JP2016209992A - Robot device, robot controlling method, program, and record medium - Google Patents

Abstract

PROBLEM TO BE SOLVED: To make it possible to position a tip member of a robot with a high accuracy and to exchange a fingertip member in a short time.SOLUTION: A tip of a robot main body 250 is provided a hand base 211. A finger 212 is so made as to be capable of being freely attached to and detached from the hand base 211. A restriction mechanism 301 performs a restricting operation for guiding the hand base 211 moved to a restricting operation area to an exchanging operation position and restricting the hand base, and a restriction releasing operation for releasing restriction of the hand base 211. An exchange mechanism 401 performs an operation for removing the finger 212 from the hand base 211 moved to the exchanging operation position, and an operation for attaching the finger 212 to the hand base 211 moved to the exchanging operation position. The hand base 211 is moved to the restricting operation area, and the restricting operation for the hand base is performed by the restriction mechanism 301. In that case, the robot main body 250 performs compliance motion and moves the hand base 211 to the exchanging operation position by guidance of the restriction mechanism 301 during performance of restricting operation.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a robot apparatus, a robot control method, a program, and a recording medium for exchanging a hand member of a robot.

  In recent years, there has been a demand for a robot apparatus that can replace end effectors such as a robot hand or a robot hand finger as a hand member in order to cope with the production of a wide variety and a small amount of products. Yes. By exchanging with a hand member suitable for the work, it becomes possible to grip parts having various shapes without exchanging the robot body. Patent Document 1 proposes an attachment / detachment mechanism and an exchange device that allow attachment / detachment of fingers in order to replace the fingers corresponding to various parts having different sizes and shapes.

JP2013-094930A

  However, in patent document 1, the robot arm is moved and the hole provided in the finger base at the tip of the arm is fitted to the shaft provided in the finger. In this method, a clearance is provided to fit the hole and the shaft, and there is a possibility that the attachment position of the finger is shifted by the clearance every time the finger is replaced. Therefore, the reproducibility of the attachment of the finger to the hand base is lowered, and there is a problem that high-precision assembly is difficult.

  As a solution to this problem, it is conceivable to operate the robot arm by force control when fitting the finger shaft into the hole of the hand base. The fitting by the force control of the robot arm requires a process of correcting the position of the hand base by abutment, searching, insertion, etc., and there is a problem that these correction processes take time. The same applies to the case where the end effector is attached to the robot arm.

  An object of the present invention is to position a tip member of a robot with high accuracy and replace a hand member in a short time.

  The robot apparatus of the present invention has a robot body, a tip member provided at the tip of the robot body, and a hand member that can be attached to and detached from the tip member, and the tip member moves by the operation of the robot body. A robot, a restraint mechanism for guiding and restraining the tip member moved to the restraint work area to the replacement work position, a restraint release action for releasing the restraint of the tip member, and a move to the exchange work position An operation of removing the hand member from the tip member and an operation of attaching the hand member to the tip member moved to the replacement work position, and operations of the robot body, the exchange mechanism, and the restraint mechanism. A control unit for controlling the robot body, wherein the control unit controls the robot body to move the tip member to the restraint work area, and the restraint mechanism Controlling to cause the restraining mechanism to perform the restraining operation, and causing the robot body to perform a compliance operation and to move the tip member to the replacement work position by guidance of the restraining mechanism performing the restraining operation. It is characterized by.

  According to the present invention, the tip member can be positioned at the replacement work position with high accuracy by the restraining mechanism by the compliance operation of the robot body. Therefore, when the hand member is replaced by the replacement mechanism, it is not necessary to perform a correction process by force control of the robot body, and the hand member can be replaced in a short time.

1 is a perspective view showing a robot apparatus according to a first embodiment of the present invention. It is a perspective view which shows the principal part of the robot apparatus of 1st Embodiment of this invention. (A) is explanatory drawing which shows the state which the restraint mechanism of 1st Embodiment of this invention has cancel | released restraint of a hand base. (B) is explanatory drawing which shows the state which the restraint mechanism of 1st Embodiment of this invention has restrained the hand base to the exchange work position. It is a block diagram which shows the control system of the robot apparatus which concerns on 1st Embodiment of this invention. It is a flowchart which shows the robot control method which concerns on 1st Embodiment of this invention. (A) is a perspective view of a restraint mechanism and a replacement mechanism showing a state where the hand base is restrained at the replacement work position. (B) is a perspective view of a restraint mechanism and an exchange mechanism showing an operation of removing a finger from a hand base. (C) is a perspective view of a restraint mechanism and an exchange mechanism showing an operation of removing a finger from a hand base. (D) is a perspective view of a restraint mechanism and an exchange mechanism showing an operation of attaching another finger to the hand base. (E) is a perspective view of a restraint mechanism and an exchange mechanism showing an operation of attaching another finger to the hand base. (F) is a perspective view of a restraint mechanism and an exchange mechanism showing an operation of attaching another finger to the hand base. (A) is a side view which shows the restraint mechanism and exchange mechanism of the state before attaching a finger to a hand base. (B) is a side view which shows the restraint mechanism and exchange mechanism of the state after attaching a finger to a hand base. It is a perspective view which shows the restraint mechanism and exchange mechanism which concern on 2nd Embodiment of this invention. It is a top view of the exchange mechanism which comprised the rotation mechanism in 2nd Embodiment of this invention with the rack gear. It is a top view of the exchange mechanism which comprised the rotation mechanism in 3rd Embodiment of this invention with the gear. It is a top view of the exchange mechanism which comprised the rotation mechanism in 4th Embodiment of this invention with the belt. It is a perspective view which shows the principal part of the robot apparatus which concerns on 5th Embodiment of this invention. (A) is explanatory drawing which shows the state which the restraint mechanism of 5th Embodiment of this invention has cancel | released restraint of a front-end | tip member, (b) is a restraint mechanism of 5th Embodiment of this invention. It is explanatory drawing which shows the state which is restraining the member to the exchange work position. (A) is a perspective view which shows the principal part of the robot apparatus which concerns on 6th Embodiment of this invention. (B) is a perspective view which shows the attachment / detachment mechanism of the finger of the robot apparatus which concerns on 6th Embodiment of this invention, a holding part, and a hand base. It is a perspective view which shows the principal part of the robot apparatus which concerns on 7th Embodiment of this invention. It is a perspective view which shows the principal part of the robot apparatus of 8th Embodiment of this invention. (A) is a perspective view which shows the principal part of the exchange mechanism of the robot apparatus which concerns on 8th Embodiment of this invention, (b) is a top view of the exchange mechanism of the robot apparatus which concerns on 8th Embodiment of this invention. is there. (A) is a perspective view which shows the principal part of the exchange mechanism of the robot apparatus which concerns on 8th Embodiment of this invention, (b) is a top view of the exchange mechanism of the robot apparatus which concerns on 8th Embodiment of this invention. is there.

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

[First Embodiment]
FIG. 1 is a perspective view showing a robot apparatus according to the first embodiment of the present invention. The robot apparatus 100 includes a robot 200, a restraint device (positioning device) 300, an exchange device 400, and a main controller 500. The main controller 500 comprehensively controls the operations of the robot 200, the restraint device 300, and the exchange device 400.

  The robot 200 includes a vertically articulated robot arm 201, a robot hand 202 as an end effector, and a force sensor 203 that is a force detection unit disposed between the robot arm 201 and the robot hand 202. The robot arm 201 has a plurality of joints, and is a six-axis robot arm in the first embodiment. Each joint of the robot arm 201 is provided with a drive device (not shown) for driving the joint.

  In FIG. 1, arrows X, Y, and Z are orthogonal to each other, and an orthogonal coordinate system indicated by arrows X, Y, and Z is a base coordinate system (world coordinate system) of the robot arm 201. The base end of the robot arm 201 is a fixed end fixed to a gantry or the like, and the tip of the robot arm 201 is a movable end (free end). A robot hand 202 is attached to the tip of the robot arm 201 via a force sensor 203.

  The robot hand 202 has a hand base 211 and a plurality of (two in the first embodiment) fingers 212 that can be attached to and detached from the hand base 211. The hand base 211 has a rectangular parallelepiped shape. The hand base 211 is provided with a drive device (not shown) for driving the fingers 212. The hand base 211 has an attachment / detachment mechanism (not shown), and the fingers 212 are detachably attached to the hand base 211 by an attachment / detachment mechanism (not shown). The finger 212 is provided with a shaft so that the finger 212 can be positioned with the attaching / detaching mechanism, and the attaching / detaching mechanism has a hole having a diameter about 30 [μm] larger than the shaft so that the finger 212 can be fitted with the shaft. Is formed.

  The force sensor 203 is disposed between the distal end link of the robot arm 201 and the hand base 211 of the robot hand 202, and can detect an external force working on the finger 212, that is, the hand base 211. In the first embodiment, the force sensor 203 detects six-axis force (three-axis force and three-axis moment), and detects a deformation amount of the elastic member 261 and the elastic member 261. 262 (for example, a Hall element and a magnet). The elastic member 261 is fixed to the tip of the robot arm 201. The hand base 211 is fixed to the elastic member 261. That is, the elastic member 261 supports the hand base 211. A signal indicating the deformation amount of the elastic member 261 detected by the detection element 262 is output to the main controller 500 as a force detection result detected by the force sensor 203, that is, a detection result of an external force acting on the hand base 211.

  As a result, the main controller 500 changes the position and posture (hereinafter referred to as “position”) of the hand base 211 (the finger 212, which is the tip member), which is the tip member of the robot 200, based on the signal from the force sensor 203. Force control can be performed.

  In the first embodiment, the robot arm 250 and the force sensor 203 constitute a robot body 250. The hand base 211 is a tip member provided at the tip of the robot body 250, that is, the force sensor 203. The finger 212 is a hand member that can be attached to and detached from the hand base 211 that is a tip member. The robot hand 202 is configured by attaching the fingers 212 to the hand base 211.

  By operating the robot body 250 (robot arm 201), the hand base 211 as the tip member moves in the work space. That is, the position (including the posture) of the hand base 211 is changed by operating the robot body 250.

  The restraining device 300 includes a restraining mechanism (positioning mechanism) 301 and a controller 302. The restraining mechanism 301 performs a restraining operation that guides and restrains the hand base 211 to the replacement work position, and a restraint releasing operation that releases the restraining of the hand base 211. The controller 302 is connected to the main controller 500 and controls the operation of the restraint mechanism 301 (restraint operation and restraint release operation) according to a command from the main controller 500.

  The exchange device 400 includes an exchange mechanism 401 and a controller 402. The exchange mechanism 401 performs an operation of removing the finger 212 from the hand base 211 moved to the exchange work position and an operation of attaching the finger 212 to the hand base 211 moved to the exchange work position. The controller 402 is connected to the main controller 500 and controls the operation (removal operation, attachment operation) of the exchange mechanism 401 according to a command from the main controller 500.

  FIG. 2 is a perspective view showing a main part of the robot apparatus 100 according to the first embodiment of the present invention. FIG. 3 is an explanatory view showing the restraining mechanism 301 according to the first embodiment of the present invention. Specifically, FIG. 3A is an explanatory diagram illustrating a state in which the restraint mechanism 301 according to the first embodiment of the present invention releases the restraint of the hand base 211. FIG. 3B is an explanatory diagram illustrating a state where the restraint mechanism 301 according to the first embodiment of the present invention restrains the hand base 211 at the replacement work position.

  The restraint mechanism 301 opens and closes the pair of clamp members 311 and 312 by driving the clamp member 312 in at least one of the pair of clamp members 311 and 312 and the pair of clamp members 311 and 312 in the first embodiment. Drive unit 320. In the first embodiment, the opening / closing drive unit 320 drives the clamp member 312 in the arrow Y direction to open / close the pair of clamp members 311, 312.

  The hand base 211 can be unclamped by opening the pair of clamp members 311, 312, and the hand base 211 can be clamped by closing the pair of clamp members 311, 312. The opening / closing drive unit 320 includes a motor (not shown) and a linear motion mechanism (not shown) that converts the rotational motion of the motor into a linear motion and transmits the linear motion to the clamp member 312.

  As shown in FIG. 3A, a restraint work region R1 is formed between the pair of clamp members 311 and 312 with the pair of clamp members 311 and 312 open. The hand base 211 can be clamped as shown in FIG. 3B by moving the hand base 211 into the constraining work region R1 and closing the pair of clamp members 311 and 312. Therefore, the replacement work area P1 includes the replacement work position P1.

  By clamping the hand base 211 of the robot hand 202 with the restraining mechanism 301, the hand base 211 is positioned and restrained (mechanically fixed) at the exchange work position P1 where the finger 212 can be exchanged with the exchange mechanism 401. Is possible.

  As shown in FIGS. 3A and 3B, the clamp members 311 and 312 of the restraint mechanism 301 guide the hand base 211 to the replacement work position P1 by the closing operation of the pair of clamp members 311 and 312. And a positioning surface for restraining. Specifically, the clamp member 311 has positioning surfaces 311E and 311F, and the clamp member 312 has positioning surfaces 312G, 312H, and 312I. In the first embodiment, the positioning surfaces 311E and 311F are used as reference surfaces in order to position the hand base 211 at the replacement work position P1. The hand base 211 is positioned by abutting the hand base 211 against the positioning surfaces 311E and 311F with the positioning surfaces 312G, 312H, and 312I. In this way, the restraint mechanism 301 guides and restrains the hand base 211 moved to the restraint work area R1 by the restraint operation to the replacement work position P1.

As shown in FIG. 2, the exchange mechanism 401 includes a conveyance table 411 and fingers 212 that are arranged on the conveyance table 411 along the conveyance direction (arrow Y direction) and are detached from the hand base 211 or attached to the hand base 211. And a plurality of holding portions 415 for holding. FIG. 2 illustrates a state in which the finger 212 ₁ is removed from the hand base 211 and another finger 212 ₂ is attached to the hand base 211.

  Further, the exchange mechanism 401 includes a driving unit 412 that generates a driving force for driving the transport table 411 in the transport direction (arrow Y direction). The drive unit 412 is a motor. A transport mechanism 450 is provided between the transport base 411 and the drive unit 412. The transport mechanism 450 moves the transport base 411 in the arrow Y direction by the driving force of the drive unit 412. When the drive unit 412 attaches or removes the finger 212, the drive unit 412 drives the transport base 411 via the transport mechanism 450, thereby moving one of the plurality of holding units 415 to the replacement work position P1 (FIG. 3 ( It is made to oppose the hand base 211 moved to b).

  In the first embodiment, the holding portion 415 includes an axial positioning pin 416 and a ball plunger (not shown) that restrains the finger 212 on the positioning pin 416. Since the robot hand 202 has two fingers 212, the holding unit 415 has two positioning pins 416, and a ball plunger (not shown) is provided at the tip of each positioning pin 416. Thereby, each finger 212 is held at the tip of each positioning pin 416 of the holding portion 415. Each positioning pin 416 of the holding portion 415 can move in the axial direction (arrow Z direction) and can rotate around the axis (around arrow Z). The exchange mechanism 401 has a drive mechanism (not shown) that drives each positioning pin 416 of the holding portion 415 in the axial direction and rotates around the axis.

  FIG. 4 is a block diagram showing a control system of the robot apparatus according to the first embodiment of the present invention. The main controller 500 includes a CPU (Central Processing Unit) 501 as a control unit. The main controller 500 includes a ROM (Read Only Memory) 502, a RAM (Random Access Memory) 503, and an HDD (Hard Disk Drive) 504 as storage units. The main controller 500 includes a recording disk drive 505 and various interfaces 511 to 515.

  A ROM 502, a RAM 503, an HDD 504, a recording disk drive 505, and various interfaces 511 to 515 are connected to the CPU 501 via a bus 510. The ROM 502 stores basic programs such as BIOS. The RAM 503 is a storage device that temporarily stores various data such as the calculation processing result of the CPU 501.

  The HDD 504 is a storage device that stores arithmetic processing results of the CPU 501, various data acquired from the outside, and the like, and records a program 540 for causing the CPU 501 to execute various arithmetic processing described later. The CPU 501 executes each process of the robot control method based on the program 540 recorded (stored) in the HDD 504.

  The recording disk drive 505 can read various data and programs recorded on the recording disk 541.

  The robot arm 201 is connected to the interface 511. The robot hand 202 is connected to the interface 512. The CPU 501 controls the operation of the robot arm 201 by transmitting a position command to the robot arm 201. In addition, the CPU 501 controls the operation of the robot hand 202 by transmitting a position command to the robot hand 202.

  Here, the CPU 501 generates a position command indicating the control amount of each joint of the robot arm 201 based on a given robot program (including teaching point data). Then, the CPU 501 outputs position commands to the joint drive devices (not shown) of the robot arm 201 via the bus 510 and the interface 511 at predetermined time intervals. Thereby, the CPU 501 controls the operation of the robot arm 201 by the position command.

  The force sensor 203 is connected to the interface 513. Thereby, the CPU 501 can acquire the force detection result detected by the force sensor 203.

  The controller 302 of the restraining device 300 is connected to the interface 514. The controller 302 controls the operation of the restraint mechanism 301 in accordance with a command from the CPU 501. That is, the CPU 501 instructs the controller 302 to control the operation of the restraint mechanism 301 via the controller 302.

  The controller 402 of the exchange device 400 is connected to the interface 515. The controller 402 controls the operation of the exchange mechanism 401 in accordance with a command from the CPU 501. That is, the CPU 501 instructs the controller 402 to control the operation of the exchange mechanism 401 via the controller 402.

  The bus 510 may be connected to an external storage device (not shown) such as a rewritable nonvolatile memory or an external HDD via an interface (not shown).

  In the first embodiment, the case where the computer-readable recording medium is the HDD 504 and the program 540 is stored in the HDD 504 will be described. However, the present invention is not limited to this. The program 540 may be recorded on any recording medium as long as it is a computer-readable recording medium. For example, as a recording medium for supplying the program 540, the ROM 502 shown in FIG. 4, the recording disk 541, an external storage device (not shown), or the like may be used. As a specific example, a flexible disk, a hard disk, an optical disk, a magneto-optical disk, a CD-ROM, a CD-R, a magnetic tape, a nonvolatile memory, a ROM, or the like can be used as a recording medium.

  Here, the CPU 501 calculates the operation (trajectory) of the robot arm 201 based on the robot program (including teaching point data). The teaching point is set as a point on the joint space or task space by a teaching pendant (not shown) operated by the operator.

  The CPU 501 generates a path of the robot arm 201 that connects a plurality of teaching points by a predetermined interpolation method (for example, linear interpolation, circular interpolation, joint interpolation, etc.) designated by the robot program. Then, the CPU 501 generates a trajectory of the robot arm 201 from the generated path of the robot arm 201.

  Here, the path of the robot arm 201 is an ordered set of points in the joint space or task space. The trajectory of the robot arm 201 represents a path with time as a parameter, and in the first embodiment, is a set of position commands for each joint at each time.

  The trajectory data is calculated in advance and stored in a storage unit such as the HDD 504 before operating the robot arm 201. Although the calculation of the trajectory data is performed by the CPU 501, it may be performed by another computer (not shown) and stored in advance in the HDD 504, for example.

  In the first embodiment, the CPU 501 performs a control mode (compliance control mode) for correcting the position command (trajectory data) calculated based on the teaching point, and a control for not correcting the position command calculated based on the teaching point. Mode (position control mode).

  The compliance control mode is a force control mode for controlling the operation of the robot arm 201 (robot main body 250) by correcting the position command so that the force acting on the hand base 211 is reduced. That is, in the compliance control mode, correction is performed by adding a correction amount to the position command read by the CPU 501.

  Next, a robot control method for controlling operations of the robot main body 250, the restraint mechanism 301, and the exchange mechanism 401 by the main controller 500 (CPU 501) will be described. FIG. 5 is a flowchart showing the robot control method according to the first embodiment of the present invention. At the start of the finger replacement sequence, the CPU 501 moves the hand base 211 of the robot 200 to the constraining work area R1 (FIG. 3A) in the position control mode (S1: movement process). In this step S1, it is determined whether or not the hand base 211 has moved to the constraining work area R1 between the pair of clamp members 311 and 312, and if not (S1: No), the determination in step S1 is performed again. Return. In this step S1, the hand base 211 is within an area where the hand base 211 can be clamped by the restraining mechanism 301 (restraining work area R1) and close to the extent that it does not contact the positioning surfaces 311E and 311F provided on the restraining mechanism 301. Move to position.

  When the CPU 501 determines that the hand base 211 has moved to the restraint work area R1 (S1: Yes), the CPU 501 switches from the position control mode to the compliance control mode (S2). After switching to the compliance control mode, the CPU 501 issues a switching completion signal to the controller 302 of the restraining device 300.

  When receiving the switching completion signal from the main controller 500, the controller 302 clamps the hand base 211 with the restraint mechanism 301 (S3). That is, the controller 302 uses the switching completion signal as a trigger to move the pair of clamp members 311 and 312 in the closing direction. As described above, the CPU 501 of the main controller 500 controls the restraint mechanism 301 via the controller 302 to cause the restraint mechanism 301 to perform the restraint operation described above (restraint process).

  In step S3, the robot body 250 performs a compliance operation, and moves the hand base 211 to the replacement work position P1 (FIG. 3B) by guidance of the restraint mechanism 301 performing the restraint operation.

  Specifically, the CPU 501 controls the operation of the robot main body 250 so that the force detected by the force sensor 203 is reduced while the restraining mechanism 301 is performing the restraining operation in step S3. . Thereby, the robot main body 250 moves the hand base 211 to the replacement work position P1 under the control of the CPU 501.

  Therefore, the robot main body 250 performs the compliance operation and moves the hand base 211 to the replacement work position P1 by the guidance of the restraining mechanism 301 performing the restraining operation (clamping operation). By the above-described compliance control of the CPU 501, the hand base 211 is abutted against the positioning surfaces 311E and 311F, which are reference surfaces, by the positioning surfaces 312G to 312I of the restraining mechanism 301, and is positioned at the replacement work position P1.

  Since the force sensor 203 includes the elastic member 261, the CPU 501 deforms the elastic member 261 in the position control mode, and replaces the hand base 211 by the restraining operation of the restraining mechanism 301. It may be moved to. Then, after the hand base 211 is moved to the replacement work position P1, that is, in a state where the hand base 211 is restrained by the restraining mechanism 301, the CPU 501 may operate the robot body 250 by compliance control.

  Next, the CPU 501 determines whether or not the hand base 211 has been clamped by the restraining mechanism 301 (S4). When the CPU 501 determines that the clamping of the hand base 211 by the restraining mechanism 301 has been completed (S4: Yes), the CPU 501 transmits a clamping completion signal to the controller 402. The controller 402 that has received the clamp completion signal causes the exchange mechanism 401 to exchange the finger 212 (S5). That is, the controller 402 causes the replacement mechanism 401 to start replacing the finger 212 using the clamp completion signal as a trigger. Thus, the CPU 501 of the main controller 500 controls the exchange mechanism 401 via the controller 402 to cause the exchange mechanism 401 to perform the removal operation and the attachment operation of the finger 212 (exchange process).

  After completing the replacement of the finger 212, the CPU 501 transmits a signal indicating the completion of the replacement to the controller 302 of the restraining device 300. Receiving this signal, the controller 302 causes the restraint mechanism 301 to perform restraint releasing operation, releases the hand base 211, and ends the work (S6).

  When the CPU 501 determines that the clamping is not completed in the determination step of step S4 (S4: No), the CPU 501 starts counting from the timing when the restraining operation is started, and sets a predetermined time (threshold value) in which the elapsed time is preset. It is determined whether or not it has been exceeded (S7). When the CPU 501 determines that the elapsed time does not exceed the threshold (S7: No), the CPU 501 returns to the process of step S4. When the CPU 501 determines that the elapsed time has exceeded the threshold (S7: Yes), the CPU 501 stops the operation of the restraint mechanism 301 due to an error. At this time, the operation of the robot body 250 is also stopped.

  That is, when the elapsed time exceeds the threshold value, the hand base 211 may not be positioned at the replacement work position P1 due to a foreign matter or the like being caught in the restraint mechanism 301, and damage is avoided. Therefore, the operation of the restraining mechanism 301 is stopped. Thereby, damage to the restraint mechanism 301 and the hand base 211 can be avoided.

Next, the finger exchange procedure in step S5 shown in FIG. 5 will be described. FIG. 6 is an explanatory diagram of a finger replacement procedure according to the first embodiment of the present invention. More specifically, FIG. 6A is a perspective view of the restraint mechanism 301 and the exchange mechanism 401 showing a state in which the hand base 211 is restrained at the exchange work position P1. 6 (b) is a perspective view of a restraining mechanism 301, and exchange mechanism 401 showing the operation of the hand base 211 remove the finger 212 _1. 6 (c) is a perspective view of a restraining mechanism 301, and exchange mechanism 401 showing the operation of the hand base 211 remove the finger 212 _1. FIG 6 (d) is a perspective view of a restraining mechanism 301, and exchange mechanism 401 showing the operation of installing another finger 212 ₂ to the hand base 211. FIG. 6 (e) is a perspective view of a restraining mechanism 301, and exchange mechanism 401 showing the operation of installing another finger 212 ₂ to the hand base 211. FIG. 6 (f) is a perspective view of a restraining mechanism 301, and exchange mechanism 401 showing the operation of installing another finger 212 ₂ to the hand base 211.

As shown in FIG. 6 (a), the restriction mechanism 301, positioned restrain the hand base 211 to the finger 212 ₁ is attached to the replacement position P1. Holder 415 not holding the fingers, which is opposed to the hand base 211, another holding portion 415, another finger 212 ₂ is held.

After receiving the clamp completion signal, the controller 402 raises the holding unit 415 as shown in FIG. Holding unit 415, as described above, since it has a ball plunger (not shown) for restraining the positioning pins 416 and the finger 212 ₁ for holding a finger 212 _1, can hold the fingers 212 _1.

  Here, the attachment / detachment mechanism (not shown) of the hand base 211 is configured to be pressed and restrained by a spring (not shown) by rotating the finger 212 by 90 ° in the forward direction. Further, the attachment / detachment mechanism is configured to release the restraint of the finger 212 by rotating the finger 212 by 90 ° in the reverse direction.

When the holding portion 415 holds the fingers 212 _1, as shown in FIG. 6 (c), the holding portion 415 is 90 ° rotated (positioning pin 416) in the opposite direction to release the restraining finger 212 ₁ by detaching mechanism. After releasing the restraining finger 212 and detaching mechanism, as shown in FIG. 6 (d), to lower the holding portion 415, remove the finger 212 ₁ from the hand base 211. Then, by moving the conveying platform 411 of the switching mechanism 401 to move the other finger 212 ₂ immediately under the hand base 211. When moving the finger 212 ₂ immediately under the hand base 211, as shown in FIG. 6 (e), it raises the holding portion 415 of the exchange mechanism 401 inserts the finger 212 ₂ to the hand base 211. After inserting operation of the finger 212 ₂ is completed, as shown in FIG. 6 (f), the holding portion 415 of the exchange mechanism 401 (positioning pin 416) forward to rotate 90 °, removable finger 212 _second hand base 211 Restrain to mechanism. After completing the replacement of the finger 212, the restraint by the restraining mechanism 301 is released, the restraint of the hand base 211 is released, and the work is completed.

  As described above, according to the first embodiment, the hand base 211 is positioned relative to the positioning surfaces 311E and 311F, which are reference surfaces provided on the clamp member 311 of the restraining mechanism 301, and the posture (θx, θy). , Θz) can be determined. Furthermore, by positioning the positioning surfaces 311E and 311F and the exchange mechanism 401 in advance, the relative position between the hand base 211 and the finger 212 placed on the exchange mechanism 401 can be determined.

  FIG. 7A is a side view showing the restraining mechanism 301 and the exchange mechanism 401 in a state before the fingers 212 are attached to the hand base 211. FIG. 7B is a side view showing the restraining mechanism 301 and the exchange mechanism 401 in a state after the fingers 212 are attached to the hand base 211. Here, one of the two fingers 212 and 212 is a finger 212R, and the other is a finger 212L. In addition, the hand base 211 includes an attachment / detachment mechanism 213R that allows the fingers 212R to be attached / detached, and an attachment / detachment mechanism 213L that enables the fingers 212L to be attached / detached.

  As shown in FIG. 7A, when the hand base 211 is restrained by the restraining mechanism 301, the center axis P of the hole of the attaching / detaching mechanism 213L and the center axis Q of the axis of the finger 212L are coaxial. Further, the central axis P ′ of the hole of the attaching / detaching mechanism 213R and the central axis Q ′ of the axis of the finger 212R are coaxial.

  Since the hand base 211 is positioned, as shown in FIG. 7B, when the holding portions 415 and 415 of the exchange mechanism 401 are raised, the shafts of the fingers 212R and 212L and the holes of the attachment / detachment mechanisms 213R and 213L Can be inserted without colliding. Therefore, the fingers 212R and 212L can be attached in a short time. Furthermore, since the hand base 211 and the finger 212 can be positioned without depending on the position accuracy by the position control of the robot arm 201, the finger 212 can be replaced with a mounting accuracy of ± 15 [μm] or less. Both positioning and replacement in a short time can be achieved.

  As described above, according to the first embodiment, the hand base 211 can be accurately positioned at the replacement work position P1 by the restraint mechanism 301 by the compliance operation of the robot body 250. Therefore, when the finger 212 is exchanged by the exchange mechanism 401, it is not necessary to perform a position correction process by measuring the position of the hand base 211 or controlling the force of the robot body 250, and the finger 212 is exchanged with high accuracy in a short time. Can do.

  In the first embodiment, the case where the robot hand 202 has two fingers 212 has been described. However, the present invention is not limited to this, and the present invention can be applied even when the robot hand 202 has three or more fingers. It is.

  In the first embodiment, the case where each finger 212 is individually attachable to and detachable from the hand base 211 is described. However, the present invention is not limited to this. It is good also as detachable with respect to.

  In the first embodiment, a case has been described in which the fingers 212R and 212L are provided with shafts and the attachment / detachment mechanisms 213R and 213L are provided with holes. An axis may be provided in the case.

[Second Embodiment]
Next, a robot apparatus according to a second embodiment of the present invention will be described. FIG. 8 is a perspective view showing a restraining mechanism and an exchange mechanism according to the second embodiment of the present invention. In the second embodiment, the functions of the restraint mechanism and the exchange mechanism that are different from those of the first embodiment are the same. Accordingly, the same functional configuration will be described with the same reference numerals as in the first embodiment.

  The restraint mechanism 301 opens and closes the pair of clamp members 311 and 312 by driving the clamp member 312 in at least one of the pair of clamp members 311 and 312 and the pair of clamp members 311 and 312 in the second embodiment. Drive unit 320. In the second embodiment, the opening / closing drive unit 320 drives the clamp member 312 in the arrow Y direction to open / close the pair of clamp members 311, 312.

  The hand base can be unclamped by opening the pair of clamp members 311, 312, and the hand base can be clamped by closing the pair of clamp members 311, 312. The opening / closing drive unit 320 includes an actuator 319 and a linear motion mechanism 335 that moves the clamp member 312 in the direction of arrow Y, which is a linear direction. The actuator 319 is a motor.

The exchange mechanism 401 includes a transport table 411, a drive unit 412 that generates a driving force for driving the transport table 411 in the transport direction (arrow Y direction), and a transport mechanism disposed between the transport table 411 and the drive unit 412. 450. The drive unit 412 is a motor. The transport mechanism 450 moves the transport base 411 in the arrow Y direction by the driving force of the drive unit 412. The drive unit 412 drives one of the plurality of holding units 415 ₁ , 415 ₂ to the replacement work position P1 (by driving the transport table 411 via the transport mechanism 450 when attaching or removing the fingers. It is made to oppose the hand base which moved to FIG.3 (b).

Holding unit 415 ₁ includes a shaft-shaped positioning pins 416L _1, 416R _1, comprising and a ball plunger for constraining (not shown) of each of the positioning pins 416L _1, 416R each finger 212L ₁ to _1, 212R _1. Accordingly, the fingers 212L ₁ and 212R ₁ are held at the tips of the positioning pins 416L ₁ and 416R ₁ of the holding portion 415 ₁ . Each positioning pin 416L ₁ , 416R ₁ of the holding portion 415 ₁ can move in the axial direction (arrow Z direction) and can rotate around the axis (around arrow Z).

Similarly, the holding unit 415 ₂ includes a shaft-like positioning pins 416L _2, 416R _2, and the positioning pins 416L _2, ball plungers for restraining the respective finger 212L _2, 212R ₂ to 416R ₂ (not shown) It becomes. Thereby, the fingers 212L _2, 212R ₂ is held at the distal end of the holding portion 415 _{and second} positioning pins 416L _2, 416R _2. Holding portion 415 each positioning pin 416L ₂ of _2, 416R ₂ is movable in the axial direction (arrow Z), is rotatable about the axis (arrow Z direction).

Exchange mechanism 401, the shaft and the drive unit 418 for generating a driving force, the positioning pins of the holding portion ₄₁₅ 1, 415 ₂ by the driving force of the driving unit 418 to rotate the positioning pin of the holding portion ₄₁₅ 1, 415 ₂ around the axis And a rotating mechanism 434 that rotates around. The drive unit 418 is composed of one motor. The drive unit 418 and the rotation mechanism 434 are mounted on the transport table 411.

Further, the exchange mechanism 401 includes a drive unit 421 that generates a driving force that raises or lowers the holding units 415 ₁ and 415 _2, and an elevating mechanism 422 that raises or lowers the holding unit 415 by the driving force of the drive unit 421. Have. The drive unit 421 is configured by a motor.

FIG. 9 is a plan view of an exchange mechanism in which the rotation mechanism in the second embodiment of the present invention is configured by a rack gear. The rotation mechanism 434 includes a ball screw 442 and a belt 441 that transmits the driving force of the driving unit 418 to the ball screw 442. A rack gear 443 is attached to the ball screw 442 via a linear guide 444. A plurality of holding portions 415 ₁ and 415 ₂ are arranged on the transport table 411.

In the holding unit 415 _1, the positioning pin 416R ₁ for holding a finger 212R _1, is rotatably supported on the transfer table 411, the gear 445R ₁ is provided a pinion gear which meshes with the rack gear 443. Further, the holding unit 415 _1, the positioning pins 416L ₁ for holding a finger 212L _1, which is rotatably supported on the transfer table 411, the gear 445L ₁ are provided a pinion gear that meshes with the gear 445R _1. The gear 445L ₁ is disposed on the side opposite to the rack gear 443 side with respect to the gear 445R ₁ . The gear 445R ₁ and the gear 445L ₁ are connected with a reduction ratio of 1: 1. Therefore, the gear 445R ₁ and the gear 445L ₁ rotate at the same speed in opposite rotation directions.

Similarly, the holding unit 415 _2, the positioning pin 416R ₂ for holding the fingers 212R _2, is rotatably supported on the transfer table 411, the gear 445R ₂ are provided a pinion gear which meshes with the rack gear 443. Further, the holding portion 415 _2, the positioning pins 416L ₂ for holding the fingers 212L _2, is rotatably supported on the transfer table 411, the gear 445L ₂ is provided a pinion gear that meshes with the gear 445R _2. The gear 445L ₂ is disposed on the side opposite to the rack gear 443 side with respect to the gear 445R ₂ . The gear 445R ₂ and the gear 445L ₂ are connected at a reduction ratio of 1: 1. Therefore, the gear 445R ₂ and the gear 445L ₂ rotate at the same speed in opposite rotation directions.

The gears 445R ₁ and 445L ₁ rotate the positioning pins 416R ₁ and 416L ₁ in opposite directions, and the gears 445R ₂ and 445L ₂ rotate the positioning pins 416R ₂ and 416L ₂ in opposite directions. Thus, the positioning pin 416R _1, 416L ₁ holding portion 415 ₁ is rotated by the rotation of the gear 445R _1, 445L _1, the holding portion 415 each positioning pin 416R ₂ of _2, 416L ₂ is a gear 445R _2, It is rotated by the rotation of the 445L _2.

With the above configuration, the rotation mechanism 434 can convert the rotational motion of the drive unit 418 into a linear motion with the ball screw 442 and advance or retract the rack gear 443 in the arrow Y direction. The positioning pins of the holding portions 415 ₁ and 415 ₂ can be rotated by moving the rack gear 443 forward and backward.

Further, the positioning pin 416R ₁ and the positioning pin 416L ₁ of the holding portion 415 ₁ are connected by gears 445R ₁ and 445L ₁ . Similarly, the positioning pin 416R ₂ and the positioning pins 416L ₂ of the holding part 415 ₂ is connected by a gear 445R _2, 445L _2. For this reason, the pair of fingers 212R ₁ , 212L ₁ and the pair of fingers 212R ₂ , 212L ₂ can be rotated in opposite directions, and the pair of fingers can be exchanged by the driving unit 418 configured by one motor.

Note that transmits the driving force of the driving section 418 to the gear 445R _1, 445R _2, gear 445R _1, gear from 445R ₂ 445L _1, has been described structure to transmit to the 445L _2, may be reversed configuration.

[Third Embodiment]
Next, a robot apparatus according to a third embodiment of the invention will be described. FIG. 10 is a plan view of an exchange mechanism in which the rotation mechanism in the third embodiment of the present invention is configured with a gear. In the third embodiment, the structure of the exchange mechanism is different from that of the first or second embodiment, but the function is the same.

The exchange mechanism 401 includes a transport table 411, a drive unit 412 that generates a driving force for driving the transport table 411 in the transport direction (arrow Y direction), and a transport mechanism disposed between the transport table 411 and the drive unit 412. 450. The drive unit 412 is a motor. The transport mechanism 450 moves the transport base 411 in the arrow Y direction by the driving force of the drive unit 412. The drive unit 412 drives one of the plurality of holding units 415 ₁ , 415 ₂ to the replacement work position P1 (by driving the transport table 411 via the transport mechanism 450 when attaching or removing the fingers. It is made to oppose the hand base which moved to FIG.3 (b).

The holding portion 415 ₁ includes shaft-like positioning pins 416L ₁ and 416R ₁ and ball plungers (not shown) that restrain the fingers on the positioning pins 416L ₁ and 416R ₁ . Similarly, the holding portion 415 ₂ includes shaft-shaped positioning pins 416L ₂ and 416R ₂ and ball plungers (not shown) that restrain the fingers on the positioning pins 416L ₂ and 416R ₂ .

Exchange mechanism 401, the shaft and the drive unit 418 for generating a driving force, the positioning pins of the holding portion ₄₁₅ 1, 415 ₂ by the driving force of the driving unit 418 to rotate the positioning pin of the holding portion ₄₁₅ 1, 415 ₂ around the axis And a rotating mechanism 434 that rotates around. The drive unit 418 is composed of one motor. The drive unit 418 and the rotation mechanism 434 are mounted on the transport table 411.

Further, the exchange mechanism 401 includes a drive unit 421 that generates a driving force that raises or lowers the holding units 415 ₁ and 415 _2, and an elevating mechanism 422 that raises or lowers the holding unit 415 by the driving force of the drive unit 421. Have. The drive unit 421 is configured by a motor.

Rotation mechanism 434 is rotatably supported on the transfer table 411 has a gear 445R ₁ for supporting the positioning pins 416R _1, is rotatably supported on the carrying table 411, and a gear 445R ₂ for supporting the positioning pins 416R ₂ . The rotating mechanism 434 is rotatably supported on the transfer table 411, and support the positioning pins 416L _1, having a gear 445L ₁ that meshes with the gear 445R _1. Further, also, the rotating mechanism 434 is rotatably supported on the transfer table 411, and support the positioning pins 416L _2, it has a gear 445L ₂ which meshes with a gear 445R _2.

Further, the rotation mechanism 434, a gear 419 attached to the rotating shaft of the drive unit 418, an intermediate gear 420 ₁ that meshes with the gear 419 and the gear 445R _2, intermediate gear 420 ₂ which meshes with a gear 445R ₂ and the gear 445R ₁ And having.

The gear 445R ₁ and the gear 445L ₁ are connected with a reduction ratio of 1: 1. Therefore, the gear 445R ₁ and the gear 445L ₁ rotate at the same speed in opposite rotation directions. Similarly, the gear 445R ₂ and the gear 445L ₂ are connected at a reduction ratio of 1: 1. Therefore, the gear 445R ₂ and the gear 445L ₂ rotate at the same speed in opposite rotation directions.

The gears 445R ₁ and 445L ₁ rotate the positioning pins 416R ₁ and 416L ₁ in opposite directions, and the gears 445R ₂ and 445L ₂ rotate the positioning pins 416R ₂ and 416L ₂ in opposite directions. Thus, the positioning pin 416R _1, 416L ₁ holding portion 415 ₁ is rotated by the rotation of the gear 445R _1, 445L _1, the holding portion 415 each positioning pin 416R ₂ of _2, 416L ₂ is a gear 445R _2, It is rotated by the rotation of the 445L _2.

With the above configuration, the rotation mechanism 434 can rotate the positioning pins of the holding units 415 ₁ and 415 ₂ by the driving force of the driving unit 418. Further, the positioning pin 416R ₁ and the positioning pin 416L ₁ of the holding portion 415 ₁ are connected by gears 445R ₁ and 445L ₁ . Similarly, the positioning pin 416R ₂ and the positioning pins 416L ₂ of the holding part 415 ₂ is connected by a gear 445R _2, 445L _2. For this reason, a pair of fingers can be rotationally moved in directions opposite to each other, and the pair of fingers can be exchanged by a drive unit 418 configured by one motor.

Note that transmits the driving force of the driving section 418 to the gear 445R _1, 445R _2, gear 445R _1, gear from 445R ₂ 445L _1, has been described structure to transmit to the 445L _2, may be reversed configuration.

[Fourth Embodiment]
Next, a robot apparatus according to a fourth embodiment of the present invention will be described. FIG. 11 is a plan view of an exchange mechanism in which the rotation mechanism in the fourth embodiment of the present invention is configured with a gear. In the fourth embodiment, the structure of the exchange mechanism is different from that of the first to third embodiments, but the functions are the same. In the third embodiment, the case where the driving force of the driving unit 418 is transmitted to each positioning pin using a gear has been described. In the fourth embodiment, the driving force of the driving unit 418 is transmitted to each positioning pin using a belt and a pulley. The case will be described.

The exchange mechanism 401 includes a transport table 411, a drive unit 412 that generates a driving force for driving the transport table 411 in the transport direction (arrow Y direction), and a transport mechanism disposed between the transport table 411 and the drive unit 412. 450. The drive unit 412 is a motor. The transport mechanism 450 moves the transport base 411 in the arrow Y direction by the driving force of the drive unit 412. The drive unit 412 drives one of the plurality of holding units 415 ₁ , 415 ₂ to the replacement work position P1 (by driving the transport table 411 via the transport mechanism 450 when attaching or removing the fingers. It is made to oppose the hand base which moved to FIG.3 (b).

The holding portion 415 ₁ includes shaft-like positioning pins 416L ₁ and 416R ₁ and ball plungers (not shown) that restrain the fingers on the positioning pins 416L ₁ and 416R ₁ . Similarly, the holding portion 415 ₂ includes shaft-shaped positioning pins 416L ₂ and 416R ₂ and ball plungers (not shown) that restrain the fingers on the positioning pins 416L ₂ and 416R ₂ .

Exchange mechanism 401, the shaft and the drive unit 418 for generating a driving force, the positioning pins of the holding portion ₄₁₅ 1, 415 ₂ by the driving force of the driving unit 418 to rotate the positioning pin of the holding portion ₄₁₅ 1, 415 ₂ around the axis And a rotating mechanism 434 that rotates around. The drive unit 418 is composed of one motor. The drive unit 418 and the rotation mechanism 434 are mounted on the transport table 411.

Further, the exchange mechanism 401 includes a drive unit 421 that generates a driving force that raises or lowers the holding units 415 ₁ and 415 _2, and an elevating mechanism 422 that raises or lowers the holding unit 415 by the driving force of the drive unit 421. Have. The drive unit 421 is configured by a motor.

Rotation mechanism 434 is rotatably supported on the transfer table 411, a pulley 445R ₃ for supporting the positioning pins 416R _1, is rotatably supported on the carrying table 411, and a pulley 445R ₄ for supporting the positioning pins 416R ₂ . The rotating mechanism 434 includes a pulley 445L ₃ that is rotatably supported by the transport table 411, supports the positioning pin 416L _1, and is connected to the belt 420 ₃ that is crossed to the pulley 445R ₃ . The rotating mechanism 434 is rotatably supported on the transfer table 411, and support the positioning pins 416L _2, has a pulley 445L ₄ connected by a belt 420 ₄ cross the pulley 445R _4.

Further, the rotation mechanism 434 includes a belt 420 ₅ connecting the rotary shaft and the pulley 445R ₄ of the drive unit 418, a belt 420 ₆ for connecting the pulley 445R ₄ and the pulley 445R _3, a.

The pulley 445R ₃ and the pulley 445L ₃ are connected at a reduction ratio of 1: 1. Accordingly, the pulley 445R ₃ and the pulley 445L ₃ rotate at the same speed in opposite rotation directions. Similarly, the pulley 445R ₃ and the pulley 445L ₃ are connected at a reduction ratio of 1: 1. Accordingly, the pulley 445R ₃ and the pulley 445L ₃ rotate at the same speed in opposite rotation directions.

The pulleys 445R ₃ and 445L ₃ rotate the positioning pins 416R ₁ and 416L ₁ in the opposite directions, and the pulleys 445R ₄ and 445L ₄ rotate the positioning pins 416R ₂ and 416L ₂ in the opposite directions. Thus, the positioning pin 416R _1, 416L ₁ holding portion 415 ₁ is rotated by the rotation of the pulley 445R _3, 445L _3, the holding portion 415 each positioning pin 416R ₂ of _2, 416L ₂ is pulley 445R _4, 445L Rotates by ₄ rotations.

With the above configuration, the rotation mechanism 434 can rotate the positioning pins of the holding units 415 ₁ and 415 ₂ by the driving force of the driving unit 418. Further, the positioning pin 416R ₁ and the positioning pin 416L ₁ of the holding portion 415 ₁ are connected by pulleys 445R ₃ , 445L ₃ and a belt 420 ₃ . Similarly, the positioning pin 416R ₂ and the positioning pins 416L ₂ of the holding part 415 ₂ is connected with the pulley 445R _4, 445L ₄ and belt 420 _4. For this reason, a pair of fingers can be rotationally moved in directions opposite to each other, and the pair of fingers can be exchanged by a drive unit 418 configured by one motor.

Note that transmits the driving force of the driving section 418 to the pulley 445R _3, 445R _4, configuration has been described to transmit the pulley 445R _3, 445R ₄ pulley 445L _3, 445L _4, may be reversed configuration.

[Fifth Embodiment]
Next, a robot apparatus according to a fifth embodiment of the invention will be described. FIG. 12 is a perspective view showing a main part of a robot apparatus according to the fifth embodiment of the present invention. Note that in the fifth embodiment, identical symbols are assigned to configurations similar to those in the first embodiment and descriptions thereof are omitted. In the first embodiment, the case where the tip member is a hand base and the hand member is a finger has been described.

  In the fifth embodiment, the robot apparatus 1100 includes a robot 1200, a restraining mechanism (positioning mechanism) 1301, and an exchange mechanism 1401. Although not shown, the main controller 500 having the same configuration as that of FIG. 1 of the first embodiment is provided.

  In the fifth embodiment, the robot 1200 includes a robot body 250, a tip member 1211 provided at the tip of the robot body 250, and an end effector 1202 as a hand member that can be attached to and detached from the tip member 1211. ing. The robot main body 250 includes a robot arm 201 and a force sensor 203 as in the first embodiment.

The tip member 1211 has a cylindrical outer shape. End effector 1202 ₁ attached to the tip member 1211, the fifth embodiment is a robot hand, the end effector 1202 _2, in the fifth embodiment is an electric screwdriver. The tip member 1211 has an attachment / detachment mechanism (not shown). The end effector 1202 is attached to the attachment / detachment mechanism of the tip member 1211. The end effector 1202 is provided with a shaft so as to be positioned with the attachment / detachment mechanism, and the attachment / detachment mechanism is provided with a hole having a diameter of about 30 [μm] larger than the shaft so as to be fitted to the shaft. Yes.

  The force sensor 203 can detect an external force applied to the end effector 1202, that is, the tip member 1211. As in the first embodiment, the main controller can perform compliance control based on the signal from the force sensor 203 so that the external force acting on the tip member 1211 is reduced.

  As the robot body 250 (robot arm 201) operates, the tip member 1211 moves in the work space. That is, the position of the tip member 1211 is changed when the robot body 250 operates.

  The restraining mechanism 1301 performs a restraining operation for positioning and restraining the tip member 1211 at the replacement work position, and a restraint releasing operation for releasing the restraint of the tip member 1211. The exchange mechanism 1401 performs an operation of removing the end effector 1202 from the tip member 1211 moved to the exchange work position and an operation of attaching the end effector 1202 to the tip member 1211 moved to the exchange work position.

  FIG. 13 is an explanatory view showing a restraining mechanism 1301 according to the fifth embodiment of the present invention. Specifically, FIG. 13A is an explanatory view showing a state where the restraint mechanism 1301 according to the fifth embodiment of the present invention releases the restraint of the tip member 1211. FIG. 13B is an explanatory view showing a state where the restraint mechanism 1301 according to the fifth embodiment of the present invention restrains the tip member 1211 at the replacement work position.

  The restraint mechanism 1301 has a pair of clamp members 1311 and 1312. The restraint mechanism 1301 includes an opening / closing drive unit 1320 that drives the clamp member 1312 and opens / closes the pair of clamp members 1311 and 1312 in the fifth embodiment, at least one of the pair of clamp members 1311 and 1312. In the fifth embodiment, the opening / closing drive unit 1320 drives the clamp member 1312 in the arrow Y direction to open / close the pair of clamp members 1311, 1312.

  The tip member 1211 can be unclamped by opening the pair of clamp members 1311 and 1312, and the tip member 1211 can be clamped by closing the pair of clamp members 1311 and 1312. The opening / closing drive unit 1320 includes a motor (not shown) and a linear motion mechanism (not shown) that converts the rotational motion of the motor into a linear motion and transmits the motion to the clamp member 1312.

  As shown in FIG. 13A, a restraint work region R2 is formed between the pair of clamp members 1311 and 1312 in a state where the pair of clamp members 1311 and 1312 are opened. The tip member 1211 can be clamped as shown in FIG. 13B by moving the tip member 1211 into the restraint work region R2 and closing the pair of clamp members 1311 and 1312. Therefore, the replacement work area P2 includes the replacement work position P2.

  By clamping the tip member 1211 with the restraining mechanism 1301, the tip member 1211 can be positioned and restrained (mechanically fixed) at the replacement work position P2 where the end effector 1202 can be exchanged with the exchange mechanism 1401. It has become.

  As shown in FIGS. 13A and 13B, the clamp members 1311 and 1312 of the restraining mechanism 1301 guide the tip member 1211 to the replacement work position P2 by the closing operation of the pair of clamp members 1311 and 1312. And a positioning surface for restraining. Specifically, the clamp member 1311 has a positioning surface 1311F, and the clamp member 1312 has a positioning surface 1312G. In the fifth embodiment, the positioning surface 1311F is used as a reference surface in order to position the tip member 1211 at the replacement work position P2.

  In the fifth embodiment, since the outer shape of the tip member 1211 is cylindrical, the positioning surfaces 1311F and 1312G are formed in a circular arc shape that follows the cylindrical shape. By positioning the tip member 1211 against the positioning surface 1311F with the positioning surface 1312G, the tip member 1211 is positioned. In this way, the restraining mechanism 1301 guides and restrains the tip member 1211 that has moved to the restraining work region R2 to the replacement work position P2 by restraining action.

  An axis extending in the Z-axis direction from the center of the arc surface of the positioning surface 1311F is used as the reference axis O of the restraining mechanism 1301. The center axis O ′ in the Z-axis direction of the tip member 1211 can be aligned with the reference axis O by clamping the tip member 1211 with the restraining mechanism 1301.

  As shown in FIG. 12, the exchange mechanism 1401 is arranged along the conveyance direction on the conveyance table 1411 and the conveyance table 1411, and holds a plurality of end effectors 1202 that are detached from the tip member 1211 or attached to the tip member 1211. Holding part 1415.

  In addition, the exchange mechanism 1401 includes a driving unit 1412 that generates a driving force for driving the transport table 1411 in the transport direction (arrow Y direction). The drive unit 1412 is a motor. A transport mechanism 1450 is provided between the transport base 1411 and the drive unit 1412. The transport mechanism 1450 moves the transport base 1411 in the arrow Y direction by the driving force of the drive unit 1412. The drive unit 1412 drives one of the plurality of holding units 1415 to the replacement work position P2 (see FIG. 13B) by driving the transport table 1411 when attaching or removing the end effector 1202. It can be made to oppose the moved tip member 1211.

  Since the robot control method when exchanging the end effector 1202 is the same as the robot control method when exchanging the fingers 212 described in the first embodiment, the description thereof is omitted.

  As described above, according to the fifth embodiment, the tip member 1211 can be accurately positioned at the replacement work position P2 by the restraining mechanism 1301 by the compliance operation of the robot body 250. Therefore, when the end effector 1202 is exchanged by the exchange mechanism 1401, there is no need to perform a position correction process by measuring the position of the tip member 1211 or force control of the robot body 250, and the end effector 1202 can be exchanged with high accuracy in a short time. can do.

  That is, for the robot apparatus 1100 of the fifth embodiment, the position (x, y) and posture (θx, θy, θz) between the tip member 1211 and the end effector 1202 can be determined by the same method as in the first embodiment. It is possible to reduce both the exchange time and the exchange accuracy.

In the fifth embodiment, the end effector 1202 ₁ is the robot hand, although the end effector 1202 ₂ case has been described where an electric screwdriver, not limited thereto. If it is not necessary to determine the phase of θz at an arbitrary position, it can be applied as an end effector.

[Sixth Embodiment]
Next, a robot apparatus according to a sixth embodiment of the present invention will be described. FIG. 14A is a perspective view showing a main part of a robot apparatus according to the sixth embodiment of the present invention. FIG. 14B is a perspective view showing the attaching / detaching mechanism of the fingers, the holding part, and the hand base of the robot apparatus according to the sixth embodiment of the present invention. Note that in the sixth embodiment, identical symbols are assigned to configurations similar to those in the first through fifth embodiments and descriptions thereof are omitted. Moreover, since the control method of the robot body is the same as that of the first embodiment, the description thereof is omitted.

  In the robot apparatus 2100 of the sixth embodiment, the tip member is the hand base 2211 and the hand member is the finger 2212. And the structure of the hand base 2211 and the finger 2212 differs from 1st Embodiment, and the holding | maintenance part 2415 holding the finger 2212 differs from 1st Embodiment. Other configurations are the same as those in the first embodiment.

  The hand base 2211 has an attachment / detachment mechanism 2213. A finger 2212 is detachably attached to the hand base 2211 via an attachment / detachment mechanism 2213.

  The attachment / detachment mechanism 2213 is formed in a dovetail groove so that positioning can be performed. The finger 2212 has an ant portion 2214 that fits into an ant groove of the attachment / detachment mechanism 2213.

  Similar to the first embodiment, the restraint mechanism 301 has a pair of clamp members that can be clamped and unclamped by being opened and closed by the opening / closing drive unit 320. By clamping the hand base 2211 with the restraining mechanism 301, the hand base 2211 can be mechanically restrained at the replacement work position.

As shown in FIG. 14A, the exchange mechanism 2401 is arranged along the conveyance direction on the conveyance table 2411 and the conveyance table 2411, and has a plurality of fingers 2212 that are detached from the hand base 2211 or attached to the hand base 2211. Holding part 2415. FIG. 14A shows a state in which the finger 2212 ₁ is removed from the hand base 2211 and another finger 2212 ₂ is attached to the hand base 2211.

  In addition, the exchange mechanism 2401 includes a driving unit 2412 that generates a driving force that drives the transport table 2411 in the transport direction (the direction of the arrow Y). The drive unit 2412 is a motor. A transport mechanism 2450 is provided between the transport base 2411 and the driving unit 2412. The transport mechanism 2450 moves the transport base 2411 in the arrow Y direction by the driving force of the drive unit 2412. When the drive unit 2412 attaches or removes the finger 2212, the drive unit 2412 drives the transport base 2411 so that one of the plurality of holding units 2415 is opposed to the hand base 2211 moved to the replacement work position. it can. In the sixth embodiment, the holding portion 2415 has a ball plunger (not shown) that restrains the finger 2212.

  The finger 2212 can be attached to the hand base 2211 by inserting the dovetail part 2214 of the finger 2212 into the dovetail groove of the attaching / detaching mechanism 2213 by sliding it in the arrow Y direction. At that time, the finger 2212 is slid to a predetermined position to be restrained by a ball plunger (not shown). The procedure for replacing the finger 2212 is the same as in the first embodiment. After the replacement of the finger 2212 is completed, the restraint by the restraining mechanism 301 is released. As described above, also in the sixth embodiment, the position (x, z) and posture (θx, θy, θz) of the hand base 2211 are determined by the restraining mechanism 301.

  Therefore, according to the sixth embodiment, similarly to the first embodiment, the hand base 2211 can be positioned with high accuracy by the restraint mechanism 301 by the compliance operation of the robot body. Therefore, when the finger 2212 is exchanged by the exchange mechanism 2401, it is not necessary to perform a position correction process by measuring the position of the hand base 2211 or controlling the force of the robot body, and the finger 2212 can be exchanged with high accuracy in a short time. it can.

[Seventh Embodiment]
Next, a robot apparatus according to a seventh embodiment of the invention will be described. FIG. 15 is a perspective view showing a main part of a robot apparatus according to the seventh embodiment of the present invention. Note that in the seventh embodiment, identical symbols are assigned to configurations similar to those in the first through sixth embodiments and descriptions thereof are omitted.

  In addition to the configuration of the robot apparatus of the sixth embodiment, the robot apparatus 3100 of the seventh embodiment further includes a slide mechanism 600 that slides the restraint mechanism 301 in a direction parallel to the transport direction (arrow Y direction). is there.

  The exchange mechanism 2401 includes a transport mechanism 2450 disposed between the transport base 2411 and the drive unit 2412. The holding unit 2415 can be advanced or retracted in the arrow Y direction by the transport mechanism 2450 of the exchange mechanism 2401, and the restraining mechanism 301 can be advanced or retracted in the arrow Y direction by the slide mechanism 600.

  In the seventh embodiment, the procedure for exchanging the fingers 2212 is substantially the same as that in the first embodiment. However, when the finger 2212 to be exchanged is moved directly below the hand base 2211, the transport base 2411 is moved in the arrow Y direction. At the same time, the restraining mechanism 301 is moved in the arrow Y direction (reverse direction) by the slide mechanism 600. As a result, the hand base 2211 and the finger 2212 are positioned.

By adopting such a configuration, when the finger 2212 ₁ is replaced with the finger 2212 ₃ , only the transport mechanism 2450 of the exchange mechanism 2401 is moved L ₀ , whereas the movement distance can be halved and the exchange is further performed. Time can be shortened. In addition, since the strokes of the transport mechanism 2450 and the slide mechanism 600 are halved, the replacement mechanism itself can be reduced in size.

[Eighth Embodiment]
Next, a robot apparatus according to an eighth embodiment of the invention will be described. FIG. 16 is a perspective view showing a main part of a robot apparatus according to the eighth embodiment of the present invention. Note that in the eighth embodiment, identical symbols are assigned to configurations similar to those in the first through seventh embodiments and descriptions thereof are omitted.

A robot apparatus 4100 according to the eighth embodiment includes a restraint mechanism 301 having a configuration similar to that of the above-described embodiment, and an exchange mechanism 4401. The exchange mechanism 4401 includes a transport base 411, a transport mechanism 4450 that moves the transport base 411 with respect to the base member 4110 in the arrow Y direction, which is the transport direction, by a driving force, and a plurality of holding portions 415 ₁ and 415 ₂ . Have.

Holding unit 415 ₁ includes a shaft-shaped positioning pins 416L _1, 416R _1, comprising and a ball plunger for constraining (not shown) of each of the positioning pins 416L _1, 416R each finger 212L ₁ to _1, 212R _1. Similarly, the holding unit 415 ₂ includes a shaft-like positioning pins 416L _2, 416R _2, and the positioning pins 416L _2, ball plungers for restraining the respective finger 212L _2, 212R ₂ to 416R ₂ (not shown) It becomes.

Further, the exchange mechanism 4401 has a rotation mechanism 4434 that rotates the positioning pins of the holding portions 415 ₁ and 415 ₂ around the axis by a driving force. Further, the exchange mechanism 4401 includes a drive unit 421 that generates a driving force that raises or lowers the holding units 415 ₁ and 415 _2, and an elevating mechanism 422 that raises or lowers the holding unit 415 by the driving force of the drive unit 421. Have. The drive unit 421 is configured by a motor.

  Further, the exchange mechanism 4401 includes a driving unit 4412 that generates a driving force for driving the transport mechanism 4450 and the rotation mechanism 4434, and a differential mechanism 4601 disposed between the transport mechanism 4450 and the rotation mechanism 4434. Yes. Although the differential mechanism 4601 is configured with a bevel gear, it may be configured with a planetary gear.

17 and 18 are explanatory diagrams showing the operation of the eighth embodiment. FIG. 17A is a perspective view showing the main part of the exchange mechanism of the robot apparatus according to the eighth embodiment of the present invention, and FIG. 17B is the exchange mechanism of the robot apparatus according to the eighth embodiment of the present invention. FIG. FIG. 18A is a perspective view showing the main part of the exchange mechanism of the robot apparatus according to the eighth embodiment of the present invention, and FIG. 18B is the exchange mechanism of the robot apparatus according to the eighth embodiment of the present invention. FIG. FIG. 17 shows the movement when the holding parts 415 ₁ and 415 ₂ are in the lowered position (position of FIG. 7A), and FIG. 18 shows the movement of the holding parts 415 ₁ and 415 ₂ in the raised position (FIG. 7B). Shows the movement when in position.

  As shown in FIGS. 17B and 18B, the rotation mechanism 4434 has a ball screw 442 that rotates by the driving force of the driving unit 4412 via the differential mechanism 4601. A rack gear 443 is attached to the ball screw 442 via a linear guide 444. Therefore, the linear motion guide 444 moves linearly with respect to the ball screw 442 by the rotation of the ball screw 442. The rack gear 443 is attached to the linear motion guide 444 and linearly moves together with the linear motion guide 444.

In the holding unit 415 _1, the positioning pin 416R ₁ for holding a finger 212R _1, is rotatably supported on the transfer table 411, the gear 445R ₁ is provided a pinion gear which meshes with the rack gear 443. Further, the holding unit 415 _1, the positioning pins 416L ₁ for holding a finger 212L _1, which is rotatably supported on the transfer table 411, 445L ₁ are provided a pinion gear that meshes with the gear 445R _1. The gear 445L ₁ is disposed on the side opposite to the rack gear 443 side with respect to the gear 445R ₁ . The gear 445R ₁ and the gear 445L ₁ are connected with a reduction ratio of 1: 1. Therefore, the gear 445R ₁ and the gear 445L ₁ rotate at the same speed in opposite rotation directions.

Similarly, the holding unit 415 _2, the positioning pin 416R ₂ for holding the fingers 212R _2, is rotatably supported on the transfer table 411, the gear 445R ₂ are provided a pinion gear which meshes with the rack gear 443. Further, the holding portion 415 _2, the positioning pins 416L ₂ for holding the fingers 212L _2, is rotatably supported on the transfer table 411, the gear 445L ₂ is provided a pinion gear that meshes with the gear 445R _2. The gear 445L ₂ is disposed on the side opposite to the rack gear 443 side with respect to the gear 445R ₂ . The gear 445R ₂ and the gear 445L ₂ are connected at a reduction ratio of 1: 1. Therefore, the gear 445R ₂ and the gear 445L ₂ rotate at the same speed in opposite rotation directions.

The gears 445R ₁ and 445L ₁ rotate the positioning pins 416R ₁ and 416L ₁ in opposite directions, and the gears 445R ₂ and 445L ₂ rotate the positioning pins 416R ₂ and 416L ₂ in opposite directions. Thus, the positioning pin 416R _1, 416L ₁ holding portion 415 ₁ is rotated by the rotation of the gear 445R _1, 445L _1, the holding portion 415 each positioning pin 416R ₂ of _2, 416L ₂ is a gear 445R _2, It is rotated by the rotation of the 445L _2.

With the above configuration, the rotation mechanism 434 can convert the rotational motion of the drive unit 418 into a linear motion with the ball screw 442 and advance or retract the rack gear 443 in the arrow Y direction. The positioning pins of the holding portions 415 ₁ and 415 ₂ can be rotated by moving the rack gear 443 forward and backward.

Gear 445R ₁ of the holding portion ₄₁₅ 1, 415 ₂ and the rotation mechanism 4434, 445L _1, 445R _2, 445L ₂ is supported by a carrying table 411. The ball screw 442, the linear motion guide 444, and the rack gear 443 of the rotation mechanism 4434 are supported by the base member 4110.

  As shown in FIG. 17A and FIG. 18A, the lifting mechanism 422 contacts the rotating shaft 4612 of the transport mechanism 4450 in the lowered position, stops the rotation of the rotating shaft 4612, and transport mechanism 4450. An anti-rotation member 4602 that prevents transmission of the driving force is fixed. A switching mechanism 4630 is configured by the differential mechanism 4601, the elevating mechanism 422, and the rotation stopping member 4602.

  The switching mechanism 4630 transports the transport base 411 via the transport mechanism 4450 by the driving force of the drive unit 4412 and rotates the positioning pins of the holding unit via the rotation mechanism 4434 by the driving force of the drive unit 4412. Switch to.

Specifically, in the state of the lowered position in FIGS. 17A and 17B, the driving force of the drive unit 4412 is transmitted to the rotation mechanism 4434 and the transport mechanism 4450 through the differential mechanism 4601. The As a result, the rack gear 443 moves linearly in the arrow Y direction by the same amount together with the transfer table 411 and the gears 445R ₁ , 445L ₁ , 445R ₂ , and 445L ₂ supported by the transfer table 411. Therefore, each positioning pin of each holding part 415 ₁ , 415 ₂ does not rotate, and the conveyance table 411 moves in the arrow Y direction.

On the other hand, in the state of the lowered position in FIGS. 18A and 18B, the rotation shaft 4612 of the transport mechanism 4450 is held in a state in which the rotation is stopped by the rotation stop member 4602. Accordingly, the driving force of the drive unit 4412 is transmitted only to the rotation mechanism 4434 via the differential mechanism 4601. The driving force of the drive unit 4412 is transmitted to the ball screw 442, the rack gear moves relative to the pinion gear, and a relative displacement ΔY is generated between the rack gear and the pinion gear, and each positioning of the holding units 415 ₁ and 415 ₂ is performed. The pin rotates. With the above configuration, the operation of attaching / detaching the fingers shown in FIGS. 6C and 6F and the operation of moving the transfer table shown in FIG. This can reduce the size and cost of the device.

  The present invention is not limited to the embodiment described above, and many modifications are possible within the technical idea of the present invention. In addition, the effects described in the embodiments of the present invention only list the most preferable effects resulting from the present invention, and the effects of the present invention are not limited to those described in the embodiments of the present invention.

[Other Embodiments]
The present invention supplies a program that realizes one or more functions of the above-described embodiments to a system or apparatus via a network or a storage medium, and one or more processors in a computer of the system or apparatus read and execute the program This process can be realized. It can also be realized by a circuit (for example, ASIC) that realizes one or more functions.

  In the above-described embodiment, the case where the main controller controls the operations of the robot body, the restraint mechanism, and the exchange mechanism in an integrated manner has been described. However, the present invention is not limited to this, and a plurality of controllers perform distributed control. May be. In other words, the controller that controls the robot body, the controller that controls the restraint mechanism, and the controller that controls the exchange mechanism may communicate with each other to control the operation timing of the robot body, restraint mechanism, and exchange mechanism. In this case, a control unit is configured by a plurality of controllers (CPUs).

  In the above-described embodiment, the case where the robot arm is a vertically articulated robot arm has been described. However, the present invention is not limited to this. The robot arm may be various robot arms such as a horizontal articulated robot arm, a parallel link robot arm, and an orthogonal robot arm.

  In the above-described embodiment, the tip member is clamped and restrained by opening and closing the pair of clamp members of the restraining mechanism. However, the present invention is not limited to this configuration. For example, the tip member is attracted using magnetism or static electricity. May be restrained.

  Moreover, although the above-mentioned embodiment demonstrated the case where a force detection part was a force sensor, it is not limited to this. For example, a torque sensor may be provided at each joint of the robot arm, and the external force acting on the tip member may be detected based on the measured joint torque, or the torque may be estimated from the current of the joint motor, You may detect the external force which acts. In this case, the ammeter of the torque sensor or the joint motor is the force detection unit.

  In the above-described embodiment, the case where compliance control is performed on the robot main body has been described. However, the present invention is not limited to this. The robot body may be controlled in the position control mode, and the tip member may be moved to the replacement work position by a compliance operation of the robot body, that is, for example, by deformation of the elastic member 261 of the force sensor 203 in FIG. If the elastic member 261 is provided, the detection element 262 may be omitted. That is, an elastic member may be arranged instead of the force sensor 203 or in addition to the force sensor 203.

  Even in such a case, the relative position between the tip member of the robot and the restraining mechanism can be determined with high accuracy without depending on the positioning accuracy of the robot body. Therefore, when replacing the hand member of the robot, it is not necessary to measure the position or correct the position of the tip member of the robot, and the hand member can be replaced at high speed and with high accuracy.

DESCRIPTION OF SYMBOLS 100 ... Robot apparatus, 200 ... Robot, 201 ... Robot arm, 202 ... Robot hand, 203 ... Force sensor, 211 ... Hand base (tip member), 212 ... Finger (hand member), 250 ... Robot main body, 301 ... Restraint Mechanism 401 ... Exchange mechanism 500 ... Main controller 501 ... CPU (control unit)

Claims (17)

A robot body, a tip member provided at the tip of the robot body, and a hand member that can be attached to and detached from the tip member, and the robot in which the tip member moves by the operation of the robot body;
A restraint mechanism for guiding and restraining the tip member moved to the restraint work area to the replacement work position, and a restraint releasing action for releasing the restraint of the tip member;
An exchange mechanism for performing an operation of removing the hand member from the tip member moved to the exchange work position and an operation of attaching the hand member to the tip member moved to the exchange work position;
A controller that controls operations of the robot body, the exchange mechanism, and the restraint mechanism,
The control unit controls the robot body to move the tip member to the restraining work area, controls the restraining mechanism to cause the restraining mechanism to perform the restraining operation;
A robot apparatus, wherein the robot body performs a compliance operation and moves the tip member to the replacement work position by guidance of the restraining mechanism performing the restraining operation. The robot body has a force detector that detects an external force acting on the tip member,
When the control unit causes the restraining mechanism to perform the restraining operation, the operation of the robot body is controlled so that the force detected by the force sensing unit is reduced,
The robot apparatus according to claim 1, wherein the robot body moves the tip member to the replacement work position under the control of the control unit.   The force detection unit includes an elastic member that supports the tip member and a detection element that detects a deformation amount of the elastic member, and a signal indicating the deformation amount detected by the detection element is transmitted to the tip The robot apparatus according to claim 2, wherein the robot apparatus outputs the result of detecting an external force acting on the member.   The robot apparatus according to claim 1, wherein the robot body includes an elastic member that supports the tip member, and the tip member is moved to the replacement work position by deformation of the elastic member.   The robot body includes an elastic member that supports the tip member, and a detection element that detects a deformation amount of the elastic member, and outputs a signal indicating the deformation amount detected by the detection element to the tip member. The robot apparatus according to claim 1, further comprising a force detection unit that outputs a detection result of an acting external force, wherein the tip member is moved to the replacement work position by deformation of the elastic member. The restraint mechanism includes a pair of clamp members and an opening / closing drive unit that drives at least one of the pair of clamp members to open and close the pair of clamp members,
6. The robot apparatus according to claim 1, wherein each of the clamp members has a positioning surface that guides the tip member to the replacement work position by a closing operation of the pair of clamp members. . The exchange mechanism is
A transfer table;
A plurality of holding portions that are arranged along the conveyance direction on the conveyance table and that are removed from the tip member or attached to the tip member;
When attaching or removing the hand member, the conveyance mechanism that moves the conveyance table in the conveyance direction and the conveyance mechanism are driven, and one of the plurality of holding portions is set to the replacement work position. The robot apparatus according to claim 1, further comprising a drive unit that faces the moved tip member. The hand member is configured to be attached and detached by rotating with respect to the tip member,
The robot apparatus according to claim 7, wherein the exchange mechanism includes a rotation mechanism that rotates the hand member held by each holding portion with respect to the tip member.   The rotation mechanism is supported by a ball screw that rotates by a driving force, a rack gear that moves linearly with respect to the ball screw by the rotation of the ball screw, and is rotatably supported by the transfer table, and rotates by the linear motion of the rack gear. The robot apparatus according to claim 8, further comprising: a pinion gear that rotates the holding unit.   The exchange mechanism switches between a state in which the transport table is transported through the transport mechanism by the driving force of the drive unit and a state in which the holding unit is rotated through the rotation mechanism by the driving force of the drive unit. The robot apparatus according to claim 8, further comprising a switching mechanism.   The robot apparatus according to claim 7, further comprising a slide mechanism that slides the restraining mechanism in a direction parallel to the transport direction. The tip member is a hand base;
The hand member is a detachable finger with respect to the hand base;
The robot apparatus according to claim 1, wherein the hand base and the fingers constitute a robot hand.   The robot apparatus according to claim 1, wherein the hand member is an end effector that can be attached to and detached from the tip member. A tip member is provided at the tip of the robot body, a hand member can be attached to and detached from the tip member, and a restraint mechanism guides and restrains the tip member moved to the restraint work area to the replacement work position. And a restraint releasing operation for releasing the restraint of the tip member, and an operation in which the exchange mechanism removes the hand member from the tip member moved to the exchange work position, and the tip member moved to the exchange work position. And a control unit for controlling the operations of the robot body, the exchange mechanism, and the restraint mechanism,
The control unit controls the robot body to move the tip member to the restraining work area; and
The controller includes a restraining step of controlling the restraining mechanism to cause the restraining mechanism to perform the restraining operation;
In the restraining step, the robot body performs a compliance operation, and moves the tip member to the replacement work position by guidance of the restraining mechanism performing the restraining operation. The robot body has a force detector for detecting an external force acting on the tip member;
In the restraining step, the control unit controls the operation of the robot main body so that the force detected by the force detecting unit is reduced when the restraining mechanism performs the restraining operation, and The robot control method according to claim 14, wherein the tip member is moved to the replacement work position by guidance of the restraining mechanism performing a restraining operation.   A program for causing a computer to execute each step of the robot control method according to claim 14 or 15.   The computer-readable recording medium which recorded the program of Claim 16.

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