JPS5871088A - Part extractor - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to an automatic device for removing one or more parts placed without a defined position or orientation.

Conventionally, vibrating parts supply devices have been widely used for automatically and sequentially taking out snow-cleared parts KIRt) in a so-called para-stacked state and feeding them to a predetermined position without determining the position and orientation. However, this vibrating component feeding device has drawbacks such as lack of versatility regarding component shapes, unsuitability for easily damaged components, and generation of noise.

In order to eliminate the above drawbacks, we are also researching a parts extraction device using artificial I sense! It is being emitted. This device captures the stacked parts as nine images using a TV camera, etc.
The part to be taken out is determined by a processing device such as a computer, and based on the result, the mechanical actuating section for grasping is driven and controlled to take out the part. However, at present, this device requires very expensive visual equipment and processing equipment, making it impractical.

In addition, a grasping device equipped with an artificial tactile sense has been researched and developed, but this device is configured to use the sense of touch to grasp, adjust the grasping force, and identify the grasped part. However, it does not have a function to sequentially take out parts that are stacked in parallel.

The present invention has been made in view of the above-mentioned circumstances.
We would like to provide a parts and nine-output device that can automatically find and sequentially take out parts that can be grasped with a simple configuration that is inexpensive and reliable, without using the same processing equipment, and can supply them to the next process. It is something to do.

In order to achieve the above object, the present invention includes a grasping part equipped with a sensor for detecting contact with another object O in the palm II, and a grasping part rotatably attached to the above-mentioned grasping part and having a free end that detects contact with another object. This 11L-
A grasping section consisting of a plurality of grasping sections equipped with sensors for detection, a moving section that supports the above-mentioned grasping sections and moves them in horizontal and vertical directions, and a detection section that takes in signals from each sensor. It has a function of lowering the gripping parts while rotating the several gripping parts of the drive control part in the mutually opening direction, and a function of lowering the gripping parts with the drive control part to be controlled. Todoroki of another object - When detecting another object, the grip part is raised once, and then moved horizontally in the direction of the grip part that detected the roar, and then lowered.
It is characterized as having a function of rotating a plurality of grasping parts in a direction to bring them closer to each other when Iv is detected.

Next, an embodiment of the present invention will be described with reference to FIGS. 1 to 4.

Figure 1 shows the appearance of the mechanical part, which consists of a moving part 2Fi electric motor type robot, and a grasping part 1 v"0.
The Ki6 parts below the grasping part 10 are placed in the parts box 4 and placed in a stacked state.

FIG. 2 is an enlarged cross-sectional view of a part of the grasping section.
It has a structure in which the grasping part 12 is rotated in rotation 9 of the shaft 15 via the i-coupling 7, the worm source gear 8, and the worm receiving gear 11.

be. 9.10 is the bearing of the worm gear 8.

A detection dog 14, which will be described later with reference to FIG. 3, is installed at the free end of the grasping part 12.

16 and 17 are grasping/gripping parts similar to the above-mentioned grasping part 12;
Each has the same drive members (drive, motor, etc.) as described above, and is provided with a detection dog 14 at the tip. 15 is a detection dog, which will be described later, for grasping.

It is installed on the lower surface of the palm 6. 18 is a cover.

Ru.

#! 3 is a front view of the contact detection sensor including the detection dog 14 and its attached members, and FIG. 4 is a side view thereof.

The detection dog 14 is molded into a mushroom shape, is supported in a vertically slidable trap by means of sliding bearings 19 and 20 formed in its handle, and is biased downward by a coil spring 21.

22 is a retaining ring provided to prevent the handle portion of the detection dog 14 from coming off the sliding bearing 20.

A microswitch 2s for detecting the upward movement of the detection dog 140 is fixed to the grasping part 12 so as to be located directly above the handle of the detection dog 14. 24' is a microswitch mounting screw. As described above, when the gripping part 12 is lowered and the detection dog 14 comes into contact with another object Km and is pushed up, the microswitch 2s is configured to close.
Detection dogs 14 provided on the free ends of the gripping portions 16 and 170, and detection dogs 15 provided on the lower surface of the gripping portion 6 (Fig. 2)% Above and l! A contact detection sensor is constituted by attaching an attached member like F1.

FIG. 5 is a 1912 diagram of the control device of this embodiment. The control device is composed of a detection section 2s and a drive control section 26, and the drive control section 26 is further composed of a logic judgment unit 27, a data storage unit 28, and a program drive unit 29. The clumps of JIlvW & clear.

Detection dog 14°14.1 provided on each of the three grasping parts
Micro switch 25.2B attached to 25.4. A microswitch 23 attached to the detection dog 1 provided on the grasping section 6 is connected to the input side of the detection section 25. Detection section 25
The output of is logical.

It is connected to the input side of the logic judgment unit 27. The logic decision unit 27 and the data storage unit 287 are connected to each other and output. The input side of the motor drive unit 29 is connected to the output side of the logic judgment unit 27, and the drive unit 2
The output side of 9 is the grasping finger drive motor 5 and the moving part motor 51.
Connect to. Although the above-mentioned grasping finger drive unit s#is@ is provided, it is represented by one in this figure.

Further, the above-mentioned moving part motor 31 is a motor that drives the above-mentioned moving part 2, and is represented by one motor in this figure instead of a plurality of motors.

Next, we will explain the control operations in the pruning device configured as described above using the 70-chart in FIG. I will explain by comparing and referring to.

As shown in Figure 7 (1), there is a seal above the parts box 4.

The descent starting points of 30.50 and - are set in advance.

The grasping section is opened at 70-41 in FIG. 6, the grasping section is moved to a predetermined lowering starting point at flow 4M, and lowered at 7a-44. An example of the external appearance of the gripping part 1 and the part 3 when lowered is shown in Figure 7 (21). If contact with a component is detected at 70-45, the process branches to ■ and the descent is stopped at 70-46.

If contact with the component is not detected in -70-45, the cycle of ■ is repeated until the bottom of the parts box is detected while monitoring whether or not the contact has been made with the bottom of the parts box in flow 47-. If you make a mistake, stop descending at 7a-48, 49 and ascend again.
Returning to step (2), the descending start point is updated in flow 42 and the process descends again, and in step 70-45, the part is searched blindly for detecting contact with the part.

If the contact with the component is detected in this way, the process branches to (2) and the descent is stopped (70-46).

At 70-50, it is determined whether the first contact point with the component is the tip of the grasping finger or the lower surface of the grasping finger.

If the part that came into contact with the part was not the bottom of the palm but the tip of the finger, remember which part of the grip made contact with the part in 70-51, and then raise the grip part with %7"low 52. let

Next, at %7G+ -53, the memory of the grasping finger O that came into contact with the component is recalled, and at 70-54, the grasping section is moved in the direction of the finger that made contact. If the 2-0 grasping parts contact another object at the same time when pressing, they are moved in the direction between the two fingers. To explain the above operation using a specific example, Fig. 7 (
Like 21.

When the left grasping part comes into contact with the component 6, it is temporarily raised as shown by arrow 1 (1) in the figure (31) (flow 52).

After that, move toward the finger that touched it, that is, like the arrow (b).

(70-54). Then, return to ■ in the flowchart and descend as shown by the arrow (c) (70-44
). 70-55, if it is determined that five gripping parts have contacted the component at the same time.

Even if the grasping part is rotated inward, it means that the part is being grasped in an unnatural position, so return to step (2), update the descent starting point (a-42), and repeat the above-mentioned operation.

As shown in FIG. 7(3), when the grasping section 1 is lowered to a position where it can grasp the component 3, the bulge of the grasping section moves toward the part KI [
This state is detected by the detection dog 15, and when it is determined in flow 50 that the bottom of the palm has touched the part, the grasping parts are rotated in a direction toward each other in step 70-55 to grasp the part.

70-56, crawl the parts to the designated place and release them, and place them in the parts box 4.
This operation is repeated until there are no more parts 3 in the cycle (flow 57 branches to {circle around (2)), and when all the parts are gone, the process goes to END ( ), LOW 58 ).

As is clear from the above-mentioned structural functions, the device according to the present invention does not use expensive visual equipment or processing equipment, and has a simple configuration.
Since the existence of parts and their relative positions are detected by contact sensors, the manufacturing cost of the entire device is low, and the operation is highly reliable.Therefore, maintenance is easy and the durability is low.
Are better.

As explained above, the present invention is applied to the bottom of the palm.

A grasping part equipped with a sensor for detecting contact of a body (component), and a plurality of gripping parts rotatably supported by the above-mentioned grasping part and equipped with a sensor for detecting contact of another object at 5 free ends. a grasping section consisting of a grasping section; a moving section that supports the grasping/gripping section and moves it horizontally and vertically; a detection/mounting section that receives the signals of each of the sensors; Consisting of a drive control section that controls the operation of the grasping section and the moving C section,
In addition, the drive control section has a function of lowering the grasping sections while the plurality of grasping sections are mutually rotated in the KR direction, and a function of lowering the grasping sections when the sensor at the finger tip detects contact with another object. The cage once raised.

It has a function that repeats horizontal movement in the direction of the grasping part that has touched Km and then lowering it, and when the Senna on the bottom of the palm detects contact with another object, it grasps several of its own grasping parts in the direction of approaching each other. By having a rotation function, it is possible to automatically search for parts that can be grasped and take them out one by one with a simple configuration that is inexpensive and reliable.
.

[Brief explanation of drawings]

1 to 6 show an embodiment of the parts extraction device according to the present invention, in which FIG. 1 is a perspective view, FIG. 25 is a partial sectional view of the gripping portion, and FIG. 3 is a cross-sectional front view of the gripping portion. 4 is a side view of the same, FIG. 5 is a block diagram of the control unit and equipment, FIG. 6 is a flow chart of the same processing contents, and FIG. 7 is an explanatory diagram of control operation. 1-Grip mail 2-Transfer 111% 31 parts 6-Grasp unit 12.16.17・-Grasp portion 14.15-・Ghost of other object Iiii%: Senna to be detected. Constituent detection dog 2s - Patent attorney representing the same microswitch Susuki 1) Li 1i, 1st prisoner piece 2n 3rd m/14th

Claims (1)

[Claims] A grasping part equipped with a sensor for detecting contact with another object at the bottom of the palm, and a plurality of gripping parts rotatably supported by the above-mentioned grasping part and each having a sensor at a free end for detecting contact with another object. a moving part that supports the above-mentioned grasping part and moves it in the horizontal and vertical directions; a detection part that receives the signals of each sensor; The drive control section has a function of lowering the grasping section with a plurality of grasping fingers rotated in the mutually opening direction, and a function of lowering the grasping section with the plurality of grasping fingers mutually rotated in the opening direction. When the sensor detects contact with another object, the grasping part is raised, horizontally moved in the direction of the grasping finger that detected the contact, and then lowered. It is equipped with a function of rotating the gripping fingers in the direction of approaching each other when a close inspection is detected.
'I! ItgIK component IR output device.