torch T regardless of the elevation angle of arm 7 or 8.
This is a known transmission mechanism for forcing the posture of the vehicle into a constant posture (approximately vertical posture). This embodiment mechanism 10 has a shaft 7a
Sprocket (sprocket) 10 provided integrally with arm 7 on the same axis as
a, and two integrated sprockets (10b, 10c) provided on the arms 7 and 8 so as to be freely rotatable on the same axis as the shaft 8a.
and a sprocket 10d coaxially and integrally provided with the shaft 9a.
, an endless chain 10e wound between sprockets 10a and 10b, and an endless chain 10f wound between sprockets 10c and 10a.

As described above, this embodiment robot)R has control axes X, βl
In the middle of the parent robot (β-based robot) for 3-dimensional positioning, which has 4 degrees of freedom: , β2, and Z, there is a sub-port for 3-dimensional positioning (α-based robot), which has 3 degrees of freedom: αJ to α3.
It is based on the support of

It is assumed that each degree of freedom of the robot R is controlled by conventionally known means (for example, a microcomputer) and by a known playbank system.

C1 is a horizontal conveyor (roller conveyor in the example) for conveying the workpiece (plate material 5) W, whose conveyance direction is the same as the X axis.
In the embodiment, it is arranged near the bottom of the guide 1.

Reference numeral 11 denotes a work stopper which is horizontally supported by a shaft 11a in the middle of the conveyor CI and is rotatable above the conveyor C1 by a hydraulic actuator Ilb. This stopper 11 is in contact with the conveyor C1 at its lower end rotation position and can stop the workpiece W being conveyed by the conveyor C1, and conversely, at its upper end rotational position, it is set to allow the workpiece W to pass through. has been done.

12U is a lid located below the conveyor C1 and closer to the carry-in side than the stopper 11. The lifter 12 can be raised and lowered by a pantograph-shaped link 12b rotated by a hydraulic actuator 12a.

A large number of tapered work support rods 12C are installed on the upper surface of the lifter 12. These support rods 12C are configured to be able to move in and out between the rollers of the conveyor C1 as the lifter 12 moves up and down.

This is a conveyor for carrying out cut parts (Wl, W2, W3,...Wi) placed within the movable range of Robot (Company 0, Robot) H.

CB is a control device, and inside thereof, a β-system robot control means (computer) COβ including a CPUβ and a memory, and an α-system robot control means (computer) COα including a CPUα and a memory are provided. There is.

The pass line BLβ of the computer COβ includes a teaching box TBβ, an X-axis servo system Sx, a β1-axis servo system Sβ1, a β2-axis servo system Sβ2, a Z-axis servo system Szs conveyors C1, C2, a stopper 11, and a lifter 12. , electromagnet MG are connected.

In addition, a teaching box TBα and a gas controller GC1αl are connected to the pass line BLα of the computer COα.
An axis servo system Sα1, an α2-axis servo system Sa2, and an α3-axis servo system Sα3 are connected.

Furthermore, both computers COβ and COα are connected via a known interface.

Furthermore, the operation of this embodiment will be described.

Now, for example, from one work W to a disk part A7 of the same diameter. Assume that 8 sheets (Wl to Ws) are cut.

First, operate the teaching box TBα to program a cutting pattern for cutting one part Wi with the α-based robot, that is, move the α-based robot from the origin position relative to the arm 4 to the upper surface position of the workpiece W, and create a circle with a predetermined radius. A series of programs for moving and cutting and then returning to the original position are stored in advance in the memory of the computer COα.

The stopper 11 is now in contact with the conveyor C2, that is, in a position where the work W can collide with it, and the lifter 12
is in the lowered position, and the support rod 12c is in the retracted position from the upper surface of the conveyor C1.

Therefore, the conveyor C1 is driven to convey the workpiece W in the direction of the arrow shown in the first figure. At this time, it is assumed that the horizontal position of the workpiece W is approximately determined in advance. Then, the front end of the workpiece W finally collides with the stopper 11, the conveyor CI is stopped, and the longitudinal position of the workpiece W is determined.

Next, the lifter 12 is raised, and the workpiece W is lifted by the support rod 12c as shown in FIG.

The following description will be made based on the flowchart shown in FIG.

(a) In step S1, set the control to (i=1). (b) In step S2, control is set to the β-system robot, and the β-system robot positions and controls the electromagnet MG to point Pi.

(c) In step S3, the electromagnet MG is turned on and excited to attract the workpiece W.

) In step S4, control is switched from the β-system robot to the α-system robot.

(e) In step S5, a series of programs in which cutting patterns are stored in the α-based robot described above is called.

(v) In step S6, the called program is executed. As a result, the workpiece W is cut and a disk is formed.

(g) In step S7, control is switched from the α-system robot to the β-system robot.

9 (g) In step S8, by controlling the position of the electromagnet MG of the β-based robot at one point on the conveyor C2, the cut part Wi is taken out from the workpiece W, and the electromagnet M
G is turned OFF, that is, the excitation is canceled, and the parts Wi taken out are
is placed on conveyor C2. Then, the part Wi is conveyed to the next process by the conveyor C2. In step S9, it is determined whether (i=8) has been reached. In other words, whether eight parts Wi have been cut, taken out, and conveyed. Determine.

(nu) If i lol 8), then in step SIO (i
= i+1), and the above-mentioned steps starting from step 82 are repeated.

If (i=8), the stopper 11 is rotated upward to allow the workpiece W to pass by the conveyor C1. Furthermore, lower the beam lid 12 and drive A C1.
The workpiece W that is no longer needed is carried outside.

Ya 10 As described above, this robot) R cuts the part Wi from the workpiece W and transfers the cut part Wi to the workpiece W.
It can be taken out and transported.

The above description is just an example; for example, the β-system robot and the α-system robot may have a rectangular coordinate system or a cylindrical coordinate system. Further, the α-based robot may be installed on the arm 3 or the arm 5, for example. Furthermore, when an α-based robot is installed on the end movable member (for example, arm 5) of a β-based robot,
The α-based robot may be a two-dimensional robot that can be positioned within a horizontal plane. It goes without saying that the technical scope of the present invention also includes the replacement of each component with equivalents.

As described above, in this invention, an electromagnet MG is provided in a parent robot that is positioned in three dimensions, a child robot that can be positioned at least within a horizontal plane is installed on any of the movable members of this parent robot, and this child robot is used for cutting. Since the torch T is provided, the child robot can cut the workpiece W, and the parent robot can take out the cut parts Wi from the workpiece W and carry it out. Therefore, there is no need for a crane separate from the cutting robot as in the past, and the entire device can be made smaller. Furthermore, if the parent robot is positioned at the cutting position, the workpiece W can be cut by the child robot, and the child robot only needs to execute a pre-stored cutting pattern program, so multiple identical parts Wi can be cut from one workpiece W. Teaching becomes extremely easy when cutting. Furthermore, after the child robot is moved to a predetermined position by the parent robot, the position is controlled and the workpiece W is
Since the position of the child robot is controlled relative to the parent robot, the positioning accuracy of the torch T is good even if the area of the workpiece W is large and the movable range of the torch T is a dog.

[Brief explanation of drawings]

Each of the figures shows an embodiment of the present invention, in which Fig. 1 is an overall perspective view, Fig. 2 is an explanatory diagram of a transmission mechanism for maintaining a constant posture of a gas cutting torch, and Fig. 3 is a block diagram of a control device. FIG. 4 is a flowchart. In the figure, R... gas cutting robot, 2... moving table, 3... horizontal first arm, 4... horizontal second arm, 5...
Vertical arm, MG...Electromagnet, 6. Rotating body, 7... Vertical rotating first arm, 8... Vertical rotating second arm, 9... Holder,
T... Gas cutting torch, CB/control device. Applicant ShinMaywa Industries Co., Ltd.

Claims (1)

[Claims] An electromagnet is provided as an end effector of the parent robot for three-dimensional positioning, and a child robot for two-dimensional or three-dimensional positioning that can be positioned at least in a horizontal plane is installed on any of the movable members of the parent robot, and the child robot is A gas cutting robot equipped with a gas cutting torch as an end effector.