JPH01175192U - - Google Patents
Info
- Publication number
- JPH01175192U JPH01175192U JP6880688U JP6880688U JPH01175192U JP H01175192 U JPH01175192 U JP H01175192U JP 6880688 U JP6880688 U JP 6880688U JP 6880688 U JP6880688 U JP 6880688U JP H01175192 U JPH01175192 U JP H01175192U
- Authority
- JP
- Japan
- Prior art keywords
- vertical bar
- visual sensor
- robot
- light source
- detection device
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000001514 detection method Methods 0.000 claims description 4
- 230000000007 visual effect Effects 0.000 claims 3
- 238000005286 illumination Methods 0.000 claims 1
- 238000010438 heat treatment Methods 0.000 description 3
Landscapes
- Feeding Of Workpieces (AREA)
- Specific Conveyance Elements (AREA)
Description
第１図は本考案を実施した移載ロボツト廻りの
斜視図、第２図は位置検出装置と熱処理治具との
関係を表した正面図、第３図は熱処理治具の部分
平面図である。
１……移載ロボツト、７……ロボツトハンド、
１１……カメラ、１２……スポツトライト、Ｗ…
…ワーク、Ｗａ……軸孔、Ｊ……熱処理治具、Ｊ
ｃ……垂直棒、Ｊｃ１……上部。
Fig. 1 is a perspective view of the transfer robot in which the present invention is implemented, Fig. 2 is a front view showing the relationship between the position detection device and the heat treatment jig, and Fig. 3 is a partial plan view of the heat treatment jig. . 1... Transfer robot, 7... Robot hand,
11...Camera, 12...Spotlight, W...
...Workpiece, Wa...Shaft hole, J...Heat treatment jig, J
c... Vertical bar, Jc1... Upper part.
Claims (1)
持される孔付きワークを差込むようにしてセツト
する移載ロボツトの位置検出装置であつて、該ロ
ボツトに視覚センサーと照明用の光源とを搭載し
、該視覚センサーを垂直棒の正規の立設位置の直
上部に臨む所定の検出位置に移動して、該視覚セ
ンサーによる垂直棒の位置検出を行うようにした
ものにおいて、前記光源を垂直棒の上部を斜め上
方から照明するように配設したことを特徴とする
移載ロボツトの位置検出装置。 This is a position detection device for a transfer robot that sets a workpiece with a hole to be gripped by a robot hand by inserting it into a vertical bar erected on a jig, and the robot is equipped with a visual sensor and a light source for illumination. , wherein the visual sensor is moved to a predetermined detection position facing directly above the normal standing position of the vertical bar, and the position of the vertical bar is detected by the visual sensor, wherein the light source is connected to the vertical bar. A position detection device for a transfer robot, characterized in that the upper part is illuminated diagonally from above.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP6880688U JPH01175192U (en) | 1988-05-26 | 1988-05-26 |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP6880688U JPH01175192U (en) | 1988-05-26 | 1988-05-26 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPH01175192U true JPH01175192U (en) | 1989-12-13 |
Family
ID=31294108
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP6880688U Pending JPH01175192U (en) | 1988-05-26 | 1988-05-26 |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH01175192U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US9676072B2 (en) | 2014-12-25 | 2017-06-13 | Fanuc Corporation | Machining device with visual sensor for locating contaminants |
-
1988
- 1988-05-26 JP JP6880688U patent/JPH01175192U/ja active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US9676072B2 (en) | 2014-12-25 | 2017-06-13 | Fanuc Corporation | Machining device with visual sensor for locating contaminants |
| DE102015122164B4 (en) | 2014-12-25 | 2018-10-11 | Fanuc Corporation | Processing device with visual sensor for locating dirt |