Processing method and robot for use

专利摘要:
According to the present invention, the article irradiation step of approaching the arm to the stack base at high speed and then approaching at low speed until the product is detected; Stopping the arm when the article is detected, storing the position of the article as the height of the article and gripping the article; When the arm approaches the stack base again, it adds a predetermined value to its stored product height to approach the arm at high speed at the defined deceleration start point, to approach the arm at low speed to its stored product height, detect the product, and Holding the article of manufacture; And correcting the value of the article height when the article is not detected so that the arm again approaches the article at low speed. Since the range in which the arm moves at a low speed is reduced, the cycle time is shortened.
公开号:KR19980703276A
申请号:KR1019970706680
申请日:1996-03-08
公开日:1998-10-15
发明作者:다까하시도시유끼；나까지마아쯔시；시오미찌유끼마사
申请人:다나베 히로까즈；도요고한가부시끼가이샤；
IPC主号:

专利说明:

Processing method and robot for use
In the related art, a robot of the type, as shown in FIG. 10, is arranged around the work device 50, and a plurality of arms 52 connected by a plurality of joints 51 are provided. The hand 52 installed on the foremost arm 52 is adjusted to track a plurality of previously indicated points. The hand 53 is provided with a gripping element, such as a vacuum cup 54 and a sensor 56 for detecting the article 55 which comes into contact with the vacuum cup as the hand 53 descends. . In order to load the workpiece on the work device 50, first, the workpiece inspection operation is performed by moving the hand to a position of a predetermined distance directly above the workpiece 55 stacked on the sheet stack base 57. . Thereafter, the hand 53 slowly descends until the sensor 56 detects the vacuum cup 54 which comes into contact with the product 55, and then the lowering of the hand 53 is stopped. When the lowering operation of the arm 52 is operated, subsequent work such as the transfer of the product 55 to the work device 50 is continued following the operation upon detection of the product 55. On the other hand, when the manufactured product 58 is sequentially stacked on the product stack base 59, it is performed in the opposite mode to the same operation as described above. That is, the sensor detects the article 58 gripped by the vacuum cup 54 which comes into contact with the product stack base 59 and the vacuum cup 54 is subsequently removed by emptying the vacuum cup 54 or releasing the suction force. To the product stack base 59 of the article 58. In Fig. 10, the number 60 represents the control panel.
In the method described above, the arm 52 slowly descends from the highest position higher than the highest stack product height. Therefore, when the number of articles 55 and 58 stacked on the stack bases 57 and 59 is small, time is wasted and the cycle time is extended. In essence, the object of the present invention is to shorten the cycle time in employing the conventional apparatus and method described above.
The present invention relates to a treatment method and a robot used in using the method, in particular an article to be stacked on a stack base, which in turn is loaded into a working device such as a press or press brake or a packaging device such as a binder The present invention relates to a processing method in which a workpiece to be processed is stacked on a stack base in a row, and a robot used in the method.
1 is a schematic flowchart showing one embodiment of a processing method according to the present invention.
2A is a schematic diagram showing the steps of the treatment method.
2B is another schematic diagram showing the steps of the treatment method.
3 is a first part of a flowchart showing a detailed description of the processing method shown in FIG.
4 is a second part of a flowchart showing a detailed description of the processing method shown in FIG.
5 is a partial flowchart showing another embodiment of a processing method according to the present invention.
6 is a schematic flowchart showing one application of the treatment method according to the present invention.
Figure 7 is a schematic diagram showing the steps of loading in the processing method according to the present invention.
8 is a flowchart illustrating the gripping step in another embodiment of the processing method according to the present invention.
9 is a schematic view showing a modification of the robot hand according to the present invention.
10 is a schematic diagram showing a conventional robot and its peripheral device.
The treatment method according to the present invention is a method of approaching the product holding hand in the direction of the stack base and the product stacked on the stack base in order to pick up or stack the product, and (a) placing the hand at a predetermined distance above the stack base. (B) allowing the hand to approach the descent start position at a predetermined distance higher than the highest height of the workpiece stored in the memory at high speed; (c) approaching the hand at low speed from its lowering start position to the height of the article stored in the memory; And (d) stopping the hand at the height of the article stored in the memory to hold the article or to release the gripped article.
As an additional mode of the treatment method according to the invention, (a) the hand is positioned at a predetermined distance above the stack base, and the arm is approached at low speed until an article or stack base disposed below the hand is detected. Thereby stopping the hand when the article or stack base is detected; (b) storing the detected position as an article height; (c) gripping the product at a position where the hand is at rest or releasing the held product; (d) an intermediate step to move on to the next step; (e) a fast approaching step of placing the hand again at a predetermined distance above the stack base and lowering the hand to the starting point of descent slightly above the height of the stored product at high speed; (f) a slow approach step to lower the hand to the height of the stored product; (g) re-holding the product or releasing the held product; And (h) repeating steps (d) to (g).
In step (b), the data on the product height can be calculated by subtracting or summing one article thickness from the data on the height of the hand obtained in the article investigation step (a). Furthermore, in the low-speed approach step (f), the presence or absence of the article can be detected, so that if the article is not detected, first a calibration calculation is performed to subtract or add a predetermined value, and then the arm is determined by the corrected data. Descending at low speed to height. Further, in the low speed approach step (f), since the arm is lowered until the article of manufacture is detected, data calibration is performed based on the article loading height at the time of detecting the article of manufacture.
The processing robot according to the present invention is a robot of the type which repeats the transfer of a product by the method of holding one product at a time and conveying to or from the base. The processing robot is a hand for holding a product, an arm for supporting the hand, a mechanism for raising and lowering the arm, a detection means for detecting the height of the arm, a control unit for controlling the height of the arm and decelerating in two or more steps, the product And an article detecting means for detecting a hand that comes into contact with the product. The control unit performs arithmetic operations and storage blocks that calculate the real-time height of the product on the base based on data related to the previous product height, and sells it at a high speed to a position slightly higher than the product height of the product, based on the real-time data of the product height. And a command block for lowering the arm at a low speed until the article detection means detects the article. In such a robot, the hand is freely rotatable up and down relative to the arm, and is also supported by the arm in its rotated position. Preferably, the robot is provided with spring means for biasing the hand downward relative to the arm. In this case, the article detecting means is configured such that the detecting means can detect the hand in a raised position with respect to the arm.
According to the first method of the present invention, the height of the product is stored in the controller, the arm approaches at high speed to the deceleration start point calculated based on the height of the stored product, and the remaining distance at low speed to the product. The high speed operation up to the deceleration start point of the arm and the low speed operation of the arm up to the position to be stopped are controlled by the forward feed control. Thus, the entire cycle time can be shortened.
According to the second method of the present invention, in the first gripping operation of holding the workpiece during the first time, the hand is slowly lowered while examining the workpiece. That is, feedback control of the article position is performed, and the height on which the article of manufacture is loaded is detected and stored by this control. In subsequent gripping operations, as in the case of the first method, by performing forward feed control, the cycle time for performing these gripping operations can also be shortened. In such forward feed control, the calculation is performed such that one article thickness is added to or subtracted from the height of the article. If the operation of detecting whether an article is present is performed in the low speed approach step (f), and a calibration step is performed to subtract or add a predetermined value if the article is not detected, such forward direction in various gripping operations It will be sufficient to perform feed control once.
Forward feed control may be performed hourly to detect the height of the article, and may update the data regarding the height of the article, hourly. Even in such a case, the low speed access time is also shortened so that the cycle time can be shortened compared to the conventional method.
The robot according to the present invention is provided for carrying out the above-described processing method. In such a robot, the hand is free to move up and down relative to the arm and is supported in place. If a spring is provided to the robot that biases the hand downward relative to the arm, the error occurring within the range of vertical movement of the hand relative to the arm is absorbed by the spring, so that the above method can be performed as desired. .
Moreover, if the detection of the workpiece is to be performed based on the vertical movement of the hand, the accuracy of the workpiece detection operation can be improved.
Hereinafter, a method and a robot according to an embodiment of the present invention will be described with reference to the accompanying drawings.
In the drawings, FIG. 1 is a schematic flowchart showing one embodiment of a processing method according to the present invention, FIGS. 2A and 2B are schematic diagrams showing steps of the processing method, and FIGS. 3 and 4 are shown in FIG. 5 is a partial flowchart showing another embodiment of the processing method according to the present invention, and FIG. 6 is a schematic flowchart showing one application of the processing method according to the present invention. 7 is a schematic partial diagram showing the loading step in the processing method according to the present invention, FIG. 8 is a flowchart showing the gripping step in another embodiment of the processing method according to the present invention, and FIG. 9 according to the present invention. It is a schematic diagram which shows the modification of a robot hand.
Fig. 1 is a flow chart showing the basic flow of a processing method according to the present invention, which is not only applicable to the operation of gripping a sheet of material (article) 2 from the stack base 1 as shown in Fig. 2 in turn. 5 is also applicable to an operation of stacking articles of manufacture on the stack base 3 as shown in FIG. 5 in turn. First, an operation method of holding the material sheet 2 in order from the stack base 3 will be described with reference to FIGS. 1 and 2.
(Step to investigate and grasp the product)
The left side step (I) of FIG. 1 and the schematic view of FIG. 2A show the gripping of the article after the top sheet 2 is irradiated when the article height SY of the material sheet loaded on the stack base 1 is not known accurately. Represents a step. Step (I) consists of the following steps.
Step S1: The hand 5 is moved in the position direction above the stack base 1. The stop position (horizontal position) and the stop height (YP) are given in advance.
Step S2: The hand 5 is descended at a high speed to the irradiation start position YC. The data and the descent rate for the survey start point (YC) are given in advance. Steps S1 and S2 can be integrated into a single step.
Step S3: The hand 5 is lowered from the irradiation start point YC at a low speed. That is, since it is difficult to obtain accurate data of the product height SY, the hand 5 is slowly lowered so that the movement of the hand 5 is suddenly stopped to prevent the occurrence of damage to the sheet as well as the hand. The descent speed is given in advance. The article detection sensor provided in the hand 5 detects the uppermost sheet 2. The hand 5 is lowered until the seat 2 is detected by the motion detection sensor.
Step S4: Upon detection of the top sheet 2 by the motion detection sensor, the lowering of the hand 5 is stopped, and the hand 5 holds the sheet 2 with the vacuum cup 6. At the same time, the value obtained by subtracting the thickness DY of the single sheet 2 from the height HY of the current hand 5 is stored as the article height SY, and the data is used in subsequent gripping steps.
Step S5: The gripped sheet 2 is raised to a predetermined height KY to prevent interference with the remaining stacking sheet 2, and then undergoes other processing steps such as sheet feeding to the work device and sheet stacking.
(Gripping step based on stored data)
Next, with reference to the right step line II and FIG. 2B, the so-called 'forward feed gripping step' performed when the product height HY on the stack base 1 is almost unknown is explained. Although in this embodiment, the product height HY is measured manually or automatically, although the data on the article height HY obtained and stored in the step S4 of the gripping step (I) are used in the article inspection. Data relating to a previously obtained and stored article height HY can also be used. Claim 1 is intended to cover such cases as well.
Step S6: After performing all other processing steps in step S5, the hand 5 moves back to the upper position of the stack base.
Step S7: Subsequently, the hand 5 is descended at a high speed to the deceleration position calculated based on the detected or stored workpiece height HY. The deceleration position is, for example, a height obtained by summing a predetermined value such as 20 to 50 mm to the stored product height SY detected or stored in step S4.
Step S8: The hand 5 then descends at low speed to the position of the product height SY.
Step S9: At this position, the suction operation of the vacuum cup is made to suck and hold the sheet 2. At the same time, the thickness DY of the sheet 2 is subtracted from the current article height SY to obtain and store the article height of the subsequent sheet 2 to be sucked and gripped (SY = SY-DY).
Step S10: As in the case of step S5 mentioned above, the operation proceeds to the next step.
The steps S6 to S10 described above are repeated to hold the subsequent sheet 2.
Next, referring to Figs. 3 and 4, a flow chart showing a gripping step (I) having an inspection of a product and a gripping step (II) based on stored data in a systematic or integrated flow will be described.
Step S11 shown in Fig. 3 is a step of determining whether the product investigation should be performed. For example, based on the judgment at this stage, the product inspection is performed only once at the start of the processing operation or is repeated every predetermined number of times the product is transported every hour. In the case where the product inspection is performed in this step, the product flag is set in the subsequent step S12 (C1 = 1). If the product investigation is not performed, the product investigation flag C1 is kept at zero.
Subsequently, when the operation is shifted to the step S1 or the step S6 of the gripping step (I, II) mentioned previously, the step of the product inspection flag which takes 1 or 0 and the gripping step (I) with the product investigation in step S13. According to the setting, it is determined which routine should be taken between the gripping steps (II) performed based on the stored data. Based on the judgment, the job is shifted to the line of step (I) or the line of step (II).
In the line of step (I), although the operation proceeds from steps S2 to S3 as described above, in this embodiment, step S14, which another sensor detects, is inserted, even when the product is not detected. If this falls, it is determined whether the product inspection operation should be stopped or based on the detection thereof (see Fig. 5). If it is determined that the product inspection operation should be stopped, the whole work is stopped (step 14a) and a problem processing problem occurs (step 14b). If the article inspection operation is not stopped, that is, unless the article irradiation stop detection sensor detects a defect, the article inspection operation is continued.
As mentioned previously, in step 3, if an article of manufacture is detected, the operation proceeds to step S4. However, in this operation, step S4 is separated into three steps, namely, falling stop step S4a, product load amount SY calculation step S4b, and product holding step S4c. In these steps, a step S15 of resetting the article inspection flag S1 set in the previous step S2 to 0 is inserted (see Fig. 4).
Furthermore, according to this embodiment, in the gripping step (II) performed on the basis of the stored data (see the step carried out from step S7 and step S7 in FIG. 3), step S16 of detecting the presence of the article of manufacture is carried out by hand (5). ) Is inserted after step S8 of approaching the product at low speed. If the article is not detected, i.e. when the hand does not reach the top article, a calibration calculation is performed, for example, the amount of article SY loaded with the value DY of one sheet so that the article height is updated. Is subtracted (step S17), and the hand is lowered again at low speed (step S8). On the other hand, if a product is detected, the data on the height of the product is not updated, and the work returns to the main routine of the product holding step (see Fig. 4, step S9c).
In the method shown in FIG. 6, after the arm raising step (step S5a) shown in FIG. 4, it is judged whether or not the product is gripped (step S18). If the article has not been gripped, i.e., if the hand fails to grasp the article or falls down while holding it, the error count is determined (step S19), the number or errors are counted (step S23), and the article is Calibration calculation of the loaded amount is executed (step S20), and the hand approaches the corrected product height (step S21). Then, until the article is detected (step S22), the calibration of the article height and the approach of the arm are repeated. When the article is detected, the work returns to the article holding step (step S4c, step S9c). Then, again, or when the gripping failure is repeated for a predetermined time, the error count is determined in step S19, the error count is compared with the predetermined value CO and the subsequent step is stopped for error processing. The error count erasure (Ec = 0) step S24 indicated by the virtual line in FIG. 3 is provided to return the count number to zero before the error count in FIG.
As shown in FIG. 7, all the above-described embodiments have been described in the case where the product sheet is sequentially picked up from the stack base, but the operation of loading the product 4 into the stack base 3 is described in the above-described flowchart (FIG. 1, 3 to 4), which may be performed continuously in substantially the same manner as in the method of FIG. In this case, the product is released instead of the product gripping operation. When the article height is updated, the height corresponding to the thickness of one article is added continuously. Moreover, the inspection of the product holding work as shown in FIG. 6 becomes unnecessary.
FIG. 8 is a flowchart of a job in which the above-mentioned sheet pick-up operation and the product loading operation performed by the actual robot as shown in FIG. 10 are combined. That is, one sheet 2 is picked up from the stack base 1 shown in FIG. 2 (step S30), and is supplied to the working apparatus (step S31), and part or mostly of the sheet 2 is Work is received while the various parts are gripped by the work device. Upon completion of the work operation, the sheet 2 is discharged from the working apparatus (step S33), and the sheet 2 is loaded onto the product stack base 3 shown in FIG. 7 (step S34). Then, again, the robot approaches the sheet stack base 1 to pick up the work sheet 2. As a robot performing the work of the product by such a cycle, the above-described processing method according to the present invention can be applied in step S30 to hold the product, and can be applied in step S34 to load the product.
9 shows an example of a preferred hand portion of the robot according to the present invention. In FIG. 9, number 11 indicates an arm and number 12 indicates a hand. The hand 12 is provided with a shaft portion 13 which is provided on the arm 11 and is raised and lowered, a vacuum or suction cup 6 provided at the bottom of the shaft portion 13, and a shaft portion downward with respect to the arm 11. A spring 14 provided to bias 13.
The ferromagnetic member 15 is installed on the top of the shaft portion 13, and a magnetic sensor 17 which acts like a product sensor is attached to the bracket 16 mounted to the arm 11, and such magnetic sensor 17 is The rise of the shaft portion 13 caused when the vacuum cup 6 comes into contact with the sheet loaded on the sheet stack base 1 is detected. A second magnetic sensor 18, spaced above the magnetic sensor 17 at predetermined intervals, is installed on the bracket 16 to detect the stop of irradiation of the workpiece. This second magnetic sensor 18 is provided to immediately stop the operation of the robot when it malfunctions for any possible reason of the magnetic sensor 17 detecting the workpiece. The output of the second magnetic sensor 18 is used for judgment in the article irradiation stop step S14 of FIG. Moreover, the arm 11 is provided with a vacuum sensor 19 for detecting a poor grip of the vacuum cup 6. The vacuum cup 6 is connected by a vacuum sensor 19 to a vacuum source such as a vacuum pump or a venturi aspirator. The above-described magnetic sensor may be made of another kind of sensor that can be used for position detection. For example, photoelectric sensors may be used in place of magnetic sensors.
The main body of the robot and its control device may also be made of those used in the conventional robot as shown in FIG. This type of robot has a support strut 62 fixedly mounted on a foundation, a plurality of arms 52 which are continuously supported on the support strut 62 and rotatable with respect to each other by a plurality of joints 51, 51. , 52, 52, main body consisting of a plurality of motors (M1, M2, M3) for rotatably driving the arms (52, 52, 52), a plurality of position detectors for detecting the rotation angle of each motor or arm, etc. And generate drive signals for driving the group of drive motors M1, M2, M3 in accordance with the detected data and a predetermined program based on the given data, and transmit such drive signals to the drive motors M1, M2, M3. It consists of a control device consisting of a microcomputer to transmit.
The article height detecting member that can be used in the method and the robot according to the present invention may be composed of an angle detecting member such as an encoder installed on the joint and a controller block for converting the detected angle into height coordinates. In the above-described embodiment, although the gripping hand is configured in the vacuum cup type, the gripping hand may be configured in the electronic suction type or the gripping finger type. Although the method according to the invention is used not only for holding sheets but also for loading the articles shown in FIG. 8, sheet holding operations or articles may be employed by employing conventional methods as one of the operations, or by using a stack base that is raised or lowered. It may be possible to apply the invention to a loading operation.
Industrial availability
Since the treatment method according to the invention requires less time to access the workpiece, the work cycle time can be significantly shortened compared to the conventional method.

权利要求:
Claims (8)
[1" claim-type="Currently amended] In the processing method of approaching the product to the stack base and the direction of the stacked product on the stack base to pick up or stack the product,
(a) placing a hand at a distance above the stack base,
(b) allowing the hand to approach the descent initiation position at a predetermined distance higher than the highest height of the workpiece stored in the memory at high speed;
(c) approaching the hand at low speed with the product height stored in the memory at its descending start position; And
(d) stopping the product at the height of the product stored in the memory and gripping the product or releasing the gripping product.
[2" claim-type="Currently amended] In the processing method of approaching the product to the stack base and the direction of the stacked product on the stack base to pick up or stack the product,
(a) Positioning the hand at a predetermined distance above the stack base and approaching the arm at low speed until the workpiece or stack base disposed below the hand is detected, thereby removing the hand when the product or stack base is detected. Stopping;
(b) storing the detected position as an article height;
(c) gripping the product at a position where the hand is at rest or releasing the held product;
(d) an intermediate step to move on to the next step;
(e) a fast approaching step of placing the hand again at a predetermined distance above the stack base and lowering the hand to the starting point of descent slightly above the height of the stored product at high speed;
(f) a slow approach step to lower the hand to the height of the stored product;
(g) re-holding the product or releasing the held product; And
and (h) repeating the steps (d) to (g).
[3" claim-type="Currently amended] 3. The method of claim 2, wherein in step (b), one sheet or one article thickness is subtracted or summed from the data for the height of the hand obtained in the article survey step (a) to obtain data regarding the article height. Approach processing method of the product gripping loss, characterized in that calculated as.
[4" claim-type="Currently amended] The method of claim 2, wherein in the low-speed approach step (f), if the detection of the presence or absence of the article is performed and the article is not detected, a correction calculation is performed by further subtracting or adding a predetermined value, and again the arm is corrected. Approach processing method of a product holding hand, characterized in that descending at a low speed to the height of the data.
[5" claim-type="Currently amended] The method of claim 2, wherein in the low-speed approach step (f), the arm is lowered until the article is detected, and the data is corrected based on the article loading height at the time of detection. .
[6" claim-type="Currently amended] Hand holding the product, arm supporting the hand, mechanism for raising and lowering the arm, detection means for detecting the height of the arm, control unit for controlling the height and descending speed of the arm in two or more steps, contact with the product A processing robot of a type comprising a product detecting means for detecting a hand to be made, wherein a sheet of one product or one product is gripped and conveyed to a base or transferred from a bay at the same time,
The control unit is an arithmetic operation and storage block for calculating the real-time height of the product on the base based on the data related to the previous product height,
And a command block for lowering the arm at a high speed to a position slightly higher than the product height of the data and then lowering the arm at a low speed until the product detecting means detects the product, based on the real-time data of the product height. Treatment robot.
[7" claim-type="Currently amended] 7. The processing robot of claim 6, wherein the hand is pivotally supported up and down by an arm and a spring is provided to bias the hand down in the direction of the arm.
[8" claim-type="Currently amended] 8. The processing robot according to claim 7, wherein said article detecting means is provided for detecting a hand raised with respect to the arm.

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同族专利:

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公开号 | 公开日

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US6086321A|2000-07-11|

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CN1179743A|1998-04-22|

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WO1996030169A1|1996-10-03|

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CN1051493C|2000-04-19|

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RU2140849C1|1999-11-10|

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KR100418455B1|2004-07-05|

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AU4889796A|1996-10-16|

引用文献:

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公开号 | 申请日 | 公开日 | 申请人 | 专利标题

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法律状态:
1995-03-31|Priority to JP10044195

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1995-03-31|Priority to JP95-100441

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1996-03-08|Application filed by 다나베 히로까즈, 도요고한가부시끼가이샤

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1998-10-15|Publication of KR19980703276A

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2004-07-05|Application granted

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2004-07-05|Publication of KR100418455B1

优先权:

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申请号 | 申请日 | 专利标题

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JP10044195|1995-03-31|

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JP95-100441|1995-03-31|