JPS59232780A - Method and device for controlling drive of gripper - Google Patents
Method and device for controlling drive of gripperInfo
- Publication number
- JPS59232780A JPS59232780A JP10291383A JP10291383A JPS59232780A JP S59232780 A JPS59232780 A JP S59232780A JP 10291383 A JP10291383 A JP 10291383A JP 10291383 A JP10291383 A JP 10291383A JP S59232780 A JPS59232780 A JP S59232780A
- Authority
- JP
- Japan
- Prior art keywords
- gripping
- workpiece
- bending
- movement
- follow
- 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.)
- Granted
Links
Landscapes
- Bending Of Plates, Rods, And Pipes (AREA)
Abstract
(57)【要約】本公報は電子出願前の出願データであるた
め要約のデータは記録されません。(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.
Description
【発明の詳細な説明】
［発明の技術分野］
この発明は、特に折曲（幾に使用される把持Ｓ％Ｈの駆
動制御方法および装置に関する。DETAILED DESCRIPTION OF THE INVENTION [Technical Field of the Invention] The present invention relates to a drive control method and apparatus for a grip S%H used particularly for bending.
［発明の技術的背景とその問題点」
近年、折曲機によるワークの折曲げ加工時におりる作業
性向−Ｌ１安全性確保を目的として、ワークの折曲機へ
の供給、加工時のワークの把持状態維持、ワークの次工
程への搬送の一連の作業をｉｊなうクランプロボットが
１川発されている。[Technical background of the invention and its problems] In recent years, in order to ensure the work tendency - L1 safety that occurs when bending a workpiece with a bending machine, A number of clamp robots have been developed that perform a series of tasks such as maintaining the gripping state and transporting the workpiece to the next process.
ところで、前記クランプロボット２は、ワークの加工時
には、前述した如く（第１図参照）、上型４によるワー
クＷの折曲げに伴なう反光上４の移動軌跡（Ｑ＋→Ｑ２
）に沿って把持状態を推持して追従移動する。この追
従方法としては、従来例えばインジケータでワーク表面
を検出した、その検出値に基づいてクランプロボット２
を追・従移動させる如きものであった。しかし、この方
法では、折曲げカロエ中にワークが振れること（こより
、当該振れが検出される結果クランプ［Ｊボッ１〜２の
把持部２ａも振動してしまい適確な追従移動ができない
おそれがあるという問題があった。By the way, when processing a workpiece, the clamp robot 2 follows the movement trajectory (Q+→Q2) of the anti-light upper 4 as the workpiece W is bent by the upper mold 4, as described above (see FIG. 1).
) while holding the grip state. Conventionally, this tracking method involves detecting the surface of the workpiece using an indicator, for example, and then moving the clamp robot 2 based on the detected value.
It was like following and moving. However, with this method, the workpiece shakes during bending (therefore, as a result of the shake being detected, the gripping parts 2a of the clamps [J-Bots 1 and 2 also vibrate, which may prevent accurate follow-up movement). There was a problem.
［発明の目的Ｊ３よび概要］
この発明は、上記に鑑みてなされたもので、その目的と
しては、折曲げ加工に伴なうワークの反発上胃の移動軌
跡に沿った把持装置の追従移動を適確に行なえるように
した把持装置の駆動制御方法および装置を提供覆ること
にある。[Objective J3 and Summary of the Invention] The present invention has been made in view of the above, and its purpose is to move a gripping device to follow the movement locus of the repulsion of the workpiece during bending. An object of the present invention is to provide a method and device for controlling the drive of a gripping device, which enables accurate control of the drive of a gripping device.
上記目的を達成するために、この発明は、被加工物を該
被加工物の一方の側端を把持して折曲機に供給可能に、
且つ折曲げ時には該折曲げ−による当該被加工物の把持
側側端の移動軌跡に応じて当該把持状態で追従移動可能
に把持部Ｕを配置し、当該把持側とは反対側の被加工物
の側端の折曲げ時にお（）る移動軌跡を撮像可能に配置
し、撮像装置による撮像信号に基づいて被加工物の把持
側側端の移動軌跡を演算して前記把持装置を演算した移
動軌跡に応じて追従移動させるべく駆動制御することを
要旨とする。In order to achieve the above object, the present invention provides a method for feeding a workpiece to a bending machine by gripping one side end of the workpiece.
In addition, when bending, the gripping part U is arranged so as to be able to follow the gripping state according to the movement locus of the gripping side end of the workpiece due to the bending, and the gripping part U is arranged so as to be able to follow the gripping side end of the workpiece on the opposite side to the gripping side. The movement of the gripping device is calculated by arranging the gripping device such that it can image the movement trajectory of the side edge of the workpiece when it is bent, and calculating the movement trajectory of the gripping side edge of the workpiece based on the imaging signal from the imaging device. The gist is to control the drive to follow the trajectory.
また、上記目的を達成するために、この発明は、第２図
に承り如く、被加工物を該被加二［物の一方の側端を把
持して折曲機に供給ｕ′ると共に、折曲げ口１には該折
曲げによる当該被加工物の把持側側端の移動軌跡に応じ
て当該把持状態で追従移動りる把持装置１において、演
算手段３が、当該把持側とは反対側の被加工物の側端の
１ｈ曲げ時にＪ＞りる移動軌跡の撮像装置５による撮像
信号をｍｌ象信号処理装置６で処理した結果に基づい（
折曲げ時の被゛加工物の把持側側端の移動軌跡を演算し
く、折曲げ時には演算した移動軌跡に応じ−Ｃ追従制御
装置７を介して把持装置１の前記追従移動を制御するよ
うにしたことを要旨とする。In addition, in order to achieve the above object, the present invention, as shown in FIG. In the bending opening 1, in a gripping device 1 that follows the gripping state according to the movement locus of the gripping side end of the workpiece due to the bending, a calculation means 3 is installed on the side opposite to the gripping side. Based on the results of processing the imaging signal from the imaging device 5 of the movement trajectory of J
A movement locus of the gripping side end of the workpiece is calculated during bending, and the follow-up movement of the gripping device 1 is controlled via a -C follow-up control device 7 in accordance with the calculated movement locus during bending. The summary is what was done.
し発明の実施例」 以下、図面を用いてこの発明の実施例を説明する。Examples of the invention Embodiments of the present invention will be described below with reference to the drawings.
第３図は、この発明の一実施例を示すもので、９は折曲
機、５は第３図中における破線円形領域内を撮像可口し
に配置された盟（ρＩ装置、１３はワークＷをあらかじ
め教示された折曲機９におレプる所定の加工位置に供給
すべく記憶された処理プログラムに従って、あるいは当
該搬像装置からの撮像信号を画像処理してその処理結果
に応じて′クランプロボット２を駆動制御する例えばマ
イクロコンピュータで何成される駆動制御処理装置であ
る。FIG. 3 shows an embodiment of the present invention, in which numeral 9 is a bending machine, 5 is an arm (ρI device) arranged to take an image within the circular region shown by the broken line in FIG. 3, and 13 is a work W. According to a stored processing program to be fed to a predetermined processing position which is taught in advance to the bending machine 9, or by image processing the imaging signal from the image carrier and according to the processing result, 'clamping' is performed. This is a drive control processing device that drives and controls the robot 2 and is made up of, for example, a microcomputer.
なお、駆動制御処理装置１３は、ＣＰＵ１５、処理プロ
グラムが記憶されているＲＯＭ１７、データの一時記憶
用のＲＡＭ１９、入出力ボート２１を有する。The drive control processing device 13 includes a CPU 15, a ROM 17 in which a processing program is stored, a RAM 19 for temporary storage of data, and an input/output board 21.
駆動制御装置１３においては、踊１りと装置５からの撮
像信号に基づいて次に説明するごとき演算を行ないく第
４図参照）、この演算結果に応じてクランプロボット２
の各関節を駆動制御する。第４図において、ワークＷを
折曲げ加工した際には、当該ワークＷにｄ３けるクラン
プロボッ１へ２にＪこって把持されている側の側端がＱ
ｌからＱ２へ、当該把持側とは反対側の側端が］〕１か
ら］）２へそれぞれ反発１． ！ｎ、 して移動する。The drive control device 13 performs calculations as described below based on the dance 1 and the imaging signal from the device 5 (see FIG. 4), and controls the clamp robot 2 according to the calculation results.
Controls the drive of each joint. In Fig. 4, when the workpiece W is bent, the side end of the workpiece W which is gripped by the clamp robot 1 at d3 is
From l to Q2, the side end opposite to the gripping side repulses from]]1 to])2, respectively. ! n, and move.
ここで、ｘ＠、／＠。Here, x@, /@.
１〕軸を第３図および第４図に示ダ如く設定りると、こ
の移動により把持部２ａの位置がＱ＋ からＱ２に移動
づる■４の各軸（Ｘ、’Ｚ、Ｐ）の移動用（Ｘ＋ 、Ｘ
２ 、Ｚ２ 、β）は、△ＡＰＩ Ｐ２と△ΔＱＩ Ｑ
２が相似比Ｌ／１の相似形であることから、次式で表わ
すことができる。1] If the axes are set as shown in Figures 3 and 4, this movement will move the position of the gripping part 2a from Q+ to Q2. ■4 Movement of each axis (X, 'Z, P) for (X+,
2, Z2, β) are △API P2 and △ΔQI Q
Since 2 is a similar figure with a similarity ratio L/1, it can be expressed by the following equation.
×１−χ１ ・１−／髪
×２−χ２ ・し７誌
Ｚ２＝７２ ・し／愛
β−ｔａｎ −’ （Ｚ ２ ／χ２）上式に基づき、
クランプロボット２の各軸の移動ｆｆ１（７ｒ、ＸＴ、
Ｐ丁）を演算すると次式Ｃ′表わすことができる。×1−χ1 ・1−/hair×2−χ2 ・Shi7 magazine Z2=72 ・shi/love β−tan −′ (Z 2 /χ2) Based on the above formula,
Movement of each axis of clamp robot 2 ff1 (7r, XT,
By calculating Pd), the following formula C' can be expressed.
ＺＴ ＝Ｚ ２ ＋ａ ｓｉｎβ
”Ｚ ２ ・Ｌ／ ｌ ＋ａ ５ｉｎ（ｔａｎ ’
Ｚ ２ ／ Ｚ２ ）
ＸＴ −（Ｘ＋ ＋ａ ） −（Ｘ２ ＋ａ
ｃｏｓ β）−（χ１ ・ Ｌ／斐＋８ ）−（
χ２ ・１／ｌ＋ａｃｏｓ （ｊａｎ−’ｚ２ ／
Ｘ２ ））−（χ１−χ２ ） ・ Ｌ／愛＋ａ ・
（１−ｃｏｓ （ｔａｎ −’ Ｚ ２ ／
Ｘ２ ） ）ＰＴ＝β＝［ａｎ −’ （Ｚ
２ ／７：２ ）次に、この実施例の動作につい
て第５図に基づいて説明する。ZT =Z 2 +a sinβ ”Z 2 ・L/ l +a 5in(tan'
Z 2 / Z2 ) XT −(X+ +a ) −(X2 +a
cos β)−(χ1・L/斐+8)−(
χ2 ・1/l+acos (jan-'z2/
X2))-(χ1-χ2) ・L/Love+a・
(1-cos (tan-' Z 2 /
X2 ) )PT=β=[an −' (Z
2/7:2) Next, the operation of this embodiment will be explained based on FIG.
ＣＰＵ１５は、搬像装置５から出力される搬像信号に基
づいてパターン認識して前述した各軸（Ｘ、Ｚ、Ｐ）の
座標系を設定リ−ると共に、ワークＷの折曲げ点△から
当該ワークＷの把持側とは反対側側端Ｐ１までの距離χ
１を測定した後に折曲げ指令を折曲機９に出力する（ス
テップ１００〜１３０）。折曲げが開始されると、ＣＰ
Ｕ１５は、前記搬像信号に基づいて、当該折曲げに伴な
うワークＷの把持側とは反対側の側端の移動量、すなわ
ちＸ軸方向およびＺ軸方向の移動量成分を連続的あるい
はタイムサンプリングで測定すると同時に、当該反対側
側端の反ｇソ上昇角度βを測定づる（ステップ１４０，
１５０）。ＣＰＵ１５は、この測定結果からワークＷの
把持側の折曲げに伴なう各＠（Ｘ、Ｚ、Ｐ）移動量を前
述した如く演算して求め、それに応じてクランプロボッ
ト２の各関節を駆動り゛べくモータ駆動のための移動パ
ルス信号を出力りる（ステップ１６０〜２４０）。The CPU 15 performs pattern recognition based on the carrier signal outputted from the image carrier 5, sets the coordinate system of each axis (X, Z, P) mentioned above, and also sets the coordinate system of each axis (X, Z, P) from the bending point Δ of the work W. Distance χ to the end P1 on the opposite side from the gripping side of the workpiece W
After measuring 1, a bending command is output to the bending machine 9 (steps 100 to 130). When the bending starts, the CP
Based on the carrier signal, U15 continuously or continuously calculates the amount of movement of the side end of the workpiece W on the opposite side from the gripping side due to the bending, that is, the amount of movement in the X-axis direction and the Z-axis direction. At the same time as measuring by time sampling, the anti-g vertical rising angle β of the opposite end is measured (step 140,
150). The CPU 15 calculates and calculates each @(X, Z, P) movement amount associated with the bending of the gripping side of the workpiece W from this measurement result as described above, and drives each joint of the clamp robot 2 accordingly. A movement pulse signal for driving the motor is output (steps 160 to 240).
この一連の処理（ステップ１４０〜２４０）は折曲げ加
工が終了するまで続りられることにＪ、す（ステップ２
５０） 、クランプロボッ１へ２は、ワークＷの把持状
態を維持して追従動作す゛ることができる。This series of processing (steps 140 to 240) continues until the bending process is completed (step 2).
50) The clamp robot 1 to 2 can perform a follow-up operation while maintaining the gripping state of the workpiece W.
し発明の効果」
以上説明しＩこＪ、うに、この発明によれば、「ワーク
Ｗの折曲げ加工に伴なう当該ワークの把持側とは反対側
側端の反光上昇移動軌跡の搬像結果に阜づいてワークの
把持側の前記反発上界移動軌跡を演鋒して、この洟垂結
果に従って把持装置を移動してワークの把持部を追従−
移動さけるようにしたので、従来装置にみられたような
折曲げ中に昇牛するワークの振れに従っで把持部も振動
してしまうということがなく、もって把持装置の前記追
従移動を適確におこなうことができる。As explained above, according to the present invention, "the image of the anti-light upward movement locus of the end of the workpiece W on the side opposite to the gripping side accompanying the bending process of the workpiece W" is explained above. Based on the result, the repulsion upper bound movement locus on the gripping side of the workpiece is developed, and the gripping device is moved according to this result to follow the gripping part of the workpiece.
Since the movement is avoided, the gripping section does not vibrate due to the vibration of the work being lifted during bending, which was the case with conventional devices, and this allows the gripping device to accurately follow the movement. It can be done.
第１図はクランプロボットによるワーク把持状態におｔ
プる追従動作概要説明図、第２図はクレーム対応図、第
３図はこの弁明の一実施例を示り一構成ブロック図、第
４図は駆動制御処理装置による処理概要説明図、第５図
は第３図の動作７０−チＶ−ト図である。
（図の主要な部分を表わり°符号の説明）１・・・把持
装置
２・・・クランプロボット
３・・・演算手段 ５・・・撮像装置７・・・追
従制御装置 ９・・・折曲機１３・・・駆動制御処理
装置
第４図
第５図Figure 1 shows the workpiece being gripped by the clamp robot.
FIG. 2 is a diagram for explaining the outline of the pull-following operation, FIG. The figure is a chart showing the operation 70 of FIG. (Indicates the main parts of the diagram. Explanation of symbols) 1... Gripping device 2... Clamp robot 3... Calculating means 5... Imaging device 7... Tracking control device 9... Folding Bending machine 13... Drive control processing device Fig. 4 Fig. 5
Claims (2)
て折曲機に供給可能に、且つ折曲げ時には該折曲げによ
る当該被加工物の把持側側端の移動軌跡に応じて当該把
持状態で追従移動可能に把持装置を配置し、該把持側と
は反対側の被加工物の側端の折曲げ詩における移動軌跡
を撮像可０ヒに撮像装置を配置し、当該撮像信号に基づ
いて被加工物の把持側側９ｉｉの移動軌跡を演算して前
記把持装置を）すｉ紳した移動軌跡に応じて追従８動さ
せるべく駆動制御りることを特徴とする把持装置の駆動
制御方法。(1) The workpiece can be fed to the bending machine by gripping one side end of the workpiece, and when bending, the workpiece can be fed according to the movement locus of the gripping side end of the workpiece due to the bending. A gripping device is arranged so as to be able to follow the gripping state, and an imaging device is placed at a position where the movement trajectory of the side edge of the workpiece on the opposite side to the gripping side can be imaged. A gripping device characterized in that the movement trajectory of the gripping side 9ii of the workpiece is calculated based on the signal, and the drive control is performed so that the gripping device follows the movement trajectory according to the exact movement trajectory. Drive control method.
て折曲機に供給づるど共に、折曲げ時には該折曲げによ
る当該被加工物の把持側側端の移動軌跡に応じて当該把
持状態で追従移動する把持装置と、当該把持側とは反対
側の被加工物の側端の折曲げ時における移動軌跡を照像
可能に配置された搬像装置と、当該県像信号に基づいて
折曲げ時の被加工物の把持側側端の移動軌跡を演算する
演算手段と、演算した移動軌跡に応じて把持装置の前記
追従移動を制御Ｊ−る追従制御装置とを有Ｊることを特
徴とする把持装置の駆動制御装置。(2) The workpiece is fed to the bending machine by gripping one side end of the workpiece, and when bending, the workpiece is fed according to the movement trajectory of the gripping side end of the workpiece due to the bending. a gripping device that follows the gripping state, an image carrying device arranged so as to be able to image the movement locus when bending the side edge of the workpiece on the opposite side to the gripping side, and a prefectural image signal. and a follow-up control device that controls the follow-up movement of the gripping device in accordance with the calculated movement trajectory. A drive control device for a gripping device, characterized in that:
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP58102913A JPH0616994B2 (en) | 1983-06-10 | 1983-06-10 | Bending machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP58102913A JPH0616994B2 (en) | 1983-06-10 | 1983-06-10 | Bending machine |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS59232780A true JPS59232780A (en) | 1984-12-27 |
| JPH0616994B2 JPH0616994B2 (en) | 1994-03-09 |
Family
ID=14340090
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP58102913A Expired - Lifetime JPH0616994B2 (en) | 1983-06-10 | 1983-06-10 | Bending machine |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH0616994B2 (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH01284427A (en) * | 1987-12-15 | 1989-11-15 | Amada Co Ltd | Control method and device for manipulator for plate stock bending |
| JPH0839151A (en) * | 1986-12-30 | 1996-02-13 | Amada Co Ltd | Sheet material bending method and device |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1258299B1 (en) * | 2000-01-17 | 2010-04-21 | Amada Company, Ltd. | Bending method and bending device |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5368382A (en) * | 1976-11-29 | 1978-06-17 | Hitachi Ltd | Constrained motion device |
-
1983
- 1983-06-10 JP JP58102913A patent/JPH0616994B2/en not_active Expired - Lifetime
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5368382A (en) * | 1976-11-29 | 1978-06-17 | Hitachi Ltd | Constrained motion device |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0839151A (en) * | 1986-12-30 | 1996-02-13 | Amada Co Ltd | Sheet material bending method and device |
| JPH01284427A (en) * | 1987-12-15 | 1989-11-15 | Amada Co Ltd | Control method and device for manipulator for plate stock bending |
Also Published As
| Publication number | Publication date |
|---|---|
| JPH0616994B2 (en) | 1994-03-09 |
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