JPS6222711B2 - - Google Patents
Info
- Publication number
- JPS6222711B2 JPS6222711B2 JP57137985A JP13798582A JPS6222711B2 JP S6222711 B2 JPS6222711 B2 JP S6222711B2 JP 57137985 A JP57137985 A JP 57137985A JP 13798582 A JP13798582 A JP 13798582A JP S6222711 B2 JPS6222711 B2 JP S6222711B2
- Authority
- JP
- Japan
- Prior art keywords
- robot
- operating member
- jig
- workpiece
- work
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K11/00—Resistance welding; Severing by resistance heating
- B23K11/10—Spot welding; Stitch welding
- B23K11/11—Spot welding
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Resistance Welding (AREA)
Description
【発明の詳細な説明】
本発明は、治具にセツトされるワークにロボツ
トで所定の加工を施した後、該ロボツトを加工位
置から退去させて、該治具に備える作動部材によ
りワークの反転作業その他の所定の作動を行わせ
るようにしたロボツト式工作機械における治具の
作動制御方法に関する。DETAILED DESCRIPTION OF THE INVENTION The present invention involves a robot performing predetermined processing on a workpiece set in a jig, then moving the robot away from the processing position, and inverting the workpiece using an operating member provided in the jig. The present invention relates to a method for controlling the operation of a jig in a robotic machine tool for performing work or other predetermined operations.
従来この種ロボツト式工作機械においては、作
動部材たる例えばシリンダ類を制御する電磁バル
ブ用の電気制御回路にロボツト制御装置からの信
号を入力し、該制御装置からのロボツト退去信号
で該制御回路を介して該電磁バルブを開閉するこ
とによりロボツト退去後の作動部材の作動が与え
られるようにするを一般とするが、これによれば
該制御装置と該制御回路との間の配線が必要とな
り、又制御回路自体も複雑高価なものとなつて、
設備費が嵩み、又故障も生じ易くなる不都合を伴
う。 Conventionally, in this type of robotic machine tool, a signal from a robot control device is input into an electric control circuit for an electromagnetic valve that controls an operating member such as a cylinder, and the control circuit is activated by a robot withdrawal signal from the control device. Generally, the actuating member is operated after the robot leaves the robot by opening and closing the electromagnetic valve via the robot, but this requires wiring between the control device and the control circuit. In addition, the control circuit itself has become complicated and expensive.
This is accompanied by the inconvenience that equipment costs increase and breakdowns are more likely to occur.
本発明は、かかる不都合を解消すべく、治具の
作動制御を上記の制御回路を用いることなく行い
得られるようにした方法を提供することをその目
的とするもので、治具にセツトされるワークにロ
ボツトで所定の加工を施した後、該ロボツトを加
工位置から退去させて、該治具に備える作動部材
によりワークの反転作業その他の所定の作業を行
わせるようにしたものにおいて、該作動部材の作
動を制御する外部操作可能な操作部材を用意し、
該ロボツトの加工位置からの退去に際し該ロボツ
トで該操作部材を操作するようにしたことを特徴
とする。 SUMMARY OF THE INVENTION In order to eliminate such inconveniences, it is an object of the present invention to provide a method for controlling the operation of a jig without using the above-mentioned control circuit. After a predetermined process is performed on a workpiece by a robot, the robot is moved away from the processing position and an actuation member provided in the jig is used to perform the work of reversing the workpiece or other predetermined work. Prepare an externally operable operating member to control the operation of the member,
The present invention is characterized in that the operating member is operated by the robot when the robot leaves the processing position.
次いで本発明実施の１例を別紙図面に付説明す
る。 Next, one example of implementing the present invention will be explained with reference to attached drawings.
第１図及び第２図は本発明を適用するロボツト
式工作機械を示し、該工作機械は、ロボツト１に
取付けた溶接ガン１ａにより横方向に長手の枠板
から成るＡ、B2種のワークｗを第３図ａ示の如
く接合した状態でその接合部の第１図に×6Pで
示す各溶接ポイントを横方向一側から他側に向け
て順次溶接し、次いで該溶接ガン１ａを該他側の
溶接位置から側方に退去させて両ワークｗの反転
を行い、Ｂのワークｗに第３図ｂ示の如くＣのワ
ークｗを接合した状態でその接合部の第１図にΔ
印で示す各溶接ポイントを該溶接ガン１ａにより
他端から一側に向けて順次溶接すべく作動するも
ので、これらワークｗをセツトする治具２は、第
２図に明示する如くＡ、Ｂ両ワークｗを第３図ａ
示の状態にクランプする第１クランプ装置３と、
Ｃのワークｗをクランプする下側の第２クランプ
装置４とを備えるものとし、該第１クランプ装置
３は該治具２上の反転バー５に取付けられて、該
反転バー５の回動で上方位置からＢのワークｗを
Ｃのワークｗに第３図ｂ示の如く接合する下方位
置に反転されるようにし、該反転バー５は作動部
材たるシリンダ６の作動でラツクバー７とピニオ
ン８とを介して回動されるようにした。図図で９
は該シリンダ６の作動を制御する外部操作可能な
操作部材たる操作弁を示し、該操作弁９を治具２
の下部側方に配置し、ロボツト１の教示段階で該
ロボツト１の加工位置からの退去、即ち溶接ガン
１ａの上記した側方への退去に際し該溶接ガン１
ａにより該操作弁９を操作するように教示する。 FIGS. 1 and 2 show a robotic machine tool to which the present invention is applied. This machine tool uses a welding gun 1a attached to a robot 1 to weld two types of workpieces, A and B, each consisting of a horizontally long frame plate. are joined as shown in FIG. 3a, weld the welding points indicated by ×6P in FIG. Both workpieces w are moved sideways away from the welding position on the side, and the workpieces w are reversed. With the workpiece w of C joined to the workpiece of B as shown in FIG. 3b, there is a Δ
The welding gun 1a operates to sequentially weld each welding point indicated by a mark from the other end toward one side, and the jig 2 for setting these workpieces is divided into A and B as clearly shown in FIG. Both workpieces w are shown in Figure 3a.
a first clamping device 3 that clamps in the state shown;
A lower second clamping device 4 for clamping the work w of C is provided, and the first clamping device 3 is attached to a reversing bar 5 on the jig 2, and the rotation of the reversing bar 5 The work w of B is reversed from the upper position to the lower position where the work w of C is joined to the work w of C as shown in FIG. It is now rotated through the . 9 in diagram
indicates an operating valve that is an externally operable operating member that controls the operation of the cylinder 6, and the operating valve 9 is connected to the jig 2.
When the robot 1 is withdrawn from the processing position during the teaching stage of the robot 1, that is, when the welding gun 1a is withdrawn to the side as described above, the welding gun 1 is
The operator is instructed to operate the operation valve 9 by a.
尚、該操作弁９は外端に操作レバ９ａを備え
て、該レバ９ａへの該溶接ガン１ａの当接で開閉
操作されるようにする。９ｂは該レバ９ａのスト
ツパ、１０は操作弁９とシリンダ６とを接続する
管路を示す。 The operation valve 9 is provided with an operation lever 9a at its outer end, and is opened and closed by contacting the welding gun 1a with the lever 9a. Reference numeral 9b indicates a stopper for the lever 9a, and reference numeral 10 indicates a conduit connecting the operating valve 9 and the cylinder 6.
次いでその作動を説明するに、上記の如くＡ、
Ｂ両ワークｗの溶接が完了されて溶接ガン１ａが
側方に退去されると、該溶接ガン１ａにより操作
弁９が操作されるもので、これによれば該操作弁
９を介してのシリンダ６への流体供給により該シ
リンダ６が作動されて、反転バー５の回動による
該両ワークｗの反転作業が行われ、次いでこれが
所定位置に反転されると該溶接ガン１ａは該操作
弁９から離脱して、上記の如くＢ、Ｃ両ワークｗ
の溶接を行う。 Next, to explain its operation, as mentioned above, A,
B When the welding of both workpieces w is completed and the welding gun 1a is withdrawn to the side, the operating valve 9 is operated by the welding gun 1a, and according to this, the cylinder via the operating valve 9 is The cylinder 6 is actuated by supplying fluid to the workpiece w, and the reversal bar 5 rotates to reverse the workpieces w. When the workpiece w is then reversed to a predetermined position, the welding gun 1a is moved to the operation valve 9. Separate from the , and as above, both B and C works lol
perform welding.
以上、ロボツト１の加工位置からの退去後のワ
ーク反転作業を行う場合について説明したが、本
発明はこれに限るものでは無く、例えばロボツト
１退去後のワークのクランプ解除作業を行う場合
にも勿論適用可能である。 Although the case where the workpiece reversal operation is performed after the robot 1 leaves the machining position has been described above, the present invention is not limited to this, and of course can also be used when, for example, the workpiece is unclamped after the robot 1 leaves the processing position. Applicable.
この様に本発明によるときは、治具に備える作
動部材の作動を制御する操作部材を用意して、ロ
ボツトの加工位置からの退去に際し、該ロボツト
で該操作部材を操作して該作動部材による所定の
作業が行われるようにしたもので、ロボツト制御
装置からの信号で制御される複雑な電気制御回路
を用いることなくロボツト退去後の該作業を与え
ることが可能となり、上記した従来例のものにお
ける不都合を確実に解消し得る効果を有する。 As described above, according to the present invention, an operating member for controlling the operation of the operating member provided in the jig is prepared, and when the robot leaves the processing position, the robot operates the operating member to control the operation by the operating member. This system allows the robot to perform a predetermined task, and it is possible to give the robot the task after it has left the robot without using a complicated electrical control circuit that is controlled by signals from the robot control device. This has the effect of reliably resolving the inconveniences caused by.
第１図は本発明の実施に用いるロボツト式工作
機械の１例の平面図、第２図は第１図の−線
拡大截断側面図、第３図abは夫々ワークの接合
状態を示す説明図である。
１……ロボツト、２……治具、６……作動部材
（シリンダ）、９……操作部材（操作弁）。
Fig. 1 is a plan view of an example of a robotic machine tool used in carrying out the present invention, Fig. 2 is an enlarged cross-sectional side view taken along the - line in Fig. 1, and Fig. 3 ab is an explanatory diagram showing the state of joining of workpieces. It is. 1... Robot, 2... Jig, 6... Operating member (cylinder), 9... Operating member (operating valve).
Claims (1)
の加工を施した後、該ロボツトを加工位置から退
去させて、該治具に備える作動部材によりワーク
の反転作業その他の所定の作業を行わせるように
したものにおいて、該作動部材の作動を制御する
外部操作可能な操作部材を用意し、該ロボツトの
加工位置からの退去に際し該ロボツトで該操作部
材を操作するようにしたことを特徴とするロボツ
ト式工作機械における治具の作動制御方法。1. After the robot performs the specified processing on the workpiece set on the jig, the robot is removed from the processing position and the operating member provided on the jig is made to perform work such as reversing the workpiece or other specified work. A robot characterized in that an externally operable operating member for controlling the operation of the operating member is prepared, and the operating member is operated by the robot when the robot leaves the processing position. A method for controlling the operation of jigs in type machine tools.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP57137985A JPS5930488A (en) | 1982-08-10 | 1982-08-10 | Jig operation control method in robotic machine tools |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP57137985A JPS5930488A (en) | 1982-08-10 | 1982-08-10 | Jig operation control method in robotic machine tools |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS5930488A JPS5930488A (en) | 1984-02-18 |
| JPS6222711B2 true JPS6222711B2 (en) | 1987-05-19 |
Family
ID=15211357
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP57137985A Granted JPS5930488A (en) | 1982-08-10 | 1982-08-10 | Jig operation control method in robotic machine tools |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS5930488A (en) |
-
1982
- 1982-08-10 JP JP57137985A patent/JPS5930488A/en active Granted
Also Published As
| Publication number | Publication date |
|---|---|
| JPS5930488A (en) | 1984-02-18 |
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