JP2549139B2 - Industrial robot controller - Google Patents

Description

The present invention relates to an industrial robot control device capable of avoiding interference between works in palletizing work.

[Conventional technology]

FIG. 5 shows a block diagram of an industrial robot for palletizing a work. In FIG. 5, (1) is a robot,
(2) is a hand of the robot (1), (3) is a control circuit for controlling the robot (1), (4) is a panel for operating the control circuit (3), and (5) is a conveyor (6). The conveyed work, (7) is a pallet for palletizing the work (5) by the hand (2), and (8) is a sensor for discriminating the type of the work (5).

Next, the operation will be described including the robot operation path diagram of FIG. 6 and the flowchart of the operation program shown in FIG. When an instruction to start palletizing work is input from the panel (4) to the control circuit (3), the robot (1) is started. First, in step (101), the work (5) is supplied to the conveyor (6), and the work (5) is positioned. At this time, the type of the work (5) is discriminated by the sensor (8) and transmitted to the control circuit (3). Next, in step (102), the robot (1) opens the hand (2) and moves to the work gripping position (A) in step (103). Therefore, the process proceeds to step (104) to close the hand (2) and grip the work (5). Next, in step (105), the work (5) is moved to the upper retracted position (B),
In step (106), the work (5) is moved to the upper retreat position (C) for palletizing, and then the process proceeds to step (107) to lower the work to the target position (D).
At 8), open the hand (2) and palletize the work on the pallet (7). After that, the hand (2) moves from the upper retracted position (C) of step (109) to step (110).
The work gripping position is moved to the retreat position (B) and stands by for palletizing the next work.

[Problems to be Solved by the Invention]

In the conventional palletizing work of the work by the industrial robot, the work (5) is directly conveyed to the target position as described above. For this reason, when there is an error in the size of the work, or when the work is not properly positioned when holding the work, when the work is placed on the pallet, the works interfere with each other. (Eighth
There is a problem in that load slips or the like occur due to mutual damage or the distance between the works being separated (see FIGS. 9A and 9B) (see FIGS. 9A and 9B).

The present invention has been made to solve the above problems, and an industrial robot control device capable of preventing interference between works and aligning the works without gaps between the works. The purpose is to get.

[Means for solving the problem]

The industrial robot control device according to the present invention includes a work positioning unit that positions a work on a conveyor, a work determination unit that determines the type of the work by a sensor provided on the conveyor, and a hand that opens the hand. Of the work on the conveyor to a work holding position, a work holding means for closing the hand to hold the work, a plate pallet for palletizing the work, and a work on the plate pallet. A palletizing position calculating means for obtaining a target position and a retreat point calculating means for calculating a retreat point before palletizing from the target position and the pressing amount are provided, and the work gripped by the hand is placed above the work gripping position. It moves from the retreat position of 1 to the retreat point via the second retreat position above the retreat point, and is palletized first. It is to palletizing the plate pallet linearly moves and from the retracted point against the direction relative to the workpiece to the target position.

[Action]

In the present invention, the work gripped by the hand is moved from the first retracted position above the workpiece gripping position to the retracted point via the second retracted position above the retracted point, and is palletized first. The work is pressed in one direction and linearly moved from the retracted point to the target position to palletize on a plate-like pallet.

〔Example〕

An embodiment of the present invention will be described below with reference to the drawings. FIG. 1 is a block diagram of a control device according to the present invention, in which (11) is a work positioning means for positioning the work supplied on the conveyor, and (12) is a work discrimination for determining the type of the positioned work. Means, (13) is a work holding means for holding a work by a robot hand, (14)
Is a palletizing position calculating means for calculating the palletizing target position of the work, and (15) is a retracting point calculating means for calculating the retracting point before palletizing from the target position and the pressing amount.

That is, the work supplied on the conveyor is positioned by the work positioning means (11), and the type of the next work is judged by the work judging means (12). After that, the work is held by the work holding means (13) of the robot, and the palletizing position calculating means (14) obtains the palletizing position while moving the work. And
The withdrawal point before palletizing is calculated by the withdrawal point calculation means (15) for calculating the withdrawal point before palletizing from the obtained palletizing position and the pressing amount. As a result, the robot hand once moves to the retreat point and pushes the work from the retreat point to the target position for palletizing.

Next, the operation of the present invention will be described with reference to FIG. 5 together with the robot operation path diagram of FIG. 2 and the operation program flowchart of FIG. When an instruction to start palletizing work is input from the panel (4) to the control circuit (3), the robot (1) is started. First, in step (301), the work (5) is supplied to the conveyor (6) and the work is positioned. At this time, the type of the work (5) is discriminated by the sensor (8) and transmitted to the control circuit (3).
Next, in step (302), the robot (1) opens the hand (2), and in step (303) moves to the work gripping position (A). Therefore, the process proceeds to step (304), the hand (2) is closed and the work (5) is gripped, and then in step (305) the work is moved to the upper retracted position (B). Up to this point, the operation is the same as in the conventional example. Next, in step (306), the position away from the target position (D) for palletizing the work (5) and the retract point (E) are calculated, and in step (307) the retract position (F) above the retract point (E). ) To the work. And step (30
In step 8), the work (5) is moved to the retreat point (E) (see FIG. 4), and in step (309), the work (5) is linearly moved to the target position (D) so as to be pressed against the previously palletized work. Move to. Then, in step (310), the hand (2) is opened to palletize the work on the pallet (7). Thus, the hand (2) moves upward to the retracted position (C) in step (311), then moves to the retracted position (B) above the work gripping position in step (312), and waits for palletizing the next work. .

Although the pressing amount of the work is given as data in the embodiment, the pressing amount may be measured by a sensor attached to the robot hand.

〔The invention's effect〕

As described above, the present invention, the work positioning means for positioning the work on the conveyer, the work determining means for determining the type of the work by the sensor provided on the conveyer, and the hand is opened, and the hand is moved to the conveyer. Work gripping means for moving the work above to a work gripping position, closing the hand and gripping the work,
A plate pallet for palletizing the work, a palletizing position calculating means for obtaining a target position of the work on the plate pallet, and a retreat point calculating means for calculating a retreat point before palletizing from the target position and the pressing amount. A workpiece gripped by the hand from a first retracted position above the workpiece gripping position to a second above the retracted point.
Palletizing is performed by moving to the retreat point via the retreat position, pressing in one direction against the previously palletized work, and linearly moving from the retreat point to the target position to palletize on the plate pallet. Occasionally, the interference between the works can be prevented, so that the works are not damaged. Further, the works can be aligned with each other without a gap, and the load shift does not occur.

[Brief description of drawings]

1 is a block diagram of a control device for an industrial robot according to an embodiment of the present invention, FIG. 2 is a motion path diagram of the robot,
FIG. 3 is a flow chart, FIGS. 4 (a) and 4 (b) are side views and a plan view showing how a work is pressed and palletized, FIG. 5 is a plan view of a robot and an operating device, and FIG. FIG. 7 is a flow chart of a conventional operation, FIGS. 8A and 8B are a side view and a plan view showing a conventional work palletizing process, and FIG. ) And (b) are respectively a side view and a plan view showing a state of work palletizing for explaining a conventional defect. (1) ... Robot, (2) ... Hand, (3) ... Control circuit, (5) ... Work, (6) ... Conveyor, (8) ... Sensor, (11) ... Work positioning Means, (12) …… Workpiece discrimination means, (13) …… Workpiece gripping means, (14) …… Palletizing position calculation means, (15) …… Retraction point calculation means. In the drawings, the same reference numerals indicate the same or corresponding parts.

Claims (1)

(57) [Claims] 1. A work positioning means for positioning a work on a conveyor, a work discrimination means for discriminating the type of the work by a sensor provided on the conveyor, a hand is opened, and the hand is placed on the conveyor. Work holding means for moving to a certain work holding position, closing the hand to hold the work, a plate pallet for palletizing the work, and a palletizing position calculation for obtaining a target position of the work on the plate pallet Means, and a retraction point calculation means for calculating a retraction point before palletizing from the target position and the pressing amount, the work gripped by the hand is retracted from a first retraction position above the work gripping position. Move to the withdrawal point via the second withdrawal position above the point and move in one direction to the previously palletized work A controller for an industrial robot, characterized in that it is pressed against and linearly moved from the retracted point to the target position to palletize on the plate pallet.