WO2022107348A1 - Contrôleur, procédé de commande pour contrôleur, programme de commande et support d'enregistrement - Google Patents

Contrôleur, procédé de commande pour contrôleur, programme de commande et support d'enregistrement Download PDF

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Publication number
WO2022107348A1
WO2022107348A1 PCT/JP2021/008706 JP2021008706W WO2022107348A1 WO 2022107348 A1 WO2022107348 A1 WO 2022107348A1 JP 2021008706 W JP2021008706 W JP 2021008706W WO 2022107348 A1 WO2022107348 A1 WO 2022107348A1
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WIPO (PCT)
Prior art keywords
work
unit
air cylinder
holding
controller
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PCT/JP2021/008706
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English (en)
Japanese (ja)
Inventor
佑気 坂元
克行 木村
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オムロン株式会社
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Publication date
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Publication of WO2022107348A1 publication Critical patent/WO2022107348A1/fr

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/08—Gripping heads and other end effectors having finger members

Definitions

  • the present invention relates to a controller for detecting contact with a work by a gripping portion and detecting normal gripping in an air chuck system, a control program for operating a computer as the controller, and a recording medium on which the control program is recorded. And the integrated circuit that operates as the control program.
  • the air chuck has a configuration in which a gripping hand mechanism by a link mechanism is provided at the tip of an air cylinder.
  • a reed switch that reacts to the air cylinder provided at the air cylinder position assumed when the work is gripped is used. There is a method. In this method, the controller determines that the grip is completed when a predetermined stabilization time elapses after the reed switch reacts.
  • One aspect of the present invention is to realize a controller capable of preventing poor gripping.
  • the controller is a controller that controls a holding device having a movable portion and a holding portion for holding a work by the operation of the movable portion.
  • the position acquisition unit that acquires the position of the position
  • the position identification unit that specifies the speed or acceleration of the movable portion using the position
  • the holding unit that the holding portion abuts on the work due to the speed or acceleration.
  • a contact detection unit for detecting and a holding detection unit for detecting that the holding unit holds the work from the displacement of the movable portion after the contact is provided.
  • the control method of the controller is a controller for controlling a holding device having a movable portion, a holding portion for holding the work by the operation of the movable portion, and the like.
  • a position acquisition step for acquiring the position of the movable portion, a position specifying step for specifying the speed or acceleration of the movable portion using the position, and the holding portion abutting on the work due to the speed or the acceleration. It includes a contact detection step for detecting that the work has been made, and a holding detection step for detecting that the holding portion holds the work from the displacement of the movable portion after the contact.
  • the position of the air cylinder is acquired and the state of the air chuck is indirectly managed to realize normal gripping.
  • the transport operation can be started immediately after gripping.
  • FIG. 2 is an enlarged view of an air cylinder position at a specific time.
  • It is a block diagram which shows an example of the component of a chuck system. It is a schematic diagram which shows an example of the structure of the air chuck provided in the chuck system. It is a graph which shows the air cylinder pressure and the air cylinder acceleration in a good state and a bad state of an air pipe. It is a flowchart which shows the operation of a chuck system. It is a graph which shows the air cylinder pressure and the air cylinder speed in a good state and a bad state of an air pipe.
  • FIG. 1 is a graph showing the relationship between the air cylinder pressure in the air chuck and the input of the reed switch in a good state and a bad state of the air piping.
  • FIG. 2 is a graph showing the relationship between the air cylinder pressure and the air cylinder position in the air chuck in a good state and a bad state of the air piping.
  • the air pipe is a pipe for supplying high-pressure air from a pressure source such as an air compressor to an air cylinder.
  • a state in which the air pipe is in good condition means a state in which high pressure air is normally supplied to the air cylinder without any abnormality such as twisting in the air pipe.
  • the "defective state of the air pipe” means a state in which the air pipe has an abnormality such as a twist and the high pressure air is not normally supplied to the air cylinder.
  • FIG. 1 the air cylinder pressure in a good state of the air piping is shown by a solid line, and the input of the reed switch is shown by a alternate long and short dash line.
  • the air cylinder pressure when the air piping is defective is shown by a broken line, and the input of the reed switch is shown by a dotted line.
  • the horizontal axis of FIG. 1 is time, the first vertical axis represents the air cylinder pressure, and the second vertical axis represents the input of the reed switch.
  • the input of the reed switch is 1 when the reed switch is reacting to the air cylinder, and 0 when the reed switch is not reacting.
  • FIG. 2 the air cylinder pressure in a good state of the air piping is shown by a solid line, and the air cylinder position is shown by a alternate long and short dash line. Further, the air cylinder pressure in a state where the air piping is defective is shown by a broken line, and the air cylinder position is shown by a dotted line.
  • the horizontal axis of FIG. 2 represents time
  • the first vertical axis represents air cylinder pressure
  • the second vertical axis represents air cylinder position.
  • the time axis of FIG. 2 is the same as the time axis of FIG.
  • the reed switch reacts when the air cylinder moves to the predetermined position 101.
  • the reed switch reacts at time t11 when the air piping is in good condition.
  • the reed switch reacts at a time t21 after the time t11 when the state of the air pipe is poor.
  • the air cylinder position changes even after the reed switch reacts. As shown in FIG. 2, when the air piping is in a good state, the change in the air cylinder position becomes gradual at the time t12 after the reed switch reacts at the time t11. In a state where the air piping is defective, the change in the air cylinder position becomes gradual after the reed switch at time t12 reacts and at time t22 after time t12.
  • FIG. 3 is an enlarged view of the air cylinder position in the vicinity of time t12 and time t22 in FIG.
  • the change in the air cylinder position continues after the time t12 and the time t22. This is due to the following reasons. Since there was nothing that hindered the movement of the air cylinder from the start of movement of the air cylinder to time t12 and time t22, the position of the air cylinder changed at high speed due to the supply of air. At time t12 and time t22, the change in the air cylinder position was slowed down by the air cylinder coming into contact with the work.
  • the displacement ⁇ of the air cylinder position after the time t12 and the time t22 is the displacement of the air cylinder from the contact of the air chuck with the work to the sufficient gripping state.
  • the position displacement ⁇ , the rigidity (Young's modulus) of the air chuck, and the air cylinder pressure generate a force for the air chuck to grip the work.
  • the force with which the air chuck grips the work increases as the air cylinder pressure increases.
  • the pressure 111 indicates the air cylinder pressure at time t12 when the air piping is in a good condition.
  • the pressure 112 indicates the air cylinder pressure at time t22 when the air piping is in a defective state.
  • the pressure 112 is lower than the pressure 111. Therefore, it can be said that when the air pipe is in a bad state, the gripping force of the work is weaker than when the air pipe is in a good state.
  • the air cylinder pressure has not risen sufficiently at time t22, so that the force with which the air chuck grips the work is insufficient. Therefore, if the air chuck is moved by another actuator immediately after the time t22, the work may fall off.
  • the air cylinder pressure 121 at the time t12 and the time t30 after the time t22 is substantially the same regardless of whether the air pipe is in a good state or a bad state. It is greater than pressure 111 and pressure 112. That is, the air cylinder pressure continues to rise over time and eventually saturates near the pressure value at which the pressure source supplies high pressure air to the air cylinder.
  • whether or not the air cylinder pressure is saturated is often determined by the elapsed time after the reaction of the reed switch. That is, it is determined that the air cylinder pressure is saturated when the time considered to be sufficient for the air cylinder pressure to saturate has elapsed after the time t11 or the time t21.
  • the air cylinder pressure will eventually saturate even if the air piping is in a defective state. Therefore, if the time from the reaction of the reed switch to the determination that the air cylinder pressure is saturated is sufficiently long, it is possible to prevent poor gripping regardless of the state of the air piping. However, the time it takes for the air cylinder pressure to saturate depends on the degree of failure of the air piping. Therefore, it is difficult to set a sufficient time in advance, and even if the set time has elapsed, the air cylinder pressure may not be saturated and gripping failure may occur.
  • the chuck system includes an air chuck provided with an air cylinder driven by high-pressure air, and a controller for controlling the air chuck.
  • the controller can detect whether the gripping portion of the air chuck abuts on the work and grips the work with sufficient gripping force. Further, the controller has a function of starting the transfer without wasting time after the gripping is completed.
  • FIG. 4 is a block diagram showing an example of the configuration of the chuck system 1.
  • FIG. 5 is a schematic view showing an example of the configuration of the air chuck 20 included in the chuck system 1.
  • a configuration example of the chuck system 1 will be described with reference to FIGS. 4 and 5.
  • the chuck system 1 includes a controller 10, an air chuck (holding device) 20, a solenoid valve 30, a transport unit 40, and a temperature measurement unit 50. As shown in FIG. 5, the chuck system 1 grips the work 2 by the air chuck 20 controlled by the controller 10. Further, the chuck system 1 can convey the air chuck 20 that grips the work 2 while gripping the work 2 by the transport unit 40.
  • the work 2 is a target to be gripped and conveyed by the chuck system 1.
  • the work 2 may be a rigid body such as metal or an elastic body such as rubber.
  • the material of the work 2 it is desirable that the mechanical specifications such as Young's modulus according to the temperature are known, but this is not the case.
  • the air chuck 20 grips the work 2.
  • the air chuck 20 includes an air cylinder (moving portion) 21, a position detecting portion 22, a gripping portion (holding portion) 23, and a link mechanism 24.
  • the air cylinder 21 is an actuator that produces power.
  • the air cylinder 21 is operated by high pressure air supplied by the solenoid valve 30.
  • the air chuck 20 may include another actuator instead of the air cylinder 21. Examples of other actuators include hydraulic cylinders, robot cylinders and various motors.
  • the operation of the air cylinder 21 is not limited to linear motion, but may be rotary motion.
  • the position detection unit 22 is a sensor that detects the position of the air cylinder 21.
  • the position detection unit 22 may be built in the air cylinder 21 or may be attached to a component operated by the air cylinder 21.
  • Examples of the sensor include a sensor that detects a linear position, such as a linear encoder or a linear potentiometer. Further, a sensor that detects the rotation angle by converting the linear position into the rotation position via a belt or the like may be used.
  • the grip portion 23 is a grip mechanism operated by the link mechanism 24.
  • the link mechanism 24 is composed of a plurality of arms and pins operated by an air cylinder 21.
  • the link mechanism 24 converts the linear motion of the air cylinder 21 into the rotational motion of the arm with the pin as a fulcrum.
  • the grip portion 23 is pin-supported at the tip of the arm. Therefore, due to the linear motion of the air cylinder 21, the grip portion 23 sandwiches the work 2 from both sides.
  • the link mechanism 24 may be other than the link mechanism shown in FIG.
  • the air chuck 20 does not necessarily have to include the grip portion 23 and the link mechanism 24 described above, and is composed of a movable grip portion that moves linearly in accordance with the linear motion of the air cylinder 21 and a fixed grip portion that does not move. It may be provided with a grip portion to be operated. In this case, the movable grip portion presses the work 2 toward the fixed grip portion, so that the work 2 is gripped between the movable grip portion and the fixed grip portion.
  • the mechanism of the grip portion 23 is not limited to this, and may be configured by a wide variety of mechanisms.
  • the solenoid valve 30 is a solenoid valve that supplies high pressure air to the air cylinder 21.
  • the solenoid valve 30 may be a motor driver.
  • the transport unit 40 is an actuator that transports the air chuck 20.
  • the transport unit 40 can transport the air chuck 20 in a state where the work 2 is gripped.
  • any mechanism such as a motor and a cylinder may be adopted.
  • the temperature measuring unit 50 is a measuring instrument that measures the temperature of the work 2 or the environmental temperature.
  • the storage unit 60 stores information necessary for processing in the controller 10.
  • the storage unit 60 stores a mathematical formula or a table showing the relationship between the temperature and Young's modulus for a substance assumed to be the material of the work 2.
  • the chuck system 1 does not necessarily have to include the storage unit 60, and may be communicably connected to an external storage device that stores information necessary for processing in the controller 10.
  • the controller 10 controls the operation of the air chuck system 1.
  • the controller 10 includes a valve drive unit 11, a position acquisition unit 12, a position differentiation unit 13 (position identification unit), a contact detection unit 14, a grip detection unit 15 (holding detection unit), and a transfer command unit 16. , A temperature compensating unit 17.
  • the valve drive unit 11 outputs an operation command of the air cylinder 21 (movable part) to the solenoid valve 30 in order to operate the air chuck 20 (holding device).
  • the position acquisition unit 12 acquires the air cylinder position output from the position detection unit 22 and replaces it with a numerical value that can be processed by the controller 10.
  • the position acquisition unit 12 outputs the position of the air cylinder 21 and the time when the position is acquired to the position differentiation unit 13.
  • the position differentiation unit 13 differentiates the air cylinder position acquired from the position acquisition unit 12 and calculates the air cylinder speed and the air cylinder acceleration.
  • the position differential unit 13 outputs the air cylinder position, the air cylinder speed, and the air cylinder acceleration to the contact detection unit 14 and the grip detection unit 15.
  • the contact detection unit 14 detects when the grip portion 23 comes into contact with the work 2. Specifically, the contact detection unit 14 determines whether or not the input air cylinder acceleration (for example, the absolute value of the air cylinder acceleration) exceeds the first threshold value, and when it exceeds, the grip unit 23. Is in contact with the work 2.
  • the first threshold value is set to a value at which a change in air cylinder acceleration due to the grip portion 23 coming into contact with the work 2 can be detected.
  • the contact detection unit 14 detects that the grip unit 23 has contacted the work 2, it outputs a signal indicating that to the grip detection unit 15.
  • FIG. 6 is a graph showing the relationship between the air cylinder pressure and the air cylinder acceleration in a good state and a bad state of the air piping. The process of detecting that the grip portion 23 has come into contact with the work 2 by the contact detection unit 14 based on the air cylinder acceleration will be described with reference to FIG.
  • FIG. 6 the air cylinder pressure in a good state of the air piping is shown by a solid line, and the air cylinder acceleration is shown by a alternate long and short dash line. Further, the air cylinder pressure in a state where the air piping is defective is shown by a broken line, and the air cylinder acceleration is shown by a dotted line.
  • the horizontal axis of FIG. 6 represents time
  • the first vertical axis represents air cylinder pressure
  • the second vertical axis represents air cylinder acceleration.
  • the air cylinder acceleration is shown as a negative direction in which the grip portion 23 is directed toward the work 2.
  • a first threshold value 202 is shown for the contact detection unit 14 to detect that the grip portion 23 has come into contact with the work 2.
  • the valve drive unit 11 drives the solenoid valve 30 and supplies high-pressure air to the air cylinder 21 at time 201 regardless of whether the air piping is in a good state or a bad state. Immediately after the start of supply of high-pressure air, the air cylinder 21 does not move, and the air cylinder acceleration does not change from the vicinity of 0.
  • the air cylinder pressure will rise sharply after the high pressure air starts to be supplied. As a result, a phenomenon occurs in which the air cylinder acceleration drops in the section 211. This represents a section in which the air cylinder speed is increasing due to the start of movement of the air cylinder 21. After the end of the section, the air cylinder 21 reaches the air cylinder speed determined by the air cylinder pressure and moves toward the work 2.
  • the air cylinder acceleration exceeds the first threshold value 202 at the acceleration 213 in the section 212.
  • the air cylinder acceleration exceeds the first threshold value 202 at the acceleration 223 in the section 222.
  • the contact detection unit 14 detects that the grip unit 23 has contacted the work 2 when the air cylinder acceleration exceeds the first threshold value 202.
  • the detection that the air cylinder acceleration exceeds the first threshold value 202 is referred to as contact detection.
  • the contact detection unit 14 detects contact at the timings of acceleration 214 and acceleration 223.
  • the first threshold value 202 needs to be set in advance.
  • the first threshold value 202 is set based on an experimental value obtained by actually operating the air chuck system 1. Further, the acceleration monitoring process of the air cylinder 21 by the contact detection unit 14 is called a contact detection operation.
  • the grip detection unit 15 obtains the displacement amount of the air cylinder position with respect to the air cylinder position at the time when the signal indicating that the grip unit 23 has come into contact with the work 2 is input. This displacement amount is substantially equal to the deformation amount of the work 2 due to the gripping force applied to the work 2 from the grip portion 23. Then, when the displacement amount becomes larger than the third threshold value, it is detected that the gripping portion 23 has completed gripping the work 2. When it is detected that the gripping is completed, the gripping detection unit 15 notifies the transport command unit 16 that the gripping unit 23 has gripped the work 2. The above process by the grip detection unit 15 is referred to as a grip detection operation.
  • the third threshold value is a preset value or a value calculated by the temperature correction unit 17. When the third threshold value is set in advance, the theoretical value or the experimental value of the displacement amount of the air cylinder 21 when the gripping force by the gripping portion 23 is sufficient can be used.
  • the transport command unit 16 receives a notification from the grip detection unit 15 and outputs a transport start command to the transport unit 40.
  • the command may be issued immediately after receiving the notification from the grip detection unit 15, or the stability time may be further considered.
  • the temperature correction unit 17 calculates a third threshold value used by the grip detection unit 15 for grip detection based on the temperature output by the temperature measurement unit 50.
  • the processing in the temperature compensation unit 17 is as follows. First, the temperature correction unit 17 determines whether or not the Young's modulus of the work 2 has a large temperature dependence. As a specific example, in the chuck system 1, it is assumed that a list of materials having a large Young's modulus temperature dependence is stored in the storage unit 60 in advance. Further, when using the chuck system 1, the user shall input the material of the work 2. The temperature compensation unit 17 determines whether the input material of the work 2 is included in the list of materials having a large temperature dependence of Young's modulus.
  • the temperature compensation unit 17 When the temperature dependence of Young's modulus is large, the temperature compensation unit 17 further calculates the Young's modulus of the work 2 at the temperature measured by the temperature measuring unit 50. Further, the temperature compensating unit 17 has a deformation amount of the work 2 required to obtain the gripping force from the calculated Young's modulus and the gripping force of the gripping unit 23 when the work 2 is normally gripped. That is, the displacement amount of the air cylinder 21 is calculated. Specifically, the temperature compensation unit 17 calculates the displacement amount of the air cylinder when the gripping force is sufficient by the following equation (1).
  • D P ⁇ L / Y (1)
  • D is the displacement amount of the air cylinder 21
  • P is the magnitude (stress) of the gripping force applied to the work 2 from the gripping portion 23
  • L is the magnitude (stress) of the work 2 in the direction of the gripping force.
  • Length and Y are Young's modulus of work 2.
  • the displacement amount calculated by the equation (1) is used as the threshold value in the grip detection unit 15.
  • the grip detection unit 15 detects the grip of the work 2 using the third threshold value that changes depending on the temperature, so that a more reliable grip operation becomes possible. ..
  • the controller 10 does not necessarily have to include the temperature compensation unit 17.
  • the grip detection unit 15 detects the grip of the work 2 using the above-mentioned third preset threshold value.
  • the grip detection unit 15 may use the work 2 without correcting the third threshold value according to the temperature. Gripping can be detected accurately. In such a case, the temperature measuring unit 50 is also unnecessary.
  • the chuck system 1 may include a pressure detection unit (not shown).
  • the pressure detection unit may be a pressure sensor that detects the pressure of the high pressure air supplied to the air cylinder 21. In this case, the pressure detecting unit indirectly detects the stress from the work 2 to the gripping portion 23. Further, the pressure detection unit may be a pressure sensor installed in the grip unit 23. In this case, the pressure detection unit detects the stress from the work 2 to the grip portion 23. The detected stress may be used as an index for experimentally or quantitatively determining whether or not the gripping state is good when setting the threshold value of the gripping detection unit 15.
  • FIG. 7 is a flowchart showing the operation of the chuck system 1. An operation example of the chuck system 1 will be described with reference to FIG. 7.
  • the valve drive unit 11 drives the solenoid valve 30.
  • the air cylinder 21 operates so that the grip portion 23 comes into contact with the work 2.
  • the position acquisition unit 12 acquires the output value of the position detection unit 22 and detects it as an air cylinder position.
  • the position differentiation unit 13 differentiates the input air cylinder position twice and calculates the air cylinder speed and the air cylinder acceleration.
  • the contact detection unit 14 determines whether or not the air cylinder acceleration exceeds a predetermined first threshold value. When the air cylinder acceleration does not exceed the first threshold value (NO in S14), the contact detection unit 14 returns to S12 until the air cylinder acceleration exceeds the first threshold value, and repeats the contact detection operation. When the air cylinder acceleration exceeds the first threshold value (YES in S14), the contact detection unit 14 notifies that the grip unit 23 has detected that it has contacted the work 2, and proceeds to S15.
  • the temperature correction unit 17 determines whether or not the temperature dependence of the Young's modulus of the work 2 is large. When the temperature dependence of Young's modulus of the work 2 is small (NO in S15), the process of S16 is performed.
  • the grip detection unit 15 determines whether or not the displacement of the air cylinder position from the time of the contact detection exceeds the third threshold value. If the displacement of the air cylinder position does not exceed the third threshold value (NO in S16), S16 is repeated.
  • the grip detection unit 15 ends the grip detection operation (grip detection) and sends the transfer command unit 16. Notify the grip detection and perform the processing of S17.
  • the transport command unit 16 issues a transport command to the transport unit 40 to transport the air chuck 20.
  • the work 2 continues to be gripped by the grip portion 23.
  • the controller 10 waits for an instruction from the host device.
  • the higher-level device is a higher-level control device that controls the controller 10, and is, for example, a PLC (Programmable Logic Controller).
  • the temperature compensating unit 17 performs the processing of S18.
  • the temperature correction unit 17 measures the temperature of the work 2 or the environmental temperature by the temperature measurement unit 50, and calculates a third threshold value corrected according to the temperature.
  • the contact detection unit 14 detects that the grip unit 23 has contacted the work 2 based on the air cylinder acceleration, but this is not the case.
  • FIG. 8 is a graph showing the relationship between the air cylinder pressure and the air cylinder speed when the air piping is in a good state and in a bad state. The contact detection process of the work 2 by the air cylinder speed will be described with reference to FIG.
  • the air cylinder pressure in a good state of the air piping is shown by a solid line, and the air cylinder speed is shown by a alternate long and short dash line. Further, the air cylinder pressure in a state where the air piping is defective is shown by a broken line, and the air cylinder speed is shown by a dotted line.
  • the horizontal axis of FIG. 8 is time, the first vertical axis represents the air cylinder pressure, and the second vertical axis represents the air cylinder speed. Further, the air cylinder speed indicates the direction in which the grip portion 23 is directed toward the work 2 as positive. Further, a second threshold value 302 for the air cylinder speed is shown on the second vertical axis.
  • the solenoid valve 30 is driven to supply high-pressure air to the air cylinder 21.
  • the timing to start supplying high-pressure air is the same when the air piping is in good condition and in bad condition.
  • Sections 311 and 321 show sections from the start of movement of the air cylinder 21 by the high-pressure air supplied from the solenoid valve 30 to the air cylinder 21 until the air cylinder 21 comes into contact with the work 2.
  • the air cylinder speed (for example, the absolute value of the air cylinder speed) once exceeds the second threshold value 302, and then the second threshold value is reached.
  • Contact detection may be performed when the size becomes smaller than 302.
  • the grip portion 23 is not limited to the shape of sandwiching the work 2 described above from both sides.
  • a mechanism for holding the work 2 can be considered by inserting a member composed of a pair of protrusions into the hole, expanding the protrusion, and bringing the protrusion into contact with the inner surface of the hole.
  • the controller 10 can detect the contact of the grip portion 23 with the work 2 by using the air cylinder speed and the air cylinder acceleration obtained by differentiating the air cylinder position twice. Further, the controller 10 can detect whether the grip portion 23 is gripping the work 2 with a sufficient grip force by monitoring the amount of displacement after the grip portion 23 comes into contact with the work 2. By gripping the work 2 with a sufficient gripping force, the chuck system 1 can convey the work 2 without causing a gripping defect such as a drop of the work 2.
  • the air chuck was able to grip the work when the stable time elapsed after the reed switch reacted.
  • the stabilization time was determined so that the work could be gripped with sufficient gripping force even when the air piping was in a poor state. Therefore, in a good state of the air piping, even though the work 2 is actually gripped with a sufficient gripping force before the stabilization time elapses, it waits until the stabilization time elapses. It was supposed to be. That is, wasted time was generated when the air piping was in good condition.
  • gripping with a sufficient gripping force can be detected by monitoring the displacement after the contact detection. Therefore, since it is possible to detect the timing at which gripping is actually possible, which was difficult with the prior art, it is possible to transport the work without extra waiting time. That is, it becomes possible to start the transportation without wasting time after the gripping is completed.
  • the control block of the controller 10 (particularly the valve drive unit 11, the position acquisition unit 12, the position differentiation unit 13, the contact detection unit 14, the grip detection unit 15, the transfer command unit 16, and the temperature compensation unit 17) is an integrated circuit (IC). It may be realized by a logic circuit (hardware) formed in a chip) or the like, or it may be realized by software.
  • the controller 10 includes a computer that executes a program instruction, which is software that realizes each function.
  • the computer includes, for example, one or more processors and a computer-readable recording medium that stores the program. Then, in the computer, the processor reads the program from the recording medium and executes the program, thereby achieving the object of the present invention.
  • the processor for example, a CPU (Central Processing Unit) can be used.
  • the recording medium in addition to a “non-temporary tangible medium” such as a ROM (Read Only Memory), a tape, a disk, a card, a semiconductor memory, a programmable logic circuit, or the like can be used.
  • a RAM RandomAccessMemory
  • the program may be supplied to the computer via any transmission medium (communication network, broadcast wave, etc.) capable of transmitting the program. It should be noted that one aspect of the present invention can also be realized in the form of a data signal embedded in a carrier wave, in which the above program is embodied by electronic transmission.
  • the controller is a controller that controls a holding device having a movable portion and a holding portion for holding a work by the operation of the movable portion.
  • the position acquisition unit that acquires the position of the position, the position identification unit that specifies the speed or acceleration of the movable portion using the position, and the holding unit that the holding portion abuts on the work due to the speed or acceleration. It includes a contact detection unit for detecting, and a holding detection unit for detecting that the holding unit holds the work from the displacement of the movable portion after the contact.
  • the contact detection unit can detect that the holding unit has come into contact with the work by monitoring the acceleration or speed of the movable part. Further, the holding detection unit monitors the displacement of the movable portion after the holding portion comes into contact with the work, so that the controller can detect the holding of the work. Therefore, the controller can prevent the work from being held poorly by the holding portion.
  • the contact detection unit may detect contact with the work by the holding unit when the acceleration exceeds the first threshold value.
  • the holding portion is in contact with the work on condition that the acceleration of the moving portion becomes equal to or higher than the first threshold value. Therefore, by monitoring the acceleration of the movable portion, the contact with the work can be detected with high accuracy.
  • the contact detection unit may detect contact with the work by the holding unit when the speed exceeds the second threshold value once and then becomes smaller than the second threshold value.
  • the holding portion has come into contact with the work, provided that the speed of the movable portion once exceeds the second threshold value and then falls below the second threshold value again.
  • the work is an elastic object, sufficient deceleration (acceleration) cannot be obtained due to the elasticity, and even if the work decelerates gently, the contact is made with high accuracy in order to monitor the speed. It can be detected.
  • the holding detection unit may detect that the holding unit holds the work when the displacement amount of the movable portion after the contact becomes larger than the third threshold value.
  • the holding detection unit detects the holding of the work by the holding portion on condition that the displacement amount of the movable portion after the holding portion comes into contact with the work becomes larger than the third threshold value. .. Therefore, the controller can prevent the work from being held poorly by the holding portion.
  • the controller may further include a temperature compensating unit that measures the temperature of the work or the environmental temperature and corrects the third threshold value according to the temperature.
  • the controller further includes a transport command unit that commands the transport unit that moves the holding device to move the holding device after the holding detection unit detects that the holding unit holds the work. May be good.
  • the control method of the controller is a controller for controlling a holding device having a movable portion, a holding portion for holding the work by the operation of the movable portion, and the like.
  • a position acquisition step for acquiring the position of the movable portion, a position specifying step for specifying the speed or acceleration of the movable portion using the position, and the holding portion abutting on the work due to the speed or the acceleration. It includes a contact detection step for detecting that the work has been made, and a holding detection step for detecting that the holding portion holds the work from the displacement of the movable portion after the contact.
  • the controller according to each aspect of the present invention may be realized by a computer, and in this case, the controller that realizes the controller by the computer by operating the computer as each part (software element) included in the controller.
  • Contact detection programs, controller retention detection programs, and computer-readable recording media on which they are recorded also fall within the scope of the invention.

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

L'invention concerne un contrôleur apte à empêcher une défaillance de préhension dans un système de mandrin pneumatique. Le contrôleur (10) selon l'invention comprend : une unité de détection de contact (14) destinée à détecter, à partir de la vitesse ou de l'accélération d'un vérin pneumatique (21) de mandrin pneumatique (20), qu'une partie de préhension (23) vient en contact avec une pièce à travailler ; et une unité de détection de préhension (15) destinée à détecter, à partir du déplacement du vérin pneumatique après le contact, que la partie de préhension tient bien la pièce à travailler.
PCT/JP2021/008706 2020-11-20 2021-03-05 Contrôleur, procédé de commande pour contrôleur, programme de commande et support d'enregistrement WO2022107348A1 (fr)

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JP2020-193746 2020-11-20
JP2020193746A JP2022082275A (ja) 2020-11-20 2020-11-20 コントローラ、コントローラの制御方法、制御プログラム、および記録媒体

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Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS6071183A (ja) * 1983-09-29 1985-04-23 三洋機工株式会社 ワ−ク把持機構の接触点検出方法
JPH0655474A (ja) * 1992-08-08 1994-03-01 Daihen Corp マテハンロボットのワーク把持制御方法
JPH10217172A (ja) * 1997-01-30 1998-08-18 Kubota Corp ロボットハンド
JP2011131340A (ja) * 2009-12-25 2011-07-07 Kaneka Corp ハンド装置

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS6071183A (ja) * 1983-09-29 1985-04-23 三洋機工株式会社 ワ−ク把持機構の接触点検出方法
JPH0655474A (ja) * 1992-08-08 1994-03-01 Daihen Corp マテハンロボットのワーク把持制御方法
JPH10217172A (ja) * 1997-01-30 1998-08-18 Kubota Corp ロボットハンド
JP2011131340A (ja) * 2009-12-25 2011-07-07 Kaneka Corp ハンド装置

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