JPH10226419A - Method and device for controlling attitude of deformed work or the like - Google Patents

Abstract

PROBLEM TO BE SOLVED: To control a deformed work or the like to a specified attitude by giving vibration or swinging to the deformed work or the like and changing a supporting position or frontside and backside positions so as to stably support the same in a predetermined position. SOLUTION: A deformed work 5 is moved into a ball 14, and the plug 15a of the hole 15 in the ball 14 is opened by the lowering of a rod 16. At the same time, the ball 14 is swung back and forth or left and right by the ascent and descent of rods 17a to 17f. Then, the deformed work 5 in the ball is swung back and forth or left and right so as to be along an arrow 19 or 20, and the boss 1 of the deformed work 5 is fitted into the hole 15 to stably support the deformed work 5 in the ball 14. Then, the deformed work 5 is taken out from the ball 14, placed on a specified rotary base and rotated, one arm is detected to be stopped by a sensor and, for example, while the arm is held in a left facing attitude, the deformed work 5 is aligned.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a posture control for a deformed work or the like having a three-dimensional uneven portion such as a knuckle steering work in order to support or align the deformed works in the same posture. Method and apparatus.

[0002]

2. Description of the Related Art Conventionally, a vibrating cylinder (vibration aligner) having a spiral path on a side wall to keep the direction of an industrial small product constant is known. Or, an aligner such as a nail is known, and the alignment is performed using vibration or the like.

[0003] Each of the above-mentioned small products is symmetrical or the like, and has protrusions having different dimensions in three-dimensional directions.
Often not a so-called irregular product.

[0004]

Most of the products handled by the vibration aligner or the like are symmetrical even if they have three-dimensional irregularities or the like, and even if they are not symmetrical, for example, the projections do not hinder the alignment. The shape was as follows. Therefore, the alignment of irregularly shaped workpieces having three-dimensional irregularities or projections having different dimensions is an inefficient and labor-intensive operation because sorting is performed manually or partially depending on manual work. There was a problem that was laborious.

[0005]

However, the invention of the method is to provide a deformed work or the like by vibrating or oscillating and changing a supporting position or a front and back position to stably support the work in a predetermined position, This is a posture control method for a deformed work or the like, characterized in that the work or the like is controlled to a predetermined posture. The stable support is characterized by fitting a part of the deformed work or the like and the support means, and applying vibration or swing to the deformed work or the like to change the support position or the front and back positions. In this manner, the posture of a deformed work or the like characterized by being stably supported at a predetermined position, being moved from this support position or the support position to another position, and then being further moved to be aligned at a predetermined angle or direction. It is a control method.

[0006] Next, the invention of the apparatus includes a supply means for a deformed work, a container for accommodating the deformed work, a swinging means for the container, a support means for the deformed work provided in the container, and a deformed work. And a take-out means for a deformed workpiece or the like. The swinging means is a reciprocating rotating means, a reciprocating horizontal moving means or a combination of both means, and the supporting means is provided on the container wall so as to fit with the projection or recess of the irregularly shaped work. It is a concave hole or a convex part. Still another invention is a supply means for a deformed work or the like, a container for accommodating the deformed work or the like, a swinging means for the container, a support means for the deformed work or the like provided in the container, and a means for removing the deformed work or the like. And a moving means for moving the deformed work or the like to hold it at a predetermined position and a position detecting means, and a posture control device for the deformed work or the like.

[0007] In the above invention, the purpose of giving a swing or vibration to the deformed work or the like is to urge the reversed work or the like to reverse or move its position (for example, the mounting angle). The term “support” refers to the determination of the support position and posture, for example, by fitting an uneven portion or a protrusion to a hole, or inserting a rod into a hole of a deformed work or the like. Further, the moving means refers to a robot hand and other conventionally known transfer devices.

The rocking means moves, for example, several support rods, which are supported from below, at random, but it can also use the conventionally used rotation, vibration and other complex movements.

[0009]

DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention controls a deformed work or the like which is stably supported at a predetermined position by giving vibration or swing to the deformed work or the like to change the supporting position or the front and back positions to a predetermined posture. How to Further, a horizontal rotation force may be applied to align the horizontal protrusions at a predetermined position at a predetermined angle.

[0010] Further, the present invention is an attitude control apparatus for supporting a deformed work or the like in a swinging or vibrating container, changing its position and supporting it in an aligned state. In addition to the above-mentioned devices, there are also devices that determine the front and back of a small product and determine the backward direction.

[0011]

Embodiment 1 An embodiment of the present invention will be described with reference to FIG. One deformed work to be posture-controlled is housed in a hemispherical container, and this hemispherical container is reciprocated about 30 degrees in the front, rear, left and right directions, so that the projecting portion of the deformed work is recessed in the container (or The hole is hooked by inserting it into the hole, and the posture of the deformed work is determined. Therefore, if this deformed work is lifted as it is and moved to a predetermined position, and the posture is further controlled,
Irregular works can be aligned in the same posture.

In the above, the object can be achieved by a simple operation of taking out a deformed work in the container by an automatic take-out device (robot or the like).

[0013]

Embodiment 2 An embodiment of the apparatus of the present invention is shown in FIGS.
Explanation will be made based on 4 and 5. Deformed work 5 handled here
Has large and small arms 2, 3, and 4 protruding from the outer peripheral wall of the boss 1, and cannot be automatically aligned by a conventionally known device. The automatic alignment of the deformed workpiece 5 will be described. In order to remove the deformed work 5 from the inside of the box 6, a chain 9 of a transfer device 8 which can be moved up and down and horizontally moved,
The suction rod 7 is attached to 9a, and is moved by the chains 9 and 9a by the rotation of the motor 10, and the deformed work 5 is transferred. For example, when the chains 9 and 9a in FIG. 3 move in the direction of arrow 11, the deformed work 5 is sucked by the suction rod 7 and lifted up, and moves horizontally as shown by arrows 12 and 12 and then as shown by arrow 13. Descends. Then, by interrupting the current of the electromagnet, the deformed work 5 is moved into the ball 14.
Next, the stopper 15a of the hole 15 of the ball 14 is opened by lowering the rod 16, and the rods 17a, 17b, 17
By appropriately raising and lowering c, 17d, 17e, and 17f (by supplying and discharging pressurized air into and from cylinders 18a, 18b, 18c, 18d, 18e, and 18f), the ball 14 is swung back and forth, and left and right. Then, the deformed work 5 in the ball 14 swings back and forth and right and left in the ball as indicated by arrows 19 or 20, and the boss 1 of the deformed work 5 fits into the hole 15 to stabilize the deformed work 5 on the ball 14. Can be supported.

When the deformed work 5 is stably supported as described above, the lifting and lowering movements of the rods 17a and 17b are stopped, and the electromagnet fixed to the lower end of the rod 21 by supporting the ball 14 at the same height. When the deformed work 5 is taken out of the ball 14 by 22 and then placed on the turntable 23 and rotated in the direction of the arrow 24, one arm 3 is detected by the sensor 25 and stopped. 5, the deformed work 5 can be aligned with the arm 3 facing left.

In the above-described embodiment, the boss 1 of the deformed work 5 is fitted into the hole 15 by swinging the ball 14. However, depending on the shape of the deformed work 5, it is not always necessary to use the ball 14. Any container or support having a shape in which the posture of the deformed work 5 is held by swinging or vibration can be used.

[0016]

According to the present invention, when the deformed work is given a swing or a vibration in a free state, the work can be held in a fixed posture by fitting to a container or the like. Therefore, if the robot is automatically taken out while maintaining a constant upward or downward posture, and the posture is further controlled, there is an effect that the objects can be aligned in the same posture and automatically sent to the next process.

[Brief description of the drawings]

FIG. 1 is a block diagram of an embodiment of the present invention.

FIG. 2A is an enlarged front view of a deformed workpiece handled by the present invention. (B) The enlarged plan view similarly. (C) An enlarged side view of (b).

FIG. 3 is a perspective view showing an apparatus for moving a deformed work according to the embodiment and its state.

FIG. 4 (a) is an explanatory view showing the stationary state of a ball according to the embodiment of the present invention. (B) Explanatory drawing at the time of rocking similarly. (C) Explanatory drawing which retained the deformed work similarly. (D) The top view of the ball which does not contain a deformed work similarly.

FIG. 5 is a flowchart showing a case where a deformed work is similarly taken out of a fixed state and attitude control is performed, and a state where the work enters a ball is a reduced view.

[Explanation of symbols]

Reference Signs List 1 boss 2, 3, 4 arm 5 deformed work 6 box 7 suction rod 8 transfer device 9 chain 10 motor 11, 12, 13 arrow 14 ball 15 hole 16, 17a, 17b, 17c, 17d, 17e, 17
f Rod 18a, 18b, 18c, 18d, 18e, 18f Cylinder 23 Turntable 25 Sensor

Claims (7)

[Claims] 1. A method of controlling a deformed work or the like to a predetermined posture by applying vibration or swing to the deformed work or the like and changing a supporting position or a front and back position to stably support the work at a predetermined position. An attitude control method for irregularly shaped workpieces, etc. 2. The method for controlling the posture of a deformed work or the like according to claim 1, wherein the stable support is performed by fitting a part of the deformed work or the like and a support means. 3. Applying vibration or swing to a deformed work or the like to change the support position or the front and back positions, thereby stably supporting the work at a predetermined position, and moving from the support position or the support position to another position. And then further moving the workpiece so as to align it at a predetermined angle or direction. 4. A means for supplying a deformed work or the like, a container for accommodating the deformed work or the like, a means for swinging the container, a means for supporting the deformed work or the like provided in the container, and a means for removing the deformed work or the like. An attitude control device for irregularly shaped workpieces, etc. 5. The apparatus according to claim 4, wherein the swinging means is a reciprocating rotating means, a reciprocating horizontal moving means, or a combination of both. 6. The deformed work or the like according to claim 4, wherein the support means is a protrusion or a recess of the deformed work and a concave hole or a protrusion provided in the container wall so as to be fitted therein. Attitude control device. 7. A means for supplying a deformed work or the like, a container for accommodating the deformed work or the like, a means for swinging the container, a means for supporting the deformed work or the like provided in the container, and a means for removing the deformed work or the like. An attitude control device for a deformed work or the like, characterized in that a moving means for moving the deformed work or the like and keeping it at a predetermined position is combined with a position detecting means.