JPH04360780A - Industrial robot device - Google Patents
Industrial robot deviceInfo
- Publication number
- JPH04360780A JPH04360780A JP2414902A JP41490290A JPH04360780A JP H04360780 A JPH04360780 A JP H04360780A JP 2414902 A JP2414902 A JP 2414902A JP 41490290 A JP41490290 A JP 41490290A JP H04360780 A JPH04360780 A JP H04360780A
- Authority
- JP
- Japan
- Prior art keywords
- workpiece
- defective
- robot
- servo hand
- servo
- 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.)
- Pending
Links
- 238000005259 measurement Methods 0.000 claims description 3
- 230000002950 deficient Effects 0.000 abstract description 24
- 210000000078 claw Anatomy 0.000 abstract description 9
- 238000012545 processing Methods 0.000 description 13
- 238000007689 inspection Methods 0.000 description 11
- 238000001514 detection method Methods 0.000 description 5
- 230000000694 effects Effects 0.000 description 3
- 230000032258 transport Effects 0.000 description 3
- 238000003754 machining Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000011144 upstream manufacturing Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000011017 operating method Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/39—Robotics, robotics to robotics hand
- G05B2219/39487—Parallel jaws, two fingered hand
Landscapes
- Feeding Of Workpieces (AREA)
- Manipulator (AREA)
Abstract
Description
【０００１】0001
【産業上の利用分野】本発明は、ワークのハンドリング
と搬送を営む産業用ロボット装置の構造の改良に関する
ものである。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an improvement in the structure of an industrial robot device for handling and transporting workpieces.
【０００２】0002
【従来の技術】近年の機械加工ラインにおけるワーク入
れ替え作業は、人手によらず、安全且つ迅速に作業を行
う産業用ロボットによって行われている。2. Description of the Related Art In recent years, workpiece replacement work on machining lines has been performed by industrial robots that perform the work safely and quickly, without manual intervention.
【０００３】図４は従来の産業用ロボット装置を示すも
ので、ロボット１は動作可能なアームの先端部に、ワー
クを把持するエアー式のハンド２が装着され、その周囲
には、未加工の素材ワークを上流から供給するワーク供
給コンベア３と、素材ワークに加工を施す加工機４と、
加工された完成品ワークの良否を検査する加工ワーク検
査装置５と、不良品である加工ワークを下流に搬送する
不良品ワーク搬出コンベア６と、良品である加工ワーク
を下流に搬送する良品ワーク搬出コンベア７とが、それ
ぞれ隣接して配置されている。FIG. 4 shows a conventional industrial robot device, in which a robot 1 has an air-type hand 2 attached to the tip of a movable arm for gripping a workpiece, and surrounding it is an unprocessed workpiece. A work supply conveyor 3 that supplies the material work from upstream, a processing machine 4 that processes the material work,
A workpiece inspection device 5 that inspects the quality of processed finished workpieces, a defective workpiece unloading conveyor 6 that transports defective workpieces downstream, and a non-defective workpiece unloader that transports non-defective workpieces downstream. The conveyors 7 are arranged adjacent to each other.
【０００４】従って、上位制御部（図示せず）からの起
動信号に基づきロボット１は、ワーク供給コンベア３か
ら素材ワークを取り出して加工機４に投入後、加工の完
了した完成品ワークを加工機４から取り出し、加工ワー
ク検査装置５に投入する。そしてロボット１は加工ワー
ク検査装置５の検査の結果、不良品と判断された不良品
ワークを加工ワーク検査装置５から不良品ワーク搬出コ
ンベア６に搬送し、良品と判断された良品ワークを加工
ワーク検査装置５から良品ワーク搬出コンベア７に搬送
する。尚、この種の先行技術文献として特開昭６３−９
９１９０号公報等がある。[0004] Accordingly, based on a start signal from a host control unit (not shown), the robot 1 takes out a raw workpiece from the workpiece supply conveyor 3 and inputs it into the processing machine 4, and then transfers the finished product workpiece that has been processed to the processing machine. 4 and put it into the processing workpiece inspection device 5. Then, the robot 1 transports the defective workpieces determined to be defective as a result of the inspection by the processing workpiece inspection device 5 from the processing workpiece inspection device 5 to the defective workpiece delivery conveyor 6, and transfers the non-defective workpieces determined to be non-defective to the processing workpieces. The non-defective workpieces are transported from the inspection device 5 to the conveyor 7. Furthermore, as a prior art document of this kind, Japanese Patent Application Laid-Open No. 63-9
There are publications such as No. 9190.
【０００５】[0005]
【発明が解決しようとする課題】従来の産業用ロボット
装置は以上のように構成され、完成品ワークを検査する
ための加工ワーク検査装置５が必要となるので、設備費
が高価なものとなり、又加工ワーク検査装置５へのワー
ク投入／ワーク取り出しの動作に時間を要して生産効率
を低下させてしまうという問題点があった。[Problems to be Solved by the Invention] The conventional industrial robot device is constructed as described above, and requires a processed workpiece inspection device 5 for inspecting the finished workpiece, resulting in high equipment costs. Furthermore, there is a problem in that it takes time to input and take out the workpieces to and from the workpiece inspection device 5, which reduces production efficiency.
【０００６】本発明は上記に鑑みなされたもので、設備
費の低減と作業効率の向上を図ることのできる産業用ロ
ボット装置を提供することを目的としている。The present invention has been made in view of the above, and an object of the present invention is to provide an industrial robot device that can reduce equipment costs and improve work efficiency.
【０００７】[0007]
【課題を解決するための手段】本発明においては上述の
目的を達成するため、ワークをハンドリングするロボッ
トと、このロボットのアーム先端部に装着され制御装置
の制御に基づき該ワークを把持する開閉可能なサーボハ
ンドと、このサーボハンドに取着され当該サーボハンド
のワーク把持を検出する検出器と、この検出器の検出時
にサーボハンドの位置を読み取り、ワークの寸法を計測
する計測制御装置とから産業用ロボット装置を構成した
ことを特徴としている。[Means for Solving the Problems] In order to achieve the above-mentioned object, the present invention includes a robot that handles a workpiece, and an openable/closeable robot that is attached to the tip of an arm of this robot and that grips the workpiece under the control of a control device. An industrial servo hand, a detector attached to the servo hand that detects whether the servo hand is gripping a workpiece, and a measurement control device that reads the position of the servo hand and measures the dimensions of the workpiece when the detector detects the servo hand. It is characterized by being configured as a robot device for use in robots.
【０００８】[0008]
【作用】本発明によれば、加工機からロボットがワーク
を取り出す時にワークの外径寸法の検査を同時に行うの
で、加工ワーク検査装置が不要となり、安価で作業効率
の良い産業用ロボット装置を得ることができる。[Operation] According to the present invention, when the robot takes out the workpiece from the processing machine, the outer diameter dimension of the workpiece is inspected at the same time, so a machined workpiece inspection device is not required, and an industrial robot device that is inexpensive and has high work efficiency is obtained. be able to.
【０００９】[0009]
【実施例】以下、図１〜図３に示す一実施例に基づき本
発明を詳述すると、ロボット１は動作可能なアームの先
端部にワークを把持するサーボハンド８が装着され、そ
の周囲には、未加工の素材ワークを上流から供給するワ
ーク供給コンベア３と、素材ワークに加工を施す加工機
４と、不良品である加工ワークを下流に搬送する不良品
ワーク搬出コンベア６と、良品である加工ワークを下流
に搬送する良品ワーク搬出コンベア７とが、それぞれ隣
接して配置されている。[Embodiment] The present invention will be described in detail below based on an embodiment shown in Figs. A workpiece supply conveyor 3 that supplies unprocessed material workpieces from upstream, a processing machine 4 that processes the material workpieces, a defective workpiece carry-out conveyor 6 that conveys defective processed workpieces downstream, and a conveyor 6 that conveys defective processed workpieces downstream. Good workpiece delivery conveyors 7 for conveying certain processed workpieces downstream are arranged adjacent to each other.
【００１０】上記サーボハンド８は、本体８０に相対向
して支持されワークを挾持する開閉可能な一対の爪８１
・８１Ａ と、本体８０の内部に配設されたサーボモー
タ８２と、このサーボモータ８２の出力軸に嵌着された
ピニオン８３と、該一対の爪８１・８１Ａ の対向部に
それぞれ設けられピニオン８３と噛合するラック８４と
、本体８０に設けられ移動する爪８１・８１Ａ を案内
する一対の直線ガイド８５と、爪８１の側部に設けられ
一対の爪８１・８１Ａ がワークを把持したことを当接
に基づき検出するリミットスイッチからなるワーク検出
センサ８６とを備えて構成されている。The servo hand 8 has a pair of claws 81 that are supported oppositely to the main body 80 and can be opened and closed to grip a workpiece.
81A, a servo motor 82 disposed inside the main body 80, a pinion 83 fitted to the output shaft of the servo motor 82, and a pinion 83 provided at the opposing portion of the pair of claws 81 and 81A, respectively. The rack 84 that engages with the main body 80, the pair of linear guides 85 that guide the moving claws 81 and 81A, and the pair of claws 81 and 81A that are provided on the sides of the claws 81 grasp the workpiece. The workpiece detection sensor 86 is comprised of a limit switch that detects based on contact.
【００１１】従って、上位制御部からの起動信号に基づ
き、ワーク供給コンベア３から加工機４に素材ワークを
投入したロボット１は図３に示す如く、加工機４の前方
に移動し（ステップ９０）、加工機４の加工完了の旨の
信号が上位制御部から出力されて来る迄待機した後（ス
テップ１００）、上位制御部から出力された加工ワーク
のデータを入力し（ステップ１１０）、加工機４のワー
ク取り出し位置迄移動する（ステップ９１）。移動が完
了すると、サーボハンド８のサーボモータ８２が駆動し
てピニオン８３を回転させ、ワーク検出センサ８６がＯ
Ｎする迄開展状態の一対の爪８１・８１Ａが直線ガイド
８５・８５に案内されつつ閉塞動作する（ステップ９２
） 。[0011] Accordingly, based on a start signal from the upper control unit, the robot 1, which has loaded the material work from the work supply conveyor 3 into the processing machine 4, moves to the front of the processing machine 4 as shown in Fig. 3 (step 90). , waits until a signal to the effect that machining of the processing machine 4 is completed is output from the upper control unit (step 100), inputs the data of the processed workpiece output from the upper control unit (step 110), and then 4 to the workpiece take-out position (step 91). When the movement is completed, the servo motor 82 of the servo hand 8 is driven to rotate the pinion 83, and the workpiece detection sensor 86 is activated.
The pair of claws 81 and 81A in the unfolded state performs a closing operation while being guided by the linear guides 85 and 85 (step 92).
).
【００１２】ワーク検出センサ８６がワークの把持を当
接に基づき検出する（ステップ１０１）と、サーボモー
タ８２が停止して一対の爪８１・８１Ａ の閉塞動作を
停止させ（ステップ９３）、上位制御部よりサーボハン
ド８の停止位置を入力し（ステップ１１１）、ワークの
外径寸法を算出する（ステップ９４）。そしてステップ
１１０ で入力したワークのデータとステップ９４で算
出したワークの外径寸法を比較して加工ワークの良品／
不良品の判別を行い（ステップ１０２）、良品ワークを
良品ワーク搬出コンベア７に搬送し（ステップ９５）、
不良品ワークを不良品ワーク搬出コンベア６に搬送する
（ステップ９６）。When the workpiece detection sensor 86 detects the gripping of the workpiece based on contact (step 101), the servo motor 82 stops to stop the closing operation of the pair of claws 81 and 81A (step 93), and the upper control The stop position of the servo hand 8 is input from the section (step 111), and the outer diameter of the workpiece is calculated (step 94). Then, the workpiece data input in step 110 and the outer diameter dimension of the workpiece calculated in step 94 are compared to determine whether the processed workpiece is good or not.
Defective products are determined (step 102), and non-defective workpieces are transported to the non-defective workpiece delivery conveyor 7 (step 95).
The defective workpiece is conveyed to the defective workpiece delivery conveyor 6 (step 96).
【００１３】以上のように本発明によれば、加工機４か
らロボット１がワークを取り出す時にワークの外径寸法
の検査を同時に行うため、加工ワーク検査装置５を確実
に不要ならしめることが可能となり、安価で、しかも作
業効率を著しく向上させることができる。As described above, according to the present invention, when the robot 1 takes out the workpiece from the processing machine 4, the outer diameter dimension of the workpiece is simultaneously inspected, so it is possible to reliably eliminate the need for the workpiece inspection device 5. This makes it possible to reduce the cost and significantly improve work efficiency.
【００１４】尚、上記実施例ではサーボモータ８２を備
えたサーボハンド８を使用したものを示したが、ステッ
ピングモータや油圧サーボアクチュエータ等を用いても
上記実施例と同様の作用効果を奏する。また、上記実施
例ではリミットスイッチからなるワーク検出センサ８６
を使用したものを示したが、非接触スイッチ等を使用し
ても良いのは言うまでもない。Although the above embodiment uses the servo hand 8 equipped with a servo motor 82, the same effects as in the above embodiment can be obtained even if a stepping motor, hydraulic servo actuator, or the like is used. Further, in the above embodiment, the workpiece detection sensor 86 is composed of a limit switch.
It goes without saying that a non-contact switch or the like may also be used.
【００１５】[0015]
【発明の効果】以上のように本発明によれば、ワークを
ハンドリングするロボットと、このロボットのアーム先
端部に装着され制御装置の制御に基づき該ワークを把持
する開閉可能なサーボハンドと、このサーボハンドに取
着され当該サーボハンドのワーク把持を検出する検出器
と、この検出器の検出時にサーボハンドの位置を読み取
り、ワークの寸法を計測する計測制御装置とを備え、加
工機からロボットがワークを取り出す時にワークの外径
寸法の検査を同時に行うので、加工ワーク検査装置を確
実に不要ならしめることが可能となり、安価で、しかも
作業効率を著しく向上させることができるという効果が
ある。As described above, according to the present invention, there is provided a robot that handles a workpiece, a servo hand that is attached to the tip of the arm of the robot and that can be opened and closed to grip the workpiece under the control of a control device, and It is equipped with a detector that is attached to a servo hand to detect whether the servo hand is gripping a workpiece, and a measurement control device that reads the position of the servo hand and measures the dimensions of the workpiece when the detector detects the workpiece. Since the outer diameter dimension of the workpiece is inspected at the same time when the workpiece is taken out, it is possible to reliably eliminate the need for a machined workpiece inspection device, which has the effect of being inexpensive and significantly improving work efficiency.
【図１】本発明に係る産業用ロボット装置の一実施例を
示す平面図である。FIG. 1 is a plan view showing an embodiment of an industrial robot device according to the present invention.
【図２】本発明に係る産業用ロボット装置のサーボハン
ドの詳細を示す平面図である。FIG. 2 is a plan view showing details of the servo hand of the industrial robot device according to the present invention.
【図３】本発明に係る産業用ロボット装置の動作手順を
示すフローチャート図である。FIG. 3 is a flowchart showing the operating procedure of the industrial robot device according to the present invention.
【図４】従来の産業用ロボット装置を示す平面図である
。FIG. 4 is a plan view showing a conventional industrial robot device.
１ ロボット ８ サーボハンド ８１・８１Ａ 爪 ８２ サーボモータ ８３ ピニオン ８４ ラック ８６ ワーク検出センサ 1 Robot 8 Servo hand 81/81A Claw 82 Servo motor 83 Pinion 84 Rack 86 Work detection sensor
Claims (1)
、このロボットのアーム先端部に装着され制御装置の制
御に基づき該ワークを把持する開閉可能なサーボハンド
と、このサーボハンドに取着され当該サーボハンドのワ
ーク把持を検出する検出器と、この検出器の検出時にサ
ーボハンドの位置を読み取り、ワークの寸法を計測する
計測制御装置とを備えたことを特徴とする産業用ロボッ
ト装置。Claim 1: A robot that handles a workpiece; a servo hand that is attached to the tip of an arm of the robot and that can be opened and closed to grip the workpiece under the control of a control device; An industrial robot device comprising: a detector that detects gripping of a workpiece; and a measurement control device that reads the position of a servo hand when detected by the detector and measures the dimensions of the workpiece.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2414902A JPH04360780A (en) | 1990-12-27 | 1990-12-27 | Industrial robot device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2414902A JPH04360780A (en) | 1990-12-27 | 1990-12-27 | Industrial robot device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPH04360780A true JPH04360780A (en) | 1992-12-14 |
Family
ID=18523332
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP2414902A Pending JPH04360780A (en) | 1990-12-27 | 1990-12-27 | Industrial robot device |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH04360780A (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1004409A2 (en) * | 1998-10-02 | 2000-05-31 | AMSTED Industries Incorporated | Parts transfer and control circuit system |
| JP2012240182A (en) * | 2011-05-24 | 2012-12-10 | Seiko Epson Corp | Robot hand, and robot |
| JP2015145026A (en) * | 2014-02-04 | 2015-08-13 | 新興機械工業株式会社 | Tool, spindle device, and spring manufacturing machine |
| JP2019058954A (en) * | 2017-09-22 | 2019-04-18 | 株式会社ケー・デー・イー | Work support unit and automatic work system |
| JP2020183316A (en) * | 2019-05-09 | 2020-11-12 | 株式会社メイキコウ | Article size detection device for conveyance system |
| JP2020183016A (en) * | 2019-05-09 | 2020-11-12 | 株式会社メイキコウ | Picking device |
-
1990
- 1990-12-27 JP JP2414902A patent/JPH04360780A/en active Pending
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1004409A2 (en) * | 1998-10-02 | 2000-05-31 | AMSTED Industries Incorporated | Parts transfer and control circuit system |
| EP1004409A3 (en) * | 1998-10-02 | 2001-01-03 | AMSTED Industries Incorporated | Parts transfer and control circuit system |
| JP2012240182A (en) * | 2011-05-24 | 2012-12-10 | Seiko Epson Corp | Robot hand, and robot |
| JP2015145026A (en) * | 2014-02-04 | 2015-08-13 | 新興機械工業株式会社 | Tool, spindle device, and spring manufacturing machine |
| JP2019058954A (en) * | 2017-09-22 | 2019-04-18 | 株式会社ケー・デー・イー | Work support unit and automatic work system |
| JP2020183316A (en) * | 2019-05-09 | 2020-11-12 | 株式会社メイキコウ | Article size detection device for conveyance system |
| JP2020183016A (en) * | 2019-05-09 | 2020-11-12 | 株式会社メイキコウ | Picking device |
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