JP2001105362A - Defective detecting robot and method of detecting defective by robot - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a defective detecting robot and a method of detecting defectives by a robot that both examine whether a cylindrical product is good or bad by the quality of its outside diameter. SOLUTION: This defective detecting robot 1 uses robot hands 2 to pick up or grip a plurality of identical cylindrical products 3 stored in order in a storage tray one by one from the storage tray and transfers them automatically. While the robot hands 2 automatically transfers each cylindrical product 3, a length-measuring-sensor light projecting part 4 emits laser light to a length- measuring-sensor light receiving part 5 to measure the outside diameter of the product 3 kept between both light projecting and receiving parts 4 and 5 mounted on the robot hands 2. The light receiving part 5 outputs the quantity of received light decreased or partly blocked by the product 3, as a measured value, into a robot controller, which carries out a defective detecting process wherein a quantity of received laser light exceeding or falling below a maximal or minimal set value of the quantity of received light through a good product 3 of a preset outside diameter is a determinant of a defective.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a defective product detection robot and a defective product detection method using the robot. More specifically, the present invention relates to a defective product detection robot for detecting good / defective outer diameter of a cylindrical product and a defective product detection robot. It relates to a non-defective detection method.

[0002]

2. Description of the Related Art Conventionally, in the processing of a core shaft such as a photosensitive drum or a fixing roller used in an image forming apparatus such as a facsimile apparatus, a printer, and a copying apparatus using an electrophotographic method, it is necessary to automate a processing step. In addition, a storage basket for storing a plurality of core shafts, a transfer robot, and the like are used.

A defective product detection device has been proposed which detects a predetermined length of a core shaft by a sensor driven during handling work by the transfer robot and detects defective products (Japanese Patent Laid-Open No. 9-248779). reference).

This defective product detection device detects a defective product length when a plurality of identical products stored in a storage basket are automatically transported by a robot hand of a robot that transports the products one by one. A sensor provided in the robot hand and driven at the time of handling operation by the robot hand; and a detection time set value in which a predetermined length of the product is detected by the sensor and a detection time by the sensor is set in advance. A programmable controller that outputs a defective product detection signal when the detection time of the sensor exceeds an upper limit value or a lower limit value of the detection time set value.

[0005]

However, in such a conventional defective product detection device, when the same product is automatically transported by a robot hand which transports the same product one by one, the device is provided on the robot hand. The sensor detects a predetermined length of the product, and if the detection time exceeds the upper limit or lower limit of the detection time set value, a defective product detection signal is output. In order to measure, it is necessary to move the robot at a low speed, and there is a problem that the processing speed is reduced.

Therefore, the invention according to claim 1 provides a method for automatically transporting a plurality of cylindrical products stored in a storage tray while automatically gripping the same products one by one with a robot hand. The outer diameter of the product is measured with a sensor attached to the robot hand, and if the measured value of the sensor exceeds the preset upper or lower limit of the outer diameter of a product with a good outer diameter, it is treated as defective. By performing the defective product detection process, the quality of the outer diameter of the product is determined while performing the product transport operation, and the defective product is accurately detected without lowering the transport speed of the robot and the next process device An object of the present invention is to provide a defective product detection robot capable of preventing interruption of the supply of a product to a product and preventing the occurrence of a trouble due to a defective outer diameter of the product in the next process.

According to a second aspect of the present invention, when a plurality of identical cylindrical products stored in a storage tray are gripped one by one by a robot hand and automatically transported, the robot hand is transported while transferring the products. The outer diameter of a product is measured by a sensor attached to the product, and if the measured value of the sensor exceeds a preset upper or lower limit of the outer diameter of a product having a good outer diameter, the product is not treated as defective. By performing the non-defective product detection process, the quality of the outer diameter of the product is determined while performing the product transfer operation, and the defective product is accurately detected without lowering the transfer speed of the robot, and the product is transferred to the next process device. It is an object of the present invention to provide a method of detecting a defective product by a robot which can prevent interruption of product introduction and prevent a trouble due to a defective outer diameter of a product in a next process.

According to a third aspect of the present invention, there is provided a length measuring sensor light emitting portion and a length measuring sensor light receiving portion attached to the robot hand in a state where the sensors face each other with the product held by the robot hand interposed therebetween. , The light emitted from the light source of the length measuring sensor light projecting part is irradiated as parallel light by the lens toward the length measuring sensor light receiving part, and the light partially blocked by the product is sent to the light sensor by the lens of the length measuring sensor light receiving part. The light is condensed and photoelectrically converted by an optical sensor, and the defective product is detected using the detection result of the optical sensor as a measured value. An inexpensive defective product detection robot and a defective product detection method using a robot that can interrupt the introduction of a product into a process device and prevent a trouble due to a defective outer diameter of the product in the next process before it occurs. It is an object of the present invention to provide.

According to a fourth aspect of the present invention, there is provided a length measuring sensor light emitting portion and a length measuring sensor light receiving portion attached to the robot hand in a state where the sensors face each other with the product held by the robot hand therebetween. The light emitted from the light source of the length measuring sensor light projecting unit is illuminated by a lens as parallel light in the direction of the length measuring sensor light receiving unit. It is assumed that light is received and photoelectrically converted, and this CCD detection result is used as a measured value to perform defective product detection processing, thereby detecting product defects more accurately and interrupting the introduction of products to the next process equipment. It is an object of the present invention to provide a defective product detection robot and a defective product detection method by the robot that can prevent the occurrence of a trouble due to a defective outer diameter of a product in the next process beforehand.

According to a fifth aspect of the present invention, there is provided a length measuring sensor light emitting portion and a length measuring sensor light receiving portion attached to the robot hand in a state where the sensors face each other with the product held by the robot hand interposed therebetween. The light emitted from the light source of the length measurement sensor is scanned in a fixed direction by a rotating mirror, illuminated as parallel light by a lens in the direction of the length measurement sensor, and the light partially shielded by the product is measured. It is assumed that the light is condensed on the optical sensor by the lens of the sensor light receiving unit and the photoelectric conversion is performed by the optical sensor. A defective product detection robot and a robot that can detect a defect and can interrupt the introduction of the product into the next process device, thereby preventing a trouble due to a defective outer diameter of the product in the next process. And its object is to provide a defect detection method.

According to a sixth aspect of the present invention, when a plurality of identical cylindrical products stored in a storage tray are gripped one by one by a robot hand and automatically transported, the robot hand is transported while transferring the products. If the measured value of the sensor exceeds the preset upper or lower limit value of the edge position of a product having a good outer diameter, it is determined that the product is not processed as a defective product. By performing the non-defective product detection process, the quality of the outer diameter of the product is determined while performing the product transfer operation, and the defective product is accurately detected without lowering the transfer speed of the robot, and the product is transferred to the next process device. An object of the present invention is to provide a defective product detection robot capable of preventing interruption of product introduction and preventing a trouble due to a defective outer diameter of a product in the next process. .

According to a seventh aspect of the present invention, when a plurality of identical cylindrical products stored in a storage tray are gripped one by one by a robot hand and automatically transported, the robot hand is transported while the products are being transported. If the measured value of the sensor exceeds the preset upper or lower limit value of the edge position of a product having a good outer diameter, it is determined that the product is not processed as a defective product. By performing the non-defective product detection process, the quality of the outer diameter of the product is determined while performing the product transfer operation, and the defective product is accurately detected without lowering the transfer speed of the robot, and the product is transferred to the next process device. An object of the present invention is to provide a method for detecting a defective product by a robot, which can prevent interruption of product introduction and prevent a trouble due to a defective outer diameter of the product in the next process. It is set to.

According to an eighth aspect of the present invention, a sensor is attached to the robot hand in a state in which the sensor is opposed to the inside and outside of the cylindrical product gripped by the robot hand so that the edge position of the product can be detected. Equipped with a length sensor light emitting section and a length measuring sensor light receiving section, the light emitted from the light source of the length measuring sensor light emitting section is irradiated as parallel light by a lens toward the length measuring sensor light receiving section, and partially shielded by the product. The light collected by the lens of the length measurement sensor is condensed on the optical sensor, and photoelectrically converted by the optical sensor. In addition to easy and accurate detection of product defects, it is possible to interrupt the introduction of products into the next process equipment, and to prevent the occurrence of troubles due to product outer diameter defects in the next process. Good product And its object is to provide a defect detection method according to the robot and the robot out.

According to a ninth aspect of the present invention, a sensor is attached to the robot hand so that the edge position of the product can be detected while facing the inside and outside of the cylindrical product held by the robot hand. Equipped with a length sensor light emitting section and a length measuring sensor light receiving section, the light emitted from the light source of the length measuring sensor light emitting section is irradiated as parallel light by a lens toward the length measuring sensor light receiving section, and partially shielded by the product. The parallel light is received by the one-dimensional CCD of the length measuring sensor light receiving unit and photoelectrically converted, and the defective product is detected by using the detection result of the CCD as a measured value to more accurately detect the defective product. Defective product detection robots and robots that can detect and interrupt the introduction of products into the next process equipment, thereby preventing the occurrence of trouble due to defective outer diameter of products in the next process And its object is to provide a good detection method.

According to a tenth aspect of the present invention, the sensor is attached to the robot hand such that the edge position of the product can be detected while facing the inside and outside of the cylindrical product held by the robot hand. It has a long sensor light emitting section and a length measuring sensor light receiving section, and scans light emitted from the light source of the length measuring sensor light emitting section in a fixed direction with a rotating mirror, and converts the light into parallel light with a lens toward the length measuring sensor light receiving section. Irradiation, the light partially blocked by the product is condensed on the optical sensor by the lens of the length measuring sensor light receiving unit, and the photoelectric conversion is performed by the optical sensor. By performing a non-defective product detection process, it is possible to detect product failures with higher accuracy, and to interrupt the introduction of products to the next process equipment, thereby preventing the occurrence of troubles due to defective outer diameter of products in the next process. You And its object is to provide a defect detection method according to defect detection robot and a robot that can.

[0016]

According to a first aspect of the present invention, there is provided a defective product detection robot for automatically transporting a plurality of cylindrical identical products stored in a storage tray one by one by a robot hand. A defective product detection robot that detects a defect in the outer diameter of the product, wherein the robot hand includes:
A sensor for measuring the outer diameter of the product is provided, and while the product is being transported, the outer diameter of the product is measured by the sensor. The above object is achieved by performing a defective product detection process in which a defective product is processed when the value exceeds a set upper limit or lower limit.

According to the above arrangement, when a plurality of identical cylindrical products stored in the storage tray are gripped one by one by the robot hand and automatically transported, the products are mounted on the robot hand while being transported. Detect defective products by measuring the outer diameter of the product with the specified sensor, and if the measured value of the sensor exceeds the preset upper or lower limit of the outer diameter of the product with a good outer diameter, treat it as defective. Processing,
It is possible to judge whether the outer diameter of the product is good or not while performing the product transfer operation, accurately detect defective products without reducing the transfer speed of the robot, and send the product to the next process equipment. The interruption of the charging can be prevented, and the occurrence of trouble due to the defective outer diameter of the product in the next process can be prevented.

According to a second aspect of the present invention, there is provided a method for detecting a defective product by a robot, wherein the plurality of products having the same cylindrical shape stored in the storage tray are automatically conveyed while being gripped one by one by a robot hand. A method of detecting a defective product by a robot that detects a defect in the outer diameter of the product, wherein the robot hand grasps the product and transports the product, and the outer diameter of the product is detected by a sensor attached to the robot hand. The above object has been achieved by performing a defective product detection process in which the measured value of the sensor exceeds the upper limit value or the lower limit value of the outer diameter of a product having a good outer diameter and is processed as a defective product. .

According to the above construction, when a plurality of identical cylindrical products stored in the storage tray are gripped one by one by the robot hand and automatically transported, the products are attached to the robot hand while being transported. Detect defective products by measuring the outer diameter of the product with the specified sensor, and if the measured value of the sensor exceeds the preset upper or lower limit of the outer diameter of the product with a good outer diameter, treat it as defective. Processing,
It is possible to judge whether the outer diameter of the product is good or not while performing the product transfer operation, accurately detect defective products without reducing the transfer speed of the robot, and send the product to the next process equipment. The interruption of the charging can be prevented, and the occurrence of trouble due to the defective outer diameter of the product in the next process can be prevented.

In each of the above cases, for example, as described in claim 3, the sensor is a length measuring sensor attached to the robot hand in a state in which the sensor is opposed to the product held by the robot hand. A light emitting unit and a length measuring sensor light receiving unit, wherein the length measuring sensor light emitting unit emits a predetermined light and a light emitted from the light source as parallel light in the direction of the length measuring sensor light receiving unit. A lens for irradiating, the length measuring sensor light receiving unit detects the light and photoelectrically converts the light, and the light irradiated from the length measuring sensor light projecting unit and partially blocked by the product is converted to the light. A lens that focuses light on a sensor, and performs a defective product detection process on the product using the detection result of the optical sensor as the measurement value.

According to the above arrangement, the sensor is provided with a length measuring sensor light emitting portion and a length measuring sensor light receiving portion attached to the robot hand in a state where the sensors face each other with the product held by the robot hand therebetween. The light emitted from the light source of the long sensor light projecting part is irradiated as parallel light by the lens in the direction of the light receiving part of the length measuring sensor, and the light partially blocked by the product is focused on the light sensor by the lens of the light receiving part of the length measuring sensor. Then, it is assumed that the photoelectric conversion is performed by the optical sensor, and the defective product detection processing of the product is performed using the detection result of the optical sensor as a measured value, so that the defective product can be accurately detected easily and inexpensively. It is possible to interrupt the supply of the product to the process apparatus, and to prevent the occurrence of a trouble due to a defective outer diameter of the product in the next process at low cost.

Further, for example, as set forth in claim 4, the sensor is a length measuring sensor light emitting unit attached to the robot hand in a state where the sensor faces each other with the product held by the robot hand interposed therebetween. A light source that emits predetermined light, and a lens that irradiates the light emitted from the light source as parallel light toward the length measurement sensor light receiving unit. The length measuring sensor light receiving unit includes a one-dimensional CCD that receives parallel light irradiated from the length measuring sensor light emitting unit and partially shielded by the product and photoelectrically converts the parallel light. A defective product detection process of the product may be performed using a detection result as the measurement value.

According to the above arrangement, the sensor is provided with the length measuring sensor light emitting portion and the length measuring sensor light receiving portion attached to the robot hand in a state where the sensors face each other with the product held by the robot hand therebetween. The light emitted from the light source of the long sensor light projecting unit is irradiated by a lens as parallel light toward the length measuring sensor light receiving unit, and the parallel light partially shielded by the product is received by the one-dimensional CCD of the length measuring sensor light receiving unit. Since the CCD detection result is used as the measured value to perform the defective product detection processing, the defective product can be detected more accurately, and the input of the product to the next process device is interrupted. By doing so, it is possible to prevent the occurrence of a trouble due to a defective outer diameter of the product in the next step.

Further, for example, as described in claim 5, the sensor is a length measuring sensor light emitting unit attached to the robot hand in a state in which the sensor is opposed to the product held by the robot hand. And a length measuring sensor light receiving unit, wherein the length measuring sensor light emitting unit is configured to scan a light source that emits predetermined light, a rotating mirror that scans light emitted from the light source in a certain direction, and a scanning mirror that is rotated by the rotating mirror. A lens that irradiates the measured light as parallel light in the direction of the length measurement sensor light receiving unit, wherein the length measurement sensor light receiving unit detects the light and performs photoelectric conversion, and the length measurement sensor light emitting unit. And a lens for condensing light partially shielded by the product from the product onto the optical sensor, and performing a defective product detection process of the product using the detection result of the optical sensor as the measurement value. Is also good.

According to the above configuration, the sensor is provided with the length measuring sensor light emitting portion and the length measuring sensor light receiving portion attached to the robot hand in a state where the sensors face each other with the product held by the robot hand therebetween. The light emitted from the light source of the length sensor light emitter is scanned in a fixed direction by a rotating mirror, illuminated as parallel light by a lens in the direction of the length sensor light receiver, and the light partially blocked by the product is received by the length sensor It is assumed that the light is condensed on the optical sensor by the lens of the part and the photoelectric conversion is performed by the optical sensor, and the detection result of this optical sensor is used as the measurement value to perform the defective product detection processing of the product, so that the product defect is detected more accurately In addition to this, it is possible to interrupt the supply of the product to the next process apparatus, and it is possible to prevent the occurrence of trouble due to a defective outer diameter of the product in the next process.

According to a sixth aspect of the present invention, there is provided a robot for detecting defective products, wherein when a plurality of the same cylindrical products stored in a storage tray are gripped one by one by a robot hand and automatically conveyed, the products are separated from each other. A defective product detection robot that detects a defect in diameter, wherein the robot hand includes a sensor that measures an edge position of the product, and measures the edge position of the product with the sensor while transporting the product. hand,
The above object is achieved by performing a defective product detection process in which when the measured value of the sensor exceeds a preset upper limit or lower limit of the edge position of a product having a good outer diameter, the product is processed as a defective product.

According to the above configuration, when a plurality of cylindrical products stored in the storage tray are gripped one by one by the robot hand and automatically transported, the products are mounted on the robot hand while being transported. Defective product detection that measures the edge position of the product with the specified sensor and treats the product as a defective product when the measured value of the sensor exceeds a preset upper limit or lower limit of the edge position of a product having a good outer diameter. Since the process is performed, the quality of the outer diameter of the product can be determined while the product is being transported, and the defective product can be accurately detected without reducing the transport speed of the robot, and the next process can be performed. It is possible to prevent interruption of the introduction of the product into the apparatus, and to prevent a trouble due to a defective outer diameter of the product in the next process.

According to a seventh aspect of the present invention, in the method for detecting a defective product by the robot, the plurality of the same cylindrical products stored in the storage tray are automatically conveyed by grasping one by one with a robot hand. A method of detecting a defective product by a robot that detects a defect in the outer diameter of the product, wherein the robot hand grips the product and transports the product, and detects an edge position of the product by a sensor attached to the robot hand. The above-mentioned object is achieved by performing a defective product detection process in which the measured value of the sensor exceeds a preset upper limit value or lower limit value of the edge position of a product having a good outer diameter and is processed as a defective product. Have achieved.

According to the above arrangement, when a plurality of identical cylindrical products stored in the storage tray are gripped one by one by the robot hand and automatically transported, the products are mounted on the robot hand while being transported. Defective product detection that measures the edge position of the product with the specified sensor and treats the product as a defective product when the measured value of the sensor exceeds a preset upper limit or lower limit of the edge position of a product having a good outer diameter. Since the process is performed, the quality of the outer diameter of the product can be determined while the product is being transported, and the defective product can be accurately detected without reducing the transport speed of the robot, and the next process can be performed. It is possible to prevent interruption of the introduction of the product into the apparatus, and to prevent a trouble due to a defective outer diameter of the product in the next process.

In the case of claim 6 and claim 7, for example, as described in claim 8, the sensor is opposed to the inside and the outside of the cylindrical product held by the robot hand. A length measuring sensor light emitting unit and a length measuring sensor light receiving unit attached to the robot hand in a state capable of detecting an edge position of the product, wherein the length measuring sensor light emitting unit emits a predetermined light; And a lens that irradiates the light emitted from the light source as parallel light in the direction of the length measurement sensor light-receiving unit, the length measurement sensor light-receiving unit detects light, and photoelectrically converts the light, A lens for condensing the light radiated from the length measuring sensor light projecting unit and partially shielded by the product to the optical sensor, and detecting a defective product of the product by using a detection result of the optical sensor as the measurement value. To do Good.

According to the above configuration, the sensor is attached to the robot hand so that the edge position of the product can be detected by opposing the inside and the outside of the cylindrical product held by the robot hand. It has a light emitting part and a length measuring sensor light receiving part, and irradiates the light emitted from the light source of the length measuring sensor light emitting part as parallel light toward the length measuring sensor light receiving part with a lens, and the light partially shielded by the product. Is condensed on the optical sensor by the lens of the length measuring sensor light receiving unit and photoelectrically converted by the optical sensor, and the defective product detection process of the product is performed using the detection result of this optical sensor as the measured value, so it is inexpensive and easy In addition to being able to accurately detect product defects, it is also possible to interrupt the introduction of the product into the next process device, and to prevent the occurrence of trouble due to a defective outer diameter of the product in the next process at low cost and in advance.

In addition, for example, the sensor can detect an edge position of the cylindrical product gripped by the robot hand by facing the inside and the outside of the product. A length measuring sensor light emitting unit and a length measuring sensor light receiving unit attached to the robot hand in a state, wherein the length measuring sensor light emitting unit includes a light source that emits predetermined light, and light emitted from the light source. A lens that irradiates the light as parallel light in the direction of the length measuring sensor light receiving unit, wherein the length measuring sensor light receiving unit receives the parallel light irradiated from the length measuring sensor light emitting unit and partially shielded by the product. A one-dimensional CCD that performs photoelectric conversion by performing the above-described process, and performs a defective product detection process of the product using the detection result of the CCD as the measurement value.

According to the above configuration, the sensor is attached to the robot hand in a state where the edge position of the product can be detected while facing the inside and outside of the cylindrical product held by the robot hand. A light emitting section and a length measuring sensor light receiving section are provided, and the light emitted from the light source of the length measuring sensor light emitting section is irradiated as parallel light by a lens toward the length measuring sensor light receiving section, and the parallel light partially shielded by the product. It is assumed that the light is received by a one-dimensional CCD of a length measuring sensor light receiving unit and photoelectrically converted.
Since the defective product detection process is performed using the detection result of the CD as a measured value, the defective product can be detected with higher accuracy, and the introduction of the product to the next process device can be interrupted, so that the product in the next process can be stopped. The occurrence of a trouble due to the defective outer diameter can be prevented beforehand.

Further, for example, the sensor can detect an edge position of the cylindrical product gripped by the robot hand by opposing the inside and the outside of the product. A length measuring sensor light emitting unit and a length measuring sensor light receiving unit attached to the robot hand in a state, wherein the length measuring sensor light emitting unit includes a light source that emits predetermined light, and light emitted from the light source. A rotating mirror that scans in a fixed direction, and a lens that irradiates the light scanned by the rotating mirror as parallel light in the direction of the length measurement sensor light receiving unit, wherein the length measurement sensor light receiving unit detects light. An optical sensor for photoelectrically converting the light, and a lens for condensing light, which is emitted from the light emitting section of the length measuring sensor and partially shielded by the product, on the optical sensor, and measures the detection result of the optical sensor. Value as above Defect detection process may perform a.

According to the above construction, the sensor is attached to the robot hand in such a manner that the edge position of the product can be detected by opposing the inside and the outside of the cylindrical product held by the robot hand. A light emitting unit and a length measuring sensor light receiving unit are provided, and the light emitted from the light source of the length measuring sensor light emitting unit is scanned in a fixed direction by a rotating mirror, and is irradiated as parallel light by a lens toward the length measuring sensor light receiving unit. The light partially blocked by the product is condensed on the optical sensor by the lens of the length measuring sensor light receiving section, and photoelectrically converted by this optical sensor. The detection result of the optical sensor is used as a measurement value to detect defective products. Performs processing so that product defects can be detected with even higher accuracy, and the interruption of the introduction of products to the next process equipment can be interrupted, thereby preventing the occurrence of trouble due to a defective outer diameter of the product in the next process You It is possible.

[0036]

Preferred embodiments of the present invention will be described below in detail with reference to the accompanying drawings. It should be noted that the embodiments described below are preferred embodiments of the present invention, and therefore, various technically preferable limitations are added. However, the scope of the present invention is not limited to the following description. The embodiments are not limited to these embodiments unless otherwise specified.

FIGS. 1 to 3 are diagrams showing a first embodiment of a defective product detection robot and a defective product detection method using the robot according to the present invention. And claim 3.

FIG. 1 is a top view of a defective product detection robot 1 to which a first embodiment of a defective product detection robot and a defective product detection method by the robot according to the present invention is applied, and FIG.
FIG. 2 is a side view of the defective product detection robot of FIG. 1.

In FIG. 1 and FIG. 2, a defective product detection robot 1 has the same cylindrical product 3 in which a plurality of robot hands 2 attached to a robot body (not shown) are neatly stored in a storage tray (not shown). Each of them is gripped one by one and is automatically conveyed to a moving place (not shown). The defective product detection robot 1 inserts the robot hand 2 into the cylindrical product 3 to hold and transport the product 3.

The robot hand 2 is provided with a length measuring sensor light projecting unit 4 and a length measuring sensor light receiving unit 5 as sensors at positions opposite to each other with the hand tip holding the product 3 interposed therebetween. Sensor light emitting unit 4 and length measuring sensor light receiving unit 5
Is configured as shown in FIG.

That is, the length measuring sensor light projecting section 4 comprises a laser light source 11 for emitting laser light,
12 that converts laser light emitted from the lens into parallel light
The laser light emitted from the laser light source 11 is converted into parallel light by a lens 12 and is irradiated toward the length measuring sensor light receiving unit 5.

The length measuring sensor light receiving section 5 includes a lens 13 for collecting parallel laser light, and a photodiode 1 as an optical sensor for receiving the laser light collected by the lens 13.
The parallel light emitted from the length measuring sensor light projecting unit 4 is condensed on the photodiode 14 by the lens 13 and detected by the photodiode 14 for photoelectric conversion. The photodiode 14 of the length measuring sensor light receiving section 5 is connected to a robot controller (not shown) and outputs a detection result to the robot controller.

Next, the operation of the present embodiment will be described. The defective product detection robot 1 removes the same cylindrical product 3 that is neatly stored in the storage tray by the robot hand 2.
, One by one from the storage tray by grasping it and taking it out, and automatically carrying it to a moving place (not shown).

The defective product detection robot 1 is attached to the robot hand 2 while transporting the product 3 when the robot hand 2 grips the cylindrical products 3 one by one from the storage tray and automatically transports them to the moving place. The outside diameter of the product 3 is measured by the length measuring sensor light emitting section 4 and the length measuring sensor light receiving section 5 to perform a defective product inspection.

That is, the defective product detection robot 1 emits the laser light emitted from the laser light source 11 of the length measuring sensor light projecting unit 4 and made parallel by the lens 12 to the product 3 held by the robot hand 2. The light is irradiated toward the length measuring sensor light receiving unit 5, and the length measuring sensor light emitting unit 4 and the length measuring sensor light receiving unit 5 are irradiated.
The product 3 gripped by the robot hand 2 exists between them.

Accordingly, a part of the laser light emitted from the length measuring sensor light projecting part 4 toward the length measuring sensor light receiving part 5 is shielded by the product 3, and the remaining light shielded by the length measuring sensor 5 The light is irradiated to the light receiving unit 5. The length-measuring sensor light-receiving section 5 converts the incident parallel laser light into the lens 1.
At 3, the light is focused on the photodiode 14 and detected by the photodiode 14. As described above, the laser beam condensed on the photodiode 14 is shielded by the product 3 and the amount of received light is reduced accordingly, and the photodiode 14 detects the result of detection of the incident laser beam. The measured value is output to a robot controller (not shown).

The robot controller measures the outer diameter of the product 3 based on the reduction amount of the laser light, and determines whether the outer diameter of the product 3 is good or defective. Specifically, the robot controller sets the upper limit and the lower limit of the amount of received light of the non-defective product 3 having a predetermined outer diameter by using a measured value that is the amount of received light as a detection result input from the length measuring sensor light receiving unit 5. If the measured value exceeds the upper limit set value or the lower limit set value of the good product 3 in comparison with the value, it is determined that the product is defective, and a defective product detection process of outputting a defective product signal is performed.

As described above, the defective product detection robot 1 and the defective product detection method using the defective product detection robot 1 according to the present embodiment employ the cylindrical same products 3 stored in the storage tray one by one. When automatically transporting the product 3 while holding it with the robot hand 2, the product 3 is transported while the length measuring sensor light-emitting unit 4 and the length measuring sensor light-receiving unit 5, which are sensors attached to the robot hand 2, transfer the product 3. Measure the outer diameter,
When the measured value of the sensor exceeds a predetermined upper limit or lower limit of the outer diameter of a product having a good outer diameter, a defective product detection process is performed to process the product as a defective product.

Therefore, it is possible to judge whether the outer diameter of the product 3 is good or not while performing the transport operation of the product 3, and to accurately detect the defective product without lowering the transport speed of the defective product detection robot 1. In addition, the interruption of the supply of the product 3 to the next process apparatus can be prevented, and the occurrence of a trouble due to a defective outer diameter of the product 3 in the next process can be prevented.

Further, the defective product detection robot 1 according to the present embodiment
A length measuring sensor light projecting unit 4 and a length measuring sensor light receiving unit 5 attached to the robot hand 2 in a state where they face each other with the light interposed therebetween. At 12, the light is irradiated as parallel light in the direction of the length measuring sensor light-receiving unit 5, and the light partially shielded by the product 3 is irradiated to the length measuring sensor light-receiving unit 5.
It is assumed that the light is condensed on the photodiode 14 by the lens 13 and is photoelectrically converted by the photodiode 14, and the defective result of the product 3 is detected using the detection result of the photodiode 14 as a measured value.

Therefore, the defect of the product 3 can be accurately detected easily and inexpensively, and the supply of the product 3 to the next process apparatus can be interrupted. Generation can be prevented at low cost.

FIG. 4 is a view showing a second embodiment of the defective product detection robot and the defective product detection method by the robot according to the present invention, and this embodiment corresponds to claim 4.

The present embodiment is applied to a defective product detection robot similar to the defective product detection robot of the first embodiment. Description will be made by using the reference numerals used in the description of the first embodiment as they are.

In FIG. 4, the defective product detection robot 20
As described above, the robot hand 2 attached to the robot body (not shown) grasps one by one the cylindrical products 3 which are neatly stored in the storage tray (not shown), and moves to a moving place (not shown). Convey automatically. The defective product detection robot 20 inserts the robot hand 2 into the cylindrical product 3 to grip and transport the product 3.

The robot hand 2 is provided with a length measuring sensor light emitting section 4 and a length measuring sensor light receiving section 21 at positions opposed to each other with the end of the hand holding the product 3 therebetween. The unit 4 has the same configuration as that of the first embodiment.

The length measuring sensor light receiving section 21 is a CCD for receiving parallel laser light emitted from the length measuring sensor light projecting section 4.
(Charge Coupled Device) A line sensor 22 is provided, and the CCD line sensor 22 has a length sufficient to measure the outer diameter of the product 3 held by the robot hand 2.

Defective product detection robot 20 of this embodiment
The robot hand 2 grips and takes out the same cylindrical products 3 which are neatly stored in the storage tray one by one from the storage tray and automatically conveys them to a moving location (not shown).

When the defective product detection robot 20 grasps the cylindrical products 3 one by one from the storage tray by the robot hand 2 and automatically conveys the products 3 to the moving place, the length measuring sensor mounted on the robot hand 2 emits light. The defective part inspection is performed by measuring the outer diameter of the product 3, particularly, the length of the product 3 by the unit 4 and the length measuring sensor light receiving unit 21.

That is, the defective product detection robot 20 emits the laser light emitted from the laser light source 11 of the length measuring sensor light projecting unit 4 and made parallel by the lens 12 to the product 3 held by the robot hand 2. The light is emitted toward the length measuring sensor light receiving unit 21, and the product 3 gripped by the robot hand 2 exists between the length measuring sensor light emitting unit 4 and the length measuring sensor light receiving unit 21.

Therefore, the laser beam emitted from the length measuring sensor light projecting section 4 toward the length measuring sensor light receiving section 21 is:
A part thereof is shielded by the product 3, and the remaining shielded laser light is irradiated to the length measuring sensor light receiving unit 21. The length measuring sensor light receiving section 21 receives the incident parallel laser light as it is by the CCD line sensor 22 and detects the outer diameter, particularly, the length of the product 3. That is, the laser beam irradiated to the CCD line sensor 22 is shielded by the product 3 as described above, and the CCD line sensor 22 detects the length of the light shielded by the product 3 and outputs the detection result to a robot (not shown). Output to controller.

The robot controller measures the outer diameter of the product 3 based on the length of the laser beam that has been shielded, and determines whether the outer diameter of the product 3 is good or not. Specifically, the robot controller compares the measured value of the light-shielding length, which is the detection result input from the length-measuring sensor light-receiving unit 21, with the upper and lower limits of the light-shielding length of the product 3 having a good outer diameter set in advance. If the measured value exceeds the upper limit set value or lower limit set value of the non-defective product, it is determined that the product is defective, and a defective product detection process of outputting a defective signal is performed.

As described above, the defective product detection robot 20 of the present embodiment projects the length measuring sensor attached to the robot hand 2 in a state where the sensors face each other with the product 3 held by the robot hand 2 interposed therebetween. A light unit 4 and a length measuring sensor light receiving unit 21 are provided. The light emitted from the light source 11 of the length measuring sensor light projecting unit 4 is irradiated as parallel light by a lens 12 toward the length measuring sensor light receiving unit 21, and the product 3 It is assumed that the partially shielded parallel light is received by the one-dimensional CCD 22 of the length measuring sensor light receiving unit 21 and photoelectrically converted, and a defective product detection process of the product 3 is performed using the detection result of the CCD 22 as a measured value.

Therefore, the defect of the product 3 can be detected with higher accuracy based on the length of the product 3, and the supply of the product 3 to the next process apparatus can be interrupted.
It is possible to prevent the occurrence of a trouble due to a defective outer diameter of the product 3 in the next step.

FIG. 5 is a view showing a third embodiment of a defective product detection robot and a defective product detection method by the robot according to the present invention, and this embodiment corresponds to claim 5.

The present embodiment is applied to a defective product detection robot similar to the defective product detection robot of the first embodiment. Description will be made by using the reference numerals used in the description of the first embodiment as they are.

In FIG. 5, the defective product detection robot 30
As described above, the robot hand 2 attached to the robot body (not shown) grasps one by one the cylindrical products 3 which are neatly stored in the storage tray (not shown), and moves to a moving place (not shown). Convey automatically. The defective product detection robot 30 inserts the robot hand 2 into the cylindrical product 3 to grip and transport the product 3.

The robot hand 2 is provided with a length measuring sensor light emitting section 31 and a length measuring sensor light receiving section 5 at positions opposing each other with the hand tip for gripping the product 3 interposed therebetween. Reference numeral 5 denotes a configuration similar to that of the first embodiment.

The light emitting section 31 of the length measuring sensor
2, a drive motor (not shown) for driving the reflection mirror 33, the rotation mirror 34, the lens 35, and the rotation mirror 34, and a driver (not shown) for driving the laser light source 32 are provided.

The laser light source 32 emits laser light in the direction of the reflection mirror 33, and the reflection mirror 33 reflects the laser light emitted from the laser light source 32 in the direction of the rotating mirror 34. The rotation mirror 34 is driven to rotate by a drive motor, and scans the laser light incident from the reflection mirror 34 in the direction of the lens 35. The lens 35 converts the laser light scanned by the rotation mirror 34 into parallel light and measures the length. The light is emitted in the direction of the sensor light receiving unit 5.

The defective product detection robot 30 of the present embodiment.
The robot hand 2 grips and takes out the same cylindrical products 3 which are neatly stored in the storage tray one by one from the storage tray and automatically conveys them to a moving location (not shown).

When the robot hand 2 grips the cylindrical products 3 one by one from the storage tray and automatically conveys them to the moving place by the robot hand 2, the defective product detection robot 30 emits light from the length measuring sensor attached to the robot hand 2. The outer diameter of the product 3, particularly the length of the product 3, is measured by the unit 31 and the length measuring sensor light receiving unit 5 to perform a defective product inspection.

That is, the defective product detection robot 30 emits the product 3 held by the robot hand 2 from the laser light source 32 of the length measuring sensor light projecting unit 31 and reflects the reflected light toward the rotating mirror 34 by the reflecting mirror 33. The scanned laser beam is scanned by the rotating mirror 34, and is then parallelized by the lens 35 and irradiated toward the length measuring sensor light receiving unit 5, and between the length measuring sensor light emitting unit 31 and the length measuring sensor light receiving unit 5. There is a product 3 held by the robot hand 2.

Therefore, the laser light emitted from the length measuring sensor light projecting section 31 toward the length measuring sensor light receiving section 5 is:
A part of the light is shielded by the product 3, and the remaining laser light, which is shielded, is applied to the length measuring sensor light receiving unit 5. The length measuring sensor light receiving section 5 converges the incident parallel laser light on the photodiode 14 with the lens 13 and detects it with the photodiode 14. The laser light condensed on the photodiode 14 is transmitted to the length measuring sensor light emitting unit 3 as described above.
Scanned at 1 and shaded by product 3,
The photodiode 4 is scanned and the product 3
The length of the product 3 can be detected with higher accuracy by the incidence of the laser light shielded by the above. The photodiode 4 outputs the detection result of the incident laser light to a robot controller (not shown).

The robot controller determines the outer diameter of the product 3 based on the length of the product 3 detected by the photodiode 4, and particularly determines whether the length of the product 3 is good or bad. Specifically, the robot controller compares the measured value of the light-shielding length, which is the detection result input from the length-measuring sensor light-receiving unit 5, with the upper and lower limits of the light-shielding length of the product 3 having a good outer diameter set in advance. If the measured value exceeds the upper limit set value or the lower limit set value of a non-defective product, it is determined that the product is defective, and a defective product signal is output.

As described above, the defective product detection robot 30 of the present embodiment projects the sensor with the length measuring sensor attached to the robot hand 2 so as to face each other with the product 3 held by the robot hand 2 interposed therebetween. The light source 31 of the length measuring sensor light emitting unit 31 includes a light unit 31 and light emitted from a light source 32 of the length measuring sensor. Irradiates parallel light in the direction of the length measuring sensor light receiving section 5, and the light partially shielded by the product 3 is condensed on the photodiode 14 by the lens 13 of the length measuring sensor light receiving section 5, and photoelectrically converted by the photodiode 14. The defective product of the product 3 is detected using the detection result of the photodiode 14 as a measured value.

Therefore, the defect of the product 3 can be detected with higher accuracy, and the supply of the product 3 to the next process apparatus can be interrupted. It can be prevented beforehand.

FIGS. 6 to 8 are views showing a fourth embodiment of a defective product detection robot and a defective product detection method using the robot according to the present invention. And claim 8.

FIG. 6 is a top view of a defective product detection robot 40 to which the fourth embodiment of the defective product detection robot and the robot according to the present invention is applied.
7 is a right side view of the defective product detection robot 40 of FIG.
FIG. 8 is a back view of the defective product detection robot 40 of FIG.

In FIG. 6 to FIG. 8, a defective product detection robot 40 includes a robot hand 41 attached to a robot main body (not shown) and one cylindrical product 42 which is neatly stored in a storage tray (not shown). It is gripped individually and automatically transported to a moving place (not shown). The defective product detection robot 40 inserts the robot hand 41 into the cylindrical product 42, grips the product 42, and transports the product 42.

The robot hand 41 is provided with a length measuring sensor light projecting section 43 between the tip of the hand holding the product 42.
The length measuring sensor light receiving unit 44 is provided at a position facing each other with the product 42 gripped by the sensor 42 interposed therebetween. That is, when the product 42 is gripped by the robot hand 41, the length measuring sensor light projecting unit 43 and the length measuring sensor light receiving unit 44 face each other with the product 42 interposed therebetween through the gap between the pair of robot hands 41. The length measuring sensor light projecting unit 43 and the length measuring sensor light receiving unit 44 have the same configuration as the length measuring sensor light projecting unit 4 and the length measuring sensor light receiving unit 5 shown in FIG.

That is, the light emitting section 43 of the length measuring sensor
As shown in the figure, a laser light source 1 for emitting laser light
1 and a lens 12 for converting the laser light emitted from the laser light source 11 into parallel light, and converting the laser light emitted from the laser light source 11 into parallel light with the lens 12 in the direction of the length measurement sensor light receiving section 44. Irradiation.

Further, as shown in FIG. 3, the length measuring sensor light receiving section 44 has a lens 13 for converging parallel laser beams.
And a photodiode 14 for receiving the laser beam condensed by the lens 13. The parallel light emitted from the length measuring sensor light projecting unit 43 is condensed on the photodiode 14 by the lens 13 and It is detected by the diode 14.
The photodiode 14 of the length measuring sensor light receiving unit 44 is connected to a robot controller (not shown) and outputs a detection result to the robot controller.

Next, the operation of the present embodiment will be described. The defective product detection robot 40 grasps and removes the same cylindrical products 42, which are neatly stored in the storage tray, one by one from the storage tray by the robot hand 41, and automatically conveys them to a moving place (not shown).

The defective product detection robot 40 inserts the tip of the robot hand 41 into the cylindrical product 42, holds the cylindrical products 42 one by one from the storage tray with the robot hand 41, and moves the robot 42. When automatically transported to
The outer diameter of the product 42 is measured by the length measuring sensor light projecting unit 43 and the length measuring sensor light receiving unit 44 attached to the robot hand 41 to perform a defective product inspection.

That is, the defective product detection robot 40 emits the laser beam emitted from the laser light source 11 of the length measuring sensor light projecting section 43 and parallelized by the lens 12 to the product 42 held by the robot hand 41. Length measuring sensor light receiving section 44
And the length measuring sensor light emitting section 43 is
2, the length measuring sensor light receiving unit 44 is located outside the product 42, and between the length measuring sensor light emitting unit 43 and the length measuring sensor light receiving unit 44, the product 3 gripped by the robot hand 2 is located.
Edge portion exists.

Therefore, a part of the laser light emitted from the length measuring sensor light projecting section 43 toward the length measuring sensor light receiving section 44 is shielded by the product 3, and the remaining laser light is shielded by the length measuring sensor. The light is irradiated to the light receiving unit 5. The length measuring sensor light receiving section 5 converges the incident parallel laser light on the photodiode 14 with the lens 13 and detects it with the photodiode 14. As described above, the amount of the laser light condensed on the photodiode 14 is reduced by the light shielding by the product 3 as described above. Light receiving section 4
4, the photodiode 14 outputs the detection result of the incident laser light to a robot controller (not shown).

The robot controller measures the edge position of the product 42 based on the reduction amount of the laser light, and determines whether the outer diameter of the product 42 is good or bad. Specifically, the robot controller sets the measured value, which is the amount of light received as a detection result input from the length measuring sensor light receiving unit 44, to a predetermined upper limit of the amount of light received at the edge position of the product 42 having a good outer diameter. If the measured value exceeds the upper limit set value or the lower limit set value of the edge position of the good product 42 as compared with the lower limit set value, it is determined that the product is defective, and a defective product signal is output.

As described above, the defective product detection robot 40 and the defective product detection method using the defective product detection robot 40 according to the present embodiment employ a plurality of cylindrical identical products 42 stored in the storage tray one by one. When holding the robot hand 41 and carrying it automatically, while carrying the product 42,
A length measuring sensor light emitting unit 43 and a length measuring sensor light receiving unit 44, which are sensors attached to the robot hand 41, form a product 42.
Are measured, and the measured values of the length measuring sensor light emitting portion 43 and the length measuring sensor light receiving portion 44 are products 42 having good outer diameters.
When the edge position exceeds a preset upper limit value or lower limit value, a defective product is detected as a defective product.

Therefore, it is possible to judge whether the outer diameter of the product 42 is good or not while performing the operation of transporting the product 42, and to accurately detect the defective product without lowering the transport speed of the defective product detection robot 40. Can be done,
The interruption of the supply of the product 42 to the next process apparatus can be prevented, and the occurrence of a trouble due to a defective outer diameter of the product 42 in the next process can be prevented.

Further, the defective product detection robot 40 of the present embodiment can detect the edge position of the product 42 by facing the sensor to the inside and the outside of the cylindrical product 42 held by the robot hand 41. In this state, a length measuring sensor light projecting unit 43 and a length measuring sensor light receiving unit 44 attached to the robot hand 41 are provided, and the light emitted from the light source 11 of the length measuring sensor light projecting unit 43 is measured as parallel light by the lens 12. The light is radiated in the direction of the length sensor light receiving section 44, and the light partially shielded by the product 42 is used for the photodiode 1 by the lens 13 of the length measuring sensor light receiving section 44.
4, and the photoelectric conversion is performed by the photodiode 14. The detection result of the photodiode 14 is used as a measured value to perform a defective product detection process of the product 42.

Therefore, the defect of the product 42 can be accurately detected easily and inexpensively, and the supply of the product 42 to the next process apparatus can be interrupted. Generation can be prevented at low cost and beforehand.

In the case of the present embodiment, the length measuring sensor light receiving section 44 may have the same configuration as that of the length measuring sensor light receiving section 21 shown in FIG.

That is, it is assumed that the length measuring sensor light receiving section 44 includes the CCD line sensor 22 that receives the parallel laser light emitted from the length measuring sensor light projecting section 43.

In this case, the defective robot 40 is attached to the robot hand 41 when the robot hand 41 grips the cylindrical products 42 one by one from the storage tray and automatically transports them to the moving place. The defective diameter inspection is performed by measuring the outer diameter of the product 42, particularly the edge position of the product 42, using the length measuring sensor light projecting unit 43 and the length measuring sensor light receiving unit 44. That is, in this case, the defective product detection robot 40
The laser light emitted from the laser light source 11 of the length measuring sensor light projecting unit 43 positioned inside the product 42 and parallelized by the lens 12 is applied to the product 42 held by the robot hand 41, Irradiates toward the length measuring sensor light receiving section 44 having the CCD line sensor 22 located outside the light receiving section 42, and the remaining laser light that has been shielded by the product 42 and passed through the edge portion is transmitted to the length measuring sensor light receiving section 44. CCD
The light is received by the line sensor 22, and the outer diameter of the product 3, particularly, the edge position is detected. That is, the length measuring sensor light receiving section 44
The laser light applied to the CCD line sensor 22 of
As described above, the CCD line sensor 22 detects the position of the edge that is shielded from light by the part between the edges of the product 42 and outputs the detection result to a robot controller (not shown).

The robot controller measures the edge position of the product 42 based on the position where the laser light is shielded, and determines whether the outer diameter of the product 42 is good or bad. Specifically, the robot controller sets the measured value of the light shielding position, which is the detection result input from the length measuring sensor light receiving unit 44, to the preset upper and lower limit values of the light shielding position of the product 42 having a good outer diameter. If the measured value exceeds the upper limit set value or the lower limit set value of the non-defective product, it is determined that the product is defective and a defective product signal is output.

By doing so, the product 42 can be more accurately obtained.
Can be detected, and the supply of the product 42 to the next process apparatus can be interrupted, so that the occurrence of a trouble due to a defective outer diameter of the product 42 in the next process can be prevented.

Further, in the case of the present embodiment, the length measuring sensor light projecting section 43 may have the same configuration as the length measuring sensor light projecting section 31 shown in FIG.

That is, the length measuring sensor light receiving section 44 is provided with a laser light source 32, a reflecting mirror 33, a rotating mirror 34, a lens 35, a drive motor for driving the rotating mirror 34, and the like. The laser light is reflected by a reflecting mirror 33 in the direction of a rotating mirror 34 driven to rotate, and the rotating mirror 34 scans the laser light incident from the reflecting mirror 34 in the direction of a lens 35. The light is emitted in the direction of the length measuring sensor light receiving section 44 as parallel light.

In this case, the defective product detection robot 4
0 indicates that when the robot hand 41 grips the cylindrical products 42 one by one from the storage tray and automatically conveys them to the moving place, the length measuring sensor light emitting section 43 attached to the robot hand 41 and the length measuring sensor light receiving The part 44 measures the outer diameter of the product 42, particularly the edge position of the product 42, and performs a defective product inspection. That is, in this case, the defective product detection robot 40
Is emitted from the laser light source 32 of the length measuring sensor light projecting section 43 located inside the product 42 to the product 42 held by the robot hand 41, and is reflected by the reflecting mirror 33 in the direction of the rotating mirror 34. After the laser beam is scanned by the rotating mirror 34, the laser beam is made parallel by the lens 35 and irradiated toward the length measuring sensor light receiving unit 44, and the remaining laser beam that is shielded by the product 42 and passes through the edge portion is received by the length measuring sensor The light is condensed on the photodiode 14 by the lens 13 of the unit 44 and detected by the photodiode 14. That is, as described above, the laser light applied to the photodiode 14 of the length measuring sensor light receiving unit 44 is shielded at the portion between the edges of the product 42, and the photodiode 14 has the length shielded by the product 42. And outputs the detection result to a robot controller (not shown).

The robot controller measures the edge position of the product 42 on the basis of the length of the laser light that has been shielded, and determines whether the outer diameter of the product 42 is good or bad. Specifically, the robot controller compares the measured value of the light-shielding length, which is the detection result input from the length-measuring sensor light-receiving section 44, with the upper and lower limits of the light-shielding length of the product 42 having a good outer diameter set in advance. If the measured value exceeds the upper limit set value or the lower limit set value of a non-defective product, it is determined that the product is defective, and a defective product signal is output.

In this way, the failure of the product 42 can be detected with higher accuracy, and the introduction of the product 42 into the next process apparatus can be interrupted, so that the trouble due to the defect of the outer diameter of the product 42 in the next process can be achieved. Can be prevented from occurring.

Although the invention made by the inventor has been specifically described based on the preferred embodiments, the present invention is not limited to the above-described embodiment, and various modifications may be made without departing from the gist of the invention. It goes without saying that it is possible.

[0103]

According to the defective product detection robot according to the first aspect of the present invention, when a plurality of identical cylindrical products stored in the storage tray are gripped one by one by a robot hand and automatically conveyed, While transporting the product, the outer diameter of the product is measured with a sensor attached to the robot hand, and the measured value of the sensor is set to the preset upper or lower limit of the outer diameter of a product with a good outer diameter. Is exceeded, the defective product is detected as a defective product.Therefore, it is possible to judge whether the outer diameter of the product is good or not while performing the product transport operation. A non-defective product can be detected, and interruption of the supply of the product to the next process apparatus can be prevented, so that a trouble due to a defective outer diameter of the product in the next process can be prevented.

According to the defective product detection method by the robot according to the second aspect of the present invention, when a plurality of the same cylindrical products stored in the storage tray are gripped one by one by the robot hand and automatically conveyed, While transporting the product, the outer diameter of the product is measured with a sensor attached to the robot hand, and the measured value of the sensor is set to the preset upper or lower limit of the outer diameter of a product with a good outer diameter. Is exceeded, the defective product is detected as a defective product.Therefore, it is possible to judge whether the outer diameter of the product is good or not while performing the product transport operation. A non-defective product can be detected, and interruption of the supply of the product to the next process apparatus can be prevented, so that a trouble due to a defective outer diameter of the product in the next process can be prevented.

According to the defective product detection robot or the defective product detection method by the robot according to the third aspect of the present invention, the sensor is attached to the robot hand in a state where the sensor is opposed to the product held by the robot hand. Equipped with a length sensor light emitting section and a length measuring sensor light receiving section, the light emitted from the light source of the length measuring sensor light emitting section is irradiated as parallel light by a lens toward the length measuring sensor light receiving section, and partially shielded by the product. The collected light is condensed on the optical sensor by the lens of the length measuring sensor light receiving unit, and photoelectrically converted by the optical sensor, and the defective product detection process of the product is performed using the detection result of the optical sensor as a measured value, so it is inexpensive and In addition to being able to easily detect product defects with high accuracy, it is also possible to interrupt the introduction of products to the next process equipment,
It is possible to prevent the occurrence of a trouble due to a defective outer diameter of the product in the next step at low cost.

According to the defective product detection robot or the defective product detection method by the robot according to the fourth aspect of the present invention, the sensor is attached to the robot hand in a state where the sensor is opposed to the product held by the robot hand. Equipped with a length sensor light emitting section and a length measuring sensor light receiving section, the light emitted from the light source of the length measuring sensor light emitting section is irradiated as parallel light by a lens toward the length measuring sensor light receiving section, and partially shielded by the product. The parallel light received by the one-dimensional CCD of the length measuring sensor light receiving unit is subjected to photoelectric conversion, and the defective product detection process of the product is performed using the detection result of the CCD as a measured value, so that the product defect can be detected more accurately. In addition to this, it is possible to interrupt the supply of the product to the next process device, and it is possible to prevent the occurrence of a trouble due to a defective outer diameter of the product in the next process.

According to the defective product detection robot or the defective product detection method by the robot according to the fifth aspect of the present invention, the sensor is attached to the robot hand in a state in which the sensor is opposed to the product held by the robot hand. It has a long sensor light emitting section and a length measuring sensor light receiving section, and scans light emitted from the light source of the length measuring sensor light emitting section in a fixed direction with a rotating mirror, and converts the light into parallel light with a lens toward the length measuring sensor light receiving section. Irradiation, the light partially blocked by the product is condensed on the optical sensor by the lens of the length measuring sensor light receiving unit, and photoelectrically converted by the optical sensor. Since the non-defective product detection process is performed, it is possible to detect product defects with higher accuracy, and it is also possible to interrupt the introduction of the product to the next process equipment, and to prevent trouble due to defective outer diameter of the product in the next process. Raw it is possible to prevent in advance.

According to the defective product detection robot of the present invention, when a plurality of the same cylindrical products stored in the storage tray are gripped one by one by the robot hand and automatically conveyed, the products are detected. While transporting, the edge position of the product is measured by a sensor attached to the robot hand, and the measured value of the sensor exceeds the preset upper limit or lower limit of the edge position of the product having a good outer diameter. And defective product detection processing to process as a defective product, it is possible to judge the quality of the outer diameter of the product while performing the product transport operation, without lowering the transport speed of the robot,
Defective products can be detected with high accuracy, and interruption of the introduction of the product into the next process apparatus can be prevented, so that occurrence of trouble due to a defective outer diameter of the product in the next process can be prevented.

According to the method for detecting defective products by the robot according to the present invention, when a plurality of the same cylindrical products stored in the storage tray are gripped one by one by the robot hand and automatically conveyed, While transporting the product, the edge position of the product is measured by a sensor attached to the robot hand, and the measured value of the sensor is set to the preset upper limit or lower limit of the edge position of a product with a good outer diameter. Is exceeded, the defective product is detected as a defective product.Therefore, it is possible to judge whether the outer diameter of the product is good or not while performing the product transport operation. In addition to being able to detect non-defective products, it is also possible to prevent interruption of the introduction of the product to the next process equipment, and to prevent the occurrence of trouble due to a defective outer diameter of the product in the next process. Kill.

According to the defective product detection robot or the defective product detection method by the robot according to the eighth aspect of the present invention, the sensor is provided so as to face the inside and outside of the cylindrical product held by the robot hand, and to detect the edge of the product. Equipped with a length measuring sensor light emitting part and a length measuring sensor light receiving part attached to the robot hand in a state where the position can be detected, and the light emitted from the light source of the length measuring sensor light emitting part is measured as parallel light by a lens. Irradiates in the direction of the sensor light receiving section, and the light partially blocked by the product is collected by the lens of the length measuring sensor light receiving section to the optical sensor and photoelectrically converted by the optical sensor, and the detection result of this optical sensor is measured. Since the product defect detection process is performed as a value, it is possible to detect product defects accurately and easily at low cost.
It is possible to interrupt the supply of the product to the next process apparatus, and it is possible to prevent the occurrence of a trouble due to a defective outer diameter of the product in the next process at low cost and beforehand.

According to the defective product detection robot or the defective product detection method by the robot according to the ninth aspect of the present invention, the sensor is provided so that the inside and outside of the cylindrical product held by the robot hand are opposed to each other. Equipped with a length measuring sensor light emitting part and a length measuring sensor light receiving part attached to the robot hand in a state where the position can be detected, and the light emitted from the light source of the length measuring sensor light emitting part is measured as parallel light by a lens. Irradiate in the direction of the sensor light receiving section, receive parallel light partially shielded by the product with a one-dimensional CCD of the length measuring sensor light receiving section, and photoelectrically convert the light. Since the detection process is performed, it is possible to detect product defects with higher accuracy, and it is also possible to interrupt the introduction of the product to the next process equipment, causing trouble due to a defective outer diameter of the product in the next process. It is possible to prevent in advance.

According to the defective product detection robot or the defective product detection method by the robot according to the tenth aspect of the present invention, the sensor is provided so that the inside and outside of the cylindrical product held by the robot hand are opposed to each other. Equipped with a length measuring sensor light emitting part and a length measuring sensor light receiving part attached to the robot hand in a state where the position can be detected, and the light emitted from the light source of the length measuring sensor light emitting part is scanned in a fixed direction by a rotating mirror Irradiates parallel light with a lens in the direction of the length measuring sensor light receiving section, and collects light partially blocked by the product on the light sensor with the lens of the length measuring sensor light receiving section, and performs photoelectric conversion with this light sensor. Since the defective product detection process is performed using the detection result of the optical sensor as a measured value, it is possible to detect the defective product with higher accuracy and to interrupt the introduction of the product to the next process device. , It is possible to prevent the occurrence of troubles due to external improper diameter of products in the next step in advance.

[Brief description of the drawings]

FIG. 1 is a top view of a defective product detection robot to which a first embodiment of a defective product detection robot and a defective product detection method by the robot of the present invention is applied.

FIG. 2 is a side view of the defective product detection robot of FIG. 1;

FIG. 3 is a configuration diagram of a length measuring sensor light emitting unit and a length measuring sensor light receiving unit attached to the defective product detection robot of FIG. 1;

FIG. 4 is a schematic diagram of a length measuring sensor light emitting portion and a length measuring sensor light receiving portion attached to a defective product detection robot to which the second embodiment of the defective product detection robot and the defective product detection method by the robot according to the second embodiment is applied. Diagram.

FIG. 5 is a schematic diagram of a length measuring sensor light emitting unit and a length measuring sensor light receiving unit attached to a defective product detection robot to which the third embodiment of the defective product detection robot and the defective product detection method by the robot according to the third embodiment is applied. Diagram.

FIG. 6 is a top view of a defective product detection robot to which a fourth embodiment of the defective product detection robot and the defective product detection method by the robot according to the fourth embodiment is applied.

FIG. 7 is a right side view of the defective product detection robot of FIG. 6;

FIG. 8 is a rear view of the defective product detection robot of FIG. 6;

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Defective product detection robot 2 Robot hand 3 Product 4 Length measuring sensor light emitting part 5 Length measuring sensor light receiving part 11 Laser light source 12, 13 Lens 14 Photodiode 20 Defective product detecting robot 21 Length measuring sensor light receiving part 22 CCD line sensor 30 Good product detection robot 31 Length measuring sensor light emitting part 32 Laser light source 33 Reflecting mirror 34 Rotating mirror 35 Lens 40 Defective product detecting robot 41 Robot hand 42 Product 43 Length measuring sensor light emitting part 44 Length measuring sensor light receiving part

──────────────────────────────────────────────────続 き Continued on the front page (51) Int.Cl. ⁷ Identification symbol FI Theme coat ゛ (Reference) G01B 11/08 G01B 11/08 Z F-term (Reference) 2F065 AA26 AA61 FF02 GG04 HH03 JJ01 JJ02 JJ18 JJ25 LL04 LL12 LL15 LL62 MM16 QQ25 RR06 3C007 DS05 ES03 ES13 ET10 EV01 KS07 NS07 3C033 BB01 PP19 3F059 AA01 AA11 BA08 DA03 DB10 DC07 DD12 DE04 3F061 AA03 BA03 BA13 BB10 BE01 DB02 DD05

Claims (10)

[Claims] When a plurality of identical cylindrical products stored in a storage tray are automatically conveyed by holding them one by one by a robot hand, a defective product detection robot for detecting a defective outer diameter of the products. The robot hand includes a sensor that measures the outer diameter of the product, and measures the outer diameter of the product with the sensor while transporting the product. A defective product detection robot that performs a defective product detection process of processing a defective product when the outer diameter of a good product exceeds a preset upper limit value or lower limit value. 2. When a plurality of products having the same cylindrical shape stored in a storage tray are automatically conveyed while being gripped one by one by a robot hand, defective products are detected by a robot which detects a defect in the outer diameter of the products. A method wherein the robot hand grasps the product and transports the product while measuring the outer diameter of the product with a sensor attached to the robot hand, and the measured value of the sensor is the outer diameter. A defective product detection method using a robot, wherein a defective product is detected when the outer diameter of the good product exceeds an upper limit value or a lower limit value. 3. The sensor according to claim 1, further comprising: a length measuring sensor light emitting unit and a length measuring sensor light receiving unit attached to the robot hand in a state where the sensors face each other with the product held by the robot hand interposed therebetween. The length measurement sensor light-emitting unit includes a light source that emits predetermined light, and a lens that irradiates light emitted from the light source as parallel light toward the length measurement sensor light-receiving unit, and the length measurement sensor light-receiving unit. A light sensor that detects light and performs photoelectric conversion, and a lens that collects light that is emitted from the length measuring sensor light projecting unit and partially shielded by the product to the light sensor, the light sensor The defective product detection method according to claim 1 or 2, wherein the defective product detection process is performed by using the detection result of (1) as the measurement value. 4. The sensor according to claim 1, further comprising: a length measuring sensor light emitting portion and a length measuring sensor light receiving portion attached to the robot hand in a state of being opposed to each other with the product held by the robot hand interposed therebetween. The length measurement sensor light-emitting unit includes a light source that emits predetermined light, and a lens that irradiates light emitted from the light source as parallel light toward the length measurement sensor light-receiving unit, and the length measurement sensor light-receiving unit. Is provided with a one-dimensional CCD that receives parallel light irradiated from the length measuring sensor light projecting unit and partially shielded by the product and photoelectrically converts the parallel light, and uses the detection result of the CCD as the measurement value to determine whether the product is defective. 3. A defective product detection method according to claim 1, wherein the non-defective product detection process is performed. 5. The sensor according to claim 1, wherein the sensor includes a length measuring sensor light emitting unit and a length measuring sensor light receiving unit attached to the robot hand in a state of being opposed to each other with the product held by the robot hand interposed therebetween. A light source that emits predetermined light, a rotating mirror that scans light emitted from the light source in a fixed direction, and the light that is scanned by the rotating mirror as parallel light. A lens for irradiating in the direction of a light-receiving unit, wherein the length-measuring sensor light-receiving unit is a light sensor that detects light and performs photoelectric conversion, and is partially shielded by the product when irradiated from the length-measuring sensor light-emitting unit. A defective lens detection robot according to claim 1, further comprising a lens for condensing light on the optical sensor, wherein a defective product detection process of the product is performed using the detection result of the optical sensor as the measurement value. Claim 2 Defect detection method according to the bots. 6. A defective product detection robot that detects a defect in the outer diameter of a plurality of cylindrical products stored in a storage tray when the products are automatically conveyed while being gripped one by one by a robot hand. The robot hand includes a sensor for measuring an edge position of the product, and measures the edge position of the product with the sensor while transporting the product. A defective product detection robot that performs a defective product detection process of processing a defective product if the edge position of a good product exceeds a preset upper limit value or lower limit value. 7. A defective product detection by a robot which detects a defect in the outer diameter of a plurality of cylindrical products stored in a storage tray when the robot products are automatically conveyed by holding them one by one by a robot hand. A method of measuring the edge position of the product with a sensor attached to the robot hand while gripping the product with the robot hand and transporting the product, and measuring the outer diameter of the sensor with the outer diameter. A defective product detection method using a robot, wherein the defective product is detected as a defective product when the edge position of a good product exceeds a preset upper limit value or lower limit value. 8. The length measuring device attached to the robot hand in a state in which the sensor is opposed to the inside and the outside of the cylindrical product gripped by the robot hand and capable of detecting an edge position of the product. A light source for emitting predetermined light; and a light emitted from the light source as parallel light, the light being emitted from the light source in a direction toward the length measurement sensor. A light sensor for detecting and photoelectrically converting light, and a light that is irradiated from the light emitting unit for the length measurement light and partially shielded by the product. 7. The defective product detection robot according to claim 6, further comprising: a lens that collects light on the optical sensor, wherein the defective product detection robot or the defective product detection process is performed using the detection result of the optical sensor as the measurement value. By the stated robot Good detection method. 9. The length measuring device attached to the robot hand in a state in which the sensor can detect an edge position of the product facing the inside and the outside of the cylindrical product held by the robot hand. A light source for emitting predetermined light; and a light emitted from the light source as parallel light, the light being emitted from the light source in a direction toward the length measurement sensor. The length measurement sensor light receiving unit includes a one-dimensional CCD that receives parallel light irradiated from the length measurement sensor light emission unit and partially shielded by the product and photoelectrically converts the received parallel light. 8. The defective product detection method according to claim 6, wherein a defective product detection process is performed by using the detection result of the CCD as the measured value. 10. A length measuring device attached to the robot hand in a state in which the sensor can detect an edge position of the product by facing the inside and the outside of the cylindrical product held by the robot hand. A sensor light projecting unit and a length measuring sensor light receiving unit, the length measuring sensor projecting unit includes a light source that emits predetermined light, a rotating mirror that scans light emitted from the light source in a certain direction, A lens that irradiates the light scanned by the rotating mirror as parallel light in the direction of the length measurement sensor light receiving unit, wherein the length measurement sensor light receiving unit detects light and performs photoelectric conversion, and the length measurement A lens that condenses light that is emitted from a sensor light projecting unit and partially shielded by the product to the optical sensor, and performs a defective product detection process of the product using the detection result of the optical sensor as the measurement value. A contract characterized by that Defect detection method according to defect detection robot or claim 7, wherein the robot to claim 6.