JPH02212081A - Robot - Google Patents

Abstract

PURPOSE:To decide the height position of a hand with high accuracy even if there is the error factor in the height directing of a moving truck by providing a memory part for storing the height position of the hand of this time based on the detection signal of a base detector and arranging an operation control means for operating the hand to this stored height position. CONSTITUTION:At the time when a hand 3 is located on a base 8 to hold a work 9, a detection signal is output by detecting this base 8 by the detector 10 attached to the hand 3. The operation state of the hand 3 of the time when this detection is initially input, especially the data of the height position is then stored by a storing part 11. An operation control means 7 fetches the data of the operation state and height position stored in the memory part when the hand is operated by a manipulator for carrying the work 9 again onto the base 8 or from on the base 8, making the hand coincident with the height position according to this data.

Description

Detailed Description of the Invention (a) Industrial Application Field The present invention provides a method in which a manipulator for operating a hand is installed on a movable trolley, the operation of the hand and the movement of the trolley are controlled by an operation control means, and the hand is The present invention relates to a robot that carries a gripped workpiece to or from a predetermined table.

(b) Prior Art In this type of robot, when a workpiece is gripped on a table with a hand, an error occurs in the positioning of the movable cart, so it is necessary to correct the predetermined position. As this correction method, a method using a visual sensor is disclosed in Japanese Patent Laid-Open No. 62-49521 and Japanese Patent Laid-Open No. 62-191904.

(C) Problems to be Solved by the Invention However, the position correction according to the conventional example is only for the X-Y seat support in the horizontal plane, and the diameter changes due to reasons such as wear of the wheels of the moving trolley or air leakage. It was not possible to correct the error in the height direction when the

The present invention is designed to accurately determine the height position of the hand while reliably responding to changes over time.

(d) Means for Solving the Problem The solution according to the present invention is based on a table detector that is activated when a hand carries a workpiece to or from a predetermined table, and a detection signal from this table detector. and a storage section that stores the height position of the hand at this time, and the operation control means operates the hand to the height position stored in the storage section.

(E) The workpiece detector is a limit switch, optical sensor, pressure sensor, strain gauge, etc. attached to the hand, and detects the workpiece when the hand is on the table to grasp the workpiece. The storage section, which is typically a semiconductor memory or the like, and outputs a detection signal stores the operating state of the hand, particularly the height position data, using an appropriate electrical signal when the detection signal is first input.

Then, when the hand is operated by the manipulator in order to transport the workpiece onto the table or from the white clay again, the operation control means takes in the data of the operating state and height position stored in the storage section and uses this data. Adjust the hand to match the height position accordingly.

For example, in a system in which a workpiece is placed on a table, the hand is released, the workpiece is automatically cooked on the table, and then the cooked workpiece is grasped by the hand and carried from the table to be served. If you store the height position data in response to the platform detection signal when you place it on the platform, and position the hand according to the data when carrying it off the platform, changes in the wheels, etc. will hardly be a problem. .

(F) Embodiment To explain the following based on the oral side, the robot 1 is a mobile cart 2 equipped with a manipulator 4 for operating a hand 3. Mobile trolley 2 has left and right wheels 5.5 and 1.
The hand 3 is provided with two casters 6, and a pair of fingers on both sides of the hand 3 are operated by separate motors so as to be able to open and close left and right.

Movement of the mobile cart 2 and hand 3 by the manipulator 4
The operation of the hand 3 and the operation of the hand 3 itself are controlled by an operation control means 7 mainly including a micro:1 viewer, but the control method is well known and will not be explained here.

Such a robot 1 places a work 9 such as a plate containing retort food on a cooking table 8 and carries it after cooking to serve the food.The hand 3 grips the work 9 and places it on the table 8. Place the workpiece 9 on the table 8, release it, and then grip the workpiece 9 on the table 8 again.

The hand 3 is equipped with a table detector 10 consisting of a limit switch at its lower part, and when the gripped workpiece 9 is placed on the white 8, the table detector 10 contacts the table 8 and outputs a detection signal. That's what I do.

A storage unit 11 provided as a part of the operation control means 7 stores data on the operating states of the manipulator 4 and hand 3 when the detection signal arrives.

Next, the hand 3 places the workpiece 9 on the table 8, and then grasps and carries it again as shown in Fig. 3 (A), (B), (C), and (D).
I will explain them in order based on the following. The operation control means 7 controls the hand 3
The workpiece 9 is gripped and lowered from above the table 8. When the workpiece 9 descends to a position on the stand 8, the stand detector 10 contacts the stand 8 and turns on. Based on this detection signal, the operation control means 7 stops the operation of the manipulator 4, opens the fingers of the hand 3, and moves the manipulator 4 and the hand 3 horizontally backward to separate them from the table 8. At this time, the control means 7 causes the storage unit 11 to store data regarding the positions, particularly the heights, of the β nipulator 4 and the hand 3.

After the workpiece 9 has been subjected to a predetermined operation on the table 8, that is, when a time measured by a timer or the like has elapsed, the operation control means 7 reads the data stored in the storage section 11, and causes the manipulator 4 to store the hand 3. Then, the hand 3 is moved horizontally from there to face the workpiece 9. Then, close the pair of fingers and work 9.
and lift the hand 3 upward.

The data stored in the storage unit 11 is updated, for example, at appropriate time intervals, or each time the work 9 is placed on the table 8.

In this embodiment, the work 9 is placed on the stand 8, and then
68, workpiece 9 is carried from table 8,
At this time, the height data may be taken, and then the object may be placed back on the stand 8.

(G) Effects of the Invention According to the present invention, the height of the table on which the work is placed is memorized and then the work is placed on or carried from the table according to the memory, so that the height direction of the moving cart is adjusted. Even if there are error factors, positioning can be performed with high precision, and there is no need to accurately create reference data in the height direction in advance.

Therefore, it is possible to provide a robot with high positioning accuracy despite its simple structure.

[Brief explanation of the drawing]

Figure 1 is a configuration diagram of the robot according to the present invention, Figure 2 is a perspective view of the hand (A), (B) is a perspective view of the hand, and Figure 3 (A), (B), (C), and (D) are perspective views of the hand. 1 is a side view showing the operations in order. 1... Robot, 2... Moving trolley, 3... Hand, 4... Manipulator, 7... Operation control means, 8
...white, 9...work, 10...unit detector, 11
...Memory department. Figure 2 (a) (b) Figure 1 Figure 3 (b) Figure 3 Procedural amendment C method) Relationship with the case of the person making the amendment

Claims (1)

[Claims] (1) A manipulator for operating the hand is installed on a moving cart, the operation of the hand and the movement of the cart are controlled by an operation control means, and the workpiece gripped by the hand is carried to or from a predetermined table. In this robot, a table detector is activated when the hand carries a workpiece to or from a predetermined table, and the height position of the hand at this time is determined based on the detection signal of this table detector. and a storage section for storing the information, wherein the motion control means operates the hand to a height position stored in the storage section.