JP2016030320A - Robot system, tool exchanging device, and robot device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a robot system capable of automatically exchanging working means of an end effector and the like, while suppressing the enlargement of a device and an increase in power consumption.SOLUTION: A robot system includes: a robot device which has a multi-joint arm, a first finger 61, a finger mount 63 arranged on the multi-joint arm side, and a finger attachment 68 arranged on the first finger 61 side; and a holding base 21 which has clamp mechanisms 25 and 125 capable of holding the first finger 61. The finger attachment 68 is a magnetic body, and the finger mount 63 is equipped with a permanent magnet 64 adsorbing the finger attachment 68 and coupling the finger mount 63 and the finger attachment 68 by magnetic force. The holding base 21 is equipped with an electromagnetic coil 26 which generates magnetic force for weakening the magnetic force of the permanent magnet 64 by energization, and can release the coupling of the finger mount 63 and the finger attachment 68 by the magnetic force.SELECTED DRAWING: Figure 7

Description

  The present invention relates to a robot system using a multi-joint arm, a tool exchanging apparatus and a robot apparatus constituting the robot system.

  Conventionally, a robot apparatus including a vertical articulated arm (hereinafter referred to as an arm) and an end effector (hereinafter referred to as a robot main body) and a control device for controlling the robot main body has been widely used. In order to control the position and orientation of the end effector with high accuracy, it is desired to reduce the weight of each part of the robot body. Moreover, there are many small precision parts and various shapes as workpieces to be subjected to an assembly process using such a robot apparatus. In order to cope with this, the robot body is required to perform operations such as gripping and processing on a wide variety of workpieces. In other words, it is desired to automatically change tools for work such as workpiece gripping and processing, perform automatic setup change with a minimum change in the apparatus configuration, and increase the operating rate of the entire robot apparatus.

  In a robot apparatus using such an arm, there is a technique for coupling a second unit having a magnetic body coupled to a tool by exciting a magnet built in the first unit coupled to the arm to generate a coupling force. It is known (see Patent Document 1). In this robot apparatus, the electromagnet is brought into a non-excited state to release the coupling with the magnetic body, and the first unit and the second unit are separated.

  Further, in a robot apparatus using an arm, a technique for fitting a master body connected to an arm and a tool body connected to a tool is known (see Patent Document 2). In this robot apparatus, the master body and the tool body are coupled and locked by moving the piston by pneumatic pressure and pressing the ball against the tapered surface.

JP-A-5-177469 Japanese Patent Laid-Open No. 4-183585

  However, in the robot apparatus described in Patent Document 1, since the first unit connected to the arm incorporates the electromagnet, the unit itself is increased in size and weight. Further, the arm must always be coupled by an electromagnet while holding the tool, and the electromagnet always consumes electric power to obtain a coupling force during driving of the robot.

  Further, in the robot apparatus described in Patent Document 2, since the piston is driven by pneumatic pressure to lock the coupling, a space for the arrangement of the piston and the formation of the air flow path is required in the body. Was inviting.

  An object of the present invention is to provide a robot system, a tool exchange device, and a robot device capable of automatically exchanging work means such as an end effector while suppressing increase in size of the device and increase in power consumption.

  The robot system of the present invention includes an articulated arm, working means attached to the articulated arm and capable of working on a work object, and interposed between the articulated arm and the working means. A first connecting portion disposed on the side of the multi-joint arm, interposed between the multi-joint arm and the working means, and disposed on the side of the working means. A robot apparatus having a second connecting part detachably connected to the connecting part, and a tool changer having a holding part capable of holding the working means, the first connecting part and the first connecting part One of the two connecting portions includes a magnetic body, and the other connecting portion attracts the magnetic body and connects the first connecting portion and the second connecting portion by magnetic force. A permanent magnet, and the tool changer includes the permanent magnet. The force of weakening the magnetic force of the stone caused by energization, comprising a releasable degaussing unit coupling by the magnetic force of the first connecting portion and the second connecting portion, and wherein the.

  The tool changer according to the present invention includes a multi-joint arm and a working means that is detachably coupled directly or indirectly to the multi-joint arm and capable of working on a work target. A first connecting part interposed and provided on the side of the multi-joint arm; and a second connecting part provided on the side of the working means and detachably attached to the first connecting part. One of the connecting portions includes a magnetic body, and the other connecting portion includes a permanent magnet that attracts the magnetic body and connects the first connecting portion and the second connecting portion by magnetic force. A holding part capable of holding the working means of the apparatus, and a demagnetizing part capable of generating a magnetic force to weaken the magnetic force of the permanent magnet by energization and releasing the connection by the magnetic force of the first connecting part and the second connecting part. And.

  The robot apparatus of the present invention is interposed between the multi-joint arm, the work unit attached to the multi-joint arm and capable of working on a work target, and the multi-joint arm and the work unit. And a first connecting portion disposed on the side of the multi-joint arm, interposed between the multi-joint arm and the working means, and disposed on the side of the working means. A second connecting portion that is detachably connected to one connecting portion, and one of the first connecting portion and the second connecting portion includes a magnetic body, and the other. The coupling portion includes a permanent magnet that attracts the magnetic body and couples the first coupling portion and the second coupling portion by magnetic force, and the first permanent magnet is demagnetized from the outside. The connection by the magnetic force of the connecting part and the second connecting part is released. It is characterized in.

  According to the present invention, one connecting portion includes a magnetic body, the other connecting portion includes a permanent magnet, and the tool changer includes a demagnetizing portion. For this reason, the demagnetizing unit generates a magnetic force that weakens the magnetic force of the permanent magnet by energization with respect to the first connecting part and the second connecting part connected by the adsorption of the permanent magnet and the magnetic body. The connection by the magnetic force of the part can be released. In addition, the energization to the demagnetizing portion may be performed when the coupling by the magnetic force of both the coupling portions is released, and no energization is necessary to maintain the coupling of both the coupling portions. Thereby, it is possible to obtain a robot system capable of automatically exchanging working means such as an end effector while suppressing increase in size of the apparatus and increase in power consumption.

It is explanatory drawing which shows schematic structure of the robot apparatus which concerns on embodiment of this invention. It is explanatory drawing which shows the finger mount of the robot apparatus which concerns on embodiment of this invention, (a) is a front view, (b) is a side view, (c) is a bottom view. It is explanatory drawing which shows each finger of the robot apparatus which concerns on embodiment of this invention, (a) is a front view of a 1st finger, (b) is a side view of a 1st finger, (c) is a front view of a 2nd finger. FIG. It is explanatory drawing which shows the holding stand of the robot apparatus which concerns on embodiment of this invention. 1 is a block diagram showing a schematic configuration of a robot apparatus according to an embodiment of the present invention. 6 is a flowchart showing an operation of exchanging the first finger with the second finger using each tool exchanging device in the robot apparatus according to the embodiment of the present invention. It is explanatory drawing which shows the operation | movement which removes a 1st finger using the 1st tool change apparatus in the robot apparatus which concerns on embodiment of this invention. (A) is a state where the first finger is brought close to the holding position, (b) is a state where the first finger is held at the holding position and is demagnetized, (c) is a state where the finger mount starts to be detached, and (d) is a state where The finger mount is almost detached from the first finger. It is explanatory drawing which shows the operation | movement which mounts | wears with a 2nd finger using the 2nd tool change apparatus in the robot apparatus which concerns on embodiment of this invention. (A) is a state where the finger mount is brought closer to the second finger, (b) is a state where the finger mount is further lowered, (c) is a state where the second finger is mounted on the finger mount, and (d) is a state where the second finger is mounted. Is in a state of being released and released. It is explanatory drawing which shows the finger mount and 3rd finger of the robot apparatus which concern on embodiment of this invention.

  Hereinafter, embodiments for carrying out the present invention will be described in detail with reference to the drawings.

  As shown in FIG. 1, the robot system 10 includes a robot device 1, a first tool change device 2, a second tool change device 3, and the robot device 1, the first tool change device 2, and a second tool change device. 3 is provided. The robot apparatus 1 includes a 6-axis vertical articulated arm (hereinafter referred to as an arm) 5 having a plurality of joints, and a hand 6 that is an end effector. The object) W can be operated. In the present embodiment, a 6-axis vertical articulated arm is applied as the arm 5, but the number of axes may be appropriately changed according to the application and purpose.

  The arm 5 includes seven links 71 to 77 and six joints 81 to 86 that connect the links 71 to 77 so as to be swingable or rotatable. As each of the links 71 to 77, one having a fixed length is adopted. However, for example, a link that can be expanded and contracted by a linear actuator may be employed.

  The joint mechanism for driving the joints 81 to 86 of the arm 5 includes motors 51 to 56 (see FIG. 5) that drive the joints 81 to 86, and an encoder (not shown) that detects the rotation angle of the motors 51 to 56. It has. The joint mechanism includes a power transmission mechanism (not shown) constituted by a timing belt, a pulley, etc., a speed reduction mechanism (not shown) constituted by gears and the like, and a position / posture that supports the position and orientation when the motors 51 to 56 are not energized. Brake mechanism and the like.

  The hand 6 is attached to and supported by the most advanced link 77 of the arm 5, and at least one degree of freedom in position and posture is adjusted by the operation of the arm 5. The hand 6 includes a hand main body 60 and a first finger (working means) 61 that is disposed so as to be movable with respect to the hand main body 60 and that can work on the workpiece W. In the present embodiment, a plurality of, for example, two first fingers 61 are provided, and the work W can be gripped by the two first fingers 61, 61. The two first fingers 61, 61 are, for example, symmetric with each other. The drive mechanism for driving the first finger 61 of the hand body 60 includes a motor 62 (see FIG. 5) that drives the first finger 61 and an encoder (not shown) that detects the rotation angle of the motor 62. .

  In the robot apparatus 1, a work tool such as another driver, a drill, or a weld can be attached as an end effector instead of the hand 6. For this reason, the robot apparatus 1 may hold the work W with the hand 6 attached to the arm 5 and assemble it to another work, or may perform work on the work W with various work tools attached to the arm 5. it can.

  The hand 6 can exchange various working means with respect to the hand main body 60. For example, in the state shown in FIG. 1, the first finger 61 (see FIGS. 3A and 3B) 61 is attached to the hand main body 60, but the first finger 61 is attached to the second finger (FIG. 3C). (Ref.) 161 can be exchanged. When changing the product to be assembled (replacement), etc., since the workpiece W to be gripped and assembled by the hand 6 is different, each finger can be used properly according to the workpiece W and the work content. Furthermore, a driver other than a finger, a work tool such as a drill, and welding can be attached to the hand main body 60 as a working means. Details of the configuration of the hand 6 will be described later.

  The first tool changer (tool changer) 2 is provided with a base 20 and two bases 20 that are provided on the upper side of the base 20 and are open upward to accommodate and hold one finger 61 (finger). A holding table 21 and a cover 22 that covers the upper side of the holding table 21 are provided. Accordingly, the first tool changer 2 can attach or detach two first fingers 61 provided in the hand 6 to the hand body 60 in parallel. The two holding bases 21 have the same configuration. The cover 22 is provided above the holding table 21 and can be opened and closed. The cover 22 is opened when the first finger 61 is inserted into and removed from the holding base 21, and the cover 22 is closed at other times. Thereby, it is possible to prevent dust or the like from dropping and adhering to the holding table 21. Details of the configuration of the holding table 21 will be described later.

  The second tool changer (tool changer) 3 is provided on the base 30 and on the upper side of the base 30 and is open upward to accommodate and hold one second finger (finger) 161. Two holding bases 31 and a cover 32 covering the upper side of the holding base 31 are provided. Since other configurations are the same as those of the first tool changer 2, detailed description thereof is omitted.

  The control device 4 is configured by a computer, and can control the robot device 1, the first tool changer 2, and the second tool changer 3. The computer constituting the control device 4 includes, for example, a CPU 40, a ROM 41 that stores a program for controlling each unit, a RAM 42, and a communication control unit (I / F) 43. The RAM 42 temporarily stores data such as teaching points and control commands generated by operating the teaching pendant 44. The CPU 40 generates a trajectory of each axis of the robot apparatus 1 from the teaching point data and transmits it as a control target value via the communication control unit 43. The teaching pendant 44 is detachably connected to the control device 4 via a communication line, and has user interface functions such as robot operation and status display.

  Next, a characteristic configuration of the robot system 10 of the present embodiment will be described.

  As shown in FIGS. 2A and 2B, a guide rail 60 a, a block 60 b, and a finger mount (first connecting portion) 63 are provided at the distal end portion of the hand body 60. For example, the guide rail 60 a is provided on the distal end surface of the hand body 60 with the direction perpendicular to the axial direction of the hand body 60 as the longitudinal direction. The block 60b is slidable along the guide rail 60a, and is slid by a motor 62 (see FIG. 5) built in the hand body 60. The finger mount 63 is fixed to the block 60b. When the motor 62 is driven in a state where the first finger 61 is attached to the finger mount 63, the first finger 61 grips or releases the workpiece W.

  The finger mount 63 is interposed between the arm 5 and the first finger 61 and is disposed on the arm 5 side. The finger mount 63 is formed of a ferromagnetic material, and includes a base portion 63a, a fitting shaft (first fitting portion) 63b, a permanent magnet 64, a first biasing portion (biasing means) 65, and a second. An urging unit (urging means) 66 is provided. The base 63a is fixed to the block 60b. The fitting shaft 63b protrudes from the base 63a toward the tip, and has a columnar shape that is thinner than the base 63a. The permanent magnet 64 is embedded in the distal end portion of the base portion 63a, and is exposed on the horizontal distal end surface of the base portion 63a around the fitting shaft 63b. A gap S is provided in the radial direction between the permanent magnet 64 and the base 63a. The permanent magnet 64 has an annular shape and is arranged, for example, with the base end side being an N pole and the tip end side being an S pole. For this reason, the magnetic flux lines are continuously formed inside the base portion 63a and from the front end surface of the base portion 63a to the outside of the base portion 63a as shown by dotted lines in the figure.

  The first urging portion 65 includes a through-hole 65a formed in the vicinity of the base end portion of the fitting shaft 63b and penetrating in the radial direction, a ball 65b and an urging spring 65c provided in the through-hole 65a, A cap 65d for closing the opening of the hole 65a on the biasing spring 65c side. The through-hole 65a is a through-hole perpendicular to the axial direction, and its inner diameter is slightly larger than the diameter of the ball 65b. The opening of the through-hole 65a on the ball 65b side is slightly reduced in diameter than the diameter of the ball 65b, so that only a part of the ball 65b protrudes. The urging spring 65c is formed by a compression coil spring, and is provided between the ball 65b and the cap 65d by being compressed. Therefore, the ball 65b is exposed by projecting a part from the reduced diameter opening, and is pushed against the urging spring 65c by an external force to push the ball 65b.

  Thereby, when a finger attachment 68 (to be described later) is fitted to the finger mount 63 (see FIG. 7A), the ball 65b presses the inner surface of the engagement hole 68c of the fitting hole 68a of the finger attachment 68. Then, the cap 65 d side of the fitting shaft 63 b presses the inner peripheral surface of the fitting hole 68 a, and the finger attachment 68 is shifted to the finger mount 63 and positioned. In the present embodiment, the formation direction of the through-hole 65a is perpendicular to the axial direction, but is not limited thereto, and any direction that intersects the axial direction may be used. Also in this case, the finger mount 63 and the finger attachment 68 can be positioned by shifting by the ball 65b pressing the inner surface of the engagement hole 68c.

  The second urging portion 66 includes a through hole 66a formed near the tip of the fitting shaft 63b, a ball 66b and an urging spring 66c provided in the through hole 66a, and an urging spring of the through hole 66a. A cap 66d for closing the opening on the 66c side. The second urging portion 66 is located closer to the distal end side of the fitting shaft 63b than the first urging portion 65, and as shown in FIG. The configuration of the first urging portion 65 is different from that of the ball 65b of the portion 65 in that it is shifted by 90 ° in the circumferential direction of the fitting shaft 63b. Other configurations are the same as those of the first urging unit 65, and therefore, the same sub-symbols a to d are given and detailed description thereof is omitted. Thus, since the 1st biasing part 65 and the 2nd biasing part 66 are arrange | positioned in the position shifted | deviated to the axial direction, it is prevented that it mutually interferes.

  Next, as shown in FIGS. 3A and 3B, the first finger 61 includes a fingertip portion 67 and a finger attachment (second connecting portion) 68. In the present embodiment, the working means is the first finger 61 in the broad sense, but the fingertip portion 67 in the narrow sense. The first finger 61 is detachably coupled directly or indirectly to the arm 5 so that it can work on the workpiece W. The fingertip portion 67 has a cylindrical shape having a center hole 67a, and a work gripping portion 67b is provided at a part of the tip portion. The workpiece gripping portion 67b is made of, for example, a rubber member having a high friction coefficient, and prevents the workpiece from sliding off when the workpiece W is gripped.

  The finger attachment 68 is interposed between the arm 5 and the fingertip portion 67 of the first finger 61 and is disposed on the fingertip portion 67 side so as to be detachably connected to the finger mount 63. Yes. The finger attachment 68 has a cylindrical shape having the same diameter as the fingertip portion 67 and includes a fitting hole (second fitting portion) 68a into which the fitting shaft 63b of the finger mount 63 can be fitted. The finger attachment 68 is integrated with the fingertip portion 67 by fitting the end portions thereof with unevenness. The relationship between the diameters of the fitting hole 68a of the finger attachment 68 and the fitting shaft 63b of the finger mount 63 is set so as to be a clearance fit. Further, the fitting hole 68a and the center hole 67a continuously form one through hole. For this reason, the light beam used in the distance sensor 27 described later can pass through the first finger 61. When the finger attachment 68 is fitted to the finger mount 63, the horizontal end surface 68 b on the proximal end side of the finger attachment 68 contacts the base 63 a of the finger mount 63. As a result, the finger attachment 68 is attracted to the permanent magnet 64 of the finger mount 63 and coupled by magnetic force.

  In this embodiment, since the end surface where the permanent magnet 64 of the base portion 63a of the finger mount 63 is exposed and the end surface 68b of the finger attachment 68 are both horizontal surfaces, it is possible to realize good adsorption of the permanent magnet 64. . However, the permanent magnet 64 and the end surface 68b are not limited to a horizontal plane, and may be, for example, a conical surface or a concavo-convex surface that can be fitted.

  The finger attachment 68 is made of a soft magnetic material such as silicon steel. That is, since the finger attachment 68 is made of a soft magnetic material, it has a magnetic body. Here, the soft magnetic material has a coercive force of several tens A / m or less. Soft magnetic material is hard to retain magnetism when the magnetic field is removed, so there is no magnetic force remaining even after multiple finger or tool changes using finger attachment 68, and magnetic dust such as iron powder adheres. Can be prevented. In the present embodiment, the finger attachment 68 is made of a soft magnetic material and includes a magnetic body, but is not limited thereto. For example, the finger attachment 68 may not be made of a magnetic material, and a magnetic body that is attracted to the permanent magnet 64 may be provided in the finger attachment 68 as a separate member. Also in this case, the magnetic body is preferably a soft magnetic material.

  Further, on the inner peripheral surface of the fitting hole 68a of the finger attachment 68, two engagement holes 68c and 68c are formed to engage with the two balls 65b and 66b of the fitted fitting shaft 63b. For this reason, when the finger attachment 68 is fitted to the finger mount 63, the two balls 65b and 66b of the fitting shaft 63b are engaged with the engaging holes 68c and 68c of the fitting hole 68a. Accordingly, the finger mount 63 and the finger attachment 68 can be positioned in the circumferential direction and prevented from coming off in the axial direction. For this reason, the finger attachment 68 is firmly attached to the finger mount 63 by the coupling force due to the biasing force of the first biasing portion 65 and the second biasing portion 66 in addition to the coupling force due to the magnetic force of the permanent magnet 64. It becomes connected. The formation position of the engagement hole 68c is set so that the first finger 61 is attached to the hand body 60 in an appropriate direction when the balls 65b and 66b are engaged.

  As shown in FIG. 3C, the second finger 161 includes a fingertip portion 167 and a finger attachment (second connecting portion) 68. The second finger 161 is different in configuration from the first finger 61 in that the distal end portion 167c of the fingertip portion 167 has an elongated shape and does not have the rubber work gripping portion 67b. Other configurations are the same as those of the first finger 61, and thus the same reference numerals are given and detailed description thereof is omitted. The second finger 161 is suitable for gripping and assembling a small work W because the tip end portion 167c of the fingertip portion 167 has an elongated shape.

  Next, as shown in FIG. 4, the holding table 21 includes a frame 24 having an accommodation space for the fingers 61 opened upward, clamp mechanisms (holding portions) 25 and 125 provided on the side walls of the frame 24, and electromagnetic A coil (demagnetization part) 26 and a distance sensor (sensor) 27 are provided. As shown in FIG. 8A, the holding table 31 includes a frame 34 having an accommodation space for the fingers 161 opened upward, and a clamp mechanism 35 provided on the side wall of the frame 34, as in the holding table 21. , 135, an electromagnetic coil 36, and a distance sensor 37. For this reason, detailed description of the holding table 31 is omitted.

  The clamp mechanisms 25 and 125 are arranged at four positions every 90 ° in the circumferential direction of the frame 24. The first clamp mechanism 25, the second clamp mechanism (not shown), the third clamp mechanism 125, and the fourth clamp, respectively. It is a mechanism (not shown). Since the clamp mechanisms 25 and 125 have the same configuration, only the first clamp mechanism 25 will be described here. The first clamp mechanism 25 is provided in a clamp housing portion 25 a that opens to the inside in the radial direction D of the frame 24. The clamp mechanism 25 includes a guide rail 11, a block 12, a sleeve 13, a clamp body (clamp) 14, and an urging spring 15.

  The guide rail 11 is provided on the upper and lower surfaces inside the clamp housing portion 25a, and on the side surfaces along the radial direction D as necessary, with the radial direction D of the frame 24 as the longitudinal direction. The block 12 is supported by the guide rail 11 so as to be slidable in the radial direction D of the frame 24, and is slid by driving of the first motor (see FIG. 5) 21a. The sleeve 13 is provided so as to protrude in the radial direction D from the inner side of the block 12 in the radial direction D, and a stopper (not shown) is formed at the inner end. The clamp main body 14 is supported by the inner peripheral surface of the sleeve 13 so as to be slidable in the radial direction D, and is movable inward in the radial direction D until it comes into contact with the stopper of the sleeve 13. The urging spring 15 is compressed between the block 12 inside the sleeve 13 and the clamp body 14, and urges the clamp body 14 in a direction away from the block 12.

  When the first finger 61 attached to the hand main body 60 is accommodated in the holding base 21, the first clamp mechanism 25 is operated, and the block 12 is moved inward in the radial direction D. Thereby, the clamp main body 14 can be brought into contact with the first finger 61 and pressed against the biasing spring 15. The first finger 61 can be held by each clamp body 14 by simultaneously operating the first to fourth clamp mechanisms 25 and 125 and moving each block 12 to the inside in the radial direction D.

  The electromagnetic coil 26 is provided at the upper end of the frame 24 and is wound in the circumferential direction around the axial direction. The electromagnetic coil 26 generates a magnetic field when energized. When the first finger 61 attached to the hand body 60 is accommodated in the holding base 21, the electromagnetic coil 26 is energized. Thus, a magnetic force that weakens (cancels) the magnetic force of the permanent magnet 64 is generated, and the connection between the finger mount 63 and the finger attachment 68 by the magnetic force can be released.

  The distance sensor 27 is provided at the bottom of the frame 24 and can measure the distance from the finger mount 63 positioned directly above (see FIG. 7B). That is, the distance sensor 27 detects that the first finger 61 is located at the holding position where the clamp mechanism 25 holds the first finger 61. As the distance sensor 27, for example, an appropriate sensor such as an optical sensor using a light emitting unit such as an LED and a light receiving unit such as a photodiode can be applied. When the distance sensor 27 detects that the first finger 61 is located at the holding position, the control device 4 energizes the electromagnetic coil 26 to weaken (cancel) the magnetic force of the permanent magnet 64. And the connection by the magnetic force of the finger mount 63 and the finger attachment 68 is cancelled | released.

  Next, as shown in FIG. 5, the control device 4 is connected to an arm control circuit 57 provided in the arm 5, and transmits a control target value of the arm 5 to the arm control circuit 57. . The control device 4 is connected to a hand control circuit 69 provided in the hand 6, and transmits a control target value of the hand 6 to the hand control circuit 69.

  Further, the control device 4 is connected to a first tool changer control circuit 23 provided in the first tool changer 2, and the control target value of the first tool changer 2 is connected to the first tool changer control circuit 23. Is supposed to send. For example, when it is detected by the distance sensor 27 that the first finger 61 is located at the holding position, the control device 4 drives the first motor 21a to the fourth motor 21d so that each clamp body 14 is moved to the inner circumference. The first finger 61 is held by projecting to the side. In parallel with this, the control device 4 energizes the electromagnetic coil 26 to weaken (cancel) the magnetic force of the permanent magnet 64 and release the connection between the finger mount 63 and the finger attachment 68 by the magnetic force. Yes. Since the control of the second tool changer control circuit 33 is the same as that of the first tool changer control circuit 23, the detailed description is omitted.

  The procedure of the control method of the robot apparatus 1 will be described with reference to the flowchart shown in FIG. 6 and FIGS. 7 and 8. Here, the first finger 61 attached to the hand main body 60 is detached and stored by the first tool changer 2, and then the second finger 161 held by the second tool changer 3 is attached to the hand main body 60. A series of operations are performed. In the following description, only one of the first finger 61 and the second finger 161 will be described for various judgments and operations. It shall be done separately. 7 and 8, dotted lines indicate magnetic flux lines from the permanent magnet 64 or the electromagnetic coil 26.

  The control device 4 moves the first finger 61 attached to the hand main body 60 toward the first tool changer 2 (step S1). The control device 4 positions the first finger 61 attached to the hand main body 60 directly above the first tool changer 2 and opens the cover 22 of the first tool changer 2. And the control apparatus 4 makes each 1st finger 61 perpendicular | vertical, inserts simultaneously in each holding stand 21, and makes it approach a holding position (step S2, Fig.7 (a)). The control device 4 determines whether or not the first finger 61 is located at the holding position of the first tool changer 2 (step S3). The determination here is performed based on the distance from the finger mount 63 detected by the distance sensor 27. When the control device 4 determines that the first finger 61 is not located at the holding position of the first tool changer 2, the first finger 61 is inserted deeper into each holding base 21 and approaches the holding position. (Step S2).

  When the control device 4 determines that the first finger 61 is located at the holding position of the first tool changer 2, the control device 4 drives the four clamping mechanisms 25 and 125 to hold the first finger 61 (step). S4, FIG. 7 (b)). Then, the controller 4 energizes the electromagnetic coil 26 to generate a magnetic force that weakens (cancels) the magnetic force of the permanent magnet 64 of the first finger 61, and can release the connection between the finger mount 63 and the finger attachment 68 by the magnetic force. (Step S5, FIG. 7B). At this time, the finger mount 63 and the finger attachment 68 are connected only by the urging force of the first urging portion 65 and the second urging portion 66 and can be separated easily.

Here, the coupling force between the permanent magnet 64 and the finger attachment 68 is canceled by setting the amount of current to be passed through the electromagnetic coil 26 so as to be almost the same as the magnetic force generated by the permanent magnet 64, and it is easy. The finger can be removed. For example, assume that the physical quantity of each component has the following value.
Magnetic flux density generated by the permanent magnet 64: B1 = 0.6 [T]
Permeability of finger attachment 68: μ1 = 0.0025 [H / m]
Length of electromagnetic coil 26: L1 = 0.05 [m]
Magnetomotive force generated by the electromagnetic coil 26: A1 = 15 [AT (ampere turn)]

  In this case, the magnetic flux density generated by the electromagnetic coil 26: B2 = μ1 × A1 / L1 = 0.75 [T], and B2> B1, so the magnetic coupling force by the permanent magnet 64 is canceled by the magnetic force of the electromagnetic coil 26. Can be fully realized.

  The control device 4 pulls up the finger mount 63 by the multi-joint arm 5 and separates it from the first finger 61 (step S6, FIG. 7 (c)). At this time, in the first urging portion 65, the ball 65b (see FIG. 2) is released from the engagement hole 68c (see FIG. 3), and the urging spring 65c (see FIG. 2) is compressed. Similarly, in the second urging portion 66, the ball 66b (see FIG. 2) is released from the engagement hole 68c, and the urging spring 66c (see FIG. 2) is compressed. Thereby, the connection between the finger mount 63 and the finger attachment 68 is released. Further, when the control device 4 determines that the finger mount 63 has moved away from the finger attachment 68 based on the detection result of the distance sensor 27, the control device 4 stops energization of the electromagnetic coil 26 (step S7, FIG. 7C). Thereby, unnecessary power consumption can be prevented. The control device 4 further lifts the finger mount 63 with the articulated arm 5 (FIG. 7D), disengages it from the first tool changer 2, and closes the cover 22 of the first tool changer 2.

  Next, the control device 4 moves the hand body 60 toward the second tool exchange device 3 (step S8). The control device 4 positions the hand main body 60 directly above the second tool changer 3, opens the cover 32 of the second tool changer 3, and inserts the finger mounts 63 vertically into the holding tables 31 at the same time. Then, the holding position is approached (step S9, FIG. 8A). That is, the holding position here is a position where the finger mount 63 is connected to the second finger 161 held by the second tool changer 3. The control device 4 determines whether or not the finger mount 63 is located at the holding position of the second tool changer 3 (step S10). The determination here is performed based on the distance from the finger mount 63 detected by the distance sensor 37. When the control device 4 determines that the finger mount 63 is not located at the holding position of the second tool changer 3, each finger mount 63 is inserted deeper into each holding base 31 to approach the holding position ( Step S9, FIG. 8 (b)).

  When the control device 4 determines that the finger mount 63 is positioned at the holding position of the second tool changer 3 (FIG. 8C), the control device 4 drives the four clamping mechanisms 35 and 135 to thereby generate the second finger. 161 is released (step S11). At this time, the finger attachment 68 is positioned in the vicinity of the permanent magnet 64, so that a magnetic field as shown by a dotted line in the figure is generated and magnetically coupled. Since this coupling force is generated by the magnetic force of the permanent magnet 64, energy for coupling from the outside such as electric power is not necessary. Here, the control device 4 does not energize the electromagnetic coil 36.

  At the same time, in the first urging portion 65, the ball 65b (see FIG. 2) is engaged with the engagement hole 68c (see FIG. 3), and the ball 65b is engaged with the urging spring 65c (see FIG. 2). The hole 68c is pressed to be displaced. Similarly, in the second urging portion 66, the ball 66b (see FIG. 2) engages with the engagement hole 68c, and the ball 66b presses the engagement hole 68c with the urging spring 66c (see FIG. 2). Put it together. The balls 65b and 66b are engaged with the engagement holes 68c, so that even when an external force such as the second finger 161 collides with some obstacle is applied, it is possible to prevent the balls 65b and 66b from falling. The finger mount 63 and the finger attachment 68 are firmly connected by the connecting force due to the magnetic force of the permanent magnet 64 and the connecting force due to the biasing force of the first biasing portion 65 and the second biasing portion 66.

  The shifting operation by the first urging portion 65 and the second urging portion 66 here is performed every time the finger mount 63 is inserted into the finger attachment 68, so that it is possible to attach with high repeatability. In addition, by generating elastic force by the two urging springs 65c and 66c, the rotation of the attached fingers 61 and 161 is suppressed, and the effect of facilitating the vertical displacement with respect to the axial direction of the fingers 61 and 161 is facilitated. This leads to improved mounting accuracy.

  The control device 4 pulls up the second finger 161 by the articulated arm 5 (FIG. 8D), disengages it from the second tool changer 3, closes the cover 32 of the second tool changer 3, and moves to the target position. (Step S12).

  Thus, in the case of a conventional tool changer, it is necessary to mount a mechanism for coupling fingers and work tools inside the tools and fingers. Therefore, it has been difficult to reduce the size and weight, and it has been difficult to achieve both the replacement time and the repeated positioning accuracy of mounting. On the other hand, as described above, in the robot system 10 according to the present embodiment, the coupling force is generated by the permanent magnet 64 and the coupling force is canceled by the electromagnetic coil 26, so that the configuration is small and lightweight, and the time is short. Thus, the replacement of the fingers 61 and 161 can be realized. Further, by performing attachment after the first biasing portion 65 and the second biasing portion 66 perform the shifting operation of the fingers 61 and 161, it is possible to repeatedly perform attachment with high positioning accuracy.

  As described above, according to the robot system 10 of the present embodiment, the finger attachment 68 is provided with a magnetic body, the finger mount 63 is provided with a permanent magnet 64, and the tool changers 2 and 3 are provided with electromagnetic coils 26 and 36. Yes. For this reason, the magnetic coils 26 and 36 have a magnetic force that weakens (cancels) the magnetic force of the permanent magnet 64 with respect to the finger attachment 68 and the finger mount 63 that are connected by the suction of the finger attachment 68 that is a magnetic body and the permanent magnet 64. Is generated by energization. Thereby, the connection by the magnetic force of the finger attachment 68 and the finger mount 63 can be released by energizing the electromagnetic coils 26 and 36. Moreover, the energization of the electromagnetic coils 26 and 36 may be performed when the connection between the finger attachment 68 and the finger mount 63 is released by the magnetic force, and in order to maintain the connection between the finger attachment 68 and the finger mount 63, the energization is not performed. unnecessary. Therefore, it is possible to obtain a robot system 10 that can automatically replace working means such as an end effector while suppressing an increase in size and power consumption of the robot apparatus 1 and the tool change apparatuses 2 and 3.

  Moreover, according to the robot system 10 of the present embodiment, the finger mount 63 includes the fitting shaft 63b. Further, the finger attachment 68 includes a fitting hole 68a for positioning the finger mount 63 and the finger attachment 68 by fitting with the fitting shaft 63b. For this reason, when the fitting shaft 63b and the fitting hole 68a are fitted, the finger mount 63 and the finger attachment 68 are positioned at least in a direction crossing the axial direction. Therefore, when the fingers 61 and 161 are attached to the hand main body 60, the accuracy is improved in the axial direction by the permanent magnet 64, and the accuracy is improved in the direction intersecting the axial direction by the fitting shaft 63b and the fitting hole 68a. Will come to be.

  Furthermore, according to the robot system 10 of the present embodiment, the fitting shaft 63b includes the first urging unit 65 and the second urging unit 66. The first urging portion 65 and the second urging portion 66 urge the fitting hole 68a in a direction crossing the fitting direction and press the opposite side across the central axis against the fitting shaft 63b. Thereby, the finger mount 63 and the finger attachment 68 can be positioned with high accuracy at least in the direction intersecting the axial direction. Accordingly, when the fingers 61 and 161 are attached to the hand main body 60, the accuracy is improved in the axial direction by the permanent magnet 64, and in the direction intersecting the axial direction by the biasing portions 65 and 66 and the engagement holes 68c. Accuracy will be improved.

  Here, generally, the positioning accuracy of the arm 5 is limited, and a positioning error occurs in the operation position at the tip of the arm 5. Therefore, when the end effector is automatically mounted by the operation of the arm 5, it is necessary to provide a certain amount of space between the end effector-arm connecting portion and the connected portion. In particular, when automatic replacement of the end effector is repeatedly performed, there is a possibility that the connecting portion and the connected portion may be displaced within the gap. On the other hand, according to the robot system 10 of the present embodiment, the accuracy is improved in the axial direction by the permanent magnet 64 when the fingers 61 and 161 are attached to the hand body 60. Furthermore, according to the robot system 10 of the present embodiment, the accuracy is improved in the direction intersecting the axial direction by the urging portions 65 and 66 and the engagement holes 68c. For this reason, even if automatic replacement of the fingers 61 and 161 is repeated, the mounting accuracy is ensured, so that the replacement speed can be improved and the productivity can be increased.

  Further, according to the robot system 10 of the present embodiment, a plurality of the first urging unit 65 and the second urging unit 66 are arranged side by side in the fitting direction. For this reason, compared with the case where only one is provided, since it can be shifted in two places, the occurrence of the inclination of the finger mount 63 and the finger attachment 68 with respect to the axial direction can be more reliably suppressed.

  Furthermore, according to the robot system 10 of the present embodiment, the engagement hole 68c is formed in the portion pressed by the first urging portion 65 and the second urging portion 66 on the inner peripheral surface of the fitting hole 68a. ing. For this reason, when each ball 65b, 66b enters into each engagement hole 68c and is pressed, the finger mount 63 and the finger attachment 68 are also positioned in the rotational direction centering on the axial direction. Therefore, in mounting the fingers 61 and 161 on the hand body 60, the accuracy is improved in the axial direction by the permanent magnet 64, and the direction intersecting the axial direction by the biasing portions 65 and 66 and the engagement holes 68c and Accuracy is improved in the direction of rotation.

  Further, according to the robot system 10 of the present embodiment, the permanent magnet 64 is provided on the finger mount 63. For this reason, compared with the case where the permanent magnet 64 is provided in the finger attachment 68, the weight of the front-end | tip part of the robot apparatus 1 can be reduced, and the control precision of the robot apparatus 1 is made small by reducing an inertia force. Can be improved.

  Further, according to the robot system 10 of the present embodiment, the distance sensors 27 and 37 that detect that any one of the fingers 61 and 161 is located at a holding position where the clamp mechanisms 25 and 125 hold the fingers 61 and 161. It has. When the distance sensor 27, 37 detects that any one of the fingers 61, 161 is located at the holding position, the control device 4 energizes the electromagnetic coils 26, 36. As a result, the control device 4 weakens (cancels) the magnetic force of the permanent magnet 64 by the energized electromagnetic coils 26 and 36, and releases the connection of the finger mount 63 and the finger attachment 68 by the magnetic force. For this reason, it is possible to obtain the robot system 10 that can automatically replace the working means such as the end effector while suppressing the increase in size and power consumption of the robot apparatus 1 and the tool exchange apparatuses 2 and 3.

  Further, according to the robot system 10 of the present embodiment, each clamp mechanism 25, 125 includes the clamp body 14 that can hold and hold the fingers 61, 161. In addition, when the distance sensors 27 and 37 detect that the fingers 61 and 161 are located at the holding positions, the control device 4 holds the fingers 61 and 161 with the clamp body 14. In this case, the control device 4 energizes the electromagnetic coils 26 and 36 to release the connection between the finger mount 63 and the finger attachment 68 by the magnetic force, and drives the arm 5 to remove the finger mount 63 from the finger attachment 68. Separate. Since the fingers 61 and 161 can be held by the clamp body 14 urged by the urging spring 15, the displacement of the fingers 61 and 161 can be absorbed while obtaining a sufficient holding force. This eliminates the need for fine adjustment of the position for holding the fingers 61 and 161, so that the replacement speed of the fingers 61 and 161 can be increased.

  In the above-described embodiment, the case where the fingers 61 and 161 are attached to and detached from the hand main body 60 as working means has been described. However, the present invention is not limited to this, and examples of working means include drivers, drills, and welding. The work tool may be attached and detached. In this case, the work tool is provided with a second connecting portion corresponding to the finger attachment 68.

  In the above-described embodiment, the finger mount 63 as the first connecting portion is disposed on the hand body 60 attached to the arm 5, and the finger attachment 68 as the second connecting portion is disposed on the fingers 61 and 161. The case where it is provided has been described. However, the present invention is not limited to this. For example, the first connecting portion is provided on the arm 5 and the second connecting portion is provided on an end effector as a working means such as a hand or a work tool. Also good. Also in this case, it is possible to obtain the robot system 10 capable of automatically exchanging the working means such as the end effector while suppressing the increase in size and power consumption of the robot apparatus 1 and the tool exchange apparatuses 2 and 3.

  In the above-described embodiment, the case where only one permanent magnet 64 is used has been described. However, the present invention is not limited to this, and a plurality of permanent magnets may be used. In this case, for example, all the permanent magnets may be arranged such that one side of the finger mount 63 in the axial direction is an N pole and the other side is an S pole, or some permanent magnets have different polar directions. May be. When some of the permanent magnets have different polar directions, a plurality of electromagnetic coils are provided and arranged so as to cancel the magnetic force of each permanent magnet.

  In the above-described embodiment, the groove is provided in the finger mount 63 to embed the permanent magnet 64, but the present invention is not limited to this. For example, as shown in FIG. 9, a yoke 64 a that guides magnetic flux to the finger attachment (second connecting portion) 268 may be provided around the permanent magnet 64. In this case, the finger mount (first connecting portion) 263 includes a base portion 263a and a fitting shaft (first fitting portion) 263b, and a cylindrical permanent magnet at the base end portion of the fitting shaft 263b. 64 is provided without gaps in the radial direction. Then, a yoke 64 a having a gap S in the radial direction with respect to the permanent magnet 64 is provided from the base end side of the permanent magnet 64 toward the distal end side of the outer peripheral side. The yoke 64a is made of a hard magnetic material such as an SK material. Here, the hard magnetic material has a coercive force of several hundred to several thousand A / m or more. The hard magnetic material is preferable in order to maintain the magnetic force of the permanent magnet 64 because the magnetic property remains even after the magnetic field is removed.

  By providing the gap S between the permanent magnet 64 and the yoke 64a, the amount of magnetic flux generated by the permanent magnet 64 leaks to the outside, and the magnetic coupling force can be strengthened. Further, an engagement hole 263c in which a ball 265b to be described later can be engaged is formed at the tip of the fitting shaft 263b. The finger mount 263 is made of a nonmagnetic material such as aluminum.

  A third finger (finger) 261 attached to the finger mount 263 includes a columnar fingertip portion 267 and a cylindrical finger attachment (magnetic body) 268 formed integrally with the fingertip portion 267. . The fingertip part 267 includes a workpiece gripping part 267b at a part of the tip. The finger attachment 268 includes a fitting hole (second fitting portion) 268a formed along the central axis and a biasing portion (biasing means) 265.

  The biasing portion 265 includes a through hole 265a formed in the finger attachment 268 in the radial direction, a ball 265b and a bias spring 265c provided in the through hole 265a, and a bias spring 265c side of the through hole 265a. And a cap 265d for closing the opening. Since the configuration of the urging unit 265 is the same as that of the first urging unit 65 and the second urging unit 66 described above, detailed description thereof is omitted.

  According to the third finger 261, the engagement hole 263c is formed in the portion pressed by the urging portion 265 on the outer peripheral surface of the fitting shaft 263b. For this reason, the ball mount 263 and the finger attachment 268 are also positioned in the rotational direction centering on the axial direction when the ball 265b enters and is pressed into the engagement hole 263c. Therefore, when the third finger 261 is attached to the hand main body 60, a strong connection can be realized by using the yoke 64a, and the urging portion 265 and the engagement hole 263c can be accurately crossed in the axial direction and in the rotational direction. To be improved.

  In the above-described embodiment, the holding unit is the clamp mechanisms 25 and 125 and includes the clamp body 14 that can hold the fingers 61 and 161, but is not limited thereto. That is, a holding unit that holds the fingers 61 and 161 may be configured by a configuration other than the clamp mechanisms 25 and 125.

  In the above-described embodiment, the case where the optical distance sensor 27 is applied as the sensor has been described. However, the present invention is not limited to this, and for example, a mechanical switch may be applied as the sensor. That is, since the sensor is a trigger for turning on / off the operations of the clamp mechanisms 25, 125 and the electromagnetic coils 26, 36 by the control device 4, it can function sufficiently even with an on / off switch. In this case, the sensor is provided at a position where it can be detected whether or not the finger mount 63 or the hand main body 60 is located at the holding position. Alternatively, the sensor is not necessarily provided.

  In the above-described embodiment, the case where the permanent magnet 64 is provided on the finger mount 63 has been described. However, the present invention is not limited to this. For example, the permanent magnet 64 may be provided on the finger attachment 68. That is, one of the finger mount 63 and the finger attachment 68 includes a magnetic body, and the other includes a permanent magnet 64 that adsorbs the magnetic body and connects the finger mount 63 and the finger attachment 68 by magnetic force. Can be.

  In the above-described embodiment, the case where the engagement hole 68c is formed in the portion pressed by the first urging portion 65 and the second urging portion 66 on the inner peripheral surface of the fitting hole 68a has been described. However, it is not limited to this. For example, the engagement hole 68c is not necessarily provided.

  In the above-described embodiment, the case where the first urging portion 65 and the second urging portion 66 are provided on the finger mount 63 has been described. However, the present invention is not limited to this, and the urging portion 265 as shown in FIG. May be provided on the finger attachment 68.

  In the above-described embodiment, the case where the first urging portion 65 and the second urging portion 66 are arranged to be oriented in a direction shifted by 90 ° with respect to the axial direction has been described. However, the present invention is not limited to this. . For example, they may be arranged in the same direction around the axial direction. Moreover, although embodiment mentioned above demonstrated the case where the 1st urging | biasing part 65 and the 2nd urging | biasing part 66 were arranged in multiple numbers along a fitting direction, it is not limited to this. For example, as in the third finger 261 shown in FIG. 9, only one urging portion 265 may be provided, or three or more urging portions may be provided. Furthermore, the first urging unit 65 and the second urging unit 66 are not necessarily provided.

  In the above-described embodiment, the case where the finger mount 63 includes the fitting shaft 63b and the finger attachment 68 includes the fitting hole 68a has been described. However, the present invention is not limited to this. In other words, the robot system 10 only needs to include at least the magnetic material in the finger attachment 68, the permanent magnet 64 in the finger mount 63, and the electromagnetic coils 26 and 36 in the tool changers 2 and 3, respectively. The shaft 63b and the fitting hole 68a are not necessarily required. At least, with this configuration, it is possible to obtain a robot system 10 that can automatically replace working means such as an end effector while suppressing an increase in size and power consumption of the robot apparatus 1 and each of the tool exchange apparatuses 2 and 3.

  In the above-described embodiment, the replacement work using the two tool replacement devices 2 and 3 has been described. However, the present invention is not limited to this. In other words, as long as constraints such as the installation space of each device and the operation range of the robot device 1 allow, there is no limit to the number of devices to be arranged, and it is possible to deal with a wide variety of automatic setup changes. Further, various changes or modifications such as the types of work tools and fingers can be added, and the present invention is of course not limited to these embodiments.

DESCRIPTION OF SYMBOLS 1 ... Robot apparatus, 2 ... 1st tool change apparatus (tool change apparatus), 3 ... 2nd tool change apparatus (tool change apparatus), 4 ... Control apparatus, 5 ... Arm (articulated arm), 6 ... Hand (end) Effector), 10 ... robot system, 14 ... clamp body (clamp), 25 ... first clamp mechanism (holding part), 26 ... electromagnetic coil (demagnetization part), 27 ... distance sensor (sensor), 35 ... first clamp mechanism (Holding part), 36 ... electromagnetic coil (demagnetizing part), 37 ... distance sensor (sensor), 60 ... hand body, 61 ... first finger (working means, finger), 63, 263 ... finger mount (first connection) Part), 63b, 263b ... fitting shaft (first fitting part), 64 ... permanent magnet, 64a ... yoke, 65 ... first biasing part (biasing means), 66 ... second biasing part (attachment) Force means), 68, 268 Finger attachment (second connecting portion, magnetic body), 68a, 268a ... fitting hole (second fitting portion), 125 ... third clamp mechanism (holding portion), 135 ... third clamp mechanism (holding portion) 161 ... 2nd finger (working means, finger), 261 ... 3rd finger (working means, finger), W ... Work (work object)

Claims (14)

An articulated arm, working means attached to the articulated arm and capable of working on a work object, interposed between the articulated arm and the working means, and on the side of the articulated arm A first connecting portion disposed between the multi-joint arm and the working means, and disposed on the working means side so as to be detachably connected to the first connecting portion; A second connecting portion, and a robot device having
A tool changer having a holding part capable of holding the working means,
One of the first connecting portion and the second connecting portion includes a magnetic body, and the other connecting portion attracts the magnetic body to adsorb the first connecting portion and the second connecting portion. A permanent magnet for connecting the two connecting portions by magnetic force;
The tool changer includes a demagnetization unit that generates a magnetic force that weakens the magnetic force of the permanent magnet by energization and can release the connection of the first connection unit and the second connection unit by the magnetic force.
A robot system characterized by this. The first connecting portion includes a first fitting portion,
The second connecting portion includes a second fitting portion that positions the first connecting portion and the second connecting portion by fitting with the first fitting portion.
The robot system according to claim 1. At least one fitting portion of the first fitting portion and the second fitting portion urges the other fitting portion in a direction crossing the fitting direction to the one fitting portion. An urging means for positioning the first connecting portion and the second connecting portion by pressing;
The robot system according to claim 2. A plurality of the biasing means are arranged side by side in the fitting direction.
The robot system according to claim 3. The permanent magnet is provided in the first connecting portion.
The robot system according to any one of claims 1 to 4, wherein: Around the permanent magnet, a yoke for inducing magnetic flux to the magnetic body is provided.
The robot system according to any one of claims 1 to 5, wherein: The first connecting portion is disposed on the articulated arm,
The second connecting portion is disposed on the working means;
The working means is an end effector;
The robot system according to any one of claims 1 to 6, wherein: The first connecting portion is disposed on a hand body attached to the articulated arm,
The second connecting portion is disposed on the working means;
The working means is a finger or a working tool;
The robot system according to any one of claims 1 to 6, wherein: A sensor for detecting that the working unit is located at a holding position where the holding unit holds the working unit;
When the sensor detects that the working means is positioned at the holding position, the demagnetizing portion is energized to weaken the magnetic force of the permanent magnet, and the first connecting portion and the second connecting portion. A controller for releasing the connection by the magnetic force of
The robot system according to any one of claims 1 to 8, wherein: The holding portion includes a clamp capable of holding and holding the working means,
When the control unit detects that the working unit is located at the holding position, the control unit clamps the working unit with the clamp, energizes the demagnetizing unit, and supplies the first coupling unit and The connection by the magnetic force of the second connection part is released, and the articulated arm is driven to separate the first connection part from the second connection part.
The robot system according to claim 9. An articulated arm is detachably coupled directly or indirectly to the articulated arm and is operable to work on a work target, and is interposed between the articulated arm side. Any one of the first connecting portion provided and the second connecting portion provided on the working means side and detachably attached to the first connecting portion is magnetic. A holding unit capable of holding the working means of the robot apparatus including a permanent magnet that attracts the magnetic body and connects the first connecting unit and the second connecting unit by magnetic force. And
A demagnetizing portion that generates a magnetic force that weakens the magnetic force of the permanent magnet by energization and can release the coupling by the magnetic force of the first coupling portion and the second coupling portion.
A tool changer characterized by that. A sensor for detecting that the working means is located at a holding position where the holding unit holds the working means;
When the sensor detects that the working means is positioned at the holding position, the demagnetizing portion is energized to weaken the magnetic force of the permanent magnet, and the first connecting portion and the second connecting portion. The connection by the magnetic force of
The tool changer according to claim 11. The holding portion includes a clamp capable of holding and holding the working means,
When the sensor detects that the working means is located at the holding position, the work means is sandwiched by the clamp, and the demagnetizing portion is energized to supply the first connecting portion and the second connecting portion. The connection by the magnetic force of the part is released, and the first connection part can be separated from the second connection part.
The tool changer according to claim 12, wherein: An articulated arm, working means attached to the articulated arm and capable of working on a work object, interposed between the articulated arm and the working means, and on the side of the articulated arm A first connecting portion disposed between the multi-joint arm and the working means, and disposed on the working means side so as to be detachably connected to the first connecting portion; A second connecting portion,
One of the first connecting portion and the second connecting portion includes a magnetic body, and the other connecting portion attracts the magnetic body to adsorb the first connecting portion and the second connecting portion. A permanent magnet for connecting the two connecting portions by magnetic force;
By demagnetizing the permanent magnet from the outside, the connection by the magnetic force of the first connection part and the second connection part is released,
A robot apparatus characterized by that.

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