WO2012169374A1 - ワーク処理システム - Google Patents
ワーク処理システム Download PDFInfo
- Publication number
- WO2012169374A1 WO2012169374A1 PCT/JP2012/063461 JP2012063461W WO2012169374A1 WO 2012169374 A1 WO2012169374 A1 WO 2012169374A1 JP 2012063461 W JP2012063461 W JP 2012063461W WO 2012169374 A1 WO2012169374 A1 WO 2012169374A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- marker
- loader
- processing unit
- reference point
- unit
- Prior art date
Links
- 238000012545 processing Methods 0.000 title claims abstract description 285
- 239000003550 marker Substances 0.000 claims abstract description 192
- 238000003860 storage Methods 0.000 claims abstract description 53
- 238000000034 method Methods 0.000 claims description 35
- 230000008569 process Effects 0.000 claims description 35
- 238000012937 correction Methods 0.000 claims description 9
- 230000005540 biological transmission Effects 0.000 claims description 6
- 239000000758 substrate Substances 0.000 claims description 6
- 238000006243 chemical reaction Methods 0.000 claims description 5
- 238000004148 unit process Methods 0.000 claims 1
- 238000009434 installation Methods 0.000 description 28
- 230000002093 peripheral effect Effects 0.000 description 7
- 238000010348 incorporation Methods 0.000 description 6
- 230000006798 recombination Effects 0.000 description 6
- 238000005215 recombination Methods 0.000 description 6
- 238000004140 cleaning Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 230000006870 function Effects 0.000 description 4
- 238000004519 manufacturing process Methods 0.000 description 4
- 238000002360 preparation method Methods 0.000 description 4
- 238000004891 communication Methods 0.000 description 3
- 230000008707 rearrangement Effects 0.000 description 3
- 230000003028 elevating effect Effects 0.000 description 2
- 238000007792 addition Methods 0.000 description 1
- 230000015556 catabolic process Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 239000003086 colorant Substances 0.000 description 1
- 238000012790 confirmation Methods 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 238000005520 cutting process Methods 0.000 description 1
- 238000006731 degradation reaction Methods 0.000 description 1
- 238000012217 deletion Methods 0.000 description 1
- 230000037430 deletion Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
Images
Classifications
-
- 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
- G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
- G05B19/4189—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by the transport system
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q17/00—Arrangements for observing, indicating or measuring on machine tools
- B23Q17/24—Arrangements for observing, indicating or measuring on machine tools using optics or electromagnetic waves
- B23Q17/2428—Arrangements for observing, indicating or measuring on machine tools using optics or electromagnetic waves for measuring existing positions of tools or workpieces
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q7/00—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting
- B23Q7/14—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting co-ordinated in production lines
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q41/00—Combinations or associations of metal-working machines not directed to a particular result according to classes B21, B23, or B24
- B23Q41/02—Features relating to transfer of work between machines
-
- 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
- G05B19/408—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 data handling or data format, e.g. reading, buffering or conversion of data
- G05B19/4083—Adapting programme, configuration
-
- 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
- G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
- G05B19/41815—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by the cooperation between machine tools, manipulators and conveyor or other workpiece supply system, workcell
- G05B19/41825—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by the cooperation between machine tools, manipulators and conveyor or other workpiece supply system, workcell machine tools and manipulators only, machining centre
-
- 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
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/32—Operator till task planning
- G05B2219/32397—Machining cells
-
- 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
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/33—Director till display
- G05B2219/33125—System configuration, reconfiguration, customization, automatic
-
- 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
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/36—Nc in input of data, input key till input tape
- G05B2219/36046—Adapt, modify program as function of configuration of machine
-
- 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
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/36—Nc in input of data, input key till input tape
- G05B2219/36174—Program divided into modules
-
- 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
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/36—Nc in input of data, input key till input tape
- G05B2219/36232—Before machining, convert, adapt program to specific possibilities of machine
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Definitions
- the present invention provides a work having a unit configuration facility in which each of a machine tool and a measuring device serving as a peripheral device thereof can be freely reassembled as a processing unit that is a recombination unit for incorporation, disassembly, movement, etc. It relates to a processing system.
- each processing unit which is a unit for recombination of machine tools and peripheral equipment, has a positioning point as a teaching point for loading and unloading of workpieces with a loader. Point teaching is required. Some types of processing units have a plurality of positioning points.
- An object of the present invention is to make it possible to efficiently teach the positioning points of a number of loaders after the equipment is rearranged, for a work processing system including unit-constituting equipment and a loader.
- a plurality of processing units (1, 1 A 7) Used for each processing of a workpiece (W) are assembled, disassembled or moved in units of processing units (1).
- a positioning point (P) for causing the loader (3) to load or unload the workpiece (W) by the loader control device (4) is at least one processing unit (1) of the plurality of processing units (1).
- a marker (M) indicating a reference point (O U ) of the processing unit is provided on the at least one processing unit (1)
- the loader (3) is provided with marker reading means (21) for reading the marker (M) of the at least one processing unit to obtain the position of the reference point (O U ) of the at least one processing unit, Relative position storage means (31) for storing the relative position of each positioning point (P) with respect to the reference point (O U ) indicated by the marker (M) of each processing unit (1) in the loader control device (4).
- the loader control device (4) calculates based on the position of the reference point (O U ) read by the marker reading means (21) and the relative position stored by the relative position storage means.
- the loader (3) is positioned at a position in the loader coordinate system of each positioning point (P) that has been made.
- the “processing” in the “used for processing the workpiece” may be any of processing, measuring, cleaning, storing, placing, taking out, etc. on the workpiece, and “used” means Even if the processing unit (1) itself operates to perform processing, the processing unit (1) does not operate and processing such as placing a work (W) by the loader (3) or the like is performed. There may be.
- the loader (3) is moved and each processing unit is moved by the marker reading means (21).
- the marker (M) of (1) is read, and the position of the reference point (O U ) of the processing unit (1) is obtained.
- the relative position of each positioning point (P) with respect to the reference point (O U ) indicated by the marker (M) of each processing unit (1) is preset and stored in the relative position storage means (31).
- the loader control device (4) determines the position of the reference point (O U ) of the processing unit (1) obtained as described above in the loader coordinate system and each set for the reference point (O U ).
- each positioning point (P) in the loader coordinate system can be calculated, that is, each positioning point (P) in the loader coordinate system can be specified.
- Each positioning point (P) can be positioned.
- the “loader coordinate system” is a coordinate system used when controlling the position of the loader.
- the loader coordinate system is composed of three coordinate axes: a traveling direction of the loader (X direction), a vertical direction (Y direction), and a forward / backward direction of the loader (Z direction).
- each positioning point (P) of the loader (3) is used when the position of the reference point (O U ) of the processing unit (1) and the relative position to the reference point (O U ) are used.
- the coordinate position of the positioning point (P) in the loader coordinate system may be obtained by performing arithmetic processing such as adding a relative position to the position of the reference point (O U ) in the loader coordinate system.
- the result by performing arithmetic processing such as adding a relative position to the position of the loader coordinate system of the reference point (O U) It may be stored as the coordinate position of the positioning point (P) in the loader coordinate system, and may be used for positioning the loader at the positioning point (P) each time using the coordinate position stored by this calculation process.
- the marker (M) indicating the reference point (O U ) is provided in each processing unit (1), and the relative position of each positioning point (P) with respect to the reference point (O U ) is stored. Therefore, in the processing unit (1) having a plurality of positioning points (P), the coordinates in the loader coordinate system of the plurality of positioning points (P) possessed by the processing unit (1) can be obtained only by reading one marker (M). The position can be specified. For this reason, about the work processing system provided with unit structure equipment (2) and a loader (3), the teaching of the positioning point (P) of many loaders (3) can be performed efficiently after equipment rearrangement.
- the marker reading means (21) processes the image captured by the camera (41) that captures the marker (M) from above and the vertical direction of the marker (M). And an image processing unit (42) for calculating the position of.
- the size of the marker (M) in the image of the camera (41) changes depending on the height position of the camera (41) with respect to the marker (M).
- the height of the camera (41) is known. Therefore, the height position of the marker (M) with respect to the camera (41) can be calculated from the size of the marker (M) in the image of the camera (41) by image processing. Therefore, for teaching each positioning point (P), when detecting the reference point (O U ) of the processing unit (1), the vertical position of the marker (3) can be easily detected. (P) The position in the height direction can be easily taught.
- the marker (M) has a protruding portion (Mp) protruding upward
- the marker reading means (21) captures the marker (M) and the camera (41). and a said reference point captured image by processing the) (image processing unit for determining the position of the O U) (42), operating said loader (3) to the position of the determined reference point (O U)
- the loader (3) is slightly moved to a position where the loader (3) does not receive a reaction force from the protrusion (Mp) while the loader (3) and the protrusion (Mp) are coupled to each other.
- the loader control device (4) may be provided with correction means (54) for determining the position of the reference point (O U ) as the position of the reference point (O U ).
- the position of the reference point (O U ) can be obtained accurately only by image processing of the read marker (M). May not be possible.
- the loader is operated based on the position of the reference point (O U ) in the loader coordinate system calculated by the image processing unit (42), and the loader (3) and the protruding portion (Mp) are coupled with each other while the loader (3) is coupled. 3) By slightly moving the loader (3) to a position where it does not receive a reaction force from the projecting portion (Mp), the loader (3) in the gripped state is moved from the position of the loader (3) to the reference point (O U ). The position can be detected with high accuracy.
- the correction means (54) determines the detected value of the position of the loader (3) in the combined state as the position of the reference point (O U ).
- the position of the reference point of the processing unit (1) can be detected with higher accuracy by causing the loader (3) to grip the protrusion (Mp).
- the marker (M) includes a marker part (Mb, Mc) indicating the reference point (O U ) of the processing unit (1) and a marker part (Mb, Mc) indicating the direction of the processing unit (1). And a marker portion (Md) indicating the type of the processing unit (1), and the marker reading means (21) reads the marker (M) and determines the position of the reference point (O U ).
- the rotational deviation of the processing unit (1) and the type of the processing unit (1) may be recognized.
- the position, direction, and type serving as the reference of the processing unit (1) can be recognized for teaching the position of each positioning point (P). If the processing unit (1) can be identified by detecting the marker (M), it is possible to automatically determine which processing unit (1) is stored as a relative position for storing in the relative position storage means (31). .
- the marker portion (Mb, Mc) is composed of two linear marker portions (Mb, Mc) extending along two adjacent sides on a rectangular marker substrate (Ma).
- the extending direction of the linear marker portions (Mb, Mc) indicates the direction of the processing unit (1), and the intersection of the two linear marker portions (Mb, Mc) perpendicular to each other is the reference point ( O U ).
- the position and direction of the reference point (O U ) of the processing unit (1) can be indicated with a simple structure.
- the marker (M) further includes an auxiliary marker portion (Me) used when the position of the reference point (O U ) cannot be accurately grasped only by the marker portion (Mb, Mc). Is preferred. According to this configuration, even when the position of the reference point (O U ) cannot be accurately grasped only by the marker parts (Mb, Mc), the position of the reference point (O U ) using the auxiliary marker part (Me). Can be accurately grasped.
- the marker reading means (21) processes a camera (41) that captures the marker (M) and an image captured by the camera (41) to determine the position of the reference point (O U ).
- the image processing unit (42) to be obtained, the camera (3) is detachable from the loader (3), and has a transmission means (44) for wirelessly transmitting a photographed image,
- the image processing unit (42) may process the image transmitted by the transmission means (44).
- the camera (41) for reading the marker (M) is not permanently installed in the loader (3), and is necessary for detection of the position of the reference point after the unit component equipment (2) is rearranged.
- the loader (3) By providing the loader (3) only occasionally, it is possible to prevent the camera (3) from becoming dirty due to the processing by the unit component equipment (2).
- the camera (41) may be soiled by the processing. Can be avoided by making the camera (41) detachable.
- the detachable type it is possible to avoid that the camera (41) becomes an obstacle to the operation of the normal loader (3). Further, since the photographed image is transmitted wirelessly, it is not necessary to provide a wiring system for the camera (41) along the travel route of the loader travel.
- FIG. 1 is a block diagram showing a conceptual configuration of a work processing system in a first embodiment of the present invention.
- A is a block diagram showing a conceptual configuration of a loader control device in the work processing system of FIG. 1
- B is a block diagram showing a conceptual configuration of a marker / unit correspondence storage section in the loader control device of (A).
- FIG. 4 is an enlarged side view around the loader head portion of the loader of FIG. 3. It is explanatory drawing of the loader program in the work processing system of FIG. It is a top view of an example of the processing unit in the workpiece
- work processing system of FIG. (A) is a perspective view which shows the relationship between the marker and marker reading means in the workpiece
- (A) And (B) is a top view which shows the relationship between the processing unit of FIG. 6, and a marker.
- (A) is explanatory drawing which shows the relationship between the camera etc. which become the marker reading means in the work processing system of FIG. 1, and a loader
- (B) is explanatory drawing which shows the relationship between the camera of (A) and a loader control apparatus. is there.
- It is a schematic flowchart which shows the teaching work after the rearrangement of the unit structure equipment in the workpiece
- This work processing system includes a unit configuration facility 2 in which a plurality of processing units 1 (1 O , 1 A to 1 E ) are assembled, disassembled, or movable for each processing unit 1, and a loader 3 And a loader control device 4.
- processing units 1 (1 O , 1 A to 1 E ) those that require control are provided with processing unit controllers 5 (5 O , 5 A , 5 B ), respectively.
- the processing unit 1 is a device that performs some processing on the workpiece W, and is a unit of incorporation, disassembly, and movement in the unit component facility 2. That is, when the line configuration in the unit configuration facility 2 is changed, these processing units 1 are rearranged.
- processing may be any of processing, measurement, cleaning, storage, placing, taking out, and the like on the workpiece W, and the processing unit 1 itself is simply a table or the like for placing the workpiece W. May not perform any operation.
- Each processing unit 1 in the unit configuration equipment 2 is located on each predetermined processing unit arrangement place on the floor of the factory, and is arranged in a line in a line.
- other processing units 1 E and 1 A to 1 D are installed on both sides in the horizontal direction of the drawing, which is the linear arrangement direction (X-axis direction) of the main processing unit 1 O.
- the main processing unit 1 O is, for example, a machine tool, more specifically a lathe.
- a processing unit 1 E serving as a work supply base on which a work W is loaded is installed on the left side of the main processing unit 1 O in the linear arrangement direction, and each processing unit 1 A serving as a cleaning device is sequentially arranged on the right side of the paper.
- a processing unit 1 B serving as a measuring device, a processing unit 1 C serving as a first stocker, and a processing unit 1 D serving as a second stocker are arranged.
- Each processing unit 1 has one or a plurality of positioning points P for positioning the loader 3 when the loader 3 is operated. Of the plurality of processing units 1, at least one processing unit 1 has a plurality of positioning points P.
- the loader 3 is an apparatus capable of transporting the workpiece W over all the processing units 1 (1 O , 1 A to 1 E ) of the unit component equipment 2.
- the loader 3 is installed over the entire processing unit 1. It is a gantry type in which the loader traveling body 19 is installed on the rail 20 so as to be able to travel while gripping the workpiece W.
- the loader control device 4 is a computer-type control device that controls the loader 3 and includes a program-type control device such as a programmable controller.
- the loader control device 4 basically performs sequence control of the loader 3 by decoding and executing the loader program 6 by the loader program executing means 7.
- the loader control device 4 is composed of a computer and a program to be executed by the computer, and by these, each function achievement means described later is configured.
- the loader program execution means 7 is one of the function achievement means.
- the processing unit control device 5 O that controls the machine tool that is the main processing unit 1 O is composed of a computer-type numerical control device or the like.
- Each processing unit control device 5 and the loader control device 4 communicate with each other a signal indicating completion or start of operation, and obtain operation timing.
- FIG. 3 and 4 show specific configuration examples of the main processing unit 1 O and the loader 3.
- the main processing unit 1 O is composed of a parallel twin-axis lathe, and the main spindles 10 and 10 extending in the advancing / retreating direction (Z-axis direction) of the loader 3 are supported on two spindle heads 9 on the bed 8. Turret type tool rests 11 are provided on both sides.
- Each main shaft 10 has a chuck at its shaft head, and FIG. 3 shows a portion of the chuck.
- Two chucks 12 a and 12 b of the reversing device 12 are disposed above the main shafts 10 and 10.
- the reversing device 12 is operable so that these two chucks 12a and 12b face each other, and performs reversal by changing the workpiece W between the chucks 12a and 12b.
- the loader 3 is configured such that a loader traveling body 19 is movably installed on a rail 20 along the horizontal direction (X-axis direction) of the drawing.
- the loader traveling body 19 is provided with an elevating rod 14 that moves in the vertical direction (Y-axis direction) via a front-rear moving body 13 that moves in the front-rear direction (Z-axis direction) on the paper surface, and a loader head 15 at the lower end of the elevating rod 14. Is provided.
- the movement of the loader 3 in each axial direction is performed by a servo motor (not shown), but the position detector 18 (18 X , 18) detects the current position of the loader 3 in each axial direction (X, Y, Z axis direction). 18 Y , 18 Z ) are provided in the loader 3.
- the loader head 15 is provided with a swivel base 16 that swivels around an inclined swivel center Q, and a work W is placed on the front surface (the surface facing the headstock 9) and the lower surface of the swivel base 16. Gripping chucks 17 and 17 are provided. As the swivel base 16 turns, the positions of the front and lower chucks 17, 17 are interchanged.
- the work processing system has a basic the above configuration, as shown in FIG. 1, each processing unit 1, a marker M indicating the reference point O U of the processing unit 1 is provided, a marker reading means 21 for reading the marker M
- the loader 3 is provided.
- the marker reading unit 21 includes a camera 41 provided in the loader head 15 of the loader 3 and an image processing unit 42 that processes an image captured by the camera 41.
- the camera 41 uses an individual image sensor.
- the loader control device 4 is provided with a relative position storage means 31, a reference point position storage means 33, a teaching means 32, and the image processing unit 42 as the function achievement means.
- the relative position storage unit 31 is a means for storing the coordinate position where the relative positions of the respective positioning point P with respect to the reference point O U indicated marker M of the processing units 1.
- Reference point position storage means 33 is a means for storing the position of the reference point O U indicated markers M read by the marker reading means 21.
- the teaching means 32 is means for teaching the coordinate position to the relative position storage means 31 and the reference point position storage means 33.
- the loader control device 4 may be constituted by a single computer, or may be constituted by a plurality of computers connected by a network, or may be partly or entirely of the processing unit control device 5. It may be configured on a common computer.
- FIG. 6 shows a plan view of an example of the processing unit 1 with the marker M attached thereto.
- the marker M of each processing unit 1 is a camera 41 mounted on the loader 3 when the processing unit 1 is incorporated in the unit component equipment 2 and the loader 3 is passed in the traveling direction (X-axis direction). It is provided on the upper surface of the processing unit 1 within the band-shaped range R (the range shown by the hatched area in FIG. 6) that is the field of view that can be photographed (FIG. 1).
- the front-rear direction (Z-axis direction) position position in the advancing / retreating direction of the loader 3
- the vertical direction (Y-axis direction) position of the loader head 15 during the passage of the loader 3 are maintained constant.
- the position to which the marker M of each processing unit 1 is attached is one end in the arrangement direction (X-axis direction) of the processing units 1 and the front end (rail 20 (FIG. 20) in the front-rear direction (Z-axis direction) of the processing unit 1.
- the marker M has linear marker portions Mb and Mc along two adjacent sides on a square or rectangular marker substrate Ma, and these two are perpendicular to each other.
- linear marker moiety Mb, intersection of Mc indicates a reference point O U.
- linear marker moiety Mb, Mc is has a width in the line, the intersection of the outer edge of the line width of the reference point O U.
- the linear marker portions Mb and Mc are provided so that colors (any one of color, saturation, and brightness) are different from other portions on the marker substrate Ma.
- the linear marker portions Mb and Mc also serve as marker portions indicating the direction of the processing unit 1. That is, the two linear marker portions Mb and Mc serve as both a marker portion indicating a position and a marker portion indicating a direction.
- the corner portion positioned diagonally with respect to the reference point O U on marker M, the auxiliary marker moiety Me are provided in a square point-like.
- the auxiliary marker portion Me is a marker portion that is used when the corner portion cannot be accurately grasped only by the two linear marker portions Mb and Mc, and is not necessarily provided.
- the marker portion Md indicating the type of the processing unit 1 is a character such as a number or a character string. It is attached with a symbol. In the figure, the numeral “3” is attached.
- the marker portion Md indicating this type is unique for each individual of the processing unit 1, that is, can be identified without overlapping for each individual.
- the reference point O U marker M the marker pole Mp is provided a projection projecting upward.
- the marker pole Mp has a shape and size that can be gripped by the chuck 17 (FIG. 7A) of the loader 3, and is, for example, a cylindrical shape having a longitudinally (Y-axis direction) axis. Position in the horizontal plane of the axis of the marker pole Mp is, X of the reference point O U, it coincides with the Z-axis direction position. Further, a height marker pole Mp defined, the means for indicating the position of the marker pole Mp is the vertical direction of the reference point O U (Y-axis direction).
- the “protruding portion” is not limited to a pole shape such as the marker pole Mp, and may have any shape as long as it can be coupled to the loader 3 by being gripped by the chuck 17 of the loader 3. It may be.
- the relative position storage unit 31 is a unit which sets the relative positions of the respective positioning point P with respect to the reference point O U indicated marker M of the processing units 1. More specifically, for each processing unit 1, a reference point O U defines a local coordinate system with the origin, the coordinate position of each axis direction of the positioning points P defined as coordinates relative to the reference point O U, The relative position storage unit 31 is set. This local coordinate position may be only in the orthogonal two-axis direction (X-axis, Z-axis direction), but is preferably the coordinate position in the orthogonal three-axis direction. In this embodiment, the coordinate position in the three-axis direction is set. Yes.
- FIG. 9A shows a specific example of the marker reading means 21.
- the camera 41 of the marker reading means 21 is detachable without being permanently installed on the loader 3. That is, the camera 41 has a protruding gripped portion 46 on its side surface, and is held by the gripped portion 46 detachably by the chuck 17 facing the horizontal direction of the loader 3.
- the camera 41 is a wireless device having a USB camera unit 41a that outputs image data in a USB (Universal Serial Bus) format and a transmission unit 44 that wirelessly transmits the output.
- USB Universal Serial Bus
- the receiving means 45 for receiving the image data transmitted from the transmitting means 44 of the camera 41 is provided in the loader control device 4, and the received image data is subjected to image processing by the image processing unit 42, and the processing unit 1.
- the type, direction, reference point position, etc. are recognized, and the recognized information is sent to the teaching means 32.
- the teaching unit 32 teaches the relative position storage unit 31 and the reference point position storage unit 33 of FIG.
- FIG. 2A shows a conceptual configuration of a specific example of the loader control device 4 of FIG.
- the loader program 6 includes a main program 6A and a plurality of subprograms 6B that are provided corresponding to each processing unit 1 (1 A , 1 B ,...) And called by the main program 6A.
- the unit configuration equipment 2 when the processing unit 1 is reassembled such as incorporation, disassembly, movement, etc., the instruction of which subprogram 6B is called in the main program 6A is changed. No change is made.
- Each subprogram 6B describes a program for controlling the loader 3 with respect to the corresponding processing unit 1, and a command for performing each operation of the loader 3 and the coordinate position of each positioning point P of the processing unit 1. Are described in the order of operation of the processing unit 1.
- the coordinate position of each positioning point P of the processing unit 1 the relative position with respect to the reference point O U of the processing unit each (FIG. 8 (A)), that is, the reference point O U of each processing unit 1 It is described by the coordinate position in the local coordinate system as the origin.
- the subprogram 6B of each processing unit 1 is stored in the subprogram storage unit 43b of the loader program storage means 43 of the loader control device 4 in the order of the subprogram numbers as shown in FIG.
- the area in which the positioning point P of each subprogram 6B is stored in the subprogram storage unit 43b is the relative position storage means 31 in FIG.
- the relative position storage unit 31, per loader program 6, if no format using subprograms 6B of each processing unit 1, such as in this embodiment, only independent of the program, each relative to the reference point O U A table or the like in which the relative position of the positioning point P is set may be used.
- the subprogram 6B stored in the subprogram storage unit 43b may include a subprogram 6B for the spare processing unit 1 that does not constitute the current unit configuration facility 2.
- FIG. 5 shows a specific example of the main program 43.
- This example is an example in the case of unit configuration equipment in which the processing unit 1 O composed of the parallel twin-axis lathe of FIG. 3 is the main processing unit.
- the processing units 1 A , 1 B ,... Other than the main processing unit 1 O are different from the example of FIG.
- the “left axis” is the main shaft 10 on the left side of the drawing in FIG. 3
- the “right axis” is the main shaft 10 on the right side of the drawing.
- the “E chuck” is the chuck 12a on the left side of the paper in the reversing device 12
- the “F chuck” is the chuck 12b on the right side of the paper in the reversing device 12.
- the main program 6A shown in FIG. 5 is described as an array of cycle programs (cycle numbers N10 to N90) 6Aa which are program portions for each cycle, which is a group of operations of the loader 3.
- an instruction a character string “G65” in the figure
- a subprogram number for example, a character string “P8100”
- a subprogram position in the relative coordinate which are described in 6B (relative position with respect to the reference point O U positioning point P)
- 6B relative position with respect to the reference point O U positioning point P
- An instruction c for example, a character string of “R1” for performing the process of adding is described.
- the operation for the main processing unit 1 O (a lathe in the illustrated example) is the main program 6A. May be described. In the example of FIG. 5, in the cycles N20 to N80, each instruction is described in the main program 6A. This is because the main processing unit 1 O (main body internal cycle) is rarely rearranged when the unit component equipment 2 is rearranged. In the instruction in the main program 43, the coordinate position is described as an absolute coordinate in the loader coordinate system.
- the teaching unit 32 performs teaching to the reference point position storage unit 33 and teaching to the relative position storage unit 31 including the storage area of the relative coordinates of the positioning P in each subprogram 6B based on the reading result of the marker reading unit 21.
- Reference point position storage means 33 is composed of identification information of the processing unit 1, and stored in association with the coordinate position in the loader coordinate system of the reference point O U of the processing unit 1 table.
- the teaching unit 32 includes a marker / unit correspondence storage unit 51, a reference angle grasping unit 52, a marker search control unit 53, a correction unit 54, an installation angle grasping unit 55, and a unit-by-unit teaching unit 56.
- the marker unit correspondence storage unit 51 is composed of a table that stores marker information, the type of the processing unit 1, and the program number of the subprogram 6B in association with each other.
- the “marker information” is identification information obtained as a result of the marker reading unit 21 reading the marker portion Md indicating the type of the processing unit in the marker M and recognizing it by the image processing unit 42.
- Reference angle grasping unit 52 is a means for obtaining a position in the loader coordinate system of the reference point O U marker M attached to the processing unit 1 O as a main.
- the marker search control unit 53 is means for causing the marker reading means 21 to read the marker M of each processing unit 1 by running the loader 3.
- Correcting means 54 moves the loader 3 to the position of the reference point O U provisional obtained with a marker reading means 21 is coupled to the loader 3 and a marker pole Mp, i.e. a marker pole Mp by a chuck 17 having a loader 3 was grasped, is a means for storing the detected value of the position of the gripping state definitive loader 3 on the determined reference point position storage means 33 as the position of the reference point O U.
- the position of the loader 3 in the gripping state described above is such that the loader 3 matches the position of the marker pole Mp by gripping, that is, the loader 3 makes a reaction force from the marker pole Mp while contacting the marker pole Mp. It is a position in a state where it is finely moved to a position that does not receive.
- the installation angle grasping unit 55 is a means for specifying the installation angle of the processing unit 1 with respect to the reference angle in the loader coordinate system when the loader 3 and the marker pole Mp are coupled, that is, when the marker pole Mp is grasped by the chuck 17. It is.
- the unit teaching unit 56 is a means for teaching the coordinate position of each positioning point P in the local coordinate system to the subprogram 6B for each processing unit 1.
- preparation process (Q1) the relative positions of the positioning point P with respect to the reference point O U of each processing unit 1, if the relative position storage unit 31 has already been stored, that is sub-processing units each Description will be made on the assumption that each positioning point P in the program 6B has been taught in local coordinates.
- the preparation process (Q1) includes in-factory work in FIG. 11 and post-installation work in FIG.
- any of the processing units 1 in the unit configuration facility 2 is reassembled by incorporation, disassembly, or movement. Then, as the process obtaining the position of the reference point O U of each processing unit 1 (Q2), in a state of being held camera 41 of the marker reading means 21 to the loader 3, the arrangement direction of the plurality of processing units loader 3 ( In the X-axis direction), it travels over all the processing units 1. This traveling may be performed by a manual switch operation of an operation panel provided in the loader control device 4 or by executing a teaching program (not shown) provided separately from the loader program 6. May be.
- the position of the camera 41 of the loader 3 is constant with respect to the loader traveling body 19 in the front-rear direction (Z-axis direction) (the forward / backward direction of the loader 3) and the vertical direction (Y-axis direction). .
- the marker M of each processing unit 1 is within the band-shaped range R that becomes the field of view of the camera 41 of the loader 3 and is photographed by the camera 41.
- Information of the photographed image is processed by the image processing unit 42, three-axis reference point O U processing unit 1 indicated by the marker M in the loader coordinate system (X, Y, Z axis) direction of the coordinate position is calculated, the reference It is stored in the point position storage means 33 (when not corrected by gripping the marker pole Mp).
- Coordinate position of the horizontal plane of the reference point O U (X direction and Z direction position), two linear marker moiety Mb of mutually perpendicular markers M is determined as the coordinate position of the intersection of Mc.
- Vertical coordinate position of the reference point O U (Y direction position) is determined from the relationship between the size and the known actual dimensions of the image of the marker pole Mp.
- the coordinate position in the vertical direction (Y axis direction) of the reference point O U Is obtained.
- the coordinate positions in the vertical direction of the reference point O U can be a flat marker no marker pole Mp, since the size of the image is changed by the height, it is possible to determine.
- the reference point O U obtained is for which processing unit 1 identifies the image processing unit 42 from the marker moiety Md indicating the type of the processing unit 1 in the marker M.
- the reference point position storage means 33 in correspondence with the identified processing unit 1 of the identification information, and stores the position of each axis direction of the reference point O U (Q3).
- the installation angle ⁇ which is a shift angle of the processing unit 1 with respect to the loader coordinate system, is a linear marker portion Mb of the marker M and the coordinate axis of the loader coordinate system. And obtained by comparison by the image processing unit 42.
- This fine movement stops when the loader 3 is in contact with the marker pole Mp but has moved to a position where it does not receive a reaction force from the marker pole Mp, and the loader 3 grips the marker pole.
- the coordinate position indicated by the position detector 18 of each axis of the loader 3 at the time of the gripping (18 X, 18 Y, 18 Z), determined as the coordinate position of the reference point O U, stored in the reference point position storage means 33 Let Coordinates in the vertical direction (Y axis direction) of the reference point O U is obtained by such a marker pole Mp hits the bottom of the chuck 17.
- the reference point position storage means 33 stores the angle obtained by the image processing.
- Coordinate positioning point P of the processing unit 1 in the loader coordinate system is determined from the absolute coordinate position of the reference point O U of the processing units, the relative coordinate position of the positioning point P in the local coordinate system which has been previously taught .
- each time for performing control to move to the positioning point P in the absolute coordinate of the reference point O U (loader coordinate system)
- the relative coordinate position of each positioning point P for each processing unit 1 is added to the position. At this time, it is added after correcting the relative coordinates by the installation angle ⁇ . That is, the processing unit 1 and the loader 3 is premised to be horizontal, if the installation angle of the processing unit 1 theta occurs, since coordinates are shifted in line with an arc centered on the reference point O U If the installation angle ⁇ , which is the deviation angle, is known, the coordinate value can be corrected by the following circle formula.
- the recombinant process unit 1 in the unit configuration facility 2 (embedded, degradation, move) even if the position of the reference point O U defined one for each processing unit 1 Is obtained only by recognizing the mark M, and it is not necessary to perform detailed processing for specifying and teaching the individual positioning points P.
- the acquisition of the position of the reference point O U can be done by recognizing the common been marked M in each processing unit 1, compared with the case of recognizing various shape and position, the positioning point P of different directions directly And simple. Therefore, teaching after the reconfiguration of the unit equipment 2 can be performed easily and quickly, and the efficiency of recombination, which is one of the greatest advantages of unitization of the equipment, can be further developed.
- the preparation process Q1 in FIG. 10 will be described with reference to FIGS. 11 and 12, and the details of the processes Q2, Q3 and the like after the equipment replacement will be described with reference to FIG.
- the workpiece processing system is generally assembled at the factory of the manufacturer of the workpiece processing system, taught to the extent possible, and then shipped and installed at the user's factory.
- FIG. 11 shows the work in the factory in the manufacturer of the workpiece processing system.
- the reference angle is first specified (R1).
- the marker M attached to the lathe is a processing unit 1 O as a main read by the marker reading means 21 obtains the vertical and horizontal position of the reference point O U.
- the process R1 is performed by the reference angle grasping unit 52 shown in FIG.
- This process is a process in which the loader 3 travels at a low speed in the movable range in the X-axis direction, and the marker M provided in each processing unit 1 is read by the marker reading means 21.
- This process R2 is performed by the marker search control unit 53 of FIG.
- the marker M of each processing unit 1 is corrected (R3). That is, in the same manner as described above in conjunction with FIG. 10, to operate the loader 3 by using the reference point O U provisional processing units 1 obtained by reading the marker M (R2), the loader marker pole Mp markers M 3 is chucked by the downward chuck 17. In this chucking state, X-axis of the loader 3, Z-axis, and the position detecting means of the Y-axis (18 X, 18 Y, 18 Z) using the value indicated by the coordinate position of the reference point O U of the processing unit 1 To be confirmed. Coordinate position was determined reference point O U is stored in the reference point position storage means 33 in the nonvolatile area of the loader control unit 4. The correction of the process R3 is performed by the correction unit 54 in FIG.
- the installation angle of each processing unit 1 is specified (R4). That is, when to confirm the coordinate position of the reference point O U marker pole Mp chucking to the process R3, the mounting angle of the processing unit 1 theta (FIG. 8 (B)) was also obtained in the course R1
- the installation angle ⁇ of each processing unit 1 in the coordinate system of the loader 3 is obtained, and the obtained installation angle ⁇ is stored in the reference point position storage means 33.
- the process R4 is performed by the installation angle grasping unit 55 shown in FIG.
- teaching for each processing unit 1 is performed (R5). That is, the positioning point P is taught to the subprogram 6B for each processing unit 1.
- the coordinates when the installation angle is set to 0 ° in the local coordinate system for each processing unit 1 are calculated by internal processing, and stored as teaching positions in each subprogram 6B.
- the process R5 is performed by the unit-by-unit teaching unit 56 in FIG.
- FIG. 12 shows the work after the work processing system has been shipped and installed in the user's factory.
- This work is the same as the factory work described above with reference to FIG. 11, but the teaching work of the positioning point P by manual work on site is not necessary.
- a reference angle is specified (S1).
- the marker M attached to the lathe is a processing unit 1 O as a main read by the marker reading means 21 obtains the vertical and horizontal position of the reference point O U.
- the obtained, as the origin of the vertical and horizontal position of the reference point O U sets the coordinate system of the loader 3. That is, the coordinate system of the loader 3 set in the factory work in FIG. 11 is updated.
- the process S1 is performed by the reference angle grasping unit 52 shown in FIG.
- This process is a process in which the loader 3 travels at a low speed in the movable range in the X-axis direction, and the marker reading means 21 reads the marker M provided in each processing unit 1.
- This process S2 is performed by the marker search control unit 53 of FIG.
- the marker M of each processing unit 1 is corrected (S3). That is, in the same manner as Process R3 in Figure 11, to operate the loader 3 by using the reference point O U provisional processing units 1 obtained by reading the marker M (S2), the loader marker pole Mp markers M 3 is chucked by the downward chuck 17.
- X-axis of the loader 3 as Z-axis
- Coordinate position was determined reference point O U is stored in the reference point position storage means 33 of the loader control unit 4. That is, the stored contents of the reference point position storage means 33 are updated.
- the correction in this step S3 is performed by the correction means 54 in FIG.
- the installation angle of each processing unit 1 is specified (S4). That is, in the same manner as Process R4 in FIG. 11, when the marker pole Mp process S3 chucked by determining the coordinate position of the reference point O U, mounting angle of the processing unit 1 theta (FIG. 8 (B)) Also, the installation angle ⁇ of each processing unit 1 in the coordinate system of the loader 3 acquired in step S1 is obtained, and the obtained installation angle ⁇ is stored in the reference point position storage means 33. That is, the installation angle ⁇ stored in the reference point position storage means 33 is updated.
- the process S4 is performed by the installation angle grasping unit 55 shown in FIG.
- FIG. 13 shows the teaching work after recombination such as incorporation, disassembly, and movement of the processing unit 1 for the unit component equipment 2.
- the reference angle specification (T1), the unit marker search (T2), the unit marker correction (T3), and the unit installation angle specification (T4) are the same as described in the factory work of FIG. 11 and the post-installation work of FIG. )I do.
- These processes (T1 to T4) are the same as the processes S1 to S4 in FIG.
- the teaching process for each unit (T5) is performed only when necessary. That is, when the processing unit 1 that has not yet been taught the position of the positioning point P in the local coordinate system of each positioning point P is incorporated by recombination of the unit component equipment 2, the processing for the processing unit 1 is performed. Teaching for each unit 1. In this teaching for each processing unit 1, the positioning point P is taught to the subprogram 6B for each processing unit 1. As the coordinates of the taught positioning point P, the coordinates when the installation angle is set to 0 ° in the local coordinate system for each processing unit 1 are calculated by internal processing and stored in each subprogram 6B. The process T5 is performed by the unit teaching unit 56 in FIG.
- the local teaching (each of the reference points) It is desirable to provide the loader control device 4 with means (not shown) for prompting a message prompting the setting of the relative position of the positioning point P by a display screen or the like. If the position of each positioning point P in the local coordinate system has been taught even once, there is no need to re-teach even after the unit component facility 2 is rearranged.
- the teaching of the position in the local coordinates in each processing unit 1 does not need to be performed again once it is performed. only by performing a specific location in the unit 1 of the loader coordinate system of the reference point O U (absolute coordinate system), resulting in, that the coordinate position is taught in the loader coordinate system of the positioning point P of the processing unit 1 become. Therefore, it is possible to efficiently teach a number of loader positioning points.
- FIG. 14 shows the processing unit 1 in the work processing system of the second embodiment of the present invention.
- two processing units 1 each consisting of a single-axis lathe are housed in a common machine body cover 60 to form one machine tool 61 in appearance and operation.
- the unit configuration equipment including the machine tool 61 is incorporated, disassembled, or moved for each processing unit 1 that is a single-axis lathe of the machine tool 61 shown in FIG.
- the workpiece processing system of the present invention can also be applied to such a processing unit 1.
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Mechanical Engineering (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Manufacturing & Machinery (AREA)
- Quality & Reliability (AREA)
- General Engineering & Computer Science (AREA)
- Optics & Photonics (AREA)
- Human Computer Interaction (AREA)
- Manipulator (AREA)
- Numerical Control (AREA)
- Multi-Process Working Machines And Systems (AREA)
Abstract
Description
前記少なくとも1つの処理ユニット(1)にこの処理ユニットの基準点(OU)を示すマーカー(M)を設け、
前記ローダ(3)に前記少なくとも1つの処理ユニットの前記マーカー(M)を読み取って前記少なくとも1つの処理ユニットの前記基準点(OU)の位置を求めるマーカー読み取り手段(21)を設け、
前記ローダ制御装置(4)に、前記各処理ユニット(1)の前記マーカー(M)が示す基準点(OU)に対する前記各位置決め点(P)の相対位置を記憶する相対位置記憶手段(31)を設け、前記ローダ制御装置(4)は、前記マーカー読み取り手段(21)で読み取られた前記基準点(OU)の位置と前記相対位置記憶手段が記憶する前記相対位置とに基づいて演算された前記各位置決め点(P)のローダ座標系における位置に前記ローダ(3)を位置決めさせる。
基準角度把握部52は、主となる処理ユニット1Oに付けられたマーカーMの基準点OUのローダ座標系における位置を取得する手段である。マーカー検索制御部53は、ローダ3を走行させて各処理ユニット1のマーカーMをマーカー読み取り手段21に読み取らせる手段である。
X2+Z2=r2
X=rCOSθ、Z=rSINθ
製造メーカの工場内で、このワーク処理システムのユニット構成設備2が組上がると、まず基準角度を特定する(R1)。この作業は、主となる処理ユニット1Oである旋盤に付けられたマーカーMを、マーカー読み取り手段21により読み取り、基準点OUの垂直方向および水平方向の位置を取得する。この取得した、基準点OUの垂直方向および水平方向の位置を原点として、ローダ3の座標系を設定する。この過程R1の処理を、図2(A)の基準角度把握部52により行う。
2 ユニット構成設備
3 ローダ
4 ローダ制御装置
5,5O,5A,5B 処理ユニット制御装置
6 ローダプログラム
6A メインプログラム
6B サブプログラム
15 ローダヘッド
17 チャック
18,18X,18Y,18Z 位置検出器
19 ローダ走行体
20 レール
21 マーカー読み取り手段
31 相対位置記憶手段
33 基準点位置記憶手段
32 教示手段
41 カメラ
42 画像処理部
44 送信手段
51 マーカー・ユニット対応記憶部
M マーカー(突出部)
Ma マーカー基板
Mb,Mc 線状マーカー部分
Me 補助マーカー部分
Mp マーカーポール
OU 基準点
P 位置決め点
W ワーク
Claims (7)
- ワークの各処理にそれぞれ用いられる複数の処理ユニットが、処理ユニット単位で組込、分解、または移動可能に組合わされたユニット構成設備と、
前記各処理ユニットに対してワークを搬入搬出するローダと、
このローダを制御するローダ制御装置とを備え、
このローダ制御装置によって前記ローダにワークを搬入または搬出させるための位置決め点が、前記複数の処理ユニットのうちの少なくとも一つの処理ユニットに複数存在するワーク処理システムであって、
前記少なくとも1つの処理ユニットにこの処理ユニットの基準点を示すマーカーを設け、
前記ローダに前記少なくとも1つの処理ユニットの前記マーカーを読み取って前記少なくとも1つの処理ユニットの前記基準点の位置を求めるマーカー読み取り手段を設け、
前記ローダ制御装置に、前記各処理ユニットの前記マーカーが示す基準点に対する前記各位置決め点の相対位置を記憶する相対位置記憶手段を設け、前記ローダ制御装置は、前記マーカー読み取り手段で読み取られた前記基準点の位置と前記相対位置記憶手段が記憶する前記相対位置とに基づき演算された各位置決め点のローダ座標系における位置に前記ローダを位置決めさせるワーク処理システム。 - 前記マーカー読み取り手段が、前記マーカーを上方から撮影するカメラと、このカメラの撮影した画像を処理して前記マーカーの上下方向の位置を演算する画像処理部とを有する請求項1記載のワーク処理システム。
- 前記マーカーが上方に突出する突出部を有し、前記マーカー読み取り手段が、前記マーカーを撮影するカメラと、このカメラの撮影した画像を処理して前記基準点の位置を求める画像処理部とを有し、この求めた基準点の位置に前記ローダを動作させて前記ローダと前記突出部を結合させながらも前記ローダが前記突出部から反力を受けない位置に前記ローダを微動させ、このローダの位置の検出値を前記基準点の位置として確定する補正手段を前記ローダ制御装置に設けた請求項1記載のワーク処理システム。
- 前記マーカーが、そのマーカーが設けられた前記処理ユニットの基準点を示すマーカー部分と、前記処理ユニットの方向を示すマーカー部分と、前記処理ユニットの種類を示すマーカー部分とを有し、前記マーカー読み取り手段は、前記マーカーを読み取って前記基準点の位置の他に、処理ユニットの回転方向のずれと処理ユニットの種類とを認識する請求項1ないし請求項3のいずれか1項に記載のワーク処理システム。
- 前記マーカー部分は、矩形のマーカー基板上の隣り合う2辺に沿ってのびる2本の線状マーカー部分からなり、これら2本の線状マーカー部分の延在方向が前記処理ユニットの方向を示し、これら2本の互いに直角をなす線状マーカー部分の交差部が前記基準点を示す請求項4に記載のワーク処理システム。
- 前記マーカーが、前記マーカー部分だけでは前記基準点の位置を精度良く把握できない場合に利用される補助マーカー部分をさらに有する請求項4に記載のワーク処理システム。
- 前記カメラが、前記ローダに着脱自在であって、撮影した画像を無線で送信する送信手段を有し、前記画像処理部は前記送信手段で送信された画像を処理する請求項2または請求項3に記載のワーク処理システム。
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
KR1020137030916A KR20140004229A (ko) | 2011-06-08 | 2012-05-25 | 워크 처리 시스템 |
CN201280024283.2A CN103561905A (zh) | 2011-06-08 | 2012-05-25 | 工件处理系统 |
EP12796488.0A EP2719500A4 (en) | 2011-06-08 | 2012-05-25 | PART PROCESSING SYSTEM |
US14/071,181 US20140067109A1 (en) | 2011-06-08 | 2013-11-04 | Workpiece-processing system |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2011-127897 | 2011-06-08 | ||
JP2011127897 | 2011-06-08 |
Related Child Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
US14/071,181 Continuation US20140067109A1 (en) | 2011-06-08 | 2013-11-04 | Workpiece-processing system |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2012169374A1 true WO2012169374A1 (ja) | 2012-12-13 |
Family
ID=47295942
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP2012/063461 WO2012169374A1 (ja) | 2011-06-08 | 2012-05-25 | ワーク処理システム |
Country Status (6)
Country | Link |
---|---|
US (1) | US20140067109A1 (ja) |
EP (1) | EP2719500A4 (ja) |
JP (1) | JPWO2012169374A1 (ja) |
KR (1) | KR20140004229A (ja) |
CN (1) | CN103561905A (ja) |
WO (1) | WO2012169374A1 (ja) |
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2016047288A1 (ja) * | 2014-09-24 | 2016-03-31 | 村田機械株式会社 | 工作機械システム及びワーク搬送方法 |
WO2018047309A1 (ja) * | 2016-09-09 | 2018-03-15 | マキノジェイ株式会社 | 加工システム |
JP7361258B2 (ja) | 2019-11-19 | 2023-10-16 | 株式会社東京精密 | プローバの組立方法及びティーチング治具 |
Families Citing this family (11)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US10108186B2 (en) * | 2011-12-09 | 2018-10-23 | Daimler Ag | Adaptive workstation assembly in production processing |
FI127268B (fi) * | 2015-05-21 | 2018-02-28 | Lappeenrannan Teknillinen Yliopisto | Menetelmä ja järjestelmä työkalun kiinnittämiseksi |
JP6292217B2 (ja) * | 2015-12-18 | 2018-03-14 | 日本精工株式会社 | 生産ライン及び製品の生産方法 |
JP6802726B2 (ja) * | 2017-02-14 | 2020-12-16 | 株式会社Screenホールディングス | 基板搬送装置、それを備える基板処理装置および基板搬送方法 |
WO2019124009A1 (ja) | 2017-12-18 | 2019-06-27 | 日東工器株式会社 | 工具並びに工具の制御回路及び制御方法 |
CN108127668B (zh) * | 2017-12-19 | 2020-05-08 | 合肥欣奕华智能机器有限公司 | 一种机器人的示教方法、机器人的示教装置及机器人系统 |
CN110370263B (zh) * | 2018-04-13 | 2021-04-16 | 合肥欣奕华智能机器有限公司 | 一种机器人的示教方法、装置及机器人 |
WO2021100403A1 (ja) * | 2019-11-20 | 2021-05-27 | 日本電産株式会社 | 作業システム |
JP6860735B1 (ja) * | 2020-07-28 | 2021-04-21 | Dmg森精機株式会社 | 搬送システム、搬送システムの制御方法、および搬送システムの制御プログラム |
CN113093650B (zh) * | 2021-04-14 | 2023-08-11 | 曹智军 | 一种数控机床工件视觉定位的数据通讯方法 |
CN113838127A (zh) * | 2021-09-28 | 2021-12-24 | 天津朗硕机器人科技有限公司 | 一种基于机器视觉的装配孔定位方法 |
Citations (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH0440506A (ja) * | 1990-06-06 | 1992-02-10 | Murata Mach Ltd | ロボットの教示装置 |
JPH04330504A (ja) * | 1991-05-02 | 1992-11-18 | Murata Mach Ltd | ローダの教示装置 |
JPH05208335A (ja) | 1991-12-04 | 1993-08-20 | Toshiba Mach Co Ltd | 自動パレット交換装置 |
JPH071298A (ja) | 1993-06-11 | 1995-01-06 | Sanken Electric Co Ltd | ユニット型物品生産装置とそれを使用した物品生産ラインシステム |
JP2004001153A (ja) * | 2002-06-03 | 2004-01-08 | Matsushita Electric Ind Co Ltd | 物品認識システム |
JP2006026818A (ja) * | 2004-07-16 | 2006-02-02 | Toyota Industries Corp | 工作機械 |
JP2009125839A (ja) * | 2007-11-21 | 2009-06-11 | Nachi Fujikoshi Corp | 溶接教示位置補正システム |
Family Cites Families (24)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4477882A (en) * | 1982-02-24 | 1984-10-16 | Allen-Bradley Company | Communications network for programmable controllers |
US4501107A (en) * | 1982-12-29 | 1985-02-26 | Certainteed Corporation | Batt stacker and loader and method therefor |
DE3706081C2 (de) * | 1987-02-25 | 1994-09-29 | Fraunhofer Ges Forschung | Vorrichtung zur Montage von Teilen mit einem Industrieroboter |
US5536128A (en) * | 1988-10-21 | 1996-07-16 | Hitachi, Ltd. | Method and apparatus for carrying a variety of products |
US5687209A (en) * | 1995-04-11 | 1997-11-11 | Hewlett-Packard Co. | Automatic warp compensation for laminographic circuit board inspection |
US6113461A (en) * | 1996-09-30 | 2000-09-05 | Ntn Corporation | Grinding method utilizing grinding sharpness of grinding element |
US6259960B1 (en) * | 1996-11-01 | 2001-07-10 | Joel Ltd. | Part-inspecting system |
KR20010006467A (ko) * | 1997-04-18 | 2001-01-26 | 오노 시게오 | 노광 장치, 해당 장치를 이용한 노광 방법 및 회로 장치 제조 방법 |
US6230067B1 (en) * | 1999-01-29 | 2001-05-08 | Bp Microsystems | In-line programming system and method |
US6891967B2 (en) * | 1999-05-04 | 2005-05-10 | Speedline Technologies, Inc. | Systems and methods for detecting defects in printed solder paste |
US6496270B1 (en) * | 2000-02-17 | 2002-12-17 | Gsi Lumonics, Inc. | Method and system for automatically generating reference height data for use in a three-dimensional inspection system |
JP4178754B2 (ja) * | 2001-01-09 | 2008-11-12 | 村田機械株式会社 | ワーク搬送システム |
JP4620285B2 (ja) * | 2001-05-14 | 2011-01-26 | 富士機械製造株式会社 | 電気部品装着システムの運転方法 |
US7289230B2 (en) * | 2002-02-06 | 2007-10-30 | Cyberoptics Semiconductors, Inc. | Wireless substrate-like sensor |
CN1977577B (zh) * | 2004-04-30 | 2010-04-14 | 富士机械制造株式会社 | 印刷基板支撑设备 |
JPWO2006025386A1 (ja) * | 2004-08-31 | 2008-05-08 | 株式会社ニコン | 位置合わせ方法、処理システム、基板の投入再現性計測方法、位置計測方法、露光方法、基板処理装置、計測方法及び計測装置 |
JP4844835B2 (ja) * | 2004-09-14 | 2011-12-28 | 株式会社ニコン | 補正方法及び露光装置 |
JP4056542B2 (ja) * | 2005-09-28 | 2008-03-05 | ファナック株式会社 | ロボットのオフライン教示装置 |
US7898653B2 (en) * | 2006-12-20 | 2011-03-01 | Hitachi High-Technologies Corporation | Foreign matter inspection apparatus |
DE102007005255A1 (de) * | 2007-02-02 | 2008-08-07 | Wabco Gmbh | Verfahren zum Betrieb eines Transfersystems und Vorrichtung zur Durchführung des Verfahrens |
JP2009302322A (ja) * | 2008-06-13 | 2009-12-24 | Nec Electronics Corp | ティーチング装置及びティーチング方法 |
JP2010153769A (ja) * | 2008-11-19 | 2010-07-08 | Tokyo Electron Ltd | 基板位置検出装置、基板位置検出方法、成膜装置、成膜方法、プログラム及びコンピュータ可読記憶媒体 |
US20120327215A1 (en) * | 2009-09-22 | 2012-12-27 | Case Steven K | High speed optical sensor inspection system |
US9032611B2 (en) * | 2010-09-15 | 2015-05-19 | Mycronic AB | Apparatus for generating patterns on workpieces |
-
2012
- 2012-05-25 EP EP12796488.0A patent/EP2719500A4/en not_active Withdrawn
- 2012-05-25 WO PCT/JP2012/063461 patent/WO2012169374A1/ja active Application Filing
- 2012-05-25 JP JP2013519442A patent/JPWO2012169374A1/ja active Pending
- 2012-05-25 KR KR1020137030916A patent/KR20140004229A/ko not_active Application Discontinuation
- 2012-05-25 CN CN201280024283.2A patent/CN103561905A/zh active Pending
-
2013
- 2013-11-04 US US14/071,181 patent/US20140067109A1/en not_active Abandoned
Patent Citations (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH0440506A (ja) * | 1990-06-06 | 1992-02-10 | Murata Mach Ltd | ロボットの教示装置 |
JPH04330504A (ja) * | 1991-05-02 | 1992-11-18 | Murata Mach Ltd | ローダの教示装置 |
JPH05208335A (ja) | 1991-12-04 | 1993-08-20 | Toshiba Mach Co Ltd | 自動パレット交換装置 |
JPH071298A (ja) | 1993-06-11 | 1995-01-06 | Sanken Electric Co Ltd | ユニット型物品生産装置とそれを使用した物品生産ラインシステム |
JP2004001153A (ja) * | 2002-06-03 | 2004-01-08 | Matsushita Electric Ind Co Ltd | 物品認識システム |
JP2006026818A (ja) * | 2004-07-16 | 2006-02-02 | Toyota Industries Corp | 工作機械 |
JP2009125839A (ja) * | 2007-11-21 | 2009-06-11 | Nachi Fujikoshi Corp | 溶接教示位置補正システム |
Non-Patent Citations (1)
Title |
---|
See also references of EP2719500A4 * |
Cited By (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2016047288A1 (ja) * | 2014-09-24 | 2016-03-31 | 村田機械株式会社 | 工作機械システム及びワーク搬送方法 |
JPWO2016047288A1 (ja) * | 2014-09-24 | 2017-04-27 | 村田機械株式会社 | 工作機械システム及びワーク搬送方法 |
WO2018047309A1 (ja) * | 2016-09-09 | 2018-03-15 | マキノジェイ株式会社 | 加工システム |
JPWO2018047309A1 (ja) * | 2016-09-09 | 2019-04-11 | マキノジェイ株式会社 | 加工システム |
JP7361258B2 (ja) | 2019-11-19 | 2023-10-16 | 株式会社東京精密 | プローバの組立方法及びティーチング治具 |
Also Published As
Publication number | Publication date |
---|---|
JPWO2012169374A1 (ja) | 2015-02-23 |
EP2719500A1 (en) | 2014-04-16 |
US20140067109A1 (en) | 2014-03-06 |
CN103561905A (zh) | 2014-02-05 |
EP2719500A4 (en) | 2015-04-15 |
KR20140004229A (ko) | 2014-01-10 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
WO2012169374A1 (ja) | ワーク処理システム | |
JP4087841B2 (ja) | ロボット制御装置 | |
JP6412179B2 (ja) | 加工機に対して移動ロボットが物品の搬入及び搬出を行う加工システム、及び機械制御装置 | |
JP6458052B2 (ja) | 自走式関節ロボット | |
JP6267157B2 (ja) | 位置補正機能を有するロボットを備えた生産システム | |
EP2547490B1 (en) | Calibration of a base coordinate system for an industrial robot | |
US20160151915A1 (en) | Cooperation system having machine tool and robot | |
JP2019098479A (ja) | 工作機械 | |
JP2009110190A (ja) | ワーク搬送用ロボットの制御装置 | |
CN106625665A (zh) | 一种可移动式自动寻址的钻铣机器人系统 | |
CN109746911A (zh) | 加工系统 | |
JP2018126839A (ja) | ロボットシステム及びその制御方法 | |
JP2008073813A (ja) | マシニングセンタによる加工方法 | |
CN107953333B (zh) | 一种机械手末端工具标定的控制方法及系统 | |
KR20180008177A (ko) | 자동 공구교환 장치 및 이를 이용한 자동 공구교환 방법 | |
JP6860735B1 (ja) | 搬送システム、搬送システムの制御方法、および搬送システムの制御プログラム | |
JP5061965B2 (ja) | ロボット生産システム | |
JP6088190B2 (ja) | 加工システム、及びその加工方法 | |
JP2019048349A (ja) | ロボットシステム、ロボット制御装置および被加工物の製造方法 | |
JP5088187B2 (ja) | ロボット設置方法及びロボット生産システム | |
WO2017051445A1 (ja) | 多関節ロボットのティーチングシステム | |
KR20140062743A (ko) | 서포트 용접용 스카라 로봇 시스템 및 이에 따른 용접방법 | |
JP2019058954A (ja) | 作業支援ユニット及び自動作業システム | |
KR20200125172A (ko) | 자동 어태치먼트 교환장치 및 이의 제어방법 | |
JP7495271B2 (ja) | 産業用ロボット |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
121 | Ep: the epo has been informed by wipo that ep was designated in this application |
Ref document number: 12796488 Country of ref document: EP Kind code of ref document: A1 |
|
ENP | Entry into the national phase |
Ref document number: 2013519442 Country of ref document: JP Kind code of ref document: A |
|
WWE | Wipo information: entry into national phase |
Ref document number: 2012796488 Country of ref document: EP |
|
ENP | Entry into the national phase |
Ref document number: 20137030916 Country of ref document: KR Kind code of ref document: A |
|
NENP | Non-entry into the national phase |
Ref country code: DE |