JP7217098B2 - articulated robot - Google Patents

Description

The present specification discloses an end effector device for an articulated robot and an articulated robot.

Conventionally, there has been known an assembling device that assembles a bolt by inserting a washer. For example, in Patent Document 1, a temporary assembly part (bolt receiving part, washer insertion cylinder and washer base) suspends a bolt and inserts a washer into the bolt from below, and supports the bolt with the washer inserted to adjust the posture of the bolt. and a push-up part that pushes the bolt forward while the bolt is supported by the bolt support part, and the washer inserted into the bolt passes through the chevron riding surface positioned forward in the pushing direction, thereby pushing the washer up to the bottom of the bolt neck. (extrusion cylinder and ride-on).

JP 2008-142819 A

However, the assembling device described above requires a dedicated device for assembling the washer to the bolt, which is inefficient in terms of space in the factory and disadvantageous in terms of cost.

A main object of the present disclosure is to provide an end effector device for an articulated robot that can pick up and place a workpiece having a hollow portion using a general-purpose articulated robot.

The present disclosure has taken the following means to achieve the above-mentioned main objectives.

The end effector device for an articulated robot of the present disclosure includes:
An end effector device for an articulated robot that performs work on a first work having a hollow portion,
a holding member having a plurality of holding pieces extending in parallel;
a first opening/closing device that opens and closes by moving the plurality of holding pieces apart from each other and close to each other;
a pressing member;
a first lifting device for lifting and lowering the pressing member;
After inserting the plurality of holding pieces during the closing operation into the hollow portion of the first work, the opening operation of the plurality of holding pieces holds the inner peripheral portion of the first work by frictional force and picks up the first work. and controls the first lifting device such that the upper surface of the held first work is pressed by the pressing member and the first work is placed at a predetermined position. a device;
The gist is to provide

An end effector device for an articulated robot according to the present disclosure includes a holding member having a plurality of holding pieces extending in parallel, a first opening/closing device, a pressing member, a first elevating device, and a control device. After inserting the plurality of holding pieces in the closing motion into the hollow portion of the first work, the control device picks up the first work by holding the inner peripheral portion of the first work with frictional force due to the opening operation of the plurality of holding pieces. Then, the control device presses the upper surface of the held first workpiece with the pressing member to place it at a predetermined position. As a result, the end effector device for an articulated robot can pick up and place a workpiece having a hollow portion using a general-purpose articulated robot.

1 is a schematic configuration diagram of a working device 1; FIG. 1 is a schematic configuration diagram of a working robot 10; FIG. 3 is an external perspective view of the end effector device 20 viewed from the picking tool 30 side. FIG. 3 is an external perspective view of the end effector device 20 as seen from the side of the insert tool 50. FIG. 3A and 3B are front and side views of a picking tool 30; FIG. 3A and 3B are front and side views of a picking tool 30; FIG. 3A and 3B are front and side views of a picking tool 30; FIG. 3A and 3B are front and side views of a picking tool 30; FIG. 3A and 3B are front and side views of a picking tool 30; FIG. 4A and 4B are a front view and a side view of the insert tool 50; FIG. 4A and 4B are a front view and a side view of the insert tool 50; FIG. 4A and 4B are a front view and a side view of the insert tool 50; FIG. 4A and 4B are a front view and a side view of the insert tool 50; FIG. 4A and 4B are a front view and a side view of the insert tool 50; FIG. 4 is a circuit diagram showing an air circuit for driving each cylinder of the picking tool 30; FIG. 4 is a circuit diagram showing an air circuit for driving each cylinder of the insert tool 50; FIG. 2 is a block diagram showing electrical connections of the working device 1; FIG. It is a flow chart which shows an example of picking processing. 7 is a flowchart showing an example of insert processing; It is explanatory drawing which shows the mode of picking operation|movement. It is explanatory drawing which shows the mode of picking operation|movement. It is explanatory drawing which shows the mode of picking operation|movement. It is explanatory drawing which shows the mode of picking operation|movement. It is explanatory drawing which shows the mode of picking operation|movement. It is explanatory drawing which shows the mode of picking operation|movement. It is explanatory drawing which shows the mode of insert operation|movement. It is explanatory drawing which shows the mode of insert operation|movement. It is explanatory drawing which shows the mode of insert operation|movement. It is explanatory drawing which shows the mode of insert operation|movement. It is explanatory drawing which shows the mode of insert operation|movement. It is explanatory drawing which shows the mode of insert operation|movement. 4 is a time chart showing how the operation of each cylinder changes over time;

Embodiments for implementing the present disclosure will be described with reference to the drawings.

FIG. 1 is a schematic configuration diagram of a working device 1. As shown in FIG. FIG. 2 is a schematic configuration diagram of the working robot 10. As shown in FIG. FIG. 3 is an external perspective view of the end effector device 20 viewed from the picking tool 30 side. FIG. 4 is an external perspective view of the end effector device 20 viewed from the insert tool 50 side. 5-9 are front and side views of the picking tool 30. FIG. 10-14 are front and side views of the insert tool 50. FIG. FIG. 15 is a circuit diagram showing an air circuit for driving each cylinder of the picking tool 30. As shown in FIG. FIG. 16 is a circuit diagram showing an air circuit for driving each cylinder of the insert tool 50. As shown in FIG. FIG. 17 is a block diagram showing the electrical connection relationship of the working device 1. As shown in FIG. 1 to 4, the horizontal direction is the X direction, the front-rear direction is the Y direction, and the vertical direction is the Z direction.

The work device 1 uses a vertical articulated robot to perform a predetermined work on a work. In this embodiment, the working device 1 picks up one bolt B from a large number of randomly placed bolts B (second workpiece), places it on the tray T in an upright posture with the head down, and The hollow part of the (first work) is picked up and inserted into the threaded part (bar-shaped part) of the bolt B on the tray T. As shown in FIG. 1, the work device 1 includes a base 2, a bolt supply device 3, a washer supply device 4, a tray transfer device 5, a work robot 10, and a control device 80 (see FIG. 17) for controlling the whole. ).

The bolt supply device 3 is, for example, a belt conveyor device that conveys a large number of randomly placed bolts B. As shown in FIG. The washer supply device 4, for example, takes out and supplies a large number of washers W stored in a hopper one by one. The tray transport device 5 is a belt conveyor device that transports the tray T in the X direction. The tray transport device 5 is installed so as to extend in the X direction at the center of the base 2 in the Y direction. Further, the bolt supply device 3 and the washer supply device 4 are installed side by side in front of the tray transfer device 5 on the pedestal 2 .

The working robot 10 is a vertically articulated robot. The work robot 10 is installed on the opposite side of the pedestal 2 from the bolt supply device 3 and the washer supply device 4 with the tray transfer device 5 interposed therebetween. As shown in FIG. 2, the working robot 10 includes a plurality of arms (distal arm 11, intermediate arms 12 and 13, proximal arm 14) connected in series, a base 15, and a plurality of joints 21-25. , motors 21a-25a (see FIG. 17) for driving the joints 21-25, and encoders 21b-25b (see FIG. 17) for detecting the rotation angles of the joints 21-25. The base end arm 14 is attached to the base 15 via a joint 25 so as to be horizontally rotatable. The distal arm 11, the intermediate arms 12 and 13, and the proximal arm 14 are connected to each other through corresponding joints 22 to 24 so as to be vertically rotatable. The tip arm 11 has a joint (also referred to as a wrist) 21 rotatable around an axis along the longitudinal direction at the tip in the longitudinal direction.

An end effector device 28 is attached to the wrist 21 of the distal arm 11, as shown in FIGS. The end effector device includes a fixed member 29 fixed to the wrist 21 with bolts or the like, and two tools (a picking tool 30 and an insert tool 50) supported by the fixed member 29. As shown in FIG.

The picking tool 30 includes a picking pin 31, a picking pin lifting cylinder 35, a bolt clamper 41, a bolt clamper opening/closing cylinder 44, and a bolt clamper lifting cylinder 45, as shown in FIG.

The picking pin 31 lifts the bolt B (magnetic material) by magnetic force. As shown in FIG. 3, the picking pin 31 includes a picking rod 311 extending in the Z direction, a cylindrical permanent magnet 312 inserted through the picking rod 311, and an attracting member attached to the tip of the picking rod 311. 313. The attracting member 313 is a magnetic material, and attracts (holds) the bolt B by generating a magnetic attraction force based on the permanent magnet 312 . The picking rod 311 has spiral grooves on its outer peripheral surface. Two nuts 314 are screwed into the spiral groove of the picking rod 311 . The permanent magnet 312 is arranged between two nuts 314 and fixed to the picking rod 311 by the two nuts 314 . Therefore, by rotating the two nuts 314 to adjust the position of the permanent magnet 312, the gap between the attracting member 313 and the permanent magnet 312, that is, the magnetic attraction force generated by the attracting member 313 can be adjusted.

The picking pin lifting cylinder 35 is supported by the fixed member 29 . The picking pin lifting cylinder 35 is partitioned by a cylinder body, a piston that slides within the cylinder body, a piston rod 351 (see FIGS. 5 and 6) connected to the piston, and the cylinder body and the piston. Each working chamber has two ports capable of supplying and discharging air pressure. The base end of the picking rod 311 is coaxially connected to the tip of the piston rod 351 of the picking pin lifting cylinder 35 . As shown in FIGS. 5 and 6, the picking pin lifting cylinder 35 moves the picking pin 31 in the Z direction (vertical direction) by controlling the air pressure supplied to and discharged from the two working chambers to move the piston rod 351 forward and backward. ).

The bolt clamper 41 clamps and holds the outer peripheral portion of the bolt B with a pair of claws 411 . As shown in FIG. 3, the pair of claws 411 extend in the Z direction and are bent in directions facing each other at their distal ends (lower ends in the figure). A pair of sliders 42 are fixed to the base ends (upper ends in the drawing) of the pair of claws 411 . The pair of sliders 42 are brought closer to and separated from each other by a bolt clamper opening/closing cylinder 44 . The pair of claws 411 approaches and separates from each other, that is, opens and closes as the pair of sliders 42 approaches and separates from each other.

The bolt clamper opening/closing cylinder 44 is configured as a parallel air chuck. Although not shown, the bolt clamper opening/closing cylinder 44 is fixed to a cylinder body, two pistons that slide parallel to each other in the cylinder body, and corresponding pistons of the two pistons, and a pair of sliders 42 . Air pressure can be supplied to and discharged from two working chambers each partitioned by two racks respectively connected to corresponding sliders 42, pinion gears meshing with both of the two racks, and a cylinder body and two pistons. It has two ports. In the bolt clamper opening/closing cylinder 44, when one of the two racks is moved in one direction by air pressure, the pinion gear rotates in one direction and the other rack is moved in the opposite direction. . In the bolt clamper opening/closing cylinder 44, when the other rack moves in one direction due to air pressure, the pinion gear rotates in the opposite direction and one rack moves in the opposite direction to the other rack. 5 and 6, 8 and 9, the pair of sliders 42 are caused to approach and separate from each other by the bolt clamper opening/closing cylinders 44. As shown in FIGS.

The bolt clamper lifting cylinder 45 is supported by the fixing member 29 . Like the picking pin lifting cylinder 35, the bolt clamper lifting cylinder 45 includes a cylinder body, a piston, a piston rod 451 (see FIGS. 7 and 8), and two ports. The cylinder main body of the bolt clamper opening/closing cylinder 44 is fixed to the tip (lower end in the drawing) of the piston rod 451 of the bolt clamper lifting cylinder 45 . 7 and 8, the bolt clamper 41 (the pair of claws 411) is moved up and down together with the bolt clamper opening/closing cylinder 44 by moving the piston rod 451 forward and backward by the bolt clamper lifting/lowering cylinder 45. be done.

Here, the picking pin elevating cylinder 35, the bolt clamper opening/closing cylinder 44, and the bolt clamper elevating cylinder 45 are driven by an air circuit shown in FIG. As shown in the figure, the picking pin elevating cylinder 35, the bolt clamper opening/closing cylinder 44, and the bolt clamper elevating cylinder 45 are all double-acting cylinders having two ports. It is connected to the picking pin lifting valve 35a, the bolt clamper opening/closing valve 44a, and the bolt clamper lifting valve 45a. Each of the picking pin lifting valve 35a, the bolt clamper opening/closing valve 44a, and the bolt clamper lifting valve 45a supplies air pressure to one port (first port) of the two ports of the corresponding cylinder, and supplies air pressure to the other port. As a two-position solenoid valve that can change between a first state in which air pressure is discharged from the port (second port) of and a second state in which air pressure is supplied to the second port and discharged from the first port It is configured.

As shown in FIG. 4, the insert tool 50 includes a washer clamper 51, a washer clamper opening/closing cylinder 54, a bolt clamper 61, a bolt clamper opening/closing cylinder 64, a bolt clamper lifting/lowering cylinder 65, a pusher 71, and a pusher lifting cylinder 75 .

The washer clamper 51 holds the inner peripheral portion of the washer W by frictional force. The washer clamper 51 has a pair of pins 511 extending parallel to each other. The pair of pins 511 are fixed to the pair of sliders 52, and the pair of sliders 52 move toward or away from each other, ie, open or close.

Like the bolt clamper opening/closing cylinder 44, the washer clamper opening/closing cylinder 54 is configured as a parallel air chuck. That is, the washer clamper opening/closing cylinder 54 has a cylinder body, two pistons, two racks, a pinion gear, and two ports. As shown in FIGS. 10 and 11, sliders 52 are fixed to the two racks of the washer clamper opening/closing cylinder 54, respectively. The pair of sliders 52 are brought closer to and separated from each other by a washer clamper opening/closing cylinder 54 . The washer clamper 51 is inserted into the hollow portion of the washer W with the pair of pins 511 brought close to each other (closed state), and then separated from the pair of pins 511 (opened state). The inner circumference of W is held by frictional force.

Like the bolt clamper 41 described above, the bolt clamper 61 clamps and holds the outer peripheral portion of the bolt B with a pair of claws 611 . As shown in FIG. 4, the bolt clamper 61 has a pair of claws 611 that extend in the Z direction and are bent in a direction facing each other at the tip (lower end in the figure). and a pair of pawl shafts 612 fixed to the base end portion (upper end portion in the drawing) of and extending parallel to the Z direction. As shown in FIGS. 11 and 12, the pair of pawl shafts 612 are slidably supported in the Z direction (vertical direction) with respect to the pair of sliders 62 . As shown in FIGS. 12 and 13, the pair of claws 611 approaches and separates from each other together with the pair of claw shafts 612 as the pair of sliders 62 approaches and separates from each other, that is, opens and closes.

The bolt clamper opening/closing cylinder 64 is supported by the fixed member 29 . The bolt clamper opening/closing cylinder 64 is configured as a parallel air chuck, and has two pistons, two racks, a pinion gear, and two ports, like the bolt clamper opening/closing cylinder 44 described above. A slider 62 is fixed to each of the two racks of the bolt clamper opening/closing cylinder 64 . The bolt clamper 61 holds the bolt B by gripping the bolt B from both sides with a pair of claws 611 by the bolt clamper opening/closing cylinder 64 .

The bolt clamper lifting cylinder 65 is supported by the fixed member 29 . Like the bolt clamper lifting cylinder 45, the bolt clamper lifting cylinder 65 includes a cylinder body, a piston, a piston rod 651 (see FIGS. 10 and 11), and two ports. A piston rod 651 of the bolt clamper lifting cylinder 65 extends upward. A support member 66 is fixed to the tip of the piston rod 651 . The support member 66 is an elongated member extending in the Y direction. Long holes 661 elongated in the Y direction are formed at both ends of the support member 66 . The supporting member 66 and the pair of pawl shafts 612 are connected by connecting members 68, respectively. The connecting member 68 is a member extending in the X direction, one end of which is connected to the pawl shaft 612, and the other end of which is engaged with an elongated hole 661 of the support member 66 so as to be slidable in the Y direction. there is As described above, the pair of pawl shafts 612 are supported by the pair of sliders 62 so as to be slidable in the Z direction. It is raised and lowered in the Z direction together with . 11 and 12, the pair of claws 611 are moved up and down together with the pair of claw shafts 612 in the Z direction. Further, since the pawl shaft 612 is movably supported in the Y direction with respect to the supporting member 66 (long hole 661) through the connecting member 68, the bolt clamper opening/closing cylinder 64 moves the pair of sliders 62 toward and away from each other. You can move them closer or farther apart by pressing them. 12 and 13, the pair of claws 611 move toward and away from each other together with the pair of claw shafts 612, that is, open and close.

The pusher 71 presses the upper surface of the washer W held by the pair of pins 511 to release the washer W held by the pair of pins 511 . The pusher 71 has a pair of pressing members 711 and a bent portion 712 bent from the upper end of each pressing member 711 in the X direction. The pair of pressing members 711 are engaged with the outer surfaces of the pair of pins 511 opposite to the inner surfaces facing each other by caulking or the like so as to be relatively movable in the Z direction (vertical direction) with respect to the pair of pins 511 . there is The bent portion 712 is slidably supported in the Y direction with respect to the slider 72 . Therefore, as shown in FIGS. 10 and 11, the pair of pressing members 711 are brought closer to and separated from each other by following the approach and separation of the pair of pins 511 .

The pusher lifting cylinder 75 is supported by the fixed member 29 . The pusher elevating cylinder 75 includes a cylinder body, a piston, a piston rod 751 (see FIG. 14), and two ports, similar to the picking pin elevating cylinder 35 . A slider 72 is fixed to the tip (lower end in the figure) of the piston rod 751 of the pusher lifting cylinder 75 . As shown in FIGS. 13 and 14 , the pusher 71 is moved up and down together with the slider 72 by moving the piston rod 751 forward and backward by the pusher lifting cylinder 75 .

Here, the washer clamper opening/closing cylinder 54, the bolt clamper opening/closing cylinder 64, the bolt clamper lifting/lowering cylinder 65, and the pusher lifting/lowering cylinder 75 are driven by an air circuit shown in FIG. As shown, the washer clamper opening/closing cylinder 54, the bolt clamper opening/closing cylinder 64, the bolt clamper lifting/lowering cylinder 65, and the pusher lifting/lowering cylinder 75 are double-acting cylinders having two ports, and are connected to speed controllers SC1 and SC2, respectively. It is connected to the washer clamper opening/closing valve 54a, the bolt clamper opening/closing valve 64a, the bolt clamper lifting valve 65a, and the pusher lifting valve 75a via. Each of the bolt clamper opening/closing valve 64a, the bolt clamper lifting valve 65a, and the pusher lifting valve 75a supplies air pressure to one port (first port) of the two ports of the corresponding cylinder, and supplies air pressure to the other port. Configured as a two-position solenoid valve that can change between a first state in which air pressure is discharged from a port (second port) and a second state in which air pressure is supplied to a second port and discharged from the first port. It is On the other hand, the washer clamper opening/closing valve 54a supplies air pressure to one of two ports (first port) of the washer clamper opening/closing cylinder 54 and discharges air pressure from the other port (second port). a second state in which the air pressure is supplied to the second port and discharged from the first port; and a third state in which the air pressure is discharged from the first and second ports. It is configured as a three-position solenoid valve.

The control device 80 is configured as a microprocessor centering on a CPU, and in addition to the CPU, includes a ROM for storing processing programs, a RAM as a work memory, an input/output port, and the like. As shown in FIG. 17, detection signals from the encoders 21b to 25b of the working robot 10, imaging signals from the camera 26 attached to the tip arm 11, and the like are input to the control device 80 via input ports. . Drive signals to the bolt supply device 3, the washer supply device 4, the motors 21a to 25a of the working robot 10, and the camera 26 are output from the control device 80 through the output port. Further, from the control device 80, the pickup pin lifting valve 35a, the bolt clamper opening/closing valve 44a, the bolt clamper lifting valve 45a, the washer clamper opening/closing valve 54a, the bolt clamper opening/closing valve 64a, the bolt clamper lifting valve 65a, A drive signal to the pusher lifting valve 75a is also output via the output port.

Next, the operation of the working device 1 configured in this way will be described. In particular, the picking process performed by the work robot 10 using the picking tool 30 and the inserting process performed using the insert tool 50 will be described. FIG. 18 is a flowchart showing an example of picking processing executed by the control device 80. As shown in FIG. FIG. 19 is a flowchart showing an example of insert processing executed by the control device 80. As shown in FIG. The picking process and the inserting process will be described below with reference to FIGS. 20 to 32. FIG. Note that the picking pin 31 and the bolt clamper 41 are in an initial state when the picking process is started. That is, the picking pin 31 is controlled to the raised position by the picking pin raising/lowering cylinder 35 . The bolt clamper 41 is controlled to an open state by a bolt clamper opening/closing cylinder 44 and to a raised position by a bolt clamper lifting cylinder 45 . Also, the washer clamper 51, the bolt clamper 61, and the pusher 71 are in an initial state when the inserting process is started. That is, the washer clamper 51 is controlled to the closed state by the washer clamper opening/closing cylinder 54 . The bolt clamper 61 is controlled to an open state by a bolt clamper opening/closing cylinder 64 and to a raised position by a bolt clamper lifting cylinder 65 . Further, the pusher 71 is controlled to a raised position by a pusher raising/lowering cylinder 75 .

When the picking process is executed, the control device 80 first controls the motors 21a to 25a so that the camera 26 attached to the tip arm 11 moves above the bolt supply device 3, and the bolt supply device 3 The camera 26 is controlled so that a large number of randomly placed bolts B are imaged (step S100). Subsequently, the control device 80 determines the bolt B to be picked (target bolt) based on the captured image, and controls the motors 21a to 31 so that the picking pin 31 moves above the tip of the threaded portion of the target bolt. 25a (step S110, see FIG. 20). Then, after the control device 80 controls the picking pin lifting cylinder 35 so that the picking pin 31 descends and the tip of the threaded portion of the target bolt is attracted to the attracting member 313 (see time t1 in FIGS. 21 and 32). , the picking pin lifting cylinder 35 is controlled so that the picking pin 31 rises and the target bolt is lifted with its head down (step S120, see time t2 in FIGS. 22 and 32).

When the target bolt is thus lifted, the control device 80 controls the bolt clamper opening/closing cylinder 44 so that the lifted target bolt is gripped from both sides by the pair of claws 411 of the bolt clamper 41 (steps S130, FIGS. 23 and 32). time t3). Subsequently, the control device 80 controls the bolt clamper lifting cylinder 45 so that the bolt clamper 41 descends while the target bolt is clamped by the bolt clamper 41 and the target bolt is peeled off from the picking pin 31 (step S140). , see time t4 in FIGS. 24 and 32). In other words, when the target bolt is transferred from the picking pin 31 to the bolt clamper 41, the target bolt is clamped by the bolt clamper 41 while the target bolt is held by the picking pin 31 by magnetic force, and the picking pin 31 is moved by a force stronger than the magnetic force. and the bolt clamper 41 are separated from each other. Next, the control device 80 controls the motors 21a to 25a so that the target bolt moves above the target position of the tray T (step S150). Next, the control device 80 controls the bolt clamper lifting cylinder 45 so that the bolt clamper 41 is lowered (step S160). Then, the control device 80 controls the bolt clamper opening/closing cylinder 44 so that the target bolt is unclamped (step S170, see time t5 in FIGS. 25 and 32), and returns the bolt clamper 41 to its initial state (step S180, see time t6 in FIG. 32), the picking process ends.

Insert processing is executed after execution of picking processing. When the inserting process is executed, the control device 80 first controls the motors 21a to 25a of the working robot 10 so that the washer clamper 51 moves above the washer W supplied by the washer supply device 4 (steps S200, See Figure 26). Subsequently, the control device 80 controls the motors 21a to 25a and the washer clamper opening/closing cylinder 54 so that the pair of pins 511 are inserted into the hollow portion of the washer W in the closed state (step S210, see FIG. 27). Then, the control device 80 controls the washer clamper opening/closing cylinder 54 so that the pair of pins 511 are opened and the inner peripheral portion of the washer W is clamped (step S220, see time t7 in FIG. 32).

When the washer W is thus clamped, the control device 80 controls the motors 21a to 25a of the work robot 10 so that the clamped washer W moves above the target bolt (step S230). Subsequently, the control device 80 controls the bolt clamper lifting cylinder 65 and the bolt clamper opening/closing cylinder 64 so that the bolt clamper 61 descends and grips the target bolt by the bolt clamper 61 to center (position) the target bolt. (step S240, see times t8 and t9 in FIGS. 28, 29 and 32). Next, the control device 80 removes the clamping force of the washer W by the pair of pins 511 (step S250). As a result, the pair of pins 511 continue to maintain the holding state of the washer W due to the frictional force with the inner peripheral portion of the washer W, but there is almost no holding force. Then, the control device 80 controls the pusher lifting cylinder 75 so that the pair of pressing members 711 (pusher 71) descends and presses the upper surface of the washer W with the pair of pressing members 711 to unclamp the washer W. (Step S260, see time t10 in FIGS. 30 and 32). Since the unclamping of the washer W is performed in a state where there is almost no holding force of the washer W by the pair of pins 511, the washer W is smoothly unclamped, does not pop out in an unexpected direction, and is properly attached to the threaded portion of the bolt B. is inserted into After inserting the washer W into the bolt B, the control device 80 restores the washer clamper 51, the bolt clamper 61, and the pusher 71 to their initial states (step S270, see time t11 to t13 in FIGS. 31 and 32), and performs the insertion process. exit.

Here, the correspondence between the main elements of the embodiment and the main elements of the present disclosure described in the claims will be described. That is, the washer W corresponds to the first work, the pair of pins 511 correspond to the plurality of holding pieces, the washer clamper 51 corresponds to the holding member, and the washer clamper opening/closing cylinder 54 and the washer clamper opening/closing valve 54a are connected. The pair of pressing members 711 correspond to the pressing member, the pusher lifting cylinder 75 and the pusher lifting valve 75a correspond to the first lifting device, and the control device 80 corresponds to the control device. . Further, the pusher lifting valve 75a corresponds to a three-position valve, and the pusher lifting cylinder 75 corresponds to a cylinder. Also, the bolt B corresponds to the second work. The pair of claws 611 of the bolt clamper 61 correspond to a plurality of claws, the bolt clamper opening/closing cylinder 64 and the bolt clamper opening/closing valve 64a correspond to the second opening/closing device, and the bolt clamper lifting cylinder 65 and the bolt clamper The lifting valve 65a corresponds to the second lifting device.

It goes without saying that the present disclosure is not limited to the above-described embodiments, and can be implemented in various forms as long as they fall within the technical scope of the present disclosure.

For example, in the above-described embodiment, the work robot 10 lifts the target bolt with the picking pin 31, clamps the target bolt with the bolt clamper 41, and transfers the target bolt from the picking pin 31 to the bolt clamper 41 as the picking process. , the target bolt is moved above the target position of the tray T. However, the work robot 10 is not limited to this. The target bolt may be clamped and transferred from the picking pin 31 to the bolt clamper 41 . Further, the work robot 10 lifts the target bolt with the picking pin 31, clamps the target bolt with the bolt clamper 41, moves the target bolt above the target position of the tray T, and moves the target bolt from the picking pin 31 to the bolt clamper 41. You may deliver the target bolt to

In the embodiment described above, the end effector device includes the picking tool 30 and the insert tool 50, but the picking tool 30 may not be included. In this case, the bolts B may be placed on the tray T by another working robot equipped with a picking tool.

In the embodiment described above, the insert tool 50 includes the bolt clamper 61 for centering (positioning) the bolt B, but the bolt clamper 61 may not be included. In this case the bolt B may be positioned by another device.

In the embodiment described above, the end effector device (insert tool 50) performs the work of inserting the washer W as a work into the bolt B. As shown in FIG. However, the end effector device is not limited to the work of inserting the washer W into the bolt B, and can be applied to any work performed while holding a work having a hollow portion.

As described above, the end effector device for an articulated robot of the present disclosure performs work on a first work (washer W) having a hollow portion, and includes a plurality of parallel extending holding pieces (a pair of a holding member (washer clamper 51) having a pin 511), and a first opening/closing device (washer clamper opening/closing cylinder 54, washer clamper opening/closing valve 54a) that opens and closes by moving the plurality of holding pieces apart and close to each other. , a pressing member (a pair of pressing members 711), a first elevating device (pusher elevating cylinder 75, pusher elevating valve 75a) for elevating the pressing member, and the plurality of holding pieces that are being closed are moved to the first position. After inserting the workpiece into the hollow portion, the opening operation of the plurality of holding pieces controls the first opening/closing device so that the inner peripheral portion of the first workpiece is held by frictional force and picked up. and a control device (control device 80) that controls the first lifting device so that the upper surface of the first work is pressed by the pressing member and the first work is placed at a predetermined position. and

According to the articulated robot end effector device of the present disclosure, a workpiece having a hollow portion can be picked up and placed using a general-purpose articulated robot (working robot 10).

In the articulated robot end effector device of the present disclosure, the first opening/closing device (the washer clamper opening/closing cylinder 64 and the washer clamper opening/closing valve 64a) opens the plurality of holding pieces (the pair of pins 511). A first state in which the air pressure is applied in the direction of the closing operation of the plurality of holding pieces. and an air cylinder (washer and a clamper opening/closing cylinder 64), and the control device (control device 80) controls the three-position valve to the second state so that the plurality of holding pieces are closed. After inserting the piece into the hollow portion of the first work (washer W), the three-position valve is controlled to the first state so that the plurality of holding pieces are opened, and the inside of the first work is removed. Pickup control is performed to hold and pick up the peripheral portion, and after controlling the three-position valve to the third state, the pressing members (a pair of pressing members 711) press the upper surface of the first work. Place control may be performed to place the first workpiece at a predetermined position by controlling the first lifting device (pusher lifting cylinder 75, pusher lifting valve 75a). In this way, the end effector device for an articulated robot can accurately place the first work at the target position without causing the first work to pop out in an unexpected direction when unclamping the first work. can.

Further, in the end effector device for an articulated robot of the present disclosure, the control device (control device 80), as the place control, attaches the rod-shaped portion of a second work (bolt B) having a rod-shaped portion to the first work ( It is also possible to insert the hollow part of the washer W). As a result, the articulated robot (working robot 10) places the washer W on the bolt B with the washer W inserted in the tray T, so that the operator can remove the washer W from the storage box and insert it into the bolt B. becomes unnecessary, and the screw tightening work can be performed more easily.

In the end effector device for a multi-joint robot of this aspect of the present disclosure, a plurality of claws (a pair of claws 611) and a second opening/closing device (a cylinder for opening and closing a bolt clamper) that opens and closes by moving the plurality of claws apart and close to each other 64, bolt clamper opening/closing valve 64a) and a second lifting device (bolt clamper lifting cylinder 65, bolt clamper lifting valve 65a) for lifting and lowering the plurality of claws, and the control device (control device 80) controls the second opening/closing device and the second elevating device as the place control so that the outer peripheral portion of the second work (bolt B) is gripped by the closing operation of the plurality of claws; The hollow portion of the first work (washer W) may be inserted into the rod-shaped portion of the second work while the work is held. As a result, the end effector device for an articulated robot can more reliably insert the hollow portion of the first work into the rod-shaped portion of the second work.

It should be noted that the present disclosure is not limited to the form of an end effector device for an articulated robot, and may be in the form of an articulated robot including an end effector device.

INDUSTRIAL APPLICABILITY The present disclosure is applicable to the articulated robot manufacturing industry and the like.

Reference Signs List 1 work device 2 pedestal 3 bolt supply device 4 washer supply device 5 tray transfer device 10 work robot (multi-joint robot) 11 tip arm 12, 13 intermediate arm 14 base end arm 15 base, 21 to 25 joints, 21a to 25a motors, 21b to 25b encoders, 26 cameras, 28 end effector devices, 29 fixing members, 30 picking tools, 31 picking pins, 311 picking rods, 312 permanent magnets, 313 adsorption members, 314 nuts, 35 picking pin lifting cylinder 35a picking pin lifting valve 351 piston rod 41 bolt clamper 411 pawl 42 slider 44 bolt clamper opening/closing cylinder 44a bolt clamper opening/closing valve 45 bolt clamper lifting cylinder 45a Bolt clamper lifting valve 451 Piston rod 50 Insert tool 51 Washer clamper 511 Pin 52 Slider 54 Washer clamper opening/closing cylinder 54a Washer clamper opening/closing valve 61 Bolt clamper 611 Claw 612 Claw shaft 62 Slider 64 Bolt clamper opening/closing cylinder 64a Bolt clamper opening/closing valve 65 Bolt clamper lifting cylinder 65a Bolt clamper lifting valve 651 Piston rod 66 Supporting member 661 Long hole 68 Connecting member 71 Pusher 711 Pressing member 712 bending portion 72 slider 75 pusher lifting cylinder 75a pusher lifting valve 751 piston rod 80 control device W washer (first work) B bolt (second work).

Claims (3)

an articulated arm;
a camera attached to the tip arm of the articulated arm;
an end effector device for an articulated robot attached to the tip of the tip arm;
a control device for controlling the multi-joint arm and the multi-joint robot end effector device;
with
Using the end effector device for an articulated robot, a target bolt is picked up from a large number of loosely placed bolts, placed in an upright posture with the head down, and the hollow part of the washer is picked up to pick up the target bolt. A multi-joint robot to be inserted into the threaded part of
The articulated robot end effector device includes a picking tool and an insert tool provided at the wrist of the tip arm,
The picking tool includes a picking pin that lifts the bolt by magnetic force, a picking pin lifting cylinder that raises and lowers the picking pin, a bolt clamper that holds the outer circumference of the bolt between a pair of claws, and the pair of claws. a bolt clamper opening/closing cylinder that opens and closes, and a bolt clamper lifting/lowering cylinder that lifts/lowers the bolt clamper,
The insert tool includes a holding member having a plurality of holding pieces extending in parallel, a first opening/closing device for opening and closing the plurality of holding pieces by moving the holding pieces apart from each other and approaching each other, a pressing member, and lifting and lowering the pressing member. and a first lifting device that allows
The control device captures an image of randomly placed bolts with the camera, determines the target bolt based on the obtained captured image, and picks the multiple joint so that the picking pin is attracted to the tip of the threaded portion of the target bolt. After controlling the arm and the picking pin lifting cylinder, the picking pin lifting cylinder is controlled so that the target bolt is lifted with its head downward, and the lifted target bolt is attached to the bolt clamper. The bolt clamper opening/closing cylinder is controlled so that it is gripped from both sides by a pair of claws, and the bolt clamper is raised and lowered so that the target bolt is pulled off from the picking pin in a state where the target bolt is clamped by the bolt clamper. performing a picking process for controlling the multi-joint arm so that the target bolt is placed in an upright posture,
After inserting the plurality of holding pieces during the closing operation into the hollow portion of the washer, the opening operation of the plurality of holding pieces causes the inner peripheral portion of the washer to be held by frictional force and picked up. 1. The opening and closing device is controlled so that the upper surface of the washer held is pressed by the pressing member so that the hollow portion of the washer is inserted into the threaded portion of the target bolt placed in an upright position by the picking process. Execute an insert process for controlling the first lifting device in
Articulated robot. The articulated robot according to claim 1,
The first opening/closing device includes a first state in which air pressure is applied in a direction to open the plurality of holding pieces, a second state in which air pressure is applied in a direction to close the plurality of holding pieces, an opening operation, and a second state in which air pressure is applied in a direction to close the plurality of holding pieces. A three-position valve that can be changed to a third state in which the air pressure is discharged so that the air pressure does not act in either direction of the closing operation, and the plurality of holding positions by the air pressure supplied and discharged through the three-position valve. an air cylinder for opening and closing the piece,
The control device controls the three-position valve to the second state so that the plurality of holding pieces are closed, inserts the plurality of holding pieces into the hollow portion of the washer, and then closes the plurality of holding pieces. The three-position valve is controlled to the first state so that the holding piece is opened, and pick-up control is performed to hold and pick up the inner peripheral portion of the washer, and the three-position valve is controlled to the third state. Then, place control is performed to place the washer at a predetermined position by controlling the first lifting device so that the upper surface of the washer is pressed by the pressing member.
Articulated robot. The articulated robot according to claim 2 ,
The insert tool includes a plurality of pawls , a second opening/closing device that opens and closes the plurality of pawls by separating and approaching the plurality of pawls, and a second elevating device that raises and lowers the plurality of pawls,
As the place control, the control device controls the second opening/closing device and the second elevating device so that the outer peripheral portion of the bolt is gripped by the closing operation of the plurality of claws, and the bolt is gripped. inserting the hollow portion of the washer into the threaded portion of the bolt with
Articulated robot.

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