JP2015096290A - Robot, robot system, robot control device and method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a technique which allows a snap ring to be installed even without a mechanism for expanding the snap ring.SOLUTION: A robot includes arms provided with end effectors including at least two finger portions and a reception portion between at least two finger portions. The robot brings a first end of a tool into contact with the reception portion, causes at least one finger portion to grip the tool and installs a snap ring held by a second end different from the first end onto a portion to be installed therewith.

Description

  The present invention relates to a robot, a robot system, a robot control apparatus, and a method.

  Patent Document 1 discloses a C-type retaining ring insertion machine for inserting a C-shaped retaining ring into a mounting groove of a mounted member, a C-shaped retaining ring holding portion for retaining the C-shaped retaining ring, and a C-shaped retaining ring. A pair of engaging means that engages with the engaged parts provided at both ends in the circumferential direction of the C-shaped retaining ring held by the holding part, and the pair of engaging means are moved in the direction of contacting and separating from each other. There is disclosed a C-type retaining ring insertion machine having expansion / contraction means for expanding / contracting the retaining ring.

Japanese Patent Laid-Open No. 10-138055

  The invention described in Patent Document 1 requires a mechanism for expanding and contracting the C-shaped retaining ring in order to insert the C-shaped retaining ring.

  Therefore, an object of the present invention is to provide a technique capable of fitting a retaining ring without a mechanism for expanding and contracting the retaining ring.

  According to a first aspect of the present invention, there is provided a robot including an arm including an end effector including at least two fingers and a receiving portion between the at least two fingers. One end is brought into contact with the receiving portion, the tool is gripped by at least one finger portion, and a retaining ring held at a second end different from the first end is fitted into the fitting portion. It is characterized by that.

  According to the first aspect, the robot can fit the retaining ring using the tool for fitting the retaining ring. In this way, even if there is no mechanism for expanding and contracting the retaining ring, the retaining ring can be fitted.

  Here, the retaining ring may include one of a C-type retaining ring and an E-type retaining ring. Thereby, even if it is not a dedicated retaining ring, it is possible to fit the retaining ring without a mechanism for expanding and contracting the retaining ring.

  Here, the at least two fingers may include four fingers, and the tool may be gripped by the four fingers. As a result, the gripping of the tool can be stabilized, and the retaining ring can be held and the retaining ring can be prevented from being displaced.

  Here, the force required for the fitting may be smaller than the sum of the force obtained by contact of the tool with the receiving portion and the force obtained by gripping the tool. Thereby, it is possible to stabilize the gripping of the tool and prevent the retaining ring from shifting when the retaining ring is fitted.

  Here, the tool may be gripped by the at least two finger portions so that the operation direction of the fitting is perpendicular to the surface of the receiving portion with which the tool abuts. Thereby, it is possible to receive the reaction force perpendicularly at the receiving portion when the retaining ring is fitted, and it is possible to prevent the retaining ring from being displaced at the time of fitting.

  Here, the operation direction of the fitting may be a direction from the first end to the second end. As a result, it is possible to prevent the retaining ring from being bent or displaced during fitting.

  Here, the robot detects the fitting portion by moving the retaining ring held at the second end while bringing the retaining ring into contact with the surface including at least one of the fitting portion and the indicating portion indicating the fitting portion. Also good. Thereby, a fitting part is detectable.

  Here, the robot may hold a retaining ring on the tool, with a retaining ring coming into contact with the previously gripped tool. Thereby, the retaining ring can be easily held by a tool, and workability can be improved.

  Here, the robot may further include a control device that controls to perform at least one of the operations. This makes it possible to freely control the operation of the robot.

  According to a second aspect of the present invention, there is provided a robot system including a robot including an arm including an end effector including at least two fingers and a receiving portion between the at least two fingers. A control device that causes the robot to cause the first end of a tool to abut against the receiving portion and to grip the tool with at least one of the finger portions. A retaining ring held at a second end different from the above is fitted into the fitting portion.

  According to a third aspect of the present invention, there is provided a robot control apparatus for controlling the robot.

  A fourth aspect for solving the above problem is a method, wherein a robot includes an arm including an end effector including at least two fingers and a receiving portion between the at least two fingers. A first end of a tool is brought into contact with the receiving portion, the tool is gripped by at least one of the finger portions, and a retaining ring that is held at a second end different from the first end is fitted into the fitting portion. It is characterized by performing a step of fitting into the.

It is a front perspective view of the robot in one embodiment of the present invention. It is a back perspective view of a robot. It is a perspective view which shows the detail of a hand. (A) is a retaining ring, (b) is a tool, (c) is a perspective view of a retaining ring stand. It is a figure which shows the detail of an arm. The functional block diagram of a control part is shown. It is a block diagram which shows an example of schematic structure of a control part. This is a processing flow from the time when the robot holds the tool to the time when the retaining ring is taken out of the retaining ring stand by the tool and the retaining ring is fitted into the fitting portion. (A) is a figure explaining the operation | movement of the arm which makes a hand hold | grip a tool, and operation | movement of a hand, (b) is the positional relationship of a holding surface in case the surface P1 and surface P2 of a tool are substantially parallel. (C) is a figure which shows the positional relationship of a holding surface in case the surface P1 and the surface P2 of a tool are parallel, and the surface P3 and the surface P4 are parallel. 10 is a processing flow of the operation described in FIG. 9. It is a figure explaining operation of an arm and a hand of operation which takes out a retaining ring with a tool from a retaining ring stand. 12 is a processing flow of the operation described in FIG. It is a figure explaining the operation | movement of the arm of the operation | movement which inserts a retaining ring in a fitting part, and a hand. 14 is a processing flow of the operation described in FIG. It is a figure for demonstrating the detection of a fitting part. It is a processing flow of step S83a.

  An embodiment of the present invention will be described with reference to the drawings.

  FIG. 1 is a front perspective view of a robot 1 according to an embodiment of the present invention. FIG. 2 is a rear perspective view of the robot 1. The robot 1 in the present embodiment mainly includes a trunk portion 10, an arm 11, a touch panel monitor 12, a leg portion 13, a transport handle 14, an electronic camera 15, a signal lamp 16, a power switch 17, an external switch. An I / F unit 18 and a lifting handle 19 are provided. The robot 1 is a humanoid dual-arm robot, and performs processing according to a control signal from the control unit 20 (see FIG. 6). The robot 1 can be used in a manufacturing process for manufacturing precision equipment such as a wristwatch. This manufacturing operation is usually performed on a work table (not shown).

  In the following, for convenience of explanation, the upper side in FIGS. 1 and 2 is referred to as “upper” or “upper”, and the lower side is referred to as “lower” or “lower”. Also, the front side in FIG. 1 is referred to as “front side” or “front side”, and the front side in FIG. 2 is referred to as “back side” or “back side”.

  Arms 11 (so-called manipulators) are provided in the vicinity of the upper ends of both side surfaces of the body portion 10.

  At the tip of the arm 11, a hand 111 (so-called end effector) that holds a work or a tool is provided. The position of the end point of the arm 11 is the position of the hand 111. Details of the hand 111 will be described later. Note that the end effector is not limited to the hand 111.

  In addition, the arm 11 is provided with a hand eye camera 11G that photographs a workpiece or the like placed on a work table.

  Details of the arm 11 will be described later. The robot 1 is not limited to the arm 11. For example, any form may be used as long as the manipulator includes a plurality of joints and links and moves as a whole by moving the joints.

  The trunk 10 is provided on the frame of the leg 13. The leg portion 13 is a robot base, and the body portion 10 is a robot body. The trunk | drum 10 is corresponded to the robot main body of this invention. In addition, it is good also as a robot main body including not only the trunk | drum 10 but the leg part 13. FIG.

  Inside the leg part 13, a control part 20 and the like for controlling the robot 1 itself are provided. A rotation shaft is provided inside the leg portion 13, and a shoulder region 10 </ b> A of the trunk portion 10 is provided on this rotation shaft.

  On the rear surface of the leg portion 13, a power switch 17 and an external I / F portion 18 that is an external connection terminal for connecting the control portion 20 and an external PC or the like are provided. The power switch 17 includes a power ON switch 17 a that turns on the power of the robot 1 and a power OFF switch 17 b that shuts off the power of the robot 1.

  In addition, a plurality of casters (not shown) are installed at intervals in the horizontal direction at the lowermost portion of the leg portion 13. As a result, the robot 1 can be moved and conveyed by the operator pressing the conveyance handle 14 or the like.

  An electronic camera 15 having a CCD (Charge Coupled Device), a CMOS (Complementary Metal Oxide Semiconductor), and the like, and a signal lamp 16 are provided at a portion that protrudes upward from the body 10 and corresponds to the head. For example, the electronic camera 15 can capture an image of a work table or the like. The signal lamp 16 includes, for example, LEDs that respectively emit red light, yellow light, and blue light. These LEDs are appropriately selected according to the current state of the robot 1 to emit light.

  An elevating handle 19 is provided on the back surface of the body portion 10. The raising / lowering handle 19 moves the shoulder region 10A at the top of the trunk 10 in the vertical direction with respect to the trunk main body 10B. Thereby, it can respond to the work table of various heights.

  A touch panel monitor 12 having a monitor visible from the back side of the robot 1 is disposed on the back side of the body 10. The liquid crystal monitor can display the current state of the robot 1, for example. Further, the liquid crystal monitor has a touch panel function, and is also used as an operation unit for setting operations for the robot 1.

  FIG. 3 is a perspective view showing details of the hand 111. 3A is a view when the gripping surfaces 111B-1 (details will be described later) of the fingers 111B are brought into contact with each other, and FIG. 3B is a view when the gripping surfaces 111B-1 are separated. .

  The hand 111 includes a main body portion 111A, fingers 111B, a bottom plate portion 111C, a movable portion 111D, and a shaft 111E. The main body 111A has a substantially rectangular parallelepiped shape, and a movable portion 111D is disposed around the main body 111A. The fingers 111B are provided on the movable portion 111D. The tips of the fingers 111B are formed in a substantially quadrangular pyramid shape, and at least one of the side surfaces of the quadrangular pyramid is formed as a gripping surface 111B-1 for gripping an object. The number of gripping surfaces 111B-1 provided on one finger 111B is not particularly limited, but will be described here as being two. Details of the gripping surface 111B-1 will be described later.

  The number of fingers 111B is not limited, but is, for example, 2 to 4. In FIG. 3, one finger 111B is provided in one movable part 111D, but the present invention is not limited to this, and the number of fingers 111B provided in one movable part 111D is arbitrary. The main body 111A is provided with a bottom plate portion 111C including a bottom plate surface 111C-1 so as to be positioned between the fingers 111B. A gripping surface 111B-1 formed on one finger 111B is provided in parallel with the gripping surface 111B-1 formed on another finger 111B. Each gripping surface 111B-1 is provided perpendicular to the bottom plate surface 111C-1. The finger 111B corresponds to a finger portion of the present invention. The bottom plate portion 111C corresponds to the receiving portion of the present invention, and the bottom plate surface 111C-1 corresponds to the surface of the receiving portion of the present invention.

  The movable portion 111D is movable along the shaft 111E by being driven by a drive mechanism (not shown in FIG. 3). Thereby, it is possible to change the distance between the fingers 111B and sandwich the object between the gripping surfaces 111B-1. During this driving, the fingers 111B are configured to move parallel to the bottom plate surface 111C-1. In addition, in order to hold | grip a target object with the finger 111B, it is not restricted to pinching a target object between the holding surfaces 111B-1. The hand 111 only needs to be able to grip an object with at least one finger 111B.

  Here, horizontal, horizontal upward, vertical downward, vertical upward, and vertical are not limited to strictly horizontal, horizontal upward, vertical downward, vertical upward, and vertical, and are concepts that include an error of about several degrees. Further, the rectangular parallelepiped shape and the quadrangular pyramid shape here are not limited to a strict rectangular parallelepiped shape and a quadrangular pyramid, and include an error of about several degrees and several unit lengths (for example, mm, cm, m, etc.), It is a concept that includes a chamfered corner.

  Here, a retaining ring fitted by the robot 1, a retaining ring stand for supplying the retaining ring, and a tool used for retaining the retaining ring will be described. 4A is a retaining ring, FIG. 4B is a retaining ring stand, and FIG. 4C is a perspective view of the tool. Although FIG. 4 shows a known retaining ring, retaining ring stand, and tool, it is not necessary to limit to a known one.

  The retaining ring R is, for example, a C-shaped retaining ring or an E-shaped retaining ring, and FIG. 4 shows an E-shaped retaining ring. The retaining ring R has a ring shape that is partially open. The retaining ring R can be fitted into the fitting portion I (not shown in FIG. 4) by applying a load from the opposite side of the opening toward the opening.

  As is apparent from the above description and illustration, the term “annular” here is not limited to a strict ring and is a concept including an error of several unit lengths (for example, mm, cm, m, etc.).

  The tool T includes a holding part H. The holding part H is generally configured to hold and hold the retaining ring R. The retaining ring H can be held by the retaining part H by bringing the retaining part H into contact with the position P of the retaining ring R and applying a load in the direction Db. Further, the retaining ring R held by the holding portion H can be fitted into the fitting portion I by applying a load from the direction Db.

  The retaining ring stand RS makes it easy to supply the fitting ring R. The retaining ring stand RS includes, but is not limited to, a supply unit RS1. The supply unit RS1 is configured to be able to be taken out by stacking the retaining ring R so as to be held by the tool T and pulling it out from the lowermost retaining ring R in the direction Dc.

  FIG. 5 is a diagram showing details of the arm 11. FIG. 5 shows an example of the arm 11 when the retaining ring R is held by the tool T held by the hand 111 and the retaining ring R is fitted into the fitting portion I. Details of this operation will be described later.

  The arm 11 is configured by sequentially connecting arm members (corresponding to manipulator members of the present invention) 11A, 11B, 11C, 11D, and 11E by joints (not shown) from the body 10 side. The joint is provided with an actuator (not shown) for operating them.

  The arm 11 is a seven-axis robot having seven rotation axes. Seven rotation axes J1, J2, J3, J4, J5, J6, and J7 are rotation axes of actuators provided in the joints. The arm members 11A, 11B, 11C, 11D, and 11E and the hand 111 can independently rotate about the rotation axes J1, J2, J3, J4, J5, J6, and J7.

  The actuator includes, for example, a servo motor and an encoder. The encoder value output by the encoder is used for feedback control of the robot 1 by the control unit 20. The actuator is provided with an electromagnetic brake that fixes the rotation shaft.

  A force sensor 11c (not shown in FIG. 5) is provided at the tip of the arm member 11E (corresponding to the wrist portion of the arm 11). The force sensor 11c is a sensor that detects a force and a moment received as a reaction force with respect to the force generated by the robot 1. As the force sensor 11c, for example, a six-axis force sensor 11c that can simultaneously detect six components of a force component in the translational three-axis direction and a moment component around the three rotation axes can be used. The force sensor 11c is not limited to six axes, and may be, for example, three axes.

  Further, the hand 111 is provided at the tip of the arm member 11E via an attachment / detachment member 112 for detachably providing the hand 111.

  The configuration of the robot 1 is not limited to the above-described configuration because the main configuration has been described in describing the features of the present embodiment. This does not exclude the configuration of a general gripping robot. For example, in FIGS. 1, 2, and 5, a seven-axis arm is shown, but the number of axes (number of joints) may be further increased or decreased. The number of arm members may be increased or decreased. In addition, the shape, size, arrangement, structure, and the like of various members such as arm members and joints may be changed as appropriate.

  Next, a functional configuration example of the robot 1 will be described. FIG. 6 shows a functional block diagram of the control unit 20.

  The control unit 20 mainly includes a hand control unit 200, an arm control unit 201, an overall control unit 202, an instruction acquisition unit 203, and a detection unit 204.

  The hand control unit 200 turns on or shuts off the control power and drive power to the hand 111.

  Further, when the hand control unit 200 moves the end point to the target position, the hand control unit 200 outputs a signal for causing the hand 111 to perform an operation. This signal is amplified by the hand drive amplifier 111b and input to the hand drive actuator 111a. Thereby, the work can be performed by the hand 111. Since this process can use a general technique, description thereof is omitted.

  The arm control unit 201 outputs a signal for driving the arm 11 based on the encoder value of the actuator, the sensor value of the force sensor 11c, and the like. This signal is amplified by the arm drive amplifier 11b and input to the arm drive actuator 11a. Thereby, the arm 11 is controlled.

  Specifically, the arm control unit 201 moves the position of the end point so that the hand 111 performs a predetermined operation based on the image captured by the electronic camera 15. Since this process can use a general technique, description thereof is omitted.

  The overall control unit 202 performs processing for controlling the entire control unit 20.

  When the retaining ring fitting instruction is input via the touch panel monitor 102, the instruction acquisition unit 203 executes the input retaining ring insertion instruction.

  The detection unit 204 outputs a control signal when detecting the contact of the tool T to the bottom plate part 111C, the withdrawal of the retaining ring R from the stand RS by the tool T, and the fitting of the retaining ring R into the fitting part I. .

  In the present embodiment, the control unit 20 is provided in the leg portion 13, but the control unit 20 can be provided in any part in the robot 1. Alternatively, the control unit 20 can be provided outside the robot 1. When the control unit 20 is provided outside the robot 1, the control unit 20 is connected to the robot 1 by wire or wirelessly. Further, each unit of the control unit 20 may be realized by a plurality of devices being distributed.

  FIG. 7 is a block diagram illustrating an example of a schematic configuration of the control unit 20. As shown in the figure, the control unit 20 configured by, for example, a computer includes a CPU (Central Processing Unit) 21 that is an arithmetic device, a RAM (Random Access Memory) that is a volatile storage device, and a nonvolatile storage device. An input device interface (I / I) for connecting a memory 22 composed of a certain ROM (Read only Memory), an external storage device 23, a communication device 24 for communicating with an external device such as the robot 1, and an input device such as a touch panel monitor. F) 25, an output device I / F 26 for connecting an output device such as a touch panel monitor, and an I / F 27 for connecting the control unit 20 and other units.

  Each functional unit described above is realized, for example, by the CPU 21 reading a predetermined program stored in the memory 22 into the memory 22 and executing it. The predetermined program may be installed in the memory 22 in advance, or may be downloaded from a network (not shown) via the communication device 24 and installed or updated. Alternatively, the predetermined program may be installed or updated by reading a program stored in a portable storage medium (not shown) by a reading device (not shown).

  The configuration of the robot 1 described above is not limited to the above-described configuration because the main configuration has been described in describing the features of the present embodiment. Further, the configuration of a general robot system is not excluded.

<First operation example>

  Next, characteristic processing of the robot 1 having the above configuration will be described from the first operation example. FIG. 8 is a processing flow from when the robot 1 clamps the tool T to when the tool T takes out the retaining ring R from the retaining ring stand RS and the retaining ring R is fitted into the fitting portion I. The process shown in FIG. 8 is started when any input is made to the control unit 20 via the touch panel monitor 12. Details of each process in FIG. 8 will be described later.

  First, the overall control unit 202 determines whether or not a retaining ring fitting instruction input from the touch panel monitor 12 is acquired by the instruction acquisition unit 203 (step S80).

  When the retaining ring fitting instruction is not acquired by the instruction acquiring unit 203 (step S80; NO), the overall control unit 202 performs step S80 again after a predetermined time.

  When the retaining ring fitting instruction is acquired by the instruction acquiring unit 203 (step S80; YES), the robot 1 holds the tool T after making the tool T contact the hand 111 (step S81). This operation corresponds to contact (contact to the receiving portion) and gripping of the present invention.

  Next, the robot 1 takes out the retaining ring R from the retaining ring stand RS and holds it with the tool T gripped by the hand 111 (step S82). This operation corresponds to the holding of the present invention (holding the retaining ring to the tool).

  Next, the robot 1 fits the retaining ring R held by the tool T into the fitting portion I (step S83). This operation corresponds to the fitting of the present invention.

  Next, the robot 1 returns the tool T gripped by the hand 111 to the original location (step S84).

  The above is a series of operations for fitting the retaining ring by the robot 1. The timing for starting this operation is not limited to the case where an instruction is input from the touch panel monitor 12, but is arbitrary. Further, the process of returning the tool T gripped by the hand 111 to the original position (step S84) is not necessarily performed.

  FIG. 9 is a diagram for explaining the operation of the arm 11 and the hand 111 in the operation of causing the hand 111 to grip the tool T (step S81). FIG. 9A is a diagram when the finger 111B grips the tool T. FIG.

  The tool T is disposed on the tool stand TS. The tool stand TS includes a tool holding surface TS1. The tool holding surface TS1 includes a structure for holding the tool T (for example, the protrusion TS2 in FIG. 9).

  The arm 11 is controlled so that the hand 111 moves in the direction of the arrow D1-1. At this time, in order to enable the tool T to be gripped, for example, as shown in FIG. When the end of the tool T (for example, the part E in FIG. 4) contacts the bottom plate surface 111C-1, the hand 111 grips the tool T by reducing the distance between the gripping surfaces 111B-1.

  At this time, the tool T is gripped so that the bottom plate surface 111C-1 is perpendicular to the operation direction for fitting the retaining ring R into the fitting portion I. This is not limited, but is realized as follows, for example. When the tool T shown in FIG. 4 is used for insertion, the operation direction for the insertion is from a contact portion (for example, a part E in FIG. 3) of the tool T to the bottom plate surface 111C-1 and a retaining ring R of the tool T. Direction toward the holding part (for example, the holding part H in FIG. 3). In this case, the operation direction for contacting the tool T is substantially parallel to a virtual line (for example, L1 in FIG. 9) from the portion E of the tool T arranged on the tool stand TS to the holding portion H. If the bottom plate surface 111C-1 of the hand 111 is vertical, the vertical grip can be realized.

  Furthermore, when the tool T shown in FIG. 4 includes surfaces parallel to each other and can be gripped by sandwiching these surfaces, the vertical gripping described above can be realized as follows. This will be described with reference to FIGS. 9B and 9C.

  FIG. 9B is a diagram showing the positional relationship of the gripping surface 111B-1 when the surface P1 and the surface P2 of the tool T are substantially parallel. As illustrated, the grip surface 111B-1b of the finger 111Ba and the grip surface 111B-1b of the finger 111Bb are brought into contact with the surface P1. The holding surface 111B-1b of the finger 111Bc and the holding surface 111B-1b of the finger 111Bd are brought into contact with the surface P2. Thus, it is possible to implement | achieve the said vertical holding | grip by making the holding surface 111B-1 contact | abut and pinching with holding | grip 111B-1b.

  At this time, the gripping surface 111B-1 may be brought into contact with the surface so as to be symmetric with respect to a line or a surface that equally divides the distance between the parallel surfaces. For example, in the case of FIG. 9B, the plane CP1 is a plane that equally divides the distance between the plane P1 and the plane P2. The gripping surface 111B-1b of the finger 111Ba and the gripping surface 111B-1b of the finger 111Bd are brought into contact with a position that is symmetrical with respect to the plane CP1. In this way, the force from the finger 111Ba can be received vertically by the finger 111Bd, and the force from the finger 111Bd can be received vertically by the finger 111Ba. The same is true for the combination of fingers 111Bb and fingers 111Bc. By gripping in this way, it becomes possible to receive force between the gripping surfaces 111B-1 facing each other, and the gripping of the tool T is stabilized.

  FIG. 9C is a diagram showing the positional relationship of the gripping surface 111B-1 when the surface P1 and the surface P2 of the tool T are parallel and the surface P3 and the surface P4 are parallel. As shown in the drawing, the gripping surface 111B-1b of the finger 111Ba is brought into contact with the surface P1, and the gripping surface 111B-1b of the finger 111Bc is brought into contact with the surface P2. The holding surface 111B-1a of the finger 111Bb is brought into contact with the surface P3, and the holding surface 111B-1a of the finger 111Bd is brought into contact with the surface P4. Thus, it is possible to implement | achieve the said vertical holding | grip by making the holding surface 111B-1 contact | abut and pinching with holding | grip 111B-1b.

  Even if the tool T includes two sets of parallel surfaces as shown in FIG. 9C, a line or surface that equally divides the distance between the parallel surfaces as in FIG. 9B. You may make it contact | abut to a surface so that it may become symmetrical. However, the present invention is not limited to this, and the force from the gripping surface 111B-1 in contact with a certain surface to the gripping surface 111B-1 in contact with the opposing surface passes through the center of gravity of the tool T (for example, the axis center of the tool T). It may be. For example, in the case of FIG. 9C, the gripping surface 111B-1 is moved so that the force F from the gripping surface 111B-1b of the finger 111Ba to the gripping surface 111B-1b of the finger 111Bc passes through the center of gravity O of the tool T. You may contact | abut. The pair of fingers 111Bb and 111Bd is also brought into contact with the same positional relationship. By gripping in this way, it becomes possible to receive force between the gripping surfaces 111B-1 facing each other, and the gripping of the tool T is stabilized.

  However, the above vertical gripping is not necessarily realized only by the above, for example, the shape and structure of the tool T, the shape of the gripping surface 111B-1, the shape of the bottom plate surface 111C-1, or the positional relationship thereof. Conditions can be added and deleted accordingly.

  The term “vertical” and “parallel” here is not limited to the case of strict vertical and parallel, but is a concept including an error of about several degrees. Further, the symmetry, equality, centroid, center, and the same as used herein are not limited to strict symmetry, equality, centroid, center, and the same, and are about several degrees and several unit lengths (for example, mm, cm, m or the like).

  After gripping the tool T by the finger 111B, the arm 11 moves in the direction of the arrow D1-2 after moving the tool T in a direction in which the tool T can be removed from the tool stand TS (for example, the upward direction in FIG. 9). However, depending on the structure for holding the tool T, the tool T may move in another direction, or a combination of movements in a plurality of different directions may be combined.

  The tool holding surface TS1 forms an angle α1 with the work table on which the tool stand TS is disposed. The angle α1 is a value that satisfies α1> 0 (for example, α1 = 20 °). The value of the angle α1 is not limited, and can be determined by at least one of the structure of the tool T, the dimension of the tool T, the dimension of the tool holding surface TS1, and the dimension of the hand 111, for example. That is, the angle α1 can be determined so that the hand 111 and other structural parts of the robot 1 do not interfere with the work table when the hand 111 holds the tool T held on the tool stand TS.

  By not making the tool holding surface TS1 of the tool stand TS parallel to the work table, the movable range of the arm 11 can be made larger than making the tool holding surface TS1 parallel to the work table. As a result, the time required for gripping the tool T can be reduced.

  FIG. 10 is a processing flow of the operation described in FIG. The arm 11 takes a posture in which the hand 111 can grip the tool T (step S811). For this purpose, the arm control unit 201 adjusts the position and orientation of each arm drive actuator 11 a of the arm 11. This position and orientation may be input to the robot 1 in advance, or may be specified by an image processing technique or a sensing technique for an image captured by the electronic camera 15.

  At least one of S811 and before, the hand control unit 200 adjusts the position and orientation of the hand drive actuator 111a so that the tool T can be gripped, as shown in FIG. The gripping surface 111B-1 of the hand 111 may be placed at positions separated from each other.

  Next, the arm 11 moves in the operation direction (for example, the direction of the arrow D1-1 in FIG. 9) (S812). For this purpose, the arm control unit 201 adjusts the position and orientation of the arm drive actuator 11a to move the arm 11 in the operation direction. The operation direction at this time may be input to the robot 1 in advance, or may be specified by image processing or sensing technology of an image captured by the electronic camera 15.

  The detection unit 204 determines whether or not the tool T has contacted the bottom plate surface 111C-1 (S813). This determination is made by, for example, determining whether or not the force sensor 11c detects a force greater than or equal to a predetermined value or greater than a predetermined value in a direction opposite to the operation direction in step S812. Also good. Alternatively, the detection unit 204 may detect the image captured by the electronic camera 15 by performing image processing.

  When the tool T does not contact the bottom plate surface 111C-1 (S813; NO), the process returns to step S812, and the movement operation of the arm 11 is continued. When the tool T comes into contact with the bottom plate surface 111C-1 (S813; YES), the arm 11 stops moving, and the hand 111 holds the tool T (S814). For this purpose, the arm control unit 201 adjusts the arm drive actuator 11a to stop the movement of the arm 11. The arm control unit 201 adjusts the hand drive actuator 111a so as to make the distance between the fingers 111B of the hand 111 closer to each other, thereby holding the tool T with the holding surface 111B-1.

  Next, the arm 11 moves in the operation direction (for example, the direction of the arrow D1-2 in FIG. 9) (S815). Since this operation differs from the operation in step S812 only in the moving direction, detailed description thereof is omitted. Steps S812 and S813 correspond to contact (contact to the receiving portion) of the present invention, and step S814 corresponds to gripping of the present invention. However, the contact (contact to the receiving portion) and gripping according to the present invention may be the contact operation and the gripping operation itself, or may be the contacted state and the gripped state.

  The above is the operation for causing the hand 111 to grip the tool T. Next, the operation of taking out the retaining ring R with the tool T will be described.

  FIG. 11 is a diagram for explaining the operation of the arm 11 and the hand 111 in the operation of taking out the retaining ring R from the retaining ring stand RS with the tool T (S82).

  The arm 11 moves so that the hand 111 is directed in the direction of the arrow D2-1. When the retaining ring R is held by the tool T, the arm 11 moves so that the hand 111 is directed in the direction of the arrow D2-2. However, depending on the structure of the supply unit RS1, it may be moved in another direction, or may be combined with movements in a plurality of different directions.

  The retaining ring stand RS includes a stand holding surface RS2. The stand holding surface RS2 forms an angle α2 with the work table on which the retaining ring stand RS is disposed. The angle α2 is a value that satisfies α2> 0. The value of the angle α2 is not limited, and is determined by, for example, at least one of the structure of the tool T, the dimension of the tool T, the dimension of the stand holding surface RS2, the structure of the supply unit RS1, the dimension of the supply unit RS1, and the dimension of the hand 111. be able to. That is, the angle α2 can be determined so that the hand 111 and other structural parts of the robot 1 do not interfere with the work table when the retaining ring R is taken out from the retaining ring stand RS. This effect is the same as that described in the tool stand TS. The angle α2 may be the same as or different from the angle α1.

  The direction of the arrow D2-1 and the arrow D2-2 is from the contact portion (part E) to the bottom plate surface 111C-1 of the tool T held by the hand 111 to the holding portion (holding portion H) of the retaining ring R. (For example, L2 in FIG. 11). Therefore, the retaining ring R can be held by the tool T gripped by the hand 11 only by moving the arm 11 in the direction of the arrow D2-1.

  FIG. 12 is a processing flow of the operation described in FIG. The arm 11 takes a posture in which the retaining ring R can be taken out from the retaining ring stand RS by the tool T gripped by the hand 111 (step S821). Since this detail is the same as S811 except that the position and orientation are different, a detailed description thereof will be omitted.

  Next, the arm 11 moves in the operation direction (for example, the direction of the arrow D2-1 in FIG. 11) (S822). Since this detail is the same as S812 described above except that the operation direction and the moving speed are different, the description is omitted.

  The detection unit 204 determines whether or not the retaining ring R can be removed from the retaining ring stand RS (S823). This determination is made by, for example, determining whether the force sensor 11c has detected a force greater than or equal to a predetermined value or greater than a predetermined value in a direction opposite to the operation direction in step S822. Also good. Depending on the holding structure of the holding unit H, the detection unit 204 may detect the image captured by the electronic camera 15 by performing image processing. When it is determined whether or not the retaining ring R can be taken out based on the sensor value acquired by the force sensor 11c, although generally depends on the holding structure of the holding unit H and the supply structure of the supply unit RS1, the threshold value is generally described above. This value is larger than the threshold value for detecting contact in step S813.

  If the retaining ring R is not removable (S823; No), the process returns to step S822, and the movement operation of the arm 11 is continued. When the retaining ring R can be taken out (S823; Yes), the arm 11 moves in the operation direction (for example, the direction of the arrow D2-2 in FIG. 11) (S824). Since this operation is different from the operation in step S815 only in the moving direction and moving speed, detailed description is omitted.

  The above is the operation of taking out the retaining ring R from the retaining ring stand RS with the tool T. Next, an operation for fitting the retaining ring R into the fitting portion I will be described.

  FIG. 13 is a diagram for explaining the operation of the arm 11 and the hand 111 in the operation (step S83) of fitting the retaining ring R into the fitting portion. 13A is a view in which the hand 111 is moved toward the fitting portion I, and FIG. 13B is a view in which a retaining ring R is fitted. In FIG. 13, the components of the robot 1 are omitted for simplification of the drawing.

  The arm 11 moves so that the hand 111 is directed in the direction of the arrow D3-1. When the contact of the retaining ring R with the fitting portion I is detected, the arm 11 further moves so that the hand 111 is directed in the direction of the arrow D3-1. When it is detected that the retaining ring R is fitted in the fitting portion I, the arm 11 moves so that the hand 111 is directed in the direction of the arrow D3-2. However, depending on the fitting portion I and the structure in the vicinity thereof, it may be moved in another direction, or a plurality of movements in different directions may be combined.

  FIG. 14 is a processing flow of the operation described in FIG. The arm 11 takes a posture in which the retaining ring R held by the tool T can be fitted into the fitting portion I by the tool T gripped by the hand 111 (step S831). The details are the same as Steps S811 and S821 except that the position and the posture are different, and the description is omitted.

  Next, the arm 11 moves in the operation direction (for example, the direction of the arrow D3-1 in FIG. 13) (S832). This operation direction is perpendicular to the bottom plate surface 111C-1. In other words, the operation direction is from the contact portion (part E) to the bottom plate surface 111C-1 of the tool T held by the hand 111 to the holding portion (holding portion H) of the retaining ring R of the tool T. Direction. The details are the same as Steps S812 and S822 described above, except that the operation direction and the moving speed are different, and are therefore omitted.

  The detection unit 204 determines whether or not the retaining ring R has contacted the fitting portion I (S833). This determination is made by, for example, determining whether the force sensor 11c detects a force greater than or equal to a predetermined value or greater than a predetermined value in a direction opposite to the operation direction in step S832. Also good. Alternatively, the detection unit 204 may detect the image captured by the electronic camera 15 by performing image processing.

  If the retaining ring R is not in contact with the fitting portion (S833; No), the process returns to step S832, and the movement operation of the arm 11 is continued. When the retaining ring R is in contact with the fitting portion I (S833; Yes), the arm 11 continues to move in the movement direction (for example, the direction of the arrow D3-1 in FIG. 13) (S834). Since this operation is the same as the operation in step S833, detailed description thereof is omitted.

  The detection unit 204 determines whether or not the retaining ring R has been fitted into the fitting portion I (S835). This determination is made, for example, based on whether or not the force sensor 11c detects a force that is greater than or equal to a predetermined value or greater than a predetermined value in a direction opposite to the operation direction in steps S832 and S833. You may judge. Alternatively, the detection unit 204 may detect whether or not the image has been inserted by further adding image processing of an image captured by the electronic camera 15. When it is determined whether or not the retaining ring R is fitted by the sensor value acquired by the force sensor 11c, the threshold value is generally a threshold value for detecting removal of the retaining ring from the retaining ring stand RS in step S823. Alternatively, the value is larger than the threshold value for detecting the contact in step S833 described above.

  When the retaining ring R is not fitted (S835; No), the process returns to Step S834 to continue the movement operation of the arm 11. When the retaining ring R is fitted (S835; Yes), the arm 11 moves in the operation direction (for example, the direction of the arrow D3-2 in FIG. 13) (S836). Since this operation is different from the operation in steps S815 and S824 only in the moving direction, detailed description thereof is omitted.

  Here, with reference to FIG. 5, the detail of the operation | movement which fits the retaining ring R in the fitting part I is demonstrated. The first end (part E in FIG. 5) of the tool T is in contact with the bottom plate surface 111C-1, and the other part of the tool T is gripped by the opposing gripping surface 111B-1. A retaining ring R is held by the holding portion H which is the second end of the tool T. In this state, the retaining ring R is fitted into the fitting portion I by moving the arm 11 in the movement direction D 3-1. The part E corresponds to the first end of the present invention, and the holding portion H corresponds to the second end of the present invention.

  The force required for fitting the retaining ring R is smaller than the sum of the force obtained by gripping the fingers 111B (grip surface 111B-1) and the force obtained by contacting the tool T with the bottom plate surface 111C-1. That is, the gripping by the finger 111B (the gripping surface 111B-1) is initially brought into contact with the position where the tool T is initially gripped by the finger 111B and the bottom plate surface 111C-1 due to the reaction force generated during the fitting operation. It is set so as not to deviate from the set position. Thereby, it is possible to fit the retaining ring R so as not to deviate from the fitting portion I.

  The operation direction of the fitting is perpendicular to the bottom plate surface 111C-1 with which the end of the tool T abuts. Thereby, it becomes possible to receive the reaction force generated at the time of fitting perpendicularly to the bottom plate surface 111C-1. The force required for fitting the retaining ring R into the fitting portion I is about 150 N if the nominal diameter is 5 mm, although it depends on the specifications of the retaining ring R. Since the robot 1 includes a configuration capable of receiving a reaction force generated at the time of fitting perpendicularly to the bottom plate surface 111C-1, the retaining ring R can be fitted so as not to deviate from the fitting portion I. .

  In addition, as for the operation direction of fitting, when the tool T shown in FIG. 4 is a straight line from the first end (part E) of the tool T to the holding part (holding part H) of the retaining ring R, The direction from the part E to the holding part H. However, the tool T is not linear as shown in FIG. 4, and is not limited to this when the tool T is curved or bent. The operation direction of the fitting can be determined so that the moving path of the retaining ring held by the tool is parallel to the fitting direction of the retaining ring alone. The fitting direction of the retaining ring alone is the direction from the side opposite to the opening of the retaining ring R toward the opening, as described with reference to FIG. Even if the tool T is curved or bent, the above-described effect can be obtained by making the operation direction of fitting and the bottom plate surface 111C-1 perpendicular to each other.

  Details of the operation in step S84 in FIG. 8 can be realized by performing the operations described with reference to FIGS.

  According to the first operation example, the retaining ring R can be fitted into the fitting portion without a mechanism for expanding the retaining ring R. Since the fitting itself can be performed by moving in one direction, it is not necessary to perform a complicated operation, and the fitting can be realized only by a simple operation.

Further, according to the first operation example, the robot 1 can hold the retaining ring R on the tool T, so that the operation until fitting can be made efficient. When the retaining ring R is supplied by the retaining ring stand RS, the retaining ring R can be held more efficiently on the tool T.
<Second operation example>

  Next, a second operation example will be described. Since the second operation example and the first operation example differ only in the snap ring R fitting (step S83), the same operations and processes as those of the first operation example already described are given the same reference numerals and described. Is omitted. Hereinafter, the fitting of the retaining ring R will be described as step S83a.

  The second operation example is different in that the robot 1 detects the fitting portion I of the retaining ring R. For this purpose, the robot 1 moves the hand 111 while bringing the retaining ring R held by the tool T into contact with the surface of the structure S. The structure S can have any shape and configuration, but includes a surface (at least one of a flat surface and a curved surface) with which the retaining ring R can contact. This surface includes at least one of the fitting portion I itself and a portion where the position of the fitting portion I can be detected. Examples of the part where the position of the fitting part I can be detected are a concave part, a convex part, and both. The part where the position of the fitting part I can be detected corresponds to the instruction part indicating the fitting part of the present invention.

  FIG. 15 is a diagram for explaining the detection of the fitting portion of the retaining ring R. FIG. The structure S is cylindrical, and the fitting portion I that is a concave portion is detected by moving the hand 111 along the cylindrical length direction. 15A is a view when the retaining ring R held by the tool T is brought into contact with the surface of the structure S, FIG. 15B is a view when the fitting view I is detected, and FIG. 15C is a retaining ring R. FIG. In FIG. 15, the components of the robot 1 are omitted for simplification of the drawing.

  The arm 11 moves in the moving direction to bring the retaining ring R held by the tool T into contact with the surface of the structure S. Next, the arm 11 moves the retaining ring R in the movement direction D4-1 while keeping the retaining ring R in contact with the surface of the structure S. When the fitting portion I is detected in this way, the retaining ring R is fitted into the fitting portion I by moving the arm 11 in the movement direction D4-2 by the same operation as in the first operation example. When the retaining ring R is fitted, the arm 11 moves in the movement direction D4-3.

  FIG. 16 is a processing flow of step S83a. The process in step S83a includes the operation described in FIG. First, the arm 11 takes a posture capable of detecting the fitting portion I with the tool T gripped by the hand 111 (step S1601). The details are the same as steps S811, S821, and S831, except that the position and orientation are different.

  Next, the arm 11 moves in the operation direction (S1602). The details are the same as steps S812, S822, and S832, except that the operation direction and the moving speed are different, and the description is omitted.

  The detection unit 204 determines whether or not the retaining ring R has contacted the structure S (S1603). This determination is made by, for example, determining whether the force sensor 11c has detected a force greater than or equal to a predetermined value or greater than a predetermined value in a direction opposite to the operation direction in step S1602. Also good. Alternatively, the detection unit 204 may detect the image captured by the electronic camera 15 by performing image processing.

  If the retaining ring R is not in contact with the structure S (S1603; No), the process returns to step S1602, and the movement operation of the arm 11 is continued. When the retaining ring R is in contact with the structure S (S1603; Yes), the arm 11 contacts the surface of the structure S in the operation direction (for example, the direction of the arrow D4-1 in FIG. 15). It moves with it kept (S1604). The operation direction in step S1604 may be the same as or different from the operation direction in step S1601. The operation direction of step S1604 can be determined according to the shape of the structure S and other arbitrary conditions.

  In addition, the movement of S1604 is performed combining force control and position control. That is, while the arm 11 is moved by position control, the surface position of the structure S is detected by force control. This detection is performed using the reaction force from the surface of the structure S with which the retaining ring R held by the tool T contacts as an input. The specific control method is not described because a known technique can be used.

  The detection unit 204 determines whether or not a fitting portion has been detected (S1605). This determination is made by, for example, whether or not the force sensor 11c detects a force that is equal to or less than the predetermined value or smaller than the predetermined value in the direction opposite to the operation direction in step S1602 or in another direction. You may determine by. Alternatively, the detection unit 204 may detect the image captured by the electronic camera 15 by performing image processing. Alternatively, a combination thereof may be used.

  When detecting by the sensor value of the force sensor 11c, in the structure S of FIG. 15, when the force in the direction opposite to the operation direction of step S1602 becomes a value equal to or smaller than a predetermined value or smaller than a predetermined value, It can be determined that the contact position of the retaining ring R that is a value to the structure S is the fitting portion I. That is, when the reaction force from the contacted surface becomes smaller than the reaction force so far, the place can be determined as the recess that is the fitting portion I. This is the same not only when the fitting part I itself is a concave part but also when the part where the position of the fitting part I can be detected is a concave part.

  In addition, when the projecting portion I or the portion where the position of the fitting portion I can be detected is indicated by a convex portion, the reaction force from the contacting surface is larger than the reaction force until then, contrary to the above. Sometimes, the place can be determined as a convex portion.

  When the fitting portion I is not detected (S1605; No), the process returns to the process of step S1604 and the movement operation of the arm 11 is continued. At this time, the arm 11 may change the posture and position and change the operation direction so that the retaining ring R contacts another part of the surface of the structure S. The operation direction for detecting the fitting portion I, the posture and position of the arm 11 can be arbitrarily determined according to the structure and shape of the structure S, the structure and size of the tool T, and the movable range of the arm 11.

  When the fitting portion I is detected (S1605; Yes), the subsequent operations are the same as those in the first operation example, and therefore will be omitted. At this time, in order to fit the retaining ring R into the fitting portion I, the position and posture of the arm 11 may be adjusted again. The operation from S1601 to S1605 corresponds to the detection of the present invention.

  Although the case where the structure S was cylindrical and the recessed part fitting part I was provided in the circumference | surroundings of the cylinder was demonstrated above, the structure S and the fitting part I are not restricted to this. For example, a through hole may be provided on the surface of the structure S, and the fitting portion I may be provided inside the through hole. In this case, the robot 1 may set the position corresponding to the detected through-hole as the position of the fitting portion I, and allow the tool T to pass through the through-hole and fit the retaining ring R into the fitting portion I.

  In the second operation example, it is possible to detect the fitting portion I into which the retaining ring R is fitted. Thereby, fitting can be made efficient. In addition, this operation example is particularly effective when the position of the fitting portion I itself or the position variation greatly differs depending on the lot or individual.

  As mentioned above, although this invention was demonstrated using embodiment, the technical scope of this invention is not limited to the range as described in the said embodiment. It will be apparent to those skilled in the art that various modifications or improvements can be made to the above embodiment. In addition, it is apparent from the scope of the claims that the embodiments added with such changes or improvements can be included in the technical scope of the present invention. In particular, the present invention may be provided as a robot system in which a robot and a control unit are provided separately, or may be provided as a robot including a control unit in the robot, or only the control unit, or You may provide as a robot control apparatus containing a control part. The present invention can also be provided as a program for controlling a robot or the like or a storage medium storing the program.

1: Robot, 10: Torso, 10A: Shoulder region, 10B: Torso body, 11: Arm, 11A: Arm member, 11B, 11C, 11D, 11E: Arm member, 11G: Hand eye camera, 11a: Arm drive Actuator, 11b: Arm drive amplifier, 11c: Force sensor, 12: Touch panel monitor, 13: Leg part, 14: Handle for conveyance, 15: Electronic camera, 16: Signal lamp, 17: Power switch, 17a: Power ON switch, 17b: Power OFF switch, 18: External I / F unit, 19: Lift handle, 20: Control unit, 21: CPU, 22: Memory, 23: External storage device, 24: Communication device, 25: Input device, 26: Output device, 111: hand, 111a: hand drive actuator, 111b: hand drive amplifier, 111A: main body 111B: finger, 111B-1: grip surface, 111C: bottom plate portion, 111C-1: bottom plate surface, 111D: movable portion, 111E: shaft, 112: detachable member, 200: hand control portion, 201: arm control portion, 202 : Overall control unit, 203: Instruction acquisition unit, 204: Detection unit

Claims (19)

An arm comprising an end effector including at least two fingers and a receiving portion between the at least two fingers;
The first end of the tool abuts the receiving part;
Gripping the tool with at least one finger,
A retaining ring held at a second end different from the first end is fitted into the fitting portion,
A robot characterized by that. The robot according to claim 1, wherein the retaining ring includes one of a C-type retaining ring and an E-type retaining ring. The robot according to claim 1, wherein the at least two finger parts include four finger parts, and the tool is gripped by the four finger parts. The force required for the fitting is smaller than the sum of the force obtained by contact of the tool with the receiving portion and the force obtained by gripping the tool. The robot according to one. The tool is gripped by the at least two fingers so that the fitting operation direction is perpendicular to the surface of the receiving portion with which the tool abuts. Robot described in 1. 6. The robot according to claim 1, wherein an operation direction of the fitting is a direction from the first end to the second end. Further, the snap-in portion is detected by moving the retaining ring held at the second end while being in contact with the surface including at least one of the snap-in portion and the indicating portion indicating the snap-in portion. The robot according to any one of claims 1 to 6. The robot according to any one of claims 1 to 7, wherein a retaining ring abuts on the gripped tool, and the retaining ring is held by the tool. The robot according to claim 1, further comprising a control device that controls to perform at least one of the operations. A robot including an arm having an end effector including at least two fingers and a receiving portion between the at least two fingers;
A control device,
The control device provides the robot with
A first end of a tool is brought into contact with the receiving part, and the tool is gripped by at least one of the finger parts;
A robot system, wherein a retaining ring held at a second end different from the first end is fitted into the fitting portion. The robot system according to claim 10, wherein the retaining ring includes one of a C-type retaining ring and an E-type retaining ring. The robot system according to claim 10 or 11, wherein the at least two finger parts include four finger parts, and the tool is gripped by the four finger parts. The force required for the fitting is made smaller than a sum of a force obtained by the contact of the tool with the receiving portion and a force obtained by gripping the tool. The robot system according to any one of the above. The tool is gripped by the at least two fingers so that the fitting operation direction is perpendicular to the surface of the receiving portion with which the tool abuts. Robot system described in one. The robot system according to any one of claims 10 to 14, wherein an operation direction of the fitting is a direction from the first end to the second end. Further, the snap ring is detected by moving the retaining ring held at the second end while contacting the snap ring and a surface including at least one of the indicating part indicating the snap part. The robot system according to any one of claims 10 to 15. The robot system according to any one of claims 10 to 16, wherein a retaining ring is brought into contact with the gripped tool and the retaining ring is held by the tool.   A robot control apparatus that controls the robot according to any one of claims 1 to 8. A robot including an arm including an end effector including at least two fingers and a receiving portion between the at least two fingers.
A first end of a tool is brought into contact with the receiving part, and the tool is gripped by at least one finger part;
A step of fitting a retaining ring held at a second end different from the first end into the fitting portion is performed.

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