JPH06170771A - Industrial robot device - Google Patents

Abstract

PURPOSE:To provide an industrial robot capable of controlling the posture of a handle according to the situation of an article being fed. CONSTITUTION:An industrial robot 1 having a handle 2 corresponding to an article 4 on a feeding means 3, and a plurality of distance, detectors 6-8 are attached to the handle 2 and arranged according to the correspondence to the given position of the article 4. The situation, such as a posture, of the article 4 is decided by means of outputs from the distance detectors 6-8 to control the position and the posture of the handle 2 by a control device 9. The handle 2 is arranged in a posture responding to the situation of the article 4. The control causes prevention of the occurrence of incomplete grasping of the article 4 when the article 4 is inclined owing to defective positioning precision of the article feeding means 3 and the article 4. This constitution prevents occurrence of an accident owing to incomplete grasping of the article.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an industrial robot apparatus which handles articles by a handle.

[0002]

2. Description of the Related Art FIG. 5 is an overall configuration diagram showing a conventional industrial robot apparatus. In the figure, (1) is an industrial robot having a handle (2), (3) is a supply means composed of a work transfer device installed facing the industrial robot (1), and (4) is a supply means (3). Plate-shaped products to be supplied, (5) is an industrial robot
A work-discharging conveyor that is installed near (1) and receives articles (4) through the operation of the industrial robot (1).

The conventional industrial robot apparatus is constructed as described above, and the industrial robot (1) is operated by a command from a host controller (not shown), and the handle (2) is used to supply means.
The article (4) of (3) is gripped and conveyed, and the article (4) is placed on the work delivery conveyor (5).

[0004]

In the conventional industrial robot apparatus as described above, when the positioning accuracy of the feeding means (3) or the positioning accuracy of the article (4) in the feeding means (3) is poor, the article (4 ) Is tilted. For this reason, industrial robots
There is a problem that the grip of the article (4) by the handle (2) of (1) becomes incomplete. If the article (4) is easily broken, such as glass, it is necessary to position the handle (2) with high accuracy, and the article (4) may be damaged if forcedly gripped. is there.

The present invention has been made to solve the above problems, and an object of the present invention is to obtain an industrial robot apparatus in which a handle is controlled according to the condition of an article to be supplied.

[0006]

In an industrial robot apparatus according to a first aspect of the present invention, an industrial robot provided with a handle for holding an article, which is installed so as to face the article supply means, A plurality of distance detectors provided on the handle apart from each other and arranged corresponding to respective predetermined positions of the article, and by operating the outputs of these distance detectors, the condition of the article is determined and the handle is determined by the determination result. And a control device for issuing a control command for the position and orientation of the robot to the industrial robot.

Further, in the industrial robot apparatus according to the second aspect of the present invention, the industrial robot provided with the grip for holding the article, which is installed so as to face the article supply means, is separated from each other by the grip. A plurality of distance detectors provided corresponding to the respective predetermined positions of the article, and the output of these distance detectors operate to determine the condition of the article, and the position and orientation of the handle based on the determination results. Is provided to the industrial robot, and a control device that detects an abnormality of the article based on the determination result based on the output of the distance detector and issues an operation command at least to the industrial robot is provided.

[0008]

In the industrial robot apparatus according to the first aspect of the present invention configured as described above, the handle is arranged in a posture corresponding to the condition of the article by the output of the distance detector. Further, in the industrial robot apparatus according to the second aspect of the present invention configured as described above, the handle is arranged in a posture corresponding to the situation of the article by the output of the distance detector, and at least when the article is abnormal. The industrial robot operates at abnormal times.

[0009]

【Example】

Example 1. 1 to 4 are views showing an embodiment of the present invention, FIG. 1 is an overall configuration diagram of an industrial robot apparatus, FIG. 2 is a front view of a handle of the industrial robot of FIG. 1, and FIG. FIG. 4 is a plan view illustrating how the industrial robot detects the inclination of the article with respect to the vertical plane, and FIG. 4 is a side view illustrating how the industrial robot of FIG. 1 detects the inclination of the article with respect to the horizontal plane. In the figure, (1) is an industrial robot having a handle (2),
(3) is a supply means comprising a work transfer device installed facing the industrial robot (1), (4) is a plate-like article supplied by the supply means (3), and (5) is an industrial robot (1 ) Is a work-discharging conveyor that receives articles (4) via the operation of the industrial robot (1).

Reference numeral (6) is a first distance detector provided on the handle (2) and facing the supply means (3), and (7) is a first distance detector (6) provided on the handle (2). The second distance detector, which is arranged apart in the direction along the horizontal plane and faces the supply means (3), (8) is a handle
(2) is provided with a first distance detector (6) and a second distance detector
(7) and the supply means arranged apart from each other in the direction along the vertical plane (3)
A third distance detector facing (3), (9) a first distance detector (6),
The control device is connected to the second distance detector (7), the third distance detector (8) and the industrial robot (1).

(10) is the robot coordinates when the industrial robot (1) handles the article (4), (11) is the distance between the first distance detector (6) and the second distance detector (7) (VS12 ), (12) is the rotation center of the handle (2), (13) is the distance (VL1) between the first distance detector (6) and the rotation center (12), and (14) is the second distance detector. The distance (VL2) between (7) and the rotation center (12) is the distance (VSZ3) between the third distance detector (8) and the rotation center (12).

Further, (16) is the measurement distance (VS1) of the first distance detector (6), (17) is the measurement distance (VS2) of the second distance detector (7),
(18) is the rotation center (12) of the handle (2) obtained based on the measured distance (VS1) of the first distance detector (6) and the measured distance (VS2) of the second distance detector (7). The calculated distance (VAZ) and (19) to the article (4) are the measured distance (VS3) of the third distance detector (8).

Also in the industrial robot apparatus configured as described above, the industrial robot (1) operates according to a command from a host controller (not shown) and the grip (2) causes the article ( Robot operation is performed in which the article (4) is held on the work-discharging conveyor (5) by gripping and carrying the article (4). In this robot work, the handling position of the article (4) and the tilt detection position of the article (4) by the reference grip (2) are taught to the industrial robot (1) in advance. And goods
The respective values of the first distance detector (6), the second distance detector (7), and the third distance detector (8) at the tilt detection position of (4) are input to the control device (9).

That is, as shown in FIG. 2, Y of the industrial robot (1) is controlled by the first distance detector (6) and the second distance detector (7).
The tilt of the axially rotated article (4) is calculated by the following equation (1). VAZ = TAN {(VS1-VS2) / VS12} (1)

Next, from the rotation center (12) of the handle (2) to the article (4)
The distance to is calculated by the following equation (2). VZ = (VS1 × VL2 + VS2 × VL1) / VS12 (2)

Then, the rotation center (1) of the handle (2) obtained by the equation (2) is calculated.
From the distance from 2) to the article (4) and the third distance detector (8), the inclination of the article (4) for the X-axis rotation of the industrial robot (1) can be calculated by the following formula.
Ask as in (3). VTX = TAN {(VZ-VS3) / VSZ3} (3)

Then, the rotation data of the article (4) obtained by the equations (1), (2) and (3) and the distance from the industrial robot (1) to the article (4) are stored as reference data. Before the industrial robot (1) handles the article (4), the first distance detector (6), the second distance detector (7), and the third distance detector (8) are again provided.
The detection data of is input to the control device (9). With this input, the rotation data of the article (4) and the distance between the industrial robot (1) and the article (4) are calculated by the procedure of the equations (1), (2), and (3).

Next, the control device (9) corrects the handling position of the article (4) and the attitude of the handle (2) of the industrial robot (1) using the difference between the data calculated this time and the above-mentioned reference data as correction data. In this way, the first distance detector (6) and the second distance detector (6)
The handle (2) is arranged in a posture corresponding to the situation of the article (4) by the outputs of the distance detector (7) and the third distance detector (8). Therefore, the positioning accuracy of the supply means (3) and the positioning accuracy of the article (4) in the supply means (3) are poor, and even when the article (4) is tilted, the handle (2) of the industrial robot (1) is Goods by
The grip in (4) does not become incomplete, and it is possible to prevent an accident from occurring due to imperfect grip.

When the handle (2) is displaced to the position and posture to be corrected, an intermediate point (not shown) is set and the handle (2) is moved to this intermediate point and the posture is corrected. Again the industrial robot (1) article (4) handling position and handle
Correct the posture of (2). As a result, even when using the first distance detector (6) or the like, which has a poor detection accuracy at a long distance, the article (4) for robot work can be handled with high accuracy.

In the embodiment shown in FIGS. 1 to 4, the first distance detector (6), the second distance detector (7), and the third distance detector.
Although the three one-dimensional distance detectors of (8) are provided, the distance detector capable of detecting the distance to the surface and the inclination of the surface, for example, two two-dimensional distance detectors are combined. However, it is obvious that the same effect as that of the embodiment of FIGS. 1 to 4 can be obtained.

Example 2. By applying the industrial robot apparatus of FIGS. 1 to 4, the following operation can be obtained. That is, before the industrial robot (1) handles the article (4), the input first distance detector (6) and second distance detector (6) are input.
The controller (9) determines the values of (7) and the third distance detector (8). Then, according to the determination, the first distance detector
If (6), the second distance detector (7), and the third distance detector (8) cannot be measured or is equal to or more than a predetermined detection value, it can be determined that the article (4) is absent.

Further, any one of the first distance detector (6), the second distance detector (7), and the third distance detector (8) and any two distance detectors cannot be measured or are predetermined. It is possible to determine that the article (4) is a defective article that is damaged or deformed if the detection value is equal to or more than the detection value.

Further, any one of the first distance detector (6), the second distance detector (7), and the third distance detector (8) while the industrial robot (1) is handling the article (4). When the two detection values change abruptly or become unmeasurable, it is possible to determine that the damage has occurred during the handling of the article (4).

As a result, the positioning accuracy of the supply means (3) and the positioning accuracy of the article (4) in the supply means (3) are poor, and the article (4) may be tilted.
The grip of the article (4) by the grip (2) of (1) does not become incomplete, and the occurrence of an accident caused by the imperfect grip can be prevented.

With this action, the absence of the article (4),
When an abnormality such as damage occurs, the abnormality is judged and the control device
(9) commands the industrial robot (1) to perform an abnormal operation.
It is possible to make an emergency stop of the industrial robot (1) or notify the occurrence of an abnormality by this abnormality time command. Therefore, it is possible to prevent the occurrence of an accident caused by imperfect gripping, and prevent the trouble caused by the abnormal occurrence of the article (4) being left unattended.

[0026]

As described above, the industrial robot apparatus according to the first aspect of the present invention is an industrial robot provided with a grip for gripping an article, which is installed so as to face the article supply means, and a grip. A plurality of distance detectors which are provided separately from each other and are arranged corresponding to respective predetermined positions of the article, and the situation of the article is judged by operating by the outputs of these distance detectors, and the grip is determined by the judgment result. A control device for issuing a control command for position and orientation to an industrial robot is provided.

As a result, the handle is arranged in a posture corresponding to the situation of the article by the output of the distance detector. Therefore, even when the positioning accuracy of the supply means or the positioning accuracy of the article in the supply means is poor and the article is tilted,
The gripping of the article by the grip of the industrial robot does not become incomplete, and it is possible to prevent the occurrence of an accident caused by the imperfect gripping.

An industrial robot apparatus according to a second aspect of the present invention is an industrial robot provided with a handle for holding an article, which is installed so as to face the article supply means as described above, and a handle. A plurality of distance detectors which are provided separately from each other and are arranged corresponding to respective predetermined positions of the article, and the situation of the article is judged by operating by the outputs of these distance detectors, and the grip is determined by the judgment result. There is provided a control device which issues a position and orientation control command to the industrial robot, detects an abnormality of the article based on the determination result by the output of the distance detector, and issues at least an operation command at the time of abnormality to the industrial robot.

As a result, the handle is arranged in a posture corresponding to the condition of the article by the output of the distance detector, and the industrial robot operates when the article is abnormal. Therefore,
In addition to the operation of the first aspect of the invention, when an abnormality such as the absence or breakage of an article occurs, the abnormality is determined and at least the industrial robot is instructed to perform the abnormal operation by the control device. For this reason, it is possible to prevent an accident from occurring due to imperfect gripping and to prevent a problem caused by leaving an abnormal occurrence of an article.

[Brief description of drawings]

FIG. 1 is an overall configuration diagram of an industrial robot apparatus showing a first embodiment of the present invention.

FIG. 2 is a front view of a handle of the industrial robot of FIG.

FIG. 3 is a plan view illustrating how the industrial robot of FIG. 1 detects a tilt of an article with respect to a vertical plane.

FIG. 4 is a side view illustrating how the industrial robot of FIG. 1 detects a tilt of an article with respect to a horizontal plane.

FIG. 5 is an overall configuration diagram of a conventional industrial robot device.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Industrial robot 2 Handle 3 Supply means 4 Article 6 1st distance detector 7 2nd distance detector 8 3rd distance detector 9 Control device

Claims (2)

[Claims] 1. An industrial robot provided with a grip for holding the above-mentioned article, which is installed so as to face the supply means for the article, and arranged apart from each other on the above-mentioned knob, corresponding to respective predetermined positions of the above-mentioned article. A plurality of distance detectors, and a controller for operating the output of these distance detectors to determine the condition of the article and issuing a control command for the position and orientation of the handle to the industrial robot according to the determination result. Industrial robot equipment equipped. 2. An industrial robot, which is installed opposite to an article supply means and has a grip for gripping the article, and an industrial robot, which is provided separately from the grip and is arranged corresponding to each predetermined position of the article. The plurality of distance detectors operated and the outputs of these distance detectors operate to determine the condition of the article, and based on the determination results, issue a control command for the position and orientation of the handle to the industrial robot, and perform the determination. An industrial robot apparatus, comprising: a controller for detecting an abnormality of the article based on the result and issuing an operation command at the time of abnormality to the industrial robot.