JP2014124716A - Robot hand and robot equipped with the robot hand - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a robot hand having high versatility.SOLUTION: A robot hand 10 which is attached to the tip of a robot 50 and can hold plural work-pieces W, includes: a body part 12 which has a first direction (X-axis direction) and a second direction (Z-axis direction) orthogonal to each other and whose one end in the first direction (X-axis direction) is attached to the tip of the robot 50; plural links which are so provided as to be turnable with respect to the body part 12; and plural work-piece holding parts 16 which are provided onto free ends of respective links 14 and hold the work-pieces W. By turning of each link 14, a corresponding work-piece holding part 16 is disposed on the second direction side with respect to the body part 12 or the side of a direction orthogonal to the second direction with respect to the body part 12.

Description

  The present invention relates to a robot hand capable of holding a plurality of workpieces and a robot including the same.

  2. Description of the Related Art Conventionally, a robot that takes out (picks) a workpiece such as a part accommodated in a box body that is open upward and conveys the workpiece toward another place has been used. Such a robot holds a workpiece using, for example, a robot hand described in Patent Document 1. The robot hand described in Patent Document 1 includes four gripping claws that extend downward and grip a workpiece by approaching each other. With such a robot hand, a workpiece in the box can be picked.

JP2011-73100A

  By the way, the box which accommodates a workpiece | work may be accommodated in the shelf. When the box is placed on one shelf and another shelf is present above the box, in the case of the robot hand described in Patent Document 1, the shelf above the box and the side wall of the box Robot hand may not pass between the two. Alternatively, after the robot hand that has passed between the shelf above the box and the side wall of the box grips the workpiece in the box, the robot hand holding the workpiece is between the shelf and the side wall of the box. May not pass. In such a case, it is necessary to take out the box from the shelf using an operator or another device.

  Moreover, in the case of the robot hand described in Patent Document 1, a plurality of workpieces cannot be held except when the workpieces are placed in a state where the workpieces are overlapped in the vertical direction.

  Therefore, the present invention provides a robot hand having a high versatility and a robot equipped with a robot hand that can pick a workpiece from a box housed in a shelf and can hold a plurality of workpieces. provide.

In order to solve the above-mentioned problem, according to the first aspect of the present invention,
A robot hand attached to the tip of a robot and capable of holding a plurality of workpieces,
A main body portion having a first direction and a second direction perpendicular to each other, and one end of the first direction being attached to the tip of the robot;
A plurality of links provided to be rotatable with respect to the main body,
A plurality of work holding portions that are provided at the free ends of the links and hold the work;
By rotating each link, the corresponding work holding part is arranged on the second direction side with respect to the main body part or on the direction side orthogonal to the second direction with respect to the main body part. Provided.

According to a second aspect of the invention,
The robot hand according to the first aspect is provided in which the turning center line of each link is located on the same plane orthogonal to the second direction of the main body.

According to a third aspect of the invention,
The robot hand according to the second aspect is provided in which the turning center lines of the links are located on the same straight line.

According to a fourth aspect of the invention,
The robot hand according to the third aspect is provided in which the extending direction of the turning center line on the same straight line of each link is orthogonal to the first direction of the main body.

According to a fifth aspect of the present invention,
Each work holding part has a plurality of gripping claws for gripping a work,
When each work holding part is arranged in the direction perpendicular to the second direction with respect to the main body part, when viewed in the second direction, the other work holding part adjacent to the gripping claw of one work holding part A robot hand according to any one of the second to fourth aspects is provided, which overlaps the gripping claws of the part.

According to a sixth aspect of the present invention,
An air cylinder for turning the link;
A solenoid valve for controlling the air supply to the air cylinder,
A robot hand according to any one of the first to fifth aspects, in which an air cylinder and a solenoid valve are mounted on a main body.

According to a seventh aspect of the present invention,
The robot hand according to any one of the first to sixth aspects, in which at least one of the plurality of workpiece holding units is different.

According to an eighth aspect of the present invention,
The robot hand according to any one of the first to seventh aspects, in which at least two workpiece holding units are configured to be capable of holding one workpiece in cooperation with each other.

According to a ninth aspect of the present invention,
A robot is provided that includes the robot hand according to any one of the first to eighth aspects at its tip.

  According to the present invention, for example, a robot hand that can pick a work from a box housed in a shelf and can hold a plurality of works, and a robot with a robot hand including a robot hand can be realized. can do.

The figure which shows schematically the structure of the robot which concerns on one embodiment of this invention. Side view of the robot hand in a state where the work holding part is arranged on the longitudinal direction side with respect to the main body part. Side view of the robot hand with the workpiece holding part arranged on the short side with respect to the main unit Top view of robot hand Front view of the robot hand in a state where the work holding part is arranged on the longitudinal direction side with respect to the main body part. The figure for demonstrating an example of the picking operation | movement of the workpiece of a robot hand The figure for demonstrating the picking operation | movement of a robot hand following FIG. The figure for demonstrating the picking operation | movement of a robot hand following FIG. The figure for demonstrating the picking operation | movement of a robot hand following FIG. The figure for demonstrating the picking operation | movement of a robot hand following FIG. The figure for demonstrating an example of the operation | movement which mounts the picked workpiece | work of a robot hand

  FIG. 1 schematically shows a configuration of a robot provided with a robot hand according to an embodiment of the present invention. As shown in FIG. 1, the robot 50 is an articulated arm robot having a plurality of joints 50a to 50f, and a robot hand 10 capable of holding a plurality of workpieces W is attached to a flange 50g at the tip thereof. Yes. By controlling the plurality of joints 50a to 50f of the robot 50, the position and posture of the robot hand 10 are changed.

  2 and 3 are side views of the robot hand 10, FIG. 4 is a top view of the robot hand 10, and FIG. 5 is a front view of the robot hand 10.

  As shown in FIG. 2, the robot hand 10 includes a main body 12 attached to a flange 50 g at the tip of the robot 50, a plurality of links 14 provided on the main body 12, and a plurality of workpieces provided on each link 14. Holding part 16.

  The main body 12 of the robot hand 10 has a shape having a longitudinal direction (X-axis direction) and a lateral direction (Z-axis direction) that are orthogonal to each other, and one end in the longitudinal direction is attached to the flange 50 g of the robot 50. .

  Although the details will be described later, the main body 12 is configured to accommodate the drive sources of the plurality of links 14 and the plurality of workpiece holding units 16. Specifically, the main body 12 includes a base plate 20, a cover plate 22 parallel to the base plate 20, and a plurality of columns 24 that connect the base plate 20 and the cover plate 22 in the short direction (Z-axis direction). . Between the base plate 20 and the cover plate 22, the driving sources of the plurality of links 14 and the plurality of work holding units 16 are arranged.

  As shown in FIG. 4, the plurality of links 14 are orthogonal to the longitudinal direction and the lateral direction (Z-axis direction) at the other end (the corresponding end of the base plate 20) in the longitudinal direction (X-axis direction) of the main body 12. They are arranged in parallel with the direction (Y-axis direction). Although the details will be described later, the plurality of links 14 function as means for rotating the work holding unit 16.

  As shown in FIGS. 2 and 3, each of the plurality of links 14 is a substantially L-shaped member when viewed in the Y-axis direction, and is pivotally supported by a support pin 26 extending in the Y-axis direction. Yes. By this support pin 26, each link 14 revolves around a swivel center line C <b> 1 (axial center of the support pin 26) extending in the Y-axis direction independently of the other links 14.

  In the case of the present embodiment, as shown in FIG. 4, the support pins 26 of each link 14 are on the same plane (parallel to the XY plane) orthogonal to the short direction (Z-axis direction) of the main body 12. A support block 28 fixed to the base plate 20 so that the turning center line C1 of each link 14 is located on the same plane and the turning center line C1 of each link 14 is located on the same straight line. Yes.

  A plurality of air cylinders 30 are mounted on the main body 12 as drive sources for the links 14 as shown in FIG. As shown in FIGS. 2 and 3, the tip of the rod 30a of the air cylinder 30 is connected to the link 14 so as to be rotatable about a turning center line C2 extending in the Y-axis direction. Further, as shown in FIGS. 2 and 3, the air cylinder 30 is rotatably supported by a support pin 32 extending in the Y-axis direction. Thereby, each air cylinder 30 revolves around a revolving center line C3 (axial center of the support pin 32) extending in the Y-axis direction. In the present embodiment, the support pin 32 of each air cylinder 30 is fixed to the base plate 20 so that the turning center line C3 of the air cylinder 30 is located on the same straight line as shown in FIG. It is supported by a support block 34.

  By moving the rod 30a of the air cylinder 30 back and forth, the link 14 can turn around the turning center line C1.

  As shown in FIG. 4, an air chuck 16 as a work holding portion for holding the work W is provided at the tip (free end) of each link 14. As shown in FIG. 5, each air chuck 16 has three gripping claws 16 a for holding the workpiece W. The three gripping claws 16a approach or separate from each other to grip the workpiece W or release the workpiece W. In the present embodiment, there are three gripping claws 16a of the air chuck 16, but the present invention is not limited to this. For example, the air chuck 16 may have four gripping claws 16.

  The air chuck 16 is rotated about the turning center line C <b> 1 when the link 14 is driven to turn by the air cylinder 30.

  Specifically, as shown in FIG. 2, when the rod 30 a of the air cylinder 30 is retracted to the maximum extent, the air chuck 16 is disposed on the longitudinal direction (X axis direction) side with respect to the main body portion 12. In addition, the air chuck 16 is configured to hold the workpiece W in a state where the workpiece W is positioned in the longitudinal direction of the main body 12 with respect to the air chuck 16 (the link 14 is configured to realize this). ing). Thus, the robot hand 10 can hold or separate the workpiece W by approaching or separating from the workpiece W in the longitudinal direction (X-axis direction) of the main body 12.

  Although details will be described later, in consideration of picking the workpiece W from the box housed in a shelf having a plurality of shelf boards, as shown in FIG. The robot hand 10 is preferably configured so as to be arranged on the longitudinal direction (X-axis direction) side with respect to the main body 12 without greatly exceeding both ends in the hand direction (Z-axis direction). As a result, the robot hand 10 can enter the narrow space between the shelf above the box and the box in the longitudinal direction of the main body 12.

  On the other hand, as shown in FIG. 3, when the rod 30 a of the air cylinder 30 advances as much as possible, the air chuck 16 is disposed on the short side direction (Z-axis direction) side with respect to the main body portion 12. In the case of the present embodiment, the air chuck 16 is disposed on the short side with respect to the main body 12 in a state where the air chuck 16 is offset to the distal end side (the opposite flange 50g side) of the robot hand 10. Further, the air chuck 16 is configured to hold the workpiece W in a state where the workpiece W is positioned in the short direction of the main body 12 with respect to the air chuck 16 (the link 14 is configured so as to realize this). Have been). Accordingly, the robot hand 10 can hold or separate the workpiece W by approaching or separating from the workpiece W in the short direction (Z-axis direction) of the main body 12.

  Although details will be described later, in consideration of picking the workpiece W from the box housed in a shelf having a plurality of shelf boards, as shown in FIG. The robot hand 10 is preferably configured to exceed one end (end on the base plate 20 side) in the direction (Z-axis direction). Accordingly, the air chuck 16 can approach the workpiece W in the box in the short direction of the main body 12 and pick the workpiece W without the main body 12 interfering with the box.

  Further, as shown in FIGS. 2 and 5, when all the air chucks 16 are arranged in the longitudinal direction (X-axis direction) side with respect to the main body 12, the short side direction (Z-axis direction) of the main body 12. When viewed from the above, it is preferable to configure the robot hand 10 so that the gripping claws 16a of one air chuck 16 overlap the gripping claws 16a of other adjacent air chucks 16.

  That is, as shown in FIG. 5, the adjacent air chucks 16 are attached to the corresponding links 14 in different postures. Thereby, when the gripping claws 16a of the air chuck 16 do not overlap when viewed in the short axis direction (Z-axis direction) of the main body 12 (for example, when the air chuck 16 is attached to the link 14 in the same posture). ), The distance between the links 14 in the parallel direction (Y-axis direction) can be reduced. Thereby, the robot hand 10 can be reduced in size and it can be reduced in weight by it.

  Further, as shown in FIG. 4, in order to advance and retract the rod 30 a of the air cylinder 30 and to move the gripping claws 16 a of the air chuck 16 toward or away from each other, a plurality of air cylinders 30 and a plurality of air chucks 16 are provided. A plurality of electromagnetic valves 36 that supply air to each of them are provided in the main body 12. Each of the air cylinder 30 and the air chuck 16 is connected to a corresponding electromagnetic valve 36 by an air hose (not shown). Each solenoid valve 36 is connected via a manifold 38 to an air source (not shown) such as a compressor located outside the robot hand 10.

  By controlling the solenoid valve 36 provided in each air cylinder 30, each air cylinder 30 can be controlled independently of the other air cylinders 30. Thereby, each of the air chucks 16 can be rotated independently of the other air chucks 16.

  Further, by controlling the electromagnetic valve 36 provided in each air chuck 16, each air chuck 16 can be driven independently of the other air chuck 16.

  Since a plurality of electromagnetic valves 36 are mounted on the main body 12 of the robot hand 10, compared to a case where the plurality of electromagnetic valves 36 are provided outside the robot hand 10 (for example, the flange 50g of the robot 50). Thus, the robot hand 10 can be easily attached to and detached from the flange 50g of the robot 50.

  When a plurality of electromagnetic valves 36 are provided outside the robot hand 10, when removing the robot hand 10 from the robot 50, an air hose that connects each of the electromagnetic valves 36 and the corresponding air cylinder 30 (or air chuck 16). Need to be removed. For example, when there are four air cylinders 30 and four air chucks 16, it is necessary to remove 16 air hoses.

  On the other hand, in the case of the present embodiment, the plurality of solenoid valves 36 mounted on the main body 12 are connected to the air source outside the main body 12 via the manifold 38. All you have to do is remove the air hose that connects

  Up to this point, the configuration of the robot hand 10 according to the present embodiment has been described. From here, the picking operation | work of the workpiece | work W by the robot hand 10 is demonstrated using FIGS. An example in which the workpiece W is picked from the shelf S will be described.

  As shown in FIG. 6, a plurality of workpieces W picked by the robot hand 10 are accommodated in a shelf S having a plurality of shelf boards S1 and S2. Specifically, the plurality of workpieces W are accommodated in a box body B opened upward, and the box body B is placed on the shelf plate S1 of the shelf S. Above the box B, another shelf plate S2 exists.

  In order to pick the workpiece W in the box B, as shown in FIG. 6, the robot hand 10 has the longitudinal direction (X-axis direction) of the main body 12 coincided with the horizontal direction by the robot 50, and the short side The posture (Z-axis direction) matches the vertical direction.

  Further, the robot hand 10 is aligned by the robot 50 so that the robot hand 10 can pass in the horizontal direction (X-axis direction) between the shelf S2 above the box B and the side wall Bs of the box B. . Thereafter, as shown in FIG. 6, the robot hand 10 is arranged between the box B and the shelf board S2 in a state where all the air chucks 16 are arranged on the longitudinal direction (X-axis direction) side with respect to the main body portion 12. Enter horizontally.

  When the robot hand 10 enters between the box B and the shelf board S2, the air chuck 16 of the robot hand 10 is rotated via the link 14 by the air cylinder 30 as shown in FIG. On the other hand, it arrange | positions from a longitudinal direction (X-axis direction) side to a transversal direction side (Z-axis direction side). Thereby, the air chuck 16 is disposed above the workpiece W to be picked in the vertical direction (Z-axis direction). That is, the air chuck 16 is disposed at a position where the work W can be picked by approaching the work W in the short direction of the main body portion 12.

  When the air chuck 16 is arranged above the workpiece W to be picked in the vertical direction (Z-axis direction), the robot hand 10 is parallel to the vertical direction (Z-axis direction) downward by the robot 50 as shown in FIG. Moved. The air chuck 16 holds the workpiece W.

  When the holding of the workpiece W by the air chuck 16 is completed, the robot hand 10 is translated in the vertical direction (Z-axis direction) upward by the robot 50 as shown in FIG. Thereby, the picking of the workpiece | work W of the air chuck | zipper 16 is completed. When all the air chucks 16 perform the picking operation shown in FIGS. 7 to 9, the picking of the plurality of workpieces W by the robot hand 10 is completed.

  As shown in FIG. 9, when all the air chucks 16 hold the workpiece W in a state where the air chucks 16 are arranged on the short side direction (Z-axis direction) side with respect to the main body portion 12, the side wall Bs of the box body B interferes. Therefore, the robot hand 10 cannot retract in the horizontal direction (X-axis direction) from between the box B and the shelf board S2. Therefore, as shown in FIG. 10, all the air chucks 16 holding the workpiece W are rotated by the air cylinders 30 via the links 14, and the longitudinal direction (X (Axial direction) side. Thereby, the main body 12, the air chuck 16, and the workpiece 10 are arranged in the longitudinal direction of the main body 12, that is, in the horizontal direction. Thereby, the robot hand 10 in a state where all the air chucks 16 hold the workpieces W can move in the horizontal direction and retract from between the box B and the shelf board S2.

  In addition, after holding the workpiece W in a state where all the air chucks 16 are arranged on the short side direction (Z-axis direction) side with respect to the main body part 12, all the air chucks 16 are simultaneously elongated with respect to the main body part 12. It is not necessary to arrange on the direction (X-axis direction) side. For example, after one air chuck 16 picks the workpiece W on the short side with respect to the main body 12 and is arranged on the long side with respect to the main body 12, picking of the next air chuck is started. Also good.

  Although the operation of the robot hand 10 for picking the workpiece W from the box B on the shelf plate S1 of the shelf S has been described here, this operation is an example and does not limit the present invention. For example, the workpiece W is picked from above in the vertical direction with the longitudinal direction (X-axis direction) of the main body 12 aligned with the vertical direction and the air chuck 16 disposed on the longitudinal direction side with respect to the main body 12. It is also possible to do.

In relation to this, when the picked work W is placed at the transport destination, for example, when obstacles O ₁ and O ₂ exceeding the height of the work W exist around the transport destination as shown in FIG. If the robot hand 10 is in a posture in which the longitudinal direction (X-axis direction) of 12 coincides with the vertical direction and the air chuck 16 is disposed on the longitudinal direction side with respect to the main body 12, the obstacles O ₁ and O _{2 are used.} The workpiece W can be placed on the transfer destination without being interfered with. In this way, when the picked workpiece W is placed at the transport destination, as shown in FIG. 11, the posture in which the longitudinal direction of the main body 12 matches the vertical direction or the posture in which the longitudinal direction of the main body 12 coincides with the horizontal direction. Since the robot 50 can be selected, the robot 50 can work in a posture that makes it easy to work (for example, it does not interfere with an obstacle or is within the movable range of the robot 50).

  According to the present embodiment, for example, a robot hand 10 that is capable of picking a workpiece W from within a box B housed in a shelf S and that can hold a plurality of workpieces W and has excellent versatility. In addition, the robot 50 can be realized.

  The present invention has been described with reference to the above embodiment, but the present invention is not limited to this embodiment.

  For example, in the above-described embodiment, the workpiece holding unit that holds the workpiece W is the air chuck 16 that holds the workpiece W by the plurality of holding claws 16a, but the present invention is not limited to this. For example, the workpiece holding unit may be a suction pad that sucks and holds a workpiece, a magnet chuck that holds a metal workpiece by magnetic force, or the like.

  In the case of the above-described embodiment, each of the plurality of air chucks 16 that are work holding portions is linked to the longitudinal direction (X-axis direction) and the short-side direction (X-axis direction) of the main body 12 as shown in FIG. Although they are arranged in parallel to a direction (Y-axis direction) perpendicular to the (Z-axis direction) and rotate about the turning center line C1 on the same straight line, the present invention is not limited to this. The rotation center line (turning center line) of the air chuck 16 may be changed corresponding to the workpiece to be picked.

  That is, a configuration of the robot hand 10 in which the rotation center line of the air chuck 16 is on the same plane orthogonal to the short direction (Z-axis direction) of the main body 12 but not on the same straight line is possible. A configuration of the robot hand 10 in which the rotation center line of the air chuck 16 is not on the same plane is also possible. As an example, the plurality of air chucks 16 may be arranged radially (that is, in a rake shape) with reference to a straight line extending in the short direction of the main body 12.

  Furthermore, in the case of the above-described embodiment, the air chuck 16 that is the work holding portion is rotated via the link 14 by the air cylinder 30, but the present invention is not limited to this. For example, the link 14 may be turned by a motor. The means for turning the link 14 may be outside the robot hand 10. For example, a configuration in which a drive source such as a motor or an air cylinder is disposed outside the robot hand 10 and its power is transmitted to the link 14 by a wire or the like may be used.

  Furthermore, in the case of the above-described embodiment, the air chucks 16 that are a plurality of workpiece holding portions are the same, but at least one may be different. For example, some of the plurality of workpiece holding units may be air chucks, and the rest may be suction pads. Thereby, the robot hand can hold | maintain a different workpiece | work and versatility improves.

  In addition, in the case of the above-described embodiment, one work holding unit holds one work, but at least two work holding parts may cooperate to hold one work. Good. For example, if the work holding unit is configured by suction pads, a work having a weight that cannot be picked by one suction pad can be sucked by a plurality of suction pads. Thereby, the robot hand can hold | maintain a different workpiece | work and versatility improves.

  Finally, the “longitudinal direction” (X-axis direction) and “short-side direction” (Z-axis direction) of the main body of the robot hand referred to in this specification are “longitudinal” and “short-side” in the case where these two directions are compared ”And not the longest and shortest directions in the main body. For example, when a large number of workpiece holding parts 16 are provided side by side in the Y-axis direction, the length of the main body part in the Y-axis direction may be larger than the length in the X-axis direction. In other words, the magnitude relationship between the lengths of the main body in the X-axis direction, the Y-axis direction, and the Z-axis direction varies depending on the specifications of the robot hand (for example, the number of workpiece holding parts). Therefore, in a broad sense, the present invention is a robot hand that is attached to the tip of a robot and can hold a plurality of workpieces, and has a first direction and a second direction that are orthogonal to each other. A main body part having one end in the direction attached to the tip of the robot, a plurality of links provided so as to be able to turn with respect to the main body part, and a plurality of work holding parts provided at the free ends of the links to hold the work. Each link is pivoted so that the corresponding work holding part is arranged on the second direction side with respect to the main body part or on the direction side orthogonal to the second direction with respect to the main body part. It is a robot hand.

  Since this invention has the outstanding versatility, it is applicable with respect to the robot which picks a workpiece | work.

10 Robot Hand 12 Main Body 14 Link 16 Workpiece Holding Unit (Air Chuck)
50 Robot W Workpiece

Claims (9)

A robot hand attached to the tip of a robot and capable of holding a plurality of workpieces,
A main body portion having a first direction and a second direction perpendicular to each other, and one end of the first direction being attached to the tip of the robot;
A plurality of links provided to be rotatable with respect to the main body,
A plurality of work holding portions that are provided at the free ends of the links and hold the work;
A robot hand in which a corresponding work holding part is arranged on the second direction side with respect to the main body part or on the direction side perpendicular to the second direction with respect to the main body part by turning each link.   The robot hand according to claim 1, wherein the turning center line of each link is located on the same plane orthogonal to the second direction of the main body.   The robot hand according to claim 2, wherein the turning center line of each link is located on the same straight line.   The robot hand according to claim 3, wherein an extending direction of a turning center line on the same straight line of each link is orthogonal to a first direction of the main body. Each work holding part has a plurality of gripping claws for gripping a work,
When each work holding part is arranged in the direction perpendicular to the second direction with respect to the main body part, when viewed in the second direction, the other work holding part adjacent to the gripping claw of one work holding part The robot hand according to any one of claims 2 to 4, wherein the robot hand overlaps a gripping claw of a portion. An air cylinder for turning the link;
A solenoid valve for controlling the air supply to the air cylinder,
The robot hand according to any one of claims 1 to 5, wherein an air cylinder and a solenoid valve are mounted on the main body.   The robot hand according to claim 1, wherein at least one of the plurality of workpiece holding units is different.   The robot hand according to claim 1, wherein at least two workpiece holding units are configured to be able to hold one workpiece in cooperation.   A robot comprising the robot hand according to any one of claims 1 to 8 at a tip.

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