JP5142648B2 - End effector and manipulator - Google Patents

Description

  The present invention relates to an end effector that can be attached to a manipulator such as a robot to manage and process a workpiece, and a manipulator to which the end effector is applied.

In recent years, management and processing (including gripping and movement of workpieces) has been performed by end effectors provided in manipulators such as robots in various management and processing processes. In order to prevent harm, a safety fence is generally provided to isolate the manipulator from the operator.
For this reason, safety measures are taken to ensure that the manipulator enters the worker's work area and, for example, the manipulator collides with the worker by the safety fence, and the manipulator is harmful to the worker. There was no particular need to do.

However, in the future, the Ministry of Economy, Trade and Industry and the like are planning to make a wide variety of manipulators coexist in the same work area as the worker without isolation by a safety fence or the like.
Safety can be ensured in the collision between the manipulator itself and the operator, for example, by reducing the output of the manipulator and reducing the operation speed. However, depending on the type of end effector provided in the manipulator, the end effector may be There are cases where the operator's safety is hindered only by touching.

On the other hand, if there is a possibility that dangerous parts of the manipulator may enter the work area of the operator due to overlapping of the work area of the worker and the movement range of the manipulator, such as supplying a work to the manipulator, a movable safety cover is attached to the manipulator. When the worker approaches the movable range of the dangerous part of the manipulator, this safety cover isolates the dangerous part of the manipulator from the worker and prevents the worker from entering the dangerous part. A technique related to the cover is disclosed (for example, see Patent Document 1).
JP 2002-283277 A

  However, such a movable safety cover portion has a problem in that the work area of the worker is isolated from the entire manipulator, so that the outer shape and weight are large, and a large drive source is required, resulting in an increase in cost. .

  The present invention has been made in view of such circumstances, and an object of the present invention is to provide an end effector and a manipulator that can suppress harm to the worker even if they coexist with the worker.

In order to solve the above problems, the following means were adopted.
The present invention provides an end effector eclipsed mounted on manipulator disposed in the same work area as the operator, the end effector body including the management and processing unit for managing and processing the workpiece, the management and processing unit can be stored And a cover portion that can be housed in the cover portion as the end effector body is rotated by a drive member of the manipulator .

According to the end effector according to the present invention, the management and processing unit in accordance with the rotation of the manipulator of the drive member is capable housed in the cover portion, the exposure of the management and processing unit Ru is suppressed. When a manipulator such as a robot coexists with an operator, the end effector's management / processing unit comes into contact with the worker, causing damage to the worker, and the management / processing unit contacting the structure, etc. The resulting damage is suppressed.

According to the end effector according to the present invention, since the storage drive unit is configured by the drive member of the manipulator, a dedicated storage drive unit is not required, and the end effector can be reduced in size and weight.
Further, control in cooperation with other driving operations of the manipulator can be easily performed.

  In addition, the management / processing unit may be configured to be exposed from the cover unit when managing / processing.

According to the end effector according to the present invention, since the management / processing part is exposed from the cover part at the time of management / processing, efficient management / processing can be performed without being obstructed by the cover part.
For this reason, the management / processing unit is covered as necessary while the management / processing unit is not managing / processing, for example, while the management / processing unit is waiting, or while the management / processing unit is moving. By adopting the configuration of storing in the part, the management / processing part can be prevented from coming into contact with the worker and sufficient safety can be ensured.

  The management / processing unit may include a pair of claw members that grip a workpiece and a claw driving unit that opens and closes the claw member.

According to the end effector according to the present invention, it is not preferable to make contact with an operator. For example, an end effector having a claw member having a tapered tip end side, the claw member is accommodated in the cover portion by storing the claw member in the cover portion. Exposure is suppressed. As a result, contact between the operator and the end effector is suppressed.
Further, when the end effector moves, the claw member is prevented from being deformed by contact with another structure or the like.

  Moreover, you may comprise a manipulator by applying the said end effector.

  In this specification, the management and processing of a workpiece refers to, for example, soldering, heating or bonding with laser light or ultrasonic waves, and gripping of electronic components, in addition to mechanical processing for cutting, grinding, drilling, etc. Various operations using a manipulator, such as handling of a work such as an operation, monitoring by a monitoring camera, and the like are included.

  According to the end effector and the manipulator according to the present invention, the management / processing unit can be stored in the cover unit, so that the management / processing unit is prevented from being exposed and contacting the operator. As a result, it is possible to ensure safety when the worker and the manipulator coexist.

Hereinafter, an embodiment of the present invention will be described with reference to FIGS.
FIG. 1 is a view showing an embodiment of a manipulator provided with an end effector according to the present invention. Reference numeral 1 denotes a multi-axis robot (manipulator), and reference numeral 2 denotes an end effector.

In this embodiment, as shown in FIG. 1, one multi-axis robot 1 is disposed on each of the horizontal planes at both ends of the horizontal support portion of the T-shaped support member 4 erected on the base 3, and the tip portion The end effector 2 is arranged on the front.
Hereinafter, one of the multi-axis robots 1 shown in FIG. 1 will be described as an example.

The multi-axis robot 1 includes a first arm 11, a second arm 12, a first drive member 15, a second drive member 16, and a third drive member 17.
The first arm 11 has a base end connected to the support member 4 via a first drive member 15, and the first drive member 15 is formed in a direction perpendicular to the horizontal plane. The first arm 11 can be rotated about the second axis J2 orthogonal to the first axis J1 in the direction of the arrow T2 and can be rotated around the support member 4 in the direction of the arrow T1. Two degrees of freedom are given to the first arm 11 with respect to the member 4.

The base end of the second arm 12 is connected to the tip of the first arm via the second drive member 16, and the third drive member 17 is connected to the tip of the second arm 12. Has been.
The second drive member 16 is supported by a frame body 13 that is open in a U-shape at the distal end side and connected to the distal end portion of the first arm 11, and rotates around a third axis J3 that connects both side wall portions of the frame body 13. The second arm 12 can be rotated in the direction of the arrow T3, and the second arm 12 is moved around the fourth axis J4 perpendicular to the third axis J3 and extending in the longitudinal direction of the second arm 12 by the arrow T4. The second arm 12 is given two degrees of freedom with respect to the first arm 11.

  The third drive member 17 is supported by a frame body 14 having a distal end opened in a U-shape and connected to the distal end portion of the second arm 12, and around the fifth axis J5 that connects both side wall portions of the frame body 14. And can be rotated in the direction of the arrow T6 around the sixth axis J6 orthogonal to the fifth axis J5.

The third drive member 17 is positioned on the lower side of the third drive member 17 and on the opposite side of the second arm 12 when the sixth axis J6 of the third drive member 17 is arranged in the vertical direction. The front end surface is an end effector mounting surface, and the end effector 2 can be mounted.
As a result, the third drive member 17 gives the end effector 2 two degrees of freedom with respect to the second arm 12.

  As shown in FIGS. 1 to 3, the end effector 2 in this embodiment includes an end effector body 20 and a cover part 30. The end effector body 20 includes a management / processing part 21 and a support base 27. And a camera unit 29 for monitoring management / processing by the management / processing unit 21, and a storage drive unit 17 </ b> A for storing the management / processing unit 21 in the cover unit 30.

The end effector body 20 can be rotated about the fifth axis J5 by the storage drive unit 17A, and the end effector body 20 is rotated about the fifth axis J5, as shown in FIG. The management / processing unit 21 is housed in the cover unit 30, and the management / processing unit 21 is configured to be exposed from the cover unit 30 as shown in FIG.
The storage drive unit 17A in this embodiment constitutes the third drive member 17, and the third drive member 17 imparts rotation about the fifth axis.

  As shown in FIG. 3, the support base 27 is formed by integrally combining a plurality of members formed of a metal plate, and is formed in a crank shape having two bent portions in a side view. Two wall portions 27B and 27C that extend perpendicularly to the manipulator mounting surface 28A and extend in opposite directions on both ends in the longitudinal direction of the flat plate portion 27A on which the manipulator mounting surface 28A corresponding to the end effector mounting surface on the distal end side of the drive member 17 is formed. have. The flat plate portion 27A and the wall portion 27B are reinforced by ribs extending in a direction orthogonal to the flat plate portion 27A and the wall portion 27B.

  The surfaces 28B and 28C on the side adjacent to the manipulator mounting surface 28A of the two walls 27B and 27C are perpendicular to the manipulator mounting surface 28A and are formed flat, and the surface 28B has an angle of 270 degrees with the manipulator mounting surface 28A. The claw driving unit 23 and the camera unit 29 can be attached to the lower end effector mounting surface of the third driving member 17 at a surface 28C having an angle of 90 degrees with the manipulator mounting surface 28A.

The management / processing unit 21 includes a pair of claw members 22 that grip (manage / process) a workpiece such as an electronic component, a claw drive unit 23 that opens and closes the claw member, a coil spring 24, and a guide slide 25. Each of the claw members 22 is formed of a flat plate having a tapered front end side, and includes a lower claw 22A and an upper claw 22B.
The claw member 22 is attached so that the end effector 2 is attached to the third drive member 17 and the sixth axis J6 is oriented in the vertical direction so that the tip end side of the claw member 22 faces obliquely below the tip end side of the second arm 12. The support base 27 is disposed on the surface opposite to the manipulator mounting surface 28A.

  The lower claw 22A is fixed to the side opposite to the manipulator mounting surface 28A of the support base 27, and the upper claw 22B is in contact with and separated from the lower claw 22A on the support base 27 via the guide slide 25 on the base end side. The tip end of the rod 23A of the claw drive unit 23 is abutted, and one end is connected to the support base 27 and the other end of the coil spring 24 biased in the pulling direction is connected.

The claw driving unit 23 opens and closes the claw member 22 by moving the claw member 22 in the direction of arrow S in FIG. 3. For example, the claw driving unit 23 is configured to rotate the rotation driving unit (not shown) to advance and retract the rod 23A. When the tip of the rod 23A on the claw member 22 side advances to the claw member 22 side, the upper claw 22B is moved to the lower claw 22A side (two-dot chain line in FIG. 3) to close the claw member 22. It is like that.
When the claw driving unit 23 is driven and the rod 23 </ b> A is retracted, the upper claw 22 </ b> B is separated from the lower claw 22 </ b> A by the urging force of the coil spring 24 so that the claw member 22 is opened.

  In this embodiment, the cover portion 30 is formed in an L shape that hangs down from both sides of the main wall portion 30A and the main wall portion 30A. A side wall portion 30B, and is attached to the outer surface of both side wall portions 14A of the frame 14 at the distal end of the second arm 12 so that the distal end side extends forward of the second arm 12, and the management / processing portion 21 Is configured to be stowable. Note that the cover 30 in FIGS. 1, 2, and 4 is shown as being transparent for the sake of convenience in order to make the inside of the cover 30 easier to see.

The camera unit 29 is for remotely monitoring the presence or absence of a gripping error when the claw member 22 grips a workpiece. The camera unit 29 is arranged on the support base 27 with the lens facing the tip of the claw member.
The posture of the workpiece may be determined by performing image processing on the signal from the camera unit 29, and the direction of the claw member 22 may be adjusted by the third drive member 17.

  In this embodiment, the end effector 2 is positioned such that the rotation position of the third drive member 17 around the sixth axis J6 does not interfere with the management / processing unit 21 and the cover unit 30 by a control unit (not shown) of the multi-axis robot 1. When the end effector body 20 is rotated by the storage drive unit 17 </ b> A by detecting that it is within the range, the management / processing unit 21 is stored in the cover unit 30.

  Further, the control unit detects that the management / processing unit 21 is exposed from the cover unit 30 to a position where management / processing is possible, and grips the workpiece by the claw member 22, and the management / processing unit 21 waits. When the end effector body 20 is moved in the case where the end effector 2 is moved by driving the first and second arms 11 and 12, for example, the management / processing unit 21 is accommodated in the cover 30. It is configured to control the first and second arms 11 and 12 to be driven by detecting that the management / processing unit 21 is within the position range accommodated in the cover unit 30.

Next, the operation of the end effector 2 according to this embodiment will be described.
1) First, the multi-axis robot 1 is activated.
2) The first arm 11 and the second arm 12 are driven to move the end effector 2 to a position where the workpiece is located.
For example, when the claw member 22 is gripping, the end effector 2 is held in a position where the management / processing unit 21 is stored in the cover unit 30 except when the claw member 22 is gripping a workpiece. Has been.
3) When the management / processing unit 21 of the end effector 2 reaches a predetermined position for gripping a workpiece such as an electronic component, the management / processing unit 21 stands by in a state where the management / processing unit 21 is housed in the cover unit 30.
4) When a signal for gripping a workpiece is transmitted from a control unit (not shown) of the multi-axis robot 1, the storage drive unit 17A of the third drive member 17 rotates the end effector body 20 about the fifth axis J5. The claw member 22 is exposed from the cover part.
5) The claw member 22 exposed from the cover part 30 has the upper claw 22B driven by the claw driving part 23 to grip the work and move the work to a predetermined position.
6) When the rod 23A of the claw driving unit 23 is retracted at a predetermined position, the upper claw 22B is separated from the lower claw 22A by the urging force of the coil spring 24, and the claw member 22 is opened to release the workpiece.
7) When the release of the workpiece is completed, the claw member 22 is moved to a predetermined position based on a signal from the control unit. While waiting at a predetermined position, the management / processing unit 21 is accommodated in the cover unit 30.
The management / processing unit 21 may be housed in the cover unit 30 while releasing the workpiece and returning to a predetermined position.

  According to the end effector 2 according to this embodiment, since the claw member 22 can be stored in the cover unit 30 by the storage drive unit 17A, the exposure of the claw member 22 is suppressed and the claw member 22 can be used by an operator or the like. Generation | occurrence | production of the harm to the worker resulting from contact is suppressed, and the damage resulting from the nail | claw member 22 contacting a structure etc. is suppressed.

Further, since the storage drive unit 17A is constituted by the third drive unit 17 of the multi-axis robot 1, it is not necessary to provide a dedicated storage drive unit for the end effector 2, and the end effector 2 can be enlarged. Therefore, it is possible to easily reduce the size and weight.
In addition, it is possible to easily control the storage drive unit 17A manipulator in cooperation with, for example, the operations of the first arm 11, the second arm 12, and the like.

Further, since the claw member 22 is configured to be exposed from the cover portion 30 when gripping the workpiece, the operation of gripping the workpiece can be efficiently performed without being obstructed by the cover portion 30.
In addition, when the end effector 2 is moved during the holding operation, the claw member 22 can be accommodated in the cover portion 30 as necessary, so that an operator may contact the claw member 22. It is suppressed and sufficient safety can be ensured.

Note that the present invention is not limited to the above-described embodiment, and various modifications can be made without departing from the spirit of the invention.
For example, in the above-described embodiment, the case where the storage drive unit 17A configuring the end effector 2 is configured by the third drive member 17 has been described, but the management / processing unit 21 and the cover unit 30 are dedicated drives. The management / processing unit 21 may be stored in the cover unit 30 by the driving unit.

  In the above embodiment, the management / processing unit 21 of the end effector 2 includes the pair of claw members 22 and the management / processing grips the workpiece. However, other workpieces are cut, ground, drilled, etc. It is possible to target management and processing such as machining, soldering, heating and bonding with laser light or ultrasonic waves, and monitoring with a monitoring camera.

  In the above embodiment, the case where the end effector 2 is provided in the multi-axis robot 1 having the first arm 11 and the second arm 12 and having six degrees of freedom has been described. Instead of the axis robot 1, the robot may be applied to various robots, manipulators in an automated line, etc. in addition to the orthogonal movement type robot and the polar coordinate type robot.

  In the above embodiment, when the management / processing unit 21 is on standby, the management / processing unit 21 is moved when the end effector 2 is moved by driving the first arm 11 and the second arm 12. However, the management / processing unit 21 is limited to the cover unit 30 only when entering the area where the management / processing unit 21 may come into contact with the operator. It is good also as control to make it house or control which is not interlocked with movement of end effector 2.

  In the above-described embodiment, the case where the camera unit 29 is arranged has been described. However, the camera unit 29 may be provided arbitrarily, and a strain gauge for detecting the gripping force of the workpiece, and the like. It is possible to arbitrarily set the sensor.

  Further, for example, by arranging a light emitting member such as an LED on any surface of the cover unit 30 and displaying the movement of the end effector 2 by light emission, or displaying the moving direction of the end effector 2, a large number of workers can be obtained. A configuration in which the movement and direction of the end effector 2 by the axis robot 1 can be easily detected to further improve safety.

It is a figure showing the outline of the multi-axis robot concerning one embodiment of the present invention. It is a perspective view explaining the schematic structure of the end effector concerning one embodiment of the present invention. It is a side view which shows the end effector main body which concerns on one Embodiment of this invention. It is a figure explaining the effect | action of the end effector which concerns on one Embodiment of this invention, (A) is the state in which the management / processing part was accommodated in the cover part, (B) is the management / processing part exposed from a cover part. FIG.

Explanation of symbols

1 Multi-axis robot (manipulator)
2 End effector 17 Third drive member 17 (drive member)
17A Storage drive unit 21 Management / processing unit 30 Cover unit

Claims (4)

An end effector eclipsed mounted on manipulator disposed in the same work area as the operator,
An end effector body that includes a management and processing section for managing and processing the workpiece;
A cover part capable of storing the management and processing part;
Equipped with a,
An end effector characterized in that the management / processing part can be accommodated in the cover part as the end effector body is rotated by a drive member of the manipulator . The management / processing section
The end effector according to claim 1, wherein the end effector is configured to be exposed from the cover portion when managed and processed. The management / processing section
A pair of claw members for gripping the workpiece;
The end effector of claim 1 or 2, characterized in that it comprises a pawl driving unit for opening and closing the claw members.   A manipulator comprising the end effector according to any one of claims 1 to 3.

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