JP2016144863A5 - End effector, attaching / detaching device, robot system, attaching / detaching method and control method - Google Patents

End effector, attaching / detaching device, robot system, attaching / detaching method and control method Download PDF

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JP2016144863A5
JP2016144863A5 JP2015252967A JP2015252967A JP2016144863A5 JP 2016144863 A5 JP2016144863 A5 JP 2016144863A5 JP 2015252967 A JP2015252967 A JP 2015252967A JP 2015252967 A JP2015252967 A JP 2015252967A JP 2016144863 A5 JP2016144863 A5 JP 2016144863A5
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operating portion
end effector
operation unit
unit
section
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本発明はエンドエフェクタ、着脱装置、ロボットシステム、着脱方法および制御方法に関する。 The present invention relates to an end effector, an attachment / detachment device, a robot system , an attachment / detachment method, and a control method .

上記課題を解決するため、本発明においては、第１操作部または第２操作部を着脱可能に支持する装着部が設けられたエンドエフェクタにおいて、前記装着部は、前記第１操作部または前記第２操作部が、前記装着部内を通過できるように前記第１操作部または前記第２操作部を案内する案内部と、前記第１操作部または前記第２操作部を、拘束または非拘束の状態にするロック機構と、を備え、前記ロック機構は、前記第１操作部が前記ロック機構に拘束された状態で、前記案内部を介して前記第２操作部が前記ロック機構と接触しながら第１の方向に移動した際、前記第１操作部を非拘束とする構成を採用した。 To solve the above problems, the present invention, the end effector mounting portion for detachably supporting the first operation unit or the second operation portion is provided, wherein the mounting portion, prior Symbol first operating portion or said the second operation unit, and a guide portion for guiding the first operating portion or said second operating portion so as to pass through the said mounting portion, a pre-Symbol first operating portion or said second operating portion, restraining or unconstrained and a locking mechanism you to state, the lock mechanism is in a state where the first operation portion is constrained to said locking mechanism, said second operating portion via the guide portion is in contact with the locking mechanism However, when moving in the first direction, a configuration in which the first operation unit is not restrained is adopted.

Claims (19)

第１操作部または第２操作部を着脱可能に支持する装着部が設けられたエンドエフェクタにおいて、
前記装着部は、
前記第１操作部または前記第２操作部が、前記装着部内を通過できるように前記第１操作部または前記第２操作部を案内する案内部と、
前記第１操作部または前記第２操作部を、拘束または非拘束の状態にするロック機構と、
を備え、
前記ロック機構は、
前記第１操作部が前記ロック機構に拘束された状態で、前記案内部を介して前記第２操作部が前記ロック機構と接触しながら第１の方向に移動した際、前記第１操作部を非拘束とすることを特徴とするエンドエフェクタ。 In the end effector provided with the mounting portion that detachably supports the first operating portion or the second operating portion ,
The mounting part is
A guide portion first operating portion or said second operating portion before SL is, for guiding the first operating portion or said second operating portion so as to pass through the said mounting portion,
The pre-Symbol first operating portion or said second operating portion, and a lock mechanism you to the state of restraint or unconstrained,
With
The locking mechanism is
When the second operation unit moves in the first direction while contacting the lock mechanism via the guide unit while the first operation unit is restrained by the lock mechanism, the first operation unit is An end effector characterized by being unconstrained . 請求項１に記載のエンドエフェクタにおいて、  The end effector according to claim 1,
前記ロック機構は、傾斜部を備え、弾性部材により第２の方向に付勢されており、  The lock mechanism includes an inclined portion and is biased in the second direction by an elastic member;
前記案内部を介して前記第２操作部が前記ロック機構と接触しながら前記第１の方向に移動した際、前記ロック機構が前記第２の方向とは反対の方向に移動し、前記第１操作部を非拘束とすることを特徴とするエンドエフェクタ。  When the second operating portion moves in the first direction while contacting the lock mechanism via the guide portion, the lock mechanism moves in a direction opposite to the second direction, and the first An end effector characterized in that the operation unit is unconstrained. 請求項２に記載のエンドエフェクタにおいて、  The end effector according to claim 2,
前記第１操作部が非拘束となった状態から、さらに前記第２操作部を前記第２の方向に移動させた際、前記第２操作部が前記ロック機構により拘束されることを特徴とするエンドエフェクタ。  The second operation unit is restrained by the lock mechanism when the second operation unit is further moved in the second direction from the state in which the first operation unit is not restrained. End effector. 請求項１から３のいずれか１項に記載のエンドエフェクタにおいて、  The end effector according to any one of claims 1 to 3,
前記ロック機構において、前記第１操作部または前記第２操作部を拘束する部位はラッチであり、  In the locking mechanism, the portion that restrains the first operation unit or the second operation unit is a latch,
前記ラッチには、前記第１操作部または前記第２操作部が嵌め込まれる溝部が備えられていることを特徴とするエンドエフェクタ。  The end effector according to claim 1, wherein the latch includes a groove portion into which the first operation portion or the second operation portion is fitted. 請求項１から４のいずれか１項に記載のエンドエフェクタにおいて、前記案内部における開口面積が、前記第１操作部または前記第２操作部と前記ロック機構との接触位置における断面積よりも大きいことを特徴とするエンドエフェクタ。 The end-effector according to claim 1, any one of 4, the opening area of definitive to the guide portion, than the cross-sectional area at the contact position between the first operating portion or said second operating unit and the locking mechanism An end effector that is large. 請求項１から５のいずれか１項に記載のエンドエフェクタにおいて、前記案内部は、前記第１操作部または前記第２操作部を移動させる案内軌道を規制する凹または凸構造を備えたことを特徴とするエンドエフェクタ。 The end effector according to any one of claims 1 to 5 , wherein the guide portion includes a concave or convex structure that regulates a guide track for moving the first operation portion or the second operation portion. Features an end effector . 請求項６に記載のエンドエフェクタにおいて、前記案内部に設けられる前記凹または凸構造は、前記第１操作部または前記第２操作部に対して一つ設けられていることを特徴とするエンドエフェクタ。 The end-effector of claim 6, wherein the concave or convex structure provided on the guide portion, the end effector, characterized in that provided one for the first operating portion or said second operating portion . 請求項６に記載のエンドエフェクタにおいて、前記案内部に設けられる前記凹または凸構造は、前記第１操作部または前記第２操作部に対して四つ設けられていることを特徴とするエンドエフェクタ。 The end-effector of claim 6, wherein the concave or convex structure provided on the guide portion, characterized in that it is provided four for the previous SL first operating portion or said second operating portion end Effector . 請求項２に記載のエンドエフェクタにおいて、前記第１操作部または前記第２操作部に前記傾斜部と互いに相補形状となる傾斜部が形成されていることを特徴とするエンドエフェクタ。 The end-effector of claim 2, the end effector, wherein the said inclined portion and the inclined portion complementary shape and ing together the first operating portion or said second operating portion. 請求項１から９のいずれか１項に記載のエンドエフェクタにおいて、前記第１操作部および前記第２操作部は指部であることを特徴とするエンドエフェクタ。 The end-effector according to any one of claims 1-9, the end effector, wherein the first operating portion and the second operating portion is a finger. 請求項１から９のいずれか１項に記載のエンドエフェクタにおいて、前記第１操作部および前記第２操作部がツールであることを特徴とするエンドエフェクタ。 The end-effector according to any one of claims 1 to 9, the end effector wherein the first operating portion and the second operating unit is characterized in that it is a tool. 請求項１から１０のいずれか１項に記載のエンドエフェクタをロボットアームに備えたロボット装置。  A robot apparatus comprising the end arm effector according to any one of claims 1 to 10 in a robot arm. 請求項１２に記載のロボット装置を用いて物品の製造を行うことを特徴とする物品の製造方法。  An article manufacturing method comprising manufacturing an article using the robot apparatus according to claim 12. 装着部に第１操作部または第２操作部の着脱を行う着脱装置において、
前記装着部は、
前記第１操作部または前記第２操作部が、前記装着部内を通過できるように前記第１操作部または前記第２操作部を案内する案内部と、
前記第１操作部または前記第２操作部を、拘束または非拘束の状態にするロック機構と、
を備え、
前記ロック機構は、
前記第１操作部が前記ロック機構に拘束された状態で、前記案内部を介して前記第２操作部が前記ロック機構と接触しながら第１の方向に移動した際、前記第１操作部を非拘束とすることを特徴とする着脱装置。 In the attachment / detachment device for attaching / detaching the first operation unit or the second operation unit to the attachment unit,
The mounting part is
A guide section for guiding the first operation section or the second operation section so that the first operation section or the second operation section can pass through the mounting section;
A locking mechanism for bringing the first operating portion or the second operating portion into a restrained or unconstrained state;
With
The locking mechanism is
When the second operation unit moves in the first direction while contacting the lock mechanism via the guide unit while the first operation unit is restrained by the lock mechanism, the first operation unit is A detachable device characterized by being unconstrained . 請求項１４に記載の着脱装置において、前記装着部から離脱させた前記第１操作部を回収する回収手段を備えたことを特徴とする着脱装置。 In attachment apparatus according to claim 1 4, attachment apparatus characterized by comprising a recovery means for recovering the first operation portion is detached from the mounting portion. 請求項１４または１５に記載の着脱装置と、エンドエフェクタを備えたロボット装置および前記着脱装置を制御する制御装置と、を備えたことを特徴とするロボットシステム。 請 Motomeko 1 4 or robot system characterized by comprising a removable device according to 1 5, and a control unit for controlling the robot apparatus, and the detachable device having an end effector, a. 請求項１６に記載のロボットシステムにおいて、前記制御装置は、前記ロボット装置と前記着脱装置を相対移動させることにより、前記ロボット装置に装着された前記第１操作部を前記着脱装置に保持された前記第２操作部と交換することを特徴とするロボットシステム。 Holding in the robot system according to claim 1 6, wherein the control device, by relatively moving the detachable device and the robot apparatus, the first operation unit mounted on the robot apparatus to the detachable equipment robot system and wherein the exchanging a second operation portion which is. 装着部に第１操作部または第２操作部の着脱を行う着脱方法において、  In the attachment / detachment method for attaching / detaching the first operation unit or the second operation unit to the attachment unit,
前記装着部は、  The mounting part is
前記第１操作部または前記第２操作部が、前記装着部内を通過できるように前記第１操作部または前記第２操作部を案内する案内部と、  A guide section for guiding the first operation section or the second operation section so that the first operation section or the second operation section can pass through the mounting section;
前記第１操作部または前記第２操作部を、拘束または非拘束の状態にするロック機構と、  A locking mechanism for bringing the first operating portion or the second operating portion into a restrained or unconstrained state;
を備え、  With
前記第１操作部が前記ロック機構に拘束された状態で、前記案内部を介して前記第２操作部が前記ロック機構と接触しながら第１の方向に移動した際、前記第１操作部を非拘束とすることを特徴とする着脱方法。  When the second operation unit moves in the first direction while contacting the lock mechanism via the guide unit while the first operation unit is restrained by the lock mechanism, the first operation unit is An attaching / detaching method characterized by being unconstrained. 第１操作部または第２操作部を着脱可能に支持する装着部が設けられたエンドエフェクタの制御方法において、  In the control method of the end effector provided with the mounting portion that detachably supports the first operating portion or the second operating portion,
前記エンドエフェクタを制御する制御部を備え、  A control unit for controlling the end effector;
前記装着部は、  The mounting part is
前記第１操作部または前記第２操作部が、前記装着部内を通過できるように前記第１操作部または前記第２操作部を案内する案内部と、  A guide section for guiding the first operation section or the second operation section so that the first operation section or the second operation section can pass through the mounting section;
前記第１操作部または前記第２操作部を、拘束または非拘束の状態にするロック機構と、  A locking mechanism for bringing the first operating portion or the second operating portion into a restrained or unconstrained state;
を備え、  With
前記制御部が、  The control unit is
前記第１操作部が前記ロック機構に拘束された状態で、前記案内部を介して前記第２操作部を前記ロック機構と接触させながら第１の方向に移動させることで、前記第１操作部を非拘束とすることを特徴とする制御方法。  The first operation unit is moved in the first direction while contacting the lock mechanism via the guide unit while the first operation unit is restrained by the lock mechanism. A control method characterized by unconstrained.
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