JPH07106787B2 - Micro joint work cutting / palletizing device - Google Patents

Description

Description: TECHNICAL FIELD The present invention relates to an apparatus for punching the outer shape of a work having a micro joint part and for palletizing the work having the outer shape punched.

[Prior art] In general, when performing external shape cutting of a workpiece, in addition to the method of punching the processed product to be obtained by one pressing process, when cutting by the press processing, the corner part of the processed product is cut off. However, there is a processing method in which about 0.1 to 0.15 mm is left as a micro joint portion, and then the micro joint portion is cut to perform outline cutting of the processed product.

Conventionally, as a technique for cutting a micro joint part, as disclosed in, for example, Japanese Utility Model Laid-Open No. 61-159121, a gripping device for gripping opposite sides of a work having a micro joint part, and a shaft above the work are provided. A rotary shaft provided with a required number of strikers via a link around the circumference, and the rotary shaft is rotated so that the rotary shaft scans the entire surface of the work,
There is one that cuts the micro joint portion by hammering with the hitting element. Then, the obtained processed product is dropped on the belt conveyor of the gripping device, and is conveyed and sorted into each pallet.

[Problems to be Solved by the Invention]

However, the above technique has a drawback in that the micro joint cannot be cut reliably because the micro joint is cut by applying a surface pressure to the work with a striker.

Further, in the above-mentioned technique, it is necessary to scan the rotary shaft over the entire surface of the work, but the time required for this scanning is great, and the work efficiency is greatly impaired.

Furthermore, in the above technique, the striking element applies a force to the work, but the work surface may be distorted by the force applied to the work. This distortion is particularly remarkable when the work is a thin plate, which causes deterioration of the quality of the processed product.

[Means and Actions for Solving the Problems]

In view of this, in the present invention, the microjoint portion of the work that has been cut with the microjoint portion left is cut to perform the contour cutting work, and the work with the contour cut is sorted into each pallet. -In the palletizing device, a multi-joint robot capable of exchanging hands at the tip of an arm, a hand with scissors having scissors for cutting the micro joint portion, and a suction pad having a suction pad for sucking the work whose outline has been removed Attached hand and the hand with scissors at the arm end of the articulated robot to perform the outer shape cutting process, and at the same time, attach the hand with the suction pad to the end of the arm of the articulated robot to remove the outer shape. Each axis of the articulated robot, the scissors and the So that comprising a controller for driving and controlling the suction pad.

That is, according to such a configuration, the hand with scissors is attached to the arm tip of the articulated robot, and the micro joint portion is cut by the scissors. Then, the hand with the suction pad is attached to the arm end of the articulated robot, the work is sucked by the suction pad, and the work is conveyed and sorted into each pallet.

Further, in the present invention, the controller controls each axis of the articulated robot based on data used when cutting is performed while leaving the micro joint portion.

That is, the control of each axis of the multi-joint robot usually requires a pretreatment such as teaching, but it is used when cutting is performed with the microjoint part left without performing such pretreatment. Each axis of the robot is automatically driven by using the data obtained.

〔Example〕

Embodiments of the present invention will be described below with reference to the drawings.

FIG. 1 shows cutting of a micro joint work according to the present invention.
1 shows an overall configuration of an embodiment of a palletizing device.

As shown in the figure, in this device, in a turret punch press (not shown), the work WK that has been cut with the micro joints corresponding to the corners of the plurality of processed products to be obtained is manually operated. The work cradle 1 that has been conveyed and placed on the work cradle 1 and the micro joint portion of the work WK on the work cradle 1 are attached to the tip rotation unit 11 with scissors 13 (see FIG. 2) of the hand 12 with scissors to be described later. ), And the punched product obtained after the cutting of the micro joint is completed is adsorbed by the vacuum pad (sucker) 49 of the hand with a vacuum pad 40 (described later) attached to the tip turning portion 11. A total of four axes of horizontal articulated robot 7 that supplies to each of a plurality of sorting pallets 3 depending on the type of processed product, a hand 12 with scissors and a hand 40 with a vacuum pad. Hand stand 2 for exchanging hands, an automatic programming device 4 into which NC data used for drive control of the turret punch press is input in the form of an XY two-dimensional orthogonal coordinate system, and an automatic programming device 4 Input NC data of is transferred online,
A coordinate transformation device 5 that transforms the contents of this transferred NC data from a Cartesian coordinate system to a robot coordinate system to be described later, and creates a control program that drives and controls each axis of the robot 7, and the control created by this coordinate transformation device 5. A drive signal for driving each axis of the robot 8 is output to a servo motor for each axis based on a program, and a drive signal for driving each directional control valve of an air cylinder and an air pressure circuit (see FIG. 5) described below is output. It is composed of an air cylinder and a robot controller 6 for outputting to each directional control valve. Here, each axis of the robot 7 is rotated as shown by arrows A, B, C and D, respectively. That is, to explain the fourth axis, the tip rotation unit 11 uses the servo motor inside the drive unit 10 provided at the tip of the second arm 9 (when the arm 8 is the first) as a drive source to indicate the arrow. It is rotated in the D direction. Two stoppers (not shown) are provided on the long side of the gantry 1, and one stopper is provided on the short side of the gantry 1. Then, the work WK that has been cut by the turret punch press is manually conveyed, the long side of the work WK is abutted against the two stoppers on the long side, and the work WK is pressed on the stopper on the short side. The workpiece WK is positioned by abutting the short side of.
The NC data may be directly stored in the floppy disk 5a and then directly input to the coordinate conversion device 5. It is also possible to implement input in the NC deep format.

FIG. 2 shows a vertical cross-sectional view when the scissored hand 12 is connected to the tip rotation unit 11 of the robot 8.

That is, as shown in the figure, the rod 14 is inserted into the tip turning portion 11 so as to be movable in the directions of arrows E1 and E2. A piston portion 14a is formed at one end of the rod 14, and the piston portion 14a is slidably inserted into the cylinder chamber 33. The piston portion 14a includes the cylinder chambers 33a, 3a on the extension side and the contraction side of the cylinder chamber 33 via the air pipes 31, 32, respectively.
By sending air of a predetermined pressure from the required air pressure circuit to 3b, it moves in the directions of the arrows E1 and E2. On the other hand, a collet chuck 15 is arranged at the other end of the rod 14. As is well known, this collet chuck 15 has a sixth
As shown in the perspective view of the figure, a plurality of cuts are formed in the longitudinal direction of the tip, and thus the cut-formed tip portion 15a is capable of extending and contracting in the circumferential direction.

When the collet chuck 15 is inserted, the pre-stud 16 of the hand 12 with scissors is attached to the collet chuck 15.
Is locked. An air passage 17 is formed in the tip turning portion 11, and the air passage 17 communicates with a pipe 30 of an air pressure circuit 60 (see FIG. 5) described later. The air passage 17 has an air passage opening 19 in the tapered surface 18. Also,
At the specified position on the tip surface of the tip turning part 11, the hand with scissors
A key groove 21 having a shape corresponding to the twelve keys 20 is formed.
Then, on the outer wall of the tip turning portion 11, a required connector to which a cable 34 connected to a predetermined power source is connected is provided so as to be connectable with other cables.

On the other hand, the scissors hand 12 is roughly the above pull stud.
16 is provided at the tip, and is composed of a taper member 22 having the same taper shape as the taper surface 18, a body 25, and scissors 13. The taper member 22 has a key groove 21 and a key 20.
An air passage 23 that communicates with the opening 19 of the air passage 17 is formed in the state where they are joined. This air passage 23 is
It communicates with the air passage 24 of the body 25.
Further communicates with the cylinder chamber 27a of the body 25 on the compression side of the cylinder chamber 27 at the air passage opening 24a. A piston 26 is slidably inserted into the cylinder chamber 27 in the directions of arrows F1 and F2. The piston 26 is supported by a spring 28 arranged in the extension side cylinder chamber 27b, and the spring 28 is further in contact with the wall surface of the cylinder cover 29. on the other hand,
At the other end of the piston 26, both scissors members 13 of the scissors 13
The a and 13b are rotatably mounted in the directions of arrows G1 and G2 about the operating shaft 26a.

Therefore, now, from the air passage 1 of the air pressure circuit 60 to the air passage 1
When air is pressure-fed to the cylinder chamber 27a via 7, 23 and 24, the air pressure acts on the pressure receiving surface 26b of the piston 26. Then, the air pressure acting on the pressure receiving surface 26b overcomes the urging force of the spring 28, and the piston 26 moves in the direction of arrow F1 on the retracted side. Then, since the scissors members 13a and 13b are in point contact with and abut against the outer wall 25a of the body 25, the scissors members 13a and 13a and 13b are moved along with the movement of the operating shaft 26a in the F1 direction.
b is regulated by the outer wall 25a so that the scissors members 13a and 13b are actuated by the operating shaft 26
It is rotated in the direction of arrow G1 (cutting direction) around a as the center of rotation.

Now, FIG. 3 shows a vertical cross-sectional view when the hand 40 with a vacuum pad is connected to the tip turning portion 11 of the robot 7.

This hand with vacuum pad 40 is equipped with a taper member 41, an air passage 42, a pull stud 43 and a key 44, which are the same as those in the case of FIG. Further, an L-shaped bracket 46 is extended to the taper member 41, and a vacuum pad 49 is attached to an end of the bracket 46 via a spring 48 by an arrow H1.
A guide rod 47 that moves in the H2 direction is provided.
The air passage 42 and the suction surface 49a of the vacuum pad 49 are connected by a hose 45.

Therefore, when the air in the conduit 30, the air passage 17, the air passage 42, and the hose 45 is exhausted by the air pressure circuit 60 and becomes a vacuum state, the suction surface 49a of the vacuum pad 49 is attracted.
It will be possible to adsorb the work WK to.

Further, the vacuum pad hand 40 is adapted to adsorb the work WK by the generation of vacuum, but it is also possible to use the hand 50 with magnet which adsorbs the work WK by magnetic force as shown in FIG. That is, as shown in the figure, the hand with magnet 50 is provided with the same taper member 51, pull stud 52 and key 53 as in the case of FIG. Further, an L-shaped bracket 54 is extended to the taper member 51, and a guide rod 55 for moving an electromagnetic magnet 57 in the directions of arrows I1 and I2 via a spring 56 is provided at the tip of the bracket 54. Has been done. A cable 58 is connected to the electromagnetic magnet 57, and the cable 58 is supported by the taper member 51 in such a manner that the cable 58 is electrically connected to the cable 34 via the brush 34a.

Therefore, when the required voltage is supplied to the electromagnetic magnet 57 via the cable 34 and the cable 58,
Magnetic lines of force are generated from the adsorption surface 57a of 57, and the work WK can be adsorbed.

By the way, the air pressure circuit 60 communicating with the air passage 17 is
For example, it has a structure as shown in FIG. 5 and is arranged inside the drive unit 10 shown in FIG.

As shown in the figure, the air pressure circuit 60 includes an air pressure source 61,
The normally closed directional control valves 62 and 63 for supplying the air generated by the air pressure source 61 to the flow rate control valve 68 and the vacuum generator 65 in accordance with the electric command output from the robot controller 6, and the robot. A normally open type directional control valve 64 that shuts off the vacuum generator 65 and the silencer 66 in accordance with an electric command output from the controller 6, and is disposed between the filter 69 and the vacuum generator 65 to generate a vacuum. A check valve 67 that supplies air only in the direction toward the device 65, and the air whose flow rate is limited by the flow control valve 68 is filtered by the filter 69.
The air in the pipeline 30 is supplied to the pipeline 30 via the filter 69, the check valve 67, the vacuum generator 65, and the directional control valve 64.
The sound is exhausted to the muffler 66 through and is silenced. 70 is a pressure switch that operates to close the conduit 30 when the conduit 30 reaches a vacuum state.

Hereinafter, the operation of the robot 7 will be described with reference to FIG. 7 in addition to FIGS. 1 to 6 described above.

The turret punch press is driven based on the NC data described in the form of an XY two-dimensional Cartesian coordinate system, and the press leaves micro-joints corresponding to the corners of a plurality of workpieces to be obtained. Perform cutting processing. In this cutting process, the X-Y2 axis is cut so as to cut a straight line connecting the X and Y two-dimensional coordinate positions (X ₁ , Y ₁ ), (X ₂ , Y ₂ ), ... This is done by driving. After cutting work, the work WK is manually transferred to the work stand 1, and the work WK
When the long and short sides are brought into contact with the respective stoppers for positioning, the robot 7 starts the cutting process of the micro joint portion.

Generally, a robot controls each axis with the position of each axis of the robot according to the tool tip position as a target value. Since the micro joints to be cut are given as two-dimensional coordinate positions as described above, the second and third axes (rotating axes) of the robot 7 corresponding to the given two-dimensional coordinate positions. Each target rotational position can be easily obtained by the method of coordinate conversion from the rectangular coordinate system to the polar coordinate system. Then, the target rotational position of the fourth shaft (rotating shaft) is determined according to the cutting direction of the micro joint portion. Further, the target rotational position of each axis (second and third axes) corresponding to the center position of each processed product can be similarly obtained. As described above, the processing for converting the NC data of the turret punch press into the target rotational position of each axis of the robot is executed by the coordinate conversion device 5, and the signal indicating the target rotational position of each axis is output to the robot controller 6. .

Since the robot 7 palletized in the previous process, the hand 40 with the vacuum pad is attached to the tip turning shaft 11.
Is installed. Then, the robot controller 6 controls each axis of the robot 7 to move the tip of the hand 40 with the vacuum pad to the hand stand 2 and accommodates the hand 40 in a predetermined hand accommodating portion. During this containment
The robot controller 6 sends a drive signal to the air cylinder in the drive unit 10 to move the rod 14 to the arrow J1 in FIG.
The tip portion 15a of the collet chuck 15 is moved in the direction to reach the tapered surface 18. Then, the tip portion 15a extends in the circumferential direction and the pull stud 43 is separated from the collet chuck 15.

After that, the robot controller 6 controls each axis of the robot 7 to move the end surface of the tip turning portion 11 to the accommodating portion of the hand 12 with scissors, and the head of the pull stud 16 of the hand 12 causes the tip of the collet chuck 15 to move. It fits in the part 15a.
Then, a drive signal is given to the air cylinder to provide the rod 14
When is moved in the direction of arrow J2, the tip portion 15a retracts in the circumferential direction as shown in FIG. 7 (b), and the pull stud 16 is locked by the collet chuck 15.

In this way, when the scissors hand 12 is attached to the tip rotation shaft 11, the hand 12 is moved to the work stand 1 again, and the respective shafts (second, third, fourth) for cutting the micro joint portion described above are moved. A drive signal is output to the servo motor of each axis so that the target rotational position of the axis (the position corresponding to the micro joint) can be obtained. In this way, if the scissors 13 reach the upper part of the micro joint to be cut,
The shaft (direct acting shaft) is driven downward, and a signal for activating each single acting solenoid of the directional control valves 62, 64 of the air pressure circuit 60 of FIG. 5 is output. Then, the air is released from the air pressure source 61 to the valve 6
2, the valve 68, the filter 69, the pipe 30, the passages 17 and 24 to the cylinder chamber 27a on the retracted side by pressure, and the piston 26
Moves in the direction of arrow F1. Along with this, the scissors member 13
The micro joint part is cut by rotating a and 13b in the cutting direction (arrow G1 direction). Immediately after the disconnection, each solenoid is deenergized (energization electric signal output is stopped). Then, the valves 62 and 64 are returned to their original states, and pneumatic feeding and inflow to the compression-side cylinder chamber 27a are stopped, and accordingly, the piston 26 is moved in the arrow F2 direction by the urging force of the spring 28. Then, the scissors members 13a, 13b are moved in the opening direction (arrow G2 direction).

When such a series of operations is performed for all the micro joint parts of the work WK, next, the robot controller 6
Controls each axis of the robot 7 to move the tip of the hand 12 with scissors to the hand stand 2. This time, the hand 12 is attached to the hand pad 40 with a vacuum pad in a manner opposite to the above hand exchange.
Each axis of the robot 7 and the air cylinder for driving the rod 14 are driven and controlled so as to be replaced.

In this way, when the hand 40 is attached to the tip turning portion 11, the hand 40 is moved to the work stand 1 again, and each of the above-mentioned axes (second and third) for adsorbing the micro joint portion.
A drive signal is output to the servo motor of each axis so that the target rotational position of the axis (the position corresponding to the center position of the processed product) can be obtained. In this way, if the vacuum pad 49 reaches the upper part of the center position of the workpiece to be attracted, the first
The shaft (direct-acting shaft) is driven downward, and a signal for activating the single-acting solenoid of the directional control valve 64 of the pneumatic circuit 60 shown in FIG. 5 is output. Then, air is supplied from the air pressure source 61 to the vacuum generator 65 via the valve 63, and the air on the adsorption surface 49a is supplied to the hose 45, the passages 42 and 17, the pipe 30, the filter 69 and the check valve 67.
Is sucked into the vacuum generator 65 via. The vacuum switch 70 detects that the air in the pipeline 30 has reached a vacuum state, and the pipeline 30 is closed.

In this way, the processed product is adsorbed to the vacuum pad 49. During the suction, the spring 48 acts to buffer the vacuum pad 49 with respect to the guide rod 47 in the direction of arrow H1. This avoids the inconvenience caused by the strong (hydraulic) downward driving force of the first shaft (direct acting shaft) being directly applied to the workpiece and the hand 40.

Next, the controller 6 moves the hand 40 on which the processed product is adsorbed to a predetermined sorting pallet 3 according to the type of the adsorbed processed product. Then, a signal for activating each single-acting solenoid of the direction control valves 62, 64 is output. Then, the air pressure source
Air from 61 is valve 62, valve 68, filter 69, conduit 30, passage 1
7. Through the hose 45, it is pressure-fed to the suction surface 49a and flows out, and the processed product is separated from the suction surface 49a, and the processed product is put into the pallet 3.

When such a series of suction and sorting operations are performed for all the processed products of the work WK, the scrap member of the work WK on the work stand 1 is manually removed, and the next work WK is conveyed and positioned. Thereafter, the same processing as above is repeatedly executed.

If the shapes of the processed products that can be obtained from one work WK are all the same, it is sufficient to specify the sorting pallet 3 for each work WK, and the shape of the processed product that can be obtained from one work WK is different. If so, the sorting pallet 3 may be specified according to the center position of the processed product.

Also, instead of the hand 40, the hand with magnet 50 of FIG. 4 is used.
It is clear that the processed product can be adsorbed and released in the same manner when using.

Note that the embodiment assumes a horizontal articulated robot, but is not limited to this, and an implementation using a vertical articulated robot is also possible.

As described above, according to the embodiment, the cutting of the micro joint portion is performed by the scissors 13, so that the occurrence of distortion in the work WK is prevented, the quality of the processed product is improved, and the cutting can be reliably performed. become able to.

Further, according to the embodiment, the robot 7 cuts the micro joint portion and palletizes the processed product, so that the work can be sped up and the work time can be significantly shortened.

Further, according to the embodiment, each axis of the robot 7 is drive-controlled based on the NC data used for processing the turret punch press. Therefore, normal pretreatment (teaching)
Is not required, work efficiency is improved by the amount of time required for this, and the burden on the operator is reduced.

〔The invention's effect〕

As described above, according to the present invention, cutting is surely performed, and distortion does not occur in a processed product, so that the reliability of the device can be significantly improved.

In addition, work efficiency is significantly improved and the burden on the operator is significantly reduced.

[Brief description of drawings]

FIG. 1 is an external view conceptually showing one structural example of a cutting and palletizing device for a micro joint work according to the present invention, and FIG. 2 is a hand with scissors attached to the arm tip of the robot shown in FIG. FIG. 3 is a vertical cross-sectional view showing one structural example, FIG. 3 is a vertical cross-sectional view showing one structural example of the hand with a vacuum pad attached to the arm tip of the robot shown in FIG. 1, and FIG. FIG. 5 is a vertical cross-sectional view showing one structural example of the hand with magnet attached to the arm tip of the robot shown in FIG. 5, and FIG. 5 is an example of an air pressure circuit for driving the scissors shown in FIG. 2 and the vacuum pad shown in FIG. 6 is a perspective view showing the appearance of the collet chuck shown in FIGS. 2 to 4, and FIGS. 7 (a) and 7 (b) are hand diagrams of the collet chuck shown in FIG. To explain how they are attached and detached It is an explanatory diagram used. 1 ... Work stand, 2 ... Hand stand, 3 ... Sorting pallet, 5 ... Coordinate conversion device, 7 ... Robot, 12 ... Hand with scissors, 40 ... Hand with vacuum pad, 50 ... Hand with magnet.

Claims (2)

[Claims] 1. A micro-joint work for cutting out the micro-joint of a work that has been cut with a micro-joint remaining to perform contour cutting and sorting the punched work into each pallet. Cutting
In a palletizing device, a multi-joint robot that allows the hands of the arms to be replaced, a hand with scissors that has scissors for cutting the micro joint part, and a suction pad that has a suction pad for sucking the work whose outline has been cut The hand and the arm with the scissors are attached to the arm end of the articulated robot to perform the outline cutting process, and the hand with the suction pad is attached to the arm end of the articulated robot to remove the outline. A cutting and palletizing device for a micro joint work, comprising: a controller for driving and controlling each axis of the articulated robot, the scissors, and the suction pad so as to sort the work into each pallet. 2. The micro controller according to claim 1, wherein the controller controls each axis of the articulated robot based on data used when cutting is performed with the micro joint portion left. Cutting of joint work
Palletizing device.