JP2018103292A - Robot hand - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a robot hand that can supply large variety of components to a narrow space of a processing device and make the components contact a plane member and can suppress increase in costs and deterioration in a production capacity.SOLUTION: A robot hand 10 comprises an arm 30, a first hand 40 and a second hand 50. The first hand has a pair of first fingers 42, a pair of first holding parts 43 arranged side by side in a direction parallel to a direction in which the pair of first fingers are arranged, and a first driving part 41 that moves at least either one of the pair of first fingers so that an interval between the pair of first holding parts is opened and closed. The second hand has a pair of second fingers 52 arranged side by side, a pair of second holding parts 53 arranged side by side in a direction substantially perpendicular to a direction in which the pair of second fingers are arranged, and a second driving part 51 that moves at least either one of the pair of second fingers so that an interval between the pair of second holding parts is opened and closed.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a robot hand that supplies parts to a narrow space of a processing apparatus.

  In general, in a robot that supplies various types of components in contact with a fixing jig and a planar member in a narrow space of a processing apparatus, a hand corresponding to the type of the component is used.

  In addition, as the products become more complex, the shapes and sizes of the parts used in the products are diversified. In response to this, a system capable of gripping various types of parts has been proposed. For example, in the rotary multi-component gripping tool disclosed in Patent Document 1, a plurality of component gripping portions are attached to an end effector shaft via a connection adapter, and a plurality of component gripping portions are arranged on a circumference around the end effector shaft. Is arranged. Then, by rotating the end effector shaft and moving the plurality of component gripping portions, the component gripping portions corresponding to the components are switched.

JP 2014-131821 A

  However, in a robot that uses hands according to the types of general components, the number of types of hands increases with an increase in the number of types of components, resulting in an increase in cost. In addition, the hand must be exchanged for each type of part, resulting in a decrease in production capacity.

  Further, in the rotary multi-component gripping tool disclosed in Patent Document 1, the multiple multi-component gripping tool is increased in size because a plurality of component gripping portions are arranged on the circumference around the end effector axis. Therefore, it is difficult to supply a part to a narrow space of the processing apparatus using this rotary type multiple-part gripper or to bring a part into contact with a planar member arranged in the narrow space.

  The present invention has been made to solve such a problem, and can supply various types of parts to a narrow space of a processing apparatus and bring them into contact with a planar member. It aims at providing the robot hand which can control a fall.

  A robot hand according to an aspect of the present invention is a robot hand that supplies parts to a narrow space of a processing apparatus, and includes an arm and a first hand and a second hand that are interchangeably attached to a tip portion of the arm. The first hand comprises a pair of first fingers arranged side by side, a grip portion provided on one of the pair of first fingers, and a grip portion provided on the other, and The pair of first fingers arranged in a direction parallel to the direction in which the pair of first fingers are arranged, and the pair of first fingers so as to open and close the space between the pair of first fingers. A first drive unit that moves at least one of the second hand, the second hand includes a pair of second fingers arranged side by side, a gripping unit provided on one of the pair of second fingers, and It consists of a gripping part provided on the other side and a pair of front At least one of the pair of second gripping portions arranged in a direction substantially perpendicular to the direction in which the second fingers are aligned, and the pair of second fingers so as to open and close the distance between the pair of second gripping portions. A second drive unit that moves one of them.

  According to this configuration, since either the first hand or the second hand is attached to the arm, the robot hand can be reduced in size. In addition, the pair of first grips open and close in a direction parallel to the direction in which the first fingers are arranged, and the pair of second grips open and close in a direction substantially perpendicular to the direction in which the second fingers are arranged. For this reason, it is easy to hold many types of parts with the first hand or the second hand and supply the parts to the narrow space of the processing apparatus. Furthermore, various types of components can be supplied in contact with a fixing jig and a planar member in a narrow space with the first hand or the second hand. Therefore, even if the types of parts increase, an increase in cost and a decrease in production capacity can be suppressed.

  The robot hand further includes an auto tool changer mounted on the arm so that the first hand and the second hand can be exchanged with each other. The auto tool changer includes an arm adapter attached to the arm, and the first hand. You may have the 1st adapter which can be attached or detached to the said arm adapter attached to the hand, and the 2nd adapter which can be attached or detached to the said arm adapter attached to the said 2nd hand. According to this configuration, the first hand and the second hand can be easily attached to the arm by the auto tool changer.

  The robot hand may further include a covering portion that covers each of the first holding portion and the second holding portion and is formed of rubber. According to this configuration, since the covering portion is in close contact with the component, the component can be reliably gripped by the grip portion.

  In the robot hand, the first grip portion is perpendicular to the groove extending in a direction parallel to the thickness direction of the first finger, and the thickness direction of the first finger and the direction in which the pair of first fingers are arranged. It may have at least one of the grooves extending in the direction. According to this configuration, the component can be reliably gripped by the first gripping portion by fitting the component in the groove.

  In the robot hand, the second grip portion may include at least one of a groove extending in a direction in which the pair of second fingers are arranged and a groove extending in the thickness direction of the second finger. . According to this configuration, the component can be reliably gripped by the second gripping portion by fitting the component in the groove.

  The robot hand further includes a camera that images the component, and extends in a direction perpendicular to a thickness direction of the second finger and a direction in which the pair of second fingers are arranged based on an image captured by the camera. The second finger may be tilted with respect to the rotation axis. According to this configuration, by tilting the second finger, a range that is not photographed by the camera with the second finger can be narrowed, and a wider range of parts can be photographed by the camera.

  In the robot hand, one second finger of the pair of second fingers is longer than the other second finger, and a portion of one of the second fingers that overlaps with the part gripped by the pair of second grip portions The dimension in the thickness direction of the second finger may be smaller than other parts. According to this configuration, for example, when the part is photographed with the camera, the thickness of the second finger is thin, so that the range that is not photographed with the camera by the second finger can be narrowed.

  The present invention has the above-described configuration, can supply various types of parts to a narrow space of a processing apparatus, and can contact a flat member, and can suppress an increase in cost and a decrease in production capacity. There is an effect that a hand can be provided.

  The above object, other objects, features and advantages of the present invention will become apparent from the following detailed description of preferred embodiments with reference to the accompanying drawings.

It is the figure which looked at the robot hand concerning Embodiment 1 of the present invention from the upper part. It is the figure which looked at the robot hand from the side. FIG. 3A is a perspective view showing the first hand. FIG. 3B is a perspective view showing the second hand. FIG. 4A is a top view of a state in which a member is held by the first hand. FIG. 4B is a side view of FIG. 4A. FIG. 5A is a diagram illustrating a state in which components are set on a riveter. FIG. 5B is a diagram showing a state in which parts and bone members are perforated. FIG. 5C is a diagram showing a state in which the component and the bone member are fastened with rivets. FIG. 6A is a diagram illustrating a state where the component A is gripped by the first hand. FIG. 6B is a diagram illustrating a state where the component B is gripped by the first hand. FIG. 6C is a diagram illustrating a state where the component C is gripped by the first hand. FIG. 7A is a diagram illustrating a state where the component D is gripped by the second hand. FIG. 7B is a diagram illustrating a state where the component E is gripped by the second hand. FIG. 7C is a diagram illustrating a state where the component F is gripped by the second hand. FIG. 8A is a perspective view showing a first grip portion of the robot hand according to Embodiment 2 of the present invention. FIG. 8B is a perspective view showing the second gripping portion. FIG. 9A is a view of the second finger of the robot hand according to Embodiment 3 of the present invention as viewed from the tip side. FIG. 9B is a view of the tilted second finger viewed from the tip side. FIG. 9C is a perspective view showing a state in which a component is gripped by the second hand.

  Hereinafter, embodiments of the present invention will be specifically described with reference to the drawings. In the following description, the same or corresponding elements are denoted by the same reference symbols throughout the drawings, and redundant description thereof is omitted.

(Embodiment 1)
The configuration of the robot hand 10 according to the first embodiment will be described with reference to FIGS. 1 to 3B. As shown in FIGS. 1 and 2, the robot hand 10 is a device that supplies a part 22 to a narrow space 21 of the processing device 20. The robot hand 10 includes an arm 30, and a first hand 40 and a second hand 50, one of which is attached to the arm 30. The robot hand 10 may further include an auto tool changer 60, a controller 70, and a base 80.

  The arm 30 has a base end connected to the base 80 and a tip connected to the adapter (arm adapter 61) of the auto tool changer 60. The arm 30 has an upper arm part 31, a lower arm part 32, and a wrist part 33. The base end of the upper arm portion 31 is connected to the tip of the lower arm portion 32 via a joint portion, and the wrist portion 33 is connected to the tip of the upper arm portion 31 via a joint portion. Each joint has a built-in actuator. The rotational positions of the upper arm unit 31, the lower arm unit 32, and the wrist unit 33 are input to the controller 70 as signals from an encoder built in the actuator.

  As illustrated in FIG. 3A, the first hand 40 includes a first drive unit 41, a pair of first fingers 42, and a pair of first gripping units 43. The pair of first fingers 42 includes a first a finger 42a and a first b finger 42b. When there is no need to distinguish between the first a finger 42a and the first b finger 42b, the first a finger 42a and the first b finger 42b may be referred to as the first finger 42 hereinafter.

  A direction in which a first straight portion 421 of the first finger 42 described later extends is referred to as a longitudinal direction of the first finger 42, and a direction in which the first a finger 42a and the first b finger 42b are arranged is referred to as an arrangement direction of the first finger 42. A direction perpendicular to the longitudinal direction and the arrangement direction is referred to as a thickness direction of the first finger 42. The longitudinal direction and the alignment direction of the first fingers 42 are provided perpendicularly.

  The first a finger 42a and the first b finger 42b have the same shape, and are arranged symmetrically with each other with respect to a line extending in the longitudinal direction therebetween. Note that the shape of the first a finger 42a and the first b finger 42b may be different as long as the component 22 can be sandwiched between the first gripping portions 43 of the first a finger 42a and the first b finger 42b.

  The base end of the first finger 42 is connected to the first drive unit 41 and is formed of a long member extending from the first drive unit 41. In this embodiment, the first finger 42 is formed of a plate-like body, and the dimension in the thickness direction of the first finger 42 is smaller than the dimension in the alignment direction and the longitudinal direction. However, if the dimension of the first finger 42 is smaller than the dimension of the first drive unit 41 in the thickness direction of the first finger 42, the shape of the first finger 42 is not limited to this, and is, for example, a rod-shaped body having a circular cross section. May be.

  The first finger 42 has a first straight portion 421 and a first inclined portion 422. The first straight portion 421 extends in a straight line extending from the first drive unit 41, and the first inclined portion 422 is formed on the inner side (the other first finger 42 of the pair of first fingers 42 from the first straight portion 421. Incline in a straight line toward The first straight portion 421 of the first a finger 42a and the first straight portion 421 of the first b finger 42b are provided in parallel to each other, and the first inclined portion 422 of the first a finger 42a and the first inclined portion 422 of the first b finger 42b are It arrange | positions so that a mutual space | interval may become narrow toward the front-end | tip.

  The first straight portion 421 has a reduced portion whose thickness is reduced. In the reduced portion, the thickness decreases continuously from the proximal end side toward the distal end side. The first straight portion 421 closer to the base end than the reduced portion and the first straight portion 421 closer to the distal end than the reduced portion have a constant thickness. The thickness of the first linear portion 421 on the distal end side from the reduced portion is thinner than the first linear portion 421 on the proximal end side from the reduced portion, and is the same as the first inclined portion 422.

  The thickness of the first finger 42 in the vicinity of the first grip 43 (in this embodiment, the first inclined portion 422) is the same as that of the first finger 42 in the vicinity of the first drive unit 41 (in this embodiment, the first finger 42). The position and shape of the reduced portion are not limited to this as long as it is thinner than the straight portion 421). For example, the reduction portion may be provided in the first inclined portion 422 or may be provided between the first straight portion 421 and the first inclined portion 422. Moreover, the 1st finger 42 may become thin gradually and continuously toward the 1st holding | grip side.

  The pair of first gripping portions 43 includes a gripping portion for the first a finger 42a (first a gripping portion 43a) and a gripping portion for the first b finger 42b (first b gripping portion 43b). For example, the first a gripping portion 43a is provided at the tip of the first inclined portion 422 of the first a finger 42a in the longitudinal direction and the arrangement direction of the first fingers 42, and the first b gripping portion 43b is in the longitudinal direction of the first finger 42. And provided at the tip of the first inclined portion 422 of the first b finger 42b in the arrangement direction. The first a gripping portion 43a and the first b gripping portion 43b are arranged in parallel to each other and in a direction parallel to the arrangement direction of the first fingers 42 (direction in which the first fingers 42 are arranged). In addition, when it is not necessary to distinguish between the 1a gripping part 43a and the 1b gripping part 43b, the 1a gripping part 43a and the 1b gripping part 43b may be hereinafter referred to as the first gripping part 43.

  The first grip portion 43 is covered with a covering portion (first covering portion 44). The first covering portion 44 is formed of an elastic material that can be deformed according to the shape of the member, for example, rubber such as silicon rubber.

  The first drive unit 41 includes an actuator, and the first a finger 42a and the first b finger 42b are arranged in the arrangement direction of the first fingers 42 so as to open and close the interval between the first a gripping portion 43a and the first b gripping portion 43b. Move. At this time, the first a finger 42a and the first b finger 42b and the first a gripping portion 43a and the first b gripping portion 43b move in the alignment direction while maintaining a parallel state. As a result, the first a gripping portion 43a and the first b gripping portion 43b are opened with the interval widened and closed with the interval narrowed. In addition, if the space | interval of the 1a gripping part 43a and the 1b gripping part 43b opens and closes, the 1b gripping part 43b may be moved with respect to the 1a gripping part 43a, or the 1b gripping part 43b may be moved. The 1a gripping portion 43a may be moved.

  As illustrated in FIG. 3B, the second hand 50 includes a second driving unit 51, a pair of second fingers 52, and a pair of second gripping units 53. The pair of second fingers 52 includes a second a finger 52a and a second b finger 52b. When there is no need to distinguish between the second a finger 52a and the second b finger 52b, the second a finger 52a and the second b finger 52b may be referred to as the second finger 52 hereinafter.

  A direction in which a 2a straight line portion 52a2 and a 2b straight line portion 52b2 of the second finger 52 to be described later extend is referred to as a longitudinal direction of the second finger 52, and a direction in which the 2a finger 52a and the 2b finger 52b are aligned is a second finger. The direction in which the second fingers 52 are arranged is referred to as the thickness direction of the second finger 52. The longitudinal direction and the alignment direction of the second fingers 52 are provided perpendicularly.

  The base end of the second finger 52 is connected to the second drive unit 51 and is formed of a long member extending from the second drive unit 51. In this embodiment, the second finger 52 is formed of a plate-like body, and the dimension in the thickness direction of the second finger 52 is smaller than the dimension in the alignment direction and the longitudinal direction. However, if the dimension of the second finger 52 is smaller than the dimension of the second drive unit 51 in the thickness direction of the second finger 52, the shape of the second finger 52 is not limited to this, and is, for example, a rod-shaped body having a circular cross section. May be.

  The 2a finger 52a is U-shaped and has a 2a connection portion 52a1, a 2a straight portion 52a2, and a 2a bent portion 52a3. The base end of the second a connection portion 52a1 is connected to the second drive unit 51, and extends linearly from the second drive unit 51 in the direction in which the second fingers 52 are arranged. The second a straight portion 52 a 2 is provided perpendicular to the second a connection portion 52 a 1 and extends linearly in the longitudinal direction of the second finger 52. The second a bent portion 52a3 is provided perpendicular to the second a straight portion 52a2 and extends linearly in the direction in which the second fingers 52 are arranged. The second a-bent portion 52a3 has a dimension in the longitudinal direction that decreases as the distance from the second-a straight portion 52a2 increases. In this embodiment, the second-a bent portion 52a3 has a trapezoidal shape. The dimension of the 2a bent portion 52a3 in the longitudinal direction of the second finger 52 is smaller than the dimension of the 2a straight line portion 52a2 in the arrangement direction of the second fingers 52. The 2a straight line portion 52a2 is longer and longer than the 2a connection portion 52a1 and the 2a bent portion 52a3.

  The second b finger 52b is L-shaped and has a second b connection portion 52b1 and a second b straight portion 52b2. The base end of the second b connection portion 52 b 1 is connected to the second drive unit 51, and extends linearly from the second drive unit 51 in the direction in which the second fingers 52 are arranged. The second b straight portion 52 b 2 is provided perpendicular to the second b connection portion 52 b 1 and extends linearly in the longitudinal direction of the second finger 52. The second b straight portion 52b2 is longer than the second b connection portion 52b1 and is long.

  The second b finger 52b is disposed on the inner side surrounded by the second a connecting portion 52a1, the second a straight portion 52a2, and the second a bent portion 52a3 of the second a finger 52a. The second a connecting portion 52a1 and the second b connecting portion 52b1 are disposed adjacent to and parallel to each other, and the second a straight portion 52a2 and the second b linear portion 52b2 are disposed adjacent to and parallel to each other. The 2b straight line portion 52b2 is shorter than the 2a straight line portion 52a2.

  Each of the second a straight portion 52a2 and the second b straight portion 52b2 has a reduced portion whose thickness is reduced. In the reduced portion, the thickness decreases continuously from the proximal end side toward the distal end side. The thicknesses of the 2a straight line portion 52a2 and the 2b straight line portion 52b2 on the proximal end side from the reduced portion, the 2a straight line portion 52a2 and the 2b straight line portion 52b2 on the distal end side from the reduced portion, and the 2a bent portion 52a3, respectively. It is constant. The thicknesses of the 2a straight portion 52a2 and the 2b straight portion 52b2 on the distal end side from the reduced portion are thinner than the 2a straight portion 52a2 and the 2b straight portion 52b2 on the proximal end side from the reduced portion, and are the same as the 2a bent portion 52a3. is there.

  In addition, as long as the thickness of the 2nd finger 52 in the vicinity of the 2nd holding part 53 is thinner than the 2nd finger 52 in the vicinity of the 2nd drive part 51, the position and shape of a reduction part are not limited to this. Examples of the second finger 52 in the vicinity of the second gripping portion 53 include the 2a bent portion 52a3, and the second a straight portion 52a2 and the second b straight portion 52b2 in the region where the pair of second gripping portions 53 open and close. The In addition, as the second finger 52 in the vicinity of the second drive unit 51, for example, the second a straight line in a region other than the region where the second a connecting portion 52a1 and the second b connecting portion 52b1 and the pair of second gripping portions 53 open and close The portion 52a2 and the second b straight portion 52b2 are illustrated. Moreover, the 2nd finger 52 may become thin gradually and continuously toward the 2nd holding | grip side.

  The pair of second gripping parts 53 includes a gripping part of the 2a finger 52a (seconda gripping part 53a) and a gripping part of the second b finger 52b (second b gripping part 53b). For example, the 2a gripping portion 53a is provided on the inner surface of the distal end portion of the 2a bent portion 52a3 in the longitudinal direction of the 2a finger 52a, and the 2b gripping portion 53b is a 2b straight line in the longitudinal direction of the 2b finger 52b. It is provided on the tip surface of the portion 52b2. The second a gripping portion 53a and the second b gripping portion 53b are arranged in parallel with each other and in a direction substantially perpendicular to the direction in which the second fingers 52 are aligned (the direction in which the second fingers 52 are aligned). Note that “substantially vertical” includes vertical and several degree manufacturing errors. In addition, when there is no need to distinguish between the 2a gripping portion 53a and the 2b gripping portion 53b, the 2a gripping portion 53a and the 2b gripping portion 53b may be hereinafter referred to as the second gripping portion 53.

  The second grip part 53 is covered with a covering part (second covering part 54). The second covering portion 54 is formed of a material having elasticity that can be deformed according to the shape of the member, for example, rubber such as silicon rubber.

  The second drive unit 51 includes an actuator, and the second a finger 52a and the second b finger 52b are arranged in the longitudinal direction of the second finger 52 so as to open and close the interval between the second a gripping portion 53a and the second b gripping portion 53b. Move at least one of them. In this embodiment, the 2a finger 52a is moved with respect to the 2b finger 52b. However, both the 2a finger 52a and the 2b finger 52b may be moved, or the 2b finger 52b may be moved with respect to the 2a finger 52a. As a result, the second a gripping portion 53a and the second b gripping portion 53b are opened with the interval widened and closed with the interval narrowed.

  The auto tool changer 60 includes an arm adapter 61, a first adapter 62 (FIG. 3A), and a second adapter 63 (FIG. 3B). The first adapter 62 is attached to the first drive unit 41 of the first hand 40 and is an adapter that is detachable from the arm adapter 61. The second adapter 63 is attached to the second drive unit 51 of the second hand 50 and is an adapter that is detachable from the arm adapter 61. A hand suitable for the work is selected from the first hand 40 and the second hand 50 placed on the table, and the attachment of either the first hand 40 or the second hand 50 is connected to the arm 30 attachment. As a result, the first hand 40 or the second hand 50 is attached to the tip of the arm 30 so as to be interchangeable.

  The controller 70 includes a calculation unit (not shown) and a storage unit (not shown). The controller 70 is a robot controller including a computer such as a microcontroller. The controller 70 may be configured by a single controller 70 that performs centralized control, or may be configured by a plurality of controllers 70 that perform distributed control in cooperation with each other.

  The storage unit uses a ROM, a RAM, or the like, and stores information such as a basic program as a robot controller and various fixed data. The calculation unit uses a CPU or the like, and controls each component of the robot hand 10 by reading and executing software such as a basic program stored in the storage unit.

  Next, the operation of the robot hand 10 will be described with reference to FIGS. 1 to 7C. The operation of the robot hand 10 is controlled by the controller 70. In the following, a case will be described in which the robot hand 10 according to the present invention is applied to a system for attaching the component 22 to an aircraft frame (bone member 23). A riveter 20 is used for the processing device 20, and a bone member 23 is used for the planar member 23. However, the processing apparatus 20 is not limited to the riveter 20 and may be an apparatus having a narrow space 21. Further, the planar member 23 is not limited to the bone member 23, and a member having a plane other than the bone member 23 can be adopted as the planar member 23.

  First, as shown in FIG. 4A, the bone member 23 is fixed to the alignment portion 24. Then, the positioning member 24 moves the bone member 23 in a direction perpendicular to the machining axis 2 a of the riveter 20 to align the mounting position on the bone member 23 with the machining axis 2 a of the machining apparatus 20.

  Subsequently, the arm 30 is turned to move the first hand 40 to the pallet 25. Various components 22 are arranged on the pallet 25 at predetermined positions. For this reason, the 1st hand 40 is moved to the position of the pallet 25 with the component 22 according to an attachment position. Here, the first hand 40 is connected to the arm 30 in advance, but the second hand 50 may be connected to the arm 30 in advance according to the component 22.

  Then, as shown in FIG. 4B, the first hand 40 is moved downward by the wrist unit 33 and the component 22 is gripped by the first hand 40. At this time, the first drive unit 41 moves the pair of first fingers 42 so that the distance between the pair of first gripping parts 43 is widened, and the arm 30 positions the component 22 at the distance between the pair of first gripping parts 43. The 1st hand 40 is moved so that it may do. Then, the first drive unit 41 moves the pair of first fingers 42 so that the distance between the pair of first gripping units 43 is narrowed, and sandwiches the component 22 by the pair of first gripping units 43, and then the arm 30. Raises the first hand 40. When the component 22 is sandwiched between the pair of first gripping portions 43, the first covering portion 44 (FIG. 3A) of the first gripping portion 43 is deformed according to the shape of the component 22. As a result, the contact area between the first covering portion 44 and the component 22 increases, so that the frictional force therebetween increases, and the component 22 is reliably gripped by the first gripping portion 43.

  Subsequently, as shown in FIGS. 1 and 2, the arm 30 is turned with respect to the base axis, and the component 22 is moved to the narrow space 21 of the riveter 20. The narrow space 21 is a narrow space sandwiched between the pressure foot 26 and the bone member 23 in a direction parallel to the machining axis 2a, and has a small dimension in the direction in which the component 22 overlaps the bone member 23. Here, the machining position of the component 22 is arranged on the machining axis 2 a of the riveter 20 by the first grip portion 43. The first grip 43 is disposed away from the first drive unit 41 by the first finger 42, and the first grip 43 and the first finger 42 are thinner than the first drive 41. For this reason, the component 22 can be brought into contact with the bone member 23 arranged in the narrow space 21 without the first finger 42 or the like hitting the component of the riveter 20.

  Then, as shown in FIG. 5A, the lower surface of the component 22 is brought into contact with the upper surface of the bone member 23, and the component 22 and the bone member 23 are sandwiched between the pressure foot 26 and the rowork lamp 27. Thereby, since the component 22 and the bone member 23 are fixed to the riveter 20, the first drive unit 41 moves the pair of first fingers 42 so that the interval between the pair of first gripping portions 43 is widened. Is released from the first grip 43. The arm 30 moves the first hand 40 from the narrow space 21.

  Subsequently, as shown in FIG. 5B, the drill 28 is lowered along the machining axis 2a while rotating. As a result, the drill 28 advances into the hollow portion of the pressure foot 26, drills the part 22 and the bone member 23 along the machining axis 2 a, and enters the hollow portion of the rowork lamp 27. Since the machining position of the component 22 and the attachment position of the bone member 23 are located on each axis, a hole (first hole) is provided at the attachment position, and a hole (second hole) is provided at the machining position.

  Subsequently, the upper anvil 29a (FIG. 5A) is moved so that the central axis of the shaft portion of the rivet 2b (FIG. 5A) coincides with the machining axis 2a. Then, as shown in FIG. 5C, the rivet 2b is lowered by the upper anvil 29a. Thereby, the rivet 2b advances through the hollow portion of the pressure foot 26, the first hole, and the second hole. Then, after the insertion of the rivet 2b is completed, the lower anvil 29b is raised. Thereby, the lower end part of the rivet 2b is crushed, the rivet 2b is caulked, and the component 22 and the bone member 23 are fastened by the rivet 2b.

  Subsequently, when there is another part 22 to be attached to the bone member 23, the above operation is repeated. At this time, one of the first hand 40 and the second hand 50 is selected according to the component 22. Here, when the second hand 50 is used next, as shown in FIG. 1, the first hand 40 is detached from the arm 30 by the auto tool changer 60 and the second hand 50 is attached to the arm 30.

  As described above, when the riveter 20 is used in the processing apparatus 20, the component 22 is brought into surface contact with the bone member 23 while being gripped by the pair of gripping portions, and the component 22 is punched together with the bone member 23 and fastened by the rivet 2 b. For this reason, it is necessary to secure a gripping part and a punching / fastening part in the component 22. Therefore, according to the shape of the component 22, the first hand 40 is used for the component 22 having the shape shown in FIGS. 6A to 6C, and the second hand 50 is used for the component 22 having the shape shown in FIGS. 7A to 7B.

  The component 22a shown in FIG. 6A has a cylindrical portion 22a1 and a pair of fixing plates 22a2. A pair of fixing plates 22a2 extend in opposite directions to the cylindrical portion 22a1 around the cylindrical portion 22a1, and the component 22a has a T-shape. When attaching this component 22a to the bone member 23, the columnar portion 22a1 (gripping portion) is sandwiched between the pair of first gripping portions 43 with the alignment direction of the first fingers 42 parallel to the bone member 23, and the fixing plate 22a2 The (perforated / fastened portion) is parallel to the bone member 23 and brought into surface contact with the bone member 23. Then, the fixing plate 22a2 and the bone member 23 are perforated by the riveter 20 and fastened by the rivet 2b.

  The component 22b shown in FIG. 6B has a fixed plate 22b1 and a pair of side plates 22b2. The pair of side plates 22b2 are provided perpendicular to the fixed plate 22b1 with the fixed plate 22b1 interposed therebetween. When attaching the component 22b to the bone member 23, the pair of side plates 22b2 (grip portions) are sandwiched between the pair of first grip portions 43 with the first fingers 42 aligned in parallel to the bone member 23, and the fixed plate 22 b 1 (perforated / fastened portion) is parallel to the bone member 23 and brought into surface contact with the bone member 23. Then, the fixing plate 22b1 and the bone member 23 are perforated by the riveter 20, and fastened by the rivet 2b.

  The component 22c shown in FIG. 6C is configured by a single fixed plate 22c1. When attaching the component 22c to the bone member 23, the arrangement direction of the first fingers 42 is perpendicular to the bone member 23, and one end (grip portion) of the fixing plate 22c1 is held between the pair of first grip portions 43. Then, the other end (perforation / fastening portion) of the fixing plate 22c1 is parallel to the bone member 23 and brought into surface contact with the bone member 23. Then, the fixing plate 22c1 and the bone member 23 are perforated by the riveter 20, and fastened by the rivet 2b.

  The component 22d shown in FIG. 7A has a prism portion 22d1 and a fixing plate 22d2. The prism portion 22d1 is provided on the fixed plate 22d2. When attaching this component 22d to the bone member 23, using the first hand 40, when the alignment direction of the first fingers 42 is parallel to the bone member 23 and the prism portion 22d1 is sandwiched between the pair of first grip portions 43, The fixing plate 22d2 is covered by the first finger 42, and a perforated / fastened portion cannot be secured. On the other hand, when the arrangement direction of the first fingers 42 is perpendicular to the bone member 23 and the prism portion 22d1 is sandwiched between the pair of first grip portions 43, the first finger 42 hits the bone member 23. Therefore, the second hand 50 is used to hold the prism 22d1 (gripping part) between the pair of second gripping parts 53 with the arrangement direction of the second fingers 52 perpendicular to the bone member 23. As a result, the fixing plate 22d2 (perforated / fastened portion) extends in the thickness direction of the second finger 52. Therefore, the fixing plate 22d2 is parallel to the bone member 23 and brought into surface contact with the bone member 23. 22d2 and the bone member 23 are drilled and fastened by the rivet 2b.

  The component 22e shown in FIG. 7B includes a prism portion 22e1 and a fixing plate 22e2. The prism portion 22e1 is provided on the fixed plate 22e2. When attaching the component 22e to the bone member 23, the arrangement direction of the second fingers 52 is perpendicular to the bone member 23, and the prism portion 22e1 (gripping portion) is sandwiched between the pair of second gripping portions 53. Accordingly, since the fixing plate 22e2 (perforated / fastened portion) extends in the longitudinal direction of the second finger 52, the fixing plate 22e2 is parallel to the bone member 23 and brought into surface contact with the bone member 23. 22e2 and the bone member 23 are perforated and fastened by the rivet 2b.

  The component 22f shown in FIG. 7C includes a side plate 22f1 and a fixed plate 22f2. The side plate 22f1 is provided perpendicular to the fixed plate 22f2. When the component 22f is attached to the bone member 23, the side plate 22f1 (gripping portion) is sandwiched between the pair of second grip portions 53 with the second fingers 52 arranged in parallel with the bone member 23. As a result, the fixing plate 22f2 (perforation / fastening portion) extends in the longitudinal direction of the second finger 52, so that the fixing plate 22f2 is parallel to the bone member 23 and brought into surface contact with the bone member 23, and the fixing plate 22f2 is fixed by the riveter 20. 22f2 and the bone member 23 are perforated and fastened by the rivet 2b.

  According to the above configuration, one of the first hand 40 and the second hand 50 is attached to the arm 30. For this reason, the robot hand 10 can be downsized, and the parts 22 can be supplied to the narrow space 21 of the processing apparatus 20 by the first hand 40 or the second hand 50 and brought into contact with the planar member 23 in the narrow space 21. Therefore, even if the types of parts 23 increase, it is possible to suppress an increase in cost and a decrease in production capacity.

  Further, the first hand 40 or the second hand 50 is attached to the arm 30 by the auto tool changer 60. The first hand 40 and the second hand 50 can be used efficiently.

  In addition, the interval between the pair of first gripping portions 43 opens and closes in the direction in which the pair of first fingers 42 are arranged, and the interval between the pair of second gripping portions 53 opens and closes in the longitudinal direction of the second finger 52. Thereby, according to the shape of the component 22, the component 22 can be clamped with the 1st hand 40 or the 2nd hand 50 so that the component 22 may contact the plane member 23. FIG. For example, when the riveter 20 is used in the processing device 20, the gripping portion and the punching / fastening portion can be secured in the component 22 according to the shape of the component 22.

  Further, the first gripping portion 43 does not move in the thickness direction of the first finger 42 when opening and closing, and the second gripping portion 53 does not move in the thickness direction of the second finger 52 when opening and closing. For this reason, by aligning the thickness direction of each finger 42, 52 with this height direction in the holding space where the height is low, even in such a holding space, each gripping portion 43, 53 is opened and closed, and the component 22 is opened. It can be gripped.

  Further, since the first grip 43 is provided at the tip of the long first finger 42, the first grip 43 is provided away from the first drive unit 41. The first finger 42 and the first grip 43 are thinner than the first drive unit 41. Further, since the second grip portion 53 is provided at the tip of the long second finger 52, the second grip portion 53 is provided separately from the second drive portion 51. The thickness of the second finger 52 and the second grip part 53 is thinner than that of the second drive part 51. Therefore, the component 22 can be arranged on the planar member 23 without hitting the component of the processing device 20.

  Moreover, each of the 1st holding part 43 and the 2nd holding part 53 is coat | covered with the coating | coated part formed with rubber | gum. As a result, the component 22 can be reliably gripped by the first grip portion 43 or the second grip portion 53.

(Embodiment 2)
The robot hand 10 according to Embodiment 2 includes grooves 45a, 45b, 55a, and 55b shown in FIGS. 8A and 8B in place of the first covering portion 44 and the second covering portion 54 according to Embodiment 1. Yes. Grooves (first grooves 45a and 45b) are provided in the first grip 43, and grooves (second grooves 55a and 55b) are provided in the second grip 53.

  As shown in FIG. 8A, the first grooves 45a and 45b are grooves extending in the longitudinal direction of the first finger 42 (the direction perpendicular to the thickness direction of the first finger 42 and the direction in which the pair of first fingers are arranged). 1 a groove 45 a) and a groove (first b groove 45 b) extending in the thickness direction of the first finger 42. The first a groove 45 a and the first b groove 45 b intersect with each other in a cross shape in the first grip portion 43.

  When the interval between the pair of first gripping portions 43 is narrowed, a substantially quadrangular prism-shaped space extending in the longitudinal direction is formed by the pair of first a grooves 45a. Thereby, for example, when the cylindrical part 22 extending in the longitudinal direction is sandwiched between the pair of first gripping parts 43, the part 22 is reliably gripped by the pair of gripping parts 43 surrounded by the pair of first a grooves 45 a. Is done.

  Further, when the interval between the pair of first grip portions 43 is narrowed, a substantially quadrangular prism-shaped space extending in the thickness direction is formed by the pair of first b grooves 45b. Thereby, for example, when the cylindrical part 22 extending in the thickness direction is sandwiched between the pair of first gripping parts 43, the part 22 is reliably gripped by the pair of gripping parts 43 surrounded by the pair of first b grooves 45 b. Is done.

  As shown in FIG. 8B, the second grooves 55a and 55b are a groove extending in the direction in which the second fingers 52 are arranged (second a groove 55a) and a groove extending in the thickness direction of the second finger 52 (second b grooves 55b). have. The second a groove 55a and the second b groove 55b intersect with each other in a cross shape in the second grip portion 53.

  When the distance between the pair of second gripping portions 53 is narrowed, a substantially quadrangular prism-shaped space extending in the alignment direction is formed by the pair of second a grooves 55a. Accordingly, for example, when the cylindrical part 22 extending in the alignment direction is sandwiched between the pair of second gripping parts 53, the part 22 is reliably gripped by the pair of gripping parts 53 surrounded by the pair of second a grooves 55 a. Is done.

  Further, when the distance between the pair of second gripping portions 53 is narrowed, a substantially quadrangular prism-shaped space extending in the thickness direction is formed by the pair of second b grooves 55b. Thereby, for example, when the cylindrical part 22 extending in the thickness direction is sandwiched between the pair of second gripping parts 53, the part 22 is reliably gripped by the pair of gripping parts 53 surrounded by the pair of second b grooves 55 b. Is done.

  In the above configuration, the first gripping portion 43 is provided with the first a groove 45a and the first b groove 45b. However, the 1a groove 45a may be provided in the 1st holding part 43, and the 1b groove | channel 45b may be provided. The second grip 53 is provided with a second a groove 55a and a second b groove 55b. However, the 2nd groove | channel 55a may be provided in the 2nd holding part 53, and the 2nd groove | channel 55b may be provided.

(Embodiment 3)
The robot hand 10 according to the third embodiment further includes a camera 90 shown in FIGS. 9A and 9B in addition to the components of the robot hand 10 according to the first embodiment. The camera 90 is arranged at a position where the part 22 held by the pair of second holding parts 53 can be photographed. In this embodiment, the components 22 are arranged on the pallet 25 on which the components 22 are arranged. The camera 90 outputs the captured image to the controller 70.

  The controller 70 includes an image processing unit 71 and a correction unit 72. The image processing unit 71 processes the image captured by the camera 90 and acquires the position of the second finger 52 and the shape of the component 22. The correction unit 72 is parallel to the longitudinal direction of the second finger 52 (the direction perpendicular to the thickness direction of the second finger 52 and the direction in which the pair of second fingers 52 are arranged) based on the image captured by the camera 90. The tilt of the second finger 52 is corrected with respect to the correct rotation axis.

  As shown in FIG. 9C, when the component 22 is gripped by the pair of second gripping portions 53, a part (overlapping portion) R of the second a finger 52 a overlaps the gripped component 22. The overlapping portion R of the second a finger 52a protrudes in the longitudinal direction of the second finger 52 from the tip of the second b finger 52b. In this embodiment, the overlapping portion R is the second finger 52 (a part of the second a straight line portion 52a2) between the second b gripping portion 53b and the second a gripping portion 53a. The dimension of the overlapping portion R of the second a finger 52a in the thickness direction of the second finger 52 is smaller than that of the other part of the second a finger 52a.

  For example, the overlapping portion R of the 2a finger 52a indicated by the solid line is thinner than the other part of the 2a finger 52a indicated by the dotted line in FIG. 9A. Therefore, the range that is not captured by the camera 90 due to the overlapping portion R of the second a finger 52a indicated by the alternate long and short dash line can be narrower than the range that is not captured by the camera 90 due to the other portion of the second a finger 52a indicated by the dotted line. As a result, a wider range of parts 22 can be photographed by the camera 90.

  Furthermore, as shown in FIG. 9B, by tilting the 2a finger 52a, the range not photographed by the camera 90 with the 2a finger 52a can be narrowed. Therefore, the correction unit 72 acquires the position of the second a finger 52a from the image obtained by the camera 90, and moves the arm 30 (FIG. 1) so that the area of the second a finger 52a is reduced. As a result, a wider range of parts 22 can be photographed by the camera 90.

(Other embodiments)
Note that all the above embodiments may be combined with each other as long as they do not exclude each other. For example, the robot hand 10 according to the second embodiment may further include the camera 90, the image processing unit 71, and the correction unit 72 according to the third embodiment.

  In all the embodiments described above, the first finger 42 has a shape formed by the first straight portion 421 and the first inclined portion 422. However, the shape of the first finger 42 is not limited to this as long as the pair of first grip portions 43 are arranged in parallel to the arrangement direction of the pair of first fingers 42. For example, the first finger 42 may have an arc shape.

  From the foregoing description, many modifications and other embodiments of the present invention are apparent to persons skilled in the art. Accordingly, the foregoing description should be construed as illustrative only and is provided for the purpose of teaching those skilled in the art the best mode of carrying out the invention. The details of the structure and / or function may be substantially changed without departing from the spirit of the invention.

  The robot hand of the present invention is useful as a robot hand or the like that can supply various types of parts to a narrow space of a processing apparatus and make contact with a planar member, and can suppress an increase in cost and a decrease in production capacity. .

10: Robot hand 20: Riveter (processing device)
21: Narrow space 22, 22a-22f: Part 23: Bone member (planar member)
30: Arm 40: First hand 41: First drive unit 42: First finger 42a: First a finger (first finger)
42b: 1b finger (first finger)
43: 1st holding part 43a: 1a holding part (1st holding part)
43b: 1b gripping part (first gripping part)
44: 1st coating | coated part 45a: 1st groove | channel, 1a groove | channel (groove)
45b: 1st groove, 1b groove (groove)
50: 2nd hand 51: 2nd drive part 52: 2nd finger 52a: 2a finger (2nd finger)
52b: 2nd finger (second finger)
53: 2nd holding part 53a: 2a holding part (2nd holding part)
53b: 2b gripping part (second gripping part)
54: 2nd coating | coated part 55a: 2nd groove | channel, 2a groove | channel (groove)
55b: second groove, second b groove (groove)
60: Auto tool changer 61: Arm adapter 62: First adapter 63: Second adapter 90: Camera

Claims (7)

A robot hand for supplying parts to a narrow space of a processing device,
Arm,
A first hand and a second hand that are interchangeably attached to the tip of the arm; and
The first hand is
A pair of first fingers arranged side by side;
A pair of firsts comprising a grip part provided on one of the pair of first fingers and a grip part provided on the other, and arranged side by side in a direction parallel to the direction in which the pair of first fingers are arranged. A gripping part;
A first drive unit that moves at least one of the pair of first fingers so as to open and close the interval between the pair of first gripping units;
The second hand is
A pair of second fingers arranged side by side;
A pair of second fingers, each of which includes a grip portion provided on one of the pair of second fingers and a grip portion provided on the other, and is arranged side by side in a direction substantially perpendicular to the direction in which the pair of second fingers are arranged. 2 gripping parts;
And a second drive unit that moves at least one of the pair of second fingers so as to open and close the distance between the pair of second gripping units. An auto tool changer which is mounted on the arm so that the first hand and the second hand can be exchanged with each other;
The auto tool changer is
An arm adapter attached to the arm;
A first adapter detachably attached to the arm adapter attached to the first hand;
The robot hand according to claim 1, further comprising: a second adapter that is detachable from the arm adapter attached to the second hand.   The robot hand according to claim 1, further comprising a covering portion that covers each of the first gripping portion and the second gripping portion and is formed of rubber.   The first gripping portion includes a groove extending in a direction parallel to the thickness direction of the first finger, and a groove extending in a direction perpendicular to each of the thickness direction of the first finger and the direction in which the pair of first fingers are arranged. The robot hand according to claim 1, which has at least one of the grooves.   The said 2nd holding part has a groove | channel at least any one of the groove | channel extended in the direction where a pair of said 2nd finger is located in a line, and the groove | channel extended in the thickness direction of the said 2nd finger. The robot hand according to any one of the above. A camera for imaging the component;
The second finger is tilted with respect to a rotation axis extending in a direction perpendicular to a thickness direction of the second finger and a direction in which the pair of second fingers are arranged, based on an image captured by the camera. The robot hand according to any one of 1 to 5. One second finger of the pair of second fingers is longer than the other second finger,
The portion of one of the second fingers that overlaps with the part gripped by the pair of second gripping portions is smaller in dimension in the thickness direction of the second finger than the other portions. The robot hand according to claim 1.

Images