JPS6294246A - Industrial robot device - Google Patents

Abstract

PURPOSE:To improve accuracy in dimension and configuration by moving a machining part, reducing machining quantity, or cooling said machining part when the output signal from a sensor for detecting at least either of the temperature or distortion quantity of said machining part gets above a specified value. CONSTITUTION:Sensors S1-S9 detect the temperature of distortion of a workpiece 5 being machined, the detected signal is inputted in a measuring device 11 to measure rise in temperature or distortion developed, and the measured result is inputted into a computer 15 via an I/O port 16, and compared with a set temperature or distortion value. When the measured result is above a set value, a starting command is issued from the computer 15 to a cooling medium controlling means 20, and a cooling medium is blown from a nozzle against the machining part, to cool the machining part. When the measuring device 11 confirmed that the machining part is cooled below a specified value, a stopping command is issued from the computer 15 to the cooling medium controlling means 20, stopping the blow out of the cooling medium from the nozzle. Thus, by allowing the heat developed during machining to escape by means of a cooling medium, higher accuracy of dimension and configuration can be obtained.

Description

[Detailed Description of the Invention] [Field of Industrial Application] This invention relates to an industrial robot device that processes a workpiece using a processing device attached to the tip of a robot, and in particular, a structure that prevents deformation of the workpiece due to heat generation during processing. It is related to.

[Conventional technology]

Generally, molds for plastic molding or μ presses require high dimensional accuracy and finely shaped shapes. For this reason, in the past, veteran craftsmen performed the finishing work by relying on their intuition, but recently it has been proposed to process the workpieces in this ridge using a processing device attached to the tip of a robot.

Figures 5 and 6 are for example
This shows a conventional industrial robot device of this type as shown in the publication No.
21 is a rotary drive machine attached to the tip of this robot (1), and (3) is a chuck (4) attached to the output shaft of this rotary drive machine.
), the grinding wheel (5) is attached to the work table (6
) a workpiece fixed above, ff) a floor.

A conventional industrial robot device configured as described above causes the robot (1) to move the polishing wheel (3) as specified in the hub program, thereby applying the prescribed polishing to the workpiece (5). .

[Problem that the invention seeks to solve]

In conventional industrial robot devices such as those mentioned above, robots)
(1) Perform all operations as specified in the V'i program.If the workpiece (5) is deformed due to heat generation during machining, the grinding wheel (3) (6) and the workpiece (
When the temperature in 5) returns to the circumferential vJJ temperature, the dimensions or shape may not be as specified in the drawing. This error is particularly noticeable in the thin portions of the workpiece (5), but there is a problem in that conventional devices cannot prevent this error.

This invention has been made to solve the problems associated with the invention, and an object thereof is to obtain an industrial robot device Th that can obtain workpieces with high dimensional accuracy and shape accuracy.

[Means for solving problems]

The industrial robot device according to the present invention is provided with a sensor that detects at least one of the temperature and the amount of strain during processing, and the processing is controlled based on the output signal from this sensor. .

[Effect]

In this invention, the amount of strain in the machining part is detected by the sensor, and the machining is controlled based on the output signal. It can effectively prevent incorrect contact, and a high degree of 8 degree machining shape accuracy can be obtained.

〔Example〕

1 and 2 show an embodiment of the present invention, and in the figures, the same reference numerals as in FIGS. 5 to 7 indicate the same or corresponding parts. (3) is a flexible hose suspended from the ceiling to supply a cooling medium such as cooling air or liquid; (9)
is a nozzle that is connected to this flexible hose (3) and sprays all of the cooling medium α0) onto the processing area. Also (S□)～(S
9) is based on the detection signals from the temperature or strain detection sensors Ql and H-j sensors (Sl) to (S9) attached at intervals on the main part of the workpiece (5). This measuring device (11) determines the temperature rise or generated strain, and the measurement signal from this measuring device (11) is CP (Jl odor).

A computer (BoM 3) and RAM body) (
15) is input via r/o baud) (16). t17) n Drive means for the robot (1), 08
1 is a control means for the robot (1), 1191 is a drive means for the cooling medium (10), @) is a control means for the cooling medium (10), both control means 1181, a), I10
In the industrial robot device configured as described above, which is connected to the computer (15) via the port flf3), the robot control means (13) drives the robot drive means (17), and the polishing wheel (3)
Machining is performed by controlling the depth of cut, moving speed, and rotational speed.

On the other hand, sensor (S engineering) ~ (s9) i! , detects the temperature or strain of the workpiece (δ) being processed, and inputs this detection signal to the measuring device (111') to determine the temperature rise or generated strain.This measurement result is sent to the I/O It is input to the computer α5) via the port α6) and compared with a preset temperature value or strain value. If the measurement result exceeds the set value, a start command is issued from the computer α5) to the cooling medium control means (20), and the cooling medium αα is sprayed from the nozzle (9) to the processing section to cool the processing section. be done. When it is confirmed by the measurement results of the measuring device α1) that the processing part has been cooled to below the specified value, the computer ■) issues a stop command to the cooling medium control means (a)), and the nozzle (9) stops cooling. The blowing of the cooling medium (io) is stopped.

However, during machining, the grinding wheel (3) or the workpiece (5)
) can be released to the cooling medium (10), resulting in high dimensional and shape accuracy.

In addition, in the above embodiment, there are two methods for measuring results from the measuring device α°C and other methods: For example, if the measurement result exceeds a specified value, there is a method of stopping processing and restarting processing after the value falls below the specified value. As shown in Figure 3, if the measurement result exceeds the specified value, stop machining at the position of the sensor (S machining) currently being machined, and move the sensor (S machining) farthest from this sensor (S machining). Complete machining at position $5), sensor (S machining)
If the measurement result at is less than the specified value, a method of restarting the machining of this part may be considered.

If the measurement result exceeds the specified value of the first stage by setting the standard value in multiple stages, first reduce the rotational speed and propulsion speed of the polishing wheel (3), and then the measurement result becomes the standard value of the second stage. If the value exceeds the value, the machining will be 0 even if the above-mentioned cooling medium σ0) is sprayed, the machining is stopped, or the machining location is moved. A similar effect can also be obtained by using cutting tool sounds.

FIG. 4 shows another embodiment of the present invention, in which a non-contact type sensor (21) is attached to the robot (1) in place of the sensors (S) to (S,) in the upper strap embodiment. It is designed to detect the temperature of the processed part. According to FIG. 4, since the sensor (21) is attached to the robot (1), it is extremely easy to replace the workpiece (6). However, since the sensor (21) basically monitors the temperature rise in the processing area or its surroundings, the sensor 721
If the detected value in step 1 exceeds the specified value, move the entire machining location and perform all machining on other locations as shown in Figure 3.
It is not possible to adopt a processing control method that restarts processing of a previously processed part if the temperature of that part falls below a specified value. To make this possible, the sensor 121)
It is necessary to be able to change the monitoring range of the sensor, or to provide a plurality of sensors (21).

〔Effect of the invention〕

As explained above in this invention, the processing part? Since a sensor is provided to detect at least one of the 211 diameter and the amount of strain, and the processing is controlled based on the output signal from this sensor, deformation of the workpiece due to heat generation etc. during processing is prevented. There are effects such as being able to improve the precision of dimensions and the shape accuracy of machining.

[Brief Description of the Drawings] Fig. 1 is a block diagram showing an embodiment of the present invention, Fig. 2 is a block diagram showing its control circuit, and Fig. 3 shows another method of processing control using the VC of this invention. 4 is a diagram equivalent to FIG. 1 showing another embodiment of the present invention, FIG. 81!5 is a diagram equivalent to FIG. 1 showing a conventional industrial robot device, and FIG. 6 is a diagram equivalent to FIG.
The plan view of the figure and FIG. 7 are explanatory diagrams showing the state of deformation of the workpiece due to heat. (1)・-Robot (3 knees・Kenho Whetstone (5)・
・Workpiece (91-・Nozzle (10) #・Cooling medium (S work) ~ (s, ), (2x+...Sensor In each figure, the same reference numerals indicate the same - or corresponding parts.

Claims (4)

[Claims] (1) In an industrial robot device that processes a workpiece using a processing device attached to the tip of the robot, a sensor is provided to detect at least one of the temperature or the amount of strain in the processing section, and an output signal from this sensor is provided. An industrial robot device characterized by performing processing control based on. (2) The industrial robot apparatus according to claim 1, wherein the processing control means moves the processing location if the output signal from the sensor exceeds a specified value. (3) The industrial robot apparatus according to claim 1, wherein the processing control means reduces the amount of processing if the output signal from the sensor exceeds a specified value. (4) The industrial robot apparatus according to claim 1, wherein the processing control means cools the processing section with a cooling medium if the output signal from the sensor exceeds a specified value.