JPS6394615U

JPS6394615U -

Info

Publication number: JPS6394615U
Application number: JP19014886U
Authority: JP
Priority date: 1986-12-09
Filing date: 1986-12-09
Publication date: 1988-06-18

Description

【図面の簡単な説明】[Brief explanation of the drawing]

第１図は本願考案の基本図、第２図は実施例の
ハードウエアとソフトウエアの関係を示すブロツ
ク図、第３図は実施例の作用を示す斜視図、第４
図は実施例のフローチヤート、第５図は実施例の
添接板の板縁とロータリーカツタの中心をＸ，Ｙ
座標で示した平面図。１……作業ロボツト、８……加工機（ロータリ
ーカツタ）、１０……テレビカメラ、１２……制
御部（マイクロコンピユター）、Ｐ……添接板、
δ……カツター軸と板縁との距離。 Fig. 1 is a basic diagram of the present invention, Fig. 2 is a block diagram showing the relationship between hardware and software of the embodiment, Fig. 3 is a perspective view showing the operation of the embodiment, and Fig. 4
The figure is a flowchart of the embodiment. Figure 5 shows the edge of the splicing plate and the center of the rotary cutter in the embodiment.
A plan view shown in coordinates. 1... Working robot, 8... Processing machine (rotary cutter), 10... TV camera, 12... Control unit (microcomputer), P... Connection plate,
δ...Distance between the cutter axis and the edge of the plate.

Claims

【実用新案登録請求の範囲】[Scope of utility model registration request]

穿孔された金属板材の孔縁および板縁を加工旋
削する加工機と、該加工機をＸ軸、Ｙ軸、Ｚ軸の
３方向および加工機の加工軸自体をそれぞれ別個
に駆動する駆動手段を搭載する作業ロボツトと、
金属板材の該穿孔位置とその形状および板材自体
の位置と形状を撮像するテレビカメラと、該テレ
ビカメラの捉えた画像を入力しＸ軸、Ｙ軸座標の
画素に置き換えて記憶する手段を具え、該記憶に
追随して加工軸中心を孔中心に一致させるために
Ｘ軸、Ｙ軸方向への駆動手段に作動命令を出力し
、前記の両中心が一致したところでＺ軸と加工軸
の駆動手段に作動命令を出力し、すべての孔縁の
加工が終れば、さらに前記記憶に追随して板縁に
前記加工機の刃体を当接するためにＸ軸、Ｙ軸へ
の駆動手段に作動命令を出力し、当接したところ
で板縁と平行方向にＸ軸及び／又はＹ軸と加工軸
の駆動手段に作動命令を出力する制御部とからな
る金属板材の自動ばり取り、面取り装置。 A processing machine that processes and turns the hole edges and plate edges of a perforated metal plate, and a drive means that separately drives the processing machine in three directions of the X axis, Y axis, and Z axis, and the processing axis of the processing machine itself. The work robot to be installed,
A television camera for capturing images of the perforation position and shape of the metal plate material and the position and shape of the plate material itself, and means for inputting the image captured by the television camera and storing it by replacing it with pixels of X-axis and Y-axis coordinates, Following this memory, an operating command is output to the drive means in the X-axis and Y-axis directions in order to align the center of the machining axis with the center of the hole, and when the centers coincide, the drive means for the Z-axis and the machining axis are activated. When all the hole edges have been machined, an operation command is issued to the driving means for the X and Y axes in order to follow the memory and bring the blade of the processing machine into contact with the plate edge. An automatic deburring and chamfering device for metal sheets, which comprises a control section that outputs operating commands to drive means for the X-axis and/or Y-axis and the machining axis in a direction parallel to the edge of the sheet when they come into contact with each other.