JP5640933B2 - Panel work removal system - Google Patents

Description

  The present invention relates to a panel work removal system that takes out and transports a panel work placed on a pallet by an industrial robot.

  A plurality of panel works such as doors in an automobile are stored side by side on a pallet in the process of manufacturing a product. The pallet is configured to support a lower end portion and both side end portions of the panel work in order to stably place the panel work. And when taking out a panel work from a pallet, in order to make the taking out easy, opening the upper side part of one side edge part of a panel work may be performed.

  For example, in the suction hand and the suction hand posture tracking method disclosed in Patent Document 1, the robot sucks the plate-like workpieces one by one with the suction pad from a plurality of plate-like workpieces stacked in a vertical posture on the pallet. Automatic removal is disclosed. Then, each suction pad is pressed against the plate-like workpiece surface, and all the suction pads can suck the plate-like workpiece based on the on / off information of the first sensor and the second sensor that are turned on / off by the dog provided on each suction pad. Until the correct pressure is reached, the posture of the robot hand is corrected repeatedly by the set angle. After that, when the pressures of all the suction pads reach a pressure at which the plate-like workpiece can be sucked, the plate-like workpieces are transferred. Thereby, generation | occurrence | production of the contact flaw of a plate-shaped workpiece is prevented and the plate-shaped workpiece is transferred in a short time.

JP 2005-262325 A

By the way, when the panel work is supported by the pallet, if the upper part of one side end portion of the panel work is opened, the upper part vibrates and is likely to be displaced. Therefore, it is conceivable to measure the position / posture of the panel work with a vision sensor (camera) and change the position / posture of the robot in accordance with the measurement data. It is also conceivable to add a clamp unit or the like to the pallet to correct the position shift of the upper part of one side end of the panel work.
However, when a vision sensor, a clamp unit, or the like is used, additional equipment is required, which complicates the equipment.

  The present invention has been made in view of such a background, and a panel work removal system capable of reducing panel work suction failure by a simple method such as changing a teaching program without adding special additional equipment. It was obtained by trying to provide.

The present invention includes a pallet on which a panel work is placed;
An industrial robot for taking out and moving the panel work placed on the pallet;
A control device for operating the industrial robot;
A suction head disposed at an arm tip of the industrial robot and having a plurality of suction portions for sucking the panel work;
An adsorption force generator for generating an adsorption force in the plurality of adsorption units;
An adsorption detection sensor for detecting an adsorption state when the plurality of adsorption units adsorb the panel work,
The pallet includes a lower receiving portion that supports a lower end portion of the panel work and a side receiving portion that supports an upper portion of one side end portion of the panel work, and the other end of the panel work. The upper part of the part is configured to be in a free state,
The plurality of adsorbing portions are configured by a specific adsorbing portion that adsorbs an upper portion near the other end of the panel work and a plurality of general adsorbing portions that adsorb other portions of the panel work. ,
The control device includes an adsorption operation in which the tip of the arm moves, the adsorption unit receives the adsorption force by the adsorption force generation device, and the adsorption units adsorb the panel work;
A determination operation for determining whether or not the adsorption detection sensor detects the adsorption state within a predetermined time after the adsorption operation is started;
A control program for executing an extraction operation of moving the arm tip and taking out the panel work from the pallet when the suction state is detected within the predetermined time in the determination operation;
The control program is configured so that, when the suction state is not detected within the predetermined time in the determination operation, the arm is adapted to move the specific suction portion closer to the panel work while the suction operation is continued. The panel work take-out system is configured to execute a correction operation for changing the posture of the tip portion and the suction head.

The panel work take-out system is configured by using an industrial robot, a control device, a suction head, a suction force generation device, and a suction detection sensor for a pallet having a structure in which the upper part of the other end of the panel work is in a free state. It is a thing.
The plurality of suction portions in the suction head are configured by a specific suction portion that sucks an upper portion near the other end of the panel work and a plurality of general suction portions that suck other portions of the panel work. . And in the control program of the control device for operating the industrial robot, the position of the industrial robot is changed so as to change the position of the specific suction part closest to the upper part at the other side end of the panel work, which is most likely to be displaced. Change the posture of the arm tip.

More specifically, the control program is configured to perform the following operations.
First, as the suction operation, the arm tip of the industrial robot is moved and the suction force generated by the suction force generator is generated, and the suction of the panel work is started by the plurality of suction units in the suction head.
Next, as a determination operation, after the suction operation is started, it is determined whether or not the suction detection sensor has detected the suction state within a predetermined time. Then, when the suction state is detected within a predetermined time in the determination operation, as the take-out operation, the arm tip is moved to take out the panel work from the pallet. On the other hand, if the suction state is not detected within a predetermined time in the determination operation, the posture of the arm tip is changed so that the specific suction part moves closer to the panel work while the suction operation is continued as a correction operation. To do.

The panel work stored on the pallet is supported by the lower end and the upper part of the one side end, so that the lower end and the one side end are less likely to be displaced, while the upper part of the other end. Is likely to be displaced.
If the upper part of the other end of the panel work is displaced in a direction approaching the specific suction part of the suction head moved by the arm tip, the suction detection sensor will be suctioned within a predetermined time in the determination operation. It is thought to detect the condition. Then, when the suction state is detected within a predetermined time, the correction operation is not performed.

On the other hand, when the upper part of the other end of the panel work is displaced in a direction away from the specific suction part of the suction head moved by the arm tip, the suction is performed within a predetermined time in the determination operation. There is a high possibility that the detection sensor does not detect the suction state. When the suction state is not detected within a predetermined time, a correction operation is performed.
By performing this correction operation, even if the upper part of the other end of the panel work is displaced in the direction away from the specific suction part of the suction head, the entire plurality of suction parts including the specific suction part By this, the panel work can be adsorbed.

  Therefore, according to the panel work take-out system, it is possible to reduce panel work suction failure by a simple method such as changing a teaching program without adding special additional equipment such as a vision sensor and a clamp.

The side view which shows the state which looked at the panel work extraction system concerning an Example from the side. The perspective view which shows the pallet which mounted the panel work concerning an Example. The front view which shows the pallet which mounted the panel work concerning the Example, and the adsorption | suction head which adsorb | sucks a panel work. Explanatory drawing which shows typically the structure of the apparatus of the panel work extraction system concerning an Example. The side view which shows the periphery of the adsorption | suction head concerning an Example in the state seen from the side. The circuit diagram which shows the air circuit by the some adsorption | suction part, adsorption force generator, and adsorption | suction detection sensor concerning an Example. The flowchart which shows simply the flow of the teaching program concerning an Example. The side view which shows the several suction pad in the suction head before performing the correction | amendment operation | movement concerning an Example in the state seen from the side of the suction head. The side view which shows the several suction pad in the suction head after performing the correction | amendment operation | movement concerning an Example in the state seen from the side of the suction head.

A preferred embodiment of the panel work take-out system described above will be described.
In the panel work removal system, the suction part is a suction pad having an elastically deformable suction member, and the suction detection sensor has a high degree of vacuum when the plurality of suction pads suck the panel work. By utilizing this, the suction state of the panel work may be detected (claim 2).
In this case, the panel work can be adsorbed more stably by performing the correction operation for the positional deviation of the panel work by the structure of the panel work take-out system using the suction pad and the suction detection sensor. .

  In addition to the suction pad, the suction part may be an electromagnetic magnet that performs suction by a magnetic attractive force. In this case, the adsorption detection sensor can be a contact type or non-contact type sensor that detects that the panel work is adsorbed. In this case, the attracting force generating device can be an energizing device for generating an electromagnetic attracting force in the electromagnetic magnet.

Further, the pallet is configured to place a plurality of the panel work in a state of being arranged side by side, the support part supports two places at the lower end part of the panel work, and the side support part is One part of the upper part of the one side end part of the panel work and one part of the lower part of the other side end part of the panel work may be supported depending on the case. ).
In this case, it is possible to repeatedly pick up and take out a plurality of panel works one by one by repeatedly performing a suction operation, a determination operation, a take-out operation, and a correction operation according to circumstances.

The control program may be a teaching program that teaches the position and posture while moving the arm tip and the suction head.
In this case, the correction operation can be easily realized by changing a part of the teaching program in the control device.

Hereinafter, an embodiment of the panel work extraction system of this example will be described with reference to the drawings.
As shown in FIGS. 1 and 4, the panel work unloading system 1 of this example includes a pallet 7 on which the panel work 8 is placed, and an industrial robot 2 that takes out and moves the panel work 8 placed on the pallet 7. The control device 3 for operating the industrial robot 2, the suction head 4 having a plurality of suction portions 41A and 41B which are disposed at the arm tip 21 of the industrial robot 2 and suck the panel work 8, and the plurality of suction heads An adsorption force generating device 5 that generates an adsorption force on the parts 41A and 41B and an adsorption detection sensor 61 that detects an adsorption state when the plurality of adsorption parts 41A and 41B adsorb the panel work 8 are provided.

  As shown in FIGS. 2 and 3, the pallet 7 includes a lower receiving portion 71 that supports the lower end portion 83 of the panel work 8, and a side receiving portion 72 that supports the upper portion 811 of the one side end portion 81 of the panel work 8. And the upper portion 821 of the other end 82 of the panel work 8 is in a free state. The plurality of suction portions 41A and 41B include a specific suction portion 41A that sucks the upper portion 821A near the other end portion 82 of the panel work 8 and a plurality of general suction portions 41B that suck the other portions of the panel work 8. And is composed of.

As shown in FIG. 7, the control device 3 performs the suction operation in which the arm tip 21 moves and the suction force generating device 5 receives the suction force so that the plurality of suction portions 41A and 41B suck the panel work 8 (step S3). , S4), a determination operation for determining whether or not the suction detection sensor 61 has detected the suction state within a predetermined time after the suction operation is started (S5), and the suction state is detected within the predetermined time in the determination operation. A control program is executed to move the arm tip 21 and take out the panel work 8 from the pallet 7 (S9).
When the suction state is not detected within a predetermined time in the determination operation, the control program sets the posture of the arm tip 21 so that the specific suction portion 41A moves in a direction approaching the panel work 8 while the suction operation is continued. The correction operation to be changed is executed (S6, S7).

Below, it demonstrates in full detail with reference to FIGS. 1-9 about the panel work extraction system 1 of this example.
The panel work unloading system 1 of the present example is configured such that the industrial robot 2, the control device 3, the suction head 4, and the suction force are applied to the pallet 7 having a structure in which the upper portion 821 of the other end 82 of the panel work 8 is in a free state. The generator 5 and the adsorption detection sensor 61 are used.
The industrial robot 2 has a plurality of joints that are operated by servo motors, and is configured to be able to change the position / posture of the arm tip 21 to three dimensions by operating each servo motor.

FIG. 4 is a diagram schematically showing the configuration of the apparatus of the panel work removal system 1.
As shown in the figure, the control device 3 of the industrial robot 2 includes a remote controller (teaching pendant) 31 for an operator to operate the arm tip 21 to teach the position / posture of the arm tip 21. Have. The control device 3 is configured to receive the input from the remote controller 31 and store the teaching points and movement paths of the position and orientation of the arm tip 21 and the suction head 4 as a teaching program (control program).
The control device 3 is configured to output an output signal for operating the suction force generation device 5 according to a command from the teaching program, and to receive an input signal from the suction detection sensor 61 in the operation of the teaching program.

FIG. 5 is a diagram showing the periphery of the suction head 4 as viewed from the side.
As shown in the figure, the suction portions 41A and 41B of this example are suction pads 41A and 41B having suction members 411 that can be elastically deformed. The adsorbing member 411 has an opening suction port at the tip and is formed in a round trumpet shape. The suction pads 41A and 41B are formed by attaching the suction member 411 to the base portion 412 in which the suction port is formed.
The suction head 4 of this example includes a plurality of suction pads 41A and 41B and a bracket 42 that attaches the plurality of suction pads 41A and 41B to the arm tip portion 21 of the industrial robot 2. As shown in FIG. 3, the four suction pads 41 </ b> A and 41 </ b> B are arranged in a state in which the bracket 42 is arranged in four directions.

FIG. 6 shows an air circuit 50 including a plurality of suction portions 41 </ b> A and 41 </ b> B, a suction force generation device 5, and a suction detection sensor 61.
As shown in the figure, the suction power generation device 5 of this example uses compressed air (air pressure) A1 supplied from a factory and sucks it from a vacuum pipe connected near the nozzle when the compressed air A1 is ejected from the nozzle. It is comprised using the ejector pump 51 (pump by the principle of a convam) which performs.
When an output signal from the control device 3 is sent to the movable valve 52A (a solenoid valve in this example) and the movable valve 52A is operated, the compressed air A1 is ejected, and the suction pads 41A and 41B are ejected along with this ejection. Air A2 is sucked from the air. The air A2 sucked from the suction pads 41A and 41B is exhausted together with the compressed air A1.

In this example, the air A2 is sucked from the plurality of suction pads 41A and 41B and the two movable valves 52A for performing the suction operation and the air is ejected from the plurality of suction pads 41A and 41B and the opening operation is performed. The air circuit 50 of the suction pads 41A and 41B is configured using the two movable valves 52B.
In this example, the air circuit 50 using a plurality (four) of movable valves 52A and 52B is configured for each of the suction pads 41A and 41B of the specific suction portion 41A and the plurality of general suction portions 41B. The configuration of the air circuit 50 can be changed as appropriate according to the specifications of the suction pads 41A and 41B.

  As shown in FIG. 3, the suction pads (suction portions) 41A and 41B of this example are configured by one specific suction pad (specific suction portion) 41A and three general suction pads (general suction portions) 41B. . In the whole of the plurality of suction pads 41A, 41B, the specific suction pad 41A sucks the upper portion 821A on the side close to the other end 82 of the panel work 8, and one general suction pad 41B1 is the other of the panel work 8. The lower part 822A on the side close to the side end part 82 is adsorbed, and the other one general suction pad 41B2 adsorbs the upper part 811A on the side close to the one end part 81 of the panel work 8, and the remaining one The general suction pad 41B3 sucks the lower part 812A on the side close to the one end 81 of the panel work 8. The suction position of the panel work 8 by the plurality of suction pads 41A and 41B is determined by the teaching of the industrial robot 2 by the remote controller 31.

As shown in FIG. 6, the suction detection sensor 61 of this example detects the suction state of the panel work 8 by utilizing the fact that the degree of vacuum increases when the suction pads 41 </ b> A and 41 </ b> B suck the panel work 8. It is configured to The suction detection sensor 61 is connected to a pipe between the movable valves 52A and 52B and the suction pads 41A and 41B, and is configured to measure a change in the degree of vacuum (pressure) in the pipe.
As shown in FIG. 4, the suction head 4 is provided with a work detection sensor 62 for confirming the presence or absence of the panel work 8 in the suction head 4. The work detection sensor 62 is configured to transmit the presence / absence of the panel work 8 to the control device 3.

As shown in FIGS. 2 and 3, the panel work 8 of this example is an outer panel of a front door of an automobile.
The pallet 7 of this example is configured to place a plurality of panel works 8 in a state of being arranged side by side. The outer panel of the front door as the panel work 8 is placed on the pallet 7 with the front end located on the front side facing downward when configuring the automobile. The pallet 7 is configured by providing support columns 73 from four corners of a frame portion that forms a rectangular lower surface portion.
The receiving part 71 of the pallet 7 is configured to support two front and rear locations at the front end portion of the outer panel of the front door. The side receiving part 72 of the pallet 7 is configured to support one place of the upper part 811 of the one end 81 of the outer panel and one place of the lower part 822 of the other end 82 of the outer panel. Yes.

As shown in FIGS. 1 and 2, the two lower receiving portions 71 and the two side receiving portions 72 are formed in a long shape so that the plurality of panel works 8 are placed side by side. A plurality of support recesses 711 and 721 for supporting the panel work 8 are formed in the lower receiving portion 71 and the side receiving portion 72 at predetermined intervals. Each panel work 8 is supported by the lower receiving part 71 and the side receiving part 72 so that the plate surface directions thereof are parallel to each other.
The pallet 7 is opened on both sides in the depth direction where the plate surface of the panel work 8 is located between the columns 73.
In FIG. 1 and FIG. 2, the panel work 8 other than the panel work 8 at both ends is omitted.

  As shown in FIGS. 2 and 3, a movable side receiving portion 72 </ b> A is provided on the pallet 7 at a position facing the upper portion 821 of the other end 82 of the panel work 8. The movable side receiving portion 72 </ b> A is configured to rotate with respect to the pallet 7. When the industrial robot 2 takes out the panel work 8, the movable side receiving part 72 </ b> A contacts the panel work 8 to make the upper part 821 of the other end 82 of the panel work 8 free. Retreat to a position where it will not. 72 A of movable side receiving parts are rotated to the position which supports the panel work 8, when conveying the pallet 7 in which the panel work 8 was mounted.

In this example, in the control program of the control device 3 for operating the industrial robot 2, the position of the specific suction portion 41 </ b> A closest to the upper portion 821 at the other end portion 82 of the panel work 8 is most likely to be displaced. The posture of the arm tip 21 of the industrial robot 2 is changed so as to change.
When operating the panel work take-out system 1, an operator teaches the industrial robot 2 using the remote controller 31. Specifically, the arm tip 21 and the suction head 4 are moved to teach the position for sucking the panel work 8 placed on the pallet 7. Further, teaching is also performed for the position where the correction of changing the posture of the arm tip 21 is performed so that the specific suction portion 41 </ b> A moves toward the panel work 8 with respect to the teaching position. Teaching by moving the arm tip 21 and the suction head 4 is also performed on the panel work 8 at a plurality of positions on the pallet 7. Then, the movement path of the arm tip 21 and the suction head 4 is specified, and a teaching program is created.

The teaching program of this example performs the following operations as shown in the flowchart of FIG.
First, it is confirmed whether or not the work detection sensor 62 in the suction head 4 has detected the panel work 8 (step S1 in the figure). If there is the panel work 8, the panel work removal system 1 is abnormally stopped ( S2).
When the suction head 4 does not have the panel work 8, the arm tip 21 and the suction head 4 of the industrial robot 2 are moved to the position of the panel work 8 on the pallet 7 as a moving operation (S3).
Next, as the suction operation, the suction force generated by the suction force generator 5 is generated, and suction of the panel work 8 is started by the plurality of suction pads 41A and 41B in the suction head 4 (S4).

  Next, as a determination operation, after the suction operation is started, it is determined whether or not the suction detection sensor 61 has detected the suction state within a predetermined time (S5). When the suction state is detected within a predetermined time in the determination operation, the arm tip 21 is moved and the panel work 8 is taken out from the pallet 7 as an extraction operation (S9). On the other hand, when the suction state is not detected within a predetermined time in the determination operation, as the correction operation, the arm tip 21 is moved so that the specific suction portion 41A moves toward the panel work 8 while the suction operation is continued. The posture is changed (S6).

Next, again, as a determination operation, it is determined whether or not the adsorption detection sensor 61 has detected an adsorption state within a predetermined time (S7). When the suction state is not detected within a predetermined time in the determination operation, the panel work removal system 1 is abnormally stopped (S8).
On the other hand, when the suction state is detected within a predetermined time in the determination operation, as the take-out operation, the arm tip 21 is moved and the panel work 8 is taken out from the pallet 7 (S9).
Thereafter, the industrial robot 2 transports the panel work 8 to a predetermined position (S10), and stops the suction operation of the suction force generator 5 (S11). Thereafter, steps S1 to S11 are repeated for the number of panel works 8 placed on the pallet 7.

Next, the effect of the panel work removal system 1 will be described.
While the panel work 8 stored in the pallet 7 is supported by the lower end 83 and the upper portion 811 of the one end 81, the lower end 83 and the one end 81 are less likely to be displaced, The upper portion 821 of the other side end portion 82 is likely to be displaced.
When the upper portion 821 of the other end 82 of the panel work 8 is displaced in a direction approaching the specific suction pad 41A of the suction head 4 moved by the arm tip 21, the determination operation is performed within a predetermined time. It is considered that the suction detection sensor 61 detects the suction state. Then, when the suction state is detected within a predetermined time, the correction operation is not performed.

On the other hand, when the upper part 821 of the other end 82 of the panel work 8 is displaced in the direction away from the specific suction pad 41A of the suction head 4 moved by the arm tip 21, in the determination operation There is a high possibility that the suction detection sensor 61 will not detect the suction state within a predetermined time. Then, when the suction state is not detected within a predetermined time, a correction operation is performed.
8 and 9 show a plurality of suction pads 41A and 41B in the suction head 4 as viewed from the side of the suction head 4. FIG. Each figure illustrates the specific suction pad 41A and the general suction pad 41B at the diagonal position of the specific suction pad 41A in a state where the vertical suction position is visible.

  FIG. 8 shows the periphery of the suction head 4 in which the panel work 8 is separated from the specific suction pad 41 </ b> A and the three general suction pads 41 </ b> B are pushed (compressed) by the panel work 8. Each of the suction pads 41A and 41B is easily compressed by elastically deforming the suction member 411. FIG. 9 shows a state in which the postures of the arm tip 21 and the suction head 4 are changed so that the specific suction pad 41A moves in a direction approaching the panel work 8 as the correction operation. At this time, all of the specific suction pads 41A and the plurality of general suction pads 41B are sucked to the panel work 8.

By performing this correction operation, the specific suction pad 41A is included even when the upper portion 821 of the other end 82 of the panel work 8 is displaced in the direction away from the specific suction portion 41A of the suction head 4. The panel work 8 can be sucked by the entirety of the plurality of suction pads 41A and 41B.
Therefore, according to the panel work removal system 1, it is possible to reduce the suction failure of the panel work 8 by a simple method such as changing the teaching program without adding special additional equipment such as a vision sensor and a clamp. it can.

DESCRIPTION OF SYMBOLS 1 Panel workpiece taking-out system 2 Industrial robot 21 Arm tip part 3 Control apparatus 31 Remote controller 4 Suction head 41A Specific adsorption part (specific adsorption pad)
41B General suction part (General suction pad)
DESCRIPTION OF SYMBOLS 5 Adsorption force generator 50 Air circuit 61 Adsorption detection sensor 7 Pallet 71 Lower receiving part 72 Side receiving part 8 Panel work 81 One side end part 82 Other side end part 83 Lower end part

Claims (4)

A pallet on which panel work is placed;
An industrial robot for taking out and moving the panel work placed on the pallet;
A control device for operating the industrial robot;
A suction head disposed at an arm tip of the industrial robot and having a plurality of suction portions for sucking the panel work;
An adsorption force generator for generating an adsorption force in the plurality of adsorption units;
An adsorption detection sensor for detecting an adsorption state when the plurality of adsorption units adsorb the panel work,
The pallet includes a lower receiving portion that supports a lower end portion of the panel work and a side receiving portion that supports an upper portion of one side end portion of the panel work, and the other end of the panel work. The upper part of the part is configured to be in a free state,
The plurality of adsorbing portions are configured by a specific adsorbing portion that adsorbs an upper portion near the other end of the panel work and a plurality of general adsorbing portions that adsorb other portions of the panel work. ,
The control device includes an adsorption operation in which the tip of the arm moves, the adsorption unit receives the adsorption force by the adsorption force generation device, and the adsorption units adsorb the panel work;
A determination operation for determining whether or not the adsorption detection sensor detects the adsorption state within a predetermined time after the adsorption operation is started;
A control program for executing an extraction operation of moving the arm tip and taking out the panel work from the pallet when the suction state is detected within the predetermined time in the determination operation;
The control program is configured so that, when the suction state is not detected within the predetermined time in the determination operation, the arm is adapted to move the specific suction portion closer to the panel work while the suction operation is continued. A panel work extraction system configured to execute a correction operation for changing the posture of the tip portion and the suction head. The panel work take-out system according to claim 1, wherein the suction part is a suction pad having an elastically deformable suction member,
The suction detection sensor is configured to detect the suction state of the panel work by utilizing the fact that the degree of vacuum becomes high when the plurality of suction pads suck the panel work. Panel work takeout system. In the panel work extraction system according to claim 1 or 2, the pallet is configured to place a plurality of the panel works in a state of being arranged side by side.
The lower support part supports two places at the lower end part of the panel work, and the side support part is one place of the upper part of one side end part of the panel work and, in some cases, other parts of the panel work. A panel work take-out system configured to support a lower portion of a side end portion.   The panel work take-out system according to any one of claims 1 to 3, wherein the control program is a teaching program that teaches while moving the arm tip and the suction head. Work removal system.

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