JP2017074638A - End effector - Google Patents

End effector Download PDF

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JP2017074638A
JP2017074638A JP2015202848A JP2015202848A JP2017074638A JP 2017074638 A JP2017074638 A JP 2017074638A JP 2015202848 A JP2015202848 A JP 2015202848A JP 2015202848 A JP2015202848 A JP 2015202848A JP 2017074638 A JP2017074638 A JP 2017074638A
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gripping
claw
tip
arm
component
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JP6164434B2 (en
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重毅 安部
Shigeki Abe
重毅 安部
義也 藤原
Yoshiya Fujiwara
義也 藤原
仁 岡野
Hitoshi Okano
仁 岡野
誠 大賀
Makoto Oga
誠 大賀
晋治 是永
Shinji Korenaga
晋治 是永
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Hiroshima Prefecture
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Abstract

PROBLEM TO BE SOLVED: To provide an end effector capable of gripping both a hole and the outer periphery that are a part external shape by a set of gripping claws in accordance with a part of a different bulked attitude in a part box, and also relieving impact to a gripping mechanism and a robot even when abutting on the part box.SOLUTION: An end effector comprises a gripping claw 7 for gripping a part, a gripping mechanism having a chuck opening/closing mechanism 20 for opening and closing the gripping claw and a compliance device for exhibiting a compliance property, and in the end effector, the gripping claw is formed in a tapering-off shape toward a tip part. An outer peripheral surface 34 except for an opposed surface of a first claw piece 7a and a second claw piece 7b of the tip part is formed in a substantially hemispherical shape, and an inner flange part 30 is formed in a lower end part of the opposed surface of the first claw piece and the second claw piece. A recessed part is formed on one side of the opposed surface of its inner flange part, and a projection part is also formed on the other side. An outer flange part 31 is formed on the outer peripheral surface side on the opposite side of an inner jaw part of the first claw piece and the second claw piece, and an adapter 8 is interposed for connecting the chuck opening/closing mechanism and the gripping claw.SELECTED DRAWING: Figure 5

Description

本発明は、ロボットのアーム先端に取り付けられ、主として部品箱にバラ積み状態で煩雑に収納された複数の部品の中から一つずつ部品を把持する把持爪、該把持爪の開閉動作を担うチャック開閉機構、及び衝撃に対してコンプライアンス性を発揮するコンプライアンスデバイスを備えたエンドエフェクタに関する。   The present invention relates to a gripping claw that is attached to the tip of an arm of a robot and that grips a component one by one from among a plurality of components that are stored in a complicated state mainly in a component box, and a chuck that is responsible for opening and closing the gripping claw. The present invention relates to an opening / closing mechanism and an end effector including a compliance device that exhibits compliance with impact.

自動車製造工場などの製造ラインでは設備投資回収期間の短縮を図るために24時間稼働が求められている。その実現に向けて、製造ラインに供給されてくる部品箱にバラ積み状態で収納された部品をロボットで取出し搬送する技術が開発されているが、その技術を構成する技術として前記部品箱内から一つずつ把持する機構に関する技術が開発されている。   Production lines such as automobile manufacturing factories are required to operate 24 hours a day in order to shorten the capital investment recovery period. To that end, a technology has been developed to take out and transport parts stored in bulk in the parts box supplied to the production line with a robot. Technology related to a mechanism for gripping one by one has been developed.

例えば、特許文献1には、コンプライアンス装置として、保持部及び支持部にそれぞれ取り付けられる一対のブラケットと、一方のブラケットに設けられた貫通孔を貫通して、一方のブラケットを他方のブラケットに対して近接や離遠するよう、移動可能に支持するガイドシャフトと、両ブラケットが互いに離遠するように付勢力を付加する付勢手段と、を備え、前記ガイドシャフトの直径を前記貫通孔と同じ直径の部分と、前記貫通孔の直径よりは小さい直径の小径の括れ部の部分とを有するようにするコンプライアンス装置が開示されている。また、特許文献1の図4にはボルトを把持する直線状の形体を形成する把持爪が記載されている。   For example, in Patent Document 1, as a compliance device, a pair of brackets respectively attached to a holding part and a support part, and a through hole provided in one bracket are passed through, and one bracket is attached to the other bracket. A guide shaft that is movably supported so as to be close to and away from each other, and a biasing means that applies a biasing force so that both brackets are separated from each other, and the diameter of the guide shaft is the same as that of the through hole And a compliance device having a small diameter constricted portion smaller than the diameter of the through hole is disclosed. Further, FIG. 4 of Patent Document 1 describes a gripping claw that forms a linear shape for gripping a bolt.

特許文献2には、剛性の把持爪を備えたチャックがハンド本体に対し移動可能であり、前記チャックが前記ハンド本体に弾性体を介して前記移動方向に支持された構造を有するロボットハンドを搭載したロボットを用いた、把持対象ワークの取り出し方法であって、前記弾性体が所定量圧縮されるまで前記把持爪を前記対象ワークに押し付け、前記把持爪が前記把持対象ワークに予圧を加えている状態で前記チャックを開くことにより、前記把持爪が前記把持対象ワークの側方近傍に挿入されるという取り出し方法が開示されている。また、特許文献2の図3には全体形体が直線状の形体で先端部分を内側に屈曲させた把持爪が記載されている。   Patent Document 2 includes a robot hand having a structure in which a chuck having a rigid gripping claw is movable with respect to a hand body, and the chuck is supported on the hand body via an elastic body in the moving direction. A method for taking out a workpiece to be grasped using the robot, wherein the gripping claw is pressed against the target workpiece until the elastic body is compressed by a predetermined amount, and the gripping claw applies a preload to the workpiece to be grasped. An unloading method is disclosed in which the gripping claw is inserted in the vicinity of the side of the workpiece to be gripped by opening the chuck in a state. Further, FIG. 3 of Patent Document 2 describes a gripping claw in which the overall shape is a linear shape and the tip portion is bent inward.

特許文献3には、ロボットハンドに装着されてワークを把持するフィンガーモジュールの位置ずれを補償するコンプライアンスモジュールであって、水平に直交するX方向とY方向へのコンプライアンス動作と、水平に回動するθ方向へのコンプライアンス動作とを実行するコンプライアンスモジュールにおいて、それぞれの移動方向ごとにそれぞれ別々のプレートに対して、スライド可能又は回動可能に接続されて、かつそれぞれの移動を復帰させる中立位置保持機構を設けたコンプライアンスモジュールが開示されている。   Patent Document 3 discloses a compliance module that compensates for a positional deviation of a finger module that is attached to a robot hand and grips a workpiece, and that rotates horizontally in compliance with X and Y directions orthogonal to each other. In a compliance module that executes a compliance operation in the θ direction, a neutral position holding mechanism that is slidably or pivotably connected to each plate in each movement direction and that returns the movement. A compliance module is disclosed.

特許文献4には、開閉可能な2枚の平板状の爪本体の先端部に、円柱状もしくは円筒状の部品の端部を保持するために、板厚方向に貫通し、かつその内側側面が板厚方向に拡がった一対の凹部を形成し、また前記爪本体の側縁部にも同様に、板厚方向に貫通し、かつその内側側面が板厚方向に拡がった一対の凹部を形成することにより、垂直上方及び水平側方のいずれの方向からも部品の端部を保持可能としたロボットハンドが開示されている。   In Patent Document 4, in order to hold the end of a columnar or cylindrical part at the tip of two flat pawl bodies that can be opened and closed, it penetrates in the plate thickness direction, and its inner side surface is A pair of recesses extending in the plate thickness direction is formed, and a pair of recesses penetrating in the plate thickness direction in the same manner as the side edges of the claw body and the inner side surfaces thereof extending in the plate thickness direction are formed. Thus, there is disclosed a robot hand that can hold an end portion of a component from both vertically upward and horizontal sides.

特許第5706685号公報Japanese Patent No. 5706585 特許第5383847号公報Japanese Patent No. 5383847 特許第4684160号公報Japanese Patent No. 4684160 特許第3527028号公報Japanese Patent No. 3527028

特許文献1に記載の発明は、ガイドシャフトの小径部の外周壁と、ブラケットの前記小径部の直径より大きい孔部の内周壁との間に隙が生じることから、ブラケットがスライドしたときにブラケットとガイドシャフトとの衝突により生ずる繰り返し応力により前記小径部に亀裂が生じやすくなりコンプライアンス装置が損傷しやすいという問題があった。また、ガイドシャフトの小径部の長さが短い形態の場合は、垂直方向の変位量が不十分となりガイドシャフトの小径部にせん断力が繰り返し加わり前記小径部に亀裂が生じやすくなるという問題があった。   In the invention described in Patent Document 1, a gap is generated between the outer peripheral wall of the small diameter portion of the guide shaft and the inner peripheral wall of the hole portion having a diameter larger than the diameter of the small diameter portion of the bracket. There is a problem that the compliance device is liable to be damaged because the small-diameter portion is liable to be cracked due to repetitive stress caused by the collision with the guide shaft. Further, in the case where the length of the small diameter portion of the guide shaft is short, there is a problem that the amount of displacement in the vertical direction is insufficient and a shearing force is repeatedly applied to the small diameter portion of the guide shaft, and the small diameter portion is likely to crack. It was.

また、特許文献1の図4に記載された把持爪の形体では、把持爪の先端はストレート状であるので軽量に形体の部品は把持できるが重い部品は把持しようとしても爪から部品が滑って把持できないという問題があった。   Further, in the shape of the gripping claw described in FIG. 4 of Patent Document 1, since the tip of the gripping claw is straight, a lightweight part can be gripped, but a heavy part slips from the claw when trying to grip it. There was a problem that it could not be gripped.

特許文献2に記載の発明は、一方向の、例えば垂直方向に対するコンプライアンス性しか発揮しない構造であるため、把持爪が部品箱に横方向から衝突した場合にはコンプライアンス性を発揮できないという問題があった。   Since the invention described in Patent Document 2 has a structure that exhibits only compliance in one direction, for example, the vertical direction, there is a problem in that compliance cannot be exhibited when the gripping claw collides with the component box from the lateral direction. It was.

また、特許文献2の図3に記載された把持爪の形体では、前記把持爪により部品を外側から挟んで把持することはできるが、前記把持爪を部品の穴部に挿入して把持爪で把持することはできないという問題があった。   In addition, in the shape of the gripping claw described in FIG. 3 of Patent Document 2, it is possible to grip the component with the gripping claw from the outside, but the gripping claw is inserted into the hole of the component. There was a problem that it could not be gripped.

特許文献3に記載の発明は、X軸方向のコンプライアンス機構とY軸方向のコンプライアンス機構等軸方向別に独立した機構を設けるために、構造が複雑になり製造コストが高くなるという問題があった。そして、X軸方向、Y軸方向、水平回転方向に対するコンプライアンス性を発揮するようにしているため、ロボットハンドの先端が斜め方向から部品箱にぶつかる等の場合に生ずる、プレートを三次元で傾動させるような場合には十分なコンプライアンス性を発揮できないという問題があった。   The invention described in Patent Document 3 has a problem that the structure becomes complicated and the manufacturing cost increases because independent mechanisms such as a compliance mechanism in the X-axis direction and a compliance mechanism in the Y-axis direction are provided for each axial direction. Since the compliance with the X-axis direction, the Y-axis direction, and the horizontal rotation direction is exhibited, the plate is tilted in three dimensions, which occurs when the tip of the robot hand hits the component box from an oblique direction. In such a case, there was a problem that sufficient compliance could not be exhibited.

特許文献4に記載の発明は、把持爪は平板状であるので、部品の小孔部に挿入させなければ把持できない部品の場合には該部品を把持できないという問題があった。   The invention described in Patent Document 4 has a problem that since the gripping claw has a flat plate shape, the component cannot be gripped in the case of a component that cannot be gripped unless inserted into the small hole portion of the component.

本発明はこうした問題に鑑み想到されたもので、把持爪が部品の小孔部に挿入できて該孔部の縁部を把持でき、又は把持爪が部品の外側の縁部を挟んで把持することもでき、かつ、部品の部品箱にバラ積み状態で煩雑に収納された複数の部品の中から一つずつ部品を把持するエンドエフェクタがたとえ位置ずれが生じて部品箱や部品に当接しても、エンドエフェクタやロボットへの衝撃を和らげ、確実に部品を把持でき、チョコ停になりにくく、繰り返し疲労が生じにくいエンドエフェクタを提供することを課題とする。   The present invention has been conceived in view of these problems, and a gripping claw can be inserted into a small hole portion of a component and can grip an edge portion of the hole portion, or a gripping claw can be gripped by sandwiching an outer edge portion of the component. In addition, the end effector that grips the parts one by one from the multiple parts that are stored in a complicated manner in the parts box of the parts may be displaced and contact the parts box or parts. Another object of the present invention is to provide an end effector that can alleviate the impact on the end effector and the robot, can securely grip the component, is less likely to stop, and is less prone to repeated fatigue.

請求項1に記載のエンドエフェクタ1は、部品5をピッキングするロボットアーム4の先端に取り付けるエンドエフェクタ1であって、前記エンドエフェクタ1が、部品を把持する把持機構2と、前記ロボットアーム4の先端に取り付けられ、前記把持機構2に外力Pが加わったときにコンプライアンス性を発揮するコンプライアンスデバイス3とを具備し、前記把持機構2は、開閉する一対の第一アーム21a及び第二アーム21bからなるチャックアーム21を具備、及び、該チャックアーム21と連結して該チャックアーム21を開閉させる駆動シリンダ22を具備するチャック開閉機構20と、前記駆動シリンダ22の作動により相互に接離自在に開閉して部品を把持する、前記第一アーム21aの作動に連動する第一爪片7a及び前記第二アーム21bの作動に連動する第二爪片7bからなる一対の把持爪7と、を備え、前記一対の把持爪7の前記第一爪片7a及び第二爪片7bは前記チャックアーム21の取り付け部から先端部に向けて先細り形体を形成すると共に、前記先端部の前記第一爪片7aと第二爪片7bの対向面以外の外周面34は略半球面状の形体を形成し、前記第一爪片7aと第二爪片7bの対向面の下端部をそれぞれ対向側に突出させて内鍔部30を形成し、前記第一爪片7a及び第二爪片7bの内鍔部30の対向面の一方側に凹部32を形成しかつ他方側に凸部33を形成し、前記凹部32に前記凸部33を嵌入させる方向に閉じることによって、部品5の外側を把持可能とし、前記第一爪片7aと第二爪片7bのそれぞれの対向面側である前記内顎部30の反対側の外周面34側に突出させた外鍔部31を形成させ、把持爪7を閉じて前記内顎部30側の前記凹部32に前記凸部33を嵌入させて把持爪7の先端の外寸を小さくさせて把持爪7を部品の穴へ挿入して、その後把持爪7を開にして部品の内側を把持可能とし、前記チャック開閉機構20と前記把持爪7の間に、前記チャック開閉機構20と前記把持爪7を連結させるアダプタ8を介在させ、前記アダプタ8と前記把持爪7との締結部の形態を、同一のチャック開閉機構20に対して異なる形体の前記把持爪7を取り付けられるように前記アダプタ8と前記把持爪7との締結用孔40の位置を統一し、又は、異なるチャック開閉機構20に対して同一の形体の前記把持爪7を取り付けられるように前記アダプタ8に異なる複数の前記チャック20にそれぞれ設けられた締結用孔41の位置に対応した締結用孔の位置41を設けたことを特徴とする。   The end effector 1 according to claim 1 is an end effector 1 attached to a tip of a robot arm 4 for picking a component 5, and the end effector 1 includes a gripping mechanism 2 for gripping a component, and the robot arm 4. And a compliance device 3 that exhibits compliance when an external force P is applied to the gripping mechanism 2. The gripping mechanism 2 includes a pair of first and second arms 21a and 21b that open and close. And a chuck opening / closing mechanism 20 having a driving cylinder 22 connected to the chuck arm 21 to open and close the chuck arm 21, and an opening / closing mechanism that opens and closes to each other by the operation of the driving cylinder 22. The first claw piece 7a interlocked with the operation of the first arm 21a, A pair of gripping claws 7 composed of a second claw piece 7b interlocked with the operation of the second arm 21b, and the first claw piece 7a and the second claw piece 7b of the pair of gripping claws 7 are the chuck arms. A tapered shape is formed from the attachment portion 21 toward the tip portion, and the outer peripheral surface 34 of the tip portion other than the facing surfaces of the first claw piece 7a and the second claw piece 7b forms a substantially hemispherical shape. Then, the lower end portions of the opposing surfaces of the first claw piece 7a and the second claw piece 7b are protruded to the opposite side to form the inner collar portion 30, and the inner sides of the first claw piece 7a and the second claw piece 7b By forming a concave portion 32 on one side of the facing surface of the collar portion 30 and forming a convex portion 33 on the other side, and closing the convex portion 33 in the concave portion 32, the outside of the component 5 can be gripped. And the inner side which is the opposite surface side of each of the first claw piece 7a and the second claw piece 7b. An outer flange portion 31 projecting toward the outer peripheral surface 34 on the opposite side of the portion 30 is formed, the gripping claw 7 is closed, and the convex portion 33 is inserted into the concave portion 32 on the inner jaw portion 30 side to hold the gripping claw 7. The gripping claw 7 is inserted into the hole of the component by reducing the outer dimension of the tip of the component, and then the gripping claw 7 is opened so that the inside of the component can be gripped, between the chuck opening / closing mechanism 20 and the gripping claw 7. In addition, an adapter 8 for connecting the chuck opening / closing mechanism 20 and the gripping claw 7 is interposed, and the shape of the fastening portion between the adapter 8 and the gripping claw 7 is different from that of the same chuck opening / closing mechanism 20 in the gripping. The position of the fastening hole 40 between the adapter 8 and the gripping claw 7 is unified so that the claw 7 can be attached, or the gripping claw 7 of the same shape can be attached to different chuck opening / closing mechanisms 20. A plurality of different adapters 8 A fastening hole position 41 corresponding to the position of the fastening hole 41 provided in each of the chucks 20 is provided.

請求項2に記載のエンドエフェクタ1は、請求項1において、前記ロボットアーム4の軸方向Cに対する前記アダプタ8の長軸方向のなす角度α、及び、ロボットアーム4の軸方向Cに対する前記アダプタ8に締結した把持爪7の長軸方向のなす角度βが、ともに25度以上35度以下となるように、側面視で前記アダプタ8と前記把持爪7とが形成する形体がくの字の形状を形成し、前記コンプライアンスデバイス3が、前記把持機構2に取り付ける把持側プレート50、前記ロボットアーム4先端に取り付けるアーム側プレート51、及び前記把持側プレート50と前記アーム側プレート51間に介設された中間プレート52を備えたことを特徴とする。   The end effector 1 according to a second aspect of the present invention is the end effector 1 according to the first aspect, wherein an angle α formed by the major axis direction of the adapter 8 with respect to the axial direction C of the robot arm 4 and the adapter 8 with respect to the axial direction C of the robot arm 4. The shape formed by the adapter 8 and the gripping claws 7 in a side view is such that the angle β formed in the major axis direction of the gripping claws 7 fastened to is 25 ° or more and 35 ° or less. The compliance device 3 is formed and interposed between the gripping side plate 50 attached to the gripping mechanism 2, the arm side plate 51 attached to the tip of the robot arm 4, and the gripping side plate 50 and the arm side plate 51. An intermediate plate 52 is provided.

請求項3に記載のエンドエフェクタ1は、請求項1又は2において、前記アーム側プレート51と前記中間プレート間52の間隔を固定状態とした空間部53を設け、前記把持側プレート50と前記中間プレート52間に介装し、前記把持側プレート50と前記中間プレート52間の間隔を拡張方向に付勢させたバネ54に挿通させたシャフト55の先端を前記中間プレート52側から前記空間部53に出し入れ可能とし、前記シャフト55の先端に円板状の衝止板56を固設し、前記中間プレート52の前記空間部53側に前記衝止板56と対向させて円板状の固定ブロック57を固設し、無負荷時は、前記バネ54の付勢力により前記衝止板56が前記固定ブロック57に当接して前記把持側プレート50と前記中間プレート52の間隔が最大に拡張され、前記把持機構2が衝突したときにかかる外力Pによる負荷時には、前記バネ54が縮小し前記シャフト55先端が前記空間部53に突出して、前記把持側プレート50と前記中間プレート52の間隔が縮小して前記負荷Pの衝撃を受け、負荷時から無負荷時になると、前記バネ54の拡張により前記シャフト55先端に固設した前記衝止板56が前記固定ブロック57で衝止されて、前記把持側プレート50と前記中間プレート52の間隔を無負荷時の状態に復元させることを特徴とする。   The end effector 1 according to claim 3 is the end effector 1 according to claim 1, wherein a space 53 is provided in which the space between the arm side plate 51 and the intermediate plate 52 is fixed, and the grip side plate 50 and the intermediate plate 50 are intermediate. An end of a shaft 55 inserted between the plates 52 and inserted through a spring 54 that urges the gap between the gripping side plate 50 and the intermediate plate 52 in the expansion direction from the intermediate plate 52 side to the space portion 53. A disc-shaped stop plate 56 is fixed to the tip of the shaft 55, and a disc-shaped fixed block is provided on the space 53 side of the intermediate plate 52 so as to face the stop plate 56. 57 is fixed, and when there is no load, the stopper plate 56 abuts against the fixed block 57 by the urging force of the spring 54 so that the gap between the grip side plate 50 and the intermediate plate 52 is increased. When loaded by an external force P that is expanded to the maximum and the gripping mechanism 2 collides, the spring 54 contracts and the tip of the shaft 55 protrudes into the space 53, and the grip side plate 50 and the intermediate plate 52. When the load P is reduced and the load P is impacted and the load is changed to no load, the stopper plate 56 fixed to the tip of the shaft 55 is stopped by the fixed block 57 by the extension of the spring 54. Thus, the distance between the grip-side plate 50 and the intermediate plate 52 is restored to a no-load state.

請求項1に記載のエンドエフェクタ1は、把持爪7の外周面34の表面形状に丸みを形成させていることにより、例えば把持爪7を部品5の孔部に挿入させようとしたときに把持爪7の先端が部品5の孔部の周縁に当接する場合に、前記丸みが形成されていなければ前記孔部の縁に当接した状態のままで孔部に挿入されないが、前記丸みが形成されており、かつコンプライアンスデバイスを装着されていれば前記周縁で前記丸み形成部が滑って把持爪7の先端を、ロボットの一連の動きを止めずに孔に挿入させることができる。これによりロボット11にチョコ停の発生頻度を低減できる。   The end effector 1 according to claim 1 is gripped when the gripping claw 7 is to be inserted into the hole of the component 5, for example, by forming a round shape on the outer peripheral surface 34 of the gripping claw 7. When the tip of the claw 7 comes into contact with the peripheral edge of the hole of the component 5, if the round is not formed, it remains in contact with the edge of the hole and is not inserted into the hole, but the round is formed. If the compliance device is mounted, the rounding portion slides around the periphery and the tip of the gripping claw 7 can be inserted into the hole without stopping a series of movements of the robot. Thereby, the occurrence frequency of chocolate stops in the robot 11 can be reduced.

把持爪7を、図3乃至図9に示すように、該把持爪7の先端部に向けて先細り形体を形成し、前記先端部の前記第一爪片7aと第二爪片7bの対向面以外の外周面34は略半球面形状を形成し、前記第一爪片7a及び第二爪片7bの内鍔部30の対向面の一方側に凹部32を形成しかつ他方側に凸部33を形成した形体とすることによって、把持爪7を閉じたときに小型化でき、把持爪7を部品5の小孔部にも挿入させることができるという効果を奏する。また、把持爪7の先端が部品5の小孔部からずれたときに把持爪の先端部が大きい場合には孔部の周縁部近傍に当接した時の衝撃でロボットがチョコ停するが、把持爪7の先端部を小型化できることにより部品5の孔部に把持爪7の先端部を挿入しやすい。   As shown in FIGS. 3 to 9, the gripping claw 7 is formed with a tapered shape toward the distal end portion of the gripping claw 7, and the opposing surfaces of the first claw piece 7 a and the second claw piece 7 b at the distal end portion are formed. The outer peripheral surface 34 except for forms a substantially hemispherical shape, forms a concave portion 32 on one side of the opposing surface of the inner collar portion 30 of the first claw piece 7a and the second claw piece 7b, and a convex portion 33 on the other side. When the gripping claw 7 is closed, the size can be reduced, and the gripping claw 7 can be inserted into the small hole portion of the component 5 as well. In addition, when the tip of the gripping claw 7 is displaced from the small hole portion of the component 5, if the tip of the gripping claw is large, the robot stops a little by the impact when contacting the vicinity of the peripheral edge of the hole. Since the tip of the gripping claw 7 can be reduced in size, the tip of the gripping claw 7 can be easily inserted into the hole of the component 5.

図3乃至図9に示すように、把持爪7の先端部に内鍔部30及び外鍔部31を形成させたことによって、図10に示すように部品5の孔部の周縁部を把持でき、図11に示すように部品5の外側を挟んで把持できる。このため、部品箱6内にバラ積みされた部品5の姿勢が異なっても、同一の形体の把持爪7で把持できるという効果を奏する。   As shown in FIGS. 3 to 9, by forming the inner collar part 30 and the outer collar part 31 at the tip of the gripping claw 7, the peripheral part of the hole of the component 5 can be grasped as shown in FIG. As shown in FIG. 11, the outside of the component 5 can be sandwiched and held. For this reason, even if the postures of the parts 5 stacked in the parts box 6 are different, the gripping claws 7 having the same shape can be held.

把持爪7と該把持爪7を開閉させるチャック開閉機構20との間にアダプタ8を介設させている。把持爪7は部品5によって把持方法や把持箇所の形体が異なるため種々の形体の把持爪7を備えることになることと、チャック開閉機構20も部品形状に合わせて把持爪7の開閉する間隔や開閉する力を変える必要があるため種々の異なるチャック開閉機構20の形体を備えている。このときに、把持爪7とチャック開閉機構20との締結方法が把持爪7やチャック開閉機構20の形体ごとに異なると、ある種類の把持爪7に対して複数の形体のチャック開閉機構20を備えなければならないが、同一のチャック開閉機構20に対して異なる形体の前記把持爪7を取り付けられるように前記アダプタ8と前記把持爪7との締結用孔40の位置を統一し、又は、異なるチャック開閉機構20に対して同一の形体の前記把持爪7を取り付けられるように前記アダプタ8に異なる複数の前記チャック20にそれぞれ設けられた締結用孔41の位置に対応した締結用孔の位置41を設けたことにより、把持爪7とチャック開閉機構20との製作数を大幅に減じることができる。特に把持爪7は製作コストが高価であるのでアダプタ8を使用して把持爪7の取付形態を共通化することにより低コスト化ができる。   An adapter 8 is interposed between the gripping claw 7 and a chuck opening / closing mechanism 20 that opens and closes the gripping claw 7. Since the gripping claws 7 have different gripping methods and shapes of gripping portions depending on the parts 5, the gripping claws 7 are provided with various shapes, and the chuck opening / closing mechanism 20 also has an interval for opening / closing the gripping claws 7 according to the shape of the parts. Since it is necessary to change the opening / closing force, various different forms of the chuck opening / closing mechanism 20 are provided. At this time, if the fastening method between the gripping claw 7 and the chuck opening / closing mechanism 20 differs depending on the shape of the gripping claw 7 or the chuck opening / closing mechanism 20, a plurality of forms of the chuck opening / closing mechanism 20 are provided for a certain kind of gripping claw 7. The position of the fastening hole 40 between the adapter 8 and the gripping claws 7 may be unified or different so that the gripping claws 7 having different shapes can be attached to the same chuck opening / closing mechanism 20. Fastening hole positions 41 corresponding to the positions of fastening holes 41 provided in the plurality of different chucks 20 on the adapter 8 so that the gripping claws 7 of the same shape can be attached to the chuck opening / closing mechanism 20. By providing, it is possible to greatly reduce the number of manufactured gripping claws 7 and chuck opening / closing mechanisms 20. In particular, since the gripping claw 7 is expensive to manufacture, it is possible to reduce the cost by using the adapter 8 to share the mounting form of the gripping claw 7.

請求項2に記載のエンドエフェクタ1は、部品箱6の枠に近傍の位置から把持爪7を部品5に対して近づけなければならない場合に、把持爪7の形体がストレートの場合は図25(b)に示すように部品箱6の角に部品5が収納されている場合には、部品箱6の枠にエンドエフェクタ1が干渉して部品5に把持爪7を近接させることができないでロボットがチョコ停となるが、図21乃至図23に示すような本発明のエンドエフェクタ1であれば部品箱6の角に部品5が収納されている場合であっても図24や図26(a)に示すように把持爪7又はロボット11が部品箱6の枠に干渉することなく部品5を把持することができる。   The end effector 1 according to claim 2 is shown in FIG. 25 when the shape of the gripping claw 7 is straight when the gripping claw 7 must be brought close to the component 5 from a position close to the frame of the component box 6. When the component 5 is stored in the corner of the component box 6 as shown in b), the end effector 1 interferes with the frame of the component box 6 so that the gripping claw 7 cannot be brought close to the component 5. However, in the case of the end effector 1 of the present invention as shown in FIGS. 21 to 23, even if the component 5 is stored in the corner of the component box 6, FIG. ), The gripping claw 7 or the robot 11 can grip the component 5 without interfering with the frame of the component box 6.

請求項3に記載のエンドエフェクタ1は、例えばロボット11のアーム4先端に取り付けられたエンドエフェクタ1の把持機構2が狙いの位置がずれて部品5の表面に衝突したときに部品5の表面を把持機構2が滑って狙いの把持個所に到達しやすくすることができ、また、部品箱6に衝突したときに前記エンドエフェクタ1及びロボット11に加わる負荷を減じることができ、チョコ停を発生しにくくでき、他の部位よりも破損しやすく高価な把持機構2に損傷を与えにくくすることができる。   The end effector 1 according to claim 3 is configured so that the gripping mechanism 2 of the end effector 1 attached to, for example, the tip of the arm 4 of the robot 11 deviates from the target position and collides with the surface of the component 5. The gripping mechanism 2 can easily slide to reach the target gripping location, and the load applied to the end effector 1 and the robot 11 when the gripping mechanism 2 collides with the component box 6 can be reduced. It is difficult to damage the expensive gripping mechanism 2 that is more easily damaged than other parts.

本発明のエンドエフェクタを使用した部品取出しシステムの説明図である。It is explanatory drawing of the components pick-up system using the end effector of this invention. エンドエフェクタが部品に衝突して外力が加わったときの説明図である。It is explanatory drawing when an end effector collides with components and external force is added. 把持爪がスライド方向に開閉作動する形態の場合のチャック開閉機構と把持爪の部分の形体の説明図であって、チャック機構が開のときの前記部位の斜視図である。It is explanatory drawing of the shape of the chuck | zipper opening / closing mechanism and the part of a holding claw in the case of a form which a holding claw opens / closes in a sliding direction, Comprising: It is a perspective view of the said site | part when a chuck mechanism is open. 把持爪がスライド方向に開閉作動する形態の場合のチャック開閉機構と把持爪の部分の形体の説明図であって、チャック機構が閉のときの前記部位の斜視図である。It is explanatory drawing of the shape of the part of a chuck | zipper opening / closing mechanism and a holding claw in the form which a holding claw opens / closes in a sliding direction, Comprising: It is a perspective view of the said site | part when a chuck mechanism is closed. 把持爪がスライド方向に開閉作動する形態の場合のチャック開閉機構と把持爪の部分の形体の説明図であって、前記部位の正面図である。It is explanatory drawing of the shape of the part of a chuck | zipper opening / closing mechanism and a holding claw in the form which a holding claw opens / closes in a sliding direction, Comprising: It is a front view of the said site | part. 把持爪がスライド方向に開閉作動する形態の場合のチャック開閉機構と把持爪の部分の形体の説明図であって、前記部位の背面図である。It is explanatory drawing of the form of the part of a chuck | zipper opening / closing mechanism and a holding claw in the form which a holding claw opens / closes in a sliding direction, Comprising: It is a rear view of the said site | part. 把持爪がスライド方向に開閉作動する形態の場合のチャック開閉機構と把持爪の部分の形体の説明図であって、前記部位の右側面図又は左側面図である。It is explanatory drawing of the shape of the part of a chuck | zipper opening / closing mechanism and a holding claw in the form which a holding claw opens / closes in a sliding direction, Comprising: It is the right view or the left view of the said site | part. 把持爪の先端部の形体の説明図で、(a)が把持爪の底面視における把持爪が開時の形態を示す図で、(b)が把持爪の底面視における把持爪が閉時の形態を示す図で、(c)が把持爪の背面視における把持爪が部品等の角部に当接した状態を示した図である。It is explanatory drawing of the shape of the front-end | tip part of a holding nail, (a) is a figure which shows the form at the time of the holding nail in the bottom view of a holding nail, (b) is the bottom view of a holding nail when the holding nail is closed It is a figure which shows a form, (c) is the figure which showed the state which the holding nail | claw in the rear view of the holding nail contact | abutted to corner | angular parts, such as components. 図6の背面図から把持爪を閉状態にした形態を示す説明図である。It is explanatory drawing which shows the form which closed the holding nail | claw from the rear view of FIG. 穴部の縁部を把持する場合の説明図で、(a)が部品の孔部に把持爪を挿入させた状態を示した図で、(b)が把持爪を開にして部品の穴部の縁部を把持した状態を示した図である。It is explanatory drawing in the case of gripping the edge part of a hole part, (a) is the figure which showed the state which inserted the nail | claw in the hole part of a component, (b) is the hole part of a component by opening a grip claw It is the figure which showed the state which hold | gripped the edge part. 部品の外形部を挟んで把持する場合の説明図で、(a)が部品の外方に把持爪を近接させた状態を示した図で、(b)が把持爪を閉にして部品の外形を挟んで把持した状態を示した図である。It is explanatory drawing at the time of holding | gripping across the external part of a component, (a) is the figure which showed the state which made the grip nail approach the outside of a component, (b) is the external shape of a component with a grip nail closed It is the figure which showed the state hold | gripped on both sides of FIG. 把持爪が旋回方向に開閉作動する形態の場合のチャック開閉機構と把持爪の部分の形体の説明図であって、チャック機構が開のときの前記部位の斜視図である。It is explanatory drawing of the shape of the chuck | zipper opening / closing mechanism and the part of a holding claw in the case of the form which a holding claw opens / closes in a turning direction, Comprising: It is a perspective view of the said site | part when a chuck mechanism is open. 把持爪が旋回方向に開閉作動する形態の場合のチャック開閉機構と把持爪の部分の形体の説明図であって、チャック機構が閉のときの前記部位の斜視図である。It is explanatory drawing of the shape of the part of a chuck | zipper opening / closing mechanism and a holding claw in the form which a holding claw opens / closes in a turning direction, Comprising: It is a perspective view of the said site | part when a chuck mechanism is closed. 把持爪が旋回方向に開閉作動する形態の場合のチャック開閉機構と把持爪の部分の形体の説明図であって、前記部位の正面図である。It is explanatory drawing of the shape of the part of a chuck | zipper opening / closing mechanism and a holding claw in the form which a holding claw opens / closes in a turning direction, Comprising: It is a front view of the said site | part. 把持爪がスライド方向に開閉作動する形態の場合のチャック開閉機構と把持爪の部分の形体の説明図であって、前記部位の背面図である。It is explanatory drawing of the form of the part of a chuck | zipper opening / closing mechanism and a holding claw in the form which a holding claw opens / closes in a sliding direction, Comprising: It is a rear view of the said site | part. 把持爪がスライド方向に開閉作動する形態の場合のチャック開閉機構と把持爪の部分の形体の説明図であって、前記部位の右側面図又は左側面図である。It is explanatory drawing of the shape of the part of a chuck | zipper opening / closing mechanism and a holding claw in the form which a holding claw opens / closes in a sliding direction, Comprising: It is the right view or the left view of the said site | part. 図14の正面図から把持爪を閉状態にした形態を示す説明図である。It is explanatory drawing which shows the form which closed the holding nail | claw from the front view of FIG. 穴部の縁部を把持する場合の説明図で、(a)が部品の孔部に把持爪を挿入させた状態を示した図で、(b)が把持爪を開にして部品の穴部の縁部を把持した状態を示した図である。It is explanatory drawing in the case of gripping the edge part of a hole part, (a) is the figure which showed the state which inserted the nail | claw in the hole part of a component, (b) is the hole part of a component by opening a grip claw It is the figure which showed the state which hold | gripped the edge part. 部品を挟んで把持する場合の説明図で、(a)が部品に把持爪を近接させた状態を示した図で、(b)が把持爪を閉にして部品を挟んで把持した状態を示した図である。It is explanatory drawing at the time of holding | griping components, (a) is the figure which showed the state which made the grip nail approach to components, (b) shows the state which hold | gripped the component with the grip nail closed. It is a figure. 把持爪がスライド方向に開閉作動する形態の場合のチャック開閉機構と把持爪の部分の形体の説明図であって、(a)がチャック機構が閉のときの前記部位の斜視図で、(b)がチャック機構が開のときの前記部位の斜視図である。It is explanatory drawing of the shape of the chuck | zipper opening / closing mechanism and the part of a holding claw in the form which a holding claw opens / closes in a sliding direction, Comprising: (a) is a perspective view of the said part when a chuck mechanism is closed, (b ) Is a perspective view of the portion when the chuck mechanism is open. 請求項2に記載したアダプタ及び把持爪の部位で把持爪を開にした形体を示す斜視図である。It is a perspective view which shows the form which opened the holding nail in the site | part of the adapter and the holding nail as described in Claim 2. 請求項2に記載したアダプタ及び把持爪の部位で把持爪を閉にした形体を示す斜視図である。It is a perspective view which shows the form which closed the holding nail in the site | part of the adapter and holding nail as described in Claim 2. 請求項2に記載したアダプタ及び把持爪の部位の形体を説明する図である。It is a figure explaining the form of the site | part of the adapter described in Claim 2, and the holding nail | claw. 請求項2に記載のアダプタ及び把持爪により部品箱の角に収納された部品を把持しようとする状態を示した図である。It is the figure which showed the state which is going to hold | grip the components accommodated in the corner | angular part of the component box with the adapter and holding nail | claw of Claim 2. 部品箱の角に収納された部品を把持しようとする状態を示した図で、(a)がコンプライアンスデバイスの長軸方向に対して垂直方向に把持爪を屈曲させた形体の場合を示した図で、(b)がコンプライアンスデバイスの長軸方向と同一方向に把持爪を取り付けた形体の場合を示した図である。The figure which showed the state which is going to hold | grip the components accommodated in the corner of a parts box, and (a) showed the case of the form which bent the holding nail in the direction perpendicular to the major axis direction of a compliance device. FIG. 5B is a diagram showing a case where a gripping claw is attached in the same direction as the long axis direction of the compliance device. 部品箱の角に収納された部品を把持しようとする状態を示した図で、(a)が請求項2に記載のアダプタ及び把持爪により部品箱の角に収納された部品を把持しようとする状態を示した図で、(b)がコンプライアンスデバイスの長軸方向に対して垂直方向に把持爪を屈曲させた形体の場合を示した図である。It is the figure which showed the state which is going to hold | grip the component accommodated in the corner of a component box, (a) tries to hold | grip the component accommodated in the corner of the component box with the adapter and the gripping claw of Claim 2. It is the figure which showed the state, (b) is the figure which showed the case of the form which bent the holding nail | claw in the orthogonal | vertical direction with respect to the major axis direction of a compliance device. 本発明のコンプライアンスデバイスの無負荷状態の斜視図である。It is a perspective view of the no-load state of the compliance device of the present invention. 図27のB―B断面におけるコンプライアンスデバイスの無負荷状態の縦断面説明図である。It is longitudinal cross-sectional explanatory drawing of the no-load state of the compliance device in the BB cross section of FIG. 図28のコンプライアンスデバイスに縮小方向の外力が加わったときの変化を示す説明図である。It is explanatory drawing which shows a change when the external force of a reduction direction is added to the compliance device of FIG.

本発明に係るエンドエフェクタ1は、例えば図1に示すように、エンドエフェクタ1、ロボット11、画像センサ12、ロボット制御部13、及び画像による部品認識手段14を備えた部品取出しシステム10で使用される。前記エンドエフェクタ1は、コンプライアンスデバイス3や把持機構2を備える。前記部品取出しシステム10は、自動車製造工場や半導体製造工場などの生産ラインに設置され、コンプライアンスデバイス3及び把持機構2を備えたエンドエフェクタ1をアーム4先端に装着したロボット11が、部品箱6にバラ積み状態で収納された多数の部品5を前記エンドエフェクタ1により一つずつ把持して取出して次工程に搬送する作業を行う。   As shown in FIG. 1, for example, the end effector 1 according to the present invention is used in a component pick-up system 10 including an end effector 1, a robot 11, an image sensor 12, a robot control unit 13, and a component recognition unit 14 based on an image. The The end effector 1 includes a compliance device 3 and a gripping mechanism 2. The component pick-up system 10 is installed in a production line such as an automobile manufacturing factory or a semiconductor manufacturing factory, and a robot 11 having an end effector 1 having a compliance device 3 and a gripping mechanism 2 mounted on the tip of an arm 4 is attached to a component box 6. A large number of components 5 stored in a stacked state are gripped one by one by the end effector 1 and taken out and conveyed to the next process.

前記エンドエフェクタ1は、図1又は図2に示すように、部品箱6に収納された部品5を一つずつ把持する把持機構2及びコンプライアンス性を有するコンプライアンスデバイス3を備え、コンプライアンスデバイス3側をロボットのアーム先端に取り付ける。エンドエフェクタ1がコンプライアンス性を有することにより、把持機構2が部品箱6に衝突したときに把持機構2の損傷が発生しにくくなり、ロボット11への衝撃を緩和し、ロボット11のチョコ停を防止し、又は把持機構2の把持爪7が部品5の被把持箇所を少しずれて部品5に当接したときに把持爪7が部品5表面を滑りながら被把持箇所に到達しやすいように支援することができる。   As shown in FIG. 1 or FIG. 2, the end effector 1 includes a gripping mechanism 2 for gripping the components 5 housed in the component box 6 one by one and a compliance device 3 having compliance, and the compliance device 3 side. Attach to the robot arm tip. Due to the compliance of the end effector 1, the gripping mechanism 2 is less likely to be damaged when the gripping mechanism 2 collides with the component box 6, the impact on the robot 11 is reduced, and the robot 11 is prevented from being stopped. Alternatively, when the gripping claw 7 of the gripping mechanism 2 is slightly displaced from the gripped portion of the component 5 and comes into contact with the component 5, the gripping claw 7 assists to easily reach the gripped portion while sliding on the surface of the component 5. be able to.

前記把持機構2は、図5乃至図7、及び、図14乃至図16に示すように、開閉する一対の第一アーム21a及び第二アーム21bからなるチャックアーム21を具備し、該チャックアーム21と連結して該チャックアーム21を開閉させる駆動シリンダ22を具備するチャック開閉機構20を具備する。そして、前記チャックアーム21の先端側には、前記駆動シリンダ22の作動により相互に接離自在に開閉して部品5を把持する、前記第一アーム21aの作動に連動する第一爪片7a及び前記第二アーム21bの作動に連動する第二爪片7bからなる一対の把持爪7を具備する。   As shown in FIGS. 5 to 7 and FIGS. 14 to 16, the gripping mechanism 2 includes a chuck arm 21 including a pair of first and second arms 21 a and 21 b that opens and closes. And a chuck opening / closing mechanism 20 including a drive cylinder 22 that opens and closes the chuck arm 21. Further, on the tip side of the chuck arm 21, a first claw piece 7 a interlocked with the operation of the first arm 21 a, which opens and closes mutually by the operation of the drive cylinder 22 and grips the component 5, and A pair of gripping claws 7 including a second claw piece 7b interlocked with the operation of the second arm 21b is provided.

図3、図4、図12及び図13に示すように、前記一対の把持爪7の前記第一爪片7a及び第二爪片7bは前記チャックアーム21の取り付け部から先端部に向けて先細り形体を形成すると共に、前記先端部の前記第一爪片7aと第二爪片7bの対向面以外の外周面34は略半球面状の形体を形成し、図5、図14、図8(a)に示すように前記第一爪片7aと第二爪片7bの対向面の下端部をそれぞれ対向側に突出させて内鍔部30を形成し、前記第一爪片7a及び第二爪片7bの内鍔部30の対向面の一方側に凹部32を形成しかつ他方側に凸部33を形成する。そして、図8(b)、図9又は図17に示すように前記凹部32に前記凸部33を嵌入させる方向に閉じることによって、把持爪7の先端部の大きさを小さくさせることができ、これにより図10(a)や図18(a)に示すように部品5の小孔部に把持爪7の先端部を挿入させることができる。 As shown in FIGS. 3, 4, 12, and 13, the first claw piece 7 a and the second claw piece 7 b of the pair of gripping claws 7 taper from the attachment portion of the chuck arm 21 toward the tip portion. In addition to forming a shape, the outer peripheral surface 34 other than the opposing surfaces of the first claw piece 7a and the second claw piece 7b at the tip portion forms a substantially hemispherical shape, and FIG. 5, FIG. 14, FIG. As shown to a), the lower end part of the opposing surface of the said 1st nail | claw piece 7a and the 2nd nail | claw piece 7b is protruded in the opposing side, respectively, and the inner collar part 30 is formed, and said 1st claw piece 7a and a 2nd nail | claw A concave portion 32 is formed on one side of the facing surface of the inner flange portion 30 of the piece 7b, and a convex portion 33 is formed on the other side. And as shown in FIG.8 (b), FIG.9 or FIG.17, the size of the front-end | tip part of the holding nail | claw 7 can be made small by closing in the direction which inserts the said convex part 33 in the said recessed part 32, Thereby, as shown to Fig.10 (a) and FIG.18 (a), the front-end | tip part of the holding nail | claw 7 can be inserted in the small hole part of the component 5. FIG.

また、図11(a)や図19(a)に示すように把持爪7を開状態で部品5の外側に近接させて、その後図11(b)や図19(b)に示すように把持爪7を閉状態にさせて部品5の円筒状の部位の内壁部を把持爪7の内顎部30に載置させて部品5の両側を挟んで把持することもできる。 Further, as shown in FIGS. 11 (a) and 19 (a), the gripping claw 7 is brought close to the outside of the component 5 in the open state, and then gripped as shown in FIGS. 11 (b) and 19 (b). The claw 7 can be closed and the inner wall portion of the cylindrical part of the component 5 can be placed on the inner jaw 30 of the gripping claw 7 and can be gripped by sandwiching both sides of the component 5.

また、図10(a)や図18(a)に示すように把持爪7を閉状態で部品5の穴部に挿入させて、その後図10(b)や図18(b)に示すように把持爪7を開状態にさせて把持爪7の外顎部31に部品5の底面を載置させ、前記穴部の内周壁に把持部7の外側を押しつけて部品を把持することもできる。 Further, as shown in FIGS. 10 (a) and 18 (a), the gripping claw 7 is inserted into the hole of the component 5 in the closed state, and thereafter, as shown in FIGS. 10 (b) and 18 (b). It is also possible to place the bottom surface of the component 5 on the outer jaw 31 of the gripping claw 7 by opening the gripping claw 7 and press the outside of the gripping portion 7 against the inner peripheral wall of the hole to grip the component.

前記第一爪片7aと第二爪片7bの先端部の外周面34を略半球状の形体に形成させることによって、第一爪片7a又は第二爪片7bが、図8(c)に示すように、部品5の角部に当接したときに部品5の角部から第一爪片7a又は第二爪片7bを滑りやすくすることができ、第一爪片7a又は第二爪片7bが部品5の孔部に挿入しやすくなる。 By forming the outer peripheral surface 34 at the tip of the first claw piece 7a and the second claw piece 7b into a substantially hemispherical shape, the first claw piece 7a or the second claw piece 7b becomes as shown in FIG. As shown, the first claw piece 7a or the second claw piece 7b can be slid easily from the corner of the part 5 when abutting against the corner of the part 5, and the first claw piece 7a or the second claw piece can be made. 7b becomes easy to insert into the hole of the component 5.

第一爪片7a及び第二爪片7bの材質は、通常、金属製の部品5の把持・解放を繰り返す必要があるため、耐摩耗性を有する材料であればよい。   The material of the first claw piece 7a and the second claw piece 7b usually needs to be repeatedly held and released from the metal part 5, and may be any material having wear resistance.

また、図3、図5、図12及び図14に示すように、前記チャック開閉機構20と前記把持爪7の間に、前記チャック開閉機構20と前記把持爪7を連結させるアダプタ8を介在させ、前記アダプタ8と前記把持爪7との締結部の形態を、同一のチャック開閉機構20に対して異なる形体の前記把持爪7を取り付けられるように前記アダプタ8と前記把持爪7との締結用孔40の位置を統一し、又は、異なるチャック開閉機構20に対して同一の形体の前記把持爪7を取り付けられるように前記アダプタ8に異なる複数の前記チャック20にそれぞれ設けられた締結用孔41の位置に対応した締結用孔の位置41を設ける。これにより、同一のアダプタ8に異なる形体の把持爪7を取り付けることができる。一方、図12や図20に示すように、同一の把持爪7を異なる形体のアダプタ8に取り付けることもできる。これにより、アダプタ8の種類数と把持爪7の種類数を減じることができる。 As shown in FIGS. 3, 5, 12, and 14, an adapter 8 that connects the chuck opening / closing mechanism 20 and the gripping claws 7 is interposed between the chuck opening / closing mechanism 20 and the gripping claws 7. The fastening portion between the adapter 8 and the gripping claw 7 is used for fastening the adapter 8 and the gripping claw 7 so that the gripping claws 7 having different shapes can be attached to the same chuck opening / closing mechanism 20. Fastening holes 41 provided in the plurality of different chucks 20 in the adapter 8 so that the positions of the holes 40 are unified or the gripping claws 7 of the same shape can be attached to different chuck opening / closing mechanisms 20. A fastening hole position 41 corresponding to this position is provided. Thereby, the gripping claws 7 having different shapes can be attached to the same adapter 8. On the other hand, as shown in FIGS. 12 and 20, the same gripping claw 7 can be attached to an adapter 8 having a different shape. Thereby, the number of types of adapters 8 and the number of types of grip claws 7 can be reduced.

前記チャック開閉機構20には駆動シリンダ22が設けられ、前記駆動シリンダ22により第一爪片7a及び第二爪片7bを開閉する。前記開閉形態には、図12及び図14に示すように前記第一爪片7a及び第二爪片7bの先端を円弧状の軌跡を描いて開閉させる形態と、図3及び図5に示すように前記第一爪片7a及び第二爪片7bの先端を横方向にスライドさせて開閉する形態がある。 The chuck opening / closing mechanism 20 is provided with a drive cylinder 22 that opens and closes the first claw piece 7a and the second claw piece 7b. As shown in FIGS. 12 and 14, the opening and closing modes include a mode in which the tips of the first claw piece 7 a and the second claw piece 7 b are opened and closed with an arcuate locus, and a shape shown in FIGS. 3 and 5. The first claw piece 7a and the second claw piece 7b can be opened and closed by sliding them horizontally.

また、図21乃至図23に示すように、前記ロボットアーム4の軸方向Cに対する前記アダプタ8の長軸方向のなす角度α、及び、ロボットアーム4の軸方向Cに対する前記アダプタ8に締結した把持爪7の長軸方向のなす角度βが、ともに25度以上35度以下となるように、側面視で前記アダプタ8と前記把持爪7とが形成する形体がくの字の形状を形成する。 Further, as shown in FIGS. 21 to 23, the angle α formed by the major axis direction of the adapter 8 with respect to the axial direction C of the robot arm 4 and the grip fastened to the adapter 8 with respect to the axial direction C of the robot arm 4. The shape formed by the adapter 8 and the gripping claw 7 in a side view is formed in a dogleg shape so that the angle β formed by the major axis direction of the claw 7 is 25 degrees or more and 35 degrees or less.

これにより、図24や図26(a)に示すように、本発明のエンドエフェクタ1であれば部品箱6の角に部品5が収納されている場合であっても把持爪7が部品箱6の枠に干渉することなくロボット11がチョコ停することなく部品5を把持することができる。   Accordingly, as shown in FIGS. 24 and 26 (a), in the case of the end effector 1 of the present invention, the gripping claws 7 are attached to the component box 6 even when the component 5 is stored in the corner of the component box 6. The part 5 can be gripped without the robot 11 stopping without interfering with the frame.

比較例として、図25(a)や図26(b)に示すような、コンプライアンスデバイス3の軸方向に垂直方向に把持爪7を配設した場合には、部品箱6に対しての部品5の収納された状態によって、図25(a)に示すような場合には把持可能であるが、図26(b)に示すような場合にはエンドエフェクタ1が部品箱6に干渉して把持できず、ロボット11がチョコ停となるトラブルが発生する。 As a comparative example, when the gripping claws 7 are arranged in the direction perpendicular to the axial direction of the compliance device 3 as shown in FIG. 25A and FIG. In the case shown in FIG. 25A, the end effector 1 can be gripped by interfering with the component box 6 in the case shown in FIG. Therefore, the trouble that the robot 11 becomes a chocolate stop occurs.

比較例として、図25(b)に示すような、ロボットアーム4の軸方向Cに対して同一方向に把持爪7を配設した場合には、図25(b)に示すように把持爪7が部品箱6に干渉して部品5を把持できない。 As a comparative example, when the gripping claws 7 are arranged in the same direction with respect to the axial direction C of the robot arm 4 as shown in FIG. 25 (b), the gripping claws 7 as shown in FIG. 25 (b). Cannot interfere with the component box 6 and grip the component 5.

前記コンプライアンスデバイス3は、図27乃至図29に示すように、前記アーム側プレート51と前記中間プレート52間の間隔を固定状態とした空間部53を設け、前記把持側プレート50と前記中間プレート52間に介装し、前記把持側プレート50と前記中間プレート52間の間隔を拡張方向に付勢させたバネ54に挿通させたシャフト55の先端を前記中間プレート52側から前記空間部53に出し入れ可能とし、前記シャフト55の先端に円板状の衝止板56を固設し、前記中間プレート52の前記空間部53側に前記衝止板56と対向させて円板状の固定ブロック57を固設する。そして、把持プレート50側の軸受60をシャフト55の軸方向に動かないようにするためにストッパ61を軸受60に密接させてシャフト55に嵌設している。   As shown in FIGS. 27 to 29, the compliance device 3 is provided with a space portion 53 in which a space between the arm side plate 51 and the intermediate plate 52 is fixed, and the grip side plate 50 and the intermediate plate 52. An end of a shaft 55 inserted through a spring 54 interposed between the holding side plate 50 and the intermediate plate 52 and biased in the expansion direction is inserted into and removed from the space 53 from the intermediate plate 52 side. A disc-shaped stop plate 56 is fixed to the tip of the shaft 55, and a disc-shaped fixing block 57 is provided on the space 53 side of the intermediate plate 52 so as to face the stop plate 56. Secure. In order to prevent the bearing 60 on the gripping plate 50 side from moving in the axial direction of the shaft 55, the stopper 61 is brought into close contact with the bearing 60 and fitted to the shaft 55.

無負荷時は、図28に示すように前記バネ54の付勢力により前記衝止板56が前記固定ブロック57に当接して前記把持側プレート50と前記中間プレート52の間隔が最大に拡張され、前記把持機構2が衝突したときにかかる外力Pによる負荷時には、図29に示すように前記バネ54が縮小し前記シャフト55先端が前記空間部53に突出して、前記把持側プレート50と前記中間プレート52の間隔が縮小して前記負荷Pの衝撃を受け、負荷時から無負荷時になると、図28に示すように前記バネ54の拡張により前記シャフト55先端に固設した前記衝止板56が前記固定ブロック57で衝止されて、前記把持側プレート50と前記中間プレート52の間隔を無負荷時の状態に復元させる。   When no load is applied, as shown in FIG. 28, the biasing force of the spring 54 causes the stopper plate 56 to abut against the fixed block 57 and the distance between the gripping side plate 50 and the intermediate plate 52 is maximized. When loaded by an external force P applied when the gripping mechanism 2 collides, the spring 54 contracts and the tip of the shaft 55 projects into the space 53 as shown in FIG. 29, so that the gripping side plate 50 and the intermediate plate When the interval of 52 is reduced and the impact of the load P is received and the load is changed to no load, as shown in FIG. 28, the stopper plate 56 fixed to the tip of the shaft 55 is expanded by the extension of the spring 54. It is stopped by the fixing block 57, and the interval between the gripping side plate 50 and the intermediate plate 52 is restored to the unloaded state.

そして、前記シャフト55と、前記把持側プレート50及び前記中間プレート52との連結部には軸受60を嵌設する。例えば、図28及び図29に示すように、前記把持側プレート50と前記中間プレート52に対向する位置に軸受60をそれぞれ嵌設する。そして、前記対向位置に嵌設された前記把持側プレート50側の軸受60に前記シャフト55の端部を連結させ、前記中間プレート52側の軸受60に前記シャフト55を挿通可能に設ける。前記軸受60としては、玉軸受、ころ軸受、球面滑り軸受のいずれでもよく、玉軸受又はころ軸受の場合は、シャフト55を中間プレート52に対して垂直方向の滑り運動をさせることができ、球面滑り軸受の場合は、シャフト55を中間プレート52に対して垂直方向の滑り運動をさせたり、中間プレート及び把持側プレート50に対して揺動運動や傾動運動をさせることができる。   A bearing 60 is fitted into a connecting portion between the shaft 55 and the gripping side plate 50 and the intermediate plate 52. For example, as shown in FIGS. 28 and 29, bearings 60 are respectively fitted at positions facing the grip side plate 50 and the intermediate plate 52. Then, an end portion of the shaft 55 is connected to the bearing 60 on the gripping side plate 50 side that is fitted in the facing position, and the shaft 55 is inserted into the bearing 60 on the intermediate plate 52 side. The bearing 60 may be any of a ball bearing, a roller bearing, and a spherical plain bearing. In the case of a ball bearing or a roller bearing, the shaft 55 can be caused to slide in the vertical direction with respect to the intermediate plate 52, and thus the spherical surface. In the case of a sliding bearing, the shaft 55 can be slid in the vertical direction with respect to the intermediate plate 52, and can be oscillated or tilted with respect to the intermediate plate and the gripping side plate 50.

また、前記コンプライアンスデバイス3には、図27に示すように、前記シャフト55及び軸受60を1組として、少なくとも前記把持側プレート50及び前記中間プレート52間に3か所以上設ける。3か所以上設けることにより、ロボット11のアーム4側に取り付けたプレートを基準として、加えられた負荷の位置、大きさ及び向きによって、例えば球面滑り軸受の場合は、把持側プレート50を三次元で傾動変化させることができ、ねじり変化をさせることができる。   In addition, as shown in FIG. 27, the compliance device 3 includes the shaft 55 and the bearing 60 as a set, and at least three locations between the grip side plate 50 and the intermediate plate 52. By providing three or more locations, the grip-side plate 50 is three-dimensionally, for example, in the case of a spherical plain bearing, depending on the position, size and orientation of the applied load with reference to the plate attached to the arm 4 side of the robot 11. It is possible to change the tilt and to change the torsion.

1 エンドエフェクタ
2 把持機構
3 コンプライアンスデバイス
4 アーム
5 部品
6 部品箱
7 把持爪
7a 第一爪片
7b 第二爪片
8 アダプタ
10 部品取出しシステム
11 ロボット
12 画像センサ
13 ロボット制御部
14 部品認識手段
20 チャック開閉機構
21 チャックアーム
21a 第一アーム
21b 第二アーム
22 駆動シリンダ
30 内顎部
31 外顎部
32 凹部
33 凸部
34 外周面
40 締結用孔
41 締結用孔
50 把持側プレート
51 アーム側プレート
52 中間プレート
53 空間部
54 バネ
55 シャフト
56 衝止板
57 固定ブロック
60 軸受
61 ストッパ
70 把持爪
71 把持爪
C 軸方向
P 外力
α 角度
β 角度
DESCRIPTION OF SYMBOLS 1 End effector 2 Grasp mechanism 3 Compliance device 4 Arm 5 Parts 6 Parts box 7 Grasp claw 7a First claw piece 7b Second claw piece 8 Adapter 10 Parts extraction system 11 Robot 12 Image sensor 13 Robot controller 14 Parts recognition means 20 Chuck Opening / closing mechanism 21 Chuck arm 21a First arm 21b Second arm 22 Drive cylinder 30 Inner jaw portion 31 Outer jaw portion 32 Recessed portion 33 Convex portion 34 Outer peripheral surface 40 Fastening hole 41 Fastening hole 50 Gripping side plate 51 Arm side plate 52 Intermediate Plate 53 Space portion 54 Spring 55 Shaft 56 Stop plate 57 Fixed block 60 Bearing 61 Stopper 70 Holding claw 71 Holding claw C Axial direction P External force α angle β angle

Claims (3)

部品をピッキングするロボットアームの先端に取り付けるエンドエフェクタであって、
前記エンドエフェクタが、部品を把持する把持機構と、前記ロボットアームの先端に取り付けられ、前記把持機構に外力が加わったときにコンプライアンス性を発揮するコンプライアンスデバイスとを具備し、
前記把持機構は、開閉する一対の第一アーム及び第二アームからなるチャックアームを具備、及び、該チャックアームと連結して該チャックアームを開閉させる駆動シリンダを具備するチャック開閉機構と、前記駆動シリンダの作動により相互に接離自在に開閉して部品を把持する、前記第一アームの作動に連動する第一爪片及び前記第二アームの作動に連動する第二爪片からなる一対の把持爪と、を備え、
前記一対の把持爪の前記第一爪片及び第二爪片は前記チャックアームの取り付け部から先端部に向けて先細り形体を形成すると共に、前記先端部の前記第一爪片と第二爪片の対向面以外の外周面は略半球面状の形体を形成し、
前記第一爪片と第二爪片の対向面の下端部をそれぞれ対向側に突出させて内鍔部を形成し、前記第一爪片及び第二爪片の内鍔部の対向面の一方側に凹部を形成しかつ他方側に凸部を形成し、前記凹部に前記凸部を嵌入させる方向に閉じることによって、部品の外側を把持可能とし、
前記第一爪片と第二爪片のそれぞれの対向面側である前記内顎部の反対側の外周面側に突出させた外鍔部を形成させ、把持爪を閉じて前記内顎部側の前記凹部に前記凸部を嵌入させて把持爪の先端の外寸を小さくさせて把持爪を部品の穴へ挿入して、その後把持爪を開にして部品の内側を把持可能とし、
前記チャック開閉機構と前記把持爪の間に、前記チャック開閉機構と前記把持爪を連結させるアダプタを介在させ、前記アダプタと前記把持爪との締結部の形態を、同一のチャック開閉機構に対して異なる形体の前記把持爪を取り付けられるように前記アダプタと前記把持爪との締結用孔の位置を統一し、又は、異なるチャック開閉機構に対して同一の形体の前記把持爪を取り付けられるように前記アダプタに異なる複数の前記チャックにそれぞれ設けられた締結用孔の位置に対応した締結用孔の位置を設けたことを特徴とするエンドエフェクタ。
An end effector that is attached to the tip of a robot arm for picking a component,
The end effector includes a gripping mechanism that grips a component, and a compliance device that is attached to the tip of the robot arm and exhibits compliance when an external force is applied to the gripping mechanism,
The gripping mechanism includes a chuck arm including a pair of first and second arms that are opened and closed, a chuck opening and closing mechanism that includes a drive cylinder that is connected to the chuck arm and opens and closes the chuck arm, and the drive A pair of grips composed of a first claw piece interlocked with the operation of the first arm and a second claw piece interlocked with the operation of the second arm, which grips a part by opening and closing each other by the operation of the cylinder. Nail, and
The first claw piece and the second claw piece of the pair of gripping claws form a tapered shape from the attachment portion of the chuck arm toward the tip portion, and the first claw piece and the second claw piece at the tip portion. The outer peripheral surface other than the opposing surface forms a substantially hemispherical shape,
The lower end of the opposing surface of the first claw piece and the second claw piece is protruded to the opposing side to form an inner collar part, and one of the opposing surfaces of the inner hook part of the first and second claw pieces By forming a concave portion on the side and forming a convex portion on the other side, and closing in the direction in which the convex portion is inserted into the concave portion, the outside of the component can be gripped,
Forming an outer flange projecting on the outer peripheral surface opposite to the inner jaw, which is the opposing surface side of each of the first and second claws, and closing the gripping claws to the inner jaw side The convex portion is inserted into the concave portion to reduce the outer dimension of the tip of the gripping claw, and the gripping claw is inserted into the hole of the component, and then the gripping claw is opened so that the inside of the component can be gripped.
An adapter for connecting the chuck opening / closing mechanism and the gripping claw is interposed between the chuck opening / closing mechanism and the gripping claw, and the form of the fastening portion between the adapter and the gripping claw is set to the same chuck opening / closing mechanism. The positions of the fastening holes between the adapter and the gripping claws are unified so that the gripping claws of different shapes can be attached, or the gripping claws of the same shape can be attached to different chuck opening / closing mechanisms. An end effector characterized in that a position of a fastening hole corresponding to a position of a fastening hole provided in each of a plurality of different chucks is provided in an adapter.
前記ロボットアームの軸方向に対する前記アダプタの長軸方向のなす角度、及び、ロボットアームの軸方向に対する前記アダプタに締結した把持爪の長軸方向のなす角度が、ともに25度以上35度以下となるように、側面視で前記アダプタと前記把持爪とが形成する形体がくの字の形状を形成し、
前記コンプライアンスデバイスが、前記把持機構に取り付ける把持側プレート、前記ロボットアーム先端に取り付けるアーム側プレート、及び前記把持側プレートと前記アーム側プレート間に介設された中間プレートを備えたことを特徴とする請求項1に記載のエンドエフェクタ。
The angle formed by the long axis direction of the adapter with respect to the axial direction of the robot arm and the angle formed by the long axis direction of the gripping claws fastened to the adapter with respect to the axial direction of the robot arm are both 25 degrees or more and 35 degrees or less. As shown, the shape formed by the adapter and the gripping claw in a side view forms a U-shape,
The compliance device includes a gripping side plate attached to the gripping mechanism, an arm side plate attached to the tip of the robot arm, and an intermediate plate interposed between the gripping side plate and the arm side plate. The end effector according to claim 1.
前記アーム側プレートと前記中間プレート間の間隔を固定状態とした空間部を設け、前記把持側プレートと前記中間プレート間に介装し、前記把持側プレートと前記中間プレート間の間隔を拡張方向に付勢させたバネに挿通させたシャフトの先端を前記中間プレート側から前記空間部に出し入れ可能とし、
前記シャフトの先端に円板状の衝止板を固設し、前記中間プレートの前記空間部側に前記衝止板と対向させて円板状の固定ブロックを固設し、
無負荷時は、前記バネの付勢力により前記衝止板が前記固定ブロックに当接して前記把持側プレートと前記中間プレートの間隔が最大に拡張され、
前記把持機構が衝突したときにかかる外力による負荷時には、前記バネが縮小し前記シャフト先端が前記空間部に突出して、前記把持側プレートと前記中間プレートの間隔が縮小して前記負荷の衝撃を受け、負荷時から無負荷時になると、前記バネの拡張により前記シャフト先端に固設した前記衝止板が前記固定ブロックで衝止されて、前記把持側プレートと前記中間プレートの間隔を無負荷時の状態に復元させることを特徴とする請求項1又は2に記載のエンドエフェクタ。
A space is provided in which the space between the arm side plate and the intermediate plate is fixed, and is interposed between the grip side plate and the intermediate plate, and the space between the grip side plate and the intermediate plate is set in the expansion direction. The shaft tip inserted through the biased spring can be taken into and out of the space from the intermediate plate side,
A disc-shaped stop plate is fixed to the tip of the shaft, and a disc-shaped fixing block is fixed to the space portion side of the intermediate plate so as to face the stop plate,
When no load is applied, the stopper plate abuts on the fixed block by the biasing force of the spring, and the gap between the grip side plate and the intermediate plate is expanded to the maximum.
When a load is applied due to an external force applied when the gripping mechanism collides, the spring contracts and the shaft tip projects into the space, and the distance between the gripping side plate and the intermediate plate decreases to receive the impact of the load. When the load is no longer loaded, the stopper plate fixed to the tip of the shaft by the extension of the spring is stopped by the fixed block, so that the gap between the gripping side plate and the intermediate plate The end effector according to claim 1, wherein the end effector is restored to a state.
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