JPH0750653Y2 - Work size detector - Google Patents

Description

[Detailed Description of the Invention] "Industrial Application Field" The present invention relates to a case where a conveyed work is grabbed, lifted by numerical control or the like, gripped by a handling device capable of detecting the movement amount, and sent to the next process. , A device for determining the size (height) of a work by using a moving means of a handling device.

"Prior art" When workpieces with different dimensions are sequentially sent on the carrier table and sent to an assembly machine or machine tool by a handling device such as a robot, they can be supplied to predetermined locations according to the workpiece dimensions, It is necessary to change the processing amount of the processing equipment. In such a case, a device has been proposed that detects the dimensions of the parts that are sequentially sent using an optical sensor,
For example, in Japanese Patent Laid-Open No. 61-107103, a plurality of optical sensors are provided at a predetermined interval along a conveyance table, and when the optical sensor at the preceding position detects the leading end of the conveyed object, a signal is transmitted until the conveyed object passes. When the trailing light sensor that is separated by a predetermined distance detects the leading edge of the conveyed object and stores the same code, if both codes match, it is longer than the distance between the light sensors and must match. For example, it is shown that the length is determined to be shorter than the interval between the optical sensors.

In addition, in the vehicle type detection device disclosed in Japanese Utility Model Laid-Open No. 62-75410, the presence or absence of the transported object is detected by a photosensor at a fixed position on the transportation path, and based on the code, the timing is determined according to the type (vehicle type) of the transported object. The light-emitted signals are received, and the light-receiving states are combined to determine the vehicle type.

"Problems to be solved by the present invention" However, in these devices, the hardware parts are expensive because a plurality of sensors are provided, and even if there is only one sensor, it is repeated at multiple timings depending on the type. Since the light is emitted and the light is detected by the combination of the received light, the discrimination circuit becomes complicated as the number of types increases,
There is a drawback that the types of detection are limited.

"Means for solving the problem" In consideration of such a point, the present invention grasps the work at a fixed position by the handling device, first moves it vertically to the position of the detector, and the movement amount of the work causes the work to move. The size of is detected.

[Operation] Therefore, by grasping the work by the handling device at a certain position and moving the work vertically, the movement of the handling device until the detector installed at a certain height operates is measured. The workpiece size is detected based on the difference from the installation distance of 1., and a set of sensors may be provided. In the numerical control handling device, the movement amount can be detected using the numerical control circuit of the device itself.

"Embodiment" This will be described with reference to an embodiment shown in the drawings, in which 1 is a conveyer, which is sent by a driving device (not shown). 2 is a cradle, 3 is a work placed on a conveyor and sent,
4 is a handling device, for example, a robot arm of a numerical control robot, 5 is a claw attached to the arm 4,
Holds the workpiece 3 on the transfer conveyor at a fixed position and the arm 4
Then, it is lifted in the vertical direction by the movement of and is supplied to each assembling device and processing device. Reference numeral 6 is a detector provided at a constant height a from the upper surface of the conveyor 1, 6a is a light emitting element, and 6b is a light receiving element.

When the work 3 on the transport conveyor 1 is sent to a certain position, the claws 5 of the robot arm 4 grip the work 3 from the lateral direction. When the claw 5 grabs the work 3, a signal is sent from a sensor in the robot arm to a control device (not shown) to move the robot arm 4 in the vertical direction indicated by an arrow A to lift the work 3. As shown in the flow chart of FIG. 3, the unit amount rises in the vertical direction, for example, 1 mm, and if the signal from the detector 6 does not come in the meantime, the counter increments by the completion of the unit amount increase, and the unit amount further rises. Is repeated. When the upper end of the work reaches the position of the detector 6 and the signal is sent from the detector 6 as shown by the alternate long and short dash line in Fig. 2, the robot arm is stopped from rising, and it is determined by the counter value at that time. The tool measures the lift value b of the robot arm 4, and detects the workpiece size by the difference from the preset installation height a of the detector.

Based on this detected value, the work can be discriminated to the respective destinations, and a conveyance command can be issued, and the machining dimensions of the machine tool can be given.

In the above description, the lift value a of the robot arm is counted for each unit amount, but the movement amount may be continuously detected, and the robot arm may be moved continuously without being stopped at the detector position. Good. Further, the size (diameter) of the work can be detected by the opening / closing angle of the claw 5 and added to the discrimination element to further increase the classification of the work. The detector 6 is not limited to the optical sensor, and the ultrasonic detector can be used. Etc. may be used.

[Advantages of the Invention] As described above, the present invention includes a handling device that grips and lifts a workpiece that has been transported to a certain position by the transport device.
Provided at a fixed height at this fixed position, with a detector for detecting the upper end of the lifted work, the installation height of the detector and the movement amount of the handling device for lifting the work upper end to the detector position. Since the work size is detected by the difference, only one detector is required, the calculation is simple, and the movement of the handling device for taking out the work from the transport device and sending it to the next process is utilized. There is an advantage that the size can be detected by the numerical control circuit, and the work size can be surely detected.

[Brief description of drawings]

FIG. 1 is a perspective view showing an embodiment of the present invention, FIG. 2 is a side view thereof, and FIG. 3 is an example of a flow chart. 1 is a conveyor, 3 is a work, 4 is a robot arm,
Reference numeral 5 is a nail, 6 is a detector, 6a is a light emitting element, and 6b is a light receiving element.

Claims (1)

[Scope of utility model registration request] 1. A transfer device for transferring a work, a handling device for gripping and transferring a work on the transfer device, which is sent to a fixed position by the transfer device, from the transfer device, and an upper surface of the transfer device at the fixed position. With a detector provided at a constant height for detecting the upper end of the work, and the height of the detector,
A work size detecting device comprising a discriminator that detects a work size based on a difference from a lift amount of a handling device until the detector operates with a work held and lifted at a fixed position.