KR20130074854A

KR20130074854A - Handling robot for cast and control method thereof

Info

Publication number: KR20130074854A
Application number: KR1020110142915A
Authority: KR
Inventors: 김진대; 조지승; 김경호; 은종욱; 이인태
Original assignee: (재)대구기계부품연구원; 주식회사 유진엠에스
Priority date: 2011-12-27
Filing date: 2011-12-27
Publication date: 2013-07-05

Abstract

The present invention relates to a casting handling robot and a method of controlling the casting hole drilling, exhaust gas hole drilling, and the air blow function in combination, wherein the casting handling robot is a pedestal, a driving unit, a frame, a connecting member, a robot An arm, a robot end jig, and a tooling portion, wherein the driving portion includes a motor and is rotatable 360 degrees by providing a rotating body between the pedestal; The frame is installed to support the drive unit and the connection unit; The connecting portion is rotatable in combination with the robot arm; The robot arm coupled to the connecting portion is rotatable 180 degrees; The robot arm is movable up and down in association with the robot end jig; The robot end mounting jig is mounted at an end of the tooling part to rotate the tooling part 180 degrees; The tooling part may include a hot water hole drill, an exhaust gas hole drill, an air blow gun, an AC motor, and an air cylinder.

Description

HANDLING ROBOT FOR CAST AND CONTROL METHOD THEREOF}

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a casting handling robot and a control method thereof, and more particularly, to a robot and a control method for performing a combination of a ballhole hole drilling, an exhaust gas hole drilling, and an air blow function.

In general, one of the processes for making molds in a foundry is to drill the hot water holes and the exhaust gas holes.

Previously, the tanggu hole uses a dedicated drilling tool, and the gas exhaust hole was directly drilled by a person and then blown with an air gun. These hot water holes and gas exhaust holes have different positions, numbers, and depths for each type of molds produced, and because there are many types of molds produced and models are frequently replaced, the position of the dedicated tool must be changed every time. There was a difficulty in figuring out where to drill.

The present invention is to solve this problem, it is an object of the present invention to perform a combination of the ball-hole drilling, gas exhaust hole drilling, and air blower function and to automate such a hole drilling process.

Another object of the present invention is that the hole position, depth, number, etc. according to each model is registered in advance, the operator can change the production model, the robot can automatically perform the drilling operation corresponding to each model.

In order to achieve the above object, the casting handling robot according to a preferred embodiment of the present invention is composed of a pedestal, a drive unit, a frame, a connecting member, a robot arm, a robot end jig, and a tooling unit, the drive unit is provided with a motor A rotating body is provided between the pedestal and rotatable 360 degrees; The frame is installed to support the drive unit and the connection unit; The connecting portion is rotatable in combination with the robot arm; The robot arm coupled to the connecting portion is rotatable 180 degrees; The robot arm is movable up and down in association with the robot end jig; The robot end mounting jig is mounted at an end of the tooling part to rotate the tooling part 180 degrees; The tooling portion includes a ballhole drill, an exhaust gas hole drill, an air blow gun, an AC motor, and an air cylinder.

According to another embodiment of the present invention, the control device of the casting handling robot has a robot controller capable of controlling itself connected to a six degree of freedom articulated robot and an internal programmable logic controller (PLC) mounted on the robot controller. Robotic teaching machine; And a process PLC connected with the robot teaching machine to manage the entire mold making process, wherein the internal PLC and the process PLC are connected in a CC-link manner to transmit the position information and the attitude information data of the robot. It communicates using an IO bus that receives an input contact command from the controller or transmits an output contact command to inform the outside of the robot, and the process PLC is connected to an external control PC by serial communication.

According to another embodiment of the present invention, a method of controlling a casting handling robot for controlling a work model by a direct teaching method between an external control PC and a casting handling robot includes teaching a new work model; Performing one-point teaching by placing a work on a predetermined position of the new work model; Turning on an IO contact upon reaching the predetermined position; Detecting, by the process PLC, the ON state of the IO contact; Storing the current robot position and attitude in a memory of the process PLC via a data bus; And transmitting the stored robot position and posture to the external control PC.

According to an embodiment of the present invention, the combination of the hot-drill hole drilling, gas exhaust hole drilling, and air blower function to facilitate the work in difficult working environment as well as to perform each step separately Reduce work time and expenses.

In addition, the path data of various types of work models are registered in advance, and if the operator changes only the production model, the robot can automatically perform the drilling work for each model, thereby reducing the loss caused by the change of the work model.

1 is a perspective view of a casting handling robot according to an embodiment of the present invention;
2 shows the tooling part 70 of FIG. 1 in detail;
3 is a cross-sectional view taken along the line II ′ of FIG. 2;
4 is a view showing an example of a working state of the casting handling robot according to an embodiment of the present invention;
5 is a block diagram of a teaching and control device for a casting handling robot according to an embodiment of the present invention; And
6 is a flow chart showing a direct teaching method of the casting handling robot according to an embodiment of the present invention.

Hereinafter, with reference to the accompanying drawings, the configuration and operation of the preferred embodiment of the present invention will be described with reference to the drawings.

It should be noted that the same elements among the drawings are denoted by the same reference numerals and symbols as much as possible even though they are shown on different drawings. In the following description of the present invention, if it is determined that a detailed description of related known functions or configurations may unnecessarily obscure the subject matter of the present invention, the detailed description thereof will be omitted.

Also, when a part is referred to as "including " an element, it does not exclude other elements unless specifically stated otherwise.

1 is a perspective view of a casting handling robot according to an embodiment of the present invention; 2 shows the tooling part 70 of FIG. 1 in detail; 3 is a cross-sectional view taken along the line II ′ of FIG. 2; 4 is a view showing an example of a working state of the casting handling robot according to an embodiment of the present invention.

1 to 4, the robot 100 includes a pedestal 10, a driving unit 20, a frame 30, a connecting member 40, a robot arm 50, a robot end jig 60, and a tooling. The unit 70 is included. The drive unit 20 is provided with a motor and can be rotated 360 degrees by providing a rotating body between the pedestal 10.

The frame 30 is installed to support the driving unit 20 and the connecting unit 40, and the connecting unit 40 is installed to be rotatable in combination with the robot arm 50. Robot arm 50 coupled to the connection portion 40 can be rotated 180 degrees can of course widen the working radius. The robot arm 50 is connected to the robot end jig 60 by a connecting member and can move up and down. The robot end mounting jig 60 is mounted at the end of the tooling part 70 to rotate the tooling part 70 by 180 degrees.

The tooling part 70 includes a taphole hole drill 71, an exhaust gas hole drill 72, an air blow gun 73, an AC motor 74, and an air cylinder 75. Exhaust hole drilling and air blow can be carried out at once.

The hot water hole drill 71 enables the molten metal inlet hole operation, and the exhaust gas hole drill 72 is formed at one side of the tooling part 70 to enable the mold exhaust gas discharge hole operation. The exhaust gas hole drill 72 is formed on the other side of the tooling part 70 in a direction opposite to the ballhole hole drill 71 to enable the hole operation to discharge the exhaust gas of the mold, and the air blow gun 73 is the exhaust gas. In order to blow the air to prevent the clogging of the hole is formed in the lower portion in the same direction as the drill hole drill (71). The AC motor 74 is formed inside the tooling portion 70 to control the driving speed of the ball hole drill 71 and the exhaust gas hole drill 72, and the air cylinder 75 is also provided with an air blow gun 73. By controlling the reciprocating motion of the exhaust gas, the air blow gun 73 enters inward when the hole is drilled to avoid interference during the hole drill, and is exposed outside when acting as an air blower to prevent clogging. It is installed to enable work.

Now, the working process of the tooling unit 70 will be briefly described.

According to the exemplary embodiment of the present invention, the tooling part 70 is configured to be rotated 180 degrees using the robot end mounting jig 60 to collectively perform a cutting hole hole cutting operation, a gas exhaust hole drilling operation, and an air blow operation. It is structured to proceed. For example, after performing a cutting hole hole cutting operation using the tap hole drill 71 formed in the one end of the tooling part 70, the other end of the tooling part 70 by 180 degree rotation of the robot end mounting jig 70 is performed. At the same time, the exhaust gas hole drilling operation may be performed using the exhaust gas hole drill 72 formed at the same time, and at this time, the air blowing gun 73 may be used to blow air to prevent the exhaust gas hole from being blocked. You can do it

With such a configuration, there is an advantage that a human can perform all of these operations without having to separately perform a hot water hole cutting operation, a gas exhaust hole drilling operation, and an air blow operation.

5 to 6, it will be described for the control method of the casting handling robot tool according to an embodiment of the present invention.

5 is a block diagram of a teaching and control device for a casting handling robot according to an embodiment of the present invention; 6 is a flowchart illustrating a direct teaching method of a casting handling robot according to an embodiment of the present invention.

Referring to FIG. 5, the T.P of a robot connected to an external control PC controls a work method in the following manner.

The robot teaching machine, which is connected to the 6 degree of freedom articulated robot and has a self-controlling robot controller and an internal programmable logic controller (PLC) mounted on the robot controller, communicates with the process PLC, the upper level PLC that controls the entire mold making process. At this time, the data bus which is connected by CC-link method and transmits the position information and attitude information data of the robot or the IO bus which receives the output command from the outside or transmits the output contact command to inform the status of the robot to the outside. Communicate using The process PLC is connected to an external control PC via RS 232, a serial communication method.

With this configuration, not only can the work PC save the work path data every time the work model is replaced by the user's direct teaching method on the robot equipped with the multi-hole machining robot tool, but especially all the hole work is common. If only one reference point is taught as the subroutine of, the remaining motions can be automatically calculated and processed based on the tool coordinates. Hereinafter, the control method of the robot tool according to the direct teaching method of the user will be described as an example of changing the work model. I would like to.

Once the model type has been changed, press the Start teaching new model button on the control PC. From this point on, RS 232 is in teach mode monitoring. The user directly manipulates the robot teaching, jogging the robot and placing it on the upper part of the desired hole work, and performing one-point teaching. In this case, the necessary hole processing, entry depth, and direction are processed by sub-routine. Work to make a hole.

When it reaches the desired position, the IO contact is turned on to inform the outside. If the process PLC detects that the IO contact is ON, the current robot position and posture is saved in the process PLC memory through the data bus and Send to PC via RS232. The PC continuously monitors the RS 232 port and stores data in order when data comes in. Rotate the 6th axis of the robot 180 degrees to continuously process the exhaust hole drilling process in the same way. At this time, a lot of postures in a diagonal direction may come out. If the robot operator only teaches the reference point in the diagonal direction with eyes, the hole machining can be done automatically by the tool coordinate system. The robot motion is calculated using the coordinate system.

The robot motion calculation method of the tool coordinate system is as follows.

From here,

R: Roll

P: Pitch

Y: Yaw

T: Position vector (X, Y, Z)

_t P : Position vector in the tool coordinate system for hole work

_r P : Translation vector in robot coordinate system for hole work

Repeat the desired number of holes in this manner, and when finished, enter the end of teaching on the control PC to end the direct teaching.

When the direct teaching is finished, the user can click on the desired model on the control PC and all the robot's path data for the model is transferred from the PC to the robot's register, and the robot can perform all the operations based on these reference data. You can do it.

As described above, in accordance with an embodiment of the present invention, the tap-hole and the gas exhaust hole have different positions, numbers, and depths for each type of mold to be produced, but the hole positions, depths, and numbers according to each model are directly taught. Pre-registered by the method, the operator can change the production model, the robot can automatically perform the drilling work for each model.

The above description has described preferred examples of the present invention, and is intended to illustrate the concept of the present invention and is not intended to limit the scope of the present invention.

Those skilled in the art can be variously changed and modified by reading the above contents of the present invention, but it is obvious that the present invention does not depart from the scope and spirit to which the present invention claims.

50: robot arm 60: robot end jig
70: tooling part 71: tanggu hole drill
72: exhaust hole drill 73: air blow gun
100: Robot

Claims

In the casting handling robot including a pedestal, a driving unit, a frame, a connecting member, a robot arm, a robot end jig, and a tooling unit,
The drive unit includes a motor and is rotatable 360 degrees by providing a rotating body between the pedestal;
The frame is installed to support the drive unit and the connection unit;
The connecting portion is rotatable in combination with the robot arm;
The robot arm coupled to the connecting portion is rotatable 180 degrees;
The robot arm is movable up and down in association with the robot end jig;
The robot end mounting jig is mounted at an end of the tooling part to rotate the tooling part 180 degrees;
The tooling part casting robot, characterized in that it comprises a hot-hole drill, exhaust hole drill, air blow gun, AC motor, and air cylinder.

The method of claim 1,
The molten hole drill is formed on one side of the tooling part to enable the molten metal inlet hole operation,
The exhaust gas hole drill is formed on the other side of the tooling part in a direction opposite to the hot water hole drill to enable the hole operation to discharge the exhaust gas of the mold,
The air blow gun is formed in the lower portion in the same direction as the hot water hole drill to prevent clogging of the exhaust gas hole and serves to blow air, and
The AC motor is formed inside the tooling part to control the driving speeds of the hot water hole drill and the exhaust gas hole drill, and the air cylinder controls the reciprocating motion of the air blow gun so that the exhaust gas hole drill The air blow gun enters inward to avoid interference during hole drill operation, and when acting as an air blower to prevent clogging, the handling handling robot for casting characterized in that it is installed to be exposed to the outside.

In the control device of the casting handling robot,
A robot teaching unit connected to a six degree of freedom articulated robot and having a robot controller capable of self-control and an internal programmable logic controller (PLC) mounted on the robot controller; And
A process PLC connected with the robot teaching device to manage the entire mold making process,
The internal PLC and the process PLC are connected in a CC-link manner to receive a contact command from a data bus or an external device capable of transmitting the position information and the attitude information data of the robot or to transmit an output contact command to inform the outside of the situation of the robot. Communicate using the IO bus, and
The process PLC is a control device of the casting handling robot, characterized in that connected to the external control PC in a serial communication method.

In the control method of the casting handling robot for controlling the work model by the direct teaching method between the external control PC and the casting handling robot,
Teaching a new working model;
Performing one-point teaching by placing a work on a predetermined position of the new work model;
Turning on an IO contact upon reaching the predetermined position;
Detecting, by the process PLC, the ON state of the IO contact;
Storing the current robot position and attitude in a memory of the process PLC via a data bus; And
And transmitting the stored robot position and posture to the external control PC.

According to claim 4, The control method of the casting handling robot of the casting handling robot, characterized in that using the tool coordinate system of the following formula can perform the hole processing automatically when the robot operator teaching only the reference point. Control method.

From here,
R: Roll
P: Pitch
Y: Yaw
T: Position vector (X, Y, Z)
_t P : Position vector in the tool coordinate system for hole work
_r P : Translation vector in robot coordinate system for hole work