JP4191963B2 - Glass forming system and method for controlling glass forming system - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a glass forming system, and more particularly to a glass forming system provided with communication means in each glass forming machine and conveying device in the system and a method for controlling the glass forming system.
[0002]
[Prior art]
When a large number of glass forming machines are prepared for mass production, a glass forming system suitable for glass forming for further mass production is required.
[0003]
FIG. 7 shows a conventional molding system for mass production, and this glass molding system will be described.
[0004]
The glass forming system in FIG. 7 includes a plurality of glass forming chambers 102 (A), (B), (C), (D)... (N). Each molding chamber is provided with a molding chamber controller 101 corresponding to each molding chamber, and the glass molding chamber 102 and the molding chamber controller 101 constitute a glass molding machine.
[0005]
In addition, installation of glass materials, stocker device 104 for storing glass products molded from now on, robot 103 as a conveyance device for conveying glass materials and glass products, and robot control device 105 correspond to each glass molding machine. Installed.
[0006]
Conventionally, in such a glass forming system provided with a plurality of glass forming machines and robots, independent molding chamber control devices are provided in consideration of enabling molding of different molded products in each molding chamber. Have. Also for the robot control, a robot controller is provided so that each glass forming machine can exchange sequence data independently. That is, a large amount of molding is possible by combining several glass molding machines and robots.
[0007]
However, in such a glass forming system, due to the difference in the molded product, the robot does not always operate and the waiting time becomes long, and the efficiency of using the robot is poor.
[0008]
[Problems to be solved by the invention]
As described above, the conventional glass forming system has a problem that due to the difference in the molded product, the robot does not always operate and the standby time becomes long, and the use efficiency of the robot is poor.
[0009]
Then, this invention aims at providing the control method of the glass forming system which can use efficiently the robot as a conveying apparatus of a raw material and a molded product with respect to several glass forming machines, and a glass forming system. To do.
[0010]
[Means for Solving the Problems]
The glass forming system of the present invention is a glass forming system comprising a plurality of glass forming machines each comprising a forming chamber for forming a glass material using a mold and a control device for controlling the forming chamber. When the information requesting the supply of the glass material is received from the communication line, the glass material is supplied to the molding chamber controlled by the requesting control device according to the received information requesting the supply of the glass material. When receiving information requesting storage of a molded product formed of a glass material from the control device via the communication line from the first control means for performing control, the received information requesting storage of the molded product is used. Accordingly, the control unit is configured by second control means for performing control for storing the molded product from the molding chamber controlled by the requesting control device.
[0011]
The method for controlling a glass forming system according to the present invention is a method for controlling a glass forming system including a plurality of glass forming machines including a forming chamber for forming a glass material using a mold and a control device for controlling the forming chamber. When the information requesting the supply of the glass material is received from the control device through the communication line, the control device of the request source controls according to the received information requesting the supply of the glass material. When controlling to supply the glass material to the molding chamber and receiving information requesting storage of the molded product formed of the glass material from the control device via the communication line, the storage of the received molded product is requested. According to the information, the control of storing the molded product is performed from the molding chamber controlled by the control device of the request source.
[0012]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, an embodiment of the present invention will be described with reference to the drawings.
[0013]
FIG. 1 shows a schematic configuration of a glass forming system according to the present invention. The glass forming system includes a plurality of forming chambers 2, a plurality of forming chamber control devices 1 provided in the respective forming chambers 2, a robot 3 as a transfer device, a stocker device 4, a robot 3 and a robot that controls the stocker device 4. The control device 5 includes a management server 6 and a plurality of molding chamber control devices 1, a LAN 7 as a communication line connecting the robot control device 5 and the management server 6.
[0014]
As shown in the figure, the present glass forming system uses a plurality of glass forming machines including a forming chamber control device 1 and a forming chamber 2.
[0015]
The molding chamber 2 having a mold (not shown) for performing glass molding is provided with a plurality of (A) to (N).
[0016]
Furthermore, a conveying device for glass materials and molded products using the robot 3 is prepared.
[0017]
The management server 6 collects status data in the present glass forming system and is, for example, a personal computer.
[0018]
In FIG. 1, the molding chamber 2 is arranged on one side of the robot 3, but the molding chamber 2 may be arranged on both sides of the robot 3.
[0019]
FIG. 2 shows an internal configuration of the molding chamber control device 1. That is, the molding chamber control device 1 includes a CPU 10, a ROM 11, a RAM 12, a network communication device 13, a display device 14, a keyboard 15, a temperature control unit 16, a motor drive device 17, and an i / o 18.
[0020]
The CPU 10 governs overall control of the molding chamber control device 1.
[0021]
The ROM 11 stores a control program for controlling the molding chamber 2.
[0022]
The RAM 12 stores a molding program for molding a glass material, temporary data necessary for control, and the like.
[0023]
The network communication device 13 communicates with external devices such as the robot control device 5 and the management server 6 and is connected to the LAN 7.
[0024]
The display device 14 is a monitor that displays molding data, various setting data, parameters required for molding, and the like, and is also used for graphic display of molding conditions and the like.
[0025]
Various settings such as a molding program and setting data are performed on the keyboard 15.
[0026]
The temperature control unit 16 performs temperature control of the lamp heating device 24 provided in the molding chamber 2 using the sensor 25.
[0027]
The motor driving device 17 drives a motor 21 that moves a mold (not shown) of the molding chamber 2 up and down. Further, the output of the encoder 22 provided in the motor 21 is input to the motor driving device 17.
[0028]
The CPU 20 can perform simple input / output on / off processing with respect to the molding chamber 2 via the i / o 18.
[0029]
FIG. 3 shows an external configuration of the robot 3. FIG. 3A shows the robot 3 as viewed from above, and FIG. 3B shows it as viewed from the side. The robot 3 includes a base 32, a slide base 33, a slider 34, linear shafts 35 and 38, arms 36 and 37, and a suction part 39. The tip adsorbing portion 39 is means for adsorbing a glass material and a glass product (molded product) with air.
[0030]
The robot 3 is a glass material and molded article conveying device, and is an industrial robot controlled in five axes. That is, in the robot 3, the slider 34 on the slide base 33 is driven in the a direction, the arm 36 is driven in the b direction around the linear axis 35, the arm 37 is driven in the c direction on the arm 36, and the straight line 35 is driven. The shaft 38 is driven in the height direction d, the suction portion 39 is driven in the e direction around the linear shaft 38, and the glass material and the molded product are conveyed by the suction portion 39.
[0031]
FIG. 4 shows an external configuration of the robot control device 5 that controls the robot 3. The robot control device 5 includes a CPU 50, a ROM 51, a RAM 52, a network communication device 53, a digital i / o 54, a keyboard 55, a display device 56, and an i / o 57.
[0032]
The ROM 51 stores a control program for the robot 3.
[0033]
The RAM 52 is temporary data storage means, and is used for temporary data, control primary data, and the like. The RAM 52 stores a movement program for the robot 3.
[0034]
The CPU 50 performs overall control according to the movement program of the RAM 52 based on the control program of the ROM 51.
[0035]
The movement program of the robot 3 designates the movement location of the glass stocker device 4, the gripping operation of the glass material, the loading location of each molding chamber 2 into a mold (not shown), and the like. The CPU 50 performs a series of operations when receiving a command from each molding chamber 2 via the network communication device 53.
[0036]
The network communication device 53 is a communication means with external devices such as the molding chamber control device 1 and the management server 6 and is connected to the LAN 7.
[0037]
The digital i / o 54 is a means for digital input / output, and can input / output a simple sequence processing operation. For example, a sequence of air control such as gripping and setting of a glass material is possible.
[0038]
The keyboard 55 is used for inputting a control program for the robot 3.
[0039]
The display device 56 displays data such as the control program.
[0040]
The i / o 57 is connected to motor drive devices 61, 62, 63, 64, 65 corresponding to the 5-axis motor of the robot 3.
[0041]
The motor drive device 61 drives and controls the drive shaft by the servo motor 31 and the encoder 41 of the robot 3.
[0042]
The motor drive device 62 drives and controls the drive shaft by the servo motor 32 and the encoder 42 of the robot 3.
[0043]
The motor drive device 63 drives and controls the drive shaft by the servo motor 33 and the encoder 43 of the robot 3.
[0044]
The motor drive device 64 drives and controls the drive shaft by the servo motor 34 and the encoder 44 of the robot 3.
[0045]
The motor drive device 65 drives and controls the drive shaft by the servo motor 35 and the encoder 45 of the robot 3.
[0046]
When these motor driving devices are provided with a CPU, a high-speed servo system can be configured.
[0047]
Further, the network communication device 13 as the communication means of the molding chamber control device 1 may use a dedicated protocol unique to this system, or may use a general-purpose protocol such as TCP / IP used in a general LAN.
[0048]
Next, the glass molding start operation by the molding chamber control apparatus 1 in such a configuration will be described with reference to the flowchart of FIG.
[0049]
First, since the CPU 10 of the molding chamber control apparatus 1 receives the supply of the glass material in any of the dedicated or general-purpose communication protocols described above, the CPU 10 transmits request data to that effect to the robot control apparatus 5 (ST1). At this time, the CPU 10 transmits via the network communication device 13 and the LAN 7.
[0050]
Further, the CPU 10 addresses the molding chamber control device 1 and the destination address (in this case, the address of the robot control device 5), the amount of data to be sent, the corresponding data corresponding to the request for the glass material to be sent, etc. Send. Also, information for checking the accuracy of information transfer is added as necessary or depending on the protocol.
[0051]
On the other hand, the network communication device 53 of the robot control device 5 catches the data transfer to the robot control device 5 via the LAN 7 (ST2).
[0052]
When the network communication device 53 catches the data transfer to the robot control device 5, the CPU 50 of the robot control device 5 confirms the address of the transmission source and controls the robot 3 to control the glass material on the stocker device 4. To the molding chamber 2 (ST3). The molding chamber 2 controlled by the molding chamber control device 1 specified by the address of the transmission source is the target molding chamber 2.
[0053]
When the CPU 50 supplies the glass material to the target molding chamber 2 (ST4), the address of the robot control device 5 and the destination address (requesting molding chamber control device 1 via the network communication device 53 and the LAN 7). ), Data indicating that the setting of the glass material has ended is transmitted (ST5).
[0054]
The network communication device 13 of the molding chamber control device 1 catches the data transfer to the molding chamber control device 1 via the LAN 7 (ST6).
[0055]
When the network communication device 13 catches the data transfer to the molding chamber control device 1, the CPU 10 of the molding chamber control device 1 confirms that the setting of the glass material is completed from the received data, and then the molding chamber 2 The glass material forming control is started (ST7).
[0056]
Next, the operation after completion of the molding of the glass product will be described with reference to the flowchart of FIG.
[0057]
First, when the molding chamber 2 completes the molding of the glass product based on the glass material (ST11), the CPU 10 of the molding chamber control device 1 that controls the molding chamber 2 performs robot control on the data of the product removal request according to the usage protocol. It transmits to the apparatus 5 (ST12). At that time, the CPU 10 transmits via the network communication device 13 and the LAN 7.
[0058]
Further, the CPU 10 sends the address of the molding chamber control device 1, the address of the transmission destination (in this case, the address of the robot control device 5), the amount of data to be sent, the data corresponding to the glass product carry-out request to be sent, and the like. . Also, information for checking the accuracy of information transfer is added as necessary or depending on the protocol.
[0059]
The network communication device 53 of the robot control device 5 catches the data transfer to the robot control device 5 via the LAN 7 (ST13).
[0060]
When the network communication device 53 catches the data transfer to the robot control device 5, the CPU 50 of the robot control device 5 confirms the address of the transmission source and takes out the glass product (molded product) from the target molding chamber 2. It is stored in the stocker device 4 (ST14). The molding chamber 2 controlled by the molding chamber control device 1 specified by the address of the transmission source is the target molding chamber 2.
[0061]
When the glass product is stored in the stocker device 4 (ST15), the CPU 50 indicates that the address of the robot control device 5, the address of the destination, and the storage of the glass product have been completed via the network communication device 53 and the LAN 7. Data and the like are transmitted (ST16).
[0062]
The network communication device 13 of the molding chamber control device 1 catches the data transfer to the molding chamber control device 1 via the LAN 7 (ST17).
[0063]
When the network communication device 13 catches the data transfer to the molding chamber control device 1, the CPU 10 of the molding chamber control device 1 confirms that the storage of the glass product is completed from the received data and controls the glass molding. The process ends (ST18).
[0064]
The CPU 50 of the robot control device 5 waits for data from the LAN 7 to the next robot control device 5.
[0065]
Next, the operation of the management server 6 will be described.
[0066]
The management server 6 outputs data for inquiring about the molding status on the LAN 7 according to the communication protocol, and collects molding information from each molding chamber control device 1, robot control device 5, and the like.
[0067]
On the other hand, the molding chamber control apparatus 1 side sends various data to the LAN 7.
[0068]
A protocol for transmitting and receiving various data between the management server 6 and each molding chamber control device 1 will be described.
[0069]
In this case, the address of the management server 6 and the address of each molding chamber control device 1 are identified in the protocol, and various transmission / reception data are coded.
[0070]
That is, from each molding chamber control device 1, various data such as the glass molding start state and end state are encoded, and the state desired for monitoring including the temperature state of the mold is encoded, and further numerical data is further encoded. Add and send.
[0071]
In addition, the number of moldings of the glass product is encoded, and further numerical values are added and sent.
[0072]
In this way, a request command is sent from the molding chamber control device to the robot according to the protocol, and the robot performs a corresponding operation to receive a request from the next molding chamber control device when it is completed. It is possible to supply the material and take out the glass product by using the same robot in the molding chamber.
[0073]
Also, status data of each molding chamber, robot (conveying device), stocker device, and the like can be collected by transmitting and receiving data to a management server.
[0074]
As described above, according to the embodiment of the present invention, it is possible to reduce the number of situations such as standby by driving the same robot, and to form a large number of identical or similar glass products with high efficiency.
[0075]
Note that the present invention is not limited to the above-described embodiment, and various modifications can be made without departing from the scope of the invention in the implementation stage. In addition, the embodiments may be appropriately combined as much as possible, and in that case, the combined effect can be obtained. Furthermore, the above embodiments include inventions at various stages, and various inventions can be extracted by appropriately combining a plurality of disclosed constituent elements. For example, even if some constituent elements are deleted from all the constituent elements shown in the embodiment, the problem (at least one of them) described in the column of problems to be solved by the invention can be solved, and the column of the effect of the invention When at least one of the effects described in (1) is obtained, a configuration in which this configuration requirement is deleted can be extracted as an invention.
[0076]
【The invention's effect】
As described above in detail, according to the present invention, a glass forming system capable of efficiently using a robot as a material and molded product conveying device for a plurality of glass forming machines and a method for controlling the glass forming system are provided. Can be provided.
[Brief description of the drawings]
FIG. 1 is a block diagram showing a schematic configuration of a glass forming system according to the present invention.
FIG. 2 is a diagram showing an internal configuration of a molding chamber control device.
FIG. 3 is a diagram showing an external configuration of a robot.
FIG. 4 is a diagram showing an internal configuration of a robot control device.
FIG. 5 is a flowchart for explaining a glass forming start operation.
FIG. 6 is a flowchart for explaining the operation after the completion of the molding of the glass product.
FIG. 7 is a view showing a conventional glass forming system.
[Explanation of symbols]
1 ... Molding chamber control device (control means)
2 ... Molding chamber 3 ... Robot (conveying means)
4 ... Stacker device 5 ... Robot control device (control means)
6 ... management server 7 ... LAN (communication line)
10, 50 ... CPU
11, 51 ... ROM
12, 52 ... RAM
13, 53 ... Network communication device (transmission means)
14, 56 ... Display device 15, 55 ... Keyboard 16 ... Temperature controller 17, 61, 62, 63, 64, 65 ... Motor drive device 18, 57 ... i / o

Claims (6)

In a glass molding system provided with a plurality of glass molding machines composed of a molding chamber for molding a glass material using a mold and a control device for controlling the molding chamber,
When the information requesting the supply of the glass material is received from the control device via the communication line, the glass material is placed in the molding chamber controlled by the requesting control device according to the received information requesting the supply of the glass material. First control means for performing control to supply
When information requesting storage of a molded product formed of a glass material is received from the control device via the communication line, the control device of the request source controls according to the received information requesting storage of the molded product. Second control means for performing control for storing the molded product from the molding chamber,
A glass forming system characterized by comprising: The first and second control means control the industrial robot that transports the glass material to the molding chamber controlled by the requesting control device and transports the molded product from the molding chamber controlled by the requesting control device. The glass forming system according to claim 1. In a glass molding system provided with a plurality of glass molding machines composed of a molding chamber for molding a glass material using a mold and a control device for controlling the molding chamber,
The control device is
First transmission means for transmitting information requesting supply of a glass material to be molded in the molding chamber via a communication line;
The first control for controlling the molding operation of the molding chamber when the supply completion information of the glass material to the molding chamber is received via the communication line as a result corresponding to the request information from the first transmission means. Means,
When the molding operation is completed under the control of the first control unit, the second transmission unit transmits information requesting storage of the molded product in the molding chamber via the communication line.
When the information requesting the supply of the glass material is received from the first transmission means via the communication line, the molding controlled by the request source control device according to the received information requesting the supply of the glass material. First control means for controlling the supply of the glass material to the chamber;
When information requesting storage of a molded product formed of a glass material is received from the second transmission means via the communication line, the request source is controlled according to the received information requesting storage of the molded product. A second control means for controlling the storage of the molded product from the molding chamber controlled by the apparatus;
A glass forming system characterized by comprising: 4. The glass forming system according to claim 3, further comprising a computer that is connected to the communication line and manages status information including a forming state in the plurality of glass forming machines. In a glass molding system provided with a plurality of glass molding machines composed of a molding chamber for molding a glass material using a mold and a control device for controlling the molding chamber,
The control device is
First transmission means for transmitting information requesting supply of a glass material to be molded in the molding chamber via a communication line;
The first control for controlling the molding operation of the molding chamber when the supply completion information of the glass material to the molding chamber is received via the communication line as a result corresponding to the request information from the first transmission means. Means,
When the molding operation is completed under the control of the first control unit, the second transmission unit transmits information requesting storage of the molded product in the molding chamber via the communication line.
When the information requesting the supply of the glass material is received from the first transmission means via the communication line, the molding controlled by the request source control device according to the received information requesting the supply of the glass material. Second control means for controlling the supply of the glass material to the chamber;
First conveying means for conveying the glass material controlled by the second control means to a predetermined position to a molding chamber controlled by the requesting control device;
When information requesting storage of a molded product formed of a glass material is received from the second transmission means via the communication line, the request source is controlled according to the received information requesting storage of the molded product. Third control means for performing control for storing the molded product from the molding chamber controlled by the apparatus;
Second transport means for transporting the molded product from the molding chamber controlled by the third control means and controlled by the requesting control device to a storage position;
A glass forming system characterized by comprising: A method for controlling a glass forming system comprising a plurality of glass forming machines composed of a molding chamber for molding a glass material using a mold and a control device for controlling the molding chamber,
When the information requesting the supply of the glass material is received from the control device via the communication line, the glass material is placed in the molding chamber controlled by the requesting control device according to the received information requesting the supply of the glass material. Control to supply
When information requesting storage of a molded product formed of a glass material is received from the control device via the communication line, the control device of the request source controls according to the received information requesting storage of the molded product. A control method for a glass forming system, wherein control for storing a molded product from a forming chamber is performed.

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