JPH0747202B2 - Control system for die casting - Google Patents

Description

Description: TECHNICAL FIELD The present invention relates to a control system for die casting, and more specifically, for example, a delivery robot device for delivering a molded product cast in a die casting process, or a mold release agent. It is possible to avoid interference between the die casting machine and the robot device by detecting the relative positional relationship between the die coating machine and the coating robot device that applies the coating, and sending the signal directly to the die casting machine drive mechanism. The present invention relates to a die-casting control system that can be operated safely and that enables an extremely automated die-casting process.

In general, when a large amount of work is cast-molded, the die-casting casting method is widely used because of the advantage that a molded product having excellent casting surface and high dimensional accuracy can be molded in a short time. Further, in the die casting process, a robot device is used for various works in order to further improve the work efficiency. For example, a transfer robot device that takes out a cast molded product from a mold and conveys it to the next step such as a trimming device, and a coating robot device that applies a predetermined release agent to the mold are preferable examples. Let's say so.

Therefore, conventionally, in order to drive such a robot apparatus and a die casting machine in association with each other, drive control as shown in FIG. 1 is performed.

That is, the robot apparatus 2 is driven by the robot controller 4, and the robot apparatus 2 performs a predetermined operation via the signal 6 from the robot controller 4.
When a predetermined operation is completed by the robot device 2, a signal 7 is sent by a sensor or the like to the robot controller 4
Be transmitted to. Further, the information is sent as a signal 8 from the robot controller 4 to the die casting machine controller.
Supplied to 10. Meanwhile, the die casting machine controller
Perform a mold clamping operation of the die casting machine 12 by a signal 14 from 10, after the predetermined molded product is cast molded by this die casting machine 12, if the mold releasing operation of the die casting machine 12 is performed, the information is signal 15 and. It is transmitted to the robot controller 4 via the signal 9. Therefore, the robot device 2 performs a work of taking out a molded product, a work of applying a release agent, or the like by a signal 6 from the robot controller 4.

In this way, the robot apparatus 2 is driven by the robot controller 4, and its signal 8 is transmitted to the die casting machine controller 10, while the signal 9 indicating that the die casting machine 12 has been driven by the die casting machine controller 10 is the robot controller. It is transmitted to 4. And
The robot device 2 and the die casting machine 12 are configured to perform the next operation by the respective signals 6 and 14.

However, in the above-mentioned conventional technique, the robot apparatus and the die casting machine are drive-controlled by the respective controllers, and the respective signals are transmitted to the other controllers, so that the robot apparatus and the die casting machine are driven in association with each other. Therefore, if the signals are not properly transmitted to the respective controllers, there is a risk of encountering an accident such as a collision between the robot device and the die casting machine. When operating the robot device manually, or
When the power source is not connected to the robot apparatus, the signal is not transmitted to the die casting machine controller, which causes inconvenience that the drive control of the die casting machine becomes impossible.

The present invention has been made to overcome the above-mentioned inconvenience, and a sensor for detecting each displacement position is provided in a movable part of a robot apparatus, and a signal is directly sent from the sensor to a controller of a die casting machine. By doing so, it is possible to easily detect the relative positional relationship between the robot apparatus and the die casting machine, prevent the robot apparatus and the die casting machine from interfering with each other, and operate safely. The present invention aims to provide a control system for die casting.

In order to achieve the above object, the present invention is a die casting machine, a die casting machine control device for driving and controlling the die casting machine, and a work relating to a die casting casting operation arranged in proximity to the die casting machine. A robot device for performing and a robot controller for driving and controlling the robot device are provided, and a signal is sent between the die casting machine controller and the robot controller to connect the die casting machine and the robot device. In a die cast casting control system which is drive-controlled in association with the robot device, the robot device is provided with a plurality of sensors for detecting a displacement of a movable part thereof, and the plurality of sensors are directly connected to the die casting machine control device. An electric signal is sent to the die casting machine controller to send a signal to drive and control the die casting machine and the robot apparatus. Characterized in that it is connected to.

Next, a preferred embodiment of a control system for die casting according to the present invention will be described in detail below with reference to the accompanying drawings.

In this embodiment, it is assumed that the control system for die casting according to the present invention is provided in the transfer robot device that carries out the molded product from the die casting machine.

Therefore, in FIG. 2, reference numeral 20 indicates a molded article conveying robot apparatus. Base that constitutes the robot device 20
A sensor, for example, the first limit switch 22 is fixedly attached on the 21 at a predetermined position. Then, the main body 24 of the robot is rotatably mounted on the base 21.

A columnar portion 26 that constitutes the lower portion of the main body portion 24 is formed with a protrusion 28 that circulates around and protrudes to the outside. The protrusion 28 has a notch 30 having a predetermined length H. It is provided. In this case, the protrusion 28 turns on the first limit switch 22 while the body 24 is rotating, while the notch 30 is moved to the first limit switch 22.
The limit switch 22 is configured to be turned off.
Further, support portions 32a and 32b are provided on one side surface portion of the main body portion 24, and rack members 34 are swingably attached to the respective support portions 32a and 32b.
The rack members 34a and 34b are fitted with the second limit switch 36 and the third limit switch 38, respectively, at the predetermined height positions.

By the way, the first arm 42 is swingably attached to the upper portion of the main body 24 via the shaft 40. The first arm 42 is configured to be swingable around the shaft 40 under the action of a drive source (not shown), and a protrusion 44 is provided on the lower part of one side surface thereof. A pinion 45 that engages with the rack member 34a is mounted on the protrusion 44, and a pin member 46 that engages with the second limit switch 36 is provided (see FIG. 4a).

Further, a second arm 48 is swingably attached to the upper part of the first arm 42 via a shaft 47. The second arm 48 swings about a shaft 47 as a fulcrum under the action of a drive source (not shown), and a protrusion 50 is provided at one end of the second arm 48. A pinion 51 that meshes with the rack member 34b is mounted on the protrusion 50, and a pin member 52 that engages with the third limit switch 38 is projected from the end of the protrusion 50 (see FIG. 4b). . On the other hand, at the other end of the second arm 48, for example,
A hand unit 53 for holding a molded product (not shown) is attached.

In FIGS. 4A and 4B, reference numerals 49a and 49b represent coil springs, respectively.
Under the action of a and 49b, the rack members 34a and 34b move to the pinions 45 and 51.
Can mesh with.

Therefore, as shown in FIG. 5, the limit switches 22, 36
Signals 60 from 38 and 38 are directly sent to the die casting machine controller 10a, and the control circuit in the die casting machine controller 10a is basically constructed as shown in FIG. That is, in the signal lines a ₁ and a ₂ connected to the die casting machine controller 10a, first, the movable die 54b constituting the die casting machine 12a is fixed to the fixed die.
The limit switch 62, which is turned on when separated from the mold 54a and placed at a predetermined position, and the coil C ₁ are connected in series. Further, the first limit switch 22 and the coil C ₂ , the second limit switch 36 and the coil C _3, and the third limit switch 38 and the coil C ₄ are connected in series to the signal lines a ₁ and a ₂ , respectively. The break contacts B ₁ and B ₂ , the break contacts B ₃ and B ₄ connected in parallel, and the coil C ₅ are connected to the signal line.
It is connected between a ₁ and a ₂ . In this case, the coils C _{1 to}
C ₄ corresponds to the break contacts B _{1 to} B ₄ . Also, break contact B ₅ corresponding to the coil C ₅ is provided on the emergency stop signal circuit.

The transfer robot apparatus that constitutes the die-casting control system according to the present invention is basically configured as described above. Next, its operation and effect will be described.

First, the robot device 20 is placed at a predetermined position on the fixed mold 54a and the movable mold 54b that form the die casting machine 12a.

In this case, the length H of the cutout portion 30 of the main body portion 24 is selected in advance corresponding to each of the molds 54a and 54b, that is, as shown in FIG. The length H of the cutout portion 30 is determined in advance so that the hand portion 53 is well separated without interfering with the molds 54a and 54b at the position where the end of the portion 28 turns on the first limit switch 22. .

Further, the height positions of the limit switches 36 and 38 are adjusted respectively. That is, as shown in FIG. 4A, when the first arm 42 swings by a predetermined angle, the pin member 46 of the protrusion 44 turns on the second limit switch 36, while the fourth limit switch 36 is turned on.
As shown in FIG. B, when the second arm 48 swings by a predetermined angle, the pin member 52 of the protrusion 50 turns on the third limit switch 38.
Operate. And the second limit switch 36 and the third
If both limit switches 38 are ON,
Even if the swing motion of 53 is performed, the hand part 53 is not
The height positions of the limit switches 36 and 38 are selected so as not to interfere with 54a and 54b.

Next, drive control of the robot apparatus 20 and the die casting machine 12a will be described with reference to FIG.

First, after the molds 54a and 54b constituting the die casting machine 12a are clamped by the signal 14a from the die casting machine controller 10a, predetermined moldings are molded in the respective dies 54a and 54b. Next, when the movable mold 54b is separated from the fixed mold 54a by a predetermined distance under the action of the die casting machine controller 10a after a predetermined time elapses, this signal 9a is transmitted to the robot controller 4a. Therefore, the signal 6a from the robot controller 4a is transmitted to the robot apparatus 2a, and, for example, the main body 24, the arms 42 and 48, and the hand portion 53 are driven to grip the molded product (not shown) by the hand portion 53. Let Further, after the molded product is transferred to the next step, for example, a trimming device or the like, an arm of the robot device 2a is provided.
If the 42, 48 and the hand part 53 etc. are made to stand by at a predetermined position, the signal 8a is transmitted from the robot controller 4a to the die casting machine controller 10a, and the signal 60 from the respective limit switches 22, 36 and 38 is directly transmitted. It is transmitted to the die casting machine controller 10a. Then, the signal 14a from the die casting machine controller 10a is transmitted to the die casting machine 12
After being fed to a, the movable mold 54b is displaced close to the fixed mold 54a and the mold is clamped, as described above, a casting operation of a molded product (not shown) is performed.

By the way, the O of each limit switch 22, 36 and 38
Robot device 20 and die casting machine in N, OFF operation
The control operation of 12a will be described below.

As shown in FIG. 6, when a current flows through the coil C ₅ , the break contact B ₅ is opened and the robot apparatus 20 and the die casting machine 12a are brought to an emergency stop. Accordingly, die-casting machine 12a is releasing state (limit switch 62 is operated ON) if, since the current flows through the coil C _1, is not energized the coil C ₅ break contact B ₁ is then opened. That is, the break contact B ₅ is not opened and the emergency stop operation is not performed. Therefore, it is possible to drive the robot device 20 and perform a work for taking out a molded product (not shown). On the other hand, the die casting machine
If the first limit switch 22 is turned on while the 12a is in the mold clamping state (the limit switch 62 is turned off), no current will flow through the coil C ₅ and the second limit switch 36 and the third limit switch 38 can be turned on and off. That is, since the hand portion 53 is preferably separated from the die casting machine 12a regardless of the positional relationship between the arms 42 and 48, the die casting machine 12a and the hand portion 53 do not interfere with each other. Furthermore, when the die casting machine 12a is in clamping state, and a second limit switch 36 together with the first limit switch 22 is operated OFF and the third limit switch 38 is if ON operation, not energized in the coil C _5. That is, as shown in FIG. 2, the hand portion 53 is located above the respective dies 54a and 54b, and even if the hand portion 53 is oscillated, it may interfere with the dies 54a and 54b. Because there is no.

By the way, if the first limit switch 22 is turned off and at least one of the second and third limit switches 36 and 38 is turned off when the die casting machine 12a is clamped, the hand part 53 is set to the mold. 54a, 54b and the like can be interfered with each other, so that a current flows through the coil C ₅ and the die casting machine 12a and the robot device 20 are stopped emergency. In this case, as shown in FIG.
However, since it is directly sent to the die casting machine controller 10a, the die casting machine controller 10a can immediately give an instruction to stop the die casting machine 12a and the robot apparatus 20. Therefore, an accident or the like is not caused by avoiding the interference between the robot device 20 and the die casting machine 12a.

As described above, according to the present invention, a sensor that detects each position is provided on the main body part that constitutes the robot device, or a movable part such as an arm, and a signal from the sensor is directly supplied to the die casting machine controller. There is. Therefore, it is possible to accurately and surely grasp the relative positional relationship between the robot apparatus and the die casting machine, and to quickly respond to a change in the state of the robot apparatus. Therefore, it is possible to prevent the robot apparatus and the die casting machine from interfering with each other and to achieve an extremely automated die casting process. Further, there is an advantage that it is possible to effectively cope with the case where the robot device is operated manually.

Although the present invention has been described with reference to the preferred embodiment, the present invention is not limited to this embodiment. For example, a proximity switch or the like can be used as a sensor instead of a limit switch, and First for turning the body
It is possible to use only the limit switch or the second and third limit switches for swinging the first and second arms, and various modifications and design changes can be made without departing from the scope of the present invention. Of course.

[Brief description of drawings]

FIG. 1 is a schematic explanatory view of a control system for die casting according to the prior art, FIG. 2 is a partially omitted perspective view of a transfer robot apparatus which constitutes the control system for die casting according to the present invention, and FIG. 4A and 4B are explanatory views showing the rotating state of the robot apparatus, FIG. 4A and FIG. 4B are explanatory views showing the swinging state of the respective arms of the robot apparatus, and FIG. FIG. 6 is a circuit explanatory diagram of the die casting control system according to the present invention. 20 …… Robot device, 21 …… Base 22 …… Limit switch, 24 …… Main body 28 …… Projection, 30 …… Notch 32a, 32b …… Support 36,38 …… Limit switch 42 …… Arm, 44 ... Protrusion 48 ... Arm, 50 ... Protrusion 53 ... Hand, 54a, 54b ... Mold

─────────────────────────────────────────────────── ─── Continuation of the front page (51) Int.Cl. ⁶ Identification code Internal reference number FI technical display location B29C 33/58 8823-4F

Claims (3)

[Claims] 1. A die-casting machine, a die-casting machine control device for driving and controlling the die-casting machine, a robot device disposed near the die-casting machine and performing a work related to a die-casting casting operation, and the robot device. And a robot controller for controlling the driving of the die casting machine, the die casting machine controlling device and the robot controlling device sending and receiving signals to drive control the die casting machine and the robot device in association with each other. In the control system for a robot, the robot apparatus is provided with a plurality of sensors for detecting the displacement of its movable portion, and the plurality of sensors send a signal directly to the die casting machine control apparatus to perform the die casting. And a die casting machine control device for electrically controlling the machine and the robot device. Control system for die casting that. 2. The control system according to claim 1, wherein the robot device includes a rotatable main body,
The main body part is provided with one or more swingable arms, and the main body part is provided with a ring-shaped protrusion coaxial with the rotation axis thereof, and a part of the protrusion has a predetermined length. Forming a notch portion having the above-mentioned sensor, one or more limit switches, which are the above-mentioned sensors, are faced to the protrusion, and the limit switch is turned ON under the rotating action of the protrusion, while the notch causes the limit switch to turn on. Turn off the switch,
A control system for die casting which directly sends the respective signals to a die casting machine control device. 3. The control system according to claim 1 or 2, wherein the robot apparatus includes a rotatable main body portion and one or more arms swingably provided on the main body portion. And at least one limit switch, which is the sensor, is provided on the main body, and the limit switches are provided on the arms at predetermined swing angle positions.
Providing a protrusion that turns ON, turning the limit switch ON,
A control system for die casting that directly sends an OFF operation signal to the die casting machine controller.