JPH0480797B2 - - Google Patents

Description

[Detailed Description of the Invention] [Industrial Application Field] The present invention relates to a hand device for an industrial robot, and particularly to a device for conveying workpieces of different shapes using a suction hand having a large number of pads in the case of a pneumatic type. be.

[Conventional technology]

FIG. 4 is a front view showing an example of an industrial robot having a conventional suction hand. In the figure, 1
2 is a swing drive unit, 2 is a column driven by the swing drive unit 1, 3 is a boom supported by this column 2 and moves up and down while sliding on the circumferential surface, 4 is supported by this boom 3 and moves left and right. A moving arm, 5, a rotation drive unit provided at the tip of this arm, 6
7 is a rotation shaft driven by the rotation drive unit 5; 7 is a suction hand provided at the tip of the rotation shaft 6;
A is a plurality of pads provided on this suction hand 7. 8 is a work, and 9 is a work table on which the work 8 is placed.

In the conventional industrial robot configured as described above, for example, the work 8 placed on the work table 9 is transferred to another station by commands from a control unit (not shown). The boom 3 is lowered and stopped at the position where the pads 7a of the suction hand 7 touch the workpiece 8. At the same time, the pad 7a attracts the workpiece 8 according to a command from the control section, and the column 2 is rotated by the rotation drive section 1 to a predetermined station. In this case, if the positions of the destination stations are not on the same radius, the arm 4 will expand and contract, and if the positioning direction of the workpiece 8 at the destination station is to be corrected, the arm 4 will be rotated by the rotation drive unit 5. The shaft 6 and suction hand 7 rotate to change their direction by a predetermined angle.

Following the above-described operation based on the command from the control unit, the suction of the pads 7a group of the suction hand 7 is canceled, for example, in the case of a pneumatic type, the negative pressure inside the pads 7a is released based on the command from the control unit. , work 8
After the pad 7a is removed from the suction hand 4, the boom 3 is slightly raised, the column 2 and the arm 4 are rotated by the rotation drive section 1, and the suction hand 4 is returned to its original position.

By repeating the above operations, a predetermined transporting operation of the workpiece 8 is repeatedly performed.

[Problem that the invention seeks to solve]

In the above-mentioned conventional conveyance device using an industrial robot, all of the plurality of pads 7a provided on the suction hand 7 perform suction or suction release operations at the same time according to commands from the control unit. For example, in the case of a pneumatic suction hand, if the suction hand 7 is larger than the workpiece 8, some pads 7a may come off from the surface of the workpiece 8.
Even if you try to apply negative pressure to all the pads 7a, the outside air will be sucked in from the pads 7a that have come off the surface of the workpiece 8, so depending on the capacity of the negative pressure generator, you may not be able to obtain the desired adsorption force. . For this reason, a problem arises in that a large number of suction hands 7 matching the size or shape of the workpiece 8 must be provided, and the suction hands 7 must be replaced each time according to the workpiece 8.

The present invention was made to solve this problem, and provides an industrial robot device that can pick up and transport workpieces 8 of various sizes and shapes using one type of suction hand 7. The purpose is to

[Means for solving problems]

The conveyance device for an industrial robot according to the present invention includes:
Addresses are given to each of the many suction elements provided on the suction hand, and only those that come into contact with the workpiece surface are programmed in advance to perform suction and suction release operations.

[Effect]

Since only the suction element in contact with the work surface performs the suction operation, for example, in the case of the pneumatic type, there is no suction of excess outside air, so the negative pressure inside the pad does not decrease. In addition, in the case of electromagnetic type, power is not supplied to electromagnets that are not in contact with the work surface, so
No unnecessary power consumption.

〔Example〕

1 and 2 are diagrams showing a hand device for an industrial robot according to an embodiment of the present invention,
Figure 1 is a front view and a side view showing the suction hand;
FIG. 2 is a block diagram showing the control system of this suction hand. In Fig. 1, 7 is a suction hand;
a is a plurality of pads provided on this suction hand 7, for example, as shown in the figure, pads A to D in a vertical series;
A total of 16 pads 7a in horizontal series 1 to 4 are fixed to the main body of the suction hand 7, for example, in a matrix shape at equal intervals, and each pad 7a is connected to a tube 7b.
It is connected to a suction cup drive device (not shown). Next, in FIG. 2, 11 is work type information, 12
13 is an I/O port, 13 is a CPU, 14 is a robot control device that operates according to commands from the I/O port 12, 15 is a robot drive device that is driven by the output of this robot control device, and 16 is an I/O port 12. A suction hand control device that operates according to the command of
Reference numeral 17 denotes a suction hand drive device driven by the output of this suction hand control device, and is designed to be able to drive each pad 7a in FIG. 1 independently in response to commands from the I/O port 12.

In the hand device for an industrial robot according to the present invention configured as described above, for example, the hand device for the industrial robot according to the workpiece type information 11 selected in advance according to the size or shape of the workpiece 8 in FIG. In the case of figure A in Figure 3, information about the workpiece 8 surrounded by a dashed dotted line is input to the I/O port 12, and the calculation result by the CPU 13 is sent to the I/O port 12 according to this input signal.
and gives a command to the suction hand control device 16. Based on this command, negative pressure is applied only to the pads 7a of tubes 7b connected to the suction hand drive device 17, B2, B3, C2, and C3 indicated by black dots, or this negative pressure is It is now possible to cancel the In this case, the suction hand drive device 17 operates at the position where the part 7a and the workpiece 8 are in contact with each other in synchronization with the operation command for the arm 4 in FIG. This is carried out at the transport position of the workpiece 8 (the arm 4 and the workpiece 8 are not shown in FIG. 1).

Hereafter, in the same way as above, in the case of Figure A, A1 to A
4, 16 pads 7a of B1-B4, C1-C4, D1-4, A2, A3, B2,
8 pads 7: B3, C2, C3, D2, D3
a, in the case of diagram E, B2, B3, C1, C2, C
Six pads 7a, No. 3 and C4, are activated.

Although the above embodiment has been described with respect to a pneumatic suction hand, a suction hand equipped with a group of electromagnets as a suction element may also be used, and the same effects as in the above embodiment can be obtained.

〔Effect of the invention〕

According to the present invention, only the suction element corresponding to the workpiece surface is automatically selected and operated from among the plurality of suction elements on the base surface of the suction hand based on the shape information inputted in advance by the type information input means. A hand device was constructed to do this. As a result, the workpiece can be reliably attracted with a simple configuration, and waste of pressure from the pressure source and power supply can be eliminated. It is also possible to provide a hand device for an industrial robot that can transport various workpieces of different sizes and shapes using only one type of hand and with simple operation.

[Brief explanation of the drawing]

Figures 1a and b are front and side views showing a suction hand according to an embodiment of the present invention, Figure 2 is a block diagram showing a control system for suction driving, and Figure 3 is a diagram showing a suction hand according to an embodiment of the present invention. An explanatory diagram showing an example of the suction element to be operated, and FIG. 4 is a front view showing the configuration of an industrial robot equipped with a suction hand. In the figure, 7 is a suction hand, 7a is a pad,
8 is work. Note that the same reference numerals in the figures indicate the same or corresponding parts.

Claims (1)

[Claims] 1. A robot control device that drives a robot drive device via an I/O port according to instructions from a CPU;
A hand device for an industrial robot comprising a suction hand control device that drives a suction hand drive device via an I/O port in accordance with instructions from the CPU in synchronization with the robot control device, wherein Shape information selected from a plurality of adsorption elements provided in a matrix and individually assigned addresses and a plurality of type information for each shape of the workpiece corresponding to the addresses assigned to the adsorption elements is transferred to the I/O type information input means is provided, and based on the shape information inputted by the type information input means, the suction hand drive device performs the suction according to the shape of the workpiece via the I/O port in response to a command from the CPU. An industrial robot hand device characterized by automatically selecting and operating elements.