JP6994245B2 - Work removal device and work removal method - Google Patents

Description

The present invention relates to a work taking-out device and a work taking-out method.

In Patent Document 1, a work made of a flanged rod is imaged by a visual sensor, the position and posture of the work are detected based on the captured image, and the robot hand is positioned based on the detected position and posture of the work. It is disclosed that the work is gripped by the gripping claw.

Japanese Unexamined Patent Publication No. 2012-115915

By the way, in the above-mentioned conventional technique, gripping a long work is complicated.

The present invention has been made in view of the above problems, and a main object thereof is to provide a work taking-out device and a work taking-out method in which a long work can be easily taken out.

In order to solve the above problems, the work taking-out device according to one aspect of the present invention includes a robot arm, an end effector provided on the robot arm and having an extraction groove into which a long work can be fitted, and the long work. The robot arm so that the end effector moves toward the long work while aligning the direction of the extraction groove in the longitudinal direction of the long work with the sensor that detects that the robot is fitted in the extraction groove. When the sensor detects that the long work is fitted in the extraction groove, the arm driving means for driving the end effector is driven so as to hold the long work fitted in the extraction groove. The effector driving means is provided.

In the above embodiment, the arm driving means drives the robot arm so that the end effector reciprocates in a direction intersecting the longitudinal direction of the long work while or after the end effector moves toward the long work. May be good.

In the above aspect, the long work may have flexibility.

In the above embodiment, the end effector has a pair of fingers that open and close, and the pair of fingers may change from an open state to a closed state to sandwich a long work fitted in the extraction groove.

Further, the extraction groove may be formed between the pair of fingers.

In the above aspect, the sensor may be a photoelectric sensor arranged so that light from the light projecting portion to the light receiving portion crosses the extraction groove when viewed in the longitudinal direction of the extraction groove.

Further, the end effector may have an optical path groove that intersects with the extraction groove and allows light to pass from the light projecting portion to the light receiving portion.

In the above embodiment, a container in which the long work is arranged is further provided, and the container may have a notch extending from the opening edge toward the bottom on the side of the long work.

In the above embodiment, a container in which the long work is arranged may be further provided, and the container may have a valley-shaped bottom extending along the longitudinal direction of the long work.

Further, the work taking-out method of another aspect of the present invention includes a robot arm, an end effector provided on the robot arm and having an extraction groove into which a long work can be fitted, and the long work in the extraction groove. A sensor for detecting the fitting is prepared, and the robot arm is driven so that the end effector moves toward the long work while aligning the direction of the extraction groove in the longitudinal direction of the long work. Then, when the sensor detects that the long work is fitted in the extraction groove, the end effector is driven so as to hold the long work fitted in the extraction groove.

According to the present invention, it is easy to take out a long work.

It is a figure which shows the configuration example of the work take-out apparatus which concerns on embodiment. It is a figure which shows the structural example of an end effector and a magazine. It is a figure which shows the structural example of an end effector and a magazine. It is an enlarged view of an end effector. It is an enlarged view of an end effector. It is a figure which shows the procedure example of the work taking-out method which concerns on embodiment. It is a figure for demonstrating step S2. It is a figure for demonstrating step S2. It is a figure for demonstrating steps S3 and S4. It is a figure for demonstrating steps S3 and S4. It is a figure for demonstrating step S5. It is a figure for demonstrating step S5. It is a figure for demonstrating steps S6 and S7. It is a figure for demonstrating steps S6 and S7. It is a figure for demonstrating step S8. It is a figure for demonstrating step S8. It is a figure for demonstrating step S9. It is a figure for demonstrating step S9. It is a figure for demonstrating step S10. It is a figure for demonstrating step S10. It is a figure for demonstrating step S11. It is a figure for demonstrating step S11.

Hereinafter, preferred embodiments of the present invention will be described with reference to the drawings. It should be noted that each embodiment shown below exemplifies a method and an apparatus for embodying the technical idea of the present invention, and the technical idea of the present invention is not limited to the following. do not have. The technical idea of the present invention may be modified in various ways within the technical scope described in the claims.

FIG. 1 is a diagram showing a configuration example of the work taking-out device 1 according to the embodiment. The work taking-out device 1 of the present embodiment is a dual-arm robot including two robot arms 11 and 12. The robot arms 11 and 12 are, for example, horizontal articulated robot arms. Not limited to this, a vertical articulated robot arm or the like may be used. End effectors 31 and 32 are provided at the ends of the robot arms 11 and 12, respectively.

The robot arms 11 and 12 are supported by a box-shaped base 7. The controller 10 is housed in the table 7. Further, the base 7 is provided with a cantilever 8, and the cantilever 8 supports a plurality of magazines 9 for accommodating the electric wire W. The magazine 9 is an example of a container, and the electric wire W is an example of a long work. The electric wire W is, for example, a cable in which a conductive wire is covered with an insulator.

The work take-out device 1 of the present embodiment takes out a designated type of electric wire W from a plurality of magazines 9 containing different types of electric wires W and conveys them to a tube threading mechanism (not shown). The tube threading mechanism is a machine that passes a plurality of bundled electric wires W through a protective tube.

The robot arms 11 and 12 include an arm portion 21 and a wrist portion 22.

The arm portion 21 includes a first link 21a and a second link 21b extending in the horizontal direction. The first link 21a is connected to the base shaft 17 provided on the base 7 via a rotary joint J1 and is rotatable around the rotation axis L1 passing through the axis of the base shaft 17. The second link 21b is connected to the tip of the first link 21a via a rotary joint J2, and is rotatable around the rotation axis L2 defined by the tip of the first link 21a.

The wrist portion 22 includes an elevating portion 22a and a rotating portion 22b. The elevating portion 22a is connected to the tip end portion of the second link 21b via a linear motion joint J3, and can be elevated and lowered with respect to the tip end portion of the second link 21b. The rotating portion 22b is connected to the lower end portion of the elevating portion 22a via a rotary joint J4, and can rotate around the rotation axis L3 defined at the lower end of the elevating portion 22a.

A connecting link 23 extending in the horizontal direction is connected to the rotating portion 22b of the wrist portion 22, and end effectors 31 and 32 are connected to the tip end portion of the connecting link 23. The end effectors 31 and 32 rotate around the rotation axis L3 in conjunction with the rotating portion 22b.

The rotation axes L1 to L3 are parallel to each other and extend in the vertical direction, for example. Further, the extending direction of the rotation axes L1 to L3 and the elevating direction of the elevating portion 22a are parallel to each other.

The rotation axis L1 of the first robot arm 11 and the rotation axis L1 of the second robot arm 12 are on the same straight line, and the first link 21a of the first robot arm 11 and the first link 21a of the second robot arm 12 are It is arranged with a height difference between the top and bottom.

The robot arms 11 and 12 are provided with a servomotor for driving (not shown), an encoder (not shown) for detecting the rotation angle of the servomotor, and the like corresponding to the joints J1 to J4.

The controller 10 is a computer including a CPU, RAM, ROM, non-volatile memory, an input / output interface, and the like. The CPU executes information processing according to a program loaded from the ROM or the non-volatile memory into the RAM. The program may be supplied via an information storage medium such as an optical disk or a memory card, or may be supplied via a communication network such as the Internet.

The controller 10 drives the robot arms 11 and 12 and the end effectors 31 and 32 by information processing according to the program. That is, the controller 10 functions as an arm driving means and an effector driving means by information processing according to the program.

2A and 2B are views showing a first end effector 31 provided on the first robot arm 11 and a magazine 9 accommodating the electric wire W. In these figures, the first end effector 31 is positioned at the initial position above the magazine 9. 3A and 3B are enlarged views of the first end effector 31.

In the following description, the X1 side in the width direction of the electric wire W and the magazine 9 is the right direction, the X2 side is the left direction, the Y1 side in the longitudinal direction of the electric wire W and the magazine 9 is the front direction, and the X2 side is the rear direction. Further, the Z1 side in the ascending / descending direction of the first end effector 31 is the upward direction, and the Z2 side is the downward direction.

As shown in FIGS. 2A and 2B, the first end effector 31 includes an air chuck 41 and a pair of fingers 45 that open and close in conjunction with the air chuck 41. An extraction groove 4a into which the electric wire W can be fitted is formed between the fingers 45. The finger 45 clamps the electric wire W fitted in the extraction groove 4a by changing from the open state to the closed state. In the present embodiment, one electric wire W can be fitted in the extraction groove 4a, but the present invention is not limited to this, and two or more electric wires W may be fitted.

The first end effector 31 includes a wire detection sensor 51 in a magazine for detecting that the finger 45 is close to the wire W, and a finger for detecting that the wire W is fitted in the extraction groove 4a of the finger 45. An inner wire detection sensor 53 is provided.

A plurality of electric wires W are arranged in a bundle in the magazine 9. The magazine 9 has a pair of side wall portions 91 extending in the front-rear direction and separated from each other in the left-right direction, and the upper end of the side wall portion 91 is an opening edge 9a. The distance between the side wall portions 91 in the left-right direction is shorter than the length in the vertical direction of the side wall portion 91. The plurality of electric wires W housed in the magazine 9 are aligned in the front-rear direction, are arranged in the left-right direction, and are overlapped in the up-down direction.

The side wall portion 91 is formed with a notch 9b extending downward from the opening edge 9a toward the bottom portion 93. The middle portion of the plurality of electric wires W is exposed in the left-right direction through the notch 9b. By forming the notch 9b in the side wall portion 91, the finger 45 can reach the electric wire W in the magazine 9, and the electric wire W is detected by the electric wire detection sensor 51 in the magazine and the electric wire detection sensor 53 in the finger. Is also possible.

The magazine 9 has a valley-shaped bottom portion 93 extending in the front-rear direction. That is, the bottom portion 93 is bent in a valley shape so that the central portion in the left-right direction is located below both side portions. Since the bottom portion 93 is formed in a valley shape, the electric wires W can easily gather toward the center in the left-right direction. Therefore, even if the electric wires W in the magazine 9 decrease, it is easy to clamp the electric wires W with the finger 45. It will be possible.

Although the magazine 9 is arranged in a horizontal posture in the illustrated example, the magazine 9 is not limited to this, and may be arranged in a posture inclined in the front-down direction, for example. In that case, the magazines 9 can be arranged two-dimensionally to increase the number of magazines 9 arranged.

The electric wire W has flexibility. Since the electric wire W has flexibility, it is easy to fit the electric wire W into the extraction groove 4a of the finger 45. In the work taking-out device 1 of the present embodiment, it is preferable that the long work to be taken out has flexibility, but the present invention is not limited to this, and the long work does not have flexibility. May be good.

The first end effector 31 will be described in detail with reference to FIGS. 3A and 3B. The air chuck 41 includes a main body portion 411, a rail portion 413 provided at the lower end portion of the main body portion 411, and a pair of chuck portions 415 that open and close in the left-right direction along the rail portion 413. A pair of fingers 45 for clamping the electric wire W are connected to the pair of chuck portions 415.

Specifically, the chuck portion 415 and the finger 45 are fixed to the plates 43 located on the left and right outer sides by screws or the like. The chuck portion 415 and the finger 45 are arranged in the front-rear direction. In the illustrated example, the finger 45 is located in front of the chuck portion 415, but conversely, the finger 45 may be located behind the chuck portion 415.

The electric wire detection sensor 51 in the magazine and the electric wire detection sensor 53 in the finger are arranged below the plate 43 and fixed to the plate 43 by screws or the like. The wire detection sensor 53 in the finger is located at the same height as the lower end of the finger 45, and the wire detection sensor 51 in the magazine is located below the wire detection sensor 53 in the finger. A spacer 55 is arranged between the electric wire detection sensor 51 in the magazine and the electric wire detection sensor 53 in the finger.

The wire detection sensor 53 in the finger is, for example, a photoelectric sensor, and has a light projecting unit 532 and a light receiving unit 534 arranged apart from each other. The light projecting unit 532 and the light receiving unit 534 are fixed to the respective plates 43 apart from each other in the left-right direction so as to sandwich the extraction groove 4a provided at the lower end portion of the finger 45. Similarly, the electric wire detection sensor 51 in the magazine is also a photoelectric sensor, for example, and has a light emitting unit 512 and a light receiving unit 514 arranged apart from each other.

The extraction groove 4a is provided between the pair of fingers 45 (left finger 451 and right finger 452). Specifically, a notch is formed at the lower right end of the left finger 451, the left side surface and the bottom surface of the extraction groove 4a are formed by the left finger 451 and the right side surface of the extraction groove 4a is formed by the right finger 452. ing. Not limited to this, a notch may be formed at the lower left end of the right finger 452, or a notch may be formed at both the left finger 451 and the right finger 452.

The extraction groove 4a is recessed upward from the lower surface 456 of the finger 45. The lower surface 456 of the finger 45 contacts a plurality of electric wires W in the magazine 9, and pushes the electric wires W downward. On the other hand, the electric wire W at the position of the extraction groove 4a is not pushed into the lower surface 456 of the finger 45 and fits into the extraction groove 4a.

When the finger 45 is in the open state, a gap 4c is formed between the finger 45. FIG. 3A shows the finger 45 in the open state. When the finger 45 changes from the open state to the closed state, the gap 4c is closed. When the finger 45 is in the open state, the width of the extraction groove 4a is slightly wider than the width of the electric wire W, and the electric wire W can be fitted. On the other hand, when the finger 45 is in the closed state, the width of the extraction groove 4a is slightly narrower than the width of the electric wire W, and the electric wire W can be held.

In the present embodiment, the holding of the electric wire W by the first end effector 31 is realized by the pair of opening and closing fingers 45 clamping the electric wire W, but the present invention is not limited to this, and the electric wire W fitted in the extraction groove 4a is used. It may be realized by adsorbing.

At the lower end of the finger 45, an optical path groove 4b through which light passes from the light projecting portion 532 of the wire detection sensor 53 in the finger to the light receiving portion 534 is also formed. The optical path groove 4b extends in the left-right direction, intersects the extraction groove 4a, and penetrates the finger 45. When the electric wire W is fitted in the extraction groove 4a, the light from the light emitting portion 532 to the light receiving portion 534 is blocked by the electric wire W, so that it is detected that the electric wire W is fitted in the extraction groove 4a.

In the present embodiment, the wire detection sensor 53 in the finger is provided so that the light from the light projecting unit 532 to the light receiving unit 534 passes through the optical path groove 4b provided at the lower end portion of the finger 45, but the present invention is not limited to this. The light may pass in front of or behind the finger 45, and may be provided so that the light crosses the extraction groove 4a when viewed in the front-rear direction.

FIG. 4 is a diagram showing a procedure example of the work taking-out method according to the embodiment of the present invention. The controller 10 executes the work take-out process shown in the figure according to the program.

First, the controller 10 positions the first end effector 31 at the initial position above the magazine 9 (see S1, FIG. 2A and FIG. 2B). Here, in the first end effector 31, the lower surface 456 of the finger 45 faces the direction (downward) of the plurality of electric wires W housed in the magazine 9, and the direction of the extraction groove 4a is housed in the magazine 9. It is positioned so as to be aligned with the longitudinal direction (front-back direction) of the plurality of electric wires W.

Next, the controller 10 drives the first robot arm 11 and lowers the first end effector 31 toward the magazine 9 (see S2, FIGS. 5A and 5B). Specifically, the controller 10 lowers the first end effector 31 by outputting a drive command to the servomotor of the linear motion joint J3 that raises and lowers the elevating portion 22a. In the present embodiment, the first end effector 31 approaches the electric wire W perpendicularly, but the present invention is not limited to this, and the first end effector 31 may approach, for example, diagonally.

Next, when the controller 10 detects the electric wire W in the magazine 9 by the electric wire detection sensor 51 in the magazine (S3: YES), the controller 10 temporarily stops the descent of the first end effector 31 (see S4, FIG. 6A and FIG. 6B). ). That is, when the first end effector 31 descends and the electric wire detection sensor 51 in the magazine reaches the same height as the highest electric wire W in the magazine 9, the light of the electric wire detection sensor 51 in the magazine is blocked by the electric wire W. As a result, the electric wire W in the magazine 9 is detected.

Next, the controller 10 drives the first robot arm 11 to lower the first end effector 31 while reciprocating left and right (see S5, FIG. 7A and FIG. 7B). Specifically, the controller 10 includes a servomotor of the linear motion joint J3 that raises and lowers the elevating part 22a, and a servomotor of the rotary joint J4 that rotates the rotating part 22b around the rotation axis L3 with respect to the elevating part 22a. By outputting a drive command to, the first end effector 31 is lowered while reciprocating left and right.

The lowering of the first end effector 31 is performed in a state where the direction of the extraction groove 4a is aligned with the longitudinal direction (front-back direction) of the plurality of electric wires W accommodated in the magazine 9. It should be noted that aligning the orientation of the extraction groove 4a with the longitudinal direction of the electric wire W includes not only a state in which the longitudinal direction of the extraction groove 4a and the longitudinal direction of the electric wire W are completely aligned with each other, but also a state in which the extraction groove 4a is slightly deviated.

The reciprocation of the first end effector 31 is preferably performed with a width of, for example, twice or more the width of the electric wire W. Further, it is preferable that the reciprocation of the first end effector 31 is performed with a width narrower than the width in the left-right direction of the magazine 9, for example.

In the present embodiment, the first end effector 31 is lowered while reciprocating left and right, but the present invention is not limited to this, and for example, the first end effector 31 may be reciprocated left and right after being lowered by a predetermined amount.

Next, when the controller 10 detects that the electric wire W is fitted in the extraction groove 4a of the finger 45 by the electric wire detection sensor 53 in the finger (S6: YES), the controller 10 stops the descent of the first end effector 31 (S7, See FIGS. 8A and 8B). That is, when the first end effector 31 descends while reciprocating left and right and the electric wire W is fitted in the extraction groove 4a of the finger 45, the light of the electric wire detection sensor 53 in the finger is emitted by the electric wire W fitted in the extraction groove 4a. Since it is blocked, it is detected that the electric wire W is fitted in the extraction groove 4a.

Next, the controller 10 drives the first end effector 31 and clamps the electric wire W with the finger 45 (see S8, FIGS. 9A and 9B). Specifically, the controller 10 drives the air chuck 41 of the first end effector 31 to change the finger 45 from the open state to the closed state, thereby clamping the electric wire W with the finger 45.

Next, the controller 10 drives the first robot arm 11 to raise the first end effector 31 (see S9, FIGS. 10A and 10B). Specifically, the controller 10 raises the first end effector 31 by outputting a drive command to the servomotor of the linear motion joint J3 that raises and lowers the elevating portion 22a.

At this time, the second end effector 32 provided on the second robot arm 12 is positioned so as to be located to the left of the first end effector 31. Further, the second robot arm 12 is positioned so that the rotation axis L3 is located on the front left side of the first end effector 31. The controller 10 raises the first end effector 31 holding the electric wire W to a position above the second end effector 32.

Next, the controller 10 drives the second robot arm 12 to turn the second end effector 32 (see S10, FIGS. 11A and 11B). Specifically, the controller 10 turns the second end effector 32 by outputting a drive command to the servomotor of the rotary joint J4 that rotates the rotary portion 22b around the rotary axis L3 with respect to the elevating portion 22a. Let me.

The second end effector 32 is swiveled to a position in front and lower of the first end effector 31, specifically, a position where the first end effector 31 and the second end effector 32 are arranged vertically when viewed in the front-rear direction. .. As a result, the electric wire W held by the first end effector 31 is supported from below by the second end effector 32.

Next, the controller 10 drives the second robot arm 12 to raise the second end effector 32 in the forward and upward direction (see S11, FIGS. 12A and 12B). Specifically, the controller 10 outputs a drive command to the servomotor of the linear motion joint J3 that raises and lowers the elevating portion 22a and the servomotor of the rotary joint J2 that rotates the second link 21b. The end effector 32 is raised forward and upward.

The controller 10 raises the second end effector 32 to the same height as the first end effector 31. As a result, the electric wire W is held in a horizontal posture by the first end effector 31 and the second end effector 32.

After that, the controller 10 drives the first robot arm 11 and the second robot arm 12 to convey the electric wire W held by the first end effector 31 and the second end effector 32 to the tube threading mechanism (not shown). (S12). This completes the work removal process.

According to the embodiment described above, since the extraction groove 4a for extracting the electric wire W is provided in the first end effector 31, the electric wire W is arranged even if the electric wires W are densely arranged in the magazine 9. Easy to take out. In particular, when the first end effector 31 descends while reciprocating from side to side, the electric wire W can be easily fitted into the extraction groove 4a, and the electric wire W can be taken out more easily.

1 Work take-out device, 10 controller (example of arm drive means and effector drive means), 11, 12 robot arm, 17 base shaft, 21 arm part, 21a, 21b link, 22 wrist part, 22a elevating part, 22b rotating part, 23 Connecting link, 31,32 End effector, 41 Air chuck, 411 Main body, 413 Rail, 415 Chuck, 43 Plate, 45,451,452 Finger, 456 Bottom, 4a Extraction groove, 4b Optical path groove, 4c Gap, 51 In-magazine wire detection sensor, 512 floodlight, 514 light-receiving part, 53 In-finger wire detection sensor, 532 light-flooding part, 534 light-receiving part, 55 spacers, 7 units, 8 cantilever beams, 9 magazines (example of container) , 91 Side wall, 93 Bottom, 9a opening edge, 9b notch, W wire (example of long work).

Claims (8)

With the robot arm
An end effector provided on the robot arm and having an extraction groove into which a long work can be fitted,
A sensor that detects that the long work is fitted in the extraction groove, and
An arm driving means for driving the robot arm so that the end effector moves toward the long work while aligning the directions of the extraction grooves in the longitudinal direction of the long work.
When the sensor detects that the long work is fitted in the extraction groove, the effector driving means for driving the end effector so as to hold the long work fitted in the extraction groove.
Equipped with
The long work has flexibility, and a plurality of the long works are aligned in the front-rear direction in the horizontal direction, arranged in the left-right direction in the horizontal direction, and overlapped in the vertical direction and housed in a container.
The arm driving means is such that before the end effector holds the long work, while or after the end effector moves downward toward the plurality of long works housed in the container. The robot arm is driven so as to reciprocate in the left-right direction intersecting the longitudinal direction of the work.
Work removal device. With the robot arm
An end effector provided on the robot arm and having an extraction groove into which a long work can be fitted,
A sensor that detects that the long work is fitted in the extraction groove, and
An arm driving means for driving the robot arm so that the end effector moves toward the long work while aligning the directions of the extraction grooves in the longitudinal direction of the long work.
When the sensor detects that the long work is fitted in the extraction groove, the effector driving means for driving the end effector so as to hold the long work fitted in the extraction groove.
Equipped with
The sensor is a photoelectric sensor arranged so that light from the light projecting portion to the light receiving portion crosses the extraction groove when viewed in the longitudinal direction of the extraction groove.
The end effector has an optical path groove that intersects with the extraction groove and allows light to pass from the light projecting portion to the light receiving portion.
Work removal device. The end effector has a pair of fingers that open and close, and the pair of fingers changes from an open state to a closed state to sandwich a long work fitted in the extraction groove.
The work taking-out device according to claim 1 or 2 . The extraction groove is formed between the pair of fingers.
The work taking-out device according to claim 3 . Further provided with a container in which the long work is placed,
The container has a notch extending laterally from the long workpiece from the opening edge toward the bottom.
The work taking-out device according to any one of claims 1 to 4 . Further provided with a container in which the long work is placed,
The container has a valley-shaped bottom extending along the longitudinal direction of the long workpiece.
The work taking-out device according to any one of claims 1 to 5 . A robot arm, an end effector provided on the robot arm and having an extraction groove into which a flexible long work can be fitted, and a sensor for detecting that the long work is fitted in the extraction groove. Prepare,
Prepare a container in which the plurality of long workpieces are aligned in the front-rear direction in the horizontal direction, arranged in the horizontal direction in the horizontal direction, and overlapped in the vertical direction.
The robot arm is driven so that the end effector moves toward the long work while aligning the direction of the extraction groove in the longitudinal direction of the long work, and the end effector is the length. Before holding the length work, it reciprocates in the left-right direction intersecting the longitudinal direction of the long work while or after moving downward toward the plurality of long works housed in the container. The robot arm is driven so as to
When the sensor detects that the long work is fitted in the extraction groove, the end effector is driven so as to hold the long work fitted in the extraction groove.
Work removal method. The sensor includes a robot arm, an end effector provided on the robot arm and having an extraction groove into which a long work can be fitted, and a sensor for detecting that the long work is fitted in the extraction groove. Is a photoelectric sensor arranged so that light from the light projecting portion to the light receiving portion crosses the extraction groove when viewed in the longitudinal direction of the extraction groove, and the end effector intersects the extraction groove. A work taking-out device having an optical path groove through which light passes from the light projecting portion to the light receiving portion is prepared.
The robot arm is driven so that the end effector moves toward the long work while aligning the direction of the extraction groove in the longitudinal direction of the long work.
When the sensor detects that the long work is fitted in the extraction groove, the end effector is driven so as to hold the long work fitted in the extraction groove.
Work removal method.

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