JPH09295290A - Automatic work working device provided with robot - Google Patents

Abstract

PROBLEM TO BE SOLVED: To automatically perform the working without manual operation by working a work in order with the relative movement of a robot and each working mechanism. SOLUTION: A holding device 4 is turned so as to correct a work in the accurate direction, and a holding device 5 strongly holds the work and moves it to a measuring unit C, and a camera 10 in the X-axial direction and a camera in the Y-axial direction measure the posture and shape of the work. The holding device 5 moves to a both end surfaces and tip surface cutting unit D as a first working device, and a moving base 31 is moved forward and backward so as to perform the working of the work. Continuously, the holding device 5 moves to a vertical cutting unit, and moved in the vertical direction so that the work is worked by a working member, and furthermore, the holding device 5 moves to a tip obliquely cutting unit F, and the work is worked. Continuously, the holding device 5 moves to a slitting unit G, and the moving base 31 is moved forward and backward so as to form a depth of cut in the work. Then, the holding device 5 moves to the measuring unit C again, and in the case of a work formed into the good shape, the work is discharged to a good work discharging chute, and in the case of a failure work, the work is discharged to a failure work discharging chute so as to conclude one cycle of the operation.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic machining of a work by a robot, for example, such that a pen tip of a fountain pen is gripped by a robot arm, and machining is performed by relative motion between each machining machine for machining each part of the pen tip and the robot arm. Regarding the device.

[0002]

2. Description of the Related Art Conventionally, in order to process a pen tip of a fountain pen, the pen tip was observed manually with a microscope.

[0003]

The above-mentioned prior art has a problem that the work efficiency is extremely poor because it is manually processed, and that it requires skill and is not suitable for mass production.

[0004]

SUMMARY OF THE INVENTION An object of the present invention is to solve the above-mentioned problems, and a robot having a function of rotating a work position monitoring means and a work holding device on a work discharge portion to a normal position, Means for placing the work holding device in a normal state on the work placing portion by the rotation of the robot, means for holding the work by the holding device of the robot, and a plurality of processing mechanisms for sequentially processing predetermined portions of the work It is characterized in that the workpieces are sequentially processed by the relative motion of the robot and each processing mechanism.

[0005]

BEST MODE FOR CARRYING OUT THE INVENTION Next, an embodiment of the present invention will be described in detail based on the illustrated embodiment. Robot R
A holding device 4 which is composed of a first arm 1 and a second arm 2, and a tip of the second arm 2 is rotatably attached with a suction tool 3, and a holding device 5 for surely holding a work. Is attached. A camera Y for measuring the shape of the work is also attached to the tip of the second arm 2. The parts feeder unit A is composed of a storage section 6 for storing a large number of works and a discharge section 7 having a light source below. The positioning unit B is composed of a work placing part 8 and a cylinder 9 for pressing the work against the gripping device 5 for positioning. The measuring unit C is composed of a camera 10 in the X-axis direction and a camera 11 in the Y-axis direction. The both end surfaces and the tip surface cutting unit D is composed of a motor 12 and a processing member 14 having a processing tool 13 formed on the peripheral edge thereof, which are connected via a pulley 15 and a belt 16. The upper and lower cutting unit E is composed of a motor 17 and a processing member 19 having a processing tool 18 formed on the peripheral edge thereof, like the above-mentioned both end surfaces and the tip surface cutting unit D, and they are a pulley 20 and a belt 21. The vertical cutting unit E is provided with the processing members 19 at two positions in the vertical direction. The tip-end slanting cutting unit F is composed of a motor 22 and a processing member 24 having a processing tool 23 formed on the peripheral edge thereof, similarly to the both end surfaces and the tip surface cutting unit D, which are a pulley 25 and a belt 26. The diagonal tip cutting unit F is obliquely attached to the base X. The slitting unit G is composed of a motor 27 and a disc-shaped cutter 28, which are connected via a pulley 29 and a belt 30. In addition, the both end surfaces, the tip surface cutting unit D, the vertical cutting unit E, the tip oblique cutting unit F,
The slitting unit G is fixed to the moving base 31,
It is adapted to move back and forth with respect to the robot R. The moving base 31 is slidably attached to the guide member 32. The discharge unit H is composed of a discharge chute 33 for a good product and a discharge chute 34 for a defective product.

The holding device 4 of the robot R, whose operation will be described, stops at the discharge portion 7 of the parts feeder unit A. Here, the camera Y recognizes one of the works and its angle. Then, the holding device 4 descends to adsorb one of the works. Then, the holding device 4 rises. Next, the holding device 4 moves to the positioning unit B, and in the process of this movement, the holding device 4 rotates to fix the work in a substantially accurate direction. Then, the work is placed on the work placing section 8. Next, the gripping device 5 is positioned on the work placing portion 8,
The work is pressed against the gripping portion by the cylinder 9, and the gripping device 5 firmly grips the work. next,
The gripping device 5 moves to the measuring unit C while gripping the work, and the camera 10 in the X-axis direction and the camera 11 in the Y-axis direction are moved.
The posture and shape of the workpiece are measured by and. When it is determined that the work is a good product, the gripping device 5 moves to the both end surface and tip surface cutting unit D which is the first processing device. In both end surfaces and the front end surface cutting unit D, the work is processed by moving the moving base 31 back and forth. next,
The gripping device 5 moves to the vertical cutting unit E, and in this process, the gripping member 5 moves up and down to be processed by the processing member 19. Next, the gripping member 5 is moved to the tip end oblique cutting unit F, and the work is processed. This is a step of forming an inclined surface at the tip of the work. Next, the gripping device 5 moves to the slitting unit G. Here, as in the case of the above-mentioned both end surface and tip surface cutting unit D, the moving base 31 moves back and forth to form a cut in the work.

After the above processing is completed, the gripping device 5 moves to the measuring unit C again. Here, if the shape of the work is measured and the work is good, the work is discharged to the good discharge chute 33 of the discharge unit H, and conversely, if the work is defective, the work is discharged to the bad discharge chute 34. It This completes one cycle. The present invention can be applied to the processing of jewelry or the like as well as the pen tip.

[0008]

According to the present invention, the robot having the function of rotating the work position monitoring means and the work holding device on the work discharge part to the normal position, and the work holding device by the rotation of the robot. A means for placing the work piece in a normal state, a means for holding the work piece by a robot gripping device, and a plurality of processing mechanisms for sequentially processing predetermined portions of the work piece. Since they are processed one after another, they can be processed automatically without manual work, so that the processing of a pen tip or jewelry can be processed efficiently and accurately.

[Brief description of drawings]

FIG. 1 is a plan view of one embodiment of the present invention.

FIG. 2 is a front view of FIG.

3 is a side view of the robot of FIG. 1 and side views of various processing machines.

[Explanation of symbols]

 X Base R Robot A Parts feeder unit B Positioning unit C Measuring unit D Both end faces, tip surface cutting unit E Vertical cutting unit F Diagonal tip cutting unit G Glue unit H Discharge unit 1 1st arm 2 2nd arm 3 Adsorption Tool 4 Holding device 5 Grasping device 7 Ejection part 8 Work placement part 10 X-axis direction camera 11 Y-axis direction camera 12 Motor 13 Processing tool 14 Processing member 17 Motor 18 Processing tool 19 Processing member 22 Motor 23 Processing tool 24 Processing member 27 Motor 28 Disc-shaped cutter 31 Moving base 33 Good product discharge chute 24 Defective product discharge chute

Claims (8)

[Claims] 1. A robot having a function of rotating a work position monitoring means and a work holding device on a work discharge part to a normal position, and a normal state of the work holding device on the work placing part by the rotation of the robot. A means for placing the work, a means for gripping the work by a gripping device of the robot, and a plurality of processing mechanisms for sequentially processing a predetermined portion of the work are provided, and the work is sequentially processed by relative motion of the robot and each processing mechanism. Automatic processing device for work by robots. 2. The automatic machining device for a workpiece by a robot, wherein the machining mechanism according to claim 1 comprises a polishing mechanism and a cutting mechanism. 3. The automatic machining apparatus for a work by a robot, wherein the machining mechanism according to claim 1 is a machining mechanism by rotation. 4. The automatic workpiece processing device by a robot, wherein the workpiece holding device according to claim 1 is a suction device. 5. An automatic workpiece processing apparatus by a robot, wherein relative movement between the robot according to claim 1 and each processing mechanism is performed by vertical movement of the robot and back and forth movement of each processing mechanism. 6. An automatic workpiece processing apparatus by a robot, wherein the relative motion between the robot according to claim 1 and each processing mechanism is performed only by the motion of the robot. 7. The work position monitoring means according to claim 1,
A robot automatic work processing device characterized by being a camera. 8. The work position monitoring means according to claim 1,
An automatic machining device for a workpiece by a robot, which is a contact type or non-contact type sensor.