JPH06238548A - Life judging device for working cutter by robot - Google Patents
Life judging device for working cutter by robotInfo
- Publication number
- JPH06238548A JPH06238548A JP2783293A JP2783293A JPH06238548A JP H06238548 A JPH06238548 A JP H06238548A JP 2783293 A JP2783293 A JP 2783293A JP 2783293 A JP2783293 A JP 2783293A JP H06238548 A JPH06238548 A JP H06238548A
- Authority
- JP
- Japan
- Prior art keywords
- life
- tool
- robot
- supplied
- value
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn
Links
Landscapes
- Machine Tool Sensing Apparatuses (AREA)
- Manipulator (AREA)
Abstract
Description
【０００１】[0001]
【産業上の利用分野】本発明は、ロボットによる例えば
ＦＲＰ加工における刃具の寿命判定装置に関する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a tool life determining device for a robot, for example, in FRP machining.
【０００２】[0002]
【従来の技術】ＦＲＰ樹脂製品には、その中にガラス繊
維が混入されているので、このＦＲＰ樹脂製品の加工用
刃具は、送り速度や回転数等の加工条件にもよるが、一
般にその寿命が短い。例えば、ＦＲＰ樹脂製品としてユ
ニットバスをロボットにて加工するケースをみるに、ロ
ボットによる加工刃具としては次のようなものがある。
切断、バリ取りのためのルータビット、大径の穴明けの
ためのホールソー、小径の孔明けのためのドリル等であ
る。そして、かかる工具にあってその寿命は、定期交
換、過負荷による加工停止回数、及び加工面の状態につ
き人により判定されている。2. Description of the Related Art Since glass fibers are mixed in FRP resin products, the cutting tool for the FRP resin products generally has a long life, although it depends on the processing conditions such as the feed speed and the number of revolutions. Is short. For example, looking at the case where a unit bath is processed by a robot as an FRP resin product, there are the following processing blades by the robot.
Router bits for cutting and deburring, hole saws for drilling large diameter holes, drills for drilling small diameter holes, etc. The life of such a tool is determined by a person regarding regular replacement, the number of machining stops due to overload, and the condition of the machined surface.
【０００３】[0003]
【発明が解決しようとする課題】ところが、上述の人の
判定による場合、判定は経験により異なって個人差が生
じ、また、加工に係る個々の刃具にて寿命が異なること
から、ロボット数台で加工するラインについては判定が
難しくなり、更に加工停止により復帰に時間がかかる。
また、判定を誤ると刃具によるランニングコストが上が
り、刃具寿命にばらつきがあるため定期交換では対応で
きず、刃具寿命までの目安もなく加工条件を変更した時
の刃具寿命が予測できない。However, in the case of the above-mentioned person's judgment, the judgment is different depending on the experience and individual differences occur, and the life of each cutting tool for machining is different. It becomes difficult to judge the line to be machined, and it takes time to restore it due to the stoppage of machining.
Further, if the judgment is incorrect, the running cost of the cutting tool will increase, and there will be variations in the cutting tool life, so regular replacement cannot handle it, and there is no guideline for the cutting tool life, and the cutting tool life when the machining conditions are changed cannot be predicted.
【０００４】本発明は、上述の問題に鑑み、客観的で確
実な寿命判定を行なうようにしたロボットによる加工用
刃具の寿命判定装置の提供を目的とする。In view of the above problems, it is an object of the present invention to provide a tool life determining device for a cutting tool by a robot, which is capable of performing objective and reliable life determination.
【０００５】[0005]
【課題を解決するための手段】上述の目的を達成する本
発明は、ロボットコントローラからの制御信号、ターミ
ナルからの経験値、及び各ワーク毎の負荷状態の経続的
なサンプリングデータとそのデータの推移をそれぞれ入
力し、ファジー推論により工具寿命を判定し外部へ出力
することを特徴とする。The present invention which achieves the above-mentioned object is to provide continuous sampling data of a control signal from a robot controller, an empirical value from a terminal, and a load state for each work and its data. The feature is that each transition is input, the tool life is determined by fuzzy reasoning, and output to the outside.
【０００６】[0006]
【作用】刃具が摩耗する条件を経時的に入力しまた経験
値を導入することにより刃具の寿命を客観的に把握す
る。Function: The life of the cutting tool is objectively grasped by inputting the conditions under which the cutting tool wears over time and introducing empirical values.
【０００７】[0007]
【実施例】ここで、図を参照して本発明の実施例を説明
する。図１はロボット１によるＦＲＰ製品２の加工に当
り、刃具としてルータビット３ａ，ホールソー３ｂ，ド
リル３ｃを用いる場合につき示している。これら刃具の
うち、ルータビット３ａ及びホールソー３ｂは交流電源
にて駆動され、ドリル３ｃはエア圧により駆動される。
また、ルータビット３ａ，ホールソー３ｂの電源ライン
には、変流器等の電流検出器４が備えられ、この電流検
出器４は実効値演算回路５を介して刃具寿命判定装置６
に接続され、この装置６に電流値が入力される。更に、
ドリル３ｃには回転検出器７が備えられ、この回転検出
器７はＦ／Ｖ変換器８を介して刃具寿命判定装置６に接
続され、この装置６に回転数が入力される。Embodiments of the present invention will now be described with reference to the drawings. FIG. 1 shows a case where a router bit 3a, a hole saw 3b, and a drill 3c are used as cutting tools when the FRP product 2 is processed by the robot 1. Among these cutting tools, the router bit 3a and the hole saw 3b are driven by an AC power source, and the drill 3c is driven by air pressure.
A current detector 4 such as a current transformer is provided in the power supply line of the router bit 3a and the hole saw 3b, and the current detector 4 is provided with a cutting tool life determination device 6 via an effective value calculation circuit 5.
And a current value is input to the device 6. Furthermore,
The drill 3c is provided with a rotation detector 7, and this rotation detector 7 is connected to the cutting tool life determination device 6 via the F / V converter 8 and the rotation speed is input to this device 6.
【０００８】刃具寿命判定装置６には、ロボットコント
ローラ９からの制御信号が入力され、この制御信号とし
ては、チェック位置、工具機種、送り速度等が挙げられ
る。更に、ターミナル１０からは経験によって得た判定
条件が刃具寿命判定装置６に入力される。A control signal from the robot controller 9 is input to the cutting tool life determination device 6, and the control signal includes a check position, a tool model, a feed rate, and the like. Further, from the terminal 10, the judgment condition obtained by experience is input to the cutting tool life judgment device 6.
【０００９】ここにおいて、ＦＲＰ製品の加工に当って
は、ルータビット３ａ，ホールソー３ｂ，ドリル３ｃを
自動工具変換装置（図示省略）で持ち変えて加工を行な
うのであるが、刃具寿命判定装置６ではロボットコント
ローラ９からの前述した制御信号、ターミナル１０から
の経験設定値、及び工具の負荷状態のサンプリング値か
らファジー推論により工具寿命を判定し、その結果を外
部に出力するようになっている。In the processing of the FRP product, the router bit 3a, the hole saw 3b, and the drill 3c are carried by an automatic tool conversion device (not shown) to carry out the processing. The tool life is determined by fuzzy inference from the above-mentioned control signal from the robot controller 9, the empirical set value from the terminal 10, and the sampled value of the load state of the tool, and the result is output to the outside.
【００１０】具体的に説明するに、ドリル３ｃやホール
ソー３ｂの寿命判定にあっては、複数点ある加工位置の
うち予め決められた１点の負荷状態を各ワーク毎に経続
的にサンプリングし、このサンプリングデータの推移と
ターミナルからの経験値からファジー推論して刃具の寿
命を判定する。この場合、サンプリングデータとして
は、加工時間、負荷の最大値、負荷の積算値、過負荷回
数、工具の駆動電流や回転数などがあり、経験値として
は平均寿命や平均負荷状態などがあげられる。More specifically, in determining the life of the drill 3c and the hole saw 3b, the load condition of a predetermined one point among a plurality of machining positions is continuously sampled for each workpiece. , The life of the cutting tool is judged by fuzzy inference from the transition of this sampling data and the empirical value from the terminal. In this case, the sampling data includes the machining time, the maximum value of the load, the integrated value of the load, the number of overloads, the driving current of the tool, the number of revolutions, etc., and the experience values include the average life and the average load state. .
【００１１】また、ルータビットの寿命判定に当って
は、切削距離（有負荷時間×送り速度）と各ワーク毎の
前述の同様の負荷状態を経続的にサンプリングし、この
サンプリングデータの推移と前述した経験値からファジ
ー推論し刃具の寿命を判定している。Further, in determining the life of the router bit, the cutting distance (loading time × feed rate) and the same load condition as described above for each work are continuously sampled, and the transition of this sampling data Fuzzy inference is performed from the above-mentioned experience values to determine the life of the cutting tool.
【００１２】[0012]
【発明の効果】以上説明したように本発明によれば、客
観的に把握し得る条件に基づきファジー推論にて寿命を
得るようにしたため、寿命判定の個人差がなくなり、刃
具寿命による加工停止前に交換が可能となって稼働率が
上がり、また、経験値により確度の高いものとすること
となって刃具の寿命が明確になってランニングコストが
下がり、更に加工条件の変更があっても近似条件を加え
ることによって短時間で確度の高い寿命判定ができる。As described above, according to the present invention, since the life is obtained by fuzzy reasoning based on the condition that can be objectively grasped, there is no individual difference in the life judgment and before the machining is stopped due to the life of the cutting tool. It is possible to replace the blades with each other to increase the operating rate, and to increase the accuracy based on the experience value, the life of the cutting tool is clarified, the running cost is reduced, and even if the processing conditions are changed, it can be approximated. By adding the conditions, highly accurate life judgment can be performed in a short time.
【図１】本発明の一実施例を説明する構成図である。FIG. 1 is a configuration diagram illustrating an embodiment of the present invention.
１ ロボット ２ ワークであるＦＲＰ製品 ３ａ ルータビット ３ｂ ホールソー ３ｃ ドリル ４ 電流検出器 ５ 実効値演算器 ６ 刃具寿命判定装置 ７ 回転検出器 ８ Ｆ／Ｖ変換器 ９ ロボットコントローラ １０ ターミナル 1 Robot 2 FRP product that is a work 3a Router bit 3b Hole saw 3c Drill 4 Current detector 5 Effective value calculator 6 Cutting tool life judgment device 7 Rotation detector 8 F / V converter 9 Robot controller 10 Terminal
Claims (1)
ターミナルからの経験値、及び各ワーク毎の負荷状態の
経続的なサンプリングデータとそのデータの推移をそれ
ぞれ入力し、ファジー推論により工具寿命を判定し外部
へ出力する加工用刃具の寿命判定装置。1. A control signal from a robot controller,
A tool cutting tool life judgment device that inputs empirical values from the terminal, continuous sampling data of the load status of each work and the transition of that data, judges the tool life by fuzzy reasoning, and outputs it to the outside.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2783293A JPH06238548A (en) | 1993-02-17 | 1993-02-17 | Life judging device for working cutter by robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2783293A JPH06238548A (en) | 1993-02-17 | 1993-02-17 | Life judging device for working cutter by robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPH06238548A true JPH06238548A (en) | 1994-08-30 |
Family
ID=12231916
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP2783293A Withdrawn JPH06238548A (en) | 1993-02-17 | 1993-02-17 | Life judging device for working cutter by robot |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH06238548A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102699763A (en) * | 2012-06-13 | 2012-10-03 | 哈尔滨理工大学 | Cutter wear intelligent-measurement instrument and measuring method thereof |
| CN109955122A (en) * | 2019-04-23 | 2019-07-02 | 四川工程职业技术学院 | Full-automatic sanding system and full-automatic sanding method based on machine vision |
| JP2020119427A (en) * | 2019-01-28 | 2020-08-06 | 株式会社安川電機 | Industrial apparatus management system, industrial apparatus management method, and program |
| WO2021157518A1 (en) * | 2020-02-06 | 2021-08-12 | 住友電気工業株式会社 | Analysis device, provision device, assessment method, provision method, assessment program, and provision program |
| US11493902B2 (en) | 2019-01-28 | 2022-11-08 | Kabushiki Kaisha Yaskawa Denki | Industrial machine management system, method for managing industrial machine, and non-transitory computer-readable storage medium |
-
1993
- 1993-02-17 JP JP2783293A patent/JPH06238548A/en not_active Withdrawn
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102699763A (en) * | 2012-06-13 | 2012-10-03 | 哈尔滨理工大学 | Cutter wear intelligent-measurement instrument and measuring method thereof |
| JP2020119427A (en) * | 2019-01-28 | 2020-08-06 | 株式会社安川電機 | Industrial apparatus management system, industrial apparatus management method, and program |
| US11493902B2 (en) | 2019-01-28 | 2022-11-08 | Kabushiki Kaisha Yaskawa Denki | Industrial machine management system, method for managing industrial machine, and non-transitory computer-readable storage medium |
| CN109955122A (en) * | 2019-04-23 | 2019-07-02 | 四川工程职业技术学院 | Full-automatic sanding system and full-automatic sanding method based on machine vision |
| WO2021157518A1 (en) * | 2020-02-06 | 2021-08-12 | 住友電気工業株式会社 | Analysis device, provision device, assessment method, provision method, assessment program, and provision program |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| A300 | Withdrawal of application because of no request for examination |
Free format text: JAPANESE INTERMEDIATE CODE: A300 Effective date: 20000509 |