JPH0373288A - industrial robot equipment - Google Patents

Abstract

PURPOSE:To exhibit an expected suction capability on respective sucking tool and to obtain a holding action of high reliability, even in case the distance between plural sucking tools and a work sucking face is unequal, by composing it so as to hold a work body on to a base plate by breaking via the retreating displacement of all the work bodies. CONSTITUTION:When a suction type hand of an industrial robot device 1 approaches a work 3, a suction tool 6 is supported on the work 3 and all of work bodies 5 are displaced in retreat. A suction tool 6 is energized so that the work body 5 is held on a base plate 4 by a brake 8. Also the kind of the work 3 is discriminated by the difference in the outputs of a detector 7.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to an industrial robot III having a suction type hand, such as an industrial robot capable of operating a plurality of suction tools together.

[Conventional technology]

For example, as shown in Japanese Unexamined Patent Publication No. 61-155195, the suction type hand sometimes faces the suction surface of the workpiece at an angle. Further, the workpiece may have a step or a distortion on the surface of the workpiece, and it is conceivable to grip such a workpiece by suction.

[Problem to be solved by the invention]

When a conventional suction type hand with multiple suction devices faces a workpiece, the distance between each suction device and the workpiece suction surface may become uneven due to steps, distortions, etc. on the suction surface of the workpiece. be. At this time, depending on the suction tool, the required gripping action may not be generated, and there is a problem that the workpiece may fall off from the suction type hand due to unexpected acceleration or the like occurring in the industrial robot. Further, when handling multiple types of workpieces having different steps, a separate device for determining the type of arc is required, which increases manufacturing costs.

This invention has been made to solve such problems, and each suction tool can exert a predetermined gripping ability even for a workpiece with a step difference, etc., and can also grip a workpiece with a step difference through suction operation The purpose of this study is to obtain an industrial robot device that can distinguish between types of robots.

[Means to solve the problem]

The industrial robot device according to the present invention includes an actuating body that is movably provided on the base plate of the suction type hand and held in the forward position, a suction tool attached to the tip of the actuating body, and a retractable movement of all the actuating bodies. A brake is provided which is biased through displacement to hold the workpiece to the substrate. Also,
A detector that generates an output according to the amount of backward displacement of the actuating body, and a device for determining a difference in the output amount of these detectors are provided.

[For production]

When the suction type hand of the industrial robot device configured as described above approaches the workpiece and the suction WM is not supported by the 7-ri and the actuating body is displaced backward, the suction tool is energized and The actuating body is held to the substrate by the brake. Also, the type of workpiece can be determined based on the difference in the output amount of the detector.

〔Example〕

1 to 6 are diagrams showing one embodiment of the present invention, in which (1) is an industrial robot having an arm (10); (2) is an industrial robot having an arm (10);
is a conoveyor installed near industrial robot l-(1),
(3) is the workpiece transported by conveyor (2),
A second surface (3b) lower than the first surface (3a) is formed with the first ihi (3 ml).
), (5) is a rod-shaped actuating body inserted into the substrate (4) at a distance from each other so as to be able to move up and down, and (5a) is formed at the upper end of the actuating body (5). The large diameter portion engages the base plate (4) and holds the actuating body (5) in a predetermined lowered position. (6) is an adsorption tool consisting of an electromagnet provided at the lower end of the actuating body (5), and (7) is a substrate (4).
) are arranged in correspondence with the actuating bodies (5) and are pressed by the large-diameter portions (5a), respectively. The brake machine consists of electromagnetic brakes arranged corresponding to each of the brakes, and has a brake piece (8a) that pinches the actuating body (5) when activated, and (9) is a control unit that operates the industrial robot (1, 1). The device is a suction control device that operates the suction device (6) and the like.

The suction type node configured as described above operates as shown in flowchart 1 shown in FIG. That is, the arm (1 arm) of step (101) is controlled by the control device (9).
A descending command is issued and the arm (1 m) descends.

Then, while the detection m (7) is pressed against the large diameter part (5a) by step (102'l), the arm (1 &) continues to descend mysteriously.
In step 3a), the actuating body (5) is raised relative to the substrate (4) with the other supported by the second surface (3b), and when the suppression of both detectors (7) is released, step (103) is performed. ) stops the arm (1a) from descending. and step (
1041, the suction tool (6
) is energized and the workpiece (3) is attracted. Next, in step (105), the qh control machine (8) is operated and the actuating body (5) is fixed to the base plate (4). Thereafter, the industrial robot l-(1) is operated via the control device (9) in response to the transport command in step (106), and the suctioned workpiece (3) is transported. In this way, even if the distances between multiple suction tools (6) and the workpiece (3) suction direction are uneven, each suction tool (6) can be supported by the opposing workpiece (3) suction surface. energized and fixed against the substrate (4). Therefore, the predetermined gripping ability of the suction tool (6) of each tl is exhibited, and a highly reliable gripping action can be obtained.

FIG. 7 shows another embodiment of the present invention, in which the same reference numerals as in FIGS. 1 to 6 indicate corresponding parts, (61), 1
This is a vacuum suction Basotho to Naro suction tool. Also in this embodiment, an operating body (51), a detector (71, 1filJ motive (8)) which operate in the same manner as in the embodiments shown in FIGS. 1 to 6 are provided. Therefore, detailed explanation will be omitted. However, it is clear that the embodiment shown in FIG. 7 can provide the same effect as the embodiment shown in FIGS. 1 to 6. In the figure, the same reference numerals as those in Figures 1 to 6 indicate corresponding parts, and (7) is a liner f provided at the upper end of each operating body (5);
S'J-yl board (7&) fixed to arm (la)
[Ill is an output determination device that determines the output of each detector (7), and FIG. 9 shows the configuration of FIG. 8. This is a circuit diagram conceptually showing the electrical connection in ((2)!1 Industrial robot soto (1) drive means, old 1 is provided in the control device (9) and the drive means (21st is the drive means The control means including the operating Gorgelam (old) is I10 baud 1), t+9 is RAM [131, CPU (7), ROM f18
1 in the control device (9).

Next, the operation of the HIl shown in FIGS. 8 and 9 will be explained with reference to the flowchart shown in FIG. 1O. That is, steps (101) to (1051) operate in the same way as in the case of FIG.
1, the operation of the output determination device 101) of the detector (7) is inputted to the computer (formerly), and the type of workpiece (3) is determined based on the difference in output amount between the detectors (7).
.

Next, in step (1052), the conveyance destination according to the type of workpiece f3) is determined by the control means (5).
Then, the industrial robot (1) operates via the control device (9) according to the transport command from the step (1061), and the workpiece (3) is transported to the determined first transport destination.
) Although a detailed explanation will be omitted, it is obvious that the embodiments shown in FIGS. 8 to 10 also have the same effect as the embodiments shown in FIGS. 1 to 6. Since the type of the saw 1) is determined through the suction operation of the workpiece (3), an operation dedicated to type determination is not required, making it possible to shorten working time and reduce equipment costs.

[Effects of the Invention] This invention has been explained above. In this way, a plurality of actuating bodies are provided on the base plate of the suction type hand so that they can move forward and backward and are held in the forward position, and suction M is provided at the tip of each of the actuating bodies, and all of the actuating bodies are The entire base plate of the actuating body is braked and held through backward displacement. Further, the difference in the amount of backward displacement of the actuating body is determined for an arc with a step, and the type of lead is determined. As a result, even if the distances between multiple suction devices and the workpiece suction surface are uneven, each suction device can exhibit its desired suction ability (4＠Highly gripping effect). There is also a difference in level due to the adsorption action.
This has the effect of shortening the robot's work time by being able to determine the type of material.

[Brief explanation of drawings]

Fig. 1 is a diagram showing an embodiment of the industrial robot device according to the present invention, and Fig. 2 is an enlarged view of the engineering part shown in Fig.
Figure 3 is a diagram explaining the suction state of the workpiece in Figure 1, Figure 4 is a bottom view of the suction tool location in Figure 1, Figure 5 is a front view of the industrial opening and Y/yh device in Figure 1, 1 is a cross-sectional view of V-VS, and FIG. 6 is a flowchart 1 which does not show the operation of the device shown in FIG. 1.
・, FIG. 7(,t) A diagram equivalent to FIG. 1 showing another embodiment of the industrial robot device according to the present invention, FIG. 8 also a diagram equivalent to FIG. 1 showing another embodiment of the invention, and FIG. Fig. 8 is a conceptual circuit diagram showing the electrical connection of the device shown in Fig. 8, and Fig. 10 is a flowchart showing the operation of the device shown in Fig. 8. (1) Industrial robot, (1a) Arm, (4) Board, ■ Operation body, (6) suction tool, (7) detector, (8) brake, (9)-ff1lJ control device.In addition, the same parts or corresponding parts in the figures are indicated by the same reference numerals.

Claims (2)

[Claims] (1) A plurality of actuating bodies arranged parallel to each other and separated from each other on a board attached to an arm of an industrial robot, each of which is movable forward and backward with respect to the board, and is normally held at a predetermined forward position; a suction tool provided at each forward end of the actuating body; a detector provided corresponding to each of the actuating bodies and operated by the backward displacement of the actuating body;
An industrial robot device comprising: a brake provided on the substrate, arranged corresponding to each of the actuating bodies, and energized through the operation of all of the detectors to prevent forward and backward displacement of the actuating bodies. (2) A plurality of actuating bodies arranged parallel to each other apart from each other on a board attached to the arm of the industrial robot, each of which is movable forward and backward with respect to the board, and is normally held at a predetermined forward position; A suction device provided at each forward end of the actuating body, a detector provided corresponding to each of the actuating bodies and emitting an output according to the amount of backward displacement of the actuating body, and a detector provided on the substrate. A brake that is arranged corresponding to each of the actuating bodies and is energized via the detection outputs of all the detectors to prevent forward and backward displacement of the actuating bodies; and a brake that corresponds to the difference in the output amount of the detectors. An industrial robot device comprising a control device that issues commands to the industrial robot.