JPH04133527U - robot equipment - Google Patents

Abstract

(57) [Summary] [Purpose] Robotic devices installed in assembly lines and inspection lines for cameras, etc. to transport workpieces can handle the workpieces without damaging them, and can also handle workpieces with different shapes. Make it. [Structure] A workpiece posture state detection device that holds a workpiece W by an air actuator 7 provided inside the hand portion 2 of the arm 1, and detects the posture and position of the workpiece W handled by the hand portion 2 of the arm 1. 4 and the workpiece position state detection device 5. Control device 3
controls the arm drive circuit 6 based on the information from these detection devices 4 and 5, and controls the posture and position of the workpiece W handled by the hand portion 2 of the arm 1 to be in the correct state.

Description

[Detailed explanation of the idea]

0001

[Industrial application field]

The present invention can be installed in assembly lines or inspection lines for cameras, etc., and works ( The present invention relates to a robot device suitable for use in transporting objects (such as cameras).

0002

[Conventional technology]

Automation is recommended for assembly lines and inspection lines for various equipment and parts. A robot device is used to transport the workpiece to the assembly or inspection position. It is used.

0003 As this type of robot device, it is attached to the robot device body installed in a fixed position. The hand part of the bent arm handles the workpiece placed in the first position, Robotic devices that transport objects to a second position via a predetermined transport route are known. .

0004 Conventionally, in this type of robot device, the workpiece to be handled was made of metal, etc. The hard hand part is designed to be grasped directly. In this case, the hand part holds the workpiece. Hold at specified pressure.

[0005]

[Problem that the idea aims to solve]

By the way, as in the past, the work to be handled is not handled by a hard handle made of metal, etc. If the structure is such that the handle is directly gripped, workpieces that are easily scratched, such as camera bodies, etc. becomes impossible to handle. For this reason, it has traditionally been difficult to assemble easily damaged equipment such as cameras. The above robot equipment cannot be used on the vertical line or inspection line, and the assembly itself cannot be used. The inspection itself can be automated using assembly robot equipment and inspection robot equipment. However, workpiece transportation still relies on manual labor or dedicated The actual situation is that they are stored on pallets.

[0006] In addition, in the case of conventional robot devices, the hand part has a structure that matches the shape of the workpiece. Therefore, it is not possible to handle workpieces with different shapes. subordinate Therefore, there is no versatility when transporting workpieces with diverse shapes such as camera bodies etc. There was also the problem of.

[0007] Therefore, this invention was devised in view of the above-mentioned circumstances. It is possible to handle workpieces with different shapes, and it is possible to handle workpieces with different shapes. The purpose of this invention is to provide a robot device that can also perform

[0008]

[Means to solve the problem]

In order to achieve the above object, the robot device of the present invention has a hand portion of the arm (1). In a robot device that holds a workpiece (W) according to (2), the hand part of the arm An elastic actuator is provided on the inside to be interposed between the hand section and the workpiece. Attitude state of the workpiece handled by the etator means (7) and the hand part of the arm from the workpiece posture state detection means (4, 5) and the workpiece posture state detection means for detecting the A workpiece that drives the arm based on the information and corrects the posture of the workpiece. The present invention is characterized in that it is provided with a steering condition correction means (3).

[0009]

【Example】

Hereinafter, one embodiment of the present invention will be described based on the drawings.

0010 FIG. 1 shows the overall configuration of a robot device according to the present invention. In addition, in this figure, the fixed The main body of the robot device installed at the location is omitted.

[0011] In FIG. 1, at the tip of arm 1 attached to the robot device body (not shown) A hand portion 2 is provided.

0012 The control device (CPU) 3 is a robot built in a robot device main body (not shown). Controls the operation of the entire cut device. The workpiece posture state detection device 4 is attached to the hand portion 2. The posture state of the workpiece (camera body) W that has been drilled is detected. Work position The state detection device 5 detects the position state of the workpiece W handled by the hand section 2. . An arm drive circuit (driver) 6 is built into the robot device main body.

[0013] In this robot device, the workpiece handled by the hand section 2 of the arm 1 is When the posture state of the workpiece is detected by the workpiece posture state detection device 4, the information is The control device 3 has the function of correcting the workpiece handling condition using electrical signals. is input. Also, the position of the workpiece W handled by the hand section 2 of the arm 1 When the state is detected by the workpiece position state detection device 5, the information is transmitted as an electrical signal. It is input to the control device 3.

[0014] The control device 3 includes a workpiece posture state detection device 4 and a workpiece position state detection device 5. The arm drive circuit 6 is controlled based on this information. This allows the arm drive rotation to Path 6 drives arm 1 to a predetermined state and corrects the posture and position of workpiece W. Arrange it in a new condition.

[0015] As shown in the diagram, arm 1 can be tilted forward and backward, left and right, up and down, rotated, and tilted in two directions. It has degrees of freedom in a total of six directions.

[0016] The hand part 2 is made of metal, and has a plurality of air vents inside it, as shown in FIG. It is equipped with an actuator 7. Therefore, the workpiece W is directly attached to the metal hand section 2. A plurality of air actuators 7 formed by elastic members rather than being gripped be grabbed through.

[0017] After the workpiece W is introduced into the hand section 2, each air actuator 7 , it is inflated to a predetermined state by injecting air. In this way, each workpiece W It is held by the air pressure of the air actuator 7. When gripped by such a hand part 2, The workpiece W is not scratched and can be held even if the shape of the workpiece W changes. Note that the air actuator 7 is installed so as not to damage the workpiece W. Of course, it can be oil, water, or other elastic actuators. It is a theory.

[0018] The workpiece posture state detection device 4 and the workpiece position state detection device 5 are arranged as shown in FIG. It is installed at the location. That is, the workpiece posture state detection device 4 detects the workpiece posture indicated by the arrow. The workpiece is placed in front of the fixing table (second position) 9 in the middle of the workpiece transport path 8. The position detection device 5 is arranged above the fixed base 9.

[0019] Therefore, the workpiece W handled by the hand portion 2 of the arm 1 is placed directly on the fixed table 9. When the workpiece is transported to the front, its posture is detected by the workpiece posture detection device 4. As a result, the posture of the workpiece W can be properly adjusted. Also, the handle of arm 1 The workpiece W handled by the door section 2 descends to a predetermined position above the fixed table 9. , the position state is detected by the workpiece position state detection device 5, and the workpiece position state is detected by the workpiece position state detection device 5. The position and state of the arc W is adjusted correctly. After this, lower the workpiece W onto the fixed table 9. Place it. At this time, air is released from each air actuator 7 of the hand section 2 to the outside. The holding force of the work W due to air pressure is released.

[0020] The workpiece posture state detection device 4 includes an optical sensor 10 that detects the back position of the workpiece W. , an optical sensor 11 that detects the rear lower edge position, and an optical sensor 1 that detects the front lower edge position. It consists of 2. The optical sensor 10 measures the flatness, and the optical sensors 11 and 12 measure the rotational component. Measure.

[0021] The workpiece position state detection device 5 includes an optical sensor 13 that detects the front position of the workpiece W. , and an optical sensor 14 that detects the side position. The optical sensor 13 is shifted in the front and back direction. The optical sensor 14 measures the deviation in the left and right direction.

[0022] The workpiece posture state detection device 4 and the workpiece position state detection device 5 are installed at other necessary positions. It has a photosensor (not shown) located at.

[0023] Next, the control device 3 as a workpiece handling state correcting means performs the control of the workpiece W. The process of correction control of posture state and position state is explained using the flowchart in Figure 4. do.

[0024] First, the workpiece posture detection device 4 detects the posture condition of the workpiece W (flatness , measurement of rotational components) (step S1). Next, the work posture state detection device 4 Based on the workpiece posture information (flatness, rotational component) from the The arm drive circuit 6 (correction of flatness and rotational components) (step S2).

[0025] Then, the operations of steps S1 and S2 are repeated to maintain the correct posture of the workpiece W. The workpiece posture information from the workpiece posture state detection device 4 was compared (step S3). As a result, if the workpiece posture is converged within a certain range (OK), the posture of the workpiece W is Finish correcting the condition. At this stage, the workpiece being handled by the hand section 2 of arm 1 is The arc W is transported above the fixed table 9.

[0026] Subsequently, the position state of the workpiece W is detected by the workpiece position state detection device 5 (front and back). , measurement of horizontal deviation) (step S4). Next, the workpiece position status detection device The handle of arm 1 is so that the workpiece W handled by the hand section 2 is located at the correct position on the fixed table 9. Then, the arm drive circuit 6 is controlled (correction of longitudinal and lateral deviations) (step S5). .

[0027] Then, repeat the operations of steps S4 and S5 to find the correct position of the workpiece W. The result of comparing the workpiece position information from the workpiece position state detection device 5 (step S6) , when the workpiece position is converged within a certain range (OK), the positional state of the workpiece W Finish the correction. At this stage, the workpiece handled by the hand section 2 of arm 1 W is placed on 9.

[0028] Note that in this embodiment, the workpiece W handled by the hand portion 2 of the arm 1 is Although the case of a camera is shown, the present invention can be widely applied to other devices, parts, etc. .

[0029] Further, in this embodiment, the workpiece posture state detection device 4 and the workpiece position state detection device 5, optical sensors 10, 11, 12, 13, and 14 were used, but the posture of the work W The status and position of the workpiece are determined by means other than optical sensors, such as ultrasonic sensors. It can be detected even if

[0030]

[Effect of the idea]

As explained above, the robot device of the present invention has an elastic material inside the hand portion of the arm. Equipped with actuator means, this elastic actuator holds the workpiece. This prevents scratches on the workpiece being handled even if the hand part is made of metal. It will never be. Also, since elastic actuator means are deformable, the shape Even different workpieces can be handled.

[0031] Furthermore, the workpiece handled by the arm is detected by the workpiece posture state detection means. Detects the posture of the workpiece, and adjusts the posture of the workpiece using the workpiece handling condition correction means. Since the correction is made to the correct state, the posture of the workpiece gripped by the hand Even if there are variations, the workpiece handled by the arm can be transferred to the correct position. Wear.

[Brief explanation of drawings]

FIG. 1 is an overall configuration diagram of a robot device according to an embodiment of the present invention.

FIG. 2 is a cross-sectional plan view of the hand section of the robot device according to the embodiment.

FIG. 3 is a diagram illustrating a workpiece posture state detection device that detects the posture state of a workpiece handled by a hand portion of an arm of the robot apparatus according to the embodiment, and a workpiece position state detection device that detects the positional state of the workpiece.

FIG. 4 is a flowchart showing a process of correcting and controlling the posture and position of a workpiece, which is performed by the control device of the robot apparatus according to the embodiment.

[Explanation of symbols]

1 Arm 2 Hand part 3 Control device (work handling state correction means) 4 Workpiece posture state detection device (workpiece posture state detection means) 5 Workpiece position state detection device (workpiece posture state detection means) 7 Air actuator (elastic actuator means) 8 Transport path 9 Fixed table W Workpiece

Claims (1)

[Scope of utility model registration request] 1. A robot device that holds a workpiece by a hand portion of an arm, comprising: elastic actuator means provided inside the hand portion of the arm so as to be interposed between the hand portion and the workpiece; a workpiece posture detection means for detecting the posture of the workpiece handled by the hand; and a workpiece handling condition for correcting the posture of the workpiece by driving the arm based on information from the workpiece posture detection means. A robot device characterized in that it is provided with a correction means.