JP2024013849A - Hand and assembly method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a hand and an assembly method capable of performing complicated component incorporation or assembly work.

SOLUTION: A hand 1 includes: a tool for performing work on a workpiece; a shaft; and a link where the shaft and a joint are rotatably connected with one another. Therein, the link is configured to extend in a direction deviated from an axial direction of the shaft; and, when a tip receives a force along the axial direction, an angle of deviation from the axial direction, of the shaft becomes larger while a distance between the tip and the tool becomes smaller.

SELECTED DRAWING: Figure 1

COPYRIGHT: (C)2024,JPO&INPIT

Description

The present invention relates to a hand and an assembly method.

In an automatic assembly line, for example, when a screw tightening hand attached to a robot tightens a screw on a workpiece, Patent Document 1 discloses that the workpiece is attached to a spring around the outer periphery of the screw tightening hand attached so as to be vertically movable and rotatable. A work holding mechanism is disclosed in which the reliability of assembly work is improved by providing a presser to press the work and fixing the work.

Japanese Patent Application Publication No. 5-169333

However, the hand described in Patent Document 1 cannot be applied to the work of assembling another part into a movable part, or the work of moving a movable part and assembling another part into that part. In other words, there is a problem in that it is not possible to assemble or assemble complicated parts with one hand.

The hand includes a tool for working on a workpiece, a shaft, and a link rotatably connected to the shaft at a joint, and the link extends in a direction offset from the axial direction of the shaft. Then, when the tip part receives a force along the axial direction, the angle of deviation of the shaft from the axial direction becomes larger, and the distance between the tip part and the tool becomes smaller.

The hand includes a tool for working on a workpiece, a shaft, and a link rotatably connected to the shaft at a joint, and the link extends in a direction offset from the axial direction of the shaft. Then, when the tip receives a force along the axial direction, the angle of deviation of the shaft from the axial direction further increases, and the distance between the tip and the tool increases.

The assembly method is a method of performing assembly work on a semi-assembled product using the hand described above, in which the hand is moved and the tip of the link is brought into contact with a part of the semi-assembled product. , the position or posture of the first part is changed by increasing the angle of the link with respect to the axial direction of the shaft, and the tool is moved to the first part or the second part while the link is in contact with the first part. Perform work on parts.

FIG. 1 is a side view showing the configuration of a hand according to the first embodiment. FIG. 1 is a front view showing the configuration of a hand according to the first embodiment. 5 is a follow chart showing an assembly method using the hand according to the first embodiment. FIG. 3 is a side view illustrating assembly work using the hand according to the first embodiment. FIG. 3 is a front view illustrating assembly work using the hand according to the first embodiment. FIG. 3 is a side view illustrating assembly work using the hand according to the first embodiment. FIG. 3 is a front view illustrating assembly work using the hand according to the first embodiment. FIG. 3 is a side view illustrating assembly work using the hand according to the first embodiment. FIG. 3 is a front view illustrating assembly work using the hand according to the first embodiment. FIG. 7 is a side view illustrating an assembly operation using a hand according to a second embodiment. FIG. 7 is a front view illustrating assembly work using a hand according to the second embodiment. FIG. 7 is a side view illustrating an assembly operation using a hand according to a second embodiment. FIG. 7 is a front view illustrating assembly work using a hand according to the second embodiment. FIG. 7 is a side view illustrating an assembly operation using a hand according to a second embodiment. FIG. 7 is a front view illustrating assembly work using a hand according to the second embodiment. FIG. 7 is a side view illustrating an assembly operation using a hand according to a third embodiment. FIG. 7 is a front view illustrating assembly work using a hand according to a third embodiment. FIG. 7 is a side view illustrating an assembly operation using a hand according to a third embodiment. FIG. 7 is a front view illustrating assembly work using a hand according to a third embodiment. FIG. 7 is a side view illustrating an assembly operation using a hand according to a third embodiment. FIG. 7 is a front view illustrating assembly work using a hand according to a third embodiment. FIG. 7 is a side view showing the configuration of a hand according to a fourth embodiment. FIG. 7 is a side view illustrating an assembly operation using a hand according to a fourth embodiment. FIG. 7 is a front view illustrating assembly work using a hand according to a fourth embodiment. FIG. 7 is a side view illustrating an assembly operation using a hand according to a fourth embodiment. FIG. 7 is a front view illustrating an assembly operation using a hand according to a fourth embodiment. FIG. 7 is a side view illustrating an assembly operation using a hand according to a fourth embodiment. FIG. 7 is a front view illustrating an assembly operation using a hand according to a fourth embodiment.

1. First Embodiment First, a hand 1 according to a first embodiment will be described with reference to FIGS. 1 and 2.
For convenience of explanation, in the following FIGS. 1, 2, and 4 to 28, the X-axis, Y-axis, and Z-axis are illustrated as three mutually orthogonal axes. Further, the direction along the X axis is referred to as the "X direction," the direction along the Y axis is referred to as the "Y direction," and the direction along the Z axis is referred to as the "Z direction." Further, the arrow side of each axis is also called the "plus side", and the side opposite to the arrow is also called the "minus side". Further, the positive side in the Z direction is also referred to as "upper", and the negative side in the Z direction is also referred to as "lower". Further, a view viewed from the minus Y direction will be referred to as a "side view," and a view viewed from the plus X direction will be referred to as a "front view."

The hand 1 of this embodiment is attached to the tip of a robot arm of a robot or the like, and is used to hold and transfer parts and the like to assemble semi-assembled products.
As shown in FIGS. 1 and 2, the hand 1 includes a base 10, a tool 11 fixed to the base 10 and holding a component, a shaft 13 held by the base 10, and a joint 14 rotatable with respect to the shaft 13. A link 15 rotatably connects the shaft 13 and the joint 14, and a spring 17 that biases the shaft 13 in a direction to move the joint 14 away from the base 10.

The base 10 is a part attached to the tip of the robot arm, and has a tool 11 fixed to its end in the plus X direction, and a shaft 13 held at its end in the minus X direction.

The tool 11 performs work on the workpiece. Specifically, the workpiece is attracted to the component holding part 19 attached to the tool tip 12, and the workpiece is conveyed to a predetermined position. Note that the tool 11 may be configured with a plurality of claws to grip the workpiece.

The shaft 13 extends in the Z direction, and a link 15 is connected to the end in the minus Z direction via a joint 14. Further, on the end side in the plus Z direction, the base 10 is held via a spring 17 so that the base 10 is movable in the axial direction G1, which is the Z direction.

The joint 14 is connected to an end of the shaft 13 in the minus Z direction and an end opposite to the tip 16 of the link 15 so that the link 15 can rotate around the rotation axis P1 of the joint 14 with respect to the shaft 13. connected to the section.

The link 15 extends in a direction offset from the axial direction G1 of the shaft 13. Specifically, it extends in a direction rotated by an angle A1 counterclockwise with respect to the axial direction G1. Therefore, the distance W1 between the tip 16 of the link 15 and the tool tip 12 is shorter than the distance between the shaft 13 and the tool tip 12.

The spring 17 biases the shaft 13 in a direction that moves the joint 14 away from the base 10.

Next, regarding the method of assembling the semi-assembled product 20 using the hand 1 according to the first embodiment, the work of placing the second part 22 in the recess 25 of the first part 21 will be taken as an example, and FIGS. 3 to 9 will be explained. Refer to and explain.
For convenience of explanation, in FIGS. 4, 6, and 8, the support part 26 that supports the joint 24 that allows the first part 21 to rotate around the rotation axis P2 and is connected to the third part 23 is not shown. It is omitted.

As shown in FIG. 3, the method for assembling the semi-assembled product 20 using the hand 1 of this embodiment includes a contacting process, a position or posture changing process, and a parts assembling process.

First, in the contact process of step S1, as shown in FIGS. 4 and 5, the hand 1 attached to the tip of a robot arm of a robot or the like is placed at a predetermined position, and the robot moves the hand 1 in the axial direction G1. Then, the tip end 16 of the link 15 is brought into contact with the third part 23 that is a part of the semi-assembled product 20. The semi-assembled product 20 of this embodiment includes a first part 21, a second part 22, and a third part 23, and the first part 21 is rotatable around the rotation axis P2 of the joint 24. It is held by a support part 26 connected to the third part 23 via a joint 24 so that In addition, the first part 21 has an end in the plus Z direction connected to the joint 24, and a recess 25 into which the second part 22 held by the tool 11 is inserted is provided on the surface opposite to the surface facing the link 15. It is being Therefore, in this state, the work of assembling the second part 22 into the recess 25 of the first part 21 cannot be carried out.

Next, in the position or attitude changing step of step S2, as shown in FIGS. 6 and 7, even if the tip end 16 of the link 15 begins to receive a force along the axial direction G1, the shaft 13 is moved away from the base 10 by the spring 17. Since the joint 14 receives a reaction force in the direction of moving away, the distance between the joint 14 and the third component 23 can be reduced. Therefore, the urging force, which is the strength of the spring 17, needs to be adjusted appropriately. At the same time, the link 15 rotates around the rotation axis P1 of the joint 14, and the angle A2 of the deviation of the link 15 from the axial direction G1 of the shaft 13 further increases. Therefore, due to the rotation of the link 15 around the rotation axis P1, the tip end 16 of the link 15 moves in the plus X direction along the upper surface of the third component 23, and comes into contact with the first component 21, increasing the angle A2. Accordingly, the first part 21 rotates in the direction of arrow B1 around the rotation axis P2 of the joint 24, and the surface of the first part 21 on which the recess 25 is provided faces the tool 11 and becomes substantially horizontal. Therefore, by increasing the angle A2 of the link 15 with respect to the axial direction G1 of the shaft 13, the attitude of the first component 21 can be changed.

Next, in the component assembly process of step S3, as shown in FIGS. 8 and 9, the tool 11 is moved against the first component 21 or the second component 22 with the link 15 in contact with the first component 21. work. Specifically, the tool 11 holding the second part 22 is moved in the X direction or the Y direction, and the second part 22 is placed in the recess 25 in a plan view from the axial direction G1. By moving in the axial direction G1, the tool 11 is moved in the Z direction, and the second part 22 is assembled into the recess 25. Since the shaft 13 and the base 10 are not fixed, the shaft 13 does not move in the Z direction. Therefore, when the tip 16 of the link 15 receives a force along the axial direction G1, as shown in FIG. ing.
Thereafter, the second part 22 is released from the tool 11 and the hand 1 is returned to its original position, thereby completing the assembly work of the semi-assembled product 20.

As described above, in the hand 1 of this embodiment, the link 15 extends in a direction deviated from the axial direction G1 of the shaft 13, and when the distal end portion 16 receives a force along the axial direction G1, the shaft 13 As the angle A1 of the deviation from the axial direction G1 becomes further larger, the distance W1 between the tip 16 and the tool 11 becomes smaller. Therefore, by bringing the first part 21, which is a part of the semi-assembled product 20, into contact with the tip 16 of the link 15, the position or attitude of the first part 21 can be changed, and the position or attitude of the first part 21 can be changed. A second part 22, which is a part of the subassembly 20 held by the tool 11, can be assembled into one part 21. Therefore, complicated parts installation or assembly work can be performed with one hand 1.

Furthermore, the assembly method using the hand 1 of the present embodiment includes a contact step in which the hand is moved to bring the tip end 16 of the link 15 into contact with a part of the semi-assembled product 20, and an axis of the shaft 13 of the link 15. A position or attitude changing step in which the position or attitude of the first part 21 is changed by increasing the angle A1 with respect to the direction G1; Alternatively, the second component 22 has a component assembling step in which work is performed on the second component 22. Therefore, one hand 1 can perform complicated component assembling or assembling work such as moving the first component 21 and assembling the second component 22 into the first component 21.

2. Second Embodiment Next, an assembly method using the hand 1a according to the second embodiment will be described with reference to FIGS. 10 to 15.

Compared to the hand 1 of the first embodiment, the hand 1a of the present embodiment is different in that when the distal end portion 16 of the link 15 receives a force along the axial direction G1, the link 15 The hand of the first embodiment is different from the hand of the first embodiment except that the link 15 is located between the joint 14 and the tool tip 12, and the structure of the parts constituting the semi-assembled product 20a is different. It is the same as 1. Note that the explanation will focus on the differences from the first embodiment described above, and the explanation of similar matters will be omitted.

As shown in FIGS. 10 and 11, the hand 1a includes a base 10, a tool 11, a shaft 13, a joint 14, a link 15, and a spring 17, and is the same as the hand 1 of the first embodiment. It is the composition. Further, the semi-assembled product 20a is composed of a first part 21a, a second part 22a, a third part 23a, and a fourth part 24a, and the first part 21a and the fourth part 24a are placed on the third part 23a. The fourth component 24a is disposed at a position overlapping with the recess 25 of the first component 21a when viewed from above in the axial direction G1. Therefore, in this state, it is impossible to assemble the second part 22a into the recess 25 of the first part 21a.

First, in the abutting process of step S1, as shown in FIGS. 10 and 11, the robot moves the hand 1a in the axial direction G1, and the tip part 16 of the link 15 is attached to the third part, which is part of the semi-assembled product 20a. It comes into contact with the component 23a.

Next, in the position or attitude changing step of step S2, as shown in FIGS. 12 and 13, a force is applied to the tip end 16 of the link 15 along the axial direction G1 to move the joint 14 closer to the third component 23a. , the link 15 rotates around the rotation axis P1 of the joint 14, the tip 16 of the link 15 comes into contact with the first component 21a, and the first component 21a can be moved in the plus X direction. Therefore, by increasing the angle A2 of the link 15 with respect to the axial direction G1 of the shaft 13, the position of the first component 21a can be changed.

Next, in the component assembly process of step S3, as shown in FIGS. 14 and 15, the tool 11 holding the second component 22a is moved in the X direction or Y direction with the link 15 in contact with the first component 21a. The hand 1 is moved in the axial direction G1 to place the second component 22a in the recess 25 in a plan view from the axial direction G1, and the second component 22a is assembled into the recess 25 by moving the hand 1 in the axial direction G1. Therefore, when the tip 16 of the link 15 receives a force along the axial direction G1, the link 15 and the tool tip 12 are separated by the distance W2 when viewed from the axial direction G1 of the shaft 13. A link 15 is located between the joint 14 and the tool tip 12.

With such a configuration, the first component 21a can be moved from below the fourth component 24a that covers the recess 25 of the first component 21a in plan view from the axial direction G1, and the first component 21a can be moved from below the fourth component 24a that covers the recess 25 of the first component 21a. The second component 22a can be installed within the recess 25. Therefore, the same effect as the hand 1 of the first embodiment can be obtained.

3. Third Embodiment Next, an assembly method using a hand 1b according to a third embodiment will be described with reference to FIGS. 16 to 21.

Compared to the hand 1 of the first embodiment, the hand 1b of the present embodiment is more flexible when viewed in plan from a direction perpendicular to the axial direction G1 of the shaft 13 when the distal end 16 of the link 15 receives a force along the axial direction G1. The hand 1 is the same as the hand 1 of the first embodiment except that the tool tip 12 is located between the tip 16 of the link 15 and the joint 14. Note that the explanation will focus on the differences from the first embodiment described above, and the explanation of similar matters will be omitted.

As shown in FIGS. 16 and 17, the hand 1b includes a base 10, a tool 11, a shaft 13, a joint 14, a link 15, and a spring 17, and is the same as the hand 1 of the first embodiment. It is the composition. Further, the semi-assembled product 20b is composed of a first part 21b, a second part 22b, and a third part 23b, and the third part 23b is arranged on the first part 21b. , the third component 23b is arranged at a position overlapping with the recess 25 of the first component 21b. Therefore, in this state, it is impossible to assemble the second part 22b into the recess 25 of the first part 21b.

First, in the abutting step of step S1, as shown in FIGS. 16 and 17, the robot moves the hand 1b in the axial direction G1, and the tip end 16 of the link 15 is attached to the first part of the semi-assembled product 20b. It comes into contact with the component 21b.

Next, in the position or posture changing step of step S2, as shown in FIGS. 18 and 19, a force is applied to the tip end 16 of the link 15 along the axial direction G1 to move the joint 14 closer to the first part 21b. , the link 15 rotates around the rotation axis P1 of the joint 14, the tip 16 of the link 15 comes into contact with the third component 23b, and the third component 23b can be moved in the plus X direction. Therefore, by increasing the angle A2 of the link 15 with respect to the axial direction G1 of the shaft 13, the position of the third component 23b can be changed.

Next, in the component assembly process of step S3, as shown in FIGS. 20 and 21, with the link 15 in contact with the third component 23b, the tool 11 holding the second component 22b is moved in the X direction or Y direction. The hand 1 is moved in the axial direction G1 to place the second component 22b in the recess 25 in a plan view from the axial direction G1, and the second component 22b is assembled into the recess 25 by moving the hand 1 in the axial direction G1. Therefore, when the tip 16 of the link 15 receives a force along the axial direction G1, there is a gap between the tip 16 of the link 15 and the joint 14 in a plan view from a direction perpendicular to the axial direction G1 of the shaft 13. There is a tool tip 12.

With such a configuration, it is possible to move the third component 23b that covers the recess 25 of the first component 21b in a plan view from the axial direction G1, and the second component can be moved into the recess 25 of the first component 21b. 22b can be incorporated. Therefore, the same effect as the hand 1 of the first embodiment can be obtained.

4. Fourth Embodiment Next, a hand 1c according to a fourth embodiment will be described with reference to FIG. 22.

In the hand 1c of this embodiment, compared to the hand 1 of the first embodiment, the link 15 extends in a direction shifted clockwise from the axial direction G1 of the shaft 13, and the tip 16 of the link 15 extends along the axial direction G1. The hand 1 is the same as the hand 1 of the first embodiment except that the distance W3 between the tip 16 and the tool 11 increases when a force is applied. Note that the explanation will focus on the differences from the first embodiment described above, and the explanation of similar matters will be omitted.

The hand 1c includes a base 10, a tool 11, a shaft 13, a joint 14, a link 15, and a spring 17, as shown in FIG.

The link 15 extends in a direction offset from the axial direction G1 of the shaft 13. Specifically, it extends in a direction rotated clockwise by an angle A3 with respect to the axial direction G1. Therefore, the distance W3 between the tip 16 of the link 15 and the tool tip 12 is longer than the distance between the shaft 13 and the tool tip 12.

Next, a method for assembling a semi-assembled product 20c using the hand 1c according to the fourth embodiment will be described with reference to FIGS. 23 to 28. Note that the method for assembling the semi-assembled product 20c is the same as in the first embodiment, except for the structure of the parts that make up the semi-assembled product 20c.

First, in the abutting process of step S1, as shown in FIGS. 23 and 24, the robot moves the hand 1 in the axial direction G1, and the tip 16 of the link 15 is attached to the third It comes into contact with the component 23c. In addition, in the semi-assembled product 20c of this embodiment, the third component 23c is arranged at a position overlapping with the recess 25 of the first component 21c when viewed in plan from the axial direction G1. Therefore, in this state, it is impossible to assemble the second part 22c into the recess 25 of the first part 21c.

Next, in the position or attitude changing step of step S2, as shown in FIGS. 25 and 26, a force is applied to the tip end 16 of the link 15 in the axial direction G1 to move the joint 14 closer to the third component 23c. , the link 15 rotates around the rotation axis P1 of the joint 14, and the angle A4 of the deviation of the link 15 from the axial direction G1 of the shaft 13 further increases. Therefore, the tip portion 16 of the link 15 comes into contact with the third component 23c, and the third component 23c can be moved in the minus X direction. Therefore, by increasing the angle A4 of the link 15 with respect to the axial direction G1 of the shaft 13, the position of the third component 23c can be changed.

Next, in the component assembly process of step S3, as shown in FIGS. 27 and 28, the tool 11 holding the second component 22c is moved in the X direction or Y direction with the link 15 in contact with the third component 23c. The hand 1 is moved in the axial direction G1 to place the second component 22c in the recess 25 in plan view from the axial direction G1, and the second component 22c is assembled into the recess 25 by moving the hand 1 in the axial direction G1. Therefore, when the tip 16 of the link 15 receives a force along the axial direction G1, the distance W4 between the tip 16 of the link 15 and the tool 11 increases.

With such a configuration, it is possible to move the third component 23c that overlaps the recess 25 of the first component 21c in a plan view from the axial direction G1, and the second component can be moved into the recess 25 of the first component 21c. 22c can be incorporated. Therefore, the same effect as the hand 1 of the first embodiment can be obtained.

1, 1a, 1b, 1c...hand, 10...base, 11...tool, 12...tool tip, 13...shaft, 14...joint, 15...link, 16...tip, 17...spring, 19...component holding part , 20...Semi-assembled product, 21...First part, 22...Second part, 23...Third part, 24...Joint, 25...Recess, 26...Support part, A1, A2, A3, A4...Angle, B1... Arrow, G1...axis direction, P1, P2...rotation axis, W1, W2, W3, W4...distance.

Claims (7)

A tool for working on a workpiece,
shaft and
a link rotatably connected to the shaft at a joint;
The link extends in a direction deviated from the axial direction of the shaft, and when the tip portion receives a force along the axial direction, the angle of deviation from the axial direction of the shaft further increases, the distance between the tip and the tool is reduced;
hand. A tool for working on a workpiece,
shaft and
a link rotatably connected to the shaft at a joint;
The link extends in a direction deviated from the axial direction of the shaft, and when the tip portion receives a force along the axial direction, the angle of deviation from the axial direction of the shaft further increases, the distance between the tip and the tool increases;
hand. a base for fixing the tool and holding the shaft;
a spring that biases the shaft in a direction that moves the joint away from the base;
The hand according to claim 1 or claim 2. When the tip of the link receives a force along the axial direction,
When viewed in plan from the axial direction of the shaft, at least a portion of the link and the tool tip overlap;
The hand according to claim 1. When the tip of the link receives a force along the axial direction,
When viewed from above in the axial direction of the shaft, the link and the tool tip are separated from each other, and the link is located between the joint and the tool tip.
The hand according to claim 1. When the tip of the link receives a force along the axial direction,
When viewed in plan from a direction perpendicular to the axial direction of the shaft, there is a tool tip between the tip of the link and the joint;
The hand according to claim 1. A method for performing assembly work on a semi-assembled product using the hand according to any one of claims 1 to 6, comprising:
moving the hand to bring the tip of the link into contact with a part of the semi-assembled product;
changing the position or posture of the first component by increasing the angle of the link with respect to the axial direction of the shaft;
a tool operates on the first part or the second part while the link is in contact with the first part;
Assembly method.

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