JPS59102583A - Palletizing method in industrial robot - Google Patents
Palletizing method in industrial robotInfo
- Publication number
- JPS59102583A JPS59102583A JP21108182A JP21108182A JPS59102583A JP S59102583 A JPS59102583 A JP S59102583A JP 21108182 A JP21108182 A JP 21108182A JP 21108182 A JP21108182 A JP 21108182A JP S59102583 A JPS59102583 A JP S59102583A
- Authority
- JP
- Japan
- Prior art keywords
- workpiece
- gripping
- distance
- industrial robot
- palletizing method
- 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
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】
本発明は工業用ロボットにおけるパレタイジング方法に
係り、ワークの厚さにバラツキがあっても正確にワーク
上の把持点へ工業用ロボットの把持部を位置決めできる
パレタイジング方法に関する。DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a palletizing method for an industrial robot, and more particularly, to a palletizing method that can accurately position the gripping section of an industrial robot to a gripping point on a workpiece even if the thickness of the workpiece varies.
工業用ロボットは予め教示されたロボット指令データに
基いてハンドを移動させ工作機械へのワークの着脱作業
、工具交換作業、パレット上へのワークの積上げ作業、
パレット上のワークの積み降し作業(パレタイジング)
、その他の作業を実行する。か又るロボット動作のうち
、パレタイジング動作は、教示モードにおいて第1図に
示す如く複数のワーク積み上げ或いは積み降し位置P1
゜P2・・・・・・・・・・・・・・・P、?−Lと、
最初の列の最上段ワークWtと最下段ワークwbの把持
位置Pt1Pbを教示しておくことにより、再生時これ
ら位置データを用いて所望のワークの把持位置を自動的
に演算し、該ワークを所望位置に積み上げ或いはワーク
を所望位置から積み降す。Industrial robots move their hands based on robot command data taught in advance to load and unload workpieces onto machine tools, change tools, stack workpieces on pallets,
Loading and unloading workpieces on pallets (palletizing)
, perform other tasks. Among the robot operations, the palletizing operation is performed at multiple workpiece stacking or unloading positions P1 as shown in FIG. 1 in the teaching mode.
゜P2・・・・・・・・・・・・P,? -L and
By teaching the gripping positions Pt1Pb of the top workpiece Wt and the bottom workpiece wb in the first row, the gripping position of the desired workpiece is automatically calculated using these position data during playback, and the workpiece is moved to the desired position. Stack the workpieces at the desired position or unload them from the desired position.
そして、か又るパレタイジングによれば教示時間の短縮
とデータメモリの節約が図れる。尚、各列のm段目のワ
ーク把持位置Zmは次式により演算される。Further, by using the palletizing method, teaching time can be shortened and data memory can be saved. Note that the m-th workpiece gripping position Zm in each row is calculated by the following equation.
但し、第2図を参照するとZnは最上段のワークWtの
把持部M、Ztは最下段のワークwbの把持位置、Zm
は第m段目のワークWmの把持位置、nは撮大積み重ね
数である。However, referring to FIG. 2, Zn is the gripping part M of the uppermost workpiece Wt, Zt is the gripping position of the lowermost workpiece wb, and Zm
is the gripping position of the m-th workpiece Wm, and n is the number of stacked images.
ところで、か匁るパレタイジング動作によればワークの
厚さが均一の場合には正しくワーク上の把持位置へロボ
ットの、把持部を位置決めでき、理想的にワークを把持
することができるが、ワークの厚みに誤差があると正し
いワーク上の把持位置で該ワークを把持することができ
ない。By the way, according to the crawling palletizing operation, if the thickness of the workpiece is uniform, the gripping part of the robot can be correctly positioned to the gripping position on the workpiece, and the workpiece can be gripped ideally. If there is an error in the thickness, the workpiece cannot be gripped at the correct gripping position on the workpiece.
以上から、本発明はワークの厚さにバラツキがあっても
正確なワーク上の把持位置でワークを把持することがで
きるパレタイジング方法を提供することを目的とする。In light of the above, an object of the present invention is to provide a palletizing method that can grip a workpiece at an accurate gripping position on the workpiece even if the thickness of the workpiece varies.
以下、本発明を図面に従って詳述する。第3図は本発明
の概略説明図である。さて、本発明においてm段のワー
クWmを把持するには、まず各ワークの厚みが均一であ
るとしたときのm段目のワーク上面(第3図点線参照)
より一定距離ぷ。の位置ZmをZl 、 Zn、 n、
m、−ecを用いて演算し)該位置Zmに把持部(l
を位置決めする。しかる後把持部GRK設けた距離セン
サl)Sによりワ−りWmの上面迄の距離扇を測定する
。尚、距離センサとしては超音波を用いたものが知られ
ている。Hereinafter, the present invention will be explained in detail with reference to the drawings. FIG. 3 is a schematic explanatory diagram of the present invention. Now, in the present invention, in order to grip the m-stage workpiece Wm, first the upper surface of the m-th stage workpiece (see the dotted line in Figure 3) assuming that the thickness of each workpiece is uniform.
More constant distance. Let the position Zm be Zl , Zn, n,
m, -ec) is placed at the position Zm.
position. Thereafter, the distance fan to the upper surface of the workpiece Wm is measured by the distance sensor l)S provided on the gripping part GRK. Note that distance sensors using ultrasonic waves are known.
距離、13oが得られ匁ばワーク上面から把持位置t3
P迄の距離Gと20の和を演算し、(G+、、go
)に相当する量把持部GRを下方へ移動させれば、把持
部GRはワークWmの把持位置GPに正確に位置決めさ
れる。If a distance of 13o is obtained, the grasping position t3 is reached from the top of the workpiece.
Calculate the distance G to P and the sum of 20, (G+,,go
), the gripping portion GR is accurately positioned at the gripping position GP of the workpiece Wm.
第4図は本発明の実施例ブロック図である。ロボット制
御装置)t、CUは処理ユニッ)PR,Cと、制御プロ
グラムメモリROMと、ロボット指令データを記憶する
ロボット指令プログラムメモリMEMと、最上段のワー
ク把持位置座標Zn、最下段のワヘク把持位置座標Z1
+最大段en1現在の積み重ね段数m1前記一定距離−
gcなどを記憶するデータメモリDMMを有している。FIG. 4 is a block diagram of an embodiment of the present invention. Robot controller) t, CU are processing units) PR, C, control program memory ROM, robot command program memory MEM for storing robot command data, top workpiece gripping position coordinates Zn, bottom workpiece gripping position Coordinate Z1
+Maximum stage en1 Current number of stacked stages m1 Above fixed distance -
It has a data memory DMM that stores gc, etc.
一方、現在のワークの積み重ね段数mを演算する積み重
ね段数演算部WSUは、最大段数nが設定されるレジス
タRG1と、初期時該最大段数nがセットされ、1つの
ワークが把持部GRにより持ち去られたときその内容を
カウントダウンするレジスタRG2と、ワーク把持のS
コード(ロボット指令データ)により、処理ユニットP
RCからSコード信号SR8が発生してから把持作業が
完了する所定時間後に“1”を出力する遅延回路DLC
と、遅延回路から“1”が出力される毎にレジスタRG
2の内容をカウントダウンし、その結果をレジスタRG
2にセットする演算回路COMと、更に該演算結果を現
積み重ね段数mとして出力すると共に、m=0のときレ
ジスタRG1にセットされている最大段数n乞しジスタ
RG2にプリセットする零判定回路ZDCとを有してい
る。サーボ回路SVCは、処理ユニットPRCから出力
されるZ軸方向の移動指令値ΔZに基いてパルス分配演
算を実行するパルス分配器PI)Cと、分配パルスPi
O数とモータMTが所定量回転する毎にパルスジェネレ
ータPQから発生するパルスPfの数の差ERを演算し
て記憶する誤差回路HRCと、誤差flをDA変換する
DAi換器DACと、速度制御回路S P Cとを有し
ている。On the other hand, the stacking stage number calculation unit WSU that calculates the current stacking stage number m of the workpieces has a register RG1 in which the maximum number of stages n is set, and a register RG1 in which the maximum number of stages n is set, and one workpiece is removed by the gripping unit GR. register RG2 that counts down the contents when the
By code (robot command data), processing unit P
A delay circuit DLC that outputs “1” after a predetermined time after the S code signal SR8 is generated from RC and the gripping operation is completed.
And every time "1" is output from the delay circuit, the register RG
Count down the contents of 2 and store the result in register RG.
2, and a zero determination circuit ZDC that outputs the result of the calculation as the current number of stacked stages m, and presets the maximum stage number n set in the register RG1 to the register RG2 when m=0. have. The servo circuit SVC includes a pulse distributor PI)C that executes a pulse distribution calculation based on a movement command value ΔZ in the Z-axis direction output from a processing unit PRC, and a distribution pulse Pi).
An error circuit HRC that calculates and stores the difference ER between the O number and the number of pulses Pf generated from the pulse generator PQ every time the motor MT rotates a predetermined amount, a DAi converter DAC that converts the error fl into DA, and a speed control circuit. It has a circuit SPC.
Claims (3)
業用ロボットのパレタイジング方法において、把持部に
ワーク塩の距離を検出できるセンサを取付けると共に、
最大積み重ね数nと、最上段のワーク把持位置Znと、
最下段のワーク把持位置Zlを入力し、m段のワークを
把持する場合、各ワークの厚みが均一であるとしたとき
のm段目のワーク上面より一定の距離ICの位置Zmを
前記Z 1 。 Zn、 n、 rn、 J3cを用いて求め、該位置に
把持部を位置決め後、前記距離センサによりワーク上面
迄の距離Aoを測定し、ワーク上面から把持位置迄の距
離Gと前記距離感0の和に相当する量だけ把持部を下方
へ移動させて把持部をワーク把持点へ位置決めすること
を特徴とする工業用ロボットにおけるパレタイジング方
法。(1) In a palletizing method for an industrial robot that loads and unloads or stacks workpieces from a predetermined position, a sensor that can detect the distance of the workpiece salt is attached to the gripping part, and
The maximum number of stacks n, the uppermost workpiece gripping position Zn,
When inputting the lowest workpiece gripping position Zl and gripping m-stage workpieces, the position Zm at a certain distance IC from the top surface of the m-th workpiece, assuming that the thickness of each workpiece is uniform, is set to Z1. . Zn, n, rn, J3c, and after positioning the gripping part at the position, measure the distance Ao to the top surface of the workpiece with the distance sensor, and calculate the distance G from the top surface of the workpiece to the gripping position and the distance sense of 0. A palletizing method for an industrial robot, characterized by moving the gripping part downward by an amount corresponding to the sum of the parts and positioning the gripping part to a workpiece gripping point.
離Gを予め与えることを特徴とする特許請求の範囲第(
1)項記載の工業用ロポッ)Kおけるパレタイジング方
法。(2) ttiJ We Claim No. 1 (
1) The palletizing method in the industrial robot described in section 1).
る場合、前記距離Gを G=□・he a −)−b 但し、heはワークの真の厚みで hc = h + (4−Jto )/mh = (
Zn−Zl)/(n 1)より演算することを特徴と
する特許請求の範囲第(1)項記載の工業用ロボットに
おけるパレタイジング方法。(3) When gripping a workpiece at the position a:b relative to the workpiece thickness, the distance G is G=□・he a-)-b, where he is the true thickness of the workpiece and hc = h + (4- Jto )/mh = (
A palletizing method for an industrial robot according to claim 1, wherein the palletizing method is calculated using Zn-Zl)/(n 1).
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP21108182A JPS59102583A (en) | 1982-12-01 | 1982-12-01 | Palletizing method in industrial robot |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP21108182A JPS59102583A (en) | 1982-12-01 | 1982-12-01 | Palletizing method in industrial robot |
Publications (1)
Publication Number | Publication Date |
---|---|
JPS59102583A true JPS59102583A (en) | 1984-06-13 |
Family
ID=16600090
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP21108182A Pending JPS59102583A (en) | 1982-12-01 | 1982-12-01 | Palletizing method in industrial robot |
Country Status (1)
Country | Link |
---|---|
JP (1) | JPS59102583A (en) |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS6039086A (en) * | 1983-08-09 | 1985-02-28 | 東洋食品機械株式会社 | Robot for carrying article |
WO1990003935A1 (en) * | 1988-10-07 | 1990-04-19 | Fanuc Ltd | Palletizing/depalletizing control method |
-
1982
- 1982-12-01 JP JP21108182A patent/JPS59102583A/en active Pending
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS6039086A (en) * | 1983-08-09 | 1985-02-28 | 東洋食品機械株式会社 | Robot for carrying article |
JPH0549438B2 (en) * | 1983-08-09 | 1993-07-26 | Toyo Shokuhin Kikai Kk | |
WO1990003935A1 (en) * | 1988-10-07 | 1990-04-19 | Fanuc Ltd | Palletizing/depalletizing control method |
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