JPH0326445A - Rotation indexing method for work and its device - Google Patents

Abstract

PURPOSE:To enable application to various works with a simple structure by holding each of them, moving it to a prescribed position near a non-contact sensor, and making it turn by itself until the non-contact sensor outputs its target position detection signal. CONSTITUTION:A scroll 6 is held by a robot hand 2, and the size of the scroll 6 is obtained by a robot arm control part 11 according to the opening of the robot hand 2. According to the position of a sensor 5 to be set and the size of the scroll 6, the operating amount of the robot arm 1 is calculated, and according to the operating amount, the robot arm 1 is operated to make the scroll 6 approach the sensor 5. Then, when a motor 3 is operated by a robot hand control part 12 to make the robot hand 2 turn by itself, the sensor 5 and an outer edge face positively to each other, so that the output signal level from the sensor 5 changes rapidly. According to the change in the output signal level, the robot hand control part 12 outputs an automatic stop signal to complete the self rotation of the scroll 6, for completing rotation indexing.

Description

DETAILED DESCRIPTION OF THE INVENTION <Field of application in industry-1: ゛・ This invention provides a four-turn indexing method and apparatus for determining the rotation direction of a workpiece to be processed PF. Two matters.

・'4A's of the Congregation: Art and invention are the solutions I5, yo, i
．． 1" Lesson 1 Zhao 7. From subordination to Sanpei; I1 Bot 1. II!1 Turning direction 0) 4)'/Positioning is necessary
In order to perform this kind of positioning, a mechanical indexing device is used to determine the characteristic parts of the workpiece and the engagement height. ,1 Schematically, J; UA. shown in FIG. 7(A). In the case of a workpiece in which the fan-shaped aperture n is shifted by Fj'' in two symmetric orders, as shown in Fig. 7 (+3), a positioning jig of 1χ·1 of the shape to be obtained, which is engaged with the aperture, is brought into contact with and separated from it.
With this setting (1), apply some force in the approach direction to the positioning jig {=t L'j. By doing this, as shown in FIG. When the shape of the characteristic part of the workpiece is eclipsed, it is possible to prepare a positioning jig with a shape corresponding to the characteristic part. Accurate circular positioning can be achieved.

1, ka l,, - L Note The rotating index I2 device of the Congo Song Dynasty performs positioning mechanically, so the rotary indexing I2 device was quite large-scale, and the entire workpiece handling device (7) 1, and complicated {1z, but also requires high precision, so it is important to
There is an interlude. ，Also, since the rule of honor is suitable for a very limited type of consideration,
It is extremely difficult to apply this method to workpieces with multiple insertions.
In addition, there is a problem in that operations such as t) stage changing are required since χ.

(Objective of the Invention) This invention has been made in view of the problems mentioned in 2 above, and provides a novel rotary indexing method (7 methods and apparatus thereof) that can be applied to a wide variety of workpieces with a simple structure. I am 12 years old with the purpose of providing.

Means for Solving the Problem> In order to achieve the above-mentioned objective, the workpiece rotation indexing method of the first invention grips the workpiece 1 and brings it to a predetermined position where it is brought into contact with a non-contact sensor. Move it and use it in this state without contact.・This is a method in which the workpiece is rotated until the target position detection signal '-1 of the workpiece is output from the machine.

The second four-turn indexing method for the workpiece is to detect the workpiece size by gripping the workpiece.
The center of rotation of the workpiece is positioned based on the size and the preset position of the non-contact sensor, and in this state, the workpiece is rotated "one turn and zero" until a circular position detection signal of the workpiece is output from the non-contact sensor. This is a method to

Work rotation index L. of the third invention. The device includes a workpiece gripping means for gripping the workpiece,! :,, positioning control that operates a non-contact sensor for detecting a workpiece and a workpiece gripping means to bring the workpiece close to the non-contact sensor.
and an autorotation control f stage that operates a thousand stages of work gripping to rotate the workpiece until the non-contact sensor outputs a position detection signal for the workpiece.

However, although a plurality of non-contact sensors may be provided depending on the size of the workpiece, only one non-contact sensor should be provided, and the positioning control means may be provided depending on the workpiece size obtained by the gripping operation. It is preferable that the work gripping stage be operated so that the characteristic part of the work is directly facing the sensor based on the size.

In the rotary indexing I2h method of the first invention, by gripping the workpiece and moving it to a predetermined position close to the non-contact sensor, the characteristic part of the workpiece can be directly facing the non-contact sensor.
If the workpiece is rotated in this state, the characteristic part ε will face the non-contact sensor and the sensor will output a 1j position detection signal of the workpiece. Based on the detection signal, the Zug's rotational indexing can be achieved by stopping the rotation.

With the rotation indexing method of the second invention, the workpiece size can be detected by gripping the workpiece, so by considering the detected workpiece size, it is possible to make the characteristic part directly face the non-contact sensor. Workpieces can be moved. Therefore, the rotational indexing of the workpiece can be achieved thereafter by rotating the workpiece on its own axis in the same way as in the first invention.

Also, as is clear from the above explanation, since the rotation center position is changed depending on the workpiece size,
A wide variety of workpieces can be handled without increasing the number of non-contact sensors.

With the rotary indexing device of the third invention, the workpiece can be gripped by the workpiece gripping means, and the workpiece can be brought close to the non-contact sensor by operating the workpiece gripping means by the positioning control means. In this state, when the work gripping means is operated by the rotation control means to rotate the work, the characteristic part of the work directly faces the non-contact sensor, and the non-contact sensor outputs a target position detection signal of the work. The rotation of the workpiece is stopped by the n-rotation control means, and four-turn indexing of the workpiece can be achieved.

If multiple non-contact sensors are provided corresponding to the workpiece size, rotation indexing of various types of workpieces can be easily performed by simply keeping the n-rotation center position of the workpiece constant regardless of the workpiece size. can be achieved. Further, only one non-contact sensor is provided, and the positioning control means operates the work gripping means based on the workpiece size obtained by the gripping operation so that the characteristic part of the workpiece can directly face the non-contact sensor. If the workpiece is to be rotated, the rotation center position of the workpiece can be easily changed based on the workpiece size, making it possible to achieve rotational indexing for a wide variety of workpieces, as well as requiring only one non-contact sensor. can be significantly simplified.

Example Hereinafter, embodiments will be described in detail with reference to the accompanying drawings showing examples.

FIG. 2 is a front view showing one embodiment of the rotary indexing device of the present invention, in which a robot hand (2) is attached to the tip of a robot arm (1) so as to be able to rotate・Motor for rotating the hand (2) (
3) is installed. An indexing table (4) for rotating and indexing the workpiece is arranged at a predetermined position, and a sensor (5) for detecting the target position of the workpiece is attached at a predetermined position on the top surface of the indexing table (4). has been done. As the sensor 6), a sensor that can detect the workpiece (6) without contact, such as a proximity switch, is used.

FIG. 1 is a block diagram of the quad indexing device, in which the robot arm (1) is operated and the robot hand (2),
Furthermore, the robot arm control unit (11) that positions the workpiece (6), the robot hand control unit (l2) that rotates the robot hand (2), and the rotation amount of the motor (3) are detected. rotary encoder (l
3>, a counter (14) that counts output pulses from the rotary encoder (13), and a counter (14)
A position memory unit ({5) that holds the rotational position information of the workpiece (6) based on the contents of It has a sensor (5) that outputs a mouth position detection signal.

The sensor (5) has a defined distance range in which it can detect the workpiece (6), and cannot detect the workpiece beyond this distance range, so the characteristic part is located outside the distance range and the characteristic part By positioning the workpiece (6) and rotating it so that the portion following is located outside the above distance range, the output signal level from the sensor (5) changes rapidly and significantly at the characteristic portion. Therefore, a sudden change in the output signal level of the sensor (5) in one direction can be used as the target position detection signal of the workpiece.

The robot arm control section (l1) controls the preset position of the sensor (5) and the robot hand (2).
The movement target position is calculated based on the workpiece size obtained by holding the workpiece (6), and the robot arm (1) is operated to position the robot hand 0) at the movement target position. The robot hand control unit (12) rotates the robot hand (2) at the movement target position, and also controls the Joki sensor (
The target position detection signal of the workpiece outputted from 5) is supplied as the rotation stop instruction signal. 1st grade rotary t
The encoder (13) is pre-installed in the motor (3) and outputs a pulse signal corresponding to the number of rotations, so the number of pulses is counted by the counter 04) and the number of pulses is counted by the slider 22. The amount y, B i4 can be increased. Part 1
, the target position of the workpiece outputted from sensor 'j- (5) No. 1, -i, or counter 1 is sent to J7 counter (l4).
・Contents output instruction (This item and 1~ are supplied, so the characteristic part of the workpiece (6) is F until it meets the sensor (5) and W.
The count signal corresponding to the amount of j1 rotation is stored in the position memory section (15).
is maintained.

The operation of the co-rotating indexing device of configuration 1 described in section 2 is as follows.

1+lJ top workpiece (6) and 1- have a scoop mouth-roo C of the configuration shown in the lower 1hj perspective view in Figure 3, spiral part +4 (6
The case where the outer end (6b) of a) is flush with the characteristic part will be explained.

A scroll (6) located at a scroll supply station (not shown) is gripped by the robot 1 hand (2), and based on the opening degree of the robot 1 hand (2) when gripping is completed, The control unit (11) obtains the size of the scroll (6). The amount of movement of the robot arm (1) is calculated based on the preset position of the sensor (5) and the size of the daily schedule (6), and the amount of movement of the robot arm (1) is calculated based on the calculated amount of movement. By operating the arm (1), the scroll (6) is moved to the sensor (
5) It is possible to get close to it. Next, the robot hand control unit (12) operates the motor (;3), and when the robot 1...hand (2) is rotated once, the workpiece (6
) rotates 360 degrees, the sensor (!)) and the outer end (G b ) of the spiral member (6a) are iE to 1, and the output signal level from the sensor (5) changes rapidly. (The direction of change is determined based on the first rotation direction of the scroll wheel (6)), so based on the level change of the output signal, the hand control unit (12) gives the rotation stop +L command. 13
Since the rotation of the scroll (6) is completed, the rotation index j of the scroll (6) is completed. Also,
Until the rotation index is completed, the rotation operator is at the counter (14).
=1, and can be easily obtained based on the number of pulses held in the position storage section (15).

Therefore, after that, the grip of the scroll (6) by the robot hand (2) is temporarily released, and the scroll (6) is gripped by the robot hand (2) again, taking into account the above-mentioned amount of rotation. P contact between the scroll (6) and other members etc. can be reliably prevented in the process.

Also, when the size of scroll (6) changes,
In order to change the distance between the E1 rotation center axis of the scroll (6) and the sensor (5) according to the size of the scroll (6), the mouth is 1...γ-! ．． It is only necessary to control the operation (1), and it is possible to easily deal with the problem. Therefore, the scroll (6
) The number of types has increased from 1 to 1, but it is easy to control the operation of the mouth pot arm (1). ':' I・■ can be processed, and the overall structure and the configuration of the first and second parts can be significantly simplified.

Above, we have explained case A where scroll is used as work (6), but if the characteristic part is a, then
ta,combreza"l,=; fl1 for each work j
Of course, it can be applied as well.

Embodiment 2> Fig. 4 is a block diagram showing another embodiment of the quad indexing device, which differs from the above embodiment in that it includes a plurality of sensors (5
) is attached to the split 1B stand (4) and the selector (7).
The only difference is that only the output signal from one of the sensors (5) (4j=I) is extracted through the sensor (5).

"The Niki SE1 nokta (7) is the robot 1... Output 1 from the corresponding sensor (5) based on the work size obtained by gripping the work (6) with the hand (2)
Outputs the λ number. Furthermore, since the movement of the robot hand (2) is constant regardless of the size of the workpiece, the processing Pv in the robot hand control unit (11) can be simplified.

Therefore, in the case of this embodiment, regardless of the size of the workpiece, the sun-bossing arm (1) is operated so that the center position of one rotation is constant, and the sensor (5) determined based on the size of the workpiece is By outputting only the output signal from the selector (7) (2), it is possible to detect the characteristic part of the workpiece (6) in the same way as in the length example above, and the rotation division is performed based on the detection of the characteristic part. can be achieved.

Embodiment 3> FIG. 5 is a schematic diagram showing still another embodiment,
The difference from the configuration in Figure 2 is that the workpiece (6) is
) is provided with a sensor (8) that outputs a detection signal when the workpiece approaches a predetermined distance.

Therefore, in the case of this embodiment, when the workpiece (6) has large variations such as a cast product, the robot hand (2) is lowered until the workpiece detection signal is output from the sensor. By doing so, variations in the distance between the workpiece (6) and the sensor (5) can be eliminated. As a result, the detection accuracy of the characteristic portion by the sensor (5) can be kept constant, and the rotation indexing accuracy can be improved.

Embodiment 4 FIG. 6 is a flowchart showing an example of the rotary indexing method of the present invention, in which a workpiece (6) is gripped by the robot hand (2) in step・The workpiece size is calculated based on the opening degree of the hand (2), and in step (2), the motion trajectory is calculated based on the preset sensor (5) position and the calculated workpiece size, and the robot and Hand (2
move. Next, in step ■, the robot
The hand (2) is simultaneously rotated to one limit position, the robot hand (2) is rotated at low speed toward the other limit position in step ■, and the sensor (
5), it is determined whether the target position detection signal of the workpiece is output. If the target position detection signal of the workpiece is not output, the process in step (2) is continued, but if the target position detection signal of the workpiece is output, the rotation of the robot hand (2) is stopped in step (2). , the robot hand (2) is lowered in step ■, and the robot hand (2) is opened in step ■, so that the workpiece (6), which has been rotated and indexed, is placed on the indexing table (4).
》Place it on top.

The above description has been made for the case where the operating rotation angle of the robot hand (2) is at least 360 degrees, but if the operating rotation angle is less than 360 degrees, the sensor 6) If the target position detection signal of the workpiece is not output from the workpiece, it is sufficient to release the workpiece (6) once and grip the workpiece (6) again in a state where it can rotate in the same direction. In addition, the amount of movement of the robot hand (2) is set to a constant amount regardless of the size of the workpiece, and multiple sensors (5) are mounted on the indexing table (4). It is also possible to select the output signal from one of the sensors (5) based on .

Therefore, in the case of this embodiment as well, the workpiece (6) is rotated on its own axis while being brought close to the sensor (5), and the workpiece (6) is Rotational indexing can be achieved by stopping the rotation of the

As is clear from the above description, when transferring a workpiece to a workpiece handling robot, it is no longer necessary to set the workpiece in a positioning jig or the like and input it, thereby simplifying the work. In addition, since there are no mechanically moving parts other than the industrial robot, the configuration can be simplified, durability can be increased, and maintenance and inspection can be simplified.

Furthermore, if a vision device is added, it is possible to read the display of the workpiece after rotation indexing and confirm the type.
This eliminates the inconvenience of incorrectly assembling different types of workpieces.

Furthermore, the workpiece (6) is not limited to a scroll, but may be any workpiece having a characteristic part such as a rotor, a combination, etc., and various other workpieces are applicable.

Effects of the Invention> As described above, in the first invention, it is possible to perform rotational indexing simply by rotating the workpiece while bringing it close to the non-contact sensor. It has the unique advantage of not only being able to eliminate limitations, but also being able to easily deal with changes in the type of workpiece.

The second invention has the unique effect of significantly simplifying the structure by providing only one non-contact sensor.

The third invention makes it possible to perform rotational indexing simply by rotating the workpiece while bringing it close to the non-contact sensor.As a result, it is possible to eliminate restrictions on the posture when inserting the workpiece, and to change the type of workpiece. It has the unique effect of being able to easily deal with problems.

The fourth, Hakumei (well, 79 has multiple non-contact tops and the
- It is a simple structure because it is f'iJ - C The feature of being able to achieve the four-turn index of the multi-heel type n' 7) It is effective, 1. A non-contact sensor is installed.T":lZ"C has a good structure, but there are 1, <ferment ii11-'i", and it is difficult to create a 1, which is difficult to detect. 5. The effect of waiting is spring t.

4. Simple explanation of q1. The first question is the rotation index of the invention in 1.
111 book opening diagram, 7a ''. AlliXl is a rotary index 1, 1F side view showing the lock of the device, Figure 3 is an example of a workpiece, and 4'' bottom perspective flash showing the scroll of the machine. Fig. 4 is a hook diagram showing another embodiment of the device for simultaneous rotation indexing, and Fig. 5 is a hook diagram showing another embodiment of the device for four-turn indexing.
``{Existing diagram, Figure 0 is a flowchart of one embodiment of the four-turn index L., 7 method of this invention, and Figure 'l' is a schematic diagram of the conventional example.

(2) Workpiece grasping stage 1 and stage 1. 'T:' +17
) r Kobotsu 1...゛＼nido. , (5)...Sensor, (6)...1 node, (11)...Positioning control f stage and 1st robot/so1...arm control section, (l2>...rotation Controlling means' and l7te's τi rejection 1.
・No＼Medical Fighting Club

Claims (1)

[Claims] 1. Grip the workpiece (6) and move it to a predetermined position close to the non-contact sensor (5), and in this state, a target position detection signal of the workpiece is output from the non-contact sensor (5). A method for rotationally indexing a workpiece, comprising rotating the workpiece (6) until the workpiece rotates. 2. Detect the workpiece size by gripping the workpiece (6), position the rotation center of the workpiece (6) based on the workpiece size and the preset position of the non-contact sensor (5), and A method for rotationally indexing a workpiece, which comprises rotating the workpiece (6) until a target position detection signal of the workpiece is output from a non-contact sensor (5). 3. Workpiece gripping means (2) for gripping the workpiece (6);
a non-contact sensor (5) for detecting the workpiece (6);
Positioning control means (1) that operates the workpiece gripping means (2) to bring the workpiece (6) close to the non-contact sensor (5).
1), and a rotation control means (12) that operates the workpiece gripping means (2) to rotate the workpiece (6) until a target position detection signal of the workpiece is output from the non-contact sensor (5).
A workpiece rotary indexing device comprising: 4. The workpiece rotation indexing device according to claim 3, wherein a plurality of non-contact sensors (5) are provided corresponding to the size of the workpiece. 5. Only one non-contact sensor (5) is provided, and the positioning control means (11) detects a characteristic part of the work (6) based on the work size obtained by the gripping operation using the non-contact sensor (5).
3. The workpiece rotation indexing device according to claim 3, wherein the workpiece gripping means (2) is operated so as to directly face the workpiece gripping means (2).