JP6284268B2 - Work processing equipment - Google Patents

Description

  The present invention relates to a workpiece machining apparatus having a function of calibrating a machining position by expansion and contraction of a workpiece when the workpiece supported by the workpiece support means is machined by the workpiece machining means.

The present applicant controls various processing tools such as a laser processing tool and an end mill attached to the hand portion of the workpiece processing means in Patent Document 1 to perform various processing such as drilling, deburring and cutting on the workpiece. We proposed a workpiece support device that supports the workpiece when performing it.

  In Patent Document 1, two workpiece support members arranged adjacent to each other in the longitudinal direction of the workpiece are respectively arranged in the front-rear direction perpendicular to the longitudinal direction and the left-right direction matching the longitudinal direction with respect to the remaining workpiece support members. It is provided so that it can be moved and adjusted in position, and it can be moved up and down with the same amount of movement in the vertical direction by the synchronous vertical drive means, and the mutual distance and height of the work support members can be adjusted according to the size of the work to be processed In addition, there is disclosed a work support device that securely holds a work corresponding to various work sizes.

  However, in order to perform desired machining on the workpiece held by the workpiece support device with high accuracy, the workpiece is positioned with respect to the workpiece support device with high positional accuracy, and the workpiece portion of the workpiece machining means has Although it is necessary to hold the workpiece so that the machining origins coincide with each other, the above work takes time and effort, and the workability of the workpiece is deteriorated.

In particular, in order to save work in the work processing work, it is necessary to automate the supply of the work to the work support device, but in order to position and hold the work with high positional accuracy with respect to the work support device, the operator Positioning work by visual inspection is indispensable, which has been an obstacle to labor saving of work processing work.

  In order to solve the above-mentioned drawbacks, Patent Document 2 discloses a positional deviation amount with respect to a predetermined position predetermined for a robot at a predetermined position by recognizing a predetermined position of a workpiece placed on an XYθ table. Detects and automatically corrects the position of the workpiece to a predetermined position using the XYθ table, always supplies the workpiece to the robot at the same position and posture with respect to the machining robot, and the robot always moves the workpiece at the same position and posture. A processing apparatus for gripping and processing is disclosed.

  However, for example, in a long resin molded product or a long metal workpiece such as a vehicle bumper or a vehicle panel, the workpiece expands and contracts due to a temperature change in the processing atmosphere. For this reason, even if calibration is performed so that the machining origin of the workpiece machining means and the machining origin of the workpiece coincide with each other, when machining the end, there is a displacement between the machining position of the workpiece machining means and the machining position of the workpiece. It occurs and has a problem that it cannot be processed in a normal state at a predetermined position of the workpiece.

  This drawback can be solved by calibrating the machining position of the workpiece machining means each time the machining position with respect to the workpiece is changed, but the calibration work takes a lot of time and the machining workability is deteriorated.

JP 2013-52468 A JP-A-5-337863

  The problem to be solved is that when the workpiece expands and contracts due to changes in ambient temperature, it takes time and effort to match the machining position by the workpiece machining means and the workpiece machining position, and the machining work efficiency is poor and machining It is in the point that a defect occurs.

  The present invention provides marking means for irradiating and marking light on the surface in the longitudinal direction of the workpiece supported by the workpiece support means, and imaging means for imaging the marked end of the workpiece and outputting imaging data. And a machining data storage area for storing three-dimensional machining data in the X, Y, and Z directions regarding the machining position of the workpiece, and a tertiary for storing the three-dimensional data of the workpiece when the workpiece is supported in a normal state by the workpiece support means. An original reference work data storage area, a storage means having a 3D imaging data storage area for storing 3D imaging data converted into 3D data based on imaging data of a work imaged by the imaging means, and 3D imaging Corresponds to the marking location in the 3D imaging data stored in the data storage area and the marking location stored in the 3D reference work data storage area. Comparing means for comparing the three-dimensional data to calculate the amount of expansion / contraction of the workpiece, and calibrating the three-dimensional processing data of the processing position on the end side in the longitudinal direction of the workpiece based on the expansion / contraction data calculated by the comparison means Control means for driving and controlling the machining robot based on the three-dimensional machining data, and driving and controlling the workpiece machining means based on the calibrated three-dimensional machining data to machine at least the longitudinal end side of the workpiece. Doing is the main feature.

  According to the present invention, when a workpiece stretched due to a change in the processing atmosphere temperature is processed, the processing position by the workpiece processing means and the processing position of the workpiece are matched to perform processing with high accuracy, thereby reducing processing defects.

It is a perspective view which shows the outline of a workpiece | work processing apparatus. It is a front view of a workpiece processing apparatus. It is a perspective view which shows the outline of a workpiece | work support means. It is explanatory drawing which shows the movable work support member in a work support means. It is a center longitudinal cross-sectional view of a movable work support means. It is an electrical block diagram of a control means. It is explanatory drawing which shows the state which set the workpiece | work to the workpiece | work support apparatus. It is a flowchart which shows the processing process of the workpiece | work by the processing robot. It is a flowchart which shows an origin calibration process. It is an image of a predetermined location when the work is supported in a normal state. It is an image of a predetermined location when the work is supported in a misaligned state. It is a flowchart which shows an expansion-contraction calibration process. It is explanatory drawing which shows the state from which the marking location shifted by expansion / contraction.

  The comparison means compares the marking location in the 3D imaging data with the 3D data corresponding to the marking location, calculates the amount of workpiece expansion / contraction, and based on the calculated expansion / contraction data, the machining position on the longitudinal end side of the workpiece is calculated. The three-dimensional machining data is calibrated, and the workpiece machining means is driven and controlled based on the calibrated three-dimensional machining data to machine at least the longitudinal end portion of the workpiece.

Embodiments of the present invention will be described with reference to the drawings.
As shown in FIGS. 1 to 3, the workpiece machining apparatus 1 includes a machining robot 3 as a workpiece machining unit, a workpiece support unit 5, a machining origin calibration unit 7, and a workpiece expansion / contraction calibration unit 9.

  The processing robot 3 rotates and swings at least two of the first and second arms 11 and 13 to control the movement of the processing tool 17 provided on the hand portion 15 to a preset lowered position. The first rotary shaft support member 23 is provided on the output shaft (both not shown) of an electric motor such as a numerically controllable servo motor built in the base 21. The base end portion of the first arm 11 is pivotally supported by the first rotating shaft support member 23 so as to be swingable.

An output shaft of an electric motor 25 such as a numerically controllable servo motor provided on the first rotating shaft support member 23 is connected to the base end portion of the first arm 11, and an electric motor (not shown) and the electric motor are not shown. The first arm 11 is swung and rotated with the drive of 25.

An electric motor (not shown) such as a numerically controllable servomotor is built in the tip of the first arm 11, and a second rotating shaft support member (not shown) is provided on the output shaft of the electric motor. Is attached. A base end portion of the second arm 13 is pivotally supported on the second rotation shaft support member so as to be slidable.

An output shaft of an electric motor 29 such as a numerically controllable servo motor provided on the second rotating shaft support member is connected to the base end portion of the second arm 13, and an electric motor (not shown) and the electric motor 29 are not shown. The second arm 13 is swung and rotated with the driving.

An electric motor (not shown) such as a numerically controllable servo motor is built in the distal end portion of the second arm 13, and a hand portion 15 is attached to the output shaft of the electric motor. The hand portion 15 is rotated with the driving of an electric motor (not shown). Further, a processing tool 17 such as a laser output head, an end mill, or a cutting blade is detachably attached to the hand unit 15. 1 to 3, an end mill is shown as the processing tool 17.

In addition, as the processing tool 17 of the workpiece processing means, an end mill is used when drilling a predetermined portion of the workpiece, and a cutting blade or a laser beam output head is used when cutting or trimming the predetermined portion of the workpiece. Select and install. The workpiece machining means may be configured as a three-axis orthogonal traveling type in addition to the above-described multi-joint type machining robot.

  A workpiece support means 5 is arranged in front of the processing robot 3. A first mounting frame 37 that stands up at a predetermined height is provided behind the main body 35 in the workpiece support means 5 (on the processing robot 3 side), and an upper portion of the main mounting 35 is provided above the first mounting frame 37. An intermediate portion in the longitudinal direction of the first support frame 39 extending in the longitudinal direction (also referred to as the left-right direction) is attached.

The first support frame 39 is divided into left and right frame portions 39a and 39b at the middle portion in the longitudinal direction, and the first and second movable bodies 41 and 43 are independently formed in the left and right frame portions 39a and 39b. Supported to move to. The first and second movable bodies 41 and 43 have first and second electric motors such as servomotors that have axes in the left-right direction with respect to the corresponding left and right frame portions 39a and 39b and can be numerically controlled at one end. 45 and 47 are respectively engaged with feed screws 49 and 51 that are pivotally supported so as to rotate, and are moved independently in the left-right direction as the first and second electric motors 45 and 47 are driven. The

The first and second movable bodies 41 and 43 have reference workpiece support members 53 and 55 that have an axial line in the vertical direction and whose tip portions abut against and support the back surface of the vehicle bumper 19 as a workpiece. Are attached to the same height.

Further, the first and second movable bodies 41 and 43 corresponding to the outside of the reference workpiece support members 53 and 55 have movable workpiece support means 57 and 59, which will be described later, having an axis in the vertical direction, and the upper ends thereof are the reference workpieces. The support members 53 and 55 are respectively attached so as to be located slightly below the upper ends.

Depending on the shape of the vehicle bumper 19, the upper ends of the movable workpiece support means 57 and 59 may be set slightly above the upper ends of the reference workpiece support members 53 and 55.

A front-rear frame 61 extending in the front-rear direction shown in the figure is provided in the front left-right intermediate portion of the main body 35 of the work support means 5, and a front-rear movable body 63 is provided in the front-rear direction shown in the front-rear frame 61. Supported to move. The front-rear movable body 63 is pivotally supported so as to rotate with an axis in the front-rear direction with respect to the front-rear frame 61, and a front-rear feed including a front-rear electric motor 65 such as a servo motor capable of numerical control at one end. It is meshed with a screw (not shown). The front / rear movable body 63 is moved in the front / rear direction as the front / rear electric motor 65 is driven.

The front / rear movable body 63 is provided with a second mounting frame 67 standing up at a predetermined height, and the second mounting frame 67 has an upper portion of a second support frame 69 extending in the left-right direction shown in the drawing. A direction intermediate part is attached.

The second support frame 69 is divided into left and right frame parts 69a and 69b at the middle part in the longitudinal direction, and the third and fourth movable bodies 71 and 73 are independent of the left and right frame parts 69a and 69b, respectively. Supported to move to. The third and fourth movable bodies 71 and 73 are respectively pivotally supported so as to rotate in the left-right direction with respect to the corresponding left and right frame parts 69a and 69b, and can be numerically controlled at one end. The third and fourth electric motors 75 and 77 are connected to the feed screws 79 and 81 that are pivotally supported so as to rotate, and the third and fourth electric motors 75 and 77 are driven in the left-right direction as the third and fourth electric motors 75 and 77 are driven. Moved independently to each other.

The third and fourth movable bodies 71 and 73 are respectively attached with base end portions of attachment arms 83 and 85 that are inclined upward and extend outward, and the distal ends of the attachment arms 83 and 85, respectively. Reference workpiece support members 87 and 89 that have an axial line in the vertical direction and are supported by the front end abutting against the back surface of the vehicle bumper 19 are attached to the respective portions so that the front ends thereof are at the same height.

The mounting arms 91 and 93 corresponding to the insides of the respective reference work support members 87 and 89 have movable work support means 95 and 97 (described later) each having an axis in the vertical direction. Each is attached so as to be located slightly above the upper end.

The movable work support means 57, 59, 95, and 97 described above are substantially the same in structure except for the axial length and size. In FIGS. Of the reference numerals 95 and 97, one movable workpiece support means 95 is shown, and details of the other movable workpiece support means 57, 59, and 97 are omitted.

As shown in FIGS. 4 and 5, the shaft support member 99 of the movable work support means 95 has a shaft support hole 99 a having an axial line in the vertical direction at the center, and is fixed to the upper part of the mounting arms 91 and 93. . In the shaft support hole 99a of the shaft support member 99, a vertical support shaft 101 having an axial line in the vertical direction and formed with a vent passage 101a communicating in the vertical direction is supported so that the vertical support shaft 101 slides in the vertical direction. Is done.

A suction pad 103 made of elastically deformable silicon rubber or the like is attached to the upper end portion of the vertical support shaft 101 so as to communicate with the air passage 101a. Further, the lower end portion of the upper and lower support shaft 101 is connected to the negative pressure generating means via an open / close valve (neither shown).

An elastic member 105 such as a compression spring is interposed on the vertical support shaft 101 between the shaft support member 99 and the suction pad 103, and the vertical support shaft 101 is always moved upward along the axis by the elastic force of the elastic member 105. Be energized.

Further, a movement restricting member 107 is attached to the lower portion of the shaft support member 99 to press the outer peripheral surface of the vertical support shaft 101 projecting downward from the shaft support member 99 and restrict the movement. The movement restricting member 107 is provided on an operating member 107a such as an electromagnetic solenoid or an air cylinder having an axis in a direction perpendicular to the axis of the vertical support shaft 101, and an operating shaft of the operating member 107a. It is comprised by the press-contact member 107b which press-contacts to the outer peripheral surface of this, and controls a movement.

The actuating member 107a always moves the pressure contact member 107b to a position where it comes into pressure contact with the outer peripheral surface of the upper and lower support shafts 101 to restrict the raising and lowering, while operating when the vehicle bumper 19 is set on the work support means 5. When a switch (not shown) is operated, the pressure contact member 107b is moved to a position away from the outer peripheral surface of the upper and lower support shafts 101, and can be lowered.

When the operation switch is released when the vehicle bumper 19 is set on the work support means 5, the operation member 107a is operated to move the pressure contact member 107b against the outer peripheral surface of the vertical support shaft 101 and move. To regulate.

Note that a bearing portion 107c that is in sliding contact with a part of the outer peripheral surface of the vertical support shaft 101 and has a low friction coefficient, such as a fluororesin, is disposed below the shaft support member 99 with the vertical support shaft 101 interposed therebetween. May be provided, and when the pressure contact member 105b is in pressure contact with the outer peripheral surface of the vertical support shaft 101, the movement may be regulated by cooperation with the bearing portion 107c.

Further, the movement restricting member 107 is configured to restrict the movement by pressing the pressure contact member 107b against the outer peripheral surface of the vertical support shaft 101. However, the movement restricting member 107 is configured to restrict the movement. (Not shown) may be connected, and the operation member 107a may be operated to open and close the gripping claw so that the outer peripheral surface of the vertical support shaft 101 can be gripped to restrict movement.

A mounting frame 109 is provided behind the main body 35. The mounting frame 109 extends in a horizontal state in the left-right direction in the figure without interference with the hand portion 15 of the processing robot 3 that turns and swings above the workpiece support means 5. A processing origin calibration means 7 is attached to the center of the upper frame in the left-right direction shown in the figure, and a pair of left and right workpiece expansion / contraction calibration means 9 is attached to both ends in the left-right direction shown in the figure.

The processing origin calibration means 7 includes a pattern projection member 7 a that projects a predetermined pattern on the upper surface of the central part of the vehicle bumper 19 supported by the work support means 5, and a pattern image projected on the upper surface of the central part of the vehicle bumper 19. It is comprised from origin imaging members 7b, such as a CCD camera which images.

Each workpiece expansion / contraction calibration means 9 includes a marking member 9a for marking by projecting a laser beam of a predetermined beam diameter onto the upper surface of each end portion of the vehicle bumper 19 supported by the workpiece support means 5 in the horizontal direction shown in the figure. It is comprised from the part marked on the upper surface of each edge part of the bumper 19, and the expansion-contraction imaging member 9b, such as a CCD camera, which images the image containing each edge of the vehicle bumper 19.

In addition, the protrusion, notch, etc. which become the origin calibration reference | standard part 19a are located in the center part upper surface of the bumper 19 for vehicles on which a pattern is projected. Similarly, in the image of each end portion in the vehicle bumper 19 to which the laser beam is marked, each end of the vehicle bumper 19 is set as the expansion / contraction calibration reference portion.

As shown in FIG. 6, a program storage area 115 and a work data storage area 117 are connected to the CPU 113 of the control means 111 that drives and controls the workpiece machining apparatus 1. In the program storage area 115, program data for driving and controlling the machining robot 3 to execute machining operations such as drilling the vehicle bumper 19, the object of the vehicle bumper 19 supported by the work support means 5, and the like. Program data for executing a processing origin calibration process for calibrating the processing origin and the processing origin of the processing robot 3, a processing position accompanying expansion and contraction at each longitudinal end of the vehicle bumper 19 supported by the work support means 5 Program data and the like for executing expansion / contraction calibration processing for calibrating the processing position by the processing robot 3 are stored.

The work data storage area 117 is a three-dimensional relationship relating to a preset movement path (standby position, machining start origin and each hole position of the bumper 19 for the vehicle), a hole depth, and the like of the hand unit 15 in the machining robot 3. For a vehicle that is supported with respect to a machining data storage area 119 for storing position data and the workpiece support means 5 in a normal state (in which the machining origin position of the vehicle bumper 19 and the machining origin position by the machining robot 5 coincide). A reference work data storage area 121 for storing the three-dimensional reference work data of the bumper 19, an origin imaging data storage area 123 for storing imaging data around a predetermined location in the vehicle bumper 19 imaged by the origin imaging member 7b, and each telescopic imaging A telescopic imaging device for storing imaging data of each end in the longitudinal direction of the vehicle bumper 19 imaged by the member 9b. 3D imaging data storage area for storing 3D imaging data obtained by converting the respective imaging data stored in the data storage area 125, the origin imaging data storage area 123, and the expansion / contraction imaging data storage area 125 into 3D data. 127, calibration data storage area 129 for storing origin calibration data and expansion / contraction calibration data in the respective areas, storing pattern data of single or plural reference patterns projected on the vehicle bumper 19 when the machining origin is calibrated A pattern data storage area 131 or the like is provided.

Data stored in the machining data storage area 119, the reference work data storage area 121, and the three-dimensional imaging data storage area 127, respectively, is stored as world coordinate system data. Further, as data stored in the reference work data storage area 121, for example, the reference work data is set as world coordinates by directly inputting the three-dimensional position of the vehicle bumper 19 supported in a normal state to the work support means 5. Either a method or a method of setting, as world coordinate system data, reference work data obtained by synthesizing height data of the vehicle bumper 19 supported by the work support means 5 in a normal state and CAD data of the vehicle bumper 19. Also good.

A comparison unit 133 is connected to the CPU 113. The comparison means 133 compares the three-dimensional imaging data of the processing origin stored in the three-dimensional imaging data storage area 127 with the three-dimensional reference work data stored in the reference work data storage area 121, and the positional deviation in the three-dimensional direction. The amount is calculated as the origin calibration data and stored in the corresponding area of the calibration data storage area 129.

In addition, the comparison unit 133 includes the three-dimensional imaging data stored in the three-dimensional imaging data storage area 127 at each end in the longitudinal direction of the vehicle bumper 19 and the three-dimensional reference work data stored in the reference work data storage area 121. Are compared to calculate expansion / contraction calibration data relating to the expansion / contraction amount, and stored in the corresponding area of the calibration data storage area 129.

Robot control means 135 is connected to CPU 113. The robot control means 135 drives and controls each electric motor (not shown) and the electric motors 25 and 29 (not shown) based on the three-dimensional position data stored in the machining data storage area 119 to bring the hand unit 15 to the machining origin position. After moving, it moves to each drilling position and executes drilling.

Projection control means 137 is connected to the CPU 113. The projection control means 137 moves the pattern projection member 7a on the basis of a single pattern data or a plurality of pattern data read from the pattern data storage area 131 prior to processing the vehicle bumper 19 supported by the work support means 5. The reference pattern is projected on the surface of a predetermined portion of the vehicle bumper 19 by driving.

Further, the projection control means 137 drives each marking member 9a prior to processing the vehicle bumper 19 supported by the work support means 5, and outputs laser light to each longitudinal end surface of the vehicle bumper 19. To mark.

An imaging control unit 139 is connected to the CPU 113. The imaging control unit 139 includes a reference pattern and an origin calibration reference unit 19a by driving and imaging the origin imaging member 7b at the timing when the reference pattern is projected onto the vehicle bumper 19 supported by the workpiece support unit 5. The surface of a predetermined portion of the bumper 19 is imaged, and the origin image data is stored in the origin image data storage area 123.

Further, the imaging control means 139 drives the imaging of the telescopic imaging member 9b at the timing when the laser beam is marked on the surface of each end portion in the longitudinal direction of the vehicle bumper 19 supported by the work support means 5, and performs marking. The surface of each end in the longitudinal direction of the vehicular bumper 19 is imaged, and the expansion / contraction image data is stored in the expansion / contraction image data storage area 125.

In addition, a plurality of detectors 141 such as a limit switch for detecting that the vehicle bumper 19 is supported by the work support means 5 are connected to the CPU 113 via an interface 143. The CPU 113 determines that the vehicle bumper 19 is supported by the work support means 5 when all of the plurality of detectors 141 transition to the detection state of the vehicle bumper 19, and performs the processing origin calibration process and the expansion / contraction calibration process. Run.

A drilling action and calibration process by the workpiece machining apparatus 1 configured as described above will be described.
First, the operation of supporting the vehicle bumper 19 by the work support means 5 will be described. The first and second electric motors 45 and 47, the third and fourth electric motors 75 and 47, depending on the length of the vehicle bumper 19 in the longitudinal direction. 77 is driven and controlled, and the corresponding first and second movable bodies 41 and 43, and the third and fourth movable bodies 71 and 73 are moved in a direction toward or away from each other, and the longitudinal direction of the back surface of the vehicle bumper 19 Adjust the width of the support part for.

Further, the front / rear electric motor 65 is driven and controlled in accordance with the longitudinal orthogonal length of the vehicle bumper 19 to move the front / rear movable body 63 in the front / rear direction, and the rear reference work support members 53 and 55 and the movable work support member 57. Adjust the distance between 59 and the reference workpiece support members 87 and 89 in front and the movable workpiece support members 95 and 97.

The rear reference work support members 53 and 55 and the movable work support members 57 and 59 and the front reference work support members 87 and 89 and the movable work support member 95 that have been adjusted in width in the longitudinal direction and the longitudinal orthogonal direction as described above. -The bumper 19 for vehicles is mounted with respect to 97, and is supported. At this time, the upper ends of the movable workpiece support members 95 and 97 are positioned above the upper ends of the reference workpiece support members 87 and 89 positioned in the front.

When the front side of the vehicular bumper 19 is pushed down in a state where the press contact of the press contact member 107b to the upper and lower support shafts 101 in the movable work support members 95 and 97 is released, the upper and lower sides where the suction pad 103 comes into contact with the front rear surface of the vehicular bumper 19 The support shaft 101 moves downward against the elastic force of the elastic member 105 to bring the upper ends of the reference workpiece support members 87 and 89 into contact with the front rear surface of the vehicle bumper 19.

In this state, the pressure contact member 107b is pressed against the upper and lower support shafts 101, the movement thereof is restricted and the contact state is maintained, so that the vehicle bumper 19 is moved to the rear reference work support members 53 and 55 and the movable work support member. 57, 59 and reference work support members 87, 89 in front and movable work support members 95, 97. (See Figure 7)

Next, the outline of the punching action by the workpiece machining apparatus 1 will be described. When the workpiece W is set on the workpiece support apparatus 3 in step 201 as shown in FIG. 8, all the detectors 141 shift to the workpiece detection state. Determine whether or not. If step 201 is NO, the process returns to step 201.

On the other hand, if step 201 is YES, a processing origin calibration process, which will be described later, is executed in step 203 so that the processing origin of the processing robot 5 matches the processing origin of the vehicle bumper 19 supported by the work support means 5. Let

After completion of the machining origin calibration process, after performing an expansion / contraction calibration process to be described later in step 205, each electric motor (not shown) based on the three-dimensional position data related to the machining origin stored in the machining data storage area 119 in step 207 and The electric motors 25 and 29 are driven and controlled to swing and rotate the first and second arms 11 and 13, and the processing tool 17 of the hand unit 15 has an axis that is the origin of processing of the vehicle bumper 19. After moving so as to coincide with the normal line, in step 209, while rotating the processing tool 17, the workpiece 17 is moved based on the three-dimensional position data, and a hole having a predetermined size and depth is punched in the workpiece W.

Next, after the first and second arms 11 and 13 are swung and rotated based on the three-dimensional position data stored in the processing data storage area 119 in step 211, the processing tool 17 is extracted from the drilled hole. In step 213, the first and second arms 11 and 13 are swung and rotated based on the next three-dimensional position data stored in the machining data storage area 119, and the machining tool 17 is moved to the next axis. Move to match the normal of the machining position.

Next, in step 215, it is determined whether or not the processing tool 17 has moved to the next processing position. If the determination is NO, the process returns to step 213. On the other hand, when step 215 is YES, in step 217, the processing tool 17 is rotated based on the three-dimensional position data as described above, and the vehicle bumper 19 has a predetermined size and depth. After drilling the hole, the first and second arms 11 and 13 are swung and rotated on the basis of the three-dimensional position data stored in the processing data storage area 119 in step 219 to remove the processing tool 17 from the drilled hole. Extract.

Next, in step 221, it is determined whether or not all the machining positions in the vehicle bumper 19 have been drilled. If the step 221 is NO, the process returns to step 213 to perform the drilling operation for the next machining position. Execute.

On the other hand, if step 221 is YES, the first and second arms 11 and 13 are swung and rotated based on the three-dimensional position data relating to the standby position stored in the machining data storage area 119 in step 223. After the hand unit 15 is moved to the standby position, the lamp is turned on in step 225 or a buzzer is sounded to notify the end of the machining operation, and the process ends.

Next, the origin calibration process in step 203 will be described. As shown in FIG. 9, the pattern projection member 7a is driven and supported by the work support means 5 based on the pattern data stored in the pattern data storage area 131 in step 227 as shown in FIG. After projecting a reference pattern to a predetermined location of the vehicle bumper 19 that has been projected, the origin imaging member 7b is driven in step 229 to image the surface of the machining origin location of the vehicle bumper 19 that includes the projected reference pattern, thereby capturing the origin. Data is stored in the origin imaging data storage area 123.

In step 231, the origin imaging data stored in the origin imaging data storage area 123 is converted into three-dimensional imaging data and stored in a predetermined area of the three-dimensional imaging data storage area 127, and in step 233, the comparison unit 133 performs three-dimensional imaging. The three-dimensional imaging data of the machining origin stored in the imaging data storage area 127 and the three-dimensional reference work data corresponding to the origin imaging location stored in the reference work data storage area 121 are compared.

In the comparison by the comparison means 133, the positional deviation in the two-dimensional direction is compared by the three-dimensional imaging data and the three-dimensional reference work data of the origin calibration reference unit 19a, and the slit interval and pattern of the reference pattern in the three-dimensional imaging data are compared. The positional deviation in the height direction is compared based on the slit interval of the pattern data stored in the data storage area 131.

Next, in step 235, it is determined whether or not there is a difference between the three-dimensional imaging data, the three-dimensional reference work data, and the pattern data. If the step 235 is NO, the work support means 5 is shown in FIG. On the other hand, it is determined that the vehicle bumper 19 is in a normal state, that is, the processing origin of the processing tool 17 and the processing origin of the vehicle bumper 19 coincide with each other.

On the other hand, when the above step 235 is YES, it is determined that the processing origin of the vehicle bumper 19 and the processing origin by the processing tool 17 are misaligned with respect to the workpiece support means 5 as shown in FIG. In step 237, the difference with respect to the three-dimensional direction is calculated, and the calculated positional deviation amount in the three-dimensional direction (XYZ) is stored in the predetermined area of the calibration data storage area 129 as the origin calibration data.

Next, the three-dimensional position data (XYZ) relating to the machining origin position stored in the machining data storage area 119 is corrected based on the origin calibration data read from the calibration data storage area 129 in step 239. End the origin calibration operation.

Next, the expansion / contraction calibration process in step 205 will be described. As shown in FIG. 12, the marking members 9a are driven in step 241 and the longitudinal direction (left-right direction) of the vehicle bumper 19 supported by the work support means 5 is shown in FIG. After marking the surface of each end by outputting laser light, in step 243, the telescopic imaging member 9b is driven to image each end of the vehicle bumper 19 including the marking location and each end, and the telescopic imaging data. Are stored in the expansion / contraction imaging data storage area 125.

Next, after the origin imaging data stored in the expansion / contraction imaging data storage area 125 in step 245 is converted into three-dimensional imaging data and stored in a predetermined area of the three-dimensional imaging data storage area 127, in step 247, the comparison unit 133 is stored. The three-dimensional imaging data stored in the three-dimensional imaging data storage area 127 is compared with the three-dimensional reference work data stored in the reference work data storage area 121.

In the comparison by the comparison means 133, the distance from each end to the marking location (measured based on the three-dimensional imaging data at each end of the vehicle bumper 19 stored in the three-dimensional imaging data storage area 127) The distance from each end to the marking location in the vehicle bumper 19 stored in the reference work data storage area 121 is compared.

When the comparison means 133 performs the comparison process, if the vehicle bumper 19 is supported in a misaligned state with respect to the work support means 5, the marking stored in the reference work data storage area 121 is stored. The position data of the location is corrected based on the positional deviation amount calculated in step 237.

Next, in step 249, it is determined whether or not there is a difference by the comparison process. If the step 249 is NO, it is determined that there is no expansion / contraction on the vehicle bumper 19, particularly on each end side. .

On the other hand, if step 249 is YES, it is determined that each end of the vehicle bumper 19 is expanded and contracted due to the ambient temperature or the like as shown in FIG. Then, the calculated expansion / contraction amount is stored in a predetermined area of the calibration data storage area 129.

Next, on the basis of the expansion / contraction amount data read from the calibration data storage area 129 in step 253, the data related to the processing position on each end side in the vehicle bumper 19 stored in the processing data storage area 119 is corrected and expanded / contracted. The calibration process is terminated.

  In this embodiment, the amount of expansion / contraction on each end side is calculated based on the imaging data and the three-dimensional reference work data of each end portion of the vehicle bumper 19 marked by the output of the laser beam, and the calculated expansion / contraction amount By calibrating the three-dimensional machining data of the machining position on each end side based on the above, machining can be performed with high accuracy on each end side of the vehicle bumper 19.

  In the above description, the workpiece is supported in a non-positioned state with respect to the workpiece support means 5, and the machining data is calibrated by the machining origin calibration means 7 so that the machining origin of the workpiece machining means coincides with the workpiece origin of work. However, it is good also as a structure which supports a workpiece | work in the positioning state with respect to the workpiece support means 5. FIG. In this case, only the workpiece expansion / contraction calibration means 9 is provided, and the machining data may be calibrated by calculating the workpiece expansion / contraction amount.

DESCRIPTION OF SYMBOLS 1 Work processing apparatus 3 Processing robot 5 Work processing means 5 Work support means 7 Processing origin calibration means 7a Pattern projection member 7b Origin imaging member 9 Work expansion / contraction calibration means 9a Marking member 9b Extension imaging members 11 and 13 First and second Arm 15 Hand part 17 Processing tool 19 Bumper 19a for vehicle as work Origin calibration reference part 21 Base 23 First rotating shaft support member 25 Electric motor 29 Electric motor 35 Main body 37 First mounting frame 39 First support frame 39a 39b Left and right frame portions 41 and 43 First and second movable bodies 45 and 47 First and second electric motors 49 and 51 Feed screws 53 and 55 Reference workpiece support members 57 and 59 Movable workpiece support means 61 Front and rear frames 63 Front and rear movable bodies 65 Front-rear electric motor 67 Second mounting frame 69 Second support frame 69a 69b Left and right frame portions 71 and 73 Third and fourth movable bodies 75 and 77 Third and fourth electric motors 79 and 81 Feed screws 83 and 85 Mounting arms 87 and 89 Reference work support members 91 and 93 Mounting arms 95 and 97 Movable Work support means 99 Shaft support member 99a Shaft support hole 101 Vertical support shaft 101a Ventilation path 103 Suction pad 105 Elastic member 107 Movement restricting member 107a Actuating member 107b Pressure contact member 107c Bearing portion 109 Mounting frame 111 Control means 113 CPU
115 Program storage area 117 Work data storage area 119 Machining data storage area 121 Reference work data storage area 123 Origin imaging data storage area 125 Expansion / contraction imaging data storage area 127 Three-dimensional imaging data storage area 129 Calibration data storage area 131 Pattern data storage area 133 Comparison means 135 Robot control means 137 Projection control means 139 Imaging control means 141 Detector 143 Interface 201-253 Step

Claims (9)

In a workpiece machining apparatus that drives and controls the workpiece machining means to perform desired machining on the workpiece supported by the workpiece support means,
Marking means for irradiating and marking light on the surface in the longitudinal direction end side of the work supported by the work support means;
Imaging means for imaging the marked end of the workpiece and outputting imaging data;
A machining data storage area for storing three-dimensional machining data in the X, Y, and Z axis directions related to the machining position of the workpiece, and a three-dimensional reference for storing the three-dimensional data of the workpiece when the workpiece is supported in a normal state by the workpiece support means. A storage means having a work data storage area, a three-dimensional imaging data storage area for storing three-dimensional imaging data converted into three-dimensional data based on imaging data of a workpiece imaged by the imaging means;
Comparing means for comparing the marking location in the 3D imaging data stored in the 3D imaging data storage area and the 3D data corresponding to the marking location stored in the 3D reference work data storage area to calculate the amount of expansion and contraction of the workpiece When,
Control means for calibrating the three-dimensional machining data at the machining position on the longitudinal end side of the workpiece based on the expansion / contraction data calculated by the comparison means, and driving and controlling the workpiece machining means based on the calibrated three-dimensional machining data When,
With
A workpiece machining apparatus that drives and controls workpiece machining means based on calibrated three-dimensional machining data when machining at least a longitudinal end portion of a workpiece. In claim 1,
The workpiece processing apparatus provided with the marking unit and the imaging unit on each end in the longitudinal direction of the workpiece. In claim 1,
A workpiece machining apparatus in which the three-dimensional data of a workpiece stored in the three-dimensional reference workpiece data storage area is data based on CAD data when the workpiece is manufactured. In claim 1,
The imaging data is a workpiece processing apparatus including a workpiece edge and a marking location. In any one of Claims 1 and 4,
The comparison means is a workpiece processing apparatus that calculates the amount of expansion and contraction by comparing the interval between the workpiece end and the marking location in the 3D imaging data and the interval between the workpiece end and the marking corresponding location in the workpiece 3D data. In claim 1,
The workpiece support means is a workpiece processing apparatus that supports a workpiece to be set in a positioning state with respect to a three-dimensional direction. In claim 1,
The workpiece support means is a workpiece processing device that supports the workpiece to be set in a non-positioned state with respect to the three-dimensional direction. In claim 7,
A processing origin calibration means comprising a pattern projection member that irradiates a predetermined pattern of light to a position corresponding to the workpiece origin of the workpiece supported by the workpiece support means and an origin imaging member that images the workpiece surface on which the pattern is projected is provided. ,
A workpiece machining apparatus for calibrating machining data by a workpiece machining means based on a displacement of an imaged pattern. In claim 8,
A workpiece machining apparatus that sets an origin reference portion at a workpiece origin point of a workpiece, and the origin imaging member images the workpiece origin point of the workpiece including the projected pattern and the origin reference portion and outputs imaging data.

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