JPH06144584A - Taking-out device for randomly piled work - Google Patents

Abstract

PURPOSE:To obtain a taking-out device for radomly piled works which can take out the work without utilizing the manual labor of an operator even in case of the complicated entanglement due to the randomly piled state of the works, by installing an industrial robot having a visual recognizing means and a magnetic force generating means. CONSTITUTION:A robot controller 4 selects a robot W to be taken out from the works W,... recognized by the visual recognizing means 5 for a robot body 3, and if it is judged that the immediate taking-out is enable, the robot controller 4 instructs a robot hand 7 about the taking-out, and the robot hand 7 holds the word W selected by the instruction and transports the work W to a pallet conveyor P. When it is judged that the work W can not be immediately taken out, the robot controller 4 instructs a magnetic force generating means 8 about the formation of a magnetic force. The magnetic force generating means 8 generates the magnetic force according to the instruction, and attracts and pulls out the selected work W.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a device for picking up randomly stacked works made of magnetic material.

[0002]

2. Description of the Related Art Conventionally, forged products such as rear axle shafts and connecting rods are manufactured by a forging process, a heat treatment process such as quenching and annealing, an inspection process and a defect removing process.

FIG. 6 shows a part of the equipment used for this production. The work w carried out from the heat treatment furnace after the heat treatment is temporarily placed on the sandbox a by the cooling conveyor c and then shown in the drawing. No, the position and direction of the work w are recognized by the visual recognition means, and the work robot w is mounted on the pallet conveyor p by the industrial robot r and conveyed to the inspection process.

Here, when the work w is grasped by the robot r and transferred to the pallet conveyor p, if the work w is in a piled state, the work w is overlapped.
In some cases, the visual recognition means of the optical system may not clearly recognize the vertical relationship of the work w, or the works w may be entangled with each other and cannot be gripped by the gripping claws of the robot r.
In that case, the robot r is put in the standby state and the worker m
However, by manually untangling the entanglement of the work w,
The robot r can be held by the holding claws.

As described above, in the conventional apparatus, the robot r is placed in the standby state and the work w that is intertwined with the operator m is unraveled, so that the work efficiency is lowered.

[0006]

SUMMARY OF THE INVENTION The present invention has been made in view of the above-mentioned problems of the prior art. Even if the works are complicatedly entangled due to a piled-up state, the work is not performed manually by a worker. , The work can be taken out,
It is an object of the present invention to provide a device for taking out randomly stacked works.

[0007]

SUMMARY OF THE INVENTION The present invention is a device for picking up randomly stacked works made of a magnetic material, which is provided with a work place and an industrial robot, wherein the industrial robot comprises:
The present invention relates to a randomly stacked work piece take-out device having visual recognition means and magnetic force generation means.

In the present invention, the magnetic force generating means is preferably an electromagnet, and more preferably the electromagnet is detachably attached to the arm of the industrial robot via a flexible connecting member.

Further, in the present invention, the electromagnet may be formed on a hand of the industrial robot.

Furthermore, in the present invention, it is more preferable that a demagnetizing device for the work is provided.

[0011]

Since the randomly stacked work picking device of the present invention is configured as described above, even if the works are piled up in the work place and the works overlap or are entangled with each other, the work to be taken out is specified by the visual recognition means. After that, the work can be attracted and pulled out by the magnetic force lines generated by the magnetic force generating means so that the work can be grasped by the grasping claws of the robot.

In the preferred embodiment in which the magnetic force generating means is an electromagnet, the magnetic force is generated only when necessary, so that the work is not magnetized unnecessarily.

Further, in the preferred embodiment in which the electromagnet is attached to the arm of the robot through the flexible connecting member, even if there is an error in the recognition position of the work by the visual recognition means of the robot, the arm and the hand of the robot. Can pull out the specified work without colliding with the work.

On the other hand, in the preferred embodiment in which the electromagnet is formed on the hand of the robot, the work picked up by the magnetic force can be immediately grasped by the hand, so that the work efficiency can be improved.

Further, in the preferred embodiment in which the demagnetizing device is provided, it is possible to demagnetize the work magnetized by the magnetic force generated by the magnetic force generating means.

[0016]

DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention will now be described based on embodiments with reference to the accompanying drawings, but the present invention is not limited to such embodiments.

FIG. 1 is a structural view of the essential parts of a forging facility provided with the randomly stacked work picking device of the present invention, FIG. 2 is a block diagram of an industrial robot used in the present invention, and FIG. 3 is a block diagram of the industrial robot. FIG. 4 is a block diagram of the visual recognition means, FIG. 4 is a schematic view of an embodiment of the magnetic force generation means, and FIG. 5 is a schematic view of another example of the magnetic force generation means. In the figure, 1 is an industrial robot, 2 is a work place, 3 is a robot body, and 4 is a robot controller.

In the embodiment of the apparatus for taking out randomly stacked workpieces according to the present invention shown in FIG. 1, the apparatus for taking out randomly stacked workpieces comprises an industrial robot 1 and a work place 2 as main components.

This industrial robot 1 has a robot body 3
And the robot controller 4. The robot body 3 has a visual recognition means 5 and a magnetic force generation means 8 provided on a robot hand 7 formed at the tip of the robot arm 6.

The visual recognition means 5 is composed of, for example, a television camera 51 and an image processing device 52. Although detailed description of the configurations of the television camera 51 and the image processing device 52 is omitted, those conventionally used as the visual recognition means of the industrial robot are preferably used.

Examples of the magnetic force generating means 8 include a flexible member 10 having a gripping portion 9 to be gripped by the robot hand 7 at its tip, for example, an electromagnet 81 suspended by a rope, chain, coil spring or the like. In this case, the load cell 11 may be provided between the grip portion 9 and the electromagnet 81 as needed (see FIG. 4). However, the magnetic force generating means 8 is not limited to this, and the magnetizing device 12 is attached to the robot hand 7 to magnetize the grasping claws 71 of the robot hand to form the electromagnets 82, and the magnetic force generating means 8 is generated.
(See FIG. 5).

Further, in this embodiment, a demagnetizing device 13 is provided in order to erase the magnetic force generated on the work W attracted by the magnetic force generating means 8.

Next, a description will be given of taking out the randomly stacked work pieces by the randomly stacked work piece take-out device thus constructed.

Step 1: The visual recognition means 5 recognizes the workpieces W, W, W, ...

Step 2: The robot controller 4
The works W, W, W, recognized by the visual recognition means 5,
The work W to be taken out is selected from W, ....

Step 3: The robot controller 4
It is determined whether the work W selected as described above can be immediately taken out by the robot hand 7.

Step 4: If it is determined in step 3 that the robot hand 7 can be taken out immediately, the robot controller 4 instructs the robot hand 7 to take out the robot hand 7,
After gripping the work W selected by the instruction,
The work W is transferred to the pallet conveyor P.

Step 5: When it is determined in step 3 that the work W cannot be immediately taken out, the robot controller 4 instructs the magnetic force generating means 8 to generate a magnetic force. The magnetic force generating means 8 generates a magnetic force in accordance with the instruction, adsorbs the selected work W, and takes out the work W from the randomly stacked state by an operation such as drawing, and then transfers the work W to the holding table C. . Here, when the electromagnet 81 suspended by the flexible member 10 is used as the magnetic force generating means 8, the robot hand 7
Is a gripping portion 9 formed on the magnetic force generating means 8 from the jig storage J.
After gripping and mounting the magnetic force generating means 8, the above-mentioned work W is taken out.

Step 6: After confirming the arrangement state of the work W on the holding table C by the visual recognition means 5, the robot hand 7 holds the work W and transfers it to the demagnetizing device 13. Here, as the magnetic force generating means 8, a flexible member 10
When the electromagnet 81 suspended by is used, the robot hand 7 moves the magnetic force generating means 8 in the jig place J.
After releasing, the above-mentioned transfer work is performed. Note that FIG.
If the magnetic force generating means 71 (82) is used, the operation associated with the jig storage J can be omitted.

Step 7: The demagnetizing device 13 demagnetizes the transferred work W.

Step 8: The robot hand 7 transfers the demagnetized work W to the pallet conveyor P.

[0032]

As described above, according to the present invention,
Even if the workpieces are intricately entangled in a piled state, the desired workpieces can be taken out of the workpieces without requiring the operator to perform manual work. Therefore, it is not necessary to make the robot stand by for manual work, so that the work efficiency can be improved.

[Brief description of drawings]

FIG. 1 is a structural diagram of a main part of a forging facility provided with a randomly stacked work piece take-out device of the present invention.

FIG. 2 is a block diagram of an industrial robot used in the present invention.

FIG. 3 is a block diagram of a visual recognition means of the industrial robot.

FIG. 4 is a schematic view of an embodiment of magnetic force generating means.

FIG. 5 is a schematic view of another embodiment of the magnetic force generating means.

FIG. 6 is a structural view of a main part of a forging facility provided with a conventional randomly stacked work piece take-out device.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Industrial robot 2 Work place 3 Robot main body 4 Robot controller 5 Visual recognition means 6 Robot arm 7 Robot hand 8 Magnetic force generation means 81 Electromagnet 82 Electromagnetized gripping claw 9 Grasping part 10 Flexible connecting member 11 Load cell 12 Magnetizing device 13 Demagnetization device W Work C Holding table J Jig place P Pallet conveyor

Claims (6)

[Claims] 1. A device for picking up randomly stacked works made of a magnetic material, comprising a work place and an industrial robot, wherein the industrial robot has visual recognition means and magnetic force generation means. Unstacked work picking device. 2. The randomly stacked work piece take-out device according to claim 1, wherein the magnetic force generating means is an electromagnet. 3. The random load workpiece take-out device according to claim 2, wherein the electromagnet is detachably attached to the arm of the industrial robot via a flexible connecting member. 4. The random load workpiece take-out device according to claim 3, wherein the flexible connecting member is a rope, a chain or a coil spring. 5. The randomly stacked work piece take-out device according to claim 2, wherein the electromagnet is formed on a hand of the industrial robot. 6. The de-stacked work taking-out device according to claim 1, further comprising a demagnetizing device for the works.