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Work picking system

A technology for workpieces and multi-axis robots, applied in general control systems, control/adjustment systems, manufacturing tools, etc., can solve problems such as complex operations, difficult operations, and changes in clamping postures of multi-axis robots

Inactive Publication Date: 2015-04-22
YASKAWA DENKI KK
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] However, the above-mentioned conventional workpiece pick-up system has the problem that the gripping posture of the workpiece gripped by the hand varies.
Therefore, it is difficult for conventional workpiece picking systems to perform operations after picking operations
[0006] For example, when the clamping posture of the workpiece held by the hand changes, the posture of the hand itself needs to be changed to change the posture of the workpiece to a predetermined posture, thus complicating the operation of the multi-axis robot

Method used

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Experimental program
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Embodiment Construction

[0022] Hereinafter, the embodiment in the case where the three-dimensional measuring instrument is provided to be fixed separately from the multi-axis robot is referred to as the first embodiment and the embodiment in the case where the three-dimensional measuring instrument is provided in the multi-axis robot is referred to as the second embodiment. way is explained.

[0023] First, refer to figure 1 The workpiece pickup method according to the first embodiment will be described. figure 1 is an explanatory diagram of the workpiece pickup method according to the first embodiment. In the following, a case where the workpiece 100 to be the clamping target is a bolt is explained, however, the type of the workpiece 100 is not limited thereto. For example, workpiece 100 may be a nut or an electronic component.

[0024] figure 1 A case where the measurement direction of the three-dimensional measuring instrument is vertically downward (hereinafter, described as a vertical direct...

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Abstract

A work picking system (1) according to embodiments includes a three-dimensional measuring unit (10), a hand (20), a calculating unit (41b), a determining unit (41c), and an instructing unit (41d). The three-dimensional measuring unit (10) measures a three-dimensional shape of a work (100) that is a gripping target. The hand (20) is provided on a terminal movable unit (31) of a multi-axis robot (30) and includes a mechanism that changes a distance between gripping claws (24) and a mechanism that changes a tip end direction of the gripping claws. The determining unit (41c) determines a tip end direction of the gripping claws (24) based on the attitude of the work (100) calculated by the calculating unit (41b) and a direction of a rotation axis (AXt) of the terminal movable unit (31).

Description

technical field [0001] Embodiments discussed herein relate to workpiece picking systems. Background technique [0002] Conventionally, there is known a workpiece picking system that performs an operation of gripping and moving randomly stacked workpieces, ie, a picking operation, via a hand provided on a terminal movable unit of a multi-axis robot. [0003] The workpiece picking system determines a workpiece to be clamped next by measuring each position of the workpiece with a two-dimensional measuring instrument or a three-dimensional measuring instrument and instructs the multi-axis robot to clamp the determined workpiece. Next, the multi-axis robot transfers the clamped workpiece to the predetermined position. [0004] Examples of documents related to the above conventional technology include Japanese Patent Application Laid-Open No. 2010-120141. [0005] However, the above-mentioned conventional workpiece pick-up system has a problem that the gripping posture of the wo...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/08B25J13/08B25J15/02
CPCB25J9/1682B25J15/0004G05B2219/39488B25J9/1697B25J9/1612G05B2219/40053B25J13/08G05B2219/39476B25J15/0028G05B2219/39465G05B2219/39543
Inventor 村山卓也后藤纯小笠原伸二
Owner YASKAWA DENKI KK