JPH01135451A - Transporting robot - Google Patents

Abstract

PURPOSE:To permit cost down by installing a positioning device for guiding a sliding base on a tape surface, when the sliding base equipped with a work transferring device is attached onto a work transferring station, and by allowing the error of the stop position of a dolly for the station to be processed by a mechanical means. CONSTITUTION:The dolly 4 of a transport robot 1 on which works 6 are mounted travels along a leading tape 2 and stops in front of a work transferring station 3. Then, a sliding base 20 which supports a work transferring device 8 is pushed to the station 3 side by a cylinder 22, and attached onto the station 3. In this case, the conical rod 23 of a positioning device arranged in the station 3 is inserted and fitted into the conical hole of the sliding board 20. The sliding board 20 is forcibly guided to a prescribed position by the fitting of the conical rod 23 and the conical hole, and the front surface of the sliding base 23 is allowed to contact the innermost edge surface 3b of the recessed part 3a of the station 3 always at a constant position, and the position deflection of the work transferring device 8 for the work transferring station 3 is prevented.

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial Application Field] The present invention relates to a transport robot used in a production line for the purpose of automatically transporting workpieces.

[Conventional technology]

FIG. 4 is a perspective view showing a conventional transfer robot. In this figure, reference numeral 1 denotes a transfer robot, and this transfer robot 1 is roughly divided into a cart 4 that runs along a guide tape 2 provided on the floor and stops in front of a workpiece transfer station 3; It is composed of a workpiece transfer device 8 for loading and unloading a workpiece 6 placed on a workpiece mounting table 5 disposed on a trolley 4 onto and unloading a loader 7 of a workpiece transfer station 3. There is.

The main body 9 of the workpiece transfer device 8 is disposed on the trolley 4, and the upper end of a rotary shaft 10, which is provided protruding from the upper part of the main body 9 and is movable up and down, has a rotary shaft 10 that rotates in the horizontal direction. One end of the first swing arm 11 is connected to the first swing arm 11 . Further, the other end of the first swing arm 11 is connected to one end of a second swing arm 12 which, like the arm 11, swings in the horizontal direction. Furthermore, a gripper 14 equipped with a claw 13 for gripping the workpiece 6 is installed at the tip of the second swing arm 12, and a positioning mark 15 arranged near the loader 7 on the station 3 is recognized to transfer the workpiece. A camera 16 for correcting errors in the stopping position of the transport robot 1 with respect to the station 3 is arranged so as to be horizontally rotatable.

Further, FIGS. 5 and 6 are explanatory diagrams showing the operation of the transfer robot l, respectively, and FIG. It shows the position coordinates taught by. On the other hand, FIG. 6 shows the relative positional coordinates of the transport robot 1 stopped in front of the workpiece transfer station 3 when transferring the workpiece 6, the loader 7, and the positioning mark 15. In addition, in these figures, R-3 is a coordinate axis based on the floor surface, X-Y is a coordinate axis based on the transfer robot 1, and IJ-
V indicates a coordinate axis with the positioning mark 15 as a reference.

Next, the transfer work of the work 6 by the transfer robot 1 will be explained. Before starting the transfer work of the work 6, the transfer robot 1 must set the predetermined position where the work 6 is to be transferred. must be taught. Therefore, first, this teaching procedure will be explained.

After moving the carriage 4 of the transfer robot 1 according to the guide tape 2 on the floor and stopping it at a predetermined position in front of the workpiece transfer station 3, the carriage 4 of the transfer robot 1 is moved to the first position of the workpiece transfer device 8. The second pivot arm 11 . 12 and the gripper 14 are each pivoted horizontally and the camera 16 is moved onto the positioning mark 15 . In this way, the position data of the positioning mark 15 is stored in advance in the memory of the controller (not shown) built into the transfer robot 1. Next, the workpiece 6 placed on the workpiece mounting table 5 of the trolley 4 is gripped by the claws 13 of the gripper 14 to raise the rotation axis IO, and then each swing arm 11, 13 and the gripper 14 are horizontally turned. As a result, position data when the workpiece 6 is moved onto the loader 7 is stored in the same manner as described above.

The contents of this position data will be explained as follows based on FIG. That is, when the cart 4 of the transfer robot 1, which has been moved according to the floor coordinate system R-3, is stopped in front of the workpiece transfer station 3, if the coordinate system of the transfer robot 1 is X-Y, then , the position data taught by the positioning mark 15 is (X,, Y,, α1)
becomes. On the other hand, if the digit 1 data of the loader 7 at this time is expressed in the coordinate system UV based on the positioning mark 15, (UA
, Vo, βA), and when this position data is viewed from the coordinate system X-Y of the transfer robot 1, (X,.

Position data (XA+, Ys+, θ, 1
).

Continuing, the procedure for transferring the workpiece 6 by the transfer robot I will be explained.

After the transfer robot l loads the workpiece 6 and stops in front of the workpiece transfer station 3, the gripper 14 picks up the workpiece 6.
The workpiece transfer device 8 is driven based on the taught position data of the positioning mark 15, and the camera 1
When the positioning mark 15 is confirmed by 6, if the trolley 4 has stopped along the coordinate system X-Y as shown in FIG. 6, the position data is (Xz+Yz+α2)
becomes. Here, which position data and the previously taught position data of the positioning mark 15 (X, , Y, , α1)
Calculate the difference between the two as an error. Further, since the position of the loader 7 is taught by the coordinate system U-■ with the positioning mark 15 as a reference, and this positional relationship is unchanged, the position data is (UA, Va, βA).

Therefore, after correcting the positional error of the positioning mark 15, it is combined with the position data of the loader 7 (XA2.
YA□, θka□) are calculated. Based on this position data, each rotating arm I constituting the workpiece transfer device 8 is then
I,! The workpiece 6 is loaded onto the loader 7 by horizontally rotating the gripper 14 and the gripper 14, respectively.

[Problem that the invention seeks to solve]

Since the conventional transfer robot 1 is configured as described above, each time the workpiece 6 is loaded/unloaded onto the loader 7 of the workpiece transfer station 3 on the cart 4, the positioning mark is set. It is necessary to correct the positional error after recognizing I5, which requires a camera 16 and a recognition device (not shown), which increases costs and increases the working time.

This invention was made to solve these problems, and eliminates the need for recognition and correction using a camera, and uses mechanical means to deal with errors in the stop position of the cart relative to the workpiece transfer station. The objective is to provide a transport robot that can reduce costs and shorten working time.

[Means for solving problems]

The transfer robot according to the present invention includes a cart that stops in front of a workpiece transfer station, a sliding table that is freely movably held on the cart, and a drive device that pushes the sliding table toward the station and brings it onto the shore. a work transfer device provided on the slide table to transfer the work to the station; and a positioning device that guides the slide table on a tapered surface when the slide table is docked on the station. The structure is characterized by the following.

[Effect]

In the transfer robot according to the present invention, the sliding table, which is the base of the workpiece transfer device, approaches the workpiece transfer station and is positioned on a tapered surface, thereby coping with errors in the stop position of the cart with respect to this station. There is.

〔Example〕

Hereinafter, one embodiment of the present invention will be described based on the drawings.

FIG. 1 is a perspective view showing a transfer robot according to the present invention, and FIG.
The figure is a perspective view showing a state in the middle of operation, and FIG. 3 is a plan view of FIG. 2. Note that the basic configuration of the transfer robot 1 in this embodiment is the same as that of the conventional example, so parts and portions in FIGS. 1 to 3 that are the same or equivalent to those in FIG. 4 are given the same reference numerals. The explanation will be omitted.

A sliding table 20 is provided on the upper surface 4a of the cart 4 constituting the transport robot l, and this sliding table 20 is freely movable via rollers 21 arranged on the lower surface, and is held in a so-called free state. ing. A driving device such as a cylinder 22 is connected to the sliding table 20 via a movable mechanism (not shown) such as a spring, and the cylinder 22 drives the sliding table 20 along the six directions of arrows. The sliding table 20 pushed out is brought into contact with the workpiece transfer station 3. Further, the front part of the workpiece transfer station 3 has a recess 3a into which the front part of the sliding table 20 enters.
is formed, and both the rear end surface 3b of the recess 3a and the front end surface 20a of the sliding base 20 are parallel to the traveling direction of the truck 4. Furthermore, left and right conical wires 23.23 are erected on the rear end surface 3b of the recess 3a of the station 3, while the conical wires 23.23 are inserted into the front end surface 20a of the sliding table 20. Fitting conical hole 24.24
are formed, and both constitute a positioning device 25 for positioning the sliding table 20 with respect to the workpiece transfer station 3. Note that the workpiece mounting table 5 on which the workpiece 6 is placed is arranged on the sliding table 20.

Next, the transfer operation of the workpiece 6 by the transport robot having the above-mentioned configuration will be explained.

First, as shown in FIG. 1, the transport robot 1 carrying the workpiece 6 travels along the guide tape 2, and as shown in FIG. 2, stops in front of the workpiece transfer station 3. The sliding table 20 supporting the transfer device 8 is pushed out toward the station 3 by the cylinder 22, and the front end surface 2 of the sliding table 20 enters the recess 3a of the station 3.
0a is pressed against the inner end surface 3b of the recess 3a and comes into contact with the shore. At this time, each conical wire 23 disposed at the station 3 is inserted and fitted into each conical hole 24 of the sliding table 20. That is, as described above, the slide table 20 is freely movably held on the upper surface 4a of the cart 4 and is connected to the cylinder 22 via a movable mechanism, so that the workpiece can be moved by the cart 4. Even if the stop position relative to the loading station 3 is shifted, the front surface 20a of the sliding table 20
The closer to the inner end surface 3b of the recess 3a, the more the conical line 23 and the taper of the conical hole 24 engage with each other, forcing the sliding table 20 to be guided to a predetermined position. Therefore, the front surface 23a of the sliding table 23 is always in a constant position.
is positioned by coming into contact with the inner end surface 3b of the recess 3a, and the workpiece transfer device 8 is prevented from shifting relative to the workpiece transfer station 3.

Thereafter, according to the program taught in advance, the workpiece 6 on the slide table 20 is gripped by the claws 13 of the gripper 14 of the workpiece transfer device 8, and the rotation axis lO is raised to move each rotating arm 11, 12 and the gripper. 14 horizontally to place the work 6 above the loader 7, and by lowering the rotating shaft 10, the work 6 is placed above the loader 7.
is loaded onto the loader 7. Thereafter, the slide table 20 is driven backward by the cylinder 22 to the standby position to prepare for the next transfer operation.

In addition, in the above embodiment, the workpiece transfer! Although the device 8 is assumed to rotate horizontally, it may be configured to transfer the workpiece linearly using, for example, a cylinder.
Although the explanation is given as having a structure made up of the following, it is needless to say that the structure is not limited to this, and in short, any structure that utilizes a tapered surface is sufficient.

[Effects of the Invention] As explained above, according to the present invention, the sliding table serving as the base of the workpiece transfer device approaches the workpiece transfer station, and the sliding table is moved by the positioning device guided by the tapered surface. Since the workpiece is mechanically positioned relative to the transfer stage, there is no need for recognition and correction using a camera, which was required in the conventional example, and this reduces costs.
Work time can be shortened.

[Brief explanation of the drawing]

1 to 3 relate to the present invention; FIG. 1 is a perspective view showing a transfer robot according to the present invention, FIG. 2 is a perspective view showing a state in the middle of its operation, and FIG. It is a plane gyrus. Further, FIGS. 4 to 6 relate to a conventional example, in which FIG. 4 is a perspective view showing the transfer robot 7), and FIGS. 5 and 6 are explanatory diagrams showing the operation of the transfer robot. In the figure, reference numeral 1 denotes a transfer robot, 3 a workpiece transfer station, 4 a trolley, 6 a workpiece, 8 a workpiece transfer device, 20 a sliding table, 22 a drive device, and 25 a positioning device. Note that the same reference numerals in the drawings indicate parts and portions that are the same or correspond to each other.

Claims (1)

[Claims] (1) A trolley that stops in front of the workpiece transfer station,
A sliding table movably held on the cart, a drive device that pushes the sliding table toward the station and makes it come into contact with the station, and a workpiece installed on the sliding table to transfer the workpiece to the station. A transfer robot comprising: a transfer device; and a positioning device that guides the sliding table on a tapered surface when the sliding table is docked on the station.