JPH0319026B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Technical Field of the Invention] The present invention relates to an automatic setup system that automatically performs setup and post-processing of a workpiece.

[Technical background of the invention and its problems]

Recently, with the automation of machine tools, there is a tendency to strengthen the control of the flow between machine tools and workpieces.
For example, it has become common practice to arrange multiple automatic machine tools in a line, connect these machine tools using transport means such as automatic guided vehicles or conveyors, and centrally manage and control the machine tools and transport means. . In this management control system, the workpiece is supplied to the conveyance means by fastening the workpiece onto a pallet that can be attached to a machine tool, and feeding the pallet with the workpiece on it into the conveyance means. ing. The work of fastening the workpieces to the pallet is complicated and is therefore usually carried out manually.
In other words, in high-mix, medium- to low-volume production using general-purpose machine tools, the structure, shape, and dimensions of workpieces change in various ways, and as a result, there are many types of clamping jigs, which is an obstacle to automation. However, manual setup work requires time and effort, resulting in great inefficiency and a decrease in the operating rate of machine tools.

[Purpose of the invention]

The present invention has been made in consideration of the above circumstances, and an object of the present invention is to provide an automatic setup system that can automatically and quickly perform setup and post-processing of workpieces.

[Summary of the invention]

The setup work of attaching or removing the workpieces to be processed by a series of automatic machine tools on the pallet is automatically carried out by the conveyor mechanism and setup robot, and it is also possible to prevent chips, dirt, oil, etc. from adhering to the pallet after processing is completed. This system allows workpieces to be cleaned while being clamped to a pallet, and setup work to be performed after cleaning can be carried out reliably.

[Embodiments of the invention]

Hereinafter, one embodiment of the present invention will be described in detail with reference to the drawings.

FIG. 1 shows the automatic setup system of this embodiment. A shuttle table 1 includes a radio-guided automatic guided vehicle 2 mounted next to the shuttle table 1.
A pallet 4 on which a workpiece 3 is clamped is transferred to and from the pallet 4. This shuttle table 1
It consists of a base 5 and a carriage 7 that reciprocates on the base 5 in the directions of arrows 6a and 6b. The upper surface of this reciprocating joint 7 is divided into a first mounting section 7a and a second mounting section 7b. Then, the second mounting section 7 of the shuttle table 1 moved in the direction of the arrow 6b.
A cleaning device 8 is installed adjacent to b. As shown in FIG. 2, this cleaning device 8 includes a protective chamber 10 having doors 9 on opposite sides that can be opened and closed, and
Support 11 attached to the ceiling of this protection room 10
a plurality of nozzles 1 that are supported by and spray cleaning liquid;
2..., a pallet holder 13 that clamps and fixes the pallet 4 that clamps the workpiece 3, a rotation drive mechanism 15 that rotates this pallet holder 13 via a chain 14, and a nozzle 12... It consists of a cleaning liquid supply mechanism that supplies cleaning liquid. The cleaning device 8 also includes a shuttle table 1.
A loading/unloading mechanism (not shown) is provided for loading the pallets 4 from the washing machine and unloading the pallets 4 that have been cleaned onto a mounting table 16 provided adjacent to the loading side of the cleaning device. Further, the first mounting portion 7 of the shuttle table 1 has moved in the direction of the arrow 6b.
A mounting table 17 is provided adjacent to a. A conveyor 18 is provided on the opposite side of the mounting table 17 from the shuttle table 1, and is adapted to convey the pallet 4 in the direction of the arrow 19. This conveyor 18
A setup table 20 is provided on the opposite side of the mounting table 17. This setup table 20 is
As shown in the figure, it is for clamping a workpiece 3 onto a pallet 4. That is, palette 4
is NC plate 21 and this NC plate 21
It consists of a jig base 23 fitted and positioned by pins 22 on top. This jig base 23
Fluid pipelines, switching valves, and internal cylinders are buried in the . A clamping device 24 that directly clamps the workpiece 3 is detachably engaged with the internal cylinder. An air coupler 25 for supplying air for operating the switching valve and a hydraulic coupler 26 for supplying oil for operating the internal cylinder are provided on the side surface of the jig base 23. There is. Although not shown, an air supply mechanism that supplies air to the pneumatic coupler 25 in a timely manner and an oil supply mechanism that supplies oil to the hydraulic coupler 26 in a timely manner are installed in the vicinity of the setup table 20. There is. Furthermore, a jig table 27 is installed on the side of the setup table 20. On this jig table 27 are clamp devices 24 and pins 28 necessary for setup work.
is placed in a predetermined position. Furthermore, a setup robot 29 is installed between the jig table 27 and the setup table 20, and is set to fit the clamp device 24 and pin 28 on the jig table 27 into predetermined positions on the pallet 4. ing. Also,
A centering table 30 is provided on the opposite side of the setup table 20 from the mounting table 17. As shown in FIG. 4, this centering table 30 has an X-Y-θ table 31 on which the workpiece 3 is placed, and which can move forward and backward in the X and Y directions perpendicular to each other and can rotate in the θ direction. , a base 32 that supports this X-Y-θ table 31, a first position detection section 33 that detects the displacement amount of the workpiece 3 in the X direction, and a second position detection section 33 that similarly detects the displacement amount of the workpiece 3 in the Y direction. It consists of a position detection section 34. The first position detecting section 33 has two position detecting sections 33a and 33b. On the other hand, the second
The position detection section 34 has one position detector 34a. Thus, the setup table 20 and the centering table 30 constitute a setup adjustment section 35. Furthermore, the setup table 2 of the centering table 30
A conveyor 36 is provided on the opposite side from
And the pallets 4 are carried in and out. Furthermore, two rails 38a and 38b are connected to the main pillar 39 from the automated warehouse 37 toward the shuttle table 1.
It is constructed by... These rails 38a,
The width of 38b is determined from the cleaning device 8 to the jig table 27.
is set to a length greater than or equal to. Furthermore, a transport robot 40 is mounted on the rails 38a and 38b. This transfer robot 40 has rails 38
a and 38b;
an arm portion 43 that moves in a direction perpendicular to 8a and 38b;
The hand 44 is attached to the tip of the arm 43 and grips the workpiece 3 or pallet 4.
However, shuttle table 1, conveyor 1
8, 36 and the transport robot 40 are connected to the transport mechanism 45.
It consists of Thus, the cleaning device 8, the setup robot 29, the setup adjustment section 35, and the transport mechanism 45,
As shown in Figure 5, the setup work procedure is memorized,
Control processing device 4 that outputs necessary control signals in a timely manner
6, and these constitute an automatic setup system 47. This control processing device 46 is
It has a control function that processes work while exchanging information and an interactive control function. Further, the control processing device 46 is connected to a central processing device 48 so as to be able to exchange information. This central processing unit 48 is connected to a control processing unit 50 that centrally controls the automatic machine tools 49 .
This control processing device 50 includes the control processing device 45
Similar to automatic machine tool 4, it has an interactive control function.
The work process information and tool management information of 9... are stored. The central processing unit 48 also controls the automatic warehouse 3
7 control and management. Thus, the central processing unit 48 comprehensively controls the automatic guided vehicle 2, the automatic machine tool 49..., the automatic setup system 47, and the automatic warehouse, thereby consistently controlling production and processing.

Next, the operation of the automatic setup system of this embodiment will be described.

First, in response to a control signal from the central processing unit 48, the automatic warehouse 37 sends the required NC plate 2.
1 is taken out and transferred to the conveyor mechanism 4 by the conveyor 36.
It is transported to a scheduled gripping position by the transport robot 40, which is No. 5. Next, the base body 41 and arm section 43 of the transport robot 40 are driven by a control signal from the control processing device 46, and the hand section 44 is positioned at the above-mentioned expected grasping position. Then, the NC plate 21 is grasped by the hand 44 and transferred onto the centering table 30. At this time, the NC plate 21 on the centering table 30 is displaced due to a positioning error on the conveyor 36 or a positioning error in the automated warehouse 37. Therefore, the position detectors 33a, 33b, 34a are connected to the NC plate 2.
1 and outputs the three position detection signals obtained to the control processing device 46. This control processing device 46 calculates positional deviations in the X, Y directions, and θ directions based on the three input position detection signals, and generates drive control signals for eliminating the positional deviations in the XY- The signal is output to the θ table 31 and the NC plate 21 is positioned at a predetermined position, that is, centered. Next, the NC plate 21 whose positional deviation has been eliminated is transferred to the setup table 2 by the transport robot 40.
Transferred onto 0. A blind hole for positioning is formed in the bottom surface of the NC plate 21, and positioning is performed by fitting a positioning pin provided in the setup table 20 so as to be freely retractable into the blind hole. Then, in the same manner as the NC plate 21, the jig base 23 is taken out from the automatic storage 37, and
It is positioned on the NC plate 21 using pins 22, and the two are electromagnetically attracted and coupled. Next, based on the control signal from the control processing device 46, the setup robot 29 moves the jig table 27
From there, grasp the necessary pins 28... and the clamp device 24 with the hand portion 29a, and attach the jig base 23.
Fit and position in the specified position on the top. after that,
The unprocessed workpiece 3 is again taken out from the automatic warehouse 37 and transferred to a predetermined position on the jig base 23 in the same manner as the NC plate 21 and the jig base 23. Next, based on the control signal from the control processing device 46, the plug of the air supply mechanism is fitted to the pneumatic coupler 25 to supply air, and the plug of the oil supply mechanism is fitted to the hydraulic coupler 26. Supply oil to the hydraulic lines. Then, the switching valve operates,
Accordingly, the internal cylinder is lowered by the hydraulic pressure, and the contact plate 24 of the clamp device 24 is lowered while rotating 90 degrees in the normal direction, pressing the workpiece 3, and the workpiece 3 is fixed to the jig base 23. In this way, the pallet 4 with the workpiece 3 clamped thereon is transferred onto the mounting table 17 by the conveyor 18 or the transfer robot 40, and is temporarily put on standby. Next, when the control processing device 46 confirms that the carriage 7 of the shuttle table 1 is moving in the direction of the arrow 6b, the workpiece 3 is transferred to the first mounting portion 7a of the shuttle table 1 by the transfer robot 40. It will be transferred to. Then, the pallet 4 is transferred from the first loading section 7a to the automatic guided vehicle 2 placed next to the shuttle table 1. The pallet 4 is transferred from the shuttle table 1 to the automatic guided vehicle 2 by a loading/unloading mechanism (not shown) such as rollers provided on the upper surfaces of both. Thus, the pallet 4 is transported by the automatic guided vehicle 2 to automatic machine tools 49, as shown in FIG. On the other hand, the control processing unit 46 transfers setup information regarding the pallet 4 to the central processing unit 48. The central processing unit 48 outputs necessary control signals to the control processing unit 50 based on the preset program and the setup information. This control processing device 50
The workpiece 3 clamped to the pallet 4 according to the command is subjected to necessary processing in the order of steps. In this way, the pallet 4 clamping the workpiece 3 after it has been processed through the automatic machine tools 49 is again transported to the shuttle table 1 by the automatic guided vehicle 2. When the control processing device 46 confirms that the carriage 7 is moving in the direction of the arrow 6a, the pallet 4 is transferred from the automatic guided vehicle 2 to the second loading section 7b by the loading/unloading mechanism. I will post it. next,
The carriage 7 is moved in the direction of the arrow 6b, and the cleaning device 8
A loading/unloading mechanism (not shown) attached to the pallet 4 is transferred to the pallet holder 13, and the pallet 4 is held and fixed. Then,
In response to a control signal from the control processing device 46, the rotation drive mechanism 15 is activated to rotate the pallet holder 13, and at the same time, the cleaning liquid is jetted from the nozzles 12. Then, the chips, dirt, cutting oil, etc. adhering to the workpiece 3 are washed away by the impact caused by the 360 degree rotation and the spraying of the cleaning liquid. After the cleaning is completed, the pallet 4 is transferred from the cleaning device 8 onto the mounting table 16 by the loading/unloading mechanism. Next, this pallet 4 is transferred onto the setup table 20. Then, based on a control signal from the control processing device 46, the plug of the air supply mechanism is fitted to the air coupler 25, air pressure is applied to operate the switching valve, and the plug of the oil supply mechanism is fitted to the hydraulic coupler 26. to reduce the hydraulic pressure in the hydraulic pipe. Then, the internal cylinder rises, and the abutment plate 34 rises while being reversed by 90 degrees, and is separated from the workpiece 3 after processing and cleaning.
Next, according to a command from the control processing device 46, the workpiece 3 is transferred to the conveyor 36 by the transfer robot 40.
Translated above. Then, it is transported by the conveyor 36 to a predetermined position in the automated warehouse 37. In this way, if the workpiece 3 to be newly processed is of the same type as the previous one, there is no need to replace the pallet 4, clamping device 24, pin 22, etc., and the workpiece 3 is returned to the unprocessed state in the same manner as described above. The workpiece 3 is taken out from the automatic warehouse 37, transferred onto the jig base 23, and clamped by the clamp device 24. At this time,
Since the pallet 4 has been cleaned, there are no chips or the like interposed between the workpiece 3 and the jig base 23, and the setup work can be performed reliably. This is particularly effective when the pallet 4 remains as it was and the newly processed workpiece 3 is larger than the previous workpiece 3. On the other hand, the pallet 4, clamping device 24, pin 22 is
If ... has to be replaced with something completely different, the setup work is done in the same way as described above. Also at this time, the clamp device 24, pins 22, . . . are all held on the jig table 27 after being cleaned, so that various problems due to the presence of chips do not occur. In this way, the pallet 4 with the newly unprocessed workpiece 3 clamped
The automatic machine tool 49 is again moved by the automatic guided vehicle 2...
It is transported to ... and subjected to the specified processing. In this way, the automatic setup system of this embodiment uses the setup robot 29.
Accordingly, the pins 28 and the clamp devices 24 are moved between the setup table 20 and the jig table 27 in response to the attachment and detachment of various setup jigs on the setup table 20 of the setup adjustment section 35. Since mounting and positioning are performed, flexibility is significantly increased, and as a result, setup time can be significantly shortened, and setup reliability is also dramatically improved. Further, by providing the centering device 30, the positioning accuracy on the setup table 20 is improved. Furthermore, the workpiece 3 after processing is completed.
Since the pallet 4 that has been clamped is cleaned, chips, dirt, etc. may be present between the workpiece 3 to be newly processed and the pallet 4 during the next setup operation, and the pallet 4 may be cleaned. The reliability and work efficiency of the automatic setup work are greatly increased because the process is no longer incomplete, causing a dangerous situation in terms of work safety, or causing a decrease in processing accuracy. Furthermore, the automatic setup system of this embodiment includes an automatic warehouse 37 and a control processing device 5.
Based on the instructions from the central processing unit 48, along with the automatic machine tool group 49 controlled by 0,
Control signals are output to the transport mechanism 45, the cleaning device 8, the setup adjustment section 35, and the setup robot 40 to centrally manage the setup work, so that the automatic machine tools group 49..., the automatic warehouse 37 and the automatic setup system of this embodiment for high-variety, medium- to low-volume production.
This greatly contributes to improving the production efficiency of the entire FMS (Flexible Manufacturing System).

In the above embodiment, the setup adjustment section 35 has the centering table 30, but the flexibility of the transport robot 40
is high, and the transfer robot 40
If it can be absorbed by the side, there is no need to install it. Further, the pallet 4 is not limited to clamping the workpiece 3 by hydraulic pressure, but may be clamped mechanically by, for example, a screw mechanism. Furthermore, flexibility in setup work may be provided by forming an air bearing on the top surface of the setup table 20. Additionally, the setup table 20 may have an index function. Furthermore, a set of jig tables 27 on which necessary jigs are placed is stored in an automated warehouse 37 as appropriate.
Alternatively, the transport robot 40 may be used to carry the material in and out.

〔Effect of the invention〕

As described above, the automatic setup system of the present invention
The setup work of clamping the workpiece to a pallet to be machined by a series of automatic machine tools is performed by the setup robot and transport mechanism in the setup adjustment section based on commands from the control processing device. After machining, the workpieces with chips, dirt, oil, etc. attached to them are cleaned while being clamped to the pallet. In particular, the setup robot transfers and positions pins and clamp devices between the setup table and the jig table in response to the work of attaching and detaching various setup jigs in the setup adjustment section. Therefore, flexibility is significantly increased, and as a result, setup time can be significantly shortened, and the reliability of setup is also dramatically improved. Furthermore, along with an automatic warehouse and a group of automatic machine tools controlled by a control processing device,
Based on instructions from the central processing unit, the transport mechanism,
Since control signals are output to the cleaning equipment, setup adjustment section, and setup robot to centrally manage setup work, it is possible to use a wide variety of automatic machine tools, automatic warehouses, and the automatic setup system of this invention. This greatly contributes to improving the overall production efficiency of FMS that performs small and medium-sized production. Furthermore, by automating the chip removal work, which has conventionally tended to be manually dependent, the reliability and efficiency of the setup work can be further improved.

[Brief explanation of the drawing]

Fig. 1 is a perspective view showing the entire automatic setup system according to an embodiment of the present invention, Fig. 2 is a sectional view of main parts of the cleaning device, Fig. 3 is a front view of a workpiece clamped on a pallet, and Fig. 3 is a front view of a workpiece clamped on a pallet. The figure is a plan view of the centering table, and FIG. 5 is an electric circuit diagram of the automatic setup system and related production system. 3: Workpiece, 4: Pallet, 8: Cleaning device, 2
0: Setup table, 24: Clamp device (jig),
28: Pin (jig), 35: Setup adjustment section, 40:
Transport robot, 45: transport mechanism.

Claims (1)

[Claims] 1. Includes the following configuration, and includes an NC plate;
A jig base that is placed on the NC plate and on which the workpiece is placed, and a first position that positions the jig base that is detachably interposed between the NC plate and the jig base with respect to the NC plate. and a second pin that is removably interposed between the jig base and the workpiece and positions the workpiece with respect to the jig base, and a pallet that is removably attached to the jig base. and performs setup work consisting of assembling and disassembling a setup jig consisting of a clamp device that clamps the workpiece positioned by the second pin, and transporting the setup jig and the workpiece. ,and,
A group of automatic machine tools controlled by a machine tool control processing device, and at least the above-mentioned setup jigs.
The automatic machine tool group and the automatic warehouse are provided between the NC plate, the jig base, and the automatic warehouse in which the workpiece is stored, and the setup work is controlled by the machine tool control processing device; An automatic setup system characterized by being controlled by a central processing unit. (b) The workpiece has a rotation drive mechanism that holds and rotates the pallet clamped by the clamp device, and a cleaning liquid supply mechanism that sprays cleaning liquid, and the workpiece is rotated while the pallet is rotated by the rotation drive mechanism. A cleaning device that cleans the pallet and the workpiece with a cleaning liquid supplied from the cleaning liquid supply mechanism. (b) A jig table on which the first pin, the second pin, and the clamp device are placed. (c) A setup adjustment section in which the setup jig is attached to and detached from the workpiece before processing by the automatic machine tool group or after cleaning by the cleaning device. (d) In response to the attachment/detachment work of the setup jig in the setup adjustment section, the first pin, the second pin, and the clamp device are connected between the setup table and the jig table. A setup robot that performs transfer and positioning. (e) The above-mentioned connection between the above-mentioned automated warehouse and the above-mentioned setup adjustment department.
Carrying in and out the NC plate, the jig base, and the workpiece; carrying out the pallet with the workpiece clamped in the setup adjustment section to the automatic machine tool group; and processing by the automatic machine tool group. a conveyance mechanism for transporting a pallet with clamped workpieces into the cleaning device, and transporting a pallet with clamped workpieces cleaned by the cleaning device to the setup adjustment section; (F) A control processing device that centrally manages the setup work by outputting control signals to the transport mechanism, the cleaning device, the setup adjustment section, and the setup robot based on commands from the central processing device. .