JP6707853B2 - Device for picking up piled parts and method for picking up piled parts - Google Patents
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Description
本発明は工場等で前工程を終えて開放容器内に山積みされた部品を次工程のために取り出す取出し装置および山積み部品の取出し方法に関するものである。 BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a take-out device and a take-out method of piled-up parts for picking up parts stacked in an open container for the next step after finishing the previous process in a factory or the like.
この種の取出し装置では従来、電磁力で山積みの金属部品を吸着して取り出すものが知られている。吸着具をロボットアームの先端に保持させて三次元空間を移動可能とした取出し装置では、開放容器内およびその上方の空間に吸着具の停止位置を多数予め設定してこれをロボット制御装置内に記臆させておき、各停止位置へ順次吸着具を移動させて吸着動作を行うようにしている。しかし、これでは山積み状態が変動した場合に、全く部品が存在しない位置でもその都度停止して吸引動作を行う、いわゆる空振りが生じるために無駄時間が多いという問題があった。 As this type of take-out device, there is conventionally known a take-out device that picks up a pile of metal parts by electromagnetic force. In the take-out device that can move the three-dimensional space by holding the suction tool at the tip of the robot arm, many stop positions of the suction tool are set in advance in the open container and the space above it, and this is set in the robot controller. The suction operation is performed by sequentially moving the suction tool to each stop position. However, in this case, when the piled state changes, there is a problem that there is a lot of dead time because a so-called idling occurs in which the suction operation is performed by stopping each time even when there is no component at all.
なお、特許文献1には、容器内の部品位置や姿勢を三次元認識して、移動可能とした容器底部を移動操作することによって、常に所定位置に所定姿勢で部品が存在するようにしてこれを取り出すようにした装置が提案されている。 In addition, in Patent Document 1, by three-dimensionally recognizing the position and posture of a component in a container and moving the movable container bottom, the component is always present at a predetermined position in a predetermined posture. There has been proposed a device adapted to take out.
本発明は上記従来の問題点を解決するもので、部品取出し時の無駄時間を少なくして効率的な部品取出しを可能にした山積み部品の取出し装置および山積み部品の取出し方法を提供することを目的とする。 The present invention solves the above-mentioned conventional problems, and an object of the present invention is to provide a stacking part take-out device and a stacking part take-out method capable of reducing the dead time when taking out parts and enabling the parts to be taken out efficiently. And
上記目的を達成するために、本第1発明の山積み部品の取出し装置では、山積みされた部品(P)を上方から一定範囲で吸着可能な吸着面(21)を備えた吸着手段(2)と、前記各部品(P)の高さを検出可能な高さ検出手段(3)と、前記吸着手段(2)と前記高さ検出手段(3)を先端に保持して三次元空間内で移動可能なロボットアーム(1)と、前記吸着手段(2)の吸着範囲(D1)とこれに隣接する所定範囲(D2,D3)内で移動保持手段(1)を水平面内で移動させて、移動軌跡(t1)の下方で最も高い位置にある前記部品(P)を特定し、当該部品(P)が存在する位置を含むように前記吸着手段(2)の吸着面(21)を位置させて前記最も高い位置にある部品(P)を吸着するように前記ロボットアーム(1)を制御する制御手段(4)とを具備し、前記吸着面(21)の形状を、前記部品(P)を収容した容器(5)の開口面を等分した各領域(D1〜D4,D)の形状と同一にし、前記制御手段(4)は、前記吸着手段(2)を前記各領域(D1〜D4,D)の対角線に沿う軌跡(t1〜t3)で移動させるとともに、吸着した前記部品(P)を前記容器(5)外へ取り出すように設定されている。 In order to achieve the above object, in the device for picking up piled parts according to the first aspect of the present invention, there is provided a suction means (2) having a suction surface (21) capable of sucking the stacked parts (P) in a certain range from above. , A height detecting means (3) capable of detecting the height of each of the parts (P), and the suction means (2) and the height detecting means (3) are held at the tips and moved in a three-dimensional space. The robot holding arm (1) is moved within a horizontal plane in which the robot arm (1) can move, the suction range (D1) of the suction means (2) and a predetermined range (D2, D3) adjacent thereto. The part (P) at the highest position below the locus (t1) is specified, and the suction surface (21) of the suction means (2) is positioned so as to include the position where the part (P) exists. And a control means (4) for controlling the robot arm (1) so as to suck the component (P) at the highest position, and the shape of the suction surface (21) is defined as the component (P). The opening surface of the container (5) housed therein is made into the same shape as the regions (D1 to D4, D) equally divided, and the control means (4) controls the adsorption means (2) to the respective regions (D1 to D4). , D) are moved along a trajectory (t1 to t3) along the diagonal line, and the sucked component (P) is taken out of the container (5) .
本第1発明においては、山積みされた部品の高さを高さ検出手段で検出して、最も高い位置にある部品を吸着手段で吸着して取り出しているから、これを繰り返すことによって、空振りを生じることなく効率的に部品を取り出すことができるとともに、一定範囲で吸着可能な吸着面を備えた吸着手段によって部品を吸着するようにしているから、移動保持手段の移動軌跡の下方で最も高い位置にある部品と共にその周囲の部品も吸着されるから、移動軌跡外で最も高い位置にある部品も含めてさらに効率的な部品の取出しが可能となる。また、容器内で山積みされた部品を上方位置のものから順次確実かつ効率的に取り出すことが可能である。さらに、吸着手段の移動に無駄が無く短距離の移動で良いから、さらに効率的な部品の取り出しが可能である。 According to the first aspect of the present invention, the height of the piled up parts is detected by the height detecting means, and the parts at the highest position are adsorbed and taken out by the adsorbing means. The parts can be taken out efficiently without being generated, and the parts are sucked by the suction means having the suction surface capable of sucking in a certain range. Therefore, the highest position below the movement locus of the movement holding means. In addition to the parts in FIG. 1 and the parts around the parts, the parts in the highest position outside the movement track can be taken out more efficiently. Further, it is possible to sequentially and reliably take out the piled up parts in the container from the upper position. Furthermore, since there is no waste in the movement of the suction means and a short distance movement is sufficient, it is possible to more efficiently take out the components.
本第2発明の山積み部品の取出し装置では、前記制御手段(4)は、前記吸着手段(2)を、隣接する前記各領域(D1〜D4)の対角線上を折り返すように移動させて、吸着した前記部品(P)を前記容器(5)外へ取り出すことを繰り返すように設定されている。 In the device for picking up piled parts according to the second aspect of the present invention, the control means (4) moves the suction means (2) so as to be folded back on the diagonal line of each of the adjacent regions (D1 to D4), and sucks the suction parts. It is set to repeat taking out the above-mentioned component (P) to the outside of the container (5) .
本第3発明の山積み部品の取出し方法では、山積みされた部品を収容した容器の開口面を等分して各領域とし、前記各領域の形状と同一とした吸着面を備えた吸着手段と前記各部品の高さを検出可能な高さ検出手段を先端に保持して三次元区間内で移動可能なロボットアームの先端を前記各領域の対角線に沿う軌跡で、かつ前記吸着手段の吸着範囲とこれに隣接する所定範囲内で水平面内で移動させて、移動軌跡の下方で最も高い位置にある前記部品を特定し、当該部品が存在する位置を含むように前記吸着手段の吸着面を位置させて前記最も高い位置にある部品を吸着して、前記容器外へ取り出すようにする。 According to the third aspect of the present invention , there is provided a method for picking up piled parts, wherein the opening surface of a container accommodating the piled parts is equally divided into respective areas, and the suction means is provided with a suction surface having the same shape as each area. The tip of a robot arm that holds the height detecting means capable of detecting the height of each component at the tip and is movable in a three-dimensional section is a trajectory along the diagonal line of each area, and the suction range of the suction means. By moving in a horizontal plane within a predetermined range adjacent to this, the part at the highest position below the movement track is specified, and the suction surface of the suction means is positioned so as to include the position where the part exists. Then, the component at the highest position is sucked and taken out of the container .
本第4発明の山積み部品の取出し方法では、前記ロボットアームの先端を、隣接する前記各領域で互いに交差する対角線上を折り返すように前記各領域の対角線に沿う軌跡で移動させる。 In the method for taking out piled parts according to the fourth aspect of the present invention , the tip of the robot arm is moved along a diagonal line of each area so as to be folded back on a diagonal line intersecting with each other in each of the adjacent areas .
本第5発明の山積み部品の取出し方法では、前記ロボットアームの先端を、隣接する前記各領域の対角線上を折り返すように移動させて前記部品を前記容器外へ取り出すことを繰り返す。 In the method of taking out the piled parts of the fifth aspect of the present invention , the tip of the robot arm is moved so as to be folded back on the diagonal line of each of the adjacent regions, and the parts are taken out of the container repeatedly .
上記カッコ内の符号は、後述する実施形態に記載の具体的手段との対応関係を参考的に示すものである。 The reference numerals in the parentheses refer to corresponding relationships with specific means described in the embodiments described later.
以上のように、本発明の山積み部品の取出し装置および山積み部品の取出し方法によれば、部品取出し時の無駄時間を少なくして効率的な部品取出しをすることができる。 As described above, according to the pile-up component taking-out device and the pile-up component taking-out method of the present invention, it is possible to reduce the dead time at the time of taking out the components and to take out the components efficiently.
なお、以下に説明する実施形態はあくまで一例であり、本発明の要旨を逸脱しない範囲で当業者が行う種々の設計的改良も本発明の範囲に含まれる。 The embodiments described below are merely examples, and various design improvements made by those skilled in the art are also included in the scope of the present invention without departing from the scope of the present invention.
図1には本発明の取出し装置の全体構成を示す。図1において、三次元空間内を自在に移動可能な移動保持手段たるロボットアーム1の先端に、吸着手段としてのマグネットハンド2と高さ検出手段としての一次元距離計3が下方に向けて装着されている。マグネットハンド2は通電時に生じる電磁力によって金属製の部品を吸着するものである。 FIG. 1 shows the overall configuration of the take-out device of the present invention. In FIG. 1, a magnet hand 2 as an attracting means and a one-dimensional distance meter 3 as a height detecting means are mounted downward at the tip of a robot arm 1 which is a movable holding means capable of freely moving in a three-dimensional space. Has been done. The magnet hand 2 attracts a metal component by an electromagnetic force generated when electricity is applied.
また、一次元距離計3は部品におけるレーザ光の反射を利用して本実施例の場合は部品までの垂直距離を測定するものである。なお、マグネットハンド2の吸着面2aは後述するように長方形状としてある。マグネットハンド2、一次元距離計3およびロボットアーム1はそれぞれ制御装置4に接続されており、制御装置4でマグネットハンド2の作動、一次元距離計3からの距離信号に基づく部品高さ位置の算出、およびロボットアーム1の駆動(アーム先端の移動)が後述のように行われる。 Further, the one-dimensional distance meter 3 measures the vertical distance to the component in the case of the present embodiment by utilizing the reflection of the laser beam on the component. The attraction surface 2a of the magnet hand 2 has a rectangular shape as described later. The magnet hand 2, the one-dimensional distance meter 3 and the robot arm 1 are respectively connected to the control device 4, and the control device 4 operates the magnet hand 2 and controls the component height position based on the distance signal from the one-dimensional distance meter 3. Calculation and driving of the robot arm 1 (movement of the arm tip) are performed as described later.
部品Pは本実施形態では図2に示すような金属リングであり、このような部品Pが上方へ開放する角型容器5内に山積み状態で収容されている。容器5の平面図を図3に示す。容器5は平面視で長方形状をなし、マグネットハンド2の吸着面21の長方形状は、容器5の開口面を周囲に小間隙を形成して縦横に等分(本実施形態では縦3等分、横10等分)した各領域D,D1〜D5と等しい大きさにしてある。 In the present embodiment, the component P is a metal ring as shown in FIG. 2, and the component P is accommodated in a pile in a rectangular container 5 that opens upward. A plan view of the container 5 is shown in FIG. The container 5 has a rectangular shape in a plan view, and the rectangular shape of the attracting surface 21 of the magnet hand 2 is divided into vertical and horizontal equal parts by forming a small gap around the opening surface of the container 5 (in the present embodiment, divided into three equal parts vertically). , And the area is divided into 10 equal parts), and the areas D and D1 to D5 have the same size.
以下、制御装置4における制御・演算の手順を図4のフローチャートを参照しつつ説明する。最初にステップ101ではロボットアーム1の先端を容器5の上方で所定高さに維持しつつ、図3の実線矢印で示す軌跡t1で移動させる。そして、この移動中に一次元距離計3からの距離信号に基づいて、移動軌跡t1直下の容器5内に山積みされた各部品Pの高さを算出する。 The control/calculation procedure in the control device 4 will be described below with reference to the flowchart of FIG. First, in step 101, the tip of the robot arm 1 is moved above the container 5 along a locus t1 shown by a solid arrow in FIG. Then, during this movement, the height of each component P stacked in the container 5 immediately below the movement locus t1 is calculated based on the distance signal from the one-dimensional distance meter 3.
本実施形態では上記ロボットアーム1の先端の移動軌跡t1は、容器開口5の等分された各領域D、すなわちマグネットハンド2の吸着面21の長方形、の対角線に沿って、隣接する3つの領域D1,D2,D3を折り返すような軌跡としてある。図5には移動軌跡t1の下方での各部品Pの高さ変化の一例を示す。 In the present embodiment, the movement locus t1 of the tip of the robot arm 1 has three adjacent regions along the diagonal line of each region D of the container opening 5 that is equally divided, that is, the rectangle of the attraction surface 21 of the magnet hand 2. The locus is such that D1, D2, and D3 are folded back. FIG. 5 shows an example of the height change of each component P below the movement trajectory t1.
制御装置4は移動軌跡t1の下方で最高点を示した部品Pの位置(図5のx点)を特定すると(ステップ102)、この部品Pが存在する領域D1〜D3のいずれかにマグネットハンド2の吸着面21の位置が一致するようにロボットアーム1の先端を移動制御する。そして、マグネットハンド2の吸着面21を、最高点にある部品Pの上方の、吸引可能な所定の高さに下降させて、マグネットハンド2に通電して部品Pをこれに吸着させる(ステップ103)。 When the control device 4 identifies the position of the component P (the point x in FIG. 5) showing the highest point below the movement trajectory t1 (step 102), the magnet hand is placed in any of the areas D1 to D3 where the component P exists. The tip of the robot arm 1 is controlled so that the positions of the two suction surfaces 21 coincide with each other. Then, the suction surface 21 of the magnet hand 2 is lowered to a predetermined height above which the component P at the highest point can be attracted, and the magnet hand 2 is energized to attract the component P thereto (step 103). ).
この時、吸着面21は全面で吸引力を発揮するから、上記移動軌跡t1の下方で最高点を示した部品Pに近い位置にある周囲の部品Pや上記移動軌跡t1外で当該部品Pよりも高い位置にある部品Pにも電磁力が及んでこれらの部品Pもマグネットハンド2に吸着される。 At this time, the suction surface 21 exerts a suction force on the entire surface, so that the surrounding component P located at a position near the highest point P below the movement trajectory t1 and the component P outside the movement trajectory t1. The electromagnetic force also acts on the parts P located at a higher position, and these parts P are also attracted to the magnet hand 2.
このようにして、ロボットアーム1の先端に設けた一次元距離計3を、吸着面21の長方形と同形の隣接する3つの領域D1〜D3の対角線上で移動させて各部品Pの高さを測定し、最も高い位置を示した部品Pが存在する領域D1〜D3のいずれかに吸着面21を一致させてこの領域の部品Pをマグネットハンド2で吸着しているから、容器5内に山積みされた部品Pを上方から効率的に吸着して容器5外へ取り出すことができる。 In this way, the one-dimensional distance meter 3 provided at the tip of the robot arm 1 is moved on the diagonal line of three adjacent regions D1 to D3 having the same shape as the rectangle of the suction surface 21 to adjust the height of each part P. Since the suction surface 21 is aligned with any of the areas D1 to D3 where the measured and highest-positioned part P exists, the parts P in this area are adsorbed by the magnet hand 2, so that the parts are piled up in the container 5. The removed component P can be efficiently adsorbed from above and taken out of the container 5.
容器5外へ取り出された部品Pはマグネットハンド2に吸着された状態でロボットアーム1によって次工程へ搬送され、マグネットハンド2への通電を停止することによって次工程で放下される(ステップ104)。 The part P taken out of the container 5 is conveyed to the next process by the robot arm 1 while being attracted to the magnet hand 2, and is released in the next process by stopping the power supply to the magnet hand 2 (step 104). ..
容器5の上方へ戻されたロボットアーム1はその先端が所定の高さで今度は図3の破線矢印で示す軌跡t2で、上記領域D1に隣接する領域D2からこれに隣接する2つの領域D3,D4へこれら領域の対角線上を折り返すように移動させられ(ステップ105からステップ101以下へ)、移動軌跡t2の下方で最高点を示す部品Pの位置が特定される。そして、上述したように、最高点を示した部品Pが存在する領域D2〜D4のいずれかにマグネットハンドの吸着面が一致するようにロボットアームの先端が移動制御されて当該領域内の山積みされた部品群の頂部およびこれに近い位置の部品Pが吸着される。 The robot arm 1 returned to the upper part of the container 5 has a predetermined height at its tip, and this time, along a locus t2 indicated by a broken line arrow in FIG. 3, from the region D2 adjacent to the region D1 to the two regions D3 adjacent thereto. , D4 so as to be folded back on the diagonal line of these regions (from step 105 to step 101 and thereafter), the position of the component P having the highest point below the movement trajectory t2 is specified. Then, as described above, the tip of the robot arm is controlled to move so that the attracting surface of the magnet hand coincides with any one of the areas D2 to D4 in which the parts P exhibiting the highest points are present, and the piles in the area are piled up. The parts P at the top of the parts group and the position close to the top are sucked.
以下、上記と同様の動作が繰り返されて部品Pが容器5外へ取り出され、これらの動作がさらに隣接する図2の鎖線矢印で示す移動軌跡t3でも行われて、順次容器5内の全ての領域Dで同様の動作が繰り返されて、容器5内の山積みされた部品Pが上方より順次取り出される。これを容器5内の部品が無くなるまで繰り返す(ステップ105)。 Hereinafter, the same operation as described above is repeated to take out the part P from the container 5, and these operations are also performed on the moving locus t3 indicated by the chain line arrow in FIG. The same operation is repeated in the region D, and the stacked components P in the container 5 are sequentially taken out from above. This is repeated until there are no parts in the container 5 (step 105).
このようにすると、図3の容器5内の左右端部を除く全ての領域Dで、ロボットアーム1の先端が互いに交差する二本の対角線軌跡上を移動させられることになり、取り出すべき最高点の部品Pが取り出されないという、いわゆる空振りの確率が少なくなる。 By doing so, the tip of the robot arm 1 can be moved on two diagonal loci intersecting each other in the entire area D except the left and right ends of the container 5 in FIG. 3, and the highest point to be taken out. The probability of a so-called missed movement, in which the part P is not taken out, is reduced.
なお、ロボットアーム1の先端の移動軌跡、すなわち一次元距離計3の移動軌跡は必ずしも上記実施形態のような対角線上とする必要はなく、また隣接する3つの領域で折り返すような軌跡とする必要もないが、このようにすると、効率的でしかも空振りの少ない部品の取出しが可能である。また、マグネットハンド2の吸着面21は必ずしも上記実施形態で示したような、容器5内を等分に分割した領域と同形の面状にする必要はないが、このようにするとさらに効率的な部品の取り出しが可能である。なお、部品を吸着するのは電磁力に限らず、負圧空気等による吸着であっても良い。また、山積みされた部品は必ずしも容器内に収容されている必要はない。 The movement locus of the tip of the robot arm 1, that is, the movement locus of the one-dimensional range finder 3 does not necessarily have to be on the diagonal line as in the above-described embodiment, and needs to be a locus that folds in three adjacent regions. However, by doing so, it is possible to take out the parts efficiently and with less idling. Further, the attracting surface 21 of the magnet hand 2 does not necessarily have to have the same planar shape as the area obtained by equally dividing the inside of the container 5 as shown in the above-described embodiment, but this makes it more efficient. Parts can be taken out. The component is not limited to be attracted by electromagnetic force, but may be attracted by negative pressure air or the like. Also, the piled components do not necessarily have to be contained in a container.
1…ロボットアーム(移動保持手段)、2…マグネットハンド(吸着手段)、21…吸着面、3…一次元距離計(高さ検出手段)、4…制御装置(制御手段)、5…容器、D1〜D5,D…領域、 1... Robot arm (moving and holding means), 2... Magnet hand (adsorption means), 21... Adsorption surface, 3... One-dimensional distance meter (height detection means), 4... Control device (control means), 5... Container, D1 to D5, D... area,
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