JP6619947B2 - ワークローダ装置 - Google Patents
ワークローダ装置 Download PDFInfo
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- JP6619947B2 JP6619947B2 JP2015072171A JP2015072171A JP6619947B2 JP 6619947 B2 JP6619947 B2 JP 6619947B2 JP 2015072171 A JP2015072171 A JP 2015072171A JP 2015072171 A JP2015072171 A JP 2015072171A JP 6619947 B2 JP6619947 B2 JP 6619947B2
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q7/00—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting
- B23Q7/04—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting by means of grippers
- B23Q7/045—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting by means of grippers using a tool holder as a work-transporting gripper
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q1/00—Members which are comprised in the general build-up of a form of machine, particularly relatively large fixed members
- B23Q1/25—Movable or adjustable work or tool supports
- B23Q1/44—Movable or adjustable work or tool supports using particular mechanisms
- B23Q1/56—Movable or adjustable work or tool supports using particular mechanisms with sliding pairs only, the sliding pairs being the first two elements of the mechanism
- B23Q1/60—Movable or adjustable work or tool supports using particular mechanisms with sliding pairs only, the sliding pairs being the first two elements of the mechanism two sliding pairs only, the sliding pairs being the first two elements of the mechanism
- B23Q1/62—Movable or adjustable work or tool supports using particular mechanisms with sliding pairs only, the sliding pairs being the first two elements of the mechanism two sliding pairs only, the sliding pairs being the first two elements of the mechanism with perpendicular axes, e.g. cross-slides
- B23Q1/621—Movable or adjustable work or tool supports using particular mechanisms with sliding pairs only, the sliding pairs being the first two elements of the mechanism two sliding pairs only, the sliding pairs being the first two elements of the mechanism with perpendicular axes, e.g. cross-slides a single sliding pair followed perpendicularly by a single sliding pair
- B23Q1/626—Movable or adjustable work or tool supports using particular mechanisms with sliding pairs only, the sliding pairs being the first two elements of the mechanism two sliding pairs only, the sliding pairs being the first two elements of the mechanism with perpendicular axes, e.g. cross-slides a single sliding pair followed perpendicularly by a single sliding pair followed perpendicularly by a single sliding pair
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q7/00—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting
- B23Q7/04—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting by means of grippers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q7/00—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting
- B23Q7/04—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting by means of grippers
- B23Q7/046—Handling workpieces or tools
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/02—Hand grip control means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0253—Gripping heads and other end effectors servo-actuated comprising parallel grippers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0081—Programme-controlled manipulators with master teach-in means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/023—Cartesian coordinate type
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/023—Cartesian coordinate type
- B25J9/026—Gantry-type
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/1633—Programme controls characterised by the control loop compliant, force, torque control, e.g. combined with position control
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/42—Recording and playback systems, i.e. in which the programme is recorded from a cycle of operations, e.g. the cycle of operations being manually controlled, after which this record is played back on the same machine
- G05B19/423—Teaching successive positions by walk-through, i.e. the tool head or end effector being grasped and guided directly, with or without servo-assistance, to follow a path
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/36—Nc in input of data, input key till input tape
- G05B2219/36425—Move manually, touch surface, record position
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/36—Nc in input of data, input key till input tape
- G05B2219/36492—Record position and orientation, posture of probe, tool
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Human Computer Interaction (AREA)
- Feeding Of Workpieces (AREA)
- Manipulator (AREA)
Description
前記ローダ機構は、オペレータが、前記ローダハンドを直接手で持って所望位置に移動させることが可能に構成されており、
前記ローダ機構制御部は、前記オペレータが、前記ローダハンドを手で持ってワーク受け渡し位置に移動させ、前記ワークテーブルの複数の位置決めピンに対応した複数のワークの位置決め穴が嵌合したときの位置座標をワーク受け渡し位置座標として記憶し、
かつ前記ローダ機構制御部は、前記記憶したワーク受け渡し位置座標を用いてワークを把持した前記ローダ機構の移動を制御することを特徴としている。
前記ローダ機構制御部は、前記オペレータが、ローダハンドを手で持って移動させるに先だって、前記ローダハンドが前記受け渡し位置近傍に移動するように前記ローダ機構を制御することを特徴としている。
前記オペレータがローダハンドを手で持って移動させた方向を検知する移動方向検知センサをさらに備え、前記ローダ機構制御部は、前記ローダ機構を、前記検知された方向の補助力を発生するように制御することを特徴としている。
前記ローダ機構制御部は、前記ローダ機構を、前記ローダハンドを自重に抗して任意の昇降方向位置に止まらせる補助力を発生するように制御することを特徴としている。
「変形例」
2 ローダハンド
3 ワークテーブル(クランプ機構)
4 ローダ機構
5 ローダ機構制御部
16a〜16c 移動方向検知センサ
31 チャック(クランプ機構)
W ワーク
WS ワーク貯留部
Claims (4)
- ワークを把持するローダハンドを、ワーク貯留部と工作機械のワークをクランプして該ワークを加工するためのワークテーブルへのワーク受け渡し位置との間で移動させ、前記ワークをワークテーブルの複数のクランプでクランプさせるためのローダ機構と、該ローダ機構を、前記ローダハンドが予め設定されたワーク受け渡し位置に移動するよう前記ローダ機構を制御するローダ機構制御部と、を備えたワークローダ装置において、
前記ローダ機構は、オペレータが、前記ローダハンドを直接手で持って所望位置に移動させることが可能に構成されており、
前記ローダ機構制御部は、前記オペレータが、前記ローダハンドを手で持ってワーク受け渡し位置に移動させ、前記ワークテーブルの複数の位置決めピンに対応した複数のワークの位置決め穴が嵌合したときの位置座標をワーク受け渡し位置座標として記憶し、
かつ前記ローダ機構制御部は、前記記憶したワーク受け渡し位置座標を用いてワークを把持した前記ローダ機構の移動を制御する
ことを特徴とするワークローダ装置。 - 請求項1に記載のワークローダ装置において、
前記ローダ機構制御部は、前記オペレータが、ローダハンドを手で持って移動させるに先だって、前記ローダハンドが前記受け渡し位置近傍に移動するように前記ローダ機構を制御する
ことを特徴とするワークローダ装置。 - 請求項1又は2に記載のワークローダ装置において、
前記オペレータがローダハンドを手で持って移動させた方向を検知する移動方向検知センサをさらに備え、
前記ローダ機構制御部は、前記ローダ機構を、前記検知された方向の補助力を発生するように制御する
ことを特徴とするワークローダ装置。 - 請求項3に記載のワークローダ装置において、
前記ローダ機構制御部は、前記ローダ機構を、前記ローダハンドを自重に抗して任意の昇降方向位置に止まらせる補助力を発生するように制御する
ことを特徴とするワークローダ装置。
Priority Applications (7)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2015072171A JP6619947B2 (ja) | 2015-03-31 | 2015-03-31 | ワークローダ装置 |
CN201680019743.0A CN107428005B (zh) | 2015-03-31 | 2016-03-07 | 工件装载装置 |
PCT/JP2016/056987 WO2016158218A1 (ja) | 2015-03-31 | 2016-03-07 | ワークローダ装置 |
EP16772102.6A EP3278939B1 (en) | 2015-03-31 | 2016-03-07 | Workpiece loader device |
BR112017020764-8A BR112017020764B1 (pt) | 2015-03-31 | 2016-03-07 | Dispositivo transportador de peça de trabalho |
US15/562,662 US10300572B2 (en) | 2015-03-31 | 2016-03-07 | Workpiece loader device |
MX2017012570A MX2017012570A (es) | 2015-03-31 | 2016-03-07 | Dispositivo cargador de piezas de trabajo. |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2015072171A JP6619947B2 (ja) | 2015-03-31 | 2015-03-31 | ワークローダ装置 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2016190306A JP2016190306A (ja) | 2016-11-10 |
JP6619947B2 true JP6619947B2 (ja) | 2019-12-11 |
Family
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Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2015072171A Active JP6619947B2 (ja) | 2015-03-31 | 2015-03-31 | ワークローダ装置 |
Country Status (7)
Country | Link |
---|---|
US (1) | US10300572B2 (ja) |
EP (1) | EP3278939B1 (ja) |
JP (1) | JP6619947B2 (ja) |
CN (1) | CN107428005B (ja) |
BR (1) | BR112017020764B1 (ja) |
MX (1) | MX2017012570A (ja) |
WO (1) | WO2016158218A1 (ja) |
Families Citing this family (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US10372761B2 (en) * | 2016-12-28 | 2019-08-06 | Sap Se | Auto-discovery of data lineage in large computer systems |
CN107838789A (zh) * | 2017-11-30 | 2018-03-27 | 苏州哈工易科机器人有限公司 | 用于卧式磨床磨削加工的自动更换压板机构 |
JP7156897B2 (ja) * | 2018-10-10 | 2022-10-19 | シチズン時計株式会社 | 工作機械 |
CN109571416A (zh) * | 2018-12-24 | 2019-04-05 | 重庆世玛德智能制造有限公司 | 一种新型四轴龙门桁架机械手装置 |
CN109927049B (zh) * | 2019-04-23 | 2021-03-23 | 河北科技大学 | 一种缝隙填充机械手 |
CN110053065A (zh) * | 2019-04-25 | 2019-07-26 | 徐佳斌 | 用于水泵制造装配的工件转运机械手 |
US10792815B1 (en) * | 2019-04-26 | 2020-10-06 | GM Global Technology Operations LLC | Perceived color harmony fixture |
CN110561481A (zh) * | 2019-10-12 | 2019-12-13 | 航天晨光股份有限公司 | 一种圆形物料机械抓取系统 |
WO2023205176A1 (en) | 2022-04-18 | 2023-10-26 | Dextrous Robotics, Inc. | System and/or method for grasping objects |
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JPH0258107A (ja) * | 1988-08-24 | 1990-02-27 | Toshiba Corp | ロボットティーチング時の操作者支援制御方式 |
JPH02279286A (ja) * | 1989-04-19 | 1990-11-15 | Mitsubishi Electric Corp | ワークの位置決め方法 |
JPH03218502A (ja) * | 1990-01-24 | 1991-09-26 | Murata Mach Ltd | ロボットの教示装置 |
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JP4864363B2 (ja) * | 2005-07-07 | 2012-02-01 | 東芝機械株式会社 | ハンドリング装置、作業装置及びプログラム |
JP2010064158A (ja) * | 2008-09-08 | 2010-03-25 | Yamazaki Mazak Corp | 加工装置 |
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JP2014157462A (ja) * | 2013-02-15 | 2014-08-28 | Murata Mach Ltd | ローダ位置教示装置 |
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-
2015
- 2015-03-31 JP JP2015072171A patent/JP6619947B2/ja active Active
-
2016
- 2016-03-07 CN CN201680019743.0A patent/CN107428005B/zh active Active
- 2016-03-07 WO PCT/JP2016/056987 patent/WO2016158218A1/ja active Application Filing
- 2016-03-07 MX MX2017012570A patent/MX2017012570A/es unknown
- 2016-03-07 US US15/562,662 patent/US10300572B2/en active Active
- 2016-03-07 BR BR112017020764-8A patent/BR112017020764B1/pt active IP Right Grant
- 2016-03-07 EP EP16772102.6A patent/EP3278939B1/en active Active
Also Published As
Publication number | Publication date |
---|---|
EP3278939A1 (en) | 2018-02-07 |
BR112017020764A2 (ja) | 2018-06-26 |
MX2017012570A (es) | 2018-01-25 |
EP3278939A4 (en) | 2018-04-25 |
BR112017020764B1 (pt) | 2022-08-09 |
JP2016190306A (ja) | 2016-11-10 |
US10300572B2 (en) | 2019-05-28 |
US20180104781A1 (en) | 2018-04-19 |
CN107428005B (zh) | 2020-12-01 |
EP3278939B1 (en) | 2023-06-21 |
WO2016158218A1 (ja) | 2016-10-06 |
CN107428005A (zh) | 2017-12-01 |
EP3278939C0 (en) | 2023-06-21 |
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