JPS6254563A - Control mechanism for robot - Google Patents

Abstract

PURPOSE:To avert the interference between a die casting machine and robot device and to assure a safe operation by providing sensors which detect respective positions of movable parts of the robot device to said movable parts and feeding the signals from the sensors directly to a mechanism for driving a die casting machine. CONSTITUTION:The robot device 20 is provided with a turnable body part and the sensors for detecting the respective displacements of a pair of the oscillatable arms to said arms. A signal 9a is transmitted to a robot controller 4a and the device 20 ejects a molded article when the die casting machine 12a spaces metallic molds under the effect of a die casting machine controller. The direct signals 60 from the sensors are simultaneously transmitted together with the signal 8a from the controller 4a to the controller 10a when the device 20 resets to the home position. The die casting machine 12a starts die clamping by the signal 14a from the controller 10a. The interference between the die casting machine and the robot device is thereby averted and the safe operation is assured.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a control mechanism for a robot, and more particularly, the present invention relates to a robot control mechanism for a robot, and more specifically, for example, a robot control mechanism for conveying a molded product molded by Juzo in a die-casting process, or By detecting the relative positional relationship between the die-casting machine and the Nuriichigawa Roposo device that applies the agent, and sending the signal directly to the die-casting machine drive mechanism, interference between the die-casting machine and the robot device can be effectively prevented. The present invention relates to a control mechanism for a robot that enables a highly automated die-casting process that can be avoided and operated safely.

In general, when casting large quantities of workpieces, die casting is commonly used due to its advantages such as being able to form molded products with excellent casting surfaces and high dimensional accuracy in a short time. In the die-casting process, robot devices are used for various operations in order to further improve the efficiency of the operations. For example, a transport robot device that removes a cast molded product from a mold and transports it to the next process such as a trimming device, and a coating robot device that applies a predetermined mold release agent to the mold are good examples. Let's say.

Therefore, conventionally, in order to drive such a robot device and a die-casting machine in conjunction with each other, drive control as shown in FIG. 1 has been performed.

That is, the robot device 2 is driven by a robot controller 4, and the robot device 2 performs a predetermined operation via a signal 6 from the robot controller 4.

When the robot device 2 completes a predetermined operation, a signal 7 is transmitted to the robot controller 1-roller 4 by a sensor or the like. Furthermore, the information is supplied to the die casting machine controller 10 as a signal 8 from the robot controller 4. On the other hand, the mold clamping operation of the die casting machine 12 is performed by the signal 14 from the die casting machine controller 10, and after the predetermined molded product is cast by the die casting 12, the mold releasing operation of the die casting machine 12 is performed. , the information G is transmitted to the robot controller 4 via signals 15 and 9. Therefore, in response to the signal 6 from the robot controller 4, the robot device 2 performs operations such as taking out the molded product or applying a mold release agent.

In this way, the robot device 2 is driven by the robot controller 4, and its signal 8 is transmitted to the die-casting machine controller 10, while the signal 9 indicating that the die-casting machine 12 has been driven by the die-casting machine controller 10 is transmitted to the robot controller 4. 4 can be conveyed. The robot device 2 and the die caster 812 are configured to perform the next operation based on the respective signals 6 and 14.

However, in the above-mentioned conventional technology, the robot device and the die-casting machine are driven in a related manner by driving and controlling the robot device and the die-casting machine by respective controllers and transmitting respective signals to other controllers. .

Therefore, if the signals are not properly transmitted to each controller, there is a risk of an accident such as a collision between the robot device and the die casting a. In addition, when the robot device is operated manually, or when the power source is not connected to the robot device, the signal is not transmitted to the die-casting machine controller, making it impossible to control the drive of the die-casting machine. arise.

The present invention has been made in order to overcome the above-mentioned disadvantages, and the movable parts of the robot device are provided with sensors for detecting respective displacement positions, and signals are directly sent from the sensors to the controller of the die-casting machine. By doing so, the relative positional relationship between the robot device and the die-casting machine can be easily detected, and interference between the robot device and the die-casting machine can be prevented, allowing safe operation and making it extremely easy to automate. The purpose is to provide a robot control mechanism with

In order to achieve the above object, the present invention provides a robot device for die-casting molding work, in which the robot device is disposed close to the die-casting machine, and the robot device has a plurality of units for detecting the displacement of its movable part. The present invention is characterized in that a plurality of sensors are provided, and signals from the sensors are directly sent to a die-casting machine drive mechanism to drive and control the die-casting machine and the robot device.

Next, preferred embodiments of the robot control mechanism according to the present invention will be described in detail with reference to the accompanying drawings.

In this embodiment, a robot control mechanism according to the present invention is provided in a transfer robot device that carries out a molded product from a die-casting machine.

Therefore, in FIG. 2, reference numeral 20 indicates a robot device for transporting molded products. A sensor, for example, a first limit switch 22, is fixed at a predetermined position on the base 21 constituting the robot device 20. Then, the main body part 24 of the robot is rotatably mounted on this base 21.

A cylindrical part 26 constituting the lower part of the main body part 24 is formed with a projection part 28 that goes around the cylindrical part 26 and projects to the outside.
The protrusion 28 is provided with a notch 30 having a predetermined length H. In this case, while the main body 24 is rotating, the protrusion 2
8 turns on the first limit switch 22, while the notch 30 turns off the first limit switch 22. Further, support parts 32a and 32b are provided on one side of the main body part 24, and each support part 32a
, 32b are swingably mounted with rack members 34a, 34b, and a second limit switch 36 and a third limit switch 38 are engaged with the rack members 34a, 34b at predetermined height positions. .

By the way, a first arm 42 is swingably attached to the upper part of the main body part 24 via a shaft 40. the first arm 42
is configured to be able to swing around a shaft 40 under the action of a drive source (not shown), and is provided with a protrusion 44 on the lower side thereof. A pinion 45 that engages with the rank member 34a is attached to the protrusion 44, and a pin member 46 that engages with the second limit switch 36 is provided (see FIG. 4a).
.

Furthermore, a second arm is connected to the upper part of the first arm 42 via a shaft 47.
The arm 48 is swingably mounted. Said second arm 4
Reference numeral 8 swings about a shaft 47 as a fulcrum under the action of a drive source (not shown), and a protrusion 50 is provided at one end of the second arm 48 . A rank member 34 is attached to the protrusion 50.
A pinion 51 that meshes with b is mounted, and a pinion 51 that engages with the third limit switch 38 is attached to the end of this protrusion 50.
2 should stick out (see Figure 4). On the other hand, the other end of the second arm 48 is equipped with, for example, a hand portion 53 for gripping a molded product (not shown).

In addition, in FIGS. 4a and 4b, reference numerals 49a and 4
9b indicates a coil spring, and the rack members 34a, 34b are connected under the action of the coil springs 49a, 49b, respectively.
can mesh with pinion 45.51.

Therefore, as shown in FIG. 5, limit switch 22.
Signals 60 from 36 and 38 are directly sent to the die-casting machine controller 10a, and the control circuit in the die-casting machine controller 10a is basically constructed as shown in FIG. That is, the signal line a connected to the die casting machine controller 10a
, , az includes a limit switch 62 that is turned on when the movable mold 54b constituting the die casting (i12a) is released from the fixed mold 54a and placed at a predetermined position.
and coil C1 are connected in series. Furthermore, the first limit switch 22 and the coil C are connected to this signal line alsaZ.
2) Second limit switch 36 and coil C3 and third
Limit switch 38 and coil C4 are each connected in series. Break contacts B, , B, break contacts B3, B4 connected in parallel, and coil C2 are connected between signal lines a, , az. In this case, the coils CI to C4 correspond to the break contacts B1 to B4. Further, a break contact B5 corresponding to the coil C6 is provided in the emergency stop signal circuit.

The transport robot device including the robot control mechanism according to the present invention is basically configured as described above, and its operation and effects will be explained next.

First, the robot device 20 is placed at predetermined positions of the fixed mold 54a and the movable mold 54b that constitute the die-casting machine 12a.

In this case, the length H of the notch 30 of the main body 24 is selected in advance in accordance with the respective molds 54a and 54b. That is, as shown in FIG. 3, when the main body part 24 rotates and the end of the protrusion 28 turns on the first limit switch 22, the hand part 53 moves without interfering with the molds 54a and 54b. The length H of the notch 30 is determined in advance so that they are well spaced apart.

Further, the height positions of the limit switches 36 and 38 are adjusted respectively. That is, as shown in FIG. 4a, when the first arm 42 swings by a predetermined angle, the protrusion 44
The pin member 46 of the protrusion 50 turns on the second limit switch 36, and as shown in FIG. ON works. When both the second limit switch 36 and the third limit switch 38 are turned on, the hand section 53 is prevented from interfering with the molds 54a, 54b, etc. even if the hand section 53 performs a swinging operation or the like. each limit switch 3
6. Select the height position of 38.

Next, the robot device 20 and die casting machine 12a
The drive control will be explained with reference to FIG.

First, the signal 14 from the die casting machine controller 10a
The molds 54a and 5 that constitute the die casting machine 12a are
After the molds 4b are clamped, a predetermined molded product is molded in each of the molds 54a and 54b. Next, after a predetermined period of time has elapsed, if the movable mold 54b is separated from the fixed mold 54a by a predetermined distance under the action of the die-casting machine controller 10a,
This signal 9a is transmitted to the robot controller 4a. Therefore, the signal 6 from the robot controller 4a
a is transmitted to the robot device 2a, for example, the main body 2
4. Drive each of the arms 42, 48 and the hand portion 53 to cause the hand portion 53 to grip a molded product (not shown). Further, after the molded product is transported to the next process, such as a trimming device, if the arms 42, 48 and hand portion 53 of the robot device 2a are placed on standby at predetermined positions, the robot controller 4a can Minute 8a is forcefully transmitted to the die-casting machine controller IQa, and
Signals 60 from Nori Misoto Sui/chi 22.36 and 38 are directly transmitted to the die casting machine controller lOa.
can be conveyed to. And die casting machine controller 10
A signal 14a is sent from a to the die casting machine 12a, the movable mold 54b is moved close to the fixed mold 54a and the mold is clamped, and then, as described above, the casting operation of a molded product (not shown) is performed.

By the way, the respective limit switches 22, 36 and 3
The control operations of the robot device 20 and the die-casting machine 12a in the ON and OFF operations of 8 will be described below.

As shown in FIG. 6, when current flows through the coil C5, the break contact B is opened and the robot device 20 and the die-casting machine 12a come to an emergency stop. Therefore, when the die-casting machine 12a is in the demolding state (the limit switch 62 is turned on), current flows through the coil C4, so the break contact B+ is opened and the coil C5 is not energized.

That is, break contact B is not opened and no emergency stop operation is performed. Therefore, the robot device 20 can be driven to take out a molded product (not shown). On the other hand, if the first limit switch 22 is turned ON while the die casting machine 12a is in the mold clamping state (the limit switch 62 is turned OFF), no current flows through the coil C5, and the second limit switch 36 and the third limit switch 36 are turned OFF. It becomes possible to turn on and off the limit switch 38. That is, no matter what positional relationship the respective arms 42, 48 have, the hand portion 53 is suitably spaced apart from the die-casting machine 12a.
There is no interference between the hand portion 53 and the hand portion 53. Furthermore,
When the die casting machine 12a is in the mold clamping state, if the first limit switch 22 is turned OFF and the second limit switch 36 and third limit switch 38 are turned ON, the coil C5 is not energized. That is, as shown in FIG. 2, the hand section 53 is located above the respective molds 54a, 54b, and even if the hand section 53 is oscillated, it will not interfere with the molds 54a, 54b, etc. This is because there is no.

By the way, when the die casting machine 12a is clamped, the first limit switch 22 is turned off, and the second and third limit switches are turned off.
If at least one of the limit switches 36 and 38 is turned off, the hand portion 53 moves the mold 54a,
54b etc., and for this reason, the coil C
5, the die-casting machine 12a and the robot device 20 are brought to an emergency stop. In this case, as shown in FIG. 5, since the signal 60 is directly sent from the robot device 20 to the die-casting machine controller 10a, the die-casting machine controller 10a immediately sends the signal 60 to the die-casting machine 12.
a and the robot device 20 can be commanded to stop. Therefore, the robot throat device 20 and the die casting 11
There is no way to avoid interference with 2a and cause an accident.

As described above, according to the present invention, sensors for detecting the respective positions are provided in the main body or movable parts such as arms constituting the robot device, and signals from the sensors are directly supplied to the die-casting machine controller. There is. Therefore, the relative positional relationship between the robot device and the die-casting machine can be accurately and reliably grasped, and changes in the state of the robot device can be quickly responded to. Therefore, it is possible to prevent interference between the robot device and the die-casting machine, and also to enable a highly automated die-casting process. Further, there is an advantage that it can effectively cope with the case where the robot device is operated manually or the like.

Although the present invention has been described above with reference to a preferred embodiment, the present invention is not limited to this embodiment. For example, a proximity switch or the like can be used instead of a limit switch as a sensor, and A first limit switch for rotating the main body or a second limit switch for swinging the first and second arms.
) It goes without saying that various improvements and changes in design are possible without departing from the gist of the present invention, such as being able to use only the third limit switch.

[Brief explanation of drawings]

FIG. 1 is a schematic explanatory diagram of a robot control mechanism according to the prior art, FIG. 2 is a partially omitted perspective view of a transfer robot device including a robot control mechanism according to the present invention, and FIG. 3 is a schematic diagram of the robot control mechanism according to the present invention. FIGS. 4a and 4b are explanatory diagrams showing the swinging state of each arm of the robot device; FIG. 5 is a schematic explanatory diagram of the robot control mechanism according to the present invention; FIG. The figure is a circuit explanatory diagram of a robot control mechanism according to the present invention. 20... Robot device 21... Base 22.
...Limit switch 24...Body part 28...
Projection part 30...notch part 32a, 32
b - Support part 36.38...Limit switch 42...Arm 44...Protrusion part 48
...Arm 50...Protrusion 53...
・Hand part 54a, 54b...Mold 20
6a 4a Itsunei book and Iro layer +

Claims (3)

[Claims] (1) In a robot device related to die-casting molding work, the robot device is arranged close to the die-casting machine,
The robot device is provided with a plurality of sensors for detecting displacement of its movable part, and signals from the sensors are directly sent to a die-casting machine drive mechanism to drive and control the die-casting machine and the robot device. Control mechanism for robots (2) In the mechanism according to claim 1, a rotatable main body constituting a robot device is provided with a circular protrusion coaxially with the rotation axis thereof, and a part of the protrusion is provided. A notch having a predetermined length is formed in the protrusion, a limit switch is made to face the protrusion, and the limit switch is turned ON under rotation of the protrusion, while the limit switch is turned OFF by the notch. A control mechanism for a robot that operates and directly supplies the respective signals to a die-casting machine drive mechanism. (3) In the mechanism according to claim 1 or 2, a limit switch is turned on at a predetermined swing angle position of at least one or more swingable arms constituting the robot device. A control mechanism for a robot, which is provided with a protrusion and supplies a signal for ON/OFF operation of the limit switch directly to a die-casting machine drive mechanism.