JP6941867B2

JP6941867B2 - Work transfer device

Info

Publication number: JP6941867B2
Application number: JP2017250473A
Authority: JP
Inventors: 宏政吉井
Original assignee: 株式会社オメガ・システム
Priority date: 2017-12-27
Filing date: 2017-12-27
Publication date: 2021-09-29
Anticipated expiration: 2037-12-27
Also published as: JP2019116342A

Description

本発明は、ワーク移送装置に関し、さらに詳細には、長尺な棒材であるワークを、確実に所定位置に配置された処理装置まで移送することができるワーク移送装置に関するものである。 The present invention relates to a work transfer device, and more particularly to a work transfer device capable of reliably transferring a work, which is a long bar, to a processing device arranged at a predetermined position.

長尺なワークを一本ずつ処理または加工するために、山積みされた多数のワークの中から、ワークを一本ずつ取り出して他の位置にある加工場所まで搬送する装置あるいはシステムとしては、例えば、特開２００３−１６５６１５号公報（特許文献１）に開示された分離供給装置が知られている。 As a device or system for taking out one work at a time and transporting it to a processing place at another position from a large number of piled works in order to process or process a long work one by one, for example, A separate supply device disclosed in Japanese Patent Application Laid-Open No. 2003-165615 (Patent Document 1) is known.

この分離供給装置は、Ｖ字溝状のストッカ部に溜められたワークである線材のうちの１本だけを、チャックを備えた線材掴み装置で掴んで持ち上げ、線材掴み装置を移動させることで線材を他の位置、例えば処理装置に移送するようにした構造のものである。 In this separate supply device, only one of the wire rods, which is a work piece stored in the V-shaped groove-shaped stocker portion, is grasped and lifted by the wire rod gripping device equipped with a chuck, and the wire rod gripping device is moved to move the wire rod. The structure is such that the device is transferred to another position, for example, a processing device.

特開２００３−１６５６１５号公報Japanese Unexamined Patent Publication No. 2003-165615

ところで、上記したような従来の装置では、供給するワークがまっすぐである場合には問題なくワークを一本ずつ取り出すことができるが、ワークに曲がりがある場合、キッカーによる供給がうまく作動しない場合があった。例えば、曲がったワークの一部のみがキッカーに載っている場合、キッカーがワークの一部のみを持ち上げて傾斜部へと供給してしまうケースがあった。このようなケースではワークが傾斜部に斜めに跨った状態となってしまい、ワークの供給が正しく行えないという問題があった。
そこで、本発明の目的は、ワークに曲がりがある場合でも、一本ずつ正確に移送することができるワーク移送装置を提供することにある。 By the way, in the conventional device as described above, if the workpieces to be supplied are straight, the workpieces can be taken out one by one without any problem, but if the workpieces are bent, the supply by the kicker may not work well. there were. For example, when only a part of the bent work is placed on the kicker, the kicker may lift only a part of the work and supply it to the inclined portion. In such a case, the work is in a state of diagonally straddling the inclined portion, and there is a problem that the work cannot be supplied correctly.
Therefore, an object of the present invention is to provide a work transfer device capable of accurately transferring one work at a time even if the work is bent.

上記目的は、下記（１）〜（５）の構造の本発明によるワーク移送装置により達成することができる。
（１）
所定の位置に配置され、長尺物であるワークを複数本並列山積み状態で載置したワーク載置手段と、
ここで、前記並列山積み状態のワークの並列方向をX方向、ワークの長軸方向をY方向、ワークの山積み方向をZ方向としたとき、
前記ワーク載置手段に並列山積み載置された複数のワークのうち、最上部に位置するワークの一端側の端部の空間位置であるX、YおよびZ方向の座標（X,Y,Z）を決定する第１検出手段、
この第１検出手段からの前記一端側の端部の座標（X,Y,Z）の示す空間位置にあるワークの端部を特定し、その端部に作用して、そのワークを他端側に長軸方向に所定距離移動させ、そのワークの他端側の端部を所定長残りのワークよりはみ出させる第１移動手段、
前記残りのワークよりはみ出されたワークの他端側の端部の空間位置であるX、YおよびZ方向の座標（X,Y,Z）を決定する第２検出手段、
この第２検出手段からの前記他端側の端部の座標（X,Y,Z）の示す空間位置にあるワークの端部を特定し、この他端側端部を保持する第１保持手段、
この第１保持手段により前記他端側端部を保持した状態で、そのワークを前記一端側に長軸方向に所定距離移動させ、そのワークの一端側の端部を残りのワークより所定長はみ出させる第２移動手段、
前記第２移動手段により、前記残りのワークよりはみ出されたワークの一端側の端部の空間位置であるX、YおよびZ方向の座標（X,Y,Z）を決定する第３検出手段、
この第３検出手段からの前記一端側の端部の座標（X,Y,Z）の示す空間位置にあるワークの端部を特定し、この一端側端部を保持する第２保持手段、および
前記ワークを、その一端側の端部を前記第２保持手段により、その他端側の端部を前記第１保持手段により、それぞれ保持した状態で、所定の位置まで移送する移送手段を備えた
ことを特徴とするワーク移送装置。
（２）
前記第１検出手段が前記第３検出手段を兼ねる前記（１）のワーク移送装置。
（３）
第１ロボットおよび第２ロボットを備え、前記第１検出手段、第３検出手段および第２保持手段が、前記第１ロボットのアームに取り付けられた第１操作装置に配置されており、前記第２検出手段および第１保持手段が、前記第２ロボットのアームに取り付けられた第２操作装置に配置されており、前記第１移動手段の機能を前記第１ロボットが果たし、前記第２移動手段の機能を前記第２ロボットが果たす前記（１）または（２）のワーク移送装置。
（４）
前記ワークの長手方向に曲がりがある前記（１）〜（３）のいずれかのワーク移送装置。
（５）
前記ワークが、帯状板材または断面多角形棒、丸棒または断面楕円形棒、ならびに円形鋼管、楕円形鋼管または角形鋼管を含む多角形鋼管である前記（１）〜（３）のいずれかのワーク移送装置。 The above object can be achieved by the work transfer device according to the present invention having the following structures (1) to (5).
(1)
A work placing means in which a plurality of long works arranged in a predetermined position are placed in a parallel pile state, and
Here, when the parallel direction of the works in the parallel piled state is the X direction, the long axis direction of the work is the Y direction, and the piled direction of the works is the Z direction,
Coordinates (X, Y, Z) in the X, Y and Z directions, which are the spatial positions of one end of the work located at the top of the plurality of works stacked in parallel on the work mounting means. first detecting means for determining a
The end portion of the work at the spatial position indicated by the coordinates (X, Y, Z) of the end portion on the one end side from the first detection means is specified, acts on the end portion, and the work is placed on the other end side. The first moving means, which moves the work by a predetermined distance in the long axis direction and causes the other end of the work to protrude from the remaining work of a predetermined length.
A second detecting means for determining the coordinates (X, Y, Z) in the X, Y and Z directions, which are the spatial positions of the other end of the work protruding from the remaining work.
The first holding means for identifying the end of the work at the spatial position indicated by the coordinates (X, Y, Z) of the other end from the second detection means and holding the other end. ,
While the other end is held by the first holding means, the work is moved toward one end by a predetermined distance in the longitudinal direction, and the end on one end of the work protrudes from the remaining work by a predetermined length. Second means of transportation,
The third detecting means, which determines the coordinates (X, Y, Z) in the X, Y and Z directions, which are the spatial positions of the end portion of the work protruding from the remaining work by the second moving means.
A second holding means that identifies the end of the work at the spatial position indicated by the coordinates (X, Y, Z) of the end on one end from the third detecting means, and holds the end on one end.
The work is provided with a transfer means for transferring the work to a predetermined position while holding one end of the work by the second holding means and the other end of the work by the first holding means. Work transfer device characterized by <br />.
(2)
The work transfer device according to (1), wherein the first detecting means also serves as the third detecting means.
(3)
A first robot and a second robot are provided, and the first detecting means, the third detecting means, and the second holding means are arranged in a first operating device attached to an arm of the first robot, and the second The detecting means and the first holding means are arranged in the second operating device attached to the arm of the second robot, the first robot fulfills the function of the first moving means, and the second moving means The work transfer device according to (1) or (2), wherein the second robot performs a function.
(4)
The work transfer device according to any one of (1) to (3) above, which is bent in the longitudinal direction of the work.
(5)
The work according to any one of (1) to (3) above, wherein the work is a strip-shaped plate member or a polygonal bar having a cross section, a round bar or an elliptical bar having a cross section, and a polygonal steel pipe including a circular steel pipe, an elliptical steel pipe or a square steel pipe. Transfer device.

本発明によるワーク移送装置によれば、上記した構造であるので、山積みされた多数のワーク群のなかから、ワークを一本ずつ正確に取り出し、所定の位置（加工位置等）に移送することができる。 According to the work transfer device according to the present invention, since it has the above-mentioned structure, it is possible to accurately take out the works one by one from a large number of piled work groups and transfer them to a predetermined position (machining position, etc.). can.

本発明の実施の形態によるワーク移送装置により移送されるワークの並列山積み状態を示す図である。It is a figure which shows the parallel pile state of the work transferred by the work transfer apparatus by embodiment of this invention. 本発明の実施の形態によるワーク移送装置の主体部分をロボットとして実現化したものの概略図である。It is the schematic which realized the main part of the work transfer apparatus by embodiment of this invention as a robot. 図２に示したロボットの拡大斜視図である。It is an enlarged perspective view of the robot shown in FIG. 図３に示したロボットの主要部であるハンド部の詳細斜視図である。It is a detailed perspective view of the hand part which is the main part of the robot shown in FIG. 〜~ 本ワーク移送装置を用いてのワークの移送手順を説明するための説明図である。It is explanatory drawing for demonstrating the work transfer procedure using this work transfer apparatus.

本発明の実施の形態によるワーク移送装置について、図を参照しながら説明する。
本実施の形態では、ワーク移送装置を主として２台のロボットで構成したものを取り上げた。 The work transfer device according to the embodiment of the present invention will be described with reference to the drawings.
In the present embodiment, a work transfer device composed mainly of two robots is taken up.

本ワーク移送装置は、図１に示したように、載置台Ｐ上に多数本並列山積みＭされた長尺の棒状のワークＷの中から、一本のワークＷ１を取り出し、ワークの加工位置のような所定位置Ｐまで移送するものである。 As shown in FIG. 1, the work transfer device takes out one work W1 from the long rod-shaped work W in which a large number of pieces are piled up in parallel on the mounting table P, and the work position is changed. It is transferred to such a predetermined position P.

本実施の形態に係るワーク供給装置１０は、図２に示すように、主として、前記山積みＭのワークＷの両端の近傍にそれぞれ配置された第１ロボット２０および第２ロボット４０からなる。これら２台のロボットは、左右対称の構造を持っていることが好ましい。 As shown in FIG. 2, the work supply device 10 according to the present embodiment mainly includes a first robot 20 and a second robot 40 arranged in the vicinity of both ends of the work W of the pile M, respectively. It is preferable that these two robots have a symmetrical structure.

次に、図３を参照して、２台のロボットのうち、図２で見て左側のロボットである第１ロボット２０を代表させて説明する。
第１ロボット２０は、ロボットの胴体部分に相当する多関節のロボット本体２２、このロボット本体２２の上端に枢着されたアーム２４、およびこのアーム２４の先端に可動自在に取り付けられた操作装置２６を備えている。なお、この説明においては、第２ロボット４０の部材・部品については第１ロボット２０の部材・部品に付した符号に「２０」を加えた符号を付してその詳細な説明は省略する。すなわち、第２ロボット４０が備えるロボット本体、アーム、および操作装置には、それぞれ、４２、４４、４６を付す。 Next, with reference to FIG. 3, of the two robots, the first robot 20, which is the robot on the left side as seen in FIG. 2, will be described as a representative.
The first robot 20 includes an articulated robot body 22 corresponding to a body portion of the robot, an arm 24 pivotally attached to the upper end of the robot body 22, and an operating device 26 movably attached to the tip of the arm 24. It has. In this description, the members / parts of the second robot 40 are designated by adding “20” to the reference numerals given to the members / parts of the first robot 20, and detailed description thereof will be omitted. That is, 42, 44, and 46 are attached to the robot body, the arm, and the operating device included in the second robot 40, respectively.

前記操作装置２６（４６）は、略平板状の取付フレーム２８（４８）を有し、この取付フレーム２８（４８）により前記アーム２４（４４）の先端に取り付けられている。この取付フレーム２８（４８）の下面等には、レーザー位置センサー３０（５０）、ワーク押しレバー３２（５２）およびワークつかみ部材３４（５４）が設けられている。前記レーザー位置センサー３０（５０）は、図示していないレーザー発信器、このレーザー発信器から発信され、ワークにより反射されたレーザーを受信するレーザー受信器、および受信した反射レーザーからワークの空間位置を判断する位置判断手段を備えている。 The operating device 26 (46) has a substantially flat plate-shaped mounting frame 28 (48), and is attached to the tip of the arm 24 (44) by the mounting frame 28 (48). A laser position sensor 30 (50) , a work push lever 32 (52), and a work gripping member 34 (54) are provided on the lower surface of the mounting frame 28 (48). The laser position sensor 30 (50) determines the spatial position of the work from a laser transmitter (not shown), a laser receiver that receives a laser transmitted from the laser transmitter and reflected by the work, and a reflected laser that receives the laser. It is equipped with a position determination means for determining.

次に、図５以降を参照して、本実施の形態によるワーク移送装置１０の作動について具体的に説明する。以下の説明では、紙面幅（左右）方向（前記並列山積み状態のワークの並列方向）をＸ方向、その方向に延びる軸をＸ軸、紙面奥行き方向（ワークの長軸方向）をＹ方向、その方向に延びる軸をＹ軸、紙面上下方向をＺ方向（ワークの山積み方向）、その方向に延びる軸をＺ軸とする。 Next, the operation of the work transfer device 10 according to the present embodiment will be specifically described with reference to FIGS. 5 and 5 and thereafter. In the following description, the paper surface width (left and right) direction (parallel direction of the workpieces in the parallel piled state) is the X direction, the axis extending in that direction is the X axis, and the paper surface depth direction (long axis direction of the work) is the Y direction. The axis extending in the direction is the Y axis, the vertical direction of the paper surface is the Z direction (the stacking direction of the workpieces), and the axis extending in that direction is the Z axis.

＜最も高い位置にあるワークの一端のＸおよびＺ軸方向の位置の検出＞
図５（ａ）、（ｂ）に示したように、前記レーザー位置センサー３０のレーザー発信器からのレーザーを、ロボット本体２２およびアーム２４の操作により（以下同じ）、山積みされたワーク群の一端側に沿って走査し、各ワークで反射された反射レーザーを受信して、その反射レーザーの情報から、山積みされたワーク群の中から一番高い位置に位置するワークＷ１の一端部を特定し、その（Ｘ，Ｚ）座標を決定する。 <Detection of the position of one end of the work at the highest position in the X and Z axis directions>
As shown in FIGS. 5A and 5B, the laser from the laser transmitter of the laser position sensor 30 is operated by the robot body 22 and the arm 24 (the same applies hereinafter), and one end of the piled work group. Scan along the side, receive the reflected laser reflected by each work, and identify one end of the work W1 located at the highest position from the piled work group from the information of the reflected laser. , Its (X, Z) coordinates are determined.

＜最も高い位置にあるワークの一端のＹ軸方向の位置の検出＞
最も高い位置にあるワークＷ１の一端部の座標が決定された後、今度は、図６の（ａ）、（ｂ）、（ｃ）に示したようにして、その一端部のＹ軸方向の座標を決定する。
以上により、最も高い位置にあるワークＷ１の一端部の座標（Ｘ，Ｙ，Ｚ）が決定される。 <Detection of the position of one end of the work at the highest position in the Y-axis direction>
After the coordinates of one end of the work W1 at the highest position are determined, this time, as shown in (a), (b), and (c) of FIG. 6, the one end is in the Y-axis direction. Determine the coordinates.
From the above, the coordinates (X, Y, Z) of one end of the work W1 at the highest position are determined.

＜最も高い位置にあるワークの一端側を押しての他端側への移動＞
次に、一端部の座標（Ｘ，Ｙ，Ｚ）が決定されたワークＷ１の該一端部を、図７、図８、図９（ａ）、（ｂ）に示すようにして、ロボット本体２２およびアーム２４の操作により、ワーク押しレバー３２により他端側に押し、その他端を、他のワーク群から突出させる。以上は、第１ロボット２０により行われる。以上の意味において、ロボット本体２２およびアーム２４の操作により、ワーク押しレバー３２が第１移動手段を構成する。 <Push one end side of the work at the highest position and move it to the other end side>
Next, the one end of the work W1 whose coordinates (X, Y, Z) are determined is shown in FIGS. 7, 8, 9 (a) and 9 (b), and the robot main body 22 By operating the arm 24 and the work push lever 32, the work push lever 32 pushes the other end to the other end side so that the other end protrudes from the other work group. The above is performed by the first robot 20. In the above sense, the work pushing lever 32 constitutes the first moving means by operating the robot main body 22 and the arm 24.

次に、第２ロボット４０は、ワークＷ１の突出した端部の空間位置を、そのレーザー位置センサー５０により特定（図１０、図１１参照）し、位置を特定した端部を、ワークつかみ部材５４により掴み（図１２参照）、次いでアーム４４を上昇させ（図１３参照）、この後、今度は、ワークＷ１を前記の一端側に押し戻し、当該一端を他のワーク群から突出させる（図１４参照）。
この後、先ほどの第２ロボット４０の動作と同様にして、第１ロボット２０は、突出した一端を検出し、そのワークつかみ部材３４により掴み（図１５参照）、第１および第２ロボット２０および４０でワークＷ１を持ち上げ（図１６および図１７参照）、この状態で、ワークＷ１を図２に示した所定位置Ｐに移送し、開放すれば移送作業は完了である。 Next, the second robot 40 identifies the spatial position of the protruding end portion of the work W1 by the laser position sensor 50 (see FIGS. 10 and 11), and the end portion whose position is specified is the work grasping member 54. (See FIG. 12), then raise the arm 44 (see FIG. 13), and then push the work W1 back to the one end side and project the one end from the other work group (see FIG. 14). ).
After that, in the same manner as the operation of the second robot 40 described above, the first robot 20 detects one protruding end and grips it by the work gripping member 34 (see FIG. 15), and the first and second robots 20 and When the work W1 is lifted at 40 (see FIGS. 16 and 17), the work W1 is transferred to the predetermined position P shown in FIG. 2 in this state, and the work W1 is released, the transfer work is completed.

以上のように、本発明のワーク移送装置によれば、並列山積みされたワーク群の中から１本のワークを確実に取りだし、所定位置に移送することができる。 As described above, according to the work transfer device of the present invention, one work can be reliably taken out from the work group piled up in parallel and transferred to a predetermined position.

１０ワーク移送装置
２０第１ロボット
３０レーザー位置センサー
３２ワーク押しレバー
３４ワークつかみ部材３４
４０第２ロボット
５０レーザー位置センサー
５４ワークつかみ部材３４
10 Work transfer device 20 First robot 30 Laser position sensor 32 Work push lever 34 Work grip member 34
40 Second robot
50 laser position sensor
54 Work grip member 34

Claims

A work placing means in which a plurality of long works arranged in a predetermined position are placed in a parallel pile state, and
Here, when the parallel direction of the works in the parallel piled state is the X direction, the long axis direction of the work is the Y direction, and the piled direction of the works is the Z direction,
Coordinates (X, Y, Z) in the X, Y and Z directions, which are the spatial positions of one end of the work located at the top of the plurality of works stacked in parallel on the work mounting means. first detecting means for determining a
The end portion of the work at the spatial position indicated by the coordinates (X, Y, Z) of the end portion on the one end side from the first detection means is specified, acts on the end portion, and the work is placed on the other end side. The first moving means, which moves the work by a predetermined distance in the long axis direction and causes the other end of the work to protrude from the remaining work of a predetermined length.
A second detecting means for determining the coordinates (X, Y, Z) in the X, Y and Z directions, which are the spatial positions of the other end of the work protruding from the remaining work.
The first holding means for identifying the end of the work at the spatial position indicated by the coordinates (X, Y, Z) of the other end from the second detection means and holding the other end. ,
While the other end is held by the first holding means, the work is moved toward one end by a predetermined distance in the longitudinal direction, and the end on one end of the work protrudes from the remaining work by a predetermined length. Second means of transportation,
The third detecting means, which determines the coordinates (X, Y, Z) in the X, Y and Z directions, which are the spatial positions of the end portion of the work protruding from the remaining work by the second moving means.
A second holding means that identifies the end of the work at the spatial position indicated by the coordinates (X, Y, Z) of the end on one end from the third detecting means, and holds the end on one end.
The work is provided with a transfer means for transferring the work to a predetermined position while holding one end of the work by the second holding means and the other end of the work by the first holding means. Work transfer device characterized by <br />.

The work transfer device according to claim 1, wherein the first detecting means also serves as the third detecting means.

A first robot and a second robot are provided, and the first detecting means, the third detecting means, and the second holding means are arranged in a first operating device attached to an arm of the first robot, and the second The detecting means and the first holding means are arranged in the second operating device attached to the arm of the second robot, the first robot fulfills the function of the first moving means, and the second moving means The work transfer device according to claim 1 or 2, wherein the second robot fulfills the function.

The work transfer device according to any one of claims 1 to 3, wherein the work is bent in the longitudinal direction.

The work transfer device according to any one of claims 1 to 3, wherein the work is a strip-shaped plate member or a polygonal bar having a cross section, a round bar or an elliptical bar having a cross section, and a polygonal steel pipe including a circular steel pipe, an elliptical steel pipe or a square steel pipe.