JP2021016886A - Robot end effector and method for determining action attitude and action position of end effector - Google Patents

Abstract

To provide a robot end effector usable for a die cast machine, in a conveniently situated and extremely safe place sufficiently separated from a high-temperature die heated by a molten metal by casting, capable of determining the action attitude and action position of an end effector by operating a teaching pendant.SOLUTION: An end effector 3 for a robot 2 used for a die casting machine, in an action position at which the end effector 3 forms an action attitude, comprises an action part as a part for an action, an angle sensor 11 for confirming the attitude of the end effector 3 and a distance sensor 12 for measuring a distance from a die. On the outside of the die, by operating a teaching pendant 6, the action attitude and action position of the end effector 3 can be determined.SELECTED DRAWING: Figure 1

Description

The present invention relates to a robot end effector for use in a die casting machine, and a method for determining an action posture and an action position of the end effector.

The robot used for the die casting machine has an end effector attached to the tip of the arm. This end effector includes a take-out hand part for taking out the product from the mold, an insert hand part for inserting an insertion part into the mold, and a mold release agent for spraying the mold release agent. Those including the spray nozzle portion of the above, and those including both the take-out hand portion and the insert hand portion are known. The take-out hand portion, insert hand portion, spray nozzle portion, and the like may be referred to as an "acting portion".

Among the teachings of the robot, the mold matching work of the robot for determining the operation of the robot end effector with respect to the mold will be described.

In the mold matching work of the robot, first, the simulation operation is obtained by programming the operation of the end effector on the desk using simulation software. Next, the work of correcting the simulation operation is performed so as to match the actual mold. Correction of simulation motion is a necessary work caused by installation errors when installing the robot on the upper surface of some pedestal that is not necessarily a horizontal surface plate, and assembly errors when attaching the end effector to the tip of the robot arm. ..

The correction of the conventional simulation operation is performed by approaching a place where the operation of the end effector can be visually confirmed, and operating the teaching pendant so as to match the actual mold while visually confirming the operation of the end effector. Among the corrections for the simulation operation, the action part such as the take-out hand part and the insert hand part grips the product, the insert part, etc. (hereinafter, may be referred to as an "object of action"). , The posture of the end effector (hereinafter, also referred to as "acting posture") and the position of the end effector (hereinafter, also referred to as "acting motion") when performing an operation such as inserting an insert part (hereinafter, also referred to as "acting motion"). Hereinafter, it may be referred to as "action position"), which is one of the important tasks.

To determine the action posture and action position of the end effector, set a leveling device on the end effector to match the posture of the end effector with respect to the mold installed by adjusting horizontally, and the posture of the end effector. The end effector is placed in a horizontal position, and the teaching pendant is operated while visually checking the object of action and the mold. Through such work, by determining the action posture and the action position of the end effector, the action part of the end effector can perform the action operation accurately.

By the way, in Patent Document 1 shown below, a displacement sensor is arranged on the hand portion of the robot when the insert component is inserted at a predetermined position in the mold and then the resin is injected to perform insert molding. The displacement sensor detects the insertion state of the insert component into the insert component, and by emitting laser light, the displacement sensor detects whether the insert component is inserted or not, or the deformation of the insert component at multiple locations of the insert component. The insert detection method and the device described in the above are disclosed.

Japanese Unexamined Patent Publication No. 2000-238043

However, in determining the action posture and the action position of the end effector, which is the correction of the simulation operation in the above-mentioned conventional robot mold matching work, when the level device is set on the end effector and the posture of the end effector is adjusted. In addition, when visually checking the object of action or the mold, it is necessary to approach the high-temperature mold heated by the molten metal by casting, and the foothold is poor, which is extremely dangerous. there were.

On the other hand, according to the insert detection method and device described in Patent Document 1, when the robot is installed on the upper surface of some frame other than the horizontal platen, not only the influence of the assembly error of the end effector but also the installation of the robot Since there is also the influence of error, if the simulation operation obtained by programming using simulation software is applied as it is without correction, the presence or absence of insertion of the insert part or the deformation of the insert part will be detected for the insert part. There was a problem that it became difficult to do it at multiple locations.

The present invention has been made to solve the above problems, and the teaching pendant is operated in an extremely safe place with a good foothold, sufficiently away from the high temperature mold heated by the molten metal by casting. It is an object of the present invention to provide a robot end effector for use in a die casting machine capable of determining the action posture and the action position of the end effector.

The invention according to claim 1
A robot end effector for use in die casting machines
The action part, which is the part where the end effector acts in the action position and acts,
An angle sensor for confirming the posture of the end effector and
A distance sensor for measuring the distance from the mold,
With
The present invention relates to a robot end effector capable of determining the action posture and the action position of the end effector by operating the teaching pendant outside the mold.

The invention according to claim 2
The robot end effector according to claim 1, wherein the working portion includes a take-out hand portion for taking out a product from the mold.

The invention according to claim 3
The robot end effector according to claim 1 or 2, wherein the working portion includes an insert hand portion for inserting an insertion component into the mold.

The invention according to claim 4
The robot end effector according to any one of claims 1 to 3, wherein the action portion includes a spray nozzle portion for spraying a mold release agent toward the mold.

The invention according to claim 5
It is a method of determining the action posture and action position of the end effector in a robot for use in a die casting machine.
The end effector is
The action part, which is the part where the end effector acts in the action position and acts,
An angle sensor for confirming the posture of the end effector and
A distance sensor for measuring the distance from the mold,
With
When the simulation operation of the end effector, which has been determined by programming using simulation software, is corrected to fit the mold by operating the teaching pendant.
An end effector action posture adjusting step of adjusting the posture of the end effector with respect to the mold by using the angle sensor, and
An end effector position information acquisition step of acquiring the position information of the end effector using the distance sensor, and
A work coordinate system definition process that defines a work coordinate system to be set for the mold using the position information, and
The end effector origin movement step of moving the end effector from the end effector posture adjustment position to the origin of the work coordinate system, and
An end effector action position moving step of moving the end effector from the origin of the work coordinate system to the action position,
Including
By operating the teaching pendant outside the mold, it is possible to match the posture of the end effector with a predetermined target action posture and to match the position of the end effector with a predetermined target action position. Regarding the method of determining the action posture and action position of the end effector.

According to the present invention, the working posture and the working position of the end effector can be determined by operating the teaching pendant in an extremely safe place with a good foothold, sufficiently away from the high temperature mold heated by the molten metal by casting. Since it is possible to provide a robot end effector for use in a die casting machine that can be determined, there is an effect that dangerous work can be avoided.

It is a block diagram of the robot system which concerns on 1st Embodiment of this invention. It is a flowchart of the teaching work of the end effector provided with the insert hand part.

Hereinafter, a robot end effector for use in the die casting machine according to the present invention and a method for determining the action posture and action position of the end effector will be described in detail with reference to the drawings with reference to suitable embodiments.

<First Embodiment>
Hereinafter, the first embodiment of the present invention will be described with reference to the drawings.

As shown in FIG. 1, the robot system 1 is composed of a robot 2, an end effector 3, a robot control panel 4, an interface panel 5, and a teaching pendant 6. The robot 2 is a vertical articulated industrial robot having 6 axes. The end effector 3 includes a take-out hand portion 3A and an insert hand portion 3B. The take-out hand unit 3A is used when taking out the product from the mold. The insert hand portion 3B is used when inserting the insert component into the mold. The teaching pendant 6 is a portable device used for teaching the robot 2, and is an input / operation device for creating a program and teaching work.

Robot 2 illustrates a vertical articulated industrial robot with 6 axes, but if applied to a die casting machine and the robot system 1 can perform its function, another type of known An industrial robot may be adopted. For example, a vertical articulated industrial robot having 7 axes, a horizontal articulated industrial robot having 4 axes, an orthogonal industrial robot having 3 axes, and the like can be adopted.

As shown in FIG. 1, the end effector 3 is a device attached to the arm tip 7 of the robot 2, and can be replaced with various types depending on the application of the robot system 1. The end effector 3 is a type of end effector 3 having a take-out hand portion 3A and an insert hand portion 3B that can be used for both take-out and insert. However, various types of ends are shown depending on the application of the robot system 1. It is possible to change to an effector. That is, a type of end effector having each of the take-out hand part, the insert hand part, and the spray nozzle part as a single unit, or a combination of two or three types of the take-out hand part, the insert hand part, and the spray nozzle part. It is possible to apply the type of end effector provided. As described above, the working unit can be freely selected from three types, the take-out hand unit, the insert hand unit, and the spray nozzle unit, depending on the application of the robot system 1.

An angle sensor 11 and a distance sensor 12 are installed in the end effector 3. The angle sensor 11 is a three-axis angle sensor capable of measuring a three-dimensional angle of a moving object. The distance sensor 12 is a laser sensor capable of visually confirming which distance is being measured.

The angle sensor 11 can be installed on the end effector 3 and is suitable for the usage environment, and any kind of angle sensor can be adopted as long as it is a 3-axis angle sensor. is there. For example, as the angle sensor, a tilt sensor, an acceleration sensor, a gyro sensor, or the like can be adopted. The angle sensor 11 is installed to confirm the posture of the end effector 3.

The distance sensor 12 is a laser sensor that can be installed on the end effector 3, is suitable for the usage environment, and can visually confirm where the distance is being measured. , Any kind of distance sensor can be adopted. For example, as the distance sensor, a triangulation type laser sensor, a time measurement type laser sensor, or the like can be adopted. The distance sensor 12 is installed to measure the distance from the mold (fixed mold or movable mold).

The angle sensor 11 and the distance sensor 12 are connected to the robot control panel 4 via the interface panel 5. That is, the measured values detected by the angle sensor 11 and the distance sensor 12 are taken into the robot control panel 4 and displayed on the screen of the teaching pendant 6.

The end effector 3 has a rectangular parallelepiped block-shaped member in which a take-out hand portion 3A, an insert hand portion 3B, an angle sensor 11, and a distance sensor 12 are arranged as shown in FIG. With this arrangement, the end effector 3 can be miniaturized, and a suitable configuration is provided in order to avoid interference with peripheral parts due to the operation of the end effector 3. The configuration of the end effector 3 in FIG. 1 is an example, and the ejecting hand portion 3A, the insert hand portion 3B, the spray nozzle portion (not shown), the angle sensor 11, the distance sensor 12, etc., which are arranged, have their respective functions. It doesn't matter which one is placed anywhere as long as it can be demonstrated. Further, the shape of the block-shaped member forming a rectangular parallelepiped of the end effector 3 is also an example, and the take-out hand portion 3A, the insert hand portion 3B, the spray nozzle portion (not shown), the angle sensor 11, and the distance to be arranged are also examples. Any shape may be used as long as the sensor 12 and the like can exhibit their respective functions.

FIG. 2 shows a flowchart of a teaching operation of an end effector provided with an insert hand portion.

In step S101, a 3D model is created using 3D-CAD. The 3D model is required when examining the operation of the end effector 3 using simulation software. The 3D model to be created is an end effector 3 (including components such as an arrangement hand portion 3A, an insert hand portion 3B, an angle sensor 11, and a distance sensor 12), and components existing around the end effector 3. is there. The purpose of creating a 3D model of the parts existing around the end effector 3 is to confirm the interference caused by the operation of the end effector 3. Parts existing around the end effector 3 include a fixed mold, a movable mold, a fixed platen, a movable platen, a platen frame, a safety door, etc., and are appropriately created in consideration of the operating range of the end effector 3. You just have to decide which 3D model to use. The 3D-CAD can be used in any 3D-CAD as long as the created 3D model can be incorporated into the simulation software.

In step S102, the simulation operation of the end effector is determined. The simulation operation is determined by incorporating the 3D model created in step S101 into the simulation software, and using the simulation software, considering that the end effector 3 does not interfere with the surrounding parts. By confirming the simulation operation of the end effector, the robot program will be created. The simulation software provided by the robot manufacturer will be used. As for the 3D model of the robot, the one prepared by the robot maker is used.

In step S103, the robot is started up. When starting up the robot, check for errors when the power is turned on, adjust to a state where there are no errors, and then check the basic operation. The confirmation of the basic operation is carried out by operating the teaching pendant 6. Other confirmations when starting up the robot may be performed according to the contents described in the instruction manual of the robot manufacturer.

The terms in the specification will be described below. As used herein, "in-mold" means the space between a fixed platen (including mounting parts such as a platen frame) and a movable platen (including mounting parts such as a platen frame). Further, in the present specification, "outside the mold" means a space outside the outer peripheral portion of the die casting machine main body (including a safety door, a safety fence, etc.).

In step S104, the first out-of-mold operation of the end effector is determined. The first out-of-mold operation is the operation of the end effector 3 from the end effector original position that can be arbitrarily set to the end effector posture adjustment position that can be arbitrarily set. The original position of the end effector is set to an arbitrary position outside the mold before receiving the insert part from the insert feeder. For example, an arbitrary position of the end effector 3 immediately before receiving the inserted component from the insert supply device can be set as the end effector original position. The end effector posture adjustment position is set to an arbitrary position outside the mold after receiving the insert component from the insert feeder. For example, with the end effector 3 holding the inserted component, an arbitrary position of the end effector 3 immediately before entering the mold can be set as the end effector posture adjustment position.

When determining the first out-of-mold operation of the end effector 3, the end effector 3 is operated according to the simulation operation of the end effector 3 determined in step S102, and there are problems such as interference with surrounding parts and useless operation. For example, by operating the teaching pendant 6, the simulation motion is corrected and the optimum motion is determined.

From step S105 to the determination of the in-mold operation of the end effector in step S111, the simulation operation of the end effector 3 determined by programming using simulation software is fixed by operating the teaching pendant 6. It is a process of making corrections to match the mold or movable mold).

In step S105, the posture of the end effector is adjusted (end effector action posture adjusting step). The posture of the end effector 3 is adjusted by using the angle sensor 11 at the end effector posture adjustment position. The measured value detected by the angle sensor 11 is displayed on the screen of the teaching pendant 6. Therefore, the end effector 3 is operated by operating the teaching pendant 6 while visually confirming the measured value of the angle sensor 11 displayed on the screen of the teaching pendant 6 in real time. Then, the measured value of the angle sensor 11 is adjusted so that the posture of the end effector 3 is horizontal and parallel to the mold. As a result, the posture of the end effector 3 can be adjusted horizontally and parallel to the mold. If it is difficult to adjust the posture of the end effector 3 in parallel with the mold simply by adjusting the measured value of the angle sensor 11, the measured value of the distance sensor 12 is also used in the mold. It may be adjusted in parallel with.

Here, the mold is mounted horizontally and vertically using a spirit level or the like. Therefore, in the end effector action posture adjusting step, the posture of the end effector 3 can be adjusted with respect to the mold. The purpose of adjusting the posture of the end effector is to adjust the posture of the end effector 3 so that the insert part can be accurately inserted into the mold by the insert hand portion 3B.

Step S105 is a step of adjusting the posture of the end effector 3 to the acting posture, and by operating the teaching pendant 6, the posture of the end effector 3 is changed to a predetermined target acting posture (horizontal and with respect to the mold). It is possible to match (parallel).

In step S106, the position information of the end effector is acquired (end effector position information acquisition step). The position information of the end effector 3 is acquired by using the distance sensor 12 at the position in the mold of the end effector 3. The measured value detected by the distance sensor 12 is displayed on the screen of the teaching pendant 6. Since the laser irradiation point, which is one point of the mold to which the laser of the distance sensor 12 is applied, is determined by using the drawing of the mold on the desk, the two-dimensional position of the laser irradiation point is determined by reading the drawing. The laser irradiation point of the mold may be marked, if necessary.

Then, the laser of the distance sensor 12 is applied to the laser irradiation point, and the measured value of the distance sensor 12 displayed on the screen of the teaching pendant 6 is visually confirmed in real time. As a result, the three-dimensional position of the end effector 3 is fixed. Therefore, it is possible to acquire the position information of the end effector. The acquired position information is input and saved by operating the teaching pendant 6. The purpose of acquiring the position information of the end effector is that the position information of the end effector is required in step S107 described below.

The coordinate system will be described below. The coordinate system is a position index system defined on the robot 2 or space in order to determine the position and posture of the robot 2, and has each axis coordinate system and an orthogonal coordinate system. Each axis coordinate system is a coordinate system set for each joint of the robot 2, and the position and posture of the robot 2 are determined by setting the rotation angle of each joint (joint). There are multiple types of Cartesian coordinate systems, and the names of each coordinate system differ depending on the robot manufacturer.

In this specification, since the tool coordinate system, the base coordinate system, and the work coordinate system are used as the orthogonal coordinate system, these terms will be described below. In the present specification, the "tool coordinate system" is a coordinate system fixed to the end effector 3, and is a coordinate system that defines the position of a point arbitrarily set in the end effector 3 and the posture of the end effector 3. Means. Further, in the present specification, the "base coordinate system" means a coordinate system defined in a predetermined position with respect to the robot 2. Further, in the present specification, the "work coordinate system" means a coordinate system that can be defined for each workspace.

The position and orientation of the robot 2 in the Cartesian coordinate system are the coordinate values (x, y, z) from the origin of the Cartesian coordinate system (base coordinate system, work coordinate system, etc.) in space to the origin of the tool coordinate system. , Defined by the rotation angle (w, p, r) of the tool coordinate system with respect to the X-axis, Y-axis, and Z-axis of the Cartesian coordinate system (base coordinate system, work coordinate system, etc.) in space. In the present embodiment, when the teaching pendant 6 is operated, either the base coordinate system or the work coordinate system is selected.

In step S107, the work coordinate system is defined (work coordinate system definition step). The work coordinate system is set for the fixed mold or the movable mold. When the place to insert the insertion part is provided in the movable mold, the work coordinate system is defined for the movable mold. That is, the work coordinate system is defined for the mold (fixed mold or movable mold) on the side in which the action object is in contact when the action unit operates.

Since the method of defining the work coordinate system is not directly related to the main purpose of the present embodiment, detailed description will not be given. The method of defining the work coordinate system can be confirmed by the instruction manual of the robot manufacturer. For example, in the case of a robot manufactured by FANUC Corporation, there are a three-point teaching method, a four-point teaching method, a direct teaching method, and the like as a method of defining a work coordinate system.

When defining the work coordinate system, the position information of the end effector 3 acquired in the end effector position information acquisition step of step S106 is used. Regarding the position information of the end effector 3 to be acquired, the difference in the method of defining the work coordinate system (3-point teaching method, 4-point teaching method, direct teaching method, etc.), the difference in the origin of the defined work coordinate system, etc. , Since it changes depending on the difference in the orientation of the coordinate axes of the work coordinate system to be defined, it will be decided appropriately according to the situation. Since the position information of the end effector 3 is determined by the two-dimensional position of the laser irradiation point by the distance sensor 12 and the measured value of the distance sensor 12, the method of determining the laser irradiation point determined by using the drawing of the mold and the real-time By adjusting the measured value of the distance sensor 12 that can be visually confirmed with, the position information of the end effector 3 to be acquired can be acquired by selecting a free position.

The work coordinate system needs to be defined so that each coordinate axis (X-axis, Y-axis, Z-axis) is perpendicular and horizontal to each surface of the mold. In other words, the work coordinate system needs to be defined so that the end effector 3 can be moved vertically and horizontally with respect to the mold.

Step S106 (end effector position information acquisition step) and step S107 (work coordinate system definition step) are described as separate steps for convenience of explanation, but it is necessary to use step S106 when carrying out step S107. Therefore, step S106 and step S107 are steps that overlap in time. Although steps S106 and S107 are shown as steps immediately after step S105, they may be carried out as steps prior to step S105 if they can be carried out. For example, it can be carried out as a step immediately after step S103.

In step S108, the end effector is moved to the origin of the work coordinate system (end effector origin moving step). In this step, the end effector 3 having a predetermined target action posture at the end effector posture adjustment position (step S105) is moved to the origin of the work coordinate system. Since the origin of the work coordinate system is determined in step S107 (work coordinate system definition step), the end effector 3 is moved from the end effector posture adjustment position to the origin of the work coordinate system by operating the teaching pendant 6. It becomes possible to make it. The posture of the end effector 3 moved to the origin of the work coordinate system is adjusted so that the measured value of the angle sensor 11 matches the measured value of the angle sensor 11 adjusted in step S105 (end effector action posture adjusting step). , Match the predetermined target action posture (horizontal and parallel to the mold).

In step S109, the end effector is moved to the action position (end effector action position moving step). In this step, the end effector 3 having a predetermined target action posture at the origin of the work coordinate system (step S108) is moved to the action position. The action position is the position of the end effector 3 capable of accurately inserting the inserted part into the mold by the insert hand portion 3B, and can be obtained by using the 3D model created in step S101. Therefore, by selecting the work coordinate system and operating the teaching pendant 6, the end effector 3 can be moved from the origin of the work coordinate system to the action position. The posture of the end effector 3 that has moved to the action position coincides with a predetermined target action posture (horizontal and parallel to the mold) because it is moved along the work coordinate system.

Step S109 is a step of moving the position of the end effector 3 to the action position, and by operating the teaching pendant 6, the position of the end effector 3 forming the predetermined target action posture is set to the predetermined target action posture. It is possible to match with a predetermined target action position (obtained using a 3D model) while holding the above.

In step S110, the operation and operation of the end effector is confirmed. Here, since the end effector 3 forms a predetermined target action posture and is located at a predetermined target action position, it is possible to accurately insert the insertion component into the mold. ..

In step S111, the in-mold operation and the second out-of-mold operation of the end effector are determined. The in-mold operation and the second out-of-mold operation are the operations of the end effector 3 from the end effector action position to the end effector original position that can be arbitrarily set. The end effector action position is a position where the end effector 3 inserts the insertion component into the mold in which the action operation is performed. The original position of the end effector is as described above.

When determining the in-mold operation and the second out-of-mold operation of the end effector 3, the end effector 3 is operated according to the simulation operation of the end effector 3 determined in step S102, and interference with surrounding parts, useless operation, etc. If there is a problem in, the simulation operation is corrected by operating the teaching pendant 6 and the optimum operation is determined.

In step S112, the teaching is completed. With this, the series of operations of the end effector 3 from the end effector original position in step S104 to the end effector original position in step S111 is confirmed. Further, it is possible to provide a method for determining the action posture and action position of the end effector.

In the present embodiment, the teaching work of the end effector provided with the insert hand part has been described, but the same teaching work is also performed when the working part is taken out and used as the hand part or the spray nozzle part. However, if the action part is different, the action object, the action action, the action posture, and the action position are different, so it is necessary to consider these and perform the teaching work.

In the present embodiment, as shown in FIG. 1, since the end effector 3 is an end effector 3 having a take-out hand portion 3A and an insert hand portion 3B and which can be used for both take-out and insert, the take-out hand portion is taken out. The teaching work will be carried out in consideration of both the case where the part is used and the case where the acting part is used as the insert hand part.

According to the present embodiment, it is not necessary to visually confirm the end effector, the object of action, the mold, and the like in determining the action posture and the action position of the end effector. Therefore, it is not necessary to approach the hot mold heated by the molten metal by casting, which has a poor foothold and is very dangerous. Therefore, according to the present embodiment, the end effector is operated by operating the teaching pendant in an extremely safe place (outside the mold) with a good foothold, sufficiently away from the high-temperature mold heated by the molten metal by casting. Since it is possible to provide a robot end effector for use in a die casting machine capable of determining the action posture and the action position of the robot, there is an effect that dangerous work can be avoided.

According to the present embodiment, in determining the action posture and the action position of the end effector, it is not necessary to set a spirit level on the end effector and adjust the posture of the end effector while visually checking the end effector. There is no need to visually check the mold. That is, it is possible to determine the working posture and the working position of the end effector by operating the teaching pendant outside the mold while observing the display on the screen of the teaching pendant. Therefore, according to the present embodiment, it is possible to determine the working posture and the working position of the end effector without the need for visual confirmation work that requires a high degree of skill, so that the work can be made more efficient. effective.

According to this embodiment, when a plurality of die casting machines having the same specifications are installed in the factory, the action posture and the action position of the end effector can be determined outside the mold while observing the display on the screen of the teaching pendant. By operating the teaching pendant, it is possible to carry out the same operation for all die casting machines. Therefore, according to the present embodiment, it is possible to determine the working posture and the working position of the end effector for a plurality of die casting machines having the same specifications in the factory, and thus the production of the die casting products in the factory. It has the effect of improving sex.

As described above, according to the present invention, it is possible to provide a robot end effector for use in a die casting machine having an excellent action effect, and by operating the teaching pendant, the action posture and action position of the end effector are determined. It can be used and contributed in the fields related to the technology to be used. Therefore, the present invention has high industrial applicability.

1 Robot system 2 Robot 3 End effector 3A Extraction hand part 3B Insert hand part 4 Robot control panel 5 Interface panel 6 Teaching pendant 7 Arm tip 11 Angle sensor 12 Distance sensor

Claims (5)

A robot end effector for use in die casting machines
The action part, which is the part where the end effector acts in the action position and acts,
An angle sensor for confirming the posture of the end effector and
A distance sensor for measuring the distance from the mold,
With
A robot end effector capable of determining the action posture and the action position of the end effector by operating the teaching pendant outside the mold. The robot end effector according to claim 1, wherein the working portion includes a take-out hand portion for taking out a product from the mold. The robot end effector according to claim 1 or 2, wherein the working portion includes an insert hand portion for inserting an insertion component into the mold. The robot end effector according to any one of claims 1 to 3, wherein the action portion includes a spray nozzle portion for spraying a mold release agent toward the mold. It is a method of determining the action posture and action position of the end effector in a robot for use in a die casting machine.
The end effector is
The action part, which is the part where the end effector acts in the action position and acts,
An angle sensor for confirming the posture of the end effector and
A distance sensor for measuring the distance from the mold,
With
When the simulation operation of the end effector, which has been determined by programming using simulation software, is corrected to fit the mold by operating the teaching pendant.
An end effector action posture adjusting step of adjusting the posture of the end effector with respect to the mold by using the angle sensor, and
An end effector position information acquisition step of acquiring the position information of the end effector using the distance sensor, and
A work coordinate system definition process that defines a work coordinate system to be set for the mold using the position information, and
The end effector origin movement step of moving the end effector from the end effector posture adjustment position to the origin of the work coordinate system, and
An end effector action position moving step of moving the end effector from the origin of the work coordinate system to the action position,
Including
By operating the teaching pendant outside the mold, it is possible to match the posture of the end effector with a predetermined target action posture and to match the position of the end effector with a predetermined target action position. How to determine the action posture and action position of the end effector.

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