JPS6150790A - Robot for conveying work - 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 [Technical Field of the Invention] The present invention relates to a workpiece conveyance robot for automatically conveying a workpiece, and in particular, it grips a workpiece that is relatively heavy and has a double electric shape, and moves it to a predetermined first position. This invention relates to an IQ feeding mouth pot that can transport a workpiece to a second position.

(Technical background of the invention and its problems) In general, in an automated machining factory, automation technology related to self-1FIIIQ transport for automatic setup of workpieces is difficult to solve by handling the complexity of the workpiece shape. (continuous flow, random flow), etc., making it the most difficult field for unmanned systems. For this reason, excluding some cases in which automatic transport is used for initial setup when workpieces of the same shape are continuously flowing, transport and setup of workpieces with complex shapes must be done manually. The person was Chikutoshi.

In addition, if the ffi base of the workpiece is relatively light, it is possible to directly grasp the outer circumference of the workpiece with a robot hand having multiple fingers, transport it to a predetermined position, and set up the workpiece. When the size of the workpiece increases, it becomes difficult to grip and transport the workpiece with a normal finger-type robot hand.

[Purpose of the invention]

The present invention has been made with these points in mind.
It is an object of the present invention to provide a workpiece transfer robot that can accurately grasp a relatively heavy and complex-shaped workpiece and automatically transfer it from a roughly determined first position to an accurately determined second position. purpose.

[Summary of the Invention] The workpiece conveyance robot according to the present invention includes an
a small Y-axis moving spindle mounted on the X-axis moving cart and reciprocating in the Y-axis direction; a main vertical beam suspended from the Y-axis moving cart and moving up and down in the Z-axis direction; A robot body is attached to the lower end of the main vertical beam and has a plurality of guide grooves extending in a direction perpendicular to the Z-axis and rotates around the Z-axis. A plurality of horizontally moving members are reciprocated by a feed screw, and a hand for navigating the workpiece 1 is attached to a lower part that is suspended from each of the plurality of horizontally moving members and is moved up and down in the Z-axis direction by the feed screw. The robot is equipped with a plurality of O-bots 1 to 1-arms, and a camera for work placement shape H8i attached to the robot body.

According to the present invention, the camera for recognizing the workpiece arrangement shape can actually identify the workpiece! Confirm the first position of the placed workpiece, and control the movement of the robot arm according to this first position to grasp the comparatively heavy and multi-shaped workpiece in good condition and move it to the specified position. The second (1/) can be accurately transported to the neck.

(Embodiments of the invention) Hereinafter, embodiments of the invention will be described with reference to the drawings.

FIG. 1 is an external view showing an embodiment of a workpiece transfer robot according to the present invention. J3 in the figure) - Jll is a support rod of the transport robot, and a pedestal 12 is built on this support (111).A guide rail surface 12a is formed on the pedestal 12, and a ball screw 1
3 are arranged facing in a certain direction (X@11 direction) on the horizontal plane. The ball screw 13 is rotated by the motor 14. Mounted on the pedestal 12 is an X-axis moving cart 15 that is capable of reciprocating in the X-axis direction roughly along the guide rail surface 12a. This X-axis shift U”
The truck 15 has a built-in ball bearing 16, and by screwing the ball bearing 16 into the ball screw 13, the X-axis moving truck 15 can be reciprocated in the X-axis direction by being rotationally driven by the motor 14.

On the x-axis moving trolley 15, a Y-axis moving trolley 17 that can reciprocate in a certain direction (Y-axis direction) on a horizontal plane perpendicular to the X-axis
is installed. This Y f! j A ball bearing 18 is built into the mobile cart 17, and the ball bearing 18 has a
A ball screw 21 that is rotationally driven by a motor 19 and extends in the Y-axis direction is screwed together.

A main vertical arm 22 that extends in a direction (Z-axis direction) perpendicular to a horizontal plane formed by the X-axis and the Y-axis is suspended from the Y-axis moving cart 17 so as to be movable up and down. The main vertical beam 22 is carved with a rack 23 in the ziId direction,
A pinion 25 that is rotationally driven by a motor 24 mounted on the Y-axis moving cart 17 meshes with the rack 23 .

A robot body 20 is rotatably attached to the lower end of the main vertical beam 22 .

The hot main body 20 has a (Jpo disk-shaped rotating plate 26
The robot arm 1. is suspended from the rotating plate 26 by four pillars 43. 1 river holding body 44. As shown in FIG. 2, the holder /I/1 has 4 sliding surfaces 27a formed at the upper ends thereof in a relationship of 7° relative to each other in the direction orthogonal to the Z-axis.
In each guide groove 27, a horizontal column 8 member 28 having a substantially T-shaped cross section, which can reciprocate 1 J in the horizontal direction, has an upper flange 28a facing the sliding surface 27ε]. They are engaged and held by bringing them into contact. Two ball bearings are built into the horizontal movement 811 material 28, and the two ball bearings are disposed in the guide groove 27 of the holder 44 in a direction six times perpendicular to the Z axis.
A ball screw 32 that is rotationally driven by is screwed together.

Robot arms 33 each extending in the Z-axis direction are suspended from the horizontal movement unit 028 so as to be movable up and down. A work support hand 34 having an abbreviated shape is attached to the lower part of the robot arm 33. Further, the robot arm 33 has a built-in ball bearing 35, and a ball is rotatably driven to the ball bearing 35 by a motor 36 mounted on the horizontally movable material 28 via a deceleration n36a and a timing belt 36b. A screw 37 is screwed together. (In addition, in FIG. 2, for the sake of simplicity, only part of the robot arm vertical movement fhR structure is shown.

) The ball screw 37 has a groove corresponding to the vertical movement stroke of the O-bot 1 to the arm 33, the upper part penetrates the robot arm 33 and is rotatably held at the upper end of the horizontally moving member 28, and the lower part is horizontally moved. It is rotatably held by a lower report 28b fixed horizontally below the moving member 28.

In addition, the ball screws 32 and 37 prevent mutual interference.
-J゛, so they intersect with a slight gap.

Roughly speaking, in this embodiment, the backs of the four horizontally moving members 28 that move along the guide grooves 27 arranged in a cross shape so as to grip a small-shaped workpiece 1q,
The structure was such that either the
It is possible to approach within the range of the structure. In addition, the motor 36,
The holding plate 28G on which the deceleration member 36a is mounted is installed at a higher position a than the upper flanges 288 of the horizontally moving members 28 that are orthogonal to each other, and prevents contact with the horizontally moving members 28 that are adjacent to each other. That's how it is. In addition, the hand 34 is bent inward by 70 degrees to enable gripping of extremely small workpieces.

Furthermore, a gear for rotating the main vertical beam 22 is attached near the lower end of the main vertical beam 22 (a motor 38 for rotating the pot body 38 and a gear attached to the rotating plate 2G side).
By meshing and rotationally driving the [1 bot main body 20
is now able to perform a turning movement.

A camera for recognizing the shape of workpiece distribution, for example, a CCD camera 42, is installed on the lower center surface of the holder 44. This C
The CD camera 42 is capable of capturing the arrangement shape of the placed workpiece as a two-dimensional image on the X-7 plane.

Next, the operation of this embodiment having the J: U shape will be explained.

FIG. 3 is an explanatory diagram for explaining a method of gripping and transporting a workpiece. In Figure 3, P. The point is the origin (home position) of the workpiece transfer robot, and the center of the robot body 20 is located in the stopped state.

When the workpiece transfer robot is at the origin position, the Z-axis direction of point Po coincides with the axis of the main vertical beam 22.

Point P1 corresponds to a preset workpiece gripping position, for example, to an automatic warehouse exit. Point P1' is the position where the work is actually placed, and is Δx1 from the predetermined position P point.
．． There is a positional shift of Δy1.

Further, the 12 points correspond to set transport positions, for example, automatic setup positions for the workpiece.

When transporting a workpiece from the self-full warehouse exit to the automatic setup position "U", the transport robot first drives the morph 14°19 to move the X-axis moving cart 15 to
The movable cart 17 moves by y1 and moves from Posada to 11 points. At 11 points, using the CCI] camera 42,
The regular work placement shape w1 of 21 points stored in advance is compared with the work placement shape w1' actually placed, and a positional error between the 11 points and the point P1' is detected.

Assuming that the positional error is △×1 in the X-axis direction, Δy1 in the Y-axis direction, and the deviation angle of the Y-axis is θ, the X-axis dislocation table 1R15 and the Y@&transfer cart 17 are respectively △× 1
．． The center of the robot body 2o is made to coincide with point P, 7 by making a correction movement by Δy1. , the robot body 20 is rotated by an angle θ so that the hand 34 of the robot arm 33 comes into contact with a predetermined position around the outer circumference of the workpiece.

In this state, the robot arm 33 is moved up and down and inward by predetermined distances f511, respectively, and the hand 34 grips the workpiece at a predetermined position z1.

The X-axis moving cart 15 and the Y-axis moving cart 17 are moved while taking into account the above-mentioned correction movement of the robot body 20 f)
+ (in the example of FIG. 3, ljX2-ΔX1 in the X-axis direction and y2+Δy1 in the Y-axis direction), and the robot main body 20 turns by an angle θ in the opposite direction to that described above. With this,
The materials are transported to 22 points in a regular arrangement state, and the arrangement shape is confirmed by the COD camera 42.

By moving the hand 34 outward, the grip on the workpiece is released, and the workpiece is accurately placed at 22 points. Automatic setup of the workpiece is performed. FIG. 4 is a flowchart of the operation of the above-mentioned transport robot.

Furthermore, if the workpiece is placed in a tilted state with respect to a predetermined X-Y plane (horizontal plane), the tilt can be adjusted by moving each robot arm 33 up and down as appropriate.

As described above, according to this embodiment, the workpiece is gripped in four orthogonal directions using the four robot arms 33. 'j I
In addition to being able to move each bot arm 33 to an independent position, it is possible to reliably and easily grip an irregular workpiece with a relatively compound shape. can do. In addition, since the center of gravity of the workpiece can be aligned with the center of the robot body 20 and gripped, no bending moment is generated in the main vertical beam 22, and relatively large workpieces can be transported easily. . Roughly speaking, the COD camera 42 is used to recognize errors in the placement shape of the workpiece, and the gripping and conveying operations can be performed while aligning the workpiece. It is possible to automatically transport the workpiece to a second position determined by It is also possible to suspend the workpiece vertically downward from 44 and observe the workpiece from the side.

In addition, FIG. 5 shows the conveyance according to this embodiment using [1-bottle 1-?]. The irregularly shaped workpiece W is fixed &lf.
FIG. A bottle hole P drilled at a predetermined position of the workpiece W is inserted into a positioning bottle (not shown) provided, for example, on a workpiece mounting table of a medical machine or a pallet, and a jig for fixing the workpiece W is inserted. When automatically setting up the workpiece W using the four hands 34, the hand 3
Since the position of the bottle hole P is accurately detected from the gripping position No. 4, it is possible to easily fit the bottle hole P into a predetermined positioning bottle. i.e. pin? Location of L P's machining system (all including machine tools and transport robots,
body position) and the relative positional relationship dimensions (a
, b, c, d) and the absolute position dimensions (Xl,
It can be easily calculated by knowing X2; Yl, Y2), and the bottle hole P is Δ×,
If a deviation of ΔY occurs, accurate positioning can be achieved by adjusting the relative positional dimensions (a, b, c, d) of the four hands 34.

In this way, the workpiece 1lI2 transfer [1bot] according to this embodiment can be used in combination with an automatic workpiece setup device, and this allows automated operations such as automatic workpiece transport and automatic setup. With two factories, it is possible to realize the automation of fields that were difficult to realize in the past.

(Effects of the Invention) As explained above, according to the present invention, a workpiece having a relatively rough and complicated shape can be accurately gripped, and the workpiece can be accurately determined from a roughly determined first position. It can be automatically transported to the second location.

In addition, since the robot according to the present invention has a rectangular coordinate system, it can be manufactured at 1 lJffi, which is about 1/4 of the time required for the same workpiece mW, compared to an articulated robot, and is compact and has excellent transport ability. .

Furthermore, since the robot arms are movable horizontally and vertically, and a plurality of robot arms are disposed facing each other so as to be close to each other, it is possible to grasp small to large workpieces.

Furthermore, since the robot arm is moved up and down by a feed screw, even relatively heavy workpieces can be easily gripped.

The present invention is capable of accurately grasping a workpiece at an automatic automatic delivery outlet and automatically transporting the workpiece to a predetermined setup position while maintaining its posture and arrangement direction. It can be used as an automatic workpiece transport robot for automatic setup.

[Brief explanation of drawings]

Fig. 1 is an external view showing an embodiment of the workpiece transfer robot according to the present invention, Fig. 2 is a perspective view showing the main parts of the robot body, and Fig. 3 is a workpiece transfer robot according to the present invention. FIG. 4 is a flowchart of the operation of the workpiece conveyance robot, and FIG. 5 is an explanatory diagram showing the method for accurately positioning a workpiece using the workpiece conveyance robot according to the present invention. . DESCRIPTION OF SYMBOLS 11... Support column, 12... Mount, 15... ...Horizontal mobile unit kidnapping, 33...Robot arm, 34...Hand. Applicant's representative 3rd deputy

Claims (1)

[Claims] 1. An X-axis movable trolley that reciprocates in the X-axis direction and is mounted on a pedestal supported by a support column; and an X-axis movable trolley that reciprocates in the Y-axis direction that is mounted on the X-axis movable trolley. Y-axis moving trolley;
a main vertical beam that is suspended from the Y-axis moving truck and moves up and down in the Z-axis direction; a plurality of guide grooves that are attached to the lower end of the main vertical beam and extend in a direction perpendicular to the Z-axis; a robot body that rotates around the Z-axis; a plurality of horizontally moving members that are attached to the robot body and reciprocated along the guide groove by a feed screw; A plurality of robot arms are suspended and are moved up and down in the Z-axis direction by a feed screw, and workpiece support hands are attached to the lower parts; and a camera for recognizing the workpiece installation shape is attached to the robot body. A robot for transporting workpieces. 2. The workpiece conveying robot according to claim 1, wherein the horizontally moving members are disposed so as to be able to approach each other in a positional relationship opposite to the rotation center of the robot body. 3. The workpiece transfer robot according to claim 2, wherein four horizontally moving members are provided. 4. The workpiece transfer robot according to claim 1, wherein the feed screw for vertically moving the robot arm is disposed within the robot arm in the Z-axis direction.