JPS59227380A - Mechanical hand system - 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] [Field of Techniques of the Invention] The present invention provides f! ! I? Jru.

[Technical background of the invention and its problems] In the robots 1 to 1, the function of moving a workpiece occupies an extremely important position. In order to achieve this folding accurately, a mechanical handle 1 to grip the workpiece is used.
There has been much research and discovery about this? ) is being used.

By the way, this conventional mechanical hand has the function of grasping a workpiece, which is inherent to a mechanical hand, such as simply grasping, pinching, and suctioning a workpiece, or in addition to this function, detects whether or not a workpiece is being gripped. (The function was stopped in the right direction.) When considering this from the viewpoint of improving work efficiency and reducing work processes, it is clear that the There is room for improvement in the time it takes to move the workpiece between the handles to the upper part of the gripper f for other effective use. As for the gripped workpiece, assembly is started after determining the quality of the assembly robot at the destination.
Improving work efficiency, reducing work costs, etc. To help overcome this problem, improvements have been made to the conventional mechanical hand to make it possible to perform specific measurements in addition to its original function of gripping the workpiece. It is.

[Objective and Summary 1 of the Invention The present invention has been made in view of the above-mentioned problems, and its object is to provide a mechanical hand system that allows a gripped workpiece to be held in a vice position.

In order to achieve the above object, the present invention provides a clamping device that clamps an object to be conveyed by moving the opposing gripping portions in the relative direction, the amount of movement of the gripping portions being provided on the clamping device main body. The gist is that a movement M detection means for detecting the movement M and a measurement processing device for performing a predetermined measurement on the transported object based on the detected movement a) are installed.

[Embodiments of the invention] Embodiments of the present invention will be explained below with reference to the drawings.

FIG. 1 shows an embodiment in which the present invention is applied to an assembly robot. In FIG. 1, reference numeral 2 indicates an assembly robot (not shown), a supply robot 2, which processes pulses output from a pulse encoder 17 provided on a hand body 1 of a supply robot 16, which will be described later, or according to a predetermined operation program. A drive control means constituted by, for example, a microphone computer, outputs a signal to the actuator 4 to drive the actuator 16, etc., and 6 is a display section that outputs a predetermined display based on the processing by the drive control means. Note that the drive control means 2 is CPU B.

ROM 10 that stores the processing program of the CPU 8;
RAfv112 for temporary storage of data. Input/output port 1
It has a configuration of 4 and 1.

FIG. 2 shows the configuration of the hand body 1 of the supply robot 16, in which 3a and 31+ are fingers constituting a gripping part, 5a and 51+ are fixed fingers, and relative movement μ is caused by the rotation of the pinion 7. , a rack for changing the distance between the fingers; 9 a piston with a rack that is moved up and down according to the amount of air supplied from the air port 11 to prevent the binion 7 from rotating; Slits l-(
an encoder disk 15 provided with an encoder (not shown)
is a pulse generator that detects the number of passages through the slit due to the rotation of the encoder disk accompanying the rotation of the binion 7 and outputs the number of pulses corresponding to the number of passages. The encoder disk 13 and the pulse generator 15 constitute a pulse generator 17.

For example, the resolution is 0.01 mm/pulse for the sleeve [.] described on the encoder disk 13.

The pitch circle diameter of Bini A Gi~771 is 11111111
Then, the number of pulses output per rotation of the pinion 7 is χ - π It will be a good thing.

Therefore, if you reset the origin 1 to 1 with the fingers 5a and 5b closed, the fingers 5
The diameter of the workpiece can be measured by counting the number of pulses output according to the interval between a and 5b. That is, for example, if the number of pulses is 3456, then 3456x o, oi = 34.5(i (I
llm). Note that the origin reset may be performed by holding a calibration gauge.

Next, regarding the operation of this embodiment, the CPU 8 shown in FIG.
This will be explained together with the processing flowchart 1-.

The drive control means 2 drives the supply port bottle 1-16 to grasp the workpiece from the workpiece@lifter and supply it to the silk L robot 1-. A command is given to divide a predetermined group into rows 4T. During the period from holding this workpiece to supplying it to the L robot assembly 1 from C to 1, the drive control means 2 receives pulses output from the L robot 17 when gripping and leading the workpiece. The gripped workpiece is lengthened in lateral length based on the pulses generated by the CPU 10 (Step 100), and based on the length measurement result, it is determined whether the gripped workpiece is a good product or not (Step 110). As a result of this judgment, if the workpiece is a good item, the sub-length result will be displayed and output, and the assembly robot will be given a command, for example, to perform a predetermined assembly correction based on the length measurement result in order to eliminate assembly errors caused by variations in each workpiece. (Steps 120 and 130). On the other hand, if the workpiece is defective, the workpiece is discarded and covered without being supplied to the assembly O-pot (step 14).
0), it prevents the occurrence of defective assemblies by assembling defective workpieces, and also prevents defective assemblies from being overlooked in defective product exclusion inspections in the post-process.

[Effects of the Invention] As described above, according to the present invention, in a mechanical hand that grips a workpiece by moving the corresponding gripping portions in the relevant direction, means for detecting the amount of movement of the gripping portions is provided. Since it is provided in the main body of the mechanical hand, in addition to the function of simply gripping a workpiece, the function of measuring the length of the gripped workpiece is added. Furthermore, by performing predetermined processing based on the length measurement results, it is possible to omit processes such as determining whether a work is defective, which was previously performed in an independent process, improving work efficiency and reducing work time. The number of steps can be reduced.

[Brief explanation of drawings]

Fig. 1 is a block diagram of one embodiment of the present invention, Fig. 2 is a diagram of the hand body, and Fig. 3 is a processing flow diagram of Fig. 1.
It is for use. (Explanation of symbols representing main parts in the figure) 1... Hand body 2... Drive control means 3a
, 3b... Finger 4... Actuator 1'-ta 5
a, 51)...Rack 7...Vinimen 9...
・Lakki piston 13...Encoder disk 15...Pulse generator 16...Supply port holes 1 to 17...Pulse encoder patent applicant Stock gold company Anda Figure 2 5b 3b

Claims (1)

[Claims] The relative -4 gripping part is in the relative direction HJ4 IFJJ
As a result, the detection movement Ij1, which is installed in the main body of the apparatus and detects the amount of movement of the gripping part, is detected by the detection movement 1β.
:1 First, take the specified measurements on the transported object. J'3
The mechanical hand system is designed to operate the measuring and processing equipment.