JP2020062724A - Work-piece grasping device - Google Patents
Work-piece grasping device Download PDFInfo
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- JP2020062724A JP2020062724A JP2018196259A JP2018196259A JP2020062724A JP 2020062724 A JP2020062724 A JP 2020062724A JP 2018196259 A JP2018196259 A JP 2018196259A JP 2018196259 A JP2018196259 A JP 2018196259A JP 2020062724 A JP2020062724 A JP 2020062724A
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- work
- opening
- closing
- operation rod
- gripping
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- 210000000078 claw Anatomy 0.000 claims abstract description 26
- 238000005259 measurement Methods 0.000 claims abstract description 9
- 230000005856 abnormality Effects 0.000 abstract description 4
- 238000000034 method Methods 0.000 description 6
- 238000003754 machining Methods 0.000 description 5
- 230000002093 peripheral effect Effects 0.000 description 4
- 238000012937 correction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000003745 diagnosis Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000004092 self-diagnosis Methods 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
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Abstract
Description
本発明は、工作機械にワークを自動搬入及び自動搬出等を行うローディング装置、あるいはロボットのハンド部やマニピュレーター等に用いられるワークの把持装置に関する。 The present invention relates to a loading device for automatically loading and unloading a work into a machine tool, or a work gripping device used for a hand part of a robot, a manipulator, or the like.
工作機械等の分野にて用いられるローディング装置のローダや産業ロボットのハンド部等にはワークを搬送するための把持装置が取り付けられている。
例えば特許文献１には、シリンダ機構の駆動により開閉動作を行う一対の把持部からなる開閉チャックを開示する。
しかし、同公報に開示するワークの把持装置は、把持部の開閉ストロークを大きくするのが目的であり、ワークの大きさ等を計測したり、不具合の自己診断ができるものではなかった。
A gripping device for transporting a work is attached to a loader of a loading device used in the field of machine tools, a hand part of an industrial robot, or the like.
For example, Patent Document 1 discloses an opening / closing chuck including a pair of gripping portions that perform an opening / closing operation by driving a cylinder mechanism.
However, the work gripping device disclosed in the publication is intended to increase the opening / closing stroke of the gripping part, and cannot measure the size of the work or perform self-diagnosis of a defect.
本発明はワークの搬送工程内にて、このワークの把持寸法を計測できるとともに異常等を自動検出できるワークの把持装置の提供を目的とする。 It is an object of the present invention to provide a work gripping device capable of measuring a gripping size of a work and automatically detecting an abnormality or the like in a work conveying process.
本発明に係るワークの把持装置は、ワークを把持するための開閉チャックと、前記開閉チャックに設けた爪部を開閉操作する操作ロッドを備え、前記開閉チャックの爪部の開口寸法と前記操作ロッドの移動量とを対応させた演算手段を有し、前記演算手段を用いて爪部で把握したワークの寸法を計測可能にした計測手段を有することを特徴とする。 A work gripping device according to the present invention includes an opening / closing chuck for gripping a work, and an operating rod for opening / closing a claw provided on the opening / closing chuck. And a measuring means capable of measuring the dimension of the workpiece grasped by the claw portion using the calculating means.
ここで爪部はワークの外周部又は内周部、あるいはワークの一部分を複数の爪部にて把持するものであれば、その構造に制限はない。
また、演算手段とは、複数の爪部にてワークを把持する場合の、この爪部間の間に形成される開口寸法が操作ロッドの移動量に対応するように演算できる手段をいう。
本発明は爪部間の開口寸法が拡大、縮小できるように、この爪部を操作ロッドに連結したものであれば、その連結構造に制限はない。
前記操作ロッドの移動量の検出方法には各種方法を採用できるが、当該操作ロッドに取り付けたドグの位置をストロークセンサーにて検出するものであってもよい。
Here, the structure of the claw portion is not limited as long as the outer peripheral portion or the inner peripheral portion of the work or a part of the work can be gripped by the plurality of claw portions.
Further, the calculating means means a means for calculating the opening size formed between the claws so as to correspond to the movement amount of the operation rod when the work is gripped by the plurality of claws.
In the present invention, the connecting structure is not limited as long as the claws are connected to the operation rod so that the opening size between the claws can be enlarged or reduced.
Various methods can be adopted as the method of detecting the movement amount of the operation rod, but the position of the dog attached to the operation rod may be detected by a stroke sensor.
本発明に係る把持装置は、工作機械にワークを搬入、搬出するローディング装置のローダとして使用でき、産業ロボット等のハンド部に取り付けて使用することもできる。
この場合にローディング装置又はそれを制御する工作機械等に設けられた制御部、さらには産業ロボット、マニピュレータ等の制御部に搬送するワークの種類や、その把持部の把持寸法等のワーク情報を予め記憶させる記憶部を有するようにしてもよい。
また、搬送の際に予め登録されたデータ群の中から該当するデータの読出し手段を有し、把持装置の開閉チャック部の爪部にてワークを把持した際に自動計測された計測値と上前記読出された登録値との比較手段を設けることで、ワークの把持操作の工程中にて、目的とする正しいワークであるか、あるいは正しく爪部に着座されたか等のチェックを自動的に行うことができる。
また、機械加工されたワークを搬出する際には加工部を把持するように設定することで、加工寸法が正しいか否かの自動チェックが可能となる。
さらに、チェックや爪部に異常があるか否か等の自動診断システムとしても活用できる。
本発明において、開閉チャックの制御部は前記計測手段にて計測された計測値を時系列的に記憶する時系列記憶手段と、前記計測値の変化量を解析する解析手段とを有しているのが好ましい。
The gripping device according to the present invention can be used as a loader of a loading device that carries a work in and out of a machine tool, and can also be used by being attached to a hand part of an industrial robot or the like.
In this case, the control unit provided in the loading device or the machine tool that controls the loading device, the type of the work to be conveyed to the control unit such as the industrial robot and the manipulator, and the work information such as the gripping size of the gripping unit are stored in advance. You may make it have a memory | storage part to memorize.
Further, it has a reading means of corresponding data from a data group registered in advance at the time of conveyance, and the measured value automatically measured when the workpiece is gripped by the claw part of the opening / closing chuck part of the gripping device By providing a means for comparing with the read registered value, it is automatically checked during the process of gripping the work whether the work is the desired one, or whether the work is properly seated on the claw. be able to.
Further, when the machined work is carried out, it is possible to automatically check whether or not the machining size is correct by setting the machining part to be gripped.
Furthermore, it can also be utilized as an automatic diagnosis system for checking and whether or not there is an abnormality in the nail portion.
In the present invention, the control unit of the opening / closing chuck has a time series storage means for storing the measurement values measured by the measurement means in time series, and an analysis means for analyzing the amount of change in the measurement value. Is preferred.
本発明に係るワークの把持装置にあっては、各種搬送装置のワークの把持部に採用することができ、ワークの搬送時に把持すると同時にワークの把持部の寸法計測が可能になる。
この計測値の時系列記憶手段と、それにより得られる変化量の解析手段を有すると、ワークの加工部等の把持寸法変化から、工具の摩擦量の変化の予測，ＮＣ指令座標の補正，変更、さらには加工プログラムの変更の必要性の予測も可能になる。
爪部の開閉速度変化，開閉時間等のデータの計測値を用いて解析すると、把持装置の異常の早期発見や予知にも利用できる。
INDUSTRIAL APPLICABILITY The work gripping device according to the present invention can be adopted as a work gripping part of various transporting devices, and the size of the work gripping part can be measured at the same time as gripping the work during transport.
When the time-series storage means for this measured value and the analysis means for the amount of change obtained thereby are provided, the change in the friction amount of the tool is predicted, the NC command coordinates are corrected, and changed from the change in the gripping dimension of the machining part of the workpiece. Moreover, it becomes possible to predict the necessity of changing the machining program.
If analysis is performed using measured values of data such as opening / closing speed change of the claw portion and opening / closing time, it can be used for early detection and prediction of abnormality of the gripping device.
本発明に係るワークの把持装置の構造例を以下、図に基づいて説明するが、本発明はこれに限定されない。
図１は、工作機械のＮＣ制御部にてＮＣ制御されたローディング装置のローダに適用した例を示す。
把持装置はチャック部と、このチャック部に開閉自在に取り付けた爪部１２を有する。
この爪部１２はワークの外周部を把持するか内周部を把持するかにより、外爪、内爪等の相違があるものの、これら複数の爪部１２にてワークを把持するための開口部の寸法を開口寸法Ｄと表現する。
爪部１２は操作ロッド１３の前進移動及び後退移動により、この開口寸法Ｄが拡大、縮小する。
操作ロッド１３はエアーシリンダー、油圧シリンダー等のシリンダー部の制御により、操作ロッド１３の移動量が制御されている。
操作ロッド１３にはドグ１４が取り付けられ、このドグ１４の位置を電磁式のストロークセンサー等のセンサー部１５にて検出されるようになっている。
なお、操作ロッド１３の移動量が検出できれば、この電磁式のストロークセンサーに制限されない。
A structural example of the work gripping device according to the present invention will be described below with reference to the drawings, but the present invention is not limited thereto.
FIG. 1 shows an example applied to a loader of a loading device that is NC controlled by an NC control unit of a machine tool.
The gripping device has a chuck portion and a claw portion 12 attached to the chuck portion so as to be openable and closable.
The claw portion 12 has an outer claw, an inner claw and the like depending on whether the outer peripheral portion or the inner peripheral portion of the work is grasped, but an opening portion for grasping the work by the plurality of claw portions 12. Will be referred to as the opening dimension D.
The opening dimension D of the claw portion 12 is enlarged or reduced by the forward movement or the backward movement of the operation rod 13.
The movement amount of the operation rod 13 is controlled by controlling a cylinder portion such as an air cylinder or a hydraulic cylinder.
A dog 14 is attached to the operation rod 13, and the position of the dog 14 is detected by a sensor unit 15 such as an electromagnetic stroke sensor.
The electromagnetic stroke sensor is not limited as long as the movement amount of the operation rod 13 can be detected.
本実施例は、駆動部３にて上下移動制御されたアーム２の下端部に把持装置を取り付けた例であり、このアーム２は走行レール１に沿って移動制御されている。 The present embodiment is an example in which a gripping device is attached to the lower end of the arm 2 whose vertical movement is controlled by the driving unit 3, and the movement of the arm 2 is controlled along the traveling rail 1.
図２にシリンダー部１６の制御により操作ロッド１３を基準位置よりマイナス方向に移動させた移動量を縦軸にとり、センサーにて検出した値を用いて演算手段にてチャック開口寸法Ｄを計測した変化を横軸に示したグラフを示す。
ＮＣデータに基づく変化も合せて表示した。
このグラフから操作ロッドの移動量を用いて、所定の演算手段により爪部の開口寸法を計測するためのシステムを構築することができることが分かる。
なお、センサー部にて得られた値に基づいて計測した値の変化に、やや波打ち状態のズレが認められるものの、例えば最小二乗法等の直線近似手段等の補正手段を用いることで、誤差を小さくすることができる。
FIG. 2 shows a change in which the chuck opening dimension D is measured by the calculating means using the value detected by the sensor, where the vertical axis represents the amount of movement of the operation rod 13 moved in the negative direction from the reference position by the control of the cylinder portion 16. Is shown on the horizontal axis.
The changes based on NC data are also shown.
It can be seen from this graph that a system for measuring the opening dimension of the claw portion can be constructed by a predetermined calculation means using the movement amount of the operation rod.
It should be noted that although a slight deviation in the wavy state is observed in the change in the value measured based on the value obtained by the sensor unit, the error is corrected by using the correction means such as the linear approximation means such as the least squares method. Can be made smaller.
本発明に係る把持装置は図１に示すように、加工されたワークＷの加工部Ｗ０を把持するようにすると、工作機械からワークＷを搬出する際に、その計測値を予め制御部等に登録されているデータと比較するだけで、加工部の寸法の良否の判定を行うこともできる。
また、各種大きさの異なるワークを搬入する場合にあっては、正しいワークか否かの自動判定も可能になる。
搬送工程内で自動計測できることから、ライン外での計測を不要にすることができる。
また、この計測値の時系列データの記憶手段と、その変化量の解析手段を有すると、上記加工寸法の変化量から加工座標の補正や工具寿命の予測も可能になる。
As shown in FIG. 1, the gripping device according to the present invention grips the processing part W 0 of the processed work W, and when the work W is unloaded from the machine tool, the measured value thereof is previously controlled by the control part or the like. It is also possible to judge the quality of the dimension of the processed portion simply by comparing it with the data registered in.
Further, when workpieces of different sizes are carried in, it is possible to automatically determine whether or not the workpieces are correct.
Since automatic measurement can be performed in the transfer process, it is possible to eliminate the need for measurement outside the line.
Further, when the time series data of the measured value is stored and the change amount is analyzed, it is possible to correct the machining coordinates and predict the tool life from the change amount of the machining dimension.
１１ チャック部
１２ 爪部
１３ 操作ロッド
１４ ドグ
１５ センサー部
１６ シリンダー部
11 chuck part 12 claw part 13 operation rod 14 dog 15 sensor part 16 cylinder part
Claims (5)
前記開閉チャックの爪部の開口寸法と前記操作ロッドの移動量とを対応させた演算手段を有し、前記演算手段を用いて爪部で把握したワークの寸法を計測可能にした計測手段を有することを特徴とするワークの把持装置。 An opening / closing chuck for gripping a work and an operation rod for opening / closing a claw portion provided on the opening / closing chuck are provided.
There is a calculating means that associates the opening size of the claw portion of the opening / closing chuck with the movement amount of the operating rod, and a measuring means that can measure the dimension of the workpiece grasped by the claw portion using the calculating means. A work holding device.
Priority Applications (5)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2018196259A JP7178022B2 (en) | 2018-10-18 | 2018-10-18 | Work gripping device |
| TW108213517U TWM595028U (en) | 2018-10-18 | 2019-10-14 | Workpiece holding device and loading device equipped with the same |
| CN201921723919.8U CN211387902U (en) | 2018-10-18 | 2019-10-14 | Workpiece holding device and loading device |
| US16/601,664 US11123832B2 (en) | 2018-10-18 | 2019-10-15 | Workpiece holding device and loading apparatus that uses the workpiece holding device |
| EP19203331.4A EP3644150A1 (en) | 2018-10-18 | 2019-10-15 | Workpiece holding device and loading apparatus that uses the workpiece holding device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2018196259A JP7178022B2 (en) | 2018-10-18 | 2018-10-18 | Work gripping device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JP2020062724A true JP2020062724A (en) | 2020-04-23 |
| JP7178022B2 JP7178022B2 (en) | 2022-11-25 |
Family
ID=70386540
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP2018196259A Active JP7178022B2 (en) | 2018-10-18 | 2018-10-18 | Work gripping device |
Country Status (3)
| Country | Link |
|---|---|
| JP (1) | JP7178022B2 (en) |
| CN (1) | CN211387902U (en) |
| TW (1) | TWM595028U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2023104642A1 (en) * | 2021-12-06 | 2023-06-15 | König Automatisierungstechnik GmbH | Method for controlling a system for machining a workpiece |
| CN117445019A (en) * | 2023-12-26 | 2024-01-26 | 江苏汉峰智慧工业装备有限公司 | Grabbing device of industrial robot convenient to adjust |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH06143182A (en) * | 1992-10-27 | 1994-05-24 | Sony Magnescale Inc | Robot hand with measuring function |
| JP2000343474A (en) * | 1999-06-08 | 2000-12-12 | Smc Corp | Opening/closing chuck |
| JP2010036328A (en) * | 2008-08-07 | 2010-02-18 | Toyota Motor Corp | Robot hand |
| JP2017131982A (en) * | 2016-01-26 | 2017-08-03 | 中村留精密工業株式会社 | Chuck opening/closing control apparatus |
-
2018
- 2018-10-18 JP JP2018196259A patent/JP7178022B2/en active Active
-
2019
- 2019-10-14 CN CN201921723919.8U patent/CN211387902U/en active Active
- 2019-10-14 TW TW108213517U patent/TWM595028U/en unknown
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH06143182A (en) * | 1992-10-27 | 1994-05-24 | Sony Magnescale Inc | Robot hand with measuring function |
| JP2000343474A (en) * | 1999-06-08 | 2000-12-12 | Smc Corp | Opening/closing chuck |
| JP2010036328A (en) * | 2008-08-07 | 2010-02-18 | Toyota Motor Corp | Robot hand |
| JP2017131982A (en) * | 2016-01-26 | 2017-08-03 | 中村留精密工業株式会社 | Chuck opening/closing control apparatus |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2023104642A1 (en) * | 2021-12-06 | 2023-06-15 | König Automatisierungstechnik GmbH | Method for controlling a system for machining a workpiece |
| CN117445019A (en) * | 2023-12-26 | 2024-01-26 | 江苏汉峰智慧工业装备有限公司 | Grabbing device of industrial robot convenient to adjust |
Also Published As
| Publication number | Publication date |
|---|---|
| CN211387902U (en) | 2020-09-01 |
| JP7178022B2 (en) | 2022-11-25 |
| TWM595028U (en) | 2020-05-11 |
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