JP5125638B2 - Double arm robot - Google Patents

Description

  The present invention relates to an industrial robot in which a robot hand such as a work hand or a work tool attached to the tip of a robot arm can be replaced.

Conventionally, in industrial robots and dual-arm robots, robot hand replacement has been automated because it affects the work efficiency of the production line, and various devices have been proposed as robot hand automatic replacement devices that automatically replace robot hands. (For example, refer to Patent Document 1). In addition, there has been proposed an automatic robot hand exchange device that requires less time for exchange even if the robot hand is frequently exchanged (see, for example, Patent Document 2). Furthermore, there has been proposed a workpiece positioning device that allows the workpiece to be assembled in one process and shortens the time required for jig replacement. (See Patent Document 3)
FIG. 5 is a cross-sectional view of a conventional robot hand automatic exchange device. In FIG. 5, reference numeral 500 denotes a holding unit and an exchange unit 600 connected to the holding unit. A robot hand 700 is attached to the tip of the exchange unit 600. A housing 501 constituting the gripping unit 500 is connected to a robot arm (not shown) and is movable in three dimensions. In the housing 501, a ball receiving housing 502 having a plurality of holes for assembling a hard ball in the lower portion is fitted and fastened in a state where the hard ball 503 is incorporated in the hole. The fitting portion 502a. The rigid sphere 503 can freely move in and out of the fitting portion 502a, and a tapered piston 504 having a tapered portion 504a provided at the lower end opening is slidable in the vertical direction above the rigid sphere 503. The taper piston 504 is always pushed downward by a spring 505, and pressurized air is supplied to the cylinder portion 506 formed by the housing 501 and the taper piston 504 via an air pipe 507 connected to the side surface of the housing 501 and stopped. By doing so, the taper piston 504 can be moved up and down. The exchange base 601 constituting the exchange part 600 is provided with a fitting part 601a for fitting with the fitting part 502a of the ball receiving housing 502 at the upper part, and a hard ball protruding inward from the fitting part 502a of the ball receiving housing 502. A tapered portion 601b that receives 503 is provided below the fitting portion 601a. Next, a connection operation between the holding unit 500 and the exchange unit 600 will be described with reference to FIGS. The state of FIG. 5 is where the holding unit 500 is located on the axis of the replacement unit 600. In this state, the taper piston 504 is raised against the force of the spring 505 by the pressure of the air supplied from the air supply source (not shown) to the cylinder portion 506 through the air pipe 507. In this state, as shown in FIG. 6, the holding part 500 is lowered so that the fitting part 601 a of the exchange base 601 of the exchange part 600 is fitted with the fitting part 502 a of the ball receiving housing 502. When the pressure of the air supplied to the cylinder portion 506 is released as shown in FIG. 7 in a state where the fitting portion 502a and the fitting portion 601a are fitted, the taper piston 504 is lowered by the force of the spring 505. At this time, the taper portion 504a of the taper piston 504 pushes the hard sphere 503 into the ball receiving housing 502 and meshes with the taper portion 601b provided below the fitting portion 601a, whereby the exchange base 601 and the housing 501 are connected and fixed. To do. As described above, the holding part 500 and the exchange part 600 are connected and released by moving the taper piston 504 up and down.
Next, the robot hand exchanging operation by the conventional robot hand automatic exchanging apparatus will be described with reference to FIG. In FIG. 8, the exchanging unit 600 is connected and fixed to the holding unit 500, and an exchanging unit 600a for exchanging with the exchanging unit 600 is placed at a position C of the hand stocker (not shown). The holding unit 500 connected to the robot hand 701 moves from the position A as indicated by an arrow 800 and stops at the position B. Here, the connection is released and the holding unit 500 rises as indicated by an arrow 801, and the exchange unit 600 to which the robot hand 701 is attached is placed in a hand stocker (not shown). Next, the holding unit 500 moves horizontally to the position C as indicated by an arrow 802. Thereafter, the holding unit 500 is lowered as indicated by an arrow 803, and the replacement unit 600a to which another robot hand 702 is attached is connected and fixed at the position C. Next, the holding unit 500 to which the replacement unit 600a is connected and fixed as indicated by an arrow 804 moves to the position D and performs some work.
As another conventional example, a description will be given of an automatic robot hand exchanging apparatus that requires less time for exchanging robot hands even if the robot hands are frequently exchanged. In this robot hand automatic changer, as shown in FIG. 9, a cylinder 902 is attached to the lower surface of the robot adapter main body 901 with bolts (not shown). The cylinder 902 is arranged such that its shaft 906 is moved up and down in FIG. 9 by air. A retracting shaft 905 is attached to the center position of the lower surface shaft of the shaft 906. The retracting shaft 905 is for holding the replacement part 1000 shown in FIG. 10, and has a stepped shape composed of an upper cylindrical part 905a and a lower cylindrical part 905b in which two cylinders having different diameters are vertically stacked as shown in FIG. It has an inverted T shape when viewed from the side. Air serving as a drive source for the cylinder 902 is supplied from an air tube (not shown). As described above, the retracting shaft 905 is movable in the axial direction by the action of the cylinder 902. Next, the exchanging unit 1000 equipped with a robot hand will be described with reference to FIG. The exchange unit 1000 includes a tool adapter 1003 and a robot hand 1004. The tool adapter 1003 is a part that is detachably connected to the holding portion 900, and the upper surface of the tool adapter 1003 is an inverted T-shaped groove 1001 formed of an upper groove 1001a and a lower groove 1001b having different width grooves. In general. The grooves 1001 are formed such that the widths of the upper groove 1001a and the lower groove 1001b are larger than the diameters of the upper cylindrical portion 905a and the lower cylindrical portion 905b of the retracting shaft 905 shown in FIG. The diameter of is formed large. Accordingly, the upper cylindrical portion 905a can be inserted into the upper groove 1001a and the lower cylindrical portion 905b can be inserted into the lower groove from the side surface direction of the tool adapter 1003, and the retracting shaft 905 can freely move along the groove 1001 in the groove 1001. In addition, when the retracting shaft 905 is moved upward by the cylinder 902, the upper surface 905c of the lower cylindrical portion 905b and the lower surface 1001c of the upper groove 1001a are locked, and the holding portion 900 and the replacement portion 1000 are connected and held. ing. By adopting such a configuration, the robot hand can be exchanged along the path of arrows 800, 805, and 804 in FIG. 8 during the exchange operation of the robot hand, and the exchange time can be shortened. ing.
JP-A-3-256686 Japanese Patent Laid-Open No. 9-272091 Japanese Patent Laid-Open No. 7-303996

In a conventional double-arm robot, a hand stocker or an automatic tool changer (ATC) is located at a predetermined position and is often outside the work area of the robot. It takes a long time to move to that position. For this reason, when it is necessary to frequently replace the robot hand, there is a problem in that the processing capacity (throughput) per unit time of the production line is affected.
In addition, the conventional double-arm robot has a problem that it is necessary to draw a dedicated power source such as electricity or air necessary for exchanging the robot hand.
Further, when a hand other than the target hand is inserted in the hand stocker, there is a problem that malfunction occurs.
The present invention has been made in view of such problems, and it is possible to reduce the time for replacing a robot hand, and to detect a mis-attachment of a hand without pulling a dedicated power source. The purpose is to provide an arm robot.

In order to solve the above problem, the present invention is configured as follows.
The present invention provides a robot having a detachable hand, a multi-degree-of-freedom first arm with a multi-fingered hand attached to the tip, and a multi-degree-of-freedom second with the detachable hand attached to the tip. In the double-arm robot provided with the arm, the multi-fingered hand exchanges the hand attached to the second arm.
Further, the present invention is the in the double-arm robot, in which a double-arm robot you comprising the housing and removable Handosutokka the detachable hand.
Further, the present invention, the detachable hand, it is an double-arm robot you characterized by having a ring-shaped projection that identifies the type of the hand when taken out of the Handosutokka.
Further, the present invention is configured to apply force control to the multi-finger hand so as to stop at a constant load, and when the multi-finger hand grasps the ring-shaped projection, detecting the size of the ring-shaped protrusion, it is an double-arm robot you and identifies the type of the hand.
Further, the present invention, the Handosutokka are those double-arm robot you characterized in that are equipped to the body near the double-arm robot.

According to the present invention, the robot hand can be automatically attached to and detached from the arm, and the robot hand can be exchanged without pulling a dedicated power source. Further, it is possible to identify the type of Ha-end, it is possible to detect the erroneous attachment of the hand. In addition, it is possible to equip the Ha Ndosutokka in the vicinity of the robot, it is possible to reduce the exchange time of the robot hand.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings.

FIG. 1 is a perspective view of a dual-arm robot of the present invention. In the figure, 100 is a double-arm robot, 101 is a right arm, 102 is a left arm, 103 is a robot body, 104 is a multi-finger hand, 105 is a detachable hand, 106 is a hand stocker, and 107 is a replacement hand. ing. In this double-arm robot, a multi-finger hand 104 is provided on a right arm 101, and a left arm 102 is configured so that a hand 105 can be attached and detached. The body 103 of the robot is provided with a hand stocker 106. The hand stocker 106 is equipped with a replacement hand 107 and is within the movable range of the right arm 101 to which the multi-finger hand 104 is attached. It is attached to the waist of a body 103 of a robot by screw fastening or the like. The replacement hand 107 can be replaced by using a detachable hand 105 and a multi-finger hand 104.
The difference between the present invention and the prior art is that the detachable hand 105 is replaced with a multi-finger hand 104 and the robot body 103 is provided with a hand stocker 106.

  FIG. 2 is a diagram showing a method of specifying the type of hand when taking out from the hand stocker. The hands 200 and 201 are provided with ring-shaped protrusions 202 and 203. The ring-like protrusions have different ring diameters such as a diameter 204 and a diameter 205 for each type of hand. FIG. C shows a diagram in which the size of the ring-shaped protrusion 208 is measured by the multi-finger hand 206. Force control is applied to the fingers 207 of the multi-fingered hand so as to stop at a constant load. If the tip is pressed against the ring-shaped protrusion 208 so as to form an equilateral triangle, as shown in the figures when pressed against the hand 200 (Fig. D) and when pressed against the hand 201 (Fig. E), multiple fingers The size of the ring can be detected by the interval between the finger tips of the hand tips 209 and 210, and the type of the hand can be specified.

  The robot hand and holding part of the present invention will be described with reference to FIG. 301 is a robot hand, 302 is a holding portion, 303 is a connecting lever, 303a is a connecting portion, 303b is a button, 303c is a tapered portion, 304 is a spring, 305 is a fitting portion, 306 is a ring-shaped protrusion, 307 is a tool, Reference numerals 308 and 311 denote air holes, and 309 denotes a key groove. The robot hand 301 is gripped by a multi-finger hand provided in a first robot arm (not shown) and can be moved three-dimensionally. The holding unit 302 is connected to the tip of a second robot arm (not shown) and is movable in three dimensions. 3 is a view showing the robot hand 301 and the holding unit 302 before connection. 3 is a cross-sectional view of the holding portion 302, and A3 in FIG. 3 is a top view of the robot hand as seen from the robot arm side. Since A1 in FIG. 3 is not yet connected, the button 303b is not pressed, the connecting lever 303 is opened by the spring 304, and the connecting portion 303a is protruded from the fitting portion 305. B1 in FIG. 3 is a diagram showing the robot hand 301 and the holding unit 302 being connected. When the button 303b is pushed with a multi-finger hand (not shown) in B1 of FIG. 3 to close the connecting lever 303, the connecting portion 303a is housed in the fitting portion 305. In this state, the robot hand 301 and the holding unit 302 are moved so that the fitting unit 305 is fitted to the holding unit 302. 3 is a cross-sectional view of the holding unit 302, and B3 of FIG. 3 is a top view of the robot hand viewed from the robot arm side. When the fitting of the robot hand 301 and the holding portion 302 is completed, the button 303b is loosened and the holding portion 302 is rotated in the direction of the arrow 310 by a robot arm (not shown) so that the connecting portion 303a fits in the key groove 309. . At this time, even if the robot hand 301 is slightly lowered with respect to the holding portion 302 by the action of the tapered portion provided below the coupling portion 303 a of the coupling lever 303 and the taper portion of the key groove 309 (not shown), the robot The hand 303 is raised and connected to the holding unit 302 without a gap. Thus, the coupling and fixing of the robot hand 301 and the holding unit 302 is completed. C1 in FIG. 3 is a state after the connection and fixing of the robot hand 301 and the holding unit 302 are completed. It can be seen that the connecting portion 303 a fits in the key groove 309 and the connecting lever 303 is opened by the spring 304. 3 is a cross-sectional view of the holding unit 302, and C3 of FIG. 3 is a top view of the robot hand as seen from the robot arm side. Note that whether or not the connecting portion 303a has entered the key groove 309 depends on how much force the multi-fingered hand presses the button 303b by observing the current value of the driving unit of the multi-fingered hand (not shown). Judgment can be made. Reference numerals 308 and 311 denote air holes. When the coupling and coupling are completed, the individual air holes are connected to each other so that air for moving the robot hand 301 can be sent. If there is a problem such as air leakage in the connection of the air holes, as shown in FIG. 11, a tapered protrusion 1101 is provided on the robot hand 301 side, and an O-ring (not shown) is provided on the holding portion 302 side. Just do it. At this time, the air holes 308 and 311 need to be shifted so as not to be concentric as shown in FIGS. A2 'and A3'. The on / off of the air is synchronized with the movement of the multi-fingered hand, and after the robot hand 301 is connected, the air is turned on with the power supply of the compressor or a switching machine provided in the middle of the air piping, and the robotic hand 301 is removed with the multi-fingered hand. Just turn it off before.

  FIG. 4 is a diagram showing a procedure for replacing the robot hand according to the present invention. As exchange procedures, 401 is removed, 402 is stored, 403 is confirmed, 404 is taken out, 405 is attached, 406 is a parameter change, and robot hands are exchanged in this order. Details will be described with reference to the drawings. First, the removal of 401 will be described with reference to FIG. To remove the robot hand 301a from the holding unit 302, the three fingers 407a, 407b, and 407c of the multi-finger hand 407 are arranged as shown in the figure, and the robot hand 301a is held by the fingers 407b and 407c. In this state, the hand 301a may be pulled out from the holding portion 302 while pressing the button 303b with the finger 407a. The storage of 402 may be performed by inserting and storing the robot hand 301a with the tool 307a extracted in FIG. A into the hand stocker 408a whose position and the like are determined in advance as shown in FIG. Next, when another hand 301b is attached to the arm, confirmation of 403 is performed. Confirmation of 403 is performed by holding the ring-shaped protrusion 306 with the multi-finger hand 407 as described in detail with reference to FIG. Since this operation is performed to confirm whether or not the hand to be exchanged is really the target hand, the position of the hand stocker 408b and the information of the tool 307b are input in advance as information in the control panel of the robot. To do. The information inside the control panel and the information on the ring-shaped protrusion obtained from the multi-finger hand may be compared to confirm whether the robot hand to be exchanged is the target hand. If it is different from the above, it may be an error, but it is possible to search around for another hand stocker. 404 can be taken out by placing the fingers 407a, 407b, and fingers 407c of the multi-fingered hand 407 as shown in FIG. Although the attachment of 405 has been described in detail with reference to FIG. 3, the robot hand 301b is fitted to the holding portion 302 while pressing the button 303b with the finger 407a as shown in FIG. When the fitting is completed as shown in FIG. F, the holding unit 302 is rotated with respect to the robot arm 301b by a robot arm (not shown). As shown in FIG. G, when the keyway is aligned, the connecting lever 303 is opened to complete the connection. When the connection is completed, the parameter change of 406 may be performed by changing the current robot hand parameter information in the robot control panel from the robot hand 301a to 301b. As a result, the robot arm can be moved according to the type of the robot hand.

In this embodiment, an example in which a multi-finger hand is used for replacing the robot hand has been described. However, a gripper may be used as long as the robot hand can be gripped and a detachable button can be pressed.

The perspective view of the double arm robot which shows 1st Example of this invention. The figure which showed the method of specifying the hand kind of the double arm robot of this invention The figure which showed the mechanism in the hand exchange part of the double arm robot of this invention The figure which showed the hand exchange method of the double arm robot of this invention Cross-sectional side view of a conventional automatic robot hand changer Cross-sectional side view of a conventional automatic robot hand changer Cross-sectional side view of a conventional automatic robot hand changer The figure explaining the exchange operation of the robot hand of the conventional robot hand automatic exchange device Cross-sectional side view of a conventional automatic robot hand changer Cross-sectional side view of a conventional automatic robot hand changer The figure which showed the mechanism in the hand exchange part of the double arm robot of this invention

Explanation of symbols

100 Double-arm robot 101 Right arm 102 Left arm 103 Robot body 104 Multi-fingered hand 105 Removable hand 106 Hand stocker 107 Replacement hands 200, 201 Hands 202, 203, 208 Ring-shaped protrusions 204, 205 Ring diameter 206 Multi-fingered hand 207 Fingers 209 and 210 of multi-fingered hand Tip 301, 301a, 301b of multi-fingered hand Robot holding part 302 Holding part 303 Connecting lever 303a Connecting part 303b Button 303c Taper part 304 Spring 305 Fitting part 306 Ring-shaped protrusion 307 , 307a, 307b Tools 308, 311 Air hole 309 Key groove 310 Arrow 401 Removal 402 Storage 403 Confirmation 404 Removal 405 Installation 406 Parameter change 407 Multi-fingered hands 407a, 407b, 407c Finger 408a, 408b of multi-fingered hand Hand stocker 500 Holding part 501 Housing 502 Ball receiving housing 502a Fitting part 503 Hard ball 504 Tapered piston 504a Taper part 505 Spring 506 Cylinder part 507 Air piping 600 Replacement part 601 Replacement base 601a Fitting part 601b Tapered portion 700, 701, 702 Robot hand 800, 801, 802, 803, 804, 805 Arrow 900 Holding portion 901 Robot adapter body 902 Cylinder 905 Retraction shaft 905a Upper cylindrical portion 905b Lower cylindrical portion 905c Upper surface 1000 of lower cylindrical portion 905b Part 1001 Groove 1001a Upper groove 1001b Lower groove 1001c Lower surface 1003 of upper groove 1001a Tool adapter 1004 Robot hand 1101 Projection

Claims (3)

A robot provided with a detachable hand, a first arm of the multi-degree of freedom multi-fingered hand is attached to the distal end, and a second arm of the multi-degree-of-freedom can be attached to the tip of the detachable hand In a double-arm robot with
A hand stocker capable of storing and taking out the removable hand;
The removable hand is
A ring-shaped protrusion for specifying the type of the hand, and a button for releasing the connection between the hand and the second arm,
The multi-fingered hand is
The dual hand is characterized by having three fingers, and holding the detachable hand with two fingers and exchanging the detachable hand by operating the button with the remaining one finger. Arm robot. When force is applied to the multi-fingered hand so that it stops at a constant load, and when the multi-fingered hand grips the ring-shaped projection, the ring-shaped projection is enlarged at the interval between the finger tips of the multi-fingered hand. The dual-arm robot according to claim 1, wherein the two-arm robot is characterized by detecting the height and identifying a type of a hand. The Handosutokka is a double-arm robot according to claim 1 or 2, characterized in that it is installed in the trunk of the double-arm robot.

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