Articles transfer device

A technology for handling devices and objects, which is applied in the direction of object destacking, transportation and packaging, object stacking, etc., which can solve the problems of increasing assembly workpieces and increasing product production costs

Inactive Publication Date: 2004-04-07
FANUC LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, it is necessary to prepare a large number of manipulators designed for clamping various objects and brackets for placing the manipulators, so that the assembly workpiece is increased and the production cost of the product is increased.

Method used

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  • Articles transfer device
  • Articles transfer device
  • Articles transfer device

Examples

Experimental program
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Embodiment Construction

[0016] First, with reference to Figures 1 and 2, the overall structure of an object handling device according to an embodiment of the present invention will be described.

[0017] As shown in FIG. 1 , the articles W placed on the pallet 21 and stored in the automatic rack 20 are supplied to the article supply location through the conveyor 22 along with the pallet 21 . The first robot 10b is disposed at a position where its operating range can cover a workpiece supply site and an installation site of a machine 30 such as a machine tool. The first robot 10 b clamps the object W through a robot hand 11 attached to the wrist, removes the object W from the pallet 21 , and transfers the clamped object W to the object fixing and clamping device 31 of the machine 30 .

[0018] The first visual sensor 23, as a first detecting means for detecting the position / direction of the supplied article W, is provided near the article supply location. The first vision sensor 23 may be a two-dimen...

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PUM

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Abstract

An object handling apparatus capable of securely holding an object and precisely transferring the held object from a first place to a second place without need of a specific jig for positioning the object on a pallet. A position of an object supplied to the first place is detected by a first visual sensor to obtain a compensation amount for compensating a position displacement of the supplied object. The object is held by a robot hand having position / orientation compensated using the compensation amount and position / orientation of the object held by the robot hand relative to the robot hand is detected by a second visual sensor. A displacement of the position / orientation of the object held by the robot hand from a reference position / orientation is compensated based on the detected position / orientation of the object on the robot hand, so that the object held by the robot hand is precisely moved to have a predetermined position / orientation to be transferred to the second place. The robot hand may be a servo hand having fingers driven by one or more servomotors so that position and force of the fingers in holding the object is controlled.

Description

technical field [0001] The present invention relates to an article carrying apparatus which carries articles such as workpieces by using a robot to transfer the objects from one place to another. Background technique [0002] In order to automate workpiece processing, parts assembly, etc., a robot is used as a device to transfer objects such as workpieces and parts from one process to the next. In the case where the next process is to process an object with a machine such as a machine tool, it is necessary to precisely position the object in a predetermined position / orientation so that the fixed clamping device of the machine tool can hold the object. Similarly, in the case of assembling parts, there is also a need to precisely position the object held by the robot so that it is in a predetermined position / orientation for transfer from one process to the next. [0003] In order to meet the above requirements, conventionally, articles are fed from pallets with positioning de...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J13/08B25J9/10B25J9/16B25J9/18
CPCG05B2219/39533G05B2219/40583B25J9/1697B25J9/10
Inventor 渡边淳大塚和久小田胜铃木忠则
Owner FANUC LTD
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