KR102015663B1 - Operation equipment and method for setting position of flexible manufacturing system - Google Patents

Operation equipment and method for setting position of flexible manufacturing system Download PDF

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Publication number
KR102015663B1
KR102015663B1 KR1020130008047A KR20130008047A KR102015663B1 KR 102015663 B1 KR102015663 B1 KR 102015663B1 KR 1020130008047 A KR1020130008047 A KR 1020130008047A KR 20130008047 A KR20130008047 A KR 20130008047A KR 102015663 B1 KR102015663 B1 KR 102015663B1
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South Korea
Prior art keywords
stacker crane
port
movement
position information
current position
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KR1020130008047A
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Korean (ko)
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KR20140095646A (en
Inventor
문점생
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두산공작기계 주식회사
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Priority to KR1020130008047A priority Critical patent/KR102015663B1/en
Publication of KR20140095646A publication Critical patent/KR20140095646A/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/0755—Position control; Position detectors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/07568—Steering arrangements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/0759—Details of operating station, e.g. seats, levers, operator platforms, cabin suspension
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G05B19/402—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by control arrangements for positioning, e.g. centring a tool relative to a hole in the workpiece, additional detection means to correct position

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  • Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Geology (AREA)
  • Civil Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Manufacturing & Machinery (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Numerical Control (AREA)

Abstract

The present invention implements a handle manipulator that can manipulate the movement of the crane from the outside of the machine tool automation system, the operator can easily manipulate the movement of the crane, and through this correction of the supply position based on the design value based on the actual position data The present invention provides an operation apparatus and method for enabling automatic operation of a crane.

Description

Operation apparatus and method for positioning of flexible production system {OPERATION EQUIPMENT AND METHOD FOR SETTING POSITION OF FLEXIBLE MANUFACTURING SYSTEM}

The present invention relates to an operation apparatus and method for positioning a flexible production system, and more particularly, to the automatic control of a crane carrying a pallet loaded with a workpiece in a flexible manufacturing system (FMS) An operating device and method for pre-registering a teaching value to a supply position for operation.

Flexible Manufacturing System (FMS) is applied as an automated system of machine tools for cutting.

The flexible production system is a production system for small quantity production of a variety of products, and it is composed of a function that transfers materials, parts, tools, etc. between production machines with emphasis on flexibility, and software that operates it for unmanned automatic operation.

The machine tool automation system applying the flexible production system registers the supply position information in advance to transport the workpiece to the desired supply position and moves the crane loaded with the processed product using the information of the registered supply position.

Conventional position registration method for moving the crane is to register the supply position in the operation panel provided on the outside of the machine tool automation system, the movement of the crane to register this supply position is a manual operation pulse generator that is connected to the crane by wire Operate using (Manual Pulse Generator: MPG). Manual operation The pulse generator can be operated only in a limited area where the length of the wire is allowed, which requires the operator to enter the machine tool automation system where the crane is located.

Therefore, the conventional crane position registration method takes a lot of time and may cause a problem for the safety of the operator because the operator can be set while reciprocating the outside, the inside of the machine tool automation system.

The present invention has been made to solve the above problems, by implementing a handle manipulator that can manipulate the movement of the crane from the outside of the machine tool automation system, the operator can easily manipulate the movement of the crane through the design value It is an object of the present invention to provide an operation apparatus and method for correcting a supply position based on actual position data to enable automatic operation of a crane.

Operation apparatus for positioning of the flexible production system of the present invention for achieving the above technical problem, conveys the workpiece to the feed position for each port in the flexible manufacturing system (FMS) to automate the cutting of the workpiece A handle manipulation unit for manipulating the movement of the stacker crane for carrying out the movement; And design data for the supply position for each port in advance, and when a movement to any port is input from the handle manipulation unit, transfers the input teaching value to the stacker crane to instruct the movement, and after the movement is completed, the stack Receives the torque value corresponding to the current position information from the Kerr Crane to detect the current position information of the stacker crane, and compares the detected current position information and the pre-stored supply position for each port, if the difference value is within the tolerance range It is characterized in that it comprises a control panel for correcting the current position information to the pre-stored supply position for each port.

On the other hand, the operation method for the positioning of the flexible production system of the present invention for achieving the above technical problem, to the supply position for each port in the flexible manufacturing system (FMS) for automating the cutting of the workpiece CLAIMS 1. A positioning method for automatic operation of a stacker crane for transporting a workpiece, comprising: database design data on a supply position of each port on an operation panel; If the operation is input from the handle operation unit for manipulating the movement of the stacker crane, the operation panel transferring a teaching value input through the handle operation unit to the stacker crane to command the movement; Detecting, by the operation panel, current position information of the stacker crane that has completed the movement to a desired port by receiving a torque value corresponding to the current position information from the stacker crane; And comparing the current position information detected by the operation panel with the pre-stored supply position for each port, and correcting the current position information to the pre-stored supply position for each port if the mutual difference value falls within an allowable error range. It is done.

According to the present invention, it is possible to shorten the time required to pre-register each supply position to transport the workpiece in the machine tool automation system, compared to the conventional, the operator using a handle manipulator outside the machine tool automation system The crane's movement can be manipulated to ensure operator safety.

Also, by detecting the actual position information of the crane and correcting the position information on the supply position based on the actual position of the crane, it is possible to automatically operate the crane and increase its reliability.

1 is a view showing a machine tool automation system applying a flexible production system according to an embodiment of the present invention.
2 is a view showing the operation device for position setting in the machine tool automation system according to an embodiment of the present invention.
3 is a view showing a handle manipulator according to an embodiment of the present invention.
Figure 4 is a flow chart showing an operation method for position setting using the machine tool automation system according to an embodiment of the present invention.

Advantages and features of the present invention, and methods for achieving them will be apparent with reference to the embodiments described below in detail with the accompanying drawings. However, the present invention is not limited to the embodiments disclosed below but may be implemented in various different forms. Embodiments of the present invention may be provided to make the disclosure of the present invention complete, and to fully inform the scope of the invention to those skilled in the art. Like reference numerals refer to like elements throughout the specification.

The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. In this specification, the singular also includes the plural unless specifically stated otherwise in the phrase. As used herein, 'comprise' and / or 'comprising' refers to a component, step, operation and / or element that is mentioned in the presence of one or more other components, steps, operations and / or elements. Or does not exclude additions.

Hereinafter, with reference to the accompanying drawings will be described in detail with respect to the operating device and method for setting the supply position of the machine tool automation system according to an embodiment of the present invention.

1 is a view showing a machine tool automation system applying a flexible production system according to an embodiment of the present invention.

Machine tool automation system applying a flexible production system (FMS) according to an embodiment of the present invention is basically a pallet stocker (10), a setup station (setup station: 20), a machine tool (30), operation panel (operation) panel: 40), stacker crane (50).

The pallet stocker 10 has a plurality of ports for loading or unloading pallets on which a work is mounted, and the setup station 20 has a space for setting a workpiece on a pallet for cutting. .

The machine tool 30 is provided with an entrance port as equipment for cutting a workpiece.

The stacker crane 50 transfers the pallet on which the work is mounted along the supply line to each port of the pallet stocker 10, the setup station 20, and the machine tool 30.

The operation panel 40 is an operation panel for controlling the entire operation of the machine tool automation system, and in particular, the operation of the pallet stocker 10, the setup station 20, the machine tool 30, and the stacker crane 50. .

The operation panel 40 may be connected to the stacker crane 50 through optical communication to transfer the position information commanded from the operation panel 40 to the stacker crane 50.

Therefore, the machine tool automation system applying the flexible production system loads the workpiece to be cut into the pallet stocker 10 and transfers the stacker crane 50 to the loading port of the pallet stocker 10 to bring in the pallet loaded with the workpiece. do. Then, the stacker crane 50 is transferred to the port of the setup station 20 to set the workpiece mounted on the pallet, and then the stacker crane 50 is transferred to the corresponding machine tool 30 to transport the workpiece to the machine tool. do. After the cutting process is completed, the stacker crane 50 is transferred to the exit port of the machine tool 30 again and transported to the pallet stocker 10 to carry out the workpiece.

In this series of operations, the machine tool automation system advances the stacker crane 50 to the feed position for each port of the pallet stocker 10, the setup station 20, and the machine tool 30. The registration procedure is performed, and in particular, the supply position of each port is characterized in that the actual data reflected in the actual position information of the stacker crane 50.

Operation apparatus of the present invention for implementing this is the same as FIG.

First, referring to FIG. 2, an operation apparatus of the present invention includes an operation panel 40 and a handle manipulator 60.

And the operation panel 40 includes the operation input part 41 which can input an operator, the control part 42, the storage part 43, etc.

The operation input unit 41 is provided with operation means such as a keypad, a button, etc., through which an operator can input data for basic information registration and operation. The operation input unit 41 may be integrally provided with a display unit for displaying the data input by the operation unit so as to confirm the data. If the display unit is provided as a touch screen, the manipulation input unit 41 may be integrally provided with the display unit and the manipulation unit.

The storage unit 43 stores and pre-registers a supply position for each port such as a pallet stocker (10 in FIG. 1), a setup station (20 in FIG. 1), a machine tool (30 in FIG. 1), and the like in the machine tool automation system. . The feed position is based on the design data of the mechanical X, Y and Z axes and has different feed positions for each port. In the case of the pallet stocker plural ports arranged on the same axis may form a multilayer layer.

In addition, the storage unit 43 may store the current position information of the stacker crane 50 under the control of the controller 42 and update the current position information to the supply position of the corresponding port.

The control unit 42 controls the operation of the machine tool automation system, and in particular, is connected to the drive unit 52 of the stacker crane 50 through optical communication to control the drive unit 52 thereof. For example, the controller 42 may transfer the supply position previously stored in the storage unit 43 to the driving unit 52 of the stacker crane 50 so that the stacker crane 50 may be transferred to the corresponding supply position.

In addition, the control unit 42 may be connected to the handle operating unit 60 to store data input through the handle operating unit 60 in the storage unit 43 or transmit the data to the driving unit 52 of the stacker crane 50. .

In addition, the control unit 42 compares the current position information received by receiving the current position information from the drive unit 52 of the stacker crane 50 and the design data of the supply position for each port previously stored in the storage unit 43, As a result of the comparison, if the received current position information falls within a predetermined error range from previously stored design data of the supply position for each port, the current position information is updated with information of the supply position for each port to reflect the actual data.

The driving unit 52 of the stacker crane 50 performs charge of controlling the driving of the stacker crane 50.

The handle operation unit 60 manipulates the movement of the stacker crane 50 and can command a teaching value to the supply position for each port.

The handle manipulation unit 60 in the embodiment of the present invention is provided separately from the stacker crane 50, so that the operator can conveniently stacker crane 50 away from the stacker crane 50, for example, outside the machine tool automation system. It is a portable operator that can operate movement of).

The handle manipulation unit 60 manipulates the movement of the stacker crane 50, but is connected to the control unit 42 of the manipulation panel 40 so that an operation signal input through the handle manipulation unit 60 is applied to the manipulation panel 40. It is transmitted to the drive unit 52 of the stacker crane 50 through the control unit 42.

As shown in FIG. 3, the handle manipulation unit 60 may be provided simply by using only necessary buttons.

The 61 is a jog switch that controls the forward and reverse of the stacker crane. 62 and 63 are buttons for setting the moving direction and the moving speed of the X, Y, and Z axes when the stacker crane 50 moves. 64 is a button for teaching teaching, 65 is an initialization button, and 66 is a button for returning to the initial origin.

The portable handle manipulation unit 60 allows the operator to manipulate the movement of the stacker crane 50 together with the position registration operation outside of the machine tool automation system, or on the manipulation panel 40. In particular, in the present invention, the stacker crane 50 is used to control the pre-registration for setting the supply position to move.

The operation of the operation device of the present invention configured as described above is specifically the same as the flowchart shown in FIG.

First, the operation panel 40 registers the basic information about the supply position for each port to make a database (S1). Basic information about the supply position includes design data of the X, Y and Z axes for each port. In addition, it may include a detection range (x) that allows an error range for the design data. This is to determine that the stacker crane does not teach the position exactly matching the design data, so that it is the corresponding supply position within a certain error range. This will be described in detail below.

Thereafter, the operation panel 40 receives a selection input operation mode of the stacker crane 50 to register the supply position (S2). There are two modes of operation: automatic mode and manual mode. To register the supply position, the manual mode is selected.

Thereafter, the handle manipulation unit 60 receives a movement direction for manipulating the movement of the stacker crane 50. That is, the steering wheel operation unit 60 determines whether the X-axis, the Y-axis, or the Z-axis depending on whether the movement direction button (62 in FIG. 3) is selected (S3, S4, S5).

If there is no axis selection, the teaching process is completed, and if there is a selected axis, the handle manipulation unit 60 instructs the stacker crane 50 to move in the selected axis direction (S6). At this time, the steering wheel operation unit 60 can set the movement speed and command together with the axial direction. The command may be performed by determining whether a teaching button (64 in FIG. 3) of the handle manipulation unit 60 is selected.

Then, the stacker crane 50 receives the command signal input from the handle operating unit 60 through the operation panel 40 and moves according to the corresponding axial direction and the moving speed (S7). The moving position is the supply position of the port desired by the operator.

When the movement to the desired port is completed, the stacker crane 50 detects a torque value corresponding to the current position information from the servo amplifier (S8). Then, the detected torque value is transmitted to the control unit of the operation panel 40 through optical communication.

The operation panel 40 receives the torque value of the stacker crane 50 from the control unit (S9), analyzes the current position information from the received torque value, and provides the current position information and the design data S of the completed port. Recall from the storage unit and compare with each other (S10).

The comparison may be determined based on whether the current location information is within an allowable range in which the detection range x is applied to the design data S of the corresponding port (S11). Alternatively, the difference between the current location information and the design data of the corresponding port may be determined according to whether the detection range corresponds to the detection range.

If the current position information is within the allowable range, it is determined that the current position information corresponds to the supply position of the corresponding port, and the control unit of the operation panel 40 registers the current position information in the storage unit of the operation panel 40 to determine the supply position. The design data S are corrected (S12, S13).

After calibration, the location registration process is terminated.

If the current location information does not fall within the allowable range, the location registration process ends.

Through this process, the present invention can be commanded on the basis of the correction value reflecting the actual data of the stacker crane 50 when commanding the movement of the stacker crane 50 to the corresponding feed position for cutting operation, the feed position The teaching error of the furnace can be reduced and the machining accuracy can be increased.

The foregoing detailed description illustrates the present invention. In addition, the foregoing description merely shows and describes preferred embodiments of the present invention, and the present invention can be used in various other combinations, modifications, and environments. That is, changes or modifications may be made within the scope of the concept of the invention disclosed in this specification, the scope equivalent to the disclosed contents, and / or the skill or knowledge in the art. The above-described embodiments are for explaining the best state in carrying out the present invention, the use of other inventions such as the present invention in other state known in the art, and the specific fields of application and uses of the invention are required. Various changes are also possible. Accordingly, the detailed description of the invention is not intended to limit the invention to the disclosed embodiments. Also, the appended claims should be construed to include other embodiments.

10: pallet stocker
20: setup station
30: machine tool
40: operation panel
50: stacker crane
60: handle operating unit 41: operation input unit
42: control unit 43: storage unit
52: drive unit

Claims (5)

A handle operation unit for manipulating the movement of a stacker crane for transporting the workpiece to a feed position for each port in a flexible manufacturing system (FMS) that automates cutting of the workpiece; And
The design data of the supply position for each port is stored in advance, and when a movement to an arbitrary port is input from the handle manipulation unit by inputting a selection of a manual mode among an automatic mode and a manual mode, which are operation modes of the stacker crane, are inputted. Instructs movement by transferring a teaching value to the stacker crane, receives a torque value corresponding to current position information from the stacker crane after completion of movement, detects current position information of the stacker crane, and detects current position information. And a control panel for comparing the supply positions for each port, and correcting the current position information to the pre-stored supply positions if the difference value falls within an allowable error range.
The handle operation portion
It is provided separately from the stacker crane,
Flexible production, comprising a jog switch for controlling the forward and backward of the stacker crane, a button for setting the moving direction and the moving speed of the X, Y, Z axis, a button for teaching teaching Manipulators for positioning the system. The method of claim 1,
The operation panel
And an operation of transmitting and receiving data through optical communication with the stacker crane and the handle manipulation unit. delete Positioning method for automatic operation of the stacker crane to transport the workpiece to the feed position of each port in the flexible manufacturing system (FMS) to automate the cutting of the workpiece.
Database design data on supply positions for each port on an operation panel;
Receiving a selection of a manual mode among an automatic mode and a manual mode which are operation modes of the stacker crane;
It is provided separately from the stacker crane, and a jog switch for controlling the forward and backward of the stacker crane, a button for setting the moving direction and the moving speed of the X, Y, and Z axes, and a button for teaching the teaching. When the operation is input from the handle operation unit which is basically included, the operation panel transferring a teaching value input through the handle operation unit to the stacker crane to command a movement;
Detecting, by the operation panel, current position information of the stacker crane that has completed the movement to a desired port by receiving a torque value corresponding to the current position information from the stacker crane; And
Comparing the current position information detected by the operation panel with the pre-stored supply positions for each port, and correcting the current position information with the pre-stored supply positions for each port if a mutual difference value falls within an allowable error range.
Operation method for setting the position of the flexible production system comprising a. The method of claim 4, wherein
If a movement command to the corresponding feed position for each port is input from the handle manipulation unit, the manipulation panel transfers the corrected supply position to the stacker crane to command the movement;
Operation method for the position setting of the flexible production system characterized in that it further comprises.
KR1020130008047A 2013-01-24 2013-01-24 Operation equipment and method for setting position of flexible manufacturing system KR102015663B1 (en)

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Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2000142920A (en) * 1998-11-05 2000-05-23 Toyota Autom Loom Works Ltd Method of learning fixed position data in automated warehouse
JP2002166340A (en) * 2000-11-30 2002-06-11 Toshiba Mach Co Ltd Pallet management method on fms cell and device

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR0129944B1 (en) * 1995-09-12 1998-04-10 윤종용 Method and device for controlling position movement of stacker crane
KR20110002853U (en) * 2009-09-15 2011-03-23 현대엘리베이터주식회사 Wireless manual operation system of stacker crane

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2000142920A (en) * 1998-11-05 2000-05-23 Toyota Autom Loom Works Ltd Method of learning fixed position data in automated warehouse
JP2002166340A (en) * 2000-11-30 2002-06-11 Toshiba Mach Co Ltd Pallet management method on fms cell and device

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