JPS6478780A - Work shifter - Google Patents
Work shifterInfo
- Publication number
- JPS6478780A JPS6478780A JP23368387A JP23368387A JPS6478780A JP S6478780 A JPS6478780 A JP S6478780A JP 23368387 A JP23368387 A JP 23368387A JP 23368387 A JP23368387 A JP 23368387A JP S6478780 A JPS6478780 A JP S6478780A
- Authority
- JP
- Japan
- Prior art keywords
- work
- hand
- robot
- control means
- plane
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Landscapes
- Automatic Assembly (AREA)
- Feeding Of Workpieces (AREA)
- Manipulator (AREA)
- Specific Conveyance Elements (AREA)
- Control And Safety Of Cranes (AREA)
Abstract
PURPOSE: To transfer a work in a short time by a robot by finding out the position of the three dimensional direction of the work in a non-positioning state and providing a control means for controlling the transfer of the work by the robot and hand based on this position. CONSTITUTION: The position of a work 4 on the coordinate system in a horizontal plane crossing the work 4 is found out from a two dimensional image outputted after a camera 41 picks up the image of a work 4 by a two dimensional image processing means 42. Then, a robot is operated by the order from a control means 12 and a hand 13 is pointed to a work position in its plane and moved from the upper side orthogonally crossing with this plane and a sensor detects that the hand 13 is approached to the work 4. The position of the work 4 in the vertical direction orthogonally crossing with a plane coordinate system is found out from this detection signal and the hand position at the detection time by the control means 12. The operation of robot and hand 13 is controlled by the order from the control means 12 based on these work positions and the work 4 is gripped and transfered to a prescribed position.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP23368387A JPS6478780A (en) | 1987-09-19 | 1987-09-19 | Work shifter |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP23368387A JPS6478780A (en) | 1987-09-19 | 1987-09-19 | Work shifter |
Publications (1)
Publication Number | Publication Date |
---|---|
JPS6478780A true JPS6478780A (en) | 1989-03-24 |
Family
ID=16958902
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP23368387A Pending JPS6478780A (en) | 1987-09-19 | 1987-09-19 | Work shifter |
Country Status (1)
Country | Link |
---|---|
JP (1) | JPS6478780A (en) |
Cited By (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH0635227U (en) * | 1992-10-19 | 1994-05-10 | 株式会社アマダ | Automatic sorting device |
JPH06143081A (en) * | 1992-10-30 | 1994-05-24 | Pfu Ltd | Pallet feed device for production line |
CN106044570A (en) * | 2016-05-31 | 2016-10-26 | 河南卫华机械工程研究院有限公司 | Steel coil lifting device automatic identification device and method adopting machine vision |
WO2024095709A1 (en) * | 2022-11-04 | 2024-05-10 | 村田機械株式会社 | Transport control system, and determining method |
-
1987
- 1987-09-19 JP JP23368387A patent/JPS6478780A/en active Pending
Cited By (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH0635227U (en) * | 1992-10-19 | 1994-05-10 | 株式会社アマダ | Automatic sorting device |
JPH06143081A (en) * | 1992-10-30 | 1994-05-24 | Pfu Ltd | Pallet feed device for production line |
CN106044570A (en) * | 2016-05-31 | 2016-10-26 | 河南卫华机械工程研究院有限公司 | Steel coil lifting device automatic identification device and method adopting machine vision |
WO2024095709A1 (en) * | 2022-11-04 | 2024-05-10 | 村田機械株式会社 | Transport control system, and determining method |
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