JPS634635Y2 - - Google Patents

Description

[Detailed description of the invention] The present invention is a component retention failure detection device in a component supply device attached to the tip of the work arm of a versatile industrial robot used when performing assembly work for high-mix, low-volume production. Regarding.

Recently, this type of highly versatile industrial robots have been attracting attention, but as the use of industrial robots increases, the need for tightening screws and inserting parts to attach them to the tip of the work arm has increased. There is a demand for the development of various work tools to be used. Among them,
Although various component feeding devices have been developed for use in component insertion work, the manipulator 51 shown in FIG. 2 is the only device that detects when a component holding error occurs. This manipulator 51 has a chuck claw 15 that can be opened and closed.
The chuck pawl 15 itself is configured to be movable together with the holding base 52, and the movement of the chuck pawl 15 is detected by a detection switch 53 to detect a failure in holding the component 28. In this manipulator 51, when the supply position of the component 28 and the position of the chuck pawl 15 do not match, the chuck pawl 1
5 comes into contact with the component 28 and the chuck pawl 15 rises relatively to the detection switch 53 for a while, and then a positional deviation between the chuck pawl 15 and the component 28 is detected, and a component holding error is detected. By the time this is detected, the component 28 has already been pressed by the chuck pawl 15, and the surface of the component is damaged, making it impossible to reuse and resulting in a large number of defective products.

The purpose of this invention is to eliminate the above drawbacks.
Examples will be described below based on the drawings. In FIG. 1, reference numeral 1 denotes an articulated industrial robot made of steel, and has a first arm 4 and a second arm 5 that are rotated by a first motor 2 and a second motor 3, respectively. The first motor 2 and the second motor 3 are the control device 1
2, the first motor 2 rotates the first arm 4 around the support 6, and the first motor 2
The motor 3 is configured to rotate the second arm 5 about a rotating shaft 7 rotatably held at the tip of the first arm 4. A bracket 8 containing a first cylinder 9 as a lifting source is attached to the tip of the second arm 5. This first cylinder 9 has a first rod 10, which is arranged to move up and down in the vertical direction. Further, the bracket 8 has a slide shaft 11 placed side by side with the first rod 10, and this slide shaft 11 is connected to the first rod 10.
It is fixed integrally with the rod 10 and is configured to be slidable with respect to the bracket 8. Furthermore, this slide shaft 11 is configured to be rotatable, and is configured to be rotatable by receiving the rotation of a pulse motor 13 fixed to the support column 6 via a transmission mechanism 14. Further, the component holding device 1 has a chuck claw 15 at the tip of the slide shaft 11 for clamping a conductive component supplied to a predetermined component supply position.
6 is fixed, and this component holding device 16 is made of steel and extends from the tip of the chuck claw 15 to the first
A current is configured to flow to the ground portion through the arm and the second arm.

The support column 6 is fixed to a fixed table 17, and the fixed table 17 is grounded so that the tip of the chuck claw 15 of the component holding device 16 is grounded.

The control device 12 includes a storage section 18 that stores operating conditions of the motor and positional information of arbitrary points, and a central control section 19 that controls input/output signals to the storage section 18 according to a predetermined program. It consists of a motor drive section 20 that operates in response to command signals from now on, and an external input/output circuit 21 that relays command signals from the central control section 19 to the component holding device 16 and other working tools (not shown).
Further, the control device 12 has a programmer device 22, and is configured to be able to input all the conditions necessary for operating the motor into the storage section 18, and then to remove it. Programmer device 2
After the arm 2 is separated, the motor, the first arm 4, and the second arm 5 are driven according to a given program by a command signal from a separately arranged operation panel 23.

On the other hand, the component holding device 16 of the industrial robot
A pallet conveyor 24 is disposed below the pallet conveyor 24, and a pallet 25 made of steel that circulates is disposed on the pallet conveyor 24. or,
This pallet 25 is positioned and stopped at a predetermined position on the pallet conveyor 24, and the pallet 25 is immediately moved from that position after the predetermined work is completed.
5 is configured to be ejected. A steel jig 27 is attached to the pallet 25 via an insulating material 26.
is fixed, and this jig 27 constitutes a workbench, and the component 28 held by the jig 27 is held in a non-grounded state.

Further, a second pallet conveyor 24 is provided adjacent to the pallet conveyor
A cylinder 29 is fixed, and an electrode 31 is attached to the tip of a second rod 30. The electrode 31 at the tip of the second rod 30 is configured so as to come into contact with the pallet 25 at a predetermined position when moving forward, and to allow the pallet 25 to pass without any problem when moving backward. A power source that supplies a minute voltage is connected to the electrode 31 via an external input/output circuit 21 in the control device 12, and the central control unit 19 checks the connection terminal of the external input/output circuit 21 to connect the electrode. 31 is configured to detect grounding.

In the above industrial robot, the pallet 25 of the pallet conveyor 24 stops at a predetermined working position,
After completing the specified work at this position, pallet 2
5 reaches the parts ejection position, the arm moves and the second cylinder 2 is activated to bring the electrode 31 into contact with the jig 27. Therefore, component 28 is supplied with voltage. In this state, the component holding device 16
reaches above part 28, which descends. At this time, if the center of the chuck pawl 15 of the component holding device 16 and the center of the component 28 do not match, the chuck pawl 15 will come into contact with the component 28. At that moment, the component 28, i.e. the electrode 31, is connected to the chuck pawl 15, the second
It is grounded via the arm 5, the first arm 4, the support 6, and the fixed table 17, and the output of the connection terminal of the external input/output circuit 21 becomes 0. When the central control unit 19 detects this, it immediately stops the lowering of the component holding device 16, stops the subsequent work, and returns the arm to its original position. Therefore, chuck claw 1
5 only contacts the component 28 and hardly applies any pressing force.

Incidentally, it is a personal theory that detection of the grounding of the electrode can be easily performed using a simple circuit such as a comparator circuit.

As explained above, the present invention is configured to stop the holding unit immediately when the tip of the chuck claw comes into contact with a component, which may lead to errors in component holding when the center of the chuck claw and the component do not match. There are advantages such as the fact that the parts are not subjected to any pressure from the chuck claws even when the parts are moved, the parts are not damaged at all, and the parts can be reused.

[Brief explanation of the drawing]

FIG. 1 is a schematic explanatory diagram of the present invention, and FIG. 2 is a sectional view of essential parts showing a conventional example. 1...Industrial robot, 2...First motor, 3
...Second motor, 4...First arm, 5...Second
Arm, 6... Support, 7... Rotating shaft, 8... Bracket, 9... First cylinder, 10... First rod, 11... Slide shaft, 12... Control device, 1
3...Pulse motor, 14...Transmission mechanism, 15...
...Chuck claw, 16...Component holding device, 17...
Fixed table, 18...Storage unit, 19...Central control unit, 20...Motor drive unit, 21...External input/output circuit, 22...Programmer device, 23...Operation panel, 24...Pallet conveyor, 25... Pallet, 26... Insulating material, 27... Jig, 28... Parts, 29... Second cylinder, 30... Second rod, 31... Electrode, 51... Manipulator, 52
...Holding stand, 53...Detection switch.

Claims (1)

[Scope of Claim for Utility Model Registration] A component supply device having a steel chuck claw at the tip, which moves the chuck claw from a supply position of conductive parts to a predetermined work position, and supplies the parts to the predetermined position. The tip of the claw is grounded, and the steel workbench on which the conductive parts are placed is ungrounded through an insulating material, and the workbench can be moved forward and backward while approaching the workbench, and can come into contact with the workbench. 1. A component retention defect detection device, comprising: an electrode; and a control device for detecting voltage fluctuations of the electrode when the electrode is in a forward position.