JPH05277896A - Work specification detecting system - Google Patents

Abstract

PURPOSE:To detect the various specifications of a work without being accompanied with deterioration in the input and output cables of a sensor or the sensor itself. CONSTITUTION:A limit switch 10 positioned on an A point, a photocell 11 on a B point, a reflection type color difference judgement sensor 12 on a C point, and a supersonic wave board thickness sensor 12 on a D point are anchored on each ground on a transfer path 18 for transferring a work W grasped and held by the wrist part 5 of a general robot 18 as far as a jig 7. Upon detecting that the work W meets predetermined specifications from the results of detection at A-D points, the general robot 1 moves the work W to the E point from the D point to set the work W on the jig 7. Therefore, only the work W meeting the predetermined specifications is set on the jig 7. The work W set on the jig 7 is carried to the assembling process for a car body meeting the specification for assembling the work W.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a work detection device for detecting a work specification.

[0002]

2. Description of the Related Art Conventionally, as a work detection device for detecting the specifications of a work, one shown in FIG. 2 has been proposed (see Japanese Patent Laid-Open No. 3-104540). That is, this work detection device is for detecting the type of work to be mounted on the vehicle body, and an X mark is provided on the upper portion of the frame 31.
An orthogonal robot 32 that is movable in the axial direction and the Y-axis direction is arranged. The orthogonal robot 32 has an arm 33.
And a laser sensor 34 is attached to the lower end of the arm 33.

In such a structure, when the work W is carried into the lower portion of the frame 31, the orthogonal robot 32 operates to move the laser sensor 34 according to predetermined plane coordinates, and the laser sensor 34 is moved. The shape is detected by the laser reflected light from the work W. Then, when the specification is determined by the shape of the work W, another transfer robot (not shown) takes out the work W from the frame 31 and sets it on a jig corresponding to the specification. The work W set on the jig is assembled to the vehicle body in a predetermined assembly process.

[0004]

However, in such a conventional apparatus, since the sensor 34 is attached to the orthogonal robot 32 which is movable in the X-axis direction and the Y-axis direction, the sensor 32 is attached. The input / output cable of 1 is routed by the movement of the robot 32 and deteriorates early. In addition, when the laser sensor 32, which is composed of high-precision electronic components, detects the specifications of the work W, the robot 3
Since it moves together with 2, the specifications of the workpiece W are detected in large quantities, and the accuracy of the sensor 32 deteriorates early in the assembly line of a multi-specification vehicle in which the sensor 32 moves frequently.

As for the work to be assembled in a multi-specification vehicle, there are many kinds of works having the same planar shape but different surface treatments or attached parts depending on the specifications of the vehicle. Therefore, if the laser sensor 32 is simply moved on the workpiece W, different workpieces having the same planar shape but different surface treatment or the like cannot be accurately identified. Cannot be used on assembly lines.

The present invention has been made in view of such conventional problems, and can detect various specifications of a work without deteriorating the input / output cable of the sensor and the sensor itself. The purpose is to provide a device.

[0007]

In order to solve the above-mentioned problems, the present invention has a robot for gripping an input work and transferring it to a jig, and only a work having a predetermined specification is described above. In a work specification detection device for detecting specifications of a work gripped by a robot to be set on a jig, a plurality of work specifications are detected by different sensing functions on a transfer path of the work gripped by the robot. Type of sensor, for example, a limit switch that abuts a bracket attached to the work to detect the presence or absence of the bracket, detects the size of the opening formed in the work Photoelectric sensor, detects the presence or absence of surface treatment of the work A reflective color difference determination sensor, an ultrasonic plate thickness sensor for detecting the plate thickness of the work, and the like are fixedly arranged.

[0008]

In the above structure, when the work is loaded, the robot grips the work and starts the transfer to the jig.
Then, depending on the function of each sensor arranged on the transfer path from the work loading position to the jig, the presence / absence of a bracket, the size of the opening, the presence / absence of surface treatment of the work, the plate thickness of the work, etc. Detect. And, by the detection result,
If the gripped work is a predetermined work, the robot sets the work on the jig.

[0009]

An embodiment of the present invention will be described below with reference to the drawings. That is, the general-purpose robot 1 shown in FIG.
A support shaft portion 3 supported by a base 2 so as to be horizontally rotatable, an arm portion 4 pivotally supported at an upper end portion of the support shaft portion 3, and a tip end portion of the arm portion 4, which has a gripping function. It is composed of the wrist part 5. This general-purpose robot 1 has a component loading process 6
It is arranged on the ground between the component loading step 6 and the jig 7 so that the workpiece W thrown in can be gripped and transferred to the jig 7 waiting on a different line. The work W
Is a front end panel that is assembled to the front end portion of the vehicle body.
There are a plurality of types that are different in the presence or absence of the headlamp, the large opening 9a and the small opening 9b in which the headlamp is incorporated, the presence or absence of surface treatment, and the plate thickness.

On the transfer path 18 through which the work W gripped by the wrist portion 5 of the general-purpose robot 1 is transferred to the jig 7, a plurality of types of sensors, a limit switch 10 arranged at a point A, A photoelectric tube 11 arranged at a point B, a reflective color difference determination sensor 12 arranged at a point C, and an ultrasonic plate thickness sensor 13 arranged at a point D are fixed on the ground. The limit switch 10 has a contactor 19,
When the bracket 8 comes into contact with the contactor 19, an ON signal is output, and the photoelectric tube 11 is composed of a light emitting portion 14 and a light receiving portion 15. Depending on whether or not the light receiving portion 15 receives light, the size of the openings 9a and 9b is increased. To detect The reflection-type color difference determination sensor 12 also has a light emitting unit 16 and a light receiving unit 17, and the surface of the reflection type color difference determination sensor 12 has a light intensity when the light emitted from the light emitting unit 16 is reflected by the work W and input to the light receiving unit 17. Detects the presence or absence of processing,
Further, the ultrasonic plate thickness sensor 12 emits an ultrasonic wave of a predetermined frequency and detects the plate thickness of the work W by the frequency of the reflected wave.

Next, the operation sequence of this embodiment having the above configuration will be described. In this example,
A work W having a bracket 8 attached thereto, having a large opening 9a, surface-treated, and having a plate thickness of a predetermined value or more.
Shall be set on the jig 7. That is, when the work W is loaded in the component loading step 6, the general-purpose robot 1
After gripping the work W thrown into the wrist 5, the work W is transferred to the point A on the transfer path 18. Then, the workpiece W is horizontally moved downward at the predetermined height position by the bracket 8 so that the bracket 8 moves to the limit switch 1
If it contacts the contactor 0 of 0, it is detected that the workpiece W is provided with the bracket 8 and the presence or absence of the bracket 8 is OK.

Subsequently, the general-purpose robot 1 transfers the work W from the point A to the point B, and the light from the light emitting portion 14 passes through the large opening 9a and is blocked by the small opening 9b. To stop. Then, when the light emitting unit 14 is activated in this state to irradiate light, the light receiving unit 15 receives the light in the case of the large opening 9a, and whether or not the work W has the large opening 9a is also OK.

Further, the general-purpose robot 1 uses the work W as B
From the point to the point C, the reflection type color difference determination sensor 12
Stop at the top. Then, the reflective color difference determination sensor 12
When the light emitted from the light emitting unit 16 is reflected by the work W and input to the light receiving unit 17, the work W
It is detected that the surface treatment is performed on the surface of the sheet, and the presence / absence of the surface treatment is also OK. Subsequently, the general-purpose robot 1 moves the work W from the point C to the point D and stops it on the ultrasonic plate thickness sensor 13, and the ultrasonic plate thickness sensor 12 determines that the plate thickness of the work W is equal to or larger than a predetermined value. When it senses, the plate thickness is also OK.

When all the detection results at the points A to D are OK, the general-purpose robot 1 moves the work W from the point D to the point E and sets the work W on the jig 7. Therefore, the bracket 8 is attached on the jig 7, and the large opening 9a is surface-treated, and
Only the work W having the plate thickness not less than the predetermined value is set. The work W set on the jig 7 is conveyed to the assembly process of the vehicle body of the specification to which the work W is to be assembled, and is assembled to the vehicle body of the specification. Also, A
At any point of D to D, if it is detected that the work should not be set on the jig 7 and becomes NG, the limit switch 10, the photoelectric tube 11 and the reflection type color difference determination that detect NG at that time are detected. Sensor 12, ultrasonic plate thickness sensor 1
An error signal is output from any of the three. As a result, the general-purpose robot 1 drops the work W at a predetermined location outside the transfer path 18 and goes to the component loading step 6 to pick up the next work W.

Therefore, according to this embodiment, even if the outer shape of the work W is the same, the bracket 8 is attached, the large opening 9a is surface-treated, and the plate thickness is not less than a predetermined value. Only the work W having the specifications can be set in the jig 7, and the works can be effectively identified in the vehicle body assembly line for assembling the multi-specification vehicle. Further, since the limit switch 10, the photoelectric tube 11, the reflection type color difference determination sensor 12, and the ultrasonic plate thickness sensor 13 are all fixedly arranged on the ground, the general-purpose robot 1
The I / O cable is not routed even if is moved. Therefore, the early deterioration of the input / output cable is eliminated, and the photoelectric tube 1 composed of high-precision electronic parts is provided.
1, reflection type color difference determination sensor 12, ultrasonic plate thickness sensor 13
The accuracy of does not fall early. Furthermore, since it is only necessary to arrange the sensor on the conveyance path 18 of the work W by the general-purpose robot 1, it is possible to select the sensor most suitable for the detection content and to add the sensor freely.

[0016]

As described above, according to the present invention, a plurality of types of sensors for detecting the specification of the work by different sensing functions are fixedly arranged on the transfer path of the work held by the robot. Therefore, even if the outer shape of the work is the same, it is possible to select only a predetermined work from multiple types of work with different specifications and set it on the jig, which is effective in the body assembly line for assembling a multi-specification vehicle. Can be used.

Further, since all the sensors are fixedly arranged, the input / output cable is not laid around by the movement of the robot, early deterioration of the input / output cable can be eliminated, and high-precision electronic components can be eliminated. It is also possible to improve the durability by eliminating the early deterioration of the accuracy of the sensor constituted by. Furthermore, since the sensor only needs to be arranged on the transfer route of the work by the robot,
It is possible to select the most suitable sensor for the detection content and to add more sensors. As a result, it is possible to secure the degree of freedom in sensor selection and extension and easily improve the detection accuracy of the work specification.

[Brief description of drawings]

FIG. 1 is a perspective view showing an embodiment of the present invention.

FIG. 2 is a perspective view showing a conventional device.

[Explanation of symbols]

 1 General Purpose Robot 6 Parts Loading Process 7 Jig 10 Limit Switch 11 Phototube 12 Reflective Color Difference Judgment Sensor 13 Ultrasonic Plate Thickness Sensor 18 Transfer Route

Claims (1)

[Claims] 1. A robot which holds an input work and transfers it to a jig, and detects the specification of the work gripped by the robot so that only the work having a predetermined specification is set on the jig. In the work specification detection device, a plurality of types of sensors for detecting the specifications of the work by different detection functions are fixedly arranged on the transfer path of the work gripped by the robot.