JPH0786764B2 - Teaching method for work position teaching device - Google Patents

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a dummy work on which parts are attached in order to cause a working machine to sequentially perform a predetermined work at a predetermined work position of a work on which a part is assembled. Relates to a teaching method of a work position teaching device for teaching a work position in advance.

[Prior Art and Problems to be Solved by the Invention] Conventionally, a control device for a working machine that operates by microcomputer control has a central control unit that has a ROM that stores an operation program for performing a predetermined work and that has a CPU chip. Based on a command from the computer, the necessary information such as various operating conditions and working position is called from the program in the ROM and the RAM, and the working machine is configured to perform a predetermined work.

In this type of control device, it is necessary to teach the work position and store each work position in the RAM before the work, but when the work position is on the work in which the parts are assembled in advance, The assembled parts become an obstacle, and it becomes very troublesome to teach directly on the working machine, and there are drawbacks such that the teaching requires a considerable time. In order to eliminate this drawback, it is desired to perform only the teaching of the work position by using a dummy work having the same work position as the work in addition to the work machine. In response to this demand, there is an apparatus described in Japanese Patent Laid-Open No. 90577/53, which teaches at a position away from a working machine. In this apparatus, the work position on the work is selected by the camera, the work position at this time is detected by the pulse encoders on the X, Y, and Z axes, and the number of pulses is stored.

However, in this device, since the moving distance per unit position pulse of the pulse encoder is stored in advance, there is no problem if the moving distance of the moving portion during teaching is directly converted into rotation of the pulse encoder. When converting to rotation of a pulse encoder via a transmission mechanism such as a wire, the transmission mechanism expands and contracts due to the influence of ambient temperature, and the movement distance per unit position pulse changes due to that influence, making accurate teaching impossible. There are drawbacks such as.

The present invention is intended to eliminate the above drawbacks, and an object of the present invention is to provide a teaching method capable of performing teaching at a place different from a working machine and performing accurate teaching without being affected by ambient temperature. There is.

[Means for Solving the Problem] In order to achieve the above object, two first guide rods are fixed to a base in parallel via a first fixing block at predetermined intervals, and each of the first guide rods is fixed. And a first pulse encoder for slidably guiding the first slide block and detecting the amount of movement of the first slide block via the first wire and the first endless wire, and on both sides of the base 8. A second guide rod that is orthogonal to the first guide rod is fixed between the first slide blocks located on the second slide block, and a second slide block having a positioning pin is slid on the second guide rod. Freely guide the movement amount of the second slide block to the second
A second pulse encoder for detecting through a wire and a second endless wire is arranged, and further, a third pulse encoder is fixed to the second slide block so that its rotary shaft is located above, and a rotary head is mounted on the rotary shaft. Has a structure for fixing.

Moreover, this device is configured to teach the work position in the following order.

1) The position detection pulses of the first pulse encoder and the second pulse encoder are set to zero.

2) Teaching two points at both ends of the reference line on the X-axis side of the calibration jig, which has two orthogonal reference lines and each reference line has a constant reference length, and the first pulse when each teaching is completed. The number of position detection pulses of the encoder is temporarily stored.

3) The first from the number of position detection pulses and the reference length
The movement amount per unit position detection pulse of the pulse encoder is calculated and stored in the external storage unit.

4) Teaching two points at both ends of the Y-axis side reference line of the calibration jig is performed, and the number of position detection pulses of the second pulse encoder upon completion of each teaching is temporarily stored.

5) The movement amount per position detection pulse of the second pulse encoder is obtained from the two position detection pulse numbers and stored in the external storage unit.

6) Teaching two reference points on a dummy work that is placed on the base and has at least two reference points,
The number of position detection pulses of each pulse encoder when the teaching of the first reference point is completed is set to zero, and the number of position detection pulses of the first pulse encoder and the second pulse encoder when the teaching of the next reference point is completed is stored in the external storage unit. Remember.

7) The working position of the dummy work and the rotary position of the rotary head are sequentially taught, and the position detection pulse of each pulse encoder at the completion of the teaching is stored in the external storage unit.

[Operation] In the above apparatus, the number of position detection pulses of each pulse encoder is set to zero before teaching the work position on the work. After that, the positioning pin is moved to perform teaching at two points at both ends of the X-axis side reference line of the calibration jig having two orthogonal reference lines and each reference line having a constant reference length. At this time, when the positioning pin moves and reaches a predetermined point, the first guide block moves along the first guide rod, and the first slide block also moves integrally. Along with the movement of the first slide block, the amount of movement is detected as the rotation number of the first pulse encoder, and the number of position detection pulses is temporarily stored at the completion of each teaching. The movement amount per unit position detection pulse of the first pulse encoder is calculated from the two position detection pulses and the reference length of the X-axis side reference line of the calibration jig, and this is stored in the external storage unit.

Similarly, teaching is performed at two points at both ends of the Y-axis side reference line of the calibration jig, and the number of position detection pulses of the second pulse encoder at the time of completion of each teaching is temporarily stored. The movement amount per unit position detection pulse of the second pulse encoder is calculated from the two position detection pulse numbers and the reference length of the reference line on the Y-axis side of the calibration jig, and this is stored in the external storage unit.

Further, a work placed on the work line of the working machine and having at least two reference points is fixed as a dummy work on the base, and the positioning pin is moved to teach the two reference points of the dummy work. . When the teaching of the first reference point is completed, the number of position detection pulses for each pulse encoder is set to zero. Then, the positioning pin is moved to perform teaching of another reference point, and the number of position detection pulses of the first pulse encoder and the second pulse encoder at the completion of teaching is stored in the external storage unit.

After that, the worker sequentially moves the positioning pin onto the work position of the dummy work, and the movement amount is detected as the number of position detection pulses of the first pulse encoder and the second pulse encoder.

Further, when the positioning pin coincides with the working position, the rotary head is rotated so that the arrow of the rotary head coincides with an arbitrary direction of the desired work tool. The rotation angle in the direction of the arrow is transmitted when the third pulse encoder rotates and is detected as the number of position detection pulses of the third pulse encoder. (At this time, the rotation angle of the rotary head is detected as the rotation angle from the X-axis or the Y-axis.) After that, the position of these pulse encoders is detected each time teaching is completed at each work position. The number of pulses is sent to the external storage unit and sequentially stored as position information of each work position in the external storage unit, and teaching of work positions can be completed. Therefore, even if the movement amount per unit position pulse of the pulse encoder may change due to expansion and contraction due to the influence of the ambient temperature of the first wire or the second wire, this can be calculated before teaching, so the position of each work position can be calculated. The information is stored accurately without being affected by ambient temperature.

Embodiments Embodiments will be described below with reference to the drawings. 1 to 4, reference numeral 1 is a work position teaching device adjacent to a lead wire cutting device (not shown) having an XY table (not shown). At the tip of the XY table, a cutter portion of a tip tool is fixed upward through a fixture (not shown), and an electronic component (not shown) protruding from the back surface of the work disposed above the cutter portion. No.) is configured to cut the lead wire.

The work position teaching device 1 has a base 8 and a cover (not shown) that covers the base 8, and two first guide rods 10 are provided on the base 8 at predetermined intervals to form a first fixing block. It is fixed in parallel through 11. A first slide block 12 is slidably guided to each of the first guide lots 10, and is configured to be integrally moved by being connected by a second guide rod 13 described later. A first pulley 14 is rotatably arranged on a first fixed block 11 that holds one of the first guide rods 10, and the first wire 1 is interposed between the first pulleys 14 and 14.
5 is wound, and both ends thereof are connected to the first slide block 12 via connecting members 16a. Moreover, the first
A first pulse encoder 17 is fixed to one side of the fixed block 11, and a first driven pulley 18 is fixed to a rotation shaft (not shown) of the first pulse encoder 17. A first endless wire 19 is wound between the first driven pulley 18 and an adjacent first pulley 14, and the first driven block 18 is configured to rotate by the movement of the first slide block 12. ing.

On the other hand, a second guide rod 13 formed of a spline shaft extending in a direction orthogonal to the first guide rod 10 is fixed to a first slide block 12 located on both sides of the base 8 via a second fixing block 20. The second slide block 21 is slidably guided by the second guide rod 13. A second pulley 22 is rotatably arranged on each of the second fixed blocks 20, and a second wire 23 is wound between the second pulleys 22 and 22, and a connecting tool 16b is provided at both ends thereof. Through the second slide block 2
Concatenated to 1. Further, the second fixed block 20
The second pulse encoder 24 is fixed to one of the
A second driven pulley 25 is fixed to the rotation shaft (not shown). The second pulley 22 adjacent to the second driven pulley 25
A second endless wire 26 is wound between and
The movement of the slide block 21 causes the second wave pulley 25 to rotate.

The second slide block 21 has a third pulse encoder.
27 is fixed with its rotating shaft 27a positioned above,
A rotary head 28 is fixed to the rotary shaft 27a. A fixing ring 28a for fixing a bearing is fixed to the lower end of the rotary head 28.
A plunger 28b protruding toward the second slide block 21 is fixed to 8a. On the other hand, the second slide block 21 has a positioning hole 21a formed in the moving path of the plunger 28b, and the rotary head 2
The plunger 28b is configured to fit into the positioning hole 21a when the 8 rotates by a predetermined angle. Further, an arrow is engraved on the upper surface of the rotary head 28 on a line connecting the center of the rotary head 28 and a positioning pin 29 described later, so that the direction of the cutter portion of the lead wire cutting device can be selected with this position as an origin. It is configured. Further, the second slide block 21 is provided with a positioning pin 29 having a sharp portion at its tip through a holder 30. The positioning pin 29 is urged upward by a spring 31 and held so as to be lowered. ing.

A work table 32 is fixed to the base 8 between the first guide rods 10, 10, and a guide groove 32a extending parallel to the first guide rod 10 is formed in the work table 32. Has been done. Moreover, a right-angled block 33 having a right-angled surface formed of a plane extending in parallel with the first guide rod 10 and the second guide rod 13 is fitted and fixed to the guide groove 33a on the work table 32. Work table 3
2, a slider 34 having a locking surface on an extension line of one flat surface of the right-angled block 33 is slidably guided along the guide groove 32a, and the slider 34 corresponding to the size of a desired workpiece is formed. It is configured so that the position can be changed. Also,
Two fixtures 35 made of a magnetic material are arranged on the work table 32, and are configured to cooperate with the right angle block 33 and the slider 34 to fix a desired work.

The control unit 1a of the operating position teaching device is a CPU.
2, ROM3, RAM which is connected to the CPU2 via the I / O port 4a, the keyboard 5 and the display section 6 and the external storage section 7
It consists of cards. Further, the first pulse encoder 17, the second pulse encoder 24, and the third pulse encoder 27 are connected to the control unit 1a via the I / O port 4b, and the position detection pulses of these are integrated and temporarily stored. It is configured to be stored. Further, the ROM 3 stores a teaching program for teaching a work position on a dummy work. This teaching program sets 1) the position detection pulses of the first pulse encoder 17 and the second pulse encoder 24 to zero.

2) Teaching two points at both ends of the X-axis side reference line of a calibration jig (not shown) having two orthogonal reference lines and each reference line having a constant length is input from the keyboard 5. The number of position detection pulses of the first pulse encoder 17 at the completion of each teaching is temporarily stored by the data reading command signal.

3) The movement amount per unit position detection pulse of the first pulse encoder 17 is calculated from the two number of position detection pulses and the reference length of the reference line, and this is stored in the external storage unit 7. (Note that the movement amount per unit position detection pulse may be the number of position detection pulses per unit movement amount.) 4) Teaching of two points at both ends of the reference line on the Y-axis side of the calibration jig. The number of position detection pulses of the second pulse encoder 24 at the completion of each teaching is temporarily stored.

5) The movement amount per unit position detection pulse of the second pulse encoder 24 is obtained from the two number of position detection pulses, and stored in the external storage unit 7.

6) Teaching the two reference points on the dummy work which is placed on the base and has two (three or more) reference points, and the data reading command signal from the keyboard 5 causes the first reference point Set the number of position detection pulses of each pulse encoder 17, 24, 27 at the time of teaching completion to zero and set the position of the first pulse encoder 17 and the second pulse encoder 24 by the data read command signal at the completion of teaching at the next reference point. The number of detected pulses is stored in the external storage unit 7.
(In this case, the third pulse encoder is the rotary head 28
Is set to zero when the arrow is at a position parallel to the X axis or the Y axis. ) 7) Working position of the dummy work and rotary head
Teaching of the rotational positions of 28 is sequentially performed for each work position, and the number of position detection pulses of each pulse encoder 17, 24, 27 is stored in the external storage unit 7 in response to a data read command signal when the teaching is completed.

Is configured.

In the above work position teaching device, first, the calibration jig is fixed on the work table 32 by the right angle block 33, the slider 34 and the two fixing tools 35, and the positioning pin 29 is moved to move both ends of the reference line on the X-axis side. When the teaching of the point is performed, the first slide block 12 moves, and the movement amount is detected as the number of position detection pulses of the first pulse encoder 17. The number of position detection pulses is temporarily stored by a data read command signal input from the keyboard 5 at the completion of each teaching. The movement amount per unit position detection pulse of the first pulse encoder 17 is calculated from the two number of position detection pulses and the reference length of the reference line and stored in the external storage unit 7.

Similarly, the positioning pin is moved along the Y-axis to teach points at both ends of the reference line on the Y-axis side of the calibration jig,
The number of position detection pulses of the second pulse encoder 24 is temporarily stored at the completion of each teaching, the movement amount per unit position detection pulse of the second pulse encoder 24 is calculated from these two number of position detection pulses, and this is stored in the external storage unit. Store in 7.

Further, the positioning pin is moved to perform teaching of two reference points provided on the dummy work, and when the teaching of the first reference point is completed, the number of position detection pulses of the first pulse encoder 17 and the second pulse encoder 24 becomes zero. Set to. (At the same time, the number of position detection pulses of the third rotary encoder is set to zero with the arrow of the rotary head 28 parallel to the X axis.)
When 29 is moved to teach another reference point, the first slide block 12 and the second slide block 21 move, and the movement amount is the number of position detection pulses of the first pulse encoder 17 and the second pulse encoder 24. Detected as. The number of position detection pulses is stored in the external storage unit 7 by a data read command signal input from the keyboard 5 when the teaching of the reference point is completed.

After that, the operator moves the positioning pin 29 so as to match the predetermined work position on the dummy work, moves the first slide block 12 and the second slide block 21, and the movement amount is the first pulse encoder 17, It is detected as the number of position detection pulses of the pulse encoder 24 and temporarily stored. Further, when setting the approaching direction of the positioning pin 29 according to the position of the part to be placed on the dummy work, the operator stamps the rotary head 28 held on the second slide block 21 on this. Turn the rotary arrow 28 until the arrow
The rotation shaft 27a of the third pulse encoder 27 is rotated by the rotation of, and the rotation angle is detected as the number of position detection pulses of the third pulse encoder 27. Each of these pulse encoders
The number of position detection pulses of 17, 24, 27 is sequentially stored in the external storage unit by a data read command signal from the keyboard 5.

After that, when the information in the external storage unit 7 is sent to the control unit (not shown) of the work machine, the control unit calls the necessary information from the external storage unit 7 and the position information obtained by the work position teaching device is transferred to the work machine side. Of the motor (not shown), the working machine can sequentially move to the working position taught by the teaching device to perform a predetermined work. Moreover, at this time, even if the movement amount per unit position pulse of the pulse encoder changes due to expansion and contraction of the first wire or the second wire due to the influence of ambient temperature, this is calculated before teaching. The position information of the working position is accurately stored without being affected by the ambient temperature.

[Effects of the Invention] As described above, according to the present invention, when teaching the work position on the work, the moving distance per unit position pulse of the pulse encoder is calculated, and then each work position is taught. Since it is configured to obtain the number of position pulses according to the position, it is possible to teach each work position away from the work machine, and the movement distance per unit position pulse of the pulse motor changes due to the influence of ambient temperature. However, the moving distance per unit position pulse after change can be calculated before teaching and the moving distance per unit position pulse of the pulse motor can be detected, and the position information of each work position can be stored accurately without the influence of ambient temperature. can do.

In the embodiment, the movement of the slide block is converted into the rotation angle by the pulley transmission mechanism, but the movement of the slide block can be taken out by combining the screw shaft and the bearing nut.

[Brief description of drawings]

FIG. 1 is a block diagram of a control unit according to the present invention, FIG. 2 is a flow chart of a teaching program according to the present invention, and FIG. 3 is a main part plane view showing a state in which a cover of a work position teaching device according to the present invention is removed. FIG. 4 and FIG. 4 are cross-sectional views of main parts taken along the line AA of FIG. A work, 1 ... work position teaching device, 1a ... control unit, 2 ... CPU, 3 ... ROM, 4a, 4b ... I / O port, 5 ... keyboard, 6 ... display unit, 7 ... ... External storage, 8 ... Base, 9 10 ... First guide rod, 11 ... First fixed block, 12 ... First slide block, 13 ... Second guide rod, 14 ... First pulley , 15 ... First wire, 16a, 16b ... Coupling, 17 ... First pulse encoder, 18 ... First driven pulley, 19 ... First endless wire, 20 ... Second fixed block, 21 ... … Second slide block, 21a …… Positioning hole, 22 …… Second pulley, 23 …… Second wire, 24 …… Second pulse encoder, 25 …… Second driven pulley, 26 …… Second endless wire, 27 …… Third pulse encoder, 27a …… Rotary axis, 28 …… Rotary head, 28a …… Fixing ring, 28b …… Plunger, 29 …… -Decided Me pins, 30 ...... retainer 31 ...... spring, 32 ...... worktable, 32a ...... guide groove 33 ...... perpendicular block, 34 ...... slider 35 ...... fixture,

Claims (1)

[Claims] 1. Two first guide rods (10) are fixed to a base (8) via a first fixing block (11) in parallel at a predetermined interval, and the first guide rods (10) are fixed. The first slide block (12) is slidably guided to each of them, and the movement amount of the first slide block (12) is adjusted by the first wire (1
5) and first detecting via the first endless wire (19)
A pulse encoder (17) is arranged, and a second slide orthogonal to the first guide rod (10) is provided between the first slide blocks (12) located on both sides of the base (8).
The guide rod (13) is fixed via the second fixing block (20), and the second slide block (21) provided with the positioning pin (29) is slidably guided to the second guide rod (13). A second pulse encoder (24) for detecting the amount of movement of the second slide block (21) via the second wire (23) and the second endless wire (26), and further, the second slide block. A work position teaching device in which a third pulse encoder (27) is fixed to (21) so that its rotary shaft (27a) is located above and a rotary head 28 is fixed to the rotary shaft (27a): 1) First The position detection pulses of the pulse encoder (17) and the second pulse encoder (24) are set to zero. 2) 2 at both ends of the reference line parallel to the X axis of the calibration jig, which has two orthogonal reference lines and each reference line has a constant reference length.
Teaching points, and first when each teaching is completed
The number of position detection pulses of the pulse encoder (17) is temporarily stored. 3) The first from the number of position detection pulses and the reference length
The movement amount per unit position detection pulse of the pulse encoder (17) is calculated and stored in the external storage unit 7. 4) Teaching at two points on both ends of a line parallel to the Y axis of the calibration jig is performed, and the number of position detection pulses of the second pulse encoder (24) at the completion of each teaching is temporarily stored. 5) The movement amount per position detection pulse of the second pulse encoder (24) is calculated from the two number of position detection pulses and stored in the external storage unit. 6) Teaching of two reference points on the dummy work which is placed on the base (8) and has at least two reference points, and each pulse encoder (17, 24, 24, The number of position detection pulses of 27) is set to zero, and the number of position detection pulses of the first pulse encoder (17) and the second pulse encoder (24) at the completion of teaching of the next reference point is stored in the external storage unit. 7) Teaching the working position of the dummy work and the rotary position of the rotary head (28) is performed in sequence, and the number of position detection pulses of all pulse encoders (17, 24, 27) at the completion of teaching is stored in the external storage unit (7). Remember. A teaching method, characterized in that teaching is performed according to the above sequence.