JP2014108496A - Workpiece positioning method by multi-joint robot and workpiece attachment method by multi-joint robot using the workpiece positioning method - Google Patents

Workpiece positioning method by multi-joint robot and workpiece attachment method by multi-joint robot using the workpiece positioning method Download PDF

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JP2014108496A
JP2014108496A JP2012264831A JP2012264831A JP2014108496A JP 2014108496 A JP2014108496 A JP 2014108496A JP 2012264831 A JP2012264831 A JP 2012264831A JP 2012264831 A JP2012264831 A JP 2012264831A JP 2014108496 A JP2014108496 A JP 2014108496A
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workpiece
work
robot
positioning method
arm
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JP5917380B2 (en
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Hiroshi Tanabe
博史 田邊
Tadahiro Fujiwara
忠弘 藤原
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Kawada Industries Inc
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Abstract

PROBLEM TO BE SOLVED: To provide a workpiece positioning method for efficiently controlling the position and attitude of a workpiece placed at a random position in a random attitude by a simple tool and simple operation.SOLUTION: A workpiece positioning method by a multi-joint robot including steps of: setting a predetermined region of a workpiece arranged at a random position in a random attitude to a reference portion in advance when picking up the workpiece by a hand of the multi-joint robot and positioning the workpiece at a predetermined position in a predetermined attitude; providing a holding tool holding the workpiece rotatably around an axis of the reference portion as the hand; further providing an abutment tool of a predetermined size and a predetermined shape at a predetermined position relative to the robot; holding first the workpiece rotatably around the axis of the reference portion using the holding tool; moving next the holding tool while abutting the workpiece on the abutment tool, and rotating the workpiece until the workpiece has the predetermined attitude around the axis of the reference portion; and moving then the holding tool, and arranging the workpiece at the predetermined position.

Description

この発明は、ランダムな位置および姿勢に配置されたワークを多関節型ロボットのハンド（エンドエフェクタ）によって取り上げて所定の位置および姿勢に位置決めする方法および、そのワーク位置決め方法を用いた多関節型ロボットによるワーク装着方法に関するものである。   The present invention relates to a method for picking up a workpiece arranged at a random position and posture by a hand (end effector) of an articulated robot and positioning it at a predetermined position and posture, and an articulated robot using the workpiece positioning method. It is related with the workpiece | work mounting method by.

例えば本願出願人が先に特許文献１にて開示した、多関節型ロボットの一種である双腕ロボットによる作業においては、別々のワークをそれぞれの手で把持し、合体させてねじ止め等で締結するという作業がある。また、多関節型ロボットの一種である通常の単腕の産業用ロボットに関しても、その単腕でワークを把持し、台上の他のワークに装着固定するという作業がある。   For example, in the work by the dual-arm robot which is a kind of articulated robot previously disclosed in Patent Document 1 by the applicant of the present application, separate works are held with their hands, combined, and fastened with screws or the like. There is work to do. In addition, an ordinary single-arm industrial robot, which is a kind of articulated robot, also has a work of holding a work with the single arm and mounting and fixing it on another work on the table.

これらのワークは予め整列して通箱に納められている場合と、ランダムな位置および姿勢で乱積みされている場合とがある。ワークが予め整列している場合には、事前にワークを整列させるための別工程が必要となるが、ロボットによるワークの姿勢認識は不要であり、ロボットによる把持は比較的簡単である。一方、ランダムな位置および姿勢でワークが乱積みされている場合には、ロボットはカメラなどのセンサを利用してワークの位置および姿勢を求め、把持箇所を決定する必要がある。   There are cases where these workpieces are arranged in advance and stored in a box, and cases where the workpieces are stacked in random positions and postures. When the workpieces are aligned in advance, a separate process for aligning the workpieces in advance is required, but recognition of the posture of the workpiece by the robot is unnecessary, and gripping by the robot is relatively simple. On the other hand, when the workpieces are piled up at random positions and postures, the robot needs to determine the position and posture of the workpieces using a sensor such as a camera and determine the grip location.

ここで、ワークの位置および姿勢を認識した後に、ワークを把持して所望の位置および姿勢に整列配置するには、次のような手順が必要となる。すなわち、ロボットが十分な自由度と可動範囲、および動作精度を有していれば、ワークを把持した後に、そのままワークの位置および姿勢を制御し、整列配置する。上記条件に当てはまらない場合には、ワークの把持後に、一旦ワークを仮置き場に置き、ワークを所定の位置および姿勢に位置決めしてから、再度ワークを把持して整列配置する。   Here, after recognizing the position and posture of the workpiece, the following procedure is required to grip the workpiece and align and arrange it at a desired position and posture. That is, if the robot has a sufficient degree of freedom, a movable range, and an operation accuracy, after the workpiece is gripped, the position and posture of the workpiece are controlled as they are, and the arrangement is arranged. If the above conditions are not satisfied, after gripping the workpiece, the workpiece is temporarily placed in a temporary storage area, the workpiece is positioned at a predetermined position and posture, and then the workpiece is again gripped and aligned.

特開２０１０−０６４１９８号公報JP 2010-064198 A

多関節型ロボットを用いた作業においては、自由度と関節角度リミットによる制限、および作業領域内の様々な障害物により、作業に必要なアーム姿勢を全て実現することは極めて困難である。このため従来は、アームの自由度を増やす、ワークを一度置いて持ち替えを行う等の手段で問題に対処する必要があった。また、何れの場合もワークの「位置」と「姿勢」との両方を厳密に計測する必要があった。   In work using an articulated robot, it is extremely difficult to realize all arm postures necessary for work due to limitations by freedom and joint angle limits and various obstacles in the work area. For this reason, conventionally, it has been necessary to deal with the problem by means such as increasing the degree of freedom of the arm or changing the work after placing the work once. In either case, it was necessary to strictly measure both the “position” and “posture” of the workpiece.

それゆえ本発明は、ランダムな位置および姿勢で置かれたワークの位置および姿勢を簡易な治具および簡単な動作で効率的に制御するワーク位置決め方法および、そのワーク位置決め方法を用いた多関節型ロボットによるワーク装着方法を提供することを目的としている。   Therefore, the present invention relates to a workpiece positioning method for efficiently controlling the position and posture of a workpiece placed at a random position and posture with a simple jig and simple operation, and an articulated type using the workpiece positioning method. The purpose is to provide a method for mounting a work by a robot.

この発明は、上記課題を有利に解決するものであり、この発明の多関節型ロボットによるワーク位置決め方法は、ランダムな位置および姿勢に配置されたワークを多関節型ロボットのハンドによって取り上げて所定の位置および姿勢に位置決めするに際し、あらかじめ、前記ワークの所定部位を基準部に設定し、また、前記ハンドとして前記基準部の軸線周りに回動可能に前記ワークを保持する保持治具を設け、さらに、前記ロボットに対する所定位置に所定寸法形状の当接治具を設けておき、先ず、前記保持治具で前記基準部の軸線周りに回動可能に前記ワークを保持し、次いで、前記ワークを前記当接治具に当接させながら前記保持治具を移動させて前記ワークを前記基準部の軸線周りに所定の姿勢になるまで回動させ、次いで、前記保持治具を移動させて前記ワークを所定の位置に配置することを特徴とするものである。   The present invention advantageously solves the above-described problem, and the work positioning method by the articulated robot according to the present invention takes a work placed at a random position and posture by a hand of the articulated robot and performs predetermined processing. When positioning in the position and orientation, a predetermined part of the workpiece is set as a reference portion in advance, and a holding jig is provided as the hand to hold the workpiece so as to be rotatable around the axis of the reference portion. A contact jig having a predetermined size and shape is provided at a predetermined position with respect to the robot, and first, the work is held by the holding jig so as to be rotatable around the axis of the reference portion. The holding jig is moved while abutting against the abutting jig to rotate the workpiece around the axis of the reference portion until it reaches a predetermined posture. It is characterized in that the jig is moved to place the workpiece in a predetermined position.

また、この発明の多関節型ロボットによるワーク装着方法は、前記多関節型ロボットが双腕ロボットであり、前記双腕ロボットが一方の腕のハンドとしての前記保持治具で前記ワークを前記ワーク位置決め方法により位置決めしつつ、他方の腕のハンドとしての工具で前記ワークを他のワークに装着固定することを特徴とするものである。   In the work mounting method using the articulated robot according to the present invention, the articulated robot is a double-arm robot, and the double-arm robot positions the work with the holding jig as a hand of one arm. The workpiece is mounted and fixed to another workpiece with a tool as the hand of the other arm while positioning by the method.

上述したこの発明の多関節型ロボットによるワーク位置決め方法によれば、ランダムな位置および姿勢に配置されたワークを多関節型ロボットのハンドによって取り上げて所定の位置および姿勢に位置決めするに際し、あらかじめ、前記ワークの所定部位を基準部に設定し、また、前記ハンドとして前記基準部の軸線周りに回動可能に前記ワークを保持する保持治具を設け、さらに、前記ロボットに対する所定位置に所定寸法形状の当接治具を設けておき、先ず、前記保持治具で前記基準部の軸線周りに回動可能に前記ワークを保持し、次いで、前記当接治具の寸法形状と、前記ワークの輪郭形状およびそこにおける前記基準部の位置と、前記当接治具と前記保持治具との位置関係とに基づき、前記ワークを前記当接治具に当接させながら前記保持治具を移動させて前記ワークを前記基準部の軸線周りに所定の姿勢になるまで回動させ、次いで、前記保持治具を移動させて前記所定姿勢となった前記ワークを所定位置に配置することから、ランダムな位置および姿勢で置かれたワークの位置および姿勢を、厳密に計測しなくても、簡易な治具およびロボットの簡単な動作で効率的に制御して、ワークを所定の位置および姿勢に位置決めすることができる。   According to the work positioning method by the articulated robot of the present invention described above, when the work placed at a random position and posture is picked up by the hand of the articulated robot and positioned at a predetermined position and posture, A predetermined part of the workpiece is set as a reference portion, and a holding jig is provided as the hand to hold the workpiece so as to be rotatable around the axis of the reference portion. An abutting jig is provided, and first, the work is held by the holding jig so as to be rotatable around the axis of the reference portion, and then the dimension shape of the abutting jig and the contour shape of the work Based on the position of the reference portion and the positional relationship between the contact jig and the holding jig, the work is brought into contact with the contact jig before Move the holding jig to rotate the workpiece around the axis of the reference portion until it reaches a predetermined posture, and then move the holding jig to place the workpiece in the predetermined posture at a predetermined position Therefore, even if the position and posture of a workpiece placed at a random position and posture are not strictly measured, the workpiece can be efficiently controlled by a simple jig and simple operation of the robot. It can be positioned in position and orientation.

なお、この発明の多関節型ロボットによるワーク位置決め方法においては、前記基準部は、前記ワークの所定部位に形成された丸孔であっても良く、このようにすれば、その丸孔に嵌合する例えば位置決めピンによってワークを容易にその基準部の軸線周りに回動可能にすることができる。   In the work positioning method using the articulated robot according to the present invention, the reference portion may be a round hole formed in a predetermined part of the work, and in this way, the round hole is fitted. For example, the workpiece can be easily rotated around the axis of the reference portion by a positioning pin.

また、この発明の多関節型ロボットによるワーク位置決め方法においては、前記保持治具は、位置決め部材を前記ワークの基準部に嵌合させた状態で前記ワークを保持するものであっても良く、このようにすれば、例えばワークに突設された基準部としてのピンやワークに形成された基準部としての丸孔に位置決め部材を嵌合させた状態で磁石や吸着パッドによりワークを保持することで、あるいはワークに突設された基準部としてのピンやワークに形成された基準部としての丸孔を例えば回動可能な縮径型や拡径型のコレットチャックで把持することで、ワークを容易にその基準部の軸線周りに回動可能に保持することができる。   Further, in the work positioning method by the articulated robot according to the present invention, the holding jig may hold the work in a state where a positioning member is fitted to a reference portion of the work. By doing so, for example, by holding the work with a magnet or a suction pad in a state where the positioning member is fitted in a pin as a reference part protruding from the work or a round hole as a reference part formed in the work Alternatively, the workpiece can be easily held by gripping a pin as a reference portion protruding from the workpiece or a round hole as a reference portion formed on the workpiece with a collapsible chuck with a reduced diameter or an increased diameter, for example. And can be held so as to be rotatable around the axis of the reference portion.

そして、この発明の多関節型ロボットによるワーク装着方法によれば、前記多関節型ロボットが双腕ロボットであり、前記双腕ロボットが一方の腕のハンドとしての前記保持治具で前記ワークを前記ワーク位置決め方法により位置決めしつつ、他方の腕のハンドとしての電動ドライバや溶接ガン、接着剤吐出器具等の工具で前記ワークを他のワークに装着固定することから、双腕ロボットに、ランダムな位置および姿勢で置かれたワークの、他のワークへの装着作業を確実に行わせることができる。   According to the work mounting method using the multi-joint robot of the present invention, the multi-joint robot is a double-arm robot, and the double-arm robot holds the work with the holding jig as a hand of one arm. While positioning by the workpiece positioning method, the workpiece is mounted and fixed to other workpieces with tools such as an electric screwdriver, welding gun, adhesive dispenser, etc. as the other arm's hand. In addition, it is possible to ensure that the work placed in the posture is attached to another work.

この発明の多関節型ロボットによるワーク位置決め方法の一実施例を用いたこの発明の多関節型ロボットによるワーク装着方法の一実施例において多関節型双腕ロボットの一方の腕のハンドとしての保持治具で姿勢を位置決めして保持した板状のワークを、他方の腕のハンドとしての電動ドライバによって他のワークにネジ締め装着しようとしている状態を示す断面図である。In one embodiment of the work mounting method by the multi-joint robot of the present invention using one embodiment of the work positioning method by the multi-joint robot of the present invention, holding treatment of one arm of the multi-joint double-arm robot as a hand It is sectional drawing which shows the state which is trying to carry out the screwing attachment of the plate-shaped workpiece | work which positioned and hold | maintained with the tool to another workpiece | work by the electric driver as a hand of the other arm. 上記実施例の多関節型ロボットによるワーク位置決め方法における多関節型双腕ロボットの動作手順を示すフローチャートである。It is a flowchart which shows the operation | movement procedure of the multi joint type double arm robot in the workpiece | work positioning method by the multi joint type robot of the said Example. （ａ），（ｂ）は、上記実施例の多関節型ロボットによるワーク位置決め方法におけるその多関節型双腕ロボットの一方の腕のハンドとしての保持治具の位置決め部材と板状のワークの基準部としての丸孔との寸法関係を示す正面図および平面図である。(A), (b) is the reference | standard of the positioning member of a holding jig as a hand of one arm of the multi-joint type double arm robot in the work positioning method by the multi joint type robot of the said Example, and a plate-shaped work It is the front view and top view which show the dimensional relationship with the round hole as a part. 上記実施例の多関節型ロボットによるワーク位置決め方法におけるその多関節型双腕ロボットの一方の腕のハンドとしての保持治具で保持した板状のワークを円柱状の当接治具に当接させている状態を示す斜視図である。In the work positioning method using the multi-joint robot of the above embodiment, the plate-like work held by the holding jig as the hand of one arm of the multi-joint double-arm robot is brought into contact with the cylindrical contact jig. FIG. （ａ）〜（ｄ）は、上記実施例の多関節型ロボットによるワーク位置決め方法におけるワークの位置決め手順を順次に示す平面図である。(A)-(d) is a top view which shows sequentially the positioning procedure of the workpiece | work in the workpiece positioning method by the articulated robot of the said Example. この発明の多関節型ロボットによるワーク位置決め方法の他の一実施例を用いたこの発明の多関節型ロボットによるワーク装着方法の他の一実施例を示す断面図である。It is sectional drawing which shows another Example of the workpiece | work mounting method by the articulated robot of this invention using another Example of the workpiece positioning method by the articulated robot of this invention. この発明の多関節型ロボットによるワーク位置決め方法のさらに他の一実施例を用いたこの発明の多関節型ロボットによるワーク装着方法のさらに他の一実施例を示す断面図である。It is sectional drawing which shows further another Example of the workpiece | work mounting method by the articulated robot of this invention which used further another Example of the workpiece positioning method by the articulated robot of this invention.

以下、この発明の実施の形態を図面に基づく実施例によって詳細に説明する。ここに、図１は、この発明の多関節型ロボットによるワーク位置決め方法の一実施例を用いたこの発明の多関節型ロボットによるワーク装着方法の一実施例において多関節型双腕ロボットの一方の腕のハンドとしての保持治具で姿勢を所定の向きに位置決めして保持した板状のワークを、他方の腕のハンドとしての電動ドライバによって他のワークにネジ締め装着しようとしている状態を示す断面図である。   Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. FIG. 1 shows one embodiment of a multi-joint type double-arm robot in an embodiment of the work mounting method using the multi-joint robot according to the present invention. A cross section showing a state where a plate-like workpiece, whose posture is positioned and held by a holding jig as an arm hand, is screwed to another workpiece by an electric screwdriver as the other arm hand FIG.

この実施例の多関節型ロボットによるワーク位置決め方法およびそれを用いるこの実施例の多関節型ロボットによるワーク装着方法では、例えば本願出願人が先に特開２０１０−０６４１９８号公報（特許文献１）にて開示した如き多関節型双腕ロボットを用いており、図中符号１は、その多関節型双腕ロボットの一方の腕、２はその多関節型双腕ロボットの他方の腕をそれぞれ示す。   In the work positioning method using the articulated robot of this embodiment and the work mounting method using the articulated robot of this embodiment using the same, for example, the applicant of the present application previously disclosed in Japanese Patent Laid-Open No. 2010-064198 (Patent Document 1). In the figure, reference numeral 1 denotes one arm of the multi-joint double-arm robot, and 2 denotes the other arm of the multi-joint double-arm robot.

この実施例のワーク位置決め方法では、上記多関節型双腕ロボットの一方の腕１の先端部に通常のツールチェンジャ３を介して装着したハンドとしての保持治具４によって、作業テーブルＴ上に表向きにされてランダムな位置および姿勢で乱積みされた板状のワーク５を保持して持ち上げ、その作業テーブルＴ上の所定位置に鉛直に立設した当接治具６に当接させることによりワーク５を回動させて、その作業テーブルＴ上の所定位置に配置された他のワーク７に対し所定の姿勢（向き）に位置決めし、次いでそのワーク７上の所定の位置に位置決めする。   In the work positioning method of this embodiment, the holding jig 4 as a hand attached to the tip of one arm 1 of the multi-joint type double-arm robot via a normal tool changer 3 is faced up on the work table T. By holding and lifting the plate-like workpieces 5 stacked in random positions and postures, the workpieces are brought into contact with the abutting jig 6 that stands vertically at a predetermined position on the work table T. 5 is rotated and positioned in a predetermined posture (orientation) with respect to another workpiece 7 arranged at a predetermined position on the work table T, and then positioned at a predetermined position on the workpiece 7.

そしてこの実施例のワーク装着方法では、上記実施例の位置決め方法によってワーク５を他のワーク７に対し所定の位置および姿勢に位置決めした後、上記多関節型双腕ロボットの他方の腕２の先端部に設けたハンドとしての電動ドライバ８によりネジ９を保持して回転させながらその他方の腕２で電動ドライバ８を下降させて、上記所定の位置および姿勢に保持したワーク５を他のワーク７にネジ締め固定する。   In the workpiece mounting method of this embodiment, the workpiece 5 is positioned at a predetermined position and posture with respect to the other workpiece 7 by the positioning method of the above embodiment, and then the tip of the other arm 2 of the multi-joint type double-arm robot. While holding and rotating the screw 9 by the electric driver 8 as a hand provided in the part, the electric driver 8 is lowered by the other arm 2 and the workpiece 5 held at the predetermined position and posture is set to the other workpiece 7. Secure with screws.

なお、この実施例で用いる多関節型双腕ロボットは、図示しないが上記公報記載のものと同様、頭部に２台のビデオカメラを有し、それらのビデオカメラからの画像に基づき、作業場所やワーク等の対象物の形状および種類を認識するとともに、ビデオカメラの向きとカメラ測量の原理とによって対象物の３次元位置を認識することができるので、あらかじめ組立作業の概略手順と対象物とを教示しておくことで、先に与えられたプログラムに基づき、対象物の種類に応じて後述する組立作業を行うことができる。以下では、これらの実施例について具体的に詳述する。   The articulated double-arm robot used in this embodiment has two video cameras on the head, similar to the one described in the above publication, although not shown, and based on images from these video cameras, the work place As well as recognizing the shape and type of a target object such as a workpiece or workpiece, the three-dimensional position of the target object can be recognized based on the orientation of the video camera and the principle of camera surveying. By teaching the above, it is possible to perform an assembly operation described later according to the type of the object based on the previously given program. Hereinafter, these examples will be described in detail.

図２は、上記実施例の多関節型ロボットによるワーク位置決め方法における多関節型双腕ロボットの動作手順を示すフローチャートであり、ここでは先ず、ステップＳ１で、ワーク５の位置が既知か否かを判断し、既知であればステップＳ３へ進むが、既知でなければステップＳ２で、例えば上記頭部の２台のビデオカメラからの画像により作業テーブルＴ上のワーク５の３次元位置を認識する。ここにおける板状のワーク５は、例えば鉄や鋼等の強磁性体製で、図３（ｂ）に示すように、そのワーク５の長手方向へ所定間隔で並んだ丸孔としての２つの貫通孔５ａ，５ｂを有しており、この実施例ではそれらの貫通孔５ａ，５ｂのうちの、表向きのワーク５の両端が丸められた辺を上に見て右側の貫通孔５ａを基準部に設定する。   FIG. 2 is a flowchart showing an operation procedure of the articulated double-arm robot in the work positioning method by the articulated robot of the above embodiment. First, in step S1, it is determined whether or not the position of the work 5 is known. If it is known, the process proceeds to step S3. If it is not known, the three-dimensional position of the work 5 on the work table T is recognized from the images from the two video cameras of the head, for example, in step S2. The plate-like workpiece 5 here is made of a ferromagnetic material such as iron or steel, for example, and as shown in FIG. 3B, two penetrating holes as round holes arranged in the longitudinal direction of the workpiece 5 at a predetermined interval. It has holes 5a and 5b, and in this embodiment, the through-hole 5a on the right side of the through-holes 5a and 5b with the both ends of the work 5 facing upwards rounded up is used as a reference portion. Set.

ステップＳ３では、腕１の先端部に、ツールチェンジャ３を介して保持治具４を着脱可能に装着する。この保持治具４は、ツールチェンジャ３に基部を固定されて腕１と平行な平面内で延在するブラケット４ａと、そのブラケット４ａの先端部にブラケット４ａと直交して延在するように設けられた支持筒４ｂと、その支持筒４ｂ内にブッシュを介して昇降自在かつ回動自在に嵌め合わされるとともに上端部に抜け止めフランジを持つ支持軸４ｃと、その支持軸４ｃの下端部にネジで締着されるとともに略倒立円錐状の先端部を持つ位置決めピン４ｄと、その位置決めピン４ｄが貫通する中央穴を有して支持軸４ｃの下端部とその位置決めピン４ｄとの間にカラーを介して挟持された環状の永久磁石４ｅと、支持軸４ｃの周囲に配置されて永久磁石４ｅと支持筒４ｂの下端部との間に介挿された圧縮スプリング４ｆとを有しており、図３に示すように、位置決めピン４ｄの先端部の最大外径部分は、ワーク５の貫通孔５ａと密に摺動可能に嵌まり合うように、ワーク５の貫通孔５ａの内径に略等しい外径とされている。   In step S3, the holding jig 4 is detachably attached to the tip of the arm 1 via the tool changer 3. The holding jig 4 has a base 4 fixed to the tool changer 3 and extends in a plane parallel to the arm 1, and is provided at the tip of the bracket 4a so as to extend perpendicular to the bracket 4a. The support cylinder 4b, a support shaft 4c fitted into the support cylinder 4b via a bush so as to be movable up and down, and having a retaining flange at the upper end, and a screw at the lower end of the support shaft 4c. And a positioning pin 4d having a substantially inverted conical tip and a center hole through which the positioning pin 4d passes, and a collar is provided between the lower end of the support shaft 4c and the positioning pin 4d. An annular permanent magnet 4e sandwiched between them, and a compression spring 4f disposed around the support shaft 4c and interposed between the permanent magnet 4e and the lower end of the support cylinder 4b. Shown in 3 In other words, the maximum outer diameter portion of the distal end portion of the positioning pin 4d has an outer diameter substantially equal to the inner diameter of the through hole 5a of the workpiece 5 so as to be closely slidably fitted to the through hole 5a of the workpiece 5. Yes.

続くステップＳ４では、ワーク５をその基準部としての貫通孔５ａの軸線周りに回動可能に保持治具４で保持する。すなわち、乱積みされた複数枚のワーク５のうち任意の一枚目のワーク５の貫通孔５ａの上方で位置決めピン４ｄが貫通孔５ａに整列して支持軸４ｃが上下方向に延在するように腕１を作動させて保持治具４を移動させ、次いで保持治具４を下降させて位置決めピン４ｄをワーク５の貫通孔５ａ内に嵌入させるとともに永久磁石４ｅでそのワーク５の貫通孔５ａの周辺部を吸着し、図４に示すように、ワーク５を保持治具４で、支持軸４ｃの軸線と一致する貫通孔５ａの軸線周りに回動可能に保持する。   In subsequent step S4, the work 5 is held by the holding jig 4 so as to be rotatable around the axis of the through hole 5a serving as the reference portion. That is, the positioning pin 4d is aligned with the through hole 5a above the through hole 5a of the arbitrary first work 5 among the plurality of stacked works 5, and the support shaft 4c extends in the vertical direction. The arm 1 is actuated to move the holding jig 4, and then the holding jig 4 is lowered to insert the positioning pin 4 d into the through hole 5 a of the work 5, and the permanent magnet 4 e uses the through hole 5 a of the work 5. As shown in FIG. 4, the work 5 is held by the holding jig 4 so as to be rotatable around the axis of the through hole 5a that coincides with the axis of the support shaft 4c.

続くステップＳ５では、腕１を作動させて保持治具４をワーク５とともに持ち上げて、図５（ａ）〜（ｄ）に示すように、所定の経路に沿って水平面内で移動させ、その間に、先ずワーク５の姿勢を所定の向きに位置決めする。すなわち、先ず図５（ａ）に示すように、乱積みされた複数枚のワーク５のうち任意の一枚目のワーク５を保持治具４で保持してから保持治具４を上昇させて、そのワーク５を円柱状の当接治具６の先端よりも低い所定高さに待ち上げる。   In the subsequent step S5, the arm 1 is operated to lift the holding jig 4 together with the work 5, and as shown in FIGS. 5 (a) to 5 (d), it is moved along a predetermined path in the horizontal plane. First, the posture of the workpiece 5 is positioned in a predetermined direction. That is, first, as shown in FIG. 5A, the holding jig 4 is lifted after holding the arbitrary first work 5 among the plurality of stacked works 5 by the holding jig 4. Then, the workpiece 5 is awaited to a predetermined height lower than the tip of the columnar contact jig 6.

次いで図５（ｂ）に太矢印で示すように、保持治具４を水平移動させてワーク５の所定の辺（図示例では両端が丸められていない辺）を当接治具６に向かわせ、図５（ｃ）に示すように、ワーク５のその辺を当接治具６に当接させながら保持治具４を当接治具６に対し所定位置（図示例ではワーク５の両端が丸められていない辺が左右方向へ延在する位置）まで水平移動させてワーク５を貫通孔５ａの軸線周りに回動させる。   Next, as shown by a thick arrow in FIG. 5B, the holding jig 4 is moved horizontally so that a predetermined side of the work 5 (side where both ends are not rounded in the illustrated example) is directed to the contact jig 6. As shown in FIG. 5C, the holding jig 4 is brought into contact with the contact jig 6 while the side of the work 5 is in contact with the contact jig 6 (in the illustrated example, both ends of the work 5 are The workpiece 5 is rotated around the axis of the through-hole 5a by horizontally moving the unrounded side to the position where the side extends in the left-right direction).

なお、この当接治具６に対する保持治具４の所定位置は、ワーク５の両端が丸められていない辺に対する貫通孔５ａの位置関係と、当接治具６の位置および外径が判明しているので、それらからあらかじめ幾何学的に求めて上記移動経路とともに上記双腕ロボットに教示しておく。   The predetermined position of the holding jig 4 with respect to the abutting jig 6 is determined by the positional relationship of the through hole 5a with respect to the side where both ends of the workpiece 5 are not rounded, and the position and outer diameter of the abutting jig 6. Therefore, they are geometrically obtained from them in advance and taught to the double-arm robot together with the movement path.

これにより、ワーク５は所定の姿勢（図示例ではワーク５の両端が丸められていない辺が左右方向へ延在する姿勢）に位置決めされ、この状態で次に図５（ｄ）に示すように、保持治具４を水平移動させて、ワーク５をその二つの貫通孔５ａ，５ｂが他のワーク７の二つのネジ孔とそれぞれ上下方向に整列する位置まで移動させ、最後に保持治具４を下降させて、図１に示すようにワーク５をその二つの貫通孔５ａ，５ｂが他のワーク７の二つのネジ孔とそれぞれ上下方向に整列する位置および姿勢でワーク７上に押し付ける。   As a result, the workpiece 5 is positioned in a predetermined posture (in the illustrated example, the posture in which both ends of the workpiece 5 are not rounded extends in the left-right direction), and in this state, as shown in FIG. The holding jig 4 is moved horizontally to move the workpiece 5 to a position where the two through holes 5a and 5b are aligned with the two screw holes of the other workpiece 7, respectively, and finally the holding jig 4 is moved. As shown in FIG. 1, the workpiece 5 is pressed onto the workpiece 7 at a position and posture in which the two through holes 5a and 5b are aligned with the two screw holes of the other workpiece 7, respectively.

このとき、保持治具４を下降させると、支持筒４ｂ内で支持軸４ｃが圧縮スプリング４ｆを圧縮しながら上昇するので、圧縮スプリング４ｆの反発力でワーク５をワーク７上に押し付けて位置決めすることができる。そしてこの位置決め状態で、この実施例のワーク装着方法では、電動ドライバ８によりネジ９を保持して回転させながら他方の腕２で電動ドライバ８を下降させて、上記所定の位置および姿勢に保持したワーク５を他のワーク７にネジ締め固定する。その後は、図２のステップＳ１に戻って、ステップＳ３をスキップし、同様の装着作業をワーク５がなくなるまで繰返す。   At this time, when the holding jig 4 is lowered, the support shaft 4c rises while compressing the compression spring 4f in the support cylinder 4b, so that the workpiece 5 is pressed onto the workpiece 7 and positioned by the repulsive force of the compression spring 4f. be able to. In this positioning state, in the work mounting method of this embodiment, the electric driver 8 is lowered by the other arm 2 while being held and rotated by the electric driver 8 and held at the predetermined position and posture. The workpiece 5 is fixed to the other workpiece 7 with screws. Thereafter, the process returns to step S1 in FIG. 2, step S3 is skipped, and the same mounting operation is repeated until the work 5 is exhausted.

従って、この実施例の多関節型ロボットによるワーク位置決め方法によれば、ランダムな位置および姿勢で置かれたワークの位置および姿勢を、厳密に計測しなくても、簡易な治具およびロボットの簡単な動作で効率的に制御して、ワークを所定の位置および姿勢に位置決めすることができる。   Therefore, according to the workpiece positioning method using the articulated robot of this embodiment, a simple jig and robot can be easily used without strictly measuring the position and posture of a workpiece placed at a random position and posture. The workpiece can be positioned at a predetermined position and posture by efficiently controlling with a simple operation.

そしてこの実施例の多関節型ロボットによるワーク装着方法によれば、双腕ロボットが一方の腕１のハンドとしての保持治具４でワーク５を上記実施例のワーク位置決め方法により位置決めしつつ、他方の腕２のハンドとしての電動ドライバ８でワーク５を他のワーク７に装着固定することから、双腕ロボットに、ランダムな位置および姿勢で置かれたワーク５の、他のワーク７への装着作業を確実に行わせることができる。   According to the work mounting method using the articulated robot of this embodiment, the double-arm robot positions the work 5 with the holding jig 4 as the hand of one arm 1 by the work positioning method of the above-described embodiment, Since the work 5 is attached and fixed to the other work 7 by the electric driver 8 as the hand of the arm 2, the work 5 placed at a random position and posture on the double-arm robot is attached to the other work 7. Work can be performed reliably.

図６は、この発明の多関節型ロボットによるワーク位置決め方法の他の一実施例を用いたこの発明の多関節型ロボットによるワーク装着方法の他の一実施例を示す断面図であり、この実施例のワーク位置決め方法およびワーク装着方法は、保持治具４が永久磁石４ｅの代りに吸着パッド４ｊを有している点のみ異なっていて、他の点は先の実施例と同様であるので、ここでは主にその異なる点を説明する。   FIG. 6 is a cross-sectional view showing another embodiment of the work mounting method using the articulated robot of the present invention using another embodiment of the work positioning method using the articulated robot of the present invention. The workpiece positioning method and workpiece mounting method of the example are different only in that the holding jig 4 has a suction pad 4j instead of the permanent magnet 4e, and the other points are the same as the previous embodiment. Here, the different points will be mainly described.

すなわち、この実施例のワーク位置決め方法およびワーク装着方法における保持治具４は、ツールチェンジャ３に基部を固定されて腕１と平行な平面内で延在するブラケット４ａと、そのブラケット４ａの先端部にブラケット４ａと直交して延在するように設けられたシリンダ４ｇと、そのシリンダ４ｇ内に腕１からツールチェンジャ３を介して負圧エアを供給する配管４ｈと、シリンダ４ｇ内にＯリングを介して気密に昇降自在かつ回動自在に嵌め合わされて掛合ネジ４ｉで抜け止めされた支持軸４ｃと、その支持軸４ｃの下端部にネジで締着されるとともに略倒立円錐状の先端部を持つ位置決めピン４ｄと、その位置決めピン４ｄを囲むように支持軸４ｃの下端部に気密に嵌着された吸着パッド４ｊと、位置決めピン４ｄの先端部の後ろ側に設けられた、その先端部より大きい外径の環状ガスケット４ｋと、支持軸４ｃとシリンダ４ｇとの間に介挿された圧縮スプリング４ｆとを有している。   That is, the holding jig 4 in the workpiece positioning method and the workpiece mounting method of this embodiment includes a bracket 4a having a base fixed to the tool changer 3 and extending in a plane parallel to the arm 1, and a tip portion of the bracket 4a. A cylinder 4g provided so as to extend perpendicular to the bracket 4a, a pipe 4h for supplying negative pressure air from the arm 1 to the cylinder 4g via the tool changer 3, and an O-ring in the cylinder 4g. And a support shaft 4c fitted in an airtight manner so as to be able to move up and down and turnably and prevented from being removed by a latching screw 4i, and a substantially inverted conical tip end portion fastened with a screw to the lower end portion of the support shaft 4c. The positioning pin 4d, the suction pad 4j that is airtightly fitted to the lower end of the support shaft 4c so as to surround the positioning pin 4d, and the rear end of the positioning pin 4d. Provided, it has an annular gasket 4k larger outer diameter the distal end, and a compression spring 4f interposed between the support shaft 4c and the cylinder 4g.

ここで、位置決めピン４ｄの先端部の最大外径部分は、ワーク５の貫通孔５ａと密に摺動可能に嵌まり合うように、ワーク５の貫通孔５ａの内径に略等しい外径とされている。また、支持軸４ｃ内にはシリンダ４ｇ内と吸着パッド４ｊ内とを連通させて吸着パッド４ｊの内側に負圧エアを導くエア通路が形成されている。   Here, the maximum outer diameter portion of the distal end portion of the positioning pin 4d has an outer diameter substantially equal to the inner diameter of the through hole 5a of the work 5 so as to be closely slidably fitted to the through hole 5a of the work 5. ing. In addition, an air passage is formed in the support shaft 4c for communicating negative pressure air inside the suction pad 4j by communicating the inside of the cylinder 4g and the suction pad 4j.

この保持治具４によれば、ワーク５の基準部としての貫通孔５ａ内に位置決めピン４ｄの先端部の最大外径部分を密にはめ合わせて貫通孔５ａと支持軸４ｃとの軸線を一致させた状態で、環状ガスケット４ｋで貫通孔５ａからのエア漏れを防止しつつ吸着パッド４ｊの内側の負圧エアによりワーク５の貫通孔５ａの周囲の部分を吸着して、シリンダ４ｇに対する支持軸４ｃの回動により貫通孔５ａの軸線周りに回動可能にワーク５を保持することができ、その保持治具４を下降させると、シリンダ４ｇ内で支持軸４ｃが圧縮スプリング４ｆを圧縮しながら上昇するので、圧縮スプリング４ｆの反発力でワーク５をワーク７上に押し付けて位置決めすることができる。   According to the holding jig 4, the maximum outer diameter portion of the tip end portion of the positioning pin 4d is closely fitted in the through hole 5a as the reference portion of the work 5, and the axes of the through hole 5a and the support shaft 4c are aligned. In this state, while the annular gasket 4k prevents air leakage from the through hole 5a, the portion around the through hole 5a of the work 5 is adsorbed by the negative pressure air inside the suction pad 4j, thereby supporting the cylinder 4g. By rotating 4c, the workpiece 5 can be held so as to be rotatable about the axis of the through hole 5a. When the holding jig 4 is lowered, the support shaft 4c compresses the compression spring 4f in the cylinder 4g. Since it raises, the workpiece | work 5 can be pressed and positioned on the workpiece | work 7 with the repulsive force of the compression spring 4f.

従って、この実施例のワーク位置決め方法およびワーク装着方法によっても先の実施例のワーク位置決め方法およびワーク装着方法と同様の作用効果をもたらすことができ、さらにこの実施例のワーク位置決め方法およびワーク装着方法によれば、ワーク５が永久磁石４ｅで吸着されない例えばプラスチック板等であっても保持治具４で保持して位置決め装着することができる。   Therefore, the workpiece positioning method and workpiece mounting method of this embodiment can provide the same effects as the workpiece positioning method and workpiece mounting method of the previous embodiment, and further the workpiece positioning method and workpiece mounting method of this embodiment. According to the above, even if the work 5 is, for example, a plastic plate that is not attracted by the permanent magnet 4e, the work 5 can be positioned and mounted by being held by the holding jig 4.

図７は、この発明の多関節型ロボットによるワーク位置決め方法のさらに他の一実施例を用いたこの発明の多関節型ロボットによるワーク装着方法のさらに他の一実施例を示す断面図であり、この実施例のワーク位置決め方法およびワーク装着方法は、保持治具４が永久磁石４ｅや吸着パッド４ｊの代りに拡径型コレットチャック４ｌを有している点のみ異なっていて、他の点は先の実施例と同様であるので、ここでは主にその異なる点を説明する。   FIG. 7 is a cross-sectional view showing still another embodiment of a work mounting method using an articulated robot according to the present invention using still another embodiment of a work positioning method using an articulated robot according to the present invention. The workpiece positioning method and workpiece mounting method of this embodiment are different only in that the holding jig 4 has an enlarged collet chuck 4l instead of the permanent magnet 4e and the suction pad 4j. Since this embodiment is the same as that of the embodiment, the differences will be mainly described here.

すなわち、この実施例のワーク位置決め方法およびワーク装着方法における保持治具４は、ツールチェンジャ３に基部を固定されて腕１と平行な平面内で延在するブラケット４ａと、そのブラケット４ａの先端部にブラケット４ａと直交して延在するように設けられたシリンダ４ｇと、そのシリンダ４ｇの下端に下向きに装着された通常の拡径型コレットチャック４ｌと、シリンダ４ｇ内に気密に昇降可能に配置されて、その拡径型コレットチャック４ｌの先端部を拡縮径させる作動ロッド４ｍに連結され、その作動ロッド４ｍを昇降移動させるピストン４ｎとを有している。   That is, the holding jig 4 in the workpiece positioning method and the workpiece mounting method of this embodiment includes a bracket 4a having a base fixed to the tool changer 3 and extending in a plane parallel to the arm 1, and a tip portion of the bracket 4a. The cylinder 4g is provided so as to extend orthogonally to the bracket 4a, the normal diameter collet chuck 4l mounted downward on the lower end of the cylinder 4g, and the cylinder 4g can be moved up and down in an airtight manner. The piston 4n is connected to an operating rod 4m that expands and contracts the tip of the expanded collet chuck 4l and moves the operating rod 4m up and down.

ここで、拡径型コレットチャック４ｌの先端部は、縮径時にはワーク５の貫通孔５ａ内に遊挿可能な外径となる一方、拡径時には貫通孔５ａ内に密に嵌まり合う外径となる。   Here, the distal end portion of the expanded collet chuck 4l has an outer diameter that can be loosely inserted into the through hole 5a of the workpiece 5 when the diameter is reduced, while the outer diameter fits tightly within the through hole 5a when the diameter is increased. It becomes.

従って、この実施例のワーク位置決め方法およびワーク装着方法によっても先の実施例のワーク位置決め方法およびワーク装着方法と同様の作用効果をもたらすことができ、さらにこの実施例のワーク位置決め方法およびワーク装着方法によっても、ワーク５が永久磁石４ｅで吸着されない例えばプラスチック板等であっても保持治具４で保持して位置決め装着することができ、しかも貫通孔５ａの内径に多少ばらつきがあっても拡径型コレットチャック４ｌの先端部を挿入してワーク５を確実に保持することができる。   Therefore, the workpiece positioning method and workpiece mounting method of this embodiment can provide the same effects as the workpiece positioning method and workpiece mounting method of the previous embodiment, and further the workpiece positioning method and workpiece mounting method of this embodiment. Even if the work 5 is not attracted by the permanent magnet 4e, for example, a plastic plate or the like, it can be positioned and mounted by being held by the holding jig 4, and the diameter of the through hole 5a is increased even if there is some variation. The workpiece 5 can be securely held by inserting the tip of the mold collet chuck 4l.

以上、図示例に基づき説明したが、この発明は上述の例に限定されるものでなく、特許請求の範囲の記載範囲内で適宜変更し得るものであり、例えば、上記実施例のワーク位置決め方法では多関節型ロボットは双腕ロボットとしたが、多関節型ロボットは単腕のものでも良く、その場合にワークは別の多関節型ロボットあるいは専用機が移動させる工具で他のワークの所定位置に装着しても良い。   Although the present invention has been described based on the illustrated examples, the present invention is not limited to the above-described examples, and can be appropriately changed within the scope of the claims. For example, the work positioning method of the above-described embodiments In this case, the multi-joint robot is a double-arm robot, but the multi-joint robot may be a single-arm robot. In this case, the workpiece is moved to a specific position of another workpiece by a tool that is moved by another multi-joint robot or a dedicated machine. It may be attached to.

また、上記実施例のワーク位置決め方法およびワーク装着方法では他方の腕のハンドとしての工具に電動ドライバを用いたが、エアドライバ、溶接ガン、接着剤吐出器具等を用いても良い。そして上記実施例のワーク位置決め方法およびワーク装着方法ではワークを板状のものとしたが、ブロック状のものでも良く、また基準部も丸孔としたが、ワークに突出する位置決めピンのような突部としても良く、その場合には保持治具４が縮径型のコレットチャックを用いてワークを保持しても良い。   In the workpiece positioning method and workpiece mounting method of the above embodiment, the electric driver is used as the tool as the hand of the other arm. However, an air driver, a welding gun, an adhesive discharge device, or the like may be used. In the workpiece positioning method and workpiece mounting method of the above embodiment, the workpiece is a plate, but it may be a block and the reference portion is a round hole. In this case, the holding jig 4 may hold the workpiece using a reduced diameter collet chuck.

かくしてこの発明の多関節型ロボットによるワーク位置決め方法によれば、ランダムな位置および姿勢で置かれたワークの位置および姿勢を、厳密に計測しなくても、簡易な治具およびロボットの簡単な動作で効率的に制御して、ワークを所定の位置および姿勢に位置決めすることができる。   Thus, according to the workpiece positioning method by the articulated robot of the present invention, a simple jig and a simple operation of the robot can be performed without strictly measuring the position and posture of the workpiece placed at random positions and postures. Thus, the workpiece can be positioned at a predetermined position and posture with efficient control.

そしてこの発明の多関節型ロボットによるワーク装着方法によれば、双腕ロボットに、ランダムな位置および姿勢で置かれたワークの、他のワークへの装着作業を確実に行わせることができる。   According to the work mounting method using an articulated robot according to the present invention, it is possible to cause a double-arm robot to reliably perform a work of mounting a work placed at a random position and posture on another work.

１，２ 腕
３ ツールチェンジャ
４ 保持治具
４ａ ブラケット
４ｂ 支持筒
４ｃ 支持軸
４ｄ 位置決めピン
４ｅ 永久磁石
４ｆ 圧縮スプリング
４ｇ シリンダ
４ｈ 配管
４ｉ 掛合ネジ
４ｊ 吸着パッド
４ｋ 環状ガスケット
４ｌ 拡径型コレットチャック
４ｍ 作動ロッド
４ｎ ピストン
５，７ ワーク
５ａ，５ｂ 貫通孔
６ 当接治具
８ 電動ドライバ
９ ネジ
Ｔ 作業テーブル 1, 2 Arms 3 Tool changer
4 Holding jig 4a Bracket 4b Support cylinder 4c Support shaft 4d Positioning pin 4e Permanent magnet 4f Compression spring 4g Cylinder 4h Piping 4i Engagement screw 4j Adsorption pad 4k Annular gasket 4l Expanded collet chuck 4m Actuating rod 4n Piston 5, 7 Work 5a , 5b Through-hole 6 Contact jig 8 Electric screwdriver 9 Screw T Work table

Claims (4)

ランダムな位置および姿勢に配置されたワークを多関節型ロボットのハンドによって取り上げて所定の位置および姿勢に位置決めするに際し、
あらかじめ、前記ワークの所定部位を基準部に設定し、また、前記ハンドとして前記基準部の軸線周りに回動可能に前記ワークを保持する保持治具を設け、さらに、前記ロボットに対する所定位置に所定寸法形状の当接治具を設けておき、
先ず、前記保持治具で前記基準部の軸線周りに回動可能に前記ワークを保持し、
次いで、前記ワークを前記当接治具に当接させながら前記保持治具を移動させて前記ワークを前記基準部の軸線周りに所定の姿勢になるまで回動させ、
次いで、前記保持治具を移動させて前記ワークを所定の位置に配置することを特徴とする、多関節型ロボットによるワーク位置決め方法。 When picking up a workpiece placed at a random position and posture with the hand of an articulated robot and positioning it at a predetermined position and posture,
A predetermined part of the workpiece is set as a reference portion in advance, a holding jig is provided as the hand to hold the workpiece so as to be rotatable around the axis of the reference portion, and is further set at a predetermined position with respect to the robot. A dimension-shaped contact jig is provided,
First, the work is held by the holding jig so as to be rotatable around the axis of the reference portion,
Next, the holding jig is moved while the work is brought into contact with the contact jig, and the work is rotated around the axis of the reference portion until a predetermined posture is obtained.
Next, the work positioning method using an articulated robot, wherein the holding jig is moved to place the work at a predetermined position. 前記基準部は、前記ワークの所定部位に形成された丸孔であることを特徴とする、請求項１記載の多関節型ロボットによるワーク位置決め方法。   The work positioning method using an articulated robot according to claim 1, wherein the reference portion is a round hole formed in a predetermined part of the work. 前記保持治具は、位置決め部材を前記ワークの基準部に嵌合させた状態で前記ワークを保持するものであることを特徴とする、請求項１または２記載の多関節型ロボットによるワーク位置決め方法。   3. The work positioning method using an articulated robot according to claim 1, wherein the holding jig holds the work in a state where a positioning member is fitted to a reference portion of the work. . 前記多関節型ロボットは双腕ロボットであり、
前記双腕ロボットは一方の腕のハンドとしての前記保持治具で前記ワークを請求項１から３までの何れか１項記載のワーク位置決め方法により位置決めしつつ、他方の腕のハンドとしての工具で前記ワークを他のワークに装着固定することを特徴とする、多関節型ロボットによるワーク装着方法。 The articulated robot is a double-arm robot;
The double-arm robot uses the holding jig as a hand of one arm to position the work by the work positioning method according to any one of claims 1 to 3, while using a tool as a hand of the other arm. A work mounting method using an articulated robot, wherein the work is mounted and fixed to another work.
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