JPH0558453A - Picking-out method of panel-form work - Google Patents

Abstract

PURPOSE:To make it possible to pick out a work even though the work is not positioned in a pallet beforehand, and a pallet exclusive for each sort of the work is not prepared. CONSTITUTION:While the position of a work 1 loaded on a pallet 3 is detected by the first robot 11, the loaded work 1 is separated depending on the detected position data, the standard position of the separated work 1 is detected by the second robot 12 depending on the position data, the separated work 1 is picked out depending on the standard position, and the work 1 picked out by the second robot 12 is delivered to a specific jig 14 by the third robot 13.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method for picking up a work, and more particularly to a method for picking up a panel-like work which is automatically picked up by a robot from a work that is not positioned in a pallet.

[0002]

2. Description of the Related Art In the conventional method of taking out a work, as shown in FIG. 6, a pallet 3 on which a work 1 is placed is carried into a pallet table 4 by a pallet carrier 2. Work loader 5
Picks up the work 1 from the pallet 3 and transfers the work 1 to the first drop lifter 6. First drop lifter 6
After lifting the work 1, the direction of the work 1 is changed and the work 1 is passed to the hanger 7. The work 1 is delivered to the second drop lifter 9 via the transfer device 8 and set on the welding jig 10 to be subjected to processing such as welding. As this type of technology, for example, there is JP-A-1-187124.

[0003]

In the above-mentioned conventional work taking out method, in order to take out a work from the pallet automatically, the work must be accurately positioned in advance in the pallet. , I had to prepare a dedicated pallet for each type of work. Further, a dedicated automatic take-out device or a carrier is required for each work.

Therefore, the present invention has been made in view of the above problems of the prior art. The object of the present invention is to take out a work without prepositioning the work in a pallet. To provide a system. Another object of the present invention is to provide a system in which workpieces can be taken out without preparing a dedicated pallet for each type of workpiece. Another object of the present invention is to provide a method in which it is not necessary to prepare a dedicated automatic take-out device or a carrier for each work.

[0005]

In order to achieve the above object, in the present invention, a first robot in a panel-shaped work take-out method for separating a work in a loaded pallet and performing a predetermined process. Detects the position of the work loaded on the loaded pallet, separates the stacked work based on the detected position data, and separates the work based on the position data detected by the first robot. Detected the reference position of the workpiece by the second robot,
Take out the separated work based on the reference position,
The work taken out by the second robot is transferred to a predetermined jig by the third robot. Further, the first robot has a wedge, and the workpiece is separated by inserting the wedge between the workpieces stacked on the pallet based on the detected position data.

[0006]

In the above-mentioned work picking method, the first robot detects the position of the work stacked in the pallet, separates the stacked work based on the detected position data, and further the second work Since the robot detects the reference position of the separated work based on the position data detected by the first robot and takes out the separated work based on this reference position, the work is pre-positioned in the pallet. Not only does it need to be kept, but there is no need to prepare a pallet for each type of work. Furthermore, it is not necessary to prepare a dedicated automatic take-out device or carrier for each work. Furthermore, the first robot has wedges, and the workpieces are separated by inserting the wedges between the workpieces stacked on the pallet based on the detected position data. The workpieces can be taken out one by one.

[0007]

Embodiments of the present invention will be described below with reference to the drawings. First, the overall system configuration of the present invention will be described with reference to FIG. The pallet 3 on which the works 1 are stacked is carried into the pallet table 4 by the pallet carrier 2. This pallet 3
Is not prepared according to the type of work 1, but is common to all works. A plurality of works 1 are stacked and stacked on the pallet 3 carried into the pallet table 4. The first robot 11 detects the position of the works 1 stacked on the pallet 3 and separates the stacked works 1 one by one. The second robot 12 recognizes the position of the reference hole of the work 1 and takes out the work 1. The third robot 13 is a robot for loading work, receives the work 1 taken out by the second robot 12, and sets it on a jig 14 for welding, for example. The work 1 set on the welding jig 14 is welded by, for example, a multi-spot welding device 15.

Next, details of the first robot will be described with reference to FIG. FIG. 2A shows the wrist part of the first robot 11 in detail. 16 is a robot hand, 17
Is a cylinder device, 18 is a wedge, and 19 is a clamper. First, the first robot 11 detects the position of the work 1 in the pallet 3. As shown in FIG. 2B, position data of the width, length, and height of the work 1 is detected by a touch sensor (not shown). This width data,
The length data is detected when the pallet 3 is replaced, and the detected position data is output only once to the external device such as the second robot 12. Height data is
It is detected every time and is used by the first robot 11 itself (used for checking the remaining number of workpieces 1), and is also output to an external device.

Next, the operation of separating the stacked works will be described with reference to FIG.
This will be described with reference to (a) and (c). Based on the position data detected as described above, the first robot 11 inserts the wedge 18 into the gap 20 of the work 1 by the robot hand 16 and separates the works 1 one by one as shown by an arrow 21. At this time, after inserting the wedge 18, the cylinder device 1
By the operation of 7, the clamper 19 clamps and the wrist of the robot 11 is moved upward to lift a little. The reason for clamping is to prevent the work 1 from shifting when lifted.

Next, details of the second robot will be described with reference to FIG. First, FIG. 3A shows the wrist part of the second robot 12. Reference numeral 22 denotes a camera, which is a reference hole (2
4) and 25) are recognized. Reference numeral 23 is a pin type clamp, which is inserted into and engaged with the reference holes (24, 25) to take out the work 1. Here, FIG. 3B shows a state in which the pin type clamp 23 is inserted in the reference holes (24, 25). The pin type clamp 23 is inserted into the reference holes (24, 25) of the part 27 of the work 1 and then engaged with the hook 26. The hook 26 is controlled to move in and out by a built-in actuator and a link (not shown) as shown by an arrow in the figure.

The second robot 12 takes out the work 1 and transfers it to the third robot 13. Here, this take-out operation will be described. First, the first robot 11
Based on the detected position data of the work 1, the camera 22 is operated to recognize the state of the work 1. Based on the recognition result of the camera 22, the reference hole (24,
25) The position is detected. As a result, the accurate position of the work 1 is obtained, and the work 1 can be taken out from the pallet 3. The work 1 is taken out by positioning the pin type clamp 23 of the second robot 12 in the reference hole (24, 25) of the detected work 1 and detecting the pin type clamp 23 by the detected reference hole (24, 25). ). After that, the hook 1 is engaged, and the other portion is sucked by the vacuum cup 29 to lift the work 1. In this way, the workpiece 1 taken out is the third robot 1
Handed over to 3.

Next, details of the third robot will be described with reference to FIG. The third robot 13 is for receiving the work 1 taken out by the second robot 12 and setting the work 1 on the jig 14. Third robot 1
3 clamps the four corners of the work 1 taken out by the second robot 12 by the clamper 28 as shown in the figure, and receives the work 1 from the second robot 12.

Next, the operation of the present invention will be described with reference to the flow chart shown in FIG. First, the pallet 3 in which a plurality of works 1 are stacked is loaded on the pallet table 4 (step 51). The position of the work 1 in the pallet 3 is detected by the first robot 11 (step 52). Step 5
Based on the position data detected by 2, the gap 20
The work 1 is separated by inserting the wedge 18 into the (step 53). Based on the position data detected in step 52, the second robot 12 recognizes the state of the work 1 with this camera 22 and detects the reference hole (2
The positions (4, 25) are detected (step 54). The pin type clamp 23 of the second robot 12 is inserted and engaged in the reference hole (24, 25) obtained in step 54, and the work 1 is taken out (step 55). The work 1 taken out in step 55 is transferred to the third robot 13 (step 56). The third robot 1 that received the work 1
3 sets the work 1 on the jig 14 (step 5
7). Thereafter, the work 1 is subjected to processing such as welding, painting and assembly.

[0014]

According to the present invention, the work can be taken out without preliminarily positioning the work in the pallet. Further, the work can be taken out without preparing a dedicated pallet for each kind of work, and it is not necessary to prepare a dedicated automatic take-out device or a carrier for each work. Further, since the works are separated by inserting the wedges between the works stacked on the pallet, the stacked panel-shaped works can be reliably taken out one by one.

[Brief description of drawings]

FIG. 1 is a diagram showing an overall system configuration of the present invention.

2A is a diagram showing details of a wrist portion of the first robot, FIG. 2B is a diagram showing position data detected by the first robot, and FIG. 2C is a diagram showing a work separating operation. is there.

FIG. 3 is a diagram showing details of a second robot according to the present invention.

FIG. 4 is a diagram showing details of a third robot according to the present invention.

FIG. 5 is a flowchart showing the operation of the present invention.

FIG. 6 is a view showing a conventional work picking system.

[Explanation of symbols]

 1 Work 3 Pallet 4 Pallet Stand 11 First Robot 12 Second Robot 13 Third Robot

Claims (2)

[Claims] 1. In a panel-shaped work pick-up method for separating a work in a carried-in pallet and performing a predetermined process, the first robot detects the position of the work stacked on the carried-in pallet, and The stacked workpieces are separated based on the detected position data, the reference position of the separated works is detected by the second robot based on the position data detected by the first robot, and the reference position is determined. A method for taking out a panel-like work, characterized in that the work taken out by the second robot is taken out, and the work taken out by the second robot is delivered to a predetermined jig by the third robot. 2. The first robot has wedges, and the workpieces are separated by inserting the wedges between the workpieces stacked on the pallet based on the detected position data. The method for taking out the panel-like work according to claim 1.