JPH0413583A - Selection of hand mechanism of robot - Google Patents

Abstract

PURPOSE:To execute the selection work of the hand mechanism of a robot in the state of a high reliability, despite of the presence of the work experience, by selecting the optimum combination state for assembling the module for performing plural element motions with an optional commodity being gripped. CONSTITUTION:The mutual similarities of the reference vector and placing vector of a 1st commodity of the time when the 1st commodity is placed on a 2nd commodity, and the reference vector and placing vector of the time when the 1st commodity is picked up, in the case of the 1st commodity being installed to the 2nd commodity, are judged. Based on this judgement result, modules M1, M3 are selected.

Description

[Detailed description of the invention]

[Industrial Field of Application] The present invention relates to a method for selecting a hand mechanism of a robot which is interposed between a finger section and an arm section of the robot and causes the finger section to perform a predetermined attitude changing operation. [Prior Art] Conventionally, a hand mechanism of a robot that is interposed between a finger section and an arm section of a robot and causes the finger section to perform a predetermined posture change operation includes a reversing operation, a shifting operation, a turning operation, A configuration is adopted in which the posture changing operation of the finger portion is performed in an arbitrary combination of each elemental motion of the cushioning motion and the compliance motion. However, in such conventional hand mechanisms, since a configuration is adopted in which each hand mechanism causes the finger section to perform one specific posture change operation, it is difficult to make the finger section perform another posture change operation. If the need arises, the design is changed and the hand mechanism is replaced as a whole. For example, specifically, when inserting the same bottle into the same hole, there are cases where the hole is formed on a horizontal surface,
Although the configuration of the finger portion is the same in the case where the finger is formed on an inclined surface, the configuration of the hand mechanism must be designed and manufactured in a unique manner for each case. In this way, in the conventional hand mechanism, the design is changed every time the posture change operation in the finger section changes, and it must be manufactured with a configuration specific to that posture change operation. Therefore, it has been pointed out that it takes a long time to change the design, etc., and there is no standardization for each attitude change operation, which also poses a problem from an economical point of view. From this point of view, the present applicant and the same applicant have developed a robot that can easily and quickly respond to changes in the posture change operation in the finger section, and that is also more economical. Patent application No. 1-1 was filed on May 26, 1999 for the purpose of providing a hand mechanism for
Patent applications have already been filed as No. 31402 and Japanese Patent Application No. 1-131403. In this prior application, modules for performing each of the five element movements of reversing operation, shifting operation, turning operation, tensioning operation, and compliance operation are provided independently and can be combined with each other, and among these modules, By combining arbitrary modules, the finger section is configured to perform a predetermined attitude change operation. [Problems to be Solved by the Invention] Although it is certainly possible to achieve the above-mentioned purpose by arbitrarily combining the modules for performing each element movement of the hand device in this way, the selection for this combination is difficult. Unless a method has been established, it will not be possible to assemble any item using this hand device, and there has been a demand for the establishment of this selection method. This invention was made in view of the above-mentioned problems, and an object of the invention is to be able to select an optimal combination mode for gripping and assembling an arbitrary article with modules for performing a plurality of element movements. It is an object of the present invention to provide a method for selecting a hand mechanism for a robot. [Means for Solving the Problems] In order to solve the above-mentioned problems and achieve the purpose, a method for selecting a hand mechanism for a robot according to the present invention provides a method for selecting a hand mechanism for a robot, which requires a small number of turning movements (for assembling two objects) in a robot. , a method for selecting a hand mechanism in which modules for performing each element movement of a reversing operation, a shifting operation, a cushioning operation, a compliance operation, and an object grasping operation can be independently combined with each other, wherein the absolute coordinates of the robot are a first step of determining a reference vector that uniquely defines the attitude of the first article at the pick-up position with respect to the system and a placement vector that defines the pick-up direction of the first article; and absolute coordinates of the robot. a second step of determining a placement vector that defines a placement direction of the first article to a second article at a place position with respect to the system and a reference vector that uniquely defines the orientation; A reference vector and a placement vector when picking up the first article when mounting it on the second article, and a first article when placing the first article on the second article. and a fourth step of selecting the module based on the determination result of the third step. Furthermore, the method for selecting a hand mechanism for a robot according to the present invention is characterized in that in the fourth step, a rotation module and a reversal module are selected in order to change the attitude of the first article. In addition, the third step of the method for selecting a hand mechanism for a robot according to the present invention is performed by determining two points at the pick-up time and the place time in the absolute coordinate system of the placement vector.
The present invention is characterized in that vector components on two reference planes are compared to determine whether or not the inversion module and the rotation module are necessary. [Embodiment] Below, the configuration of an embodiment of a robot hand mechanism according to the present invention will be described in detail with reference to the accompanying drawings.

[Schematic configuration of hand mechanism]

As shown in FIG. 1, the hand mechanism 10 of this embodiment includes a reversing module M1 that performs a reversing operation, a shift module M2 that performs a shifting operation, a turning module M3 that performs a turning operation, and a cushioning operation. The configuration includes a cushion module M4, a compliance module M5 that performs a compliance operation, and a finger module M6 that performs a gripping operation of an article, in any combination. , there are six types of modules M l
-Ms are arranged in the above-described order downward from the two-axis arm 20 (described later) of the robot 12 to which the hand mechanism 10 is attached. Here, the above-mentioned reversal operation means a rotational operation around a rotational axis set perpendicular to the central axis of the object,
The shift operation means a moving operation along its own central axis, and the turning operation means a rotating operation about its own central axis. Further, the cushioning operation means an operation of absorbing an abnormal force acting along the own central axis, and the compliance operation means an operation of absorbing a positional shift in a direction perpendicular to the own central axis. The grasping operation includes grasping by pinching the object, grasping by scooping up the object,
This includes gripping by suction using negative pressure, gripping by attraction using magnetic force, etc. Further, the finger module M is connected to this hand mechanism 10.
It is indispensably selected in , and is set to be installed at the bottom of the combination result of the selected modules when any of the inversion module M1 to compliance module M6 is selected. . The method for selecting a combination of these six types of modules M, ~M, for a given article will be explained in detail later, but the combination of the cushion module M4 that performs a cushion operation and the compliance module M5 that performs a compliance operation will be described in detail later. The arrangement order can be changed arbitrarily. Further, the shift module M2 is regulated to be disposed below the reversing module M.

[Schematic configuration of robot]

Here, a robot 12 to which this hand mechanism 10 is applied
For example, as shown in FIG. 2A, the X-axis arm 14 and the
A y-axis arm 16 is attached movably along the X-axis in a state perpendicular to the axis arm 14, and this y-axis arm 1
6, a y-axis moving member 18 is attached to the y-axis moving member 18 so as to be movable along the y-axis direction;
It is composed of a shaft arm 20. This two-axis arm 2
A hand mounting plate 22 is fixed to the lower end of the hand mounting plate 22, and the hand mechanism 10 described above is attached to the hand mounting plate 22. In this embodiment, the robot 12 has a function of performing linear interpolation when moving the Z-axis arm 20 on the x-y plane on the y-axis or in a state that is not parallel to the y-axis. It is composed of Furthermore, as shown in FIG. 2B, attachment through holes 22a for attaching the hand mechanism 10 are formed in the four corners of the hand attachment plate 22 so as to pass through them in the vertical direction. The diameter and arrangement pitch of these through holes 22a are as follows:
A constant value d and a constant distance are respectively set. In addition, on the lower surface of this hand mounting plate 22, a pair of positioning bins 22b are provided with a predetermined diameter d2 and a predetermined distance D2 in order to accurately define the mounting positions of the modules M1 to M to be attached to the hand mounting plate 22. is fixed in a downwardly protruding state. Note that these y-axis arm 16, y-axis moving member 18, and Z
Three shaft arms 20 are provided on the y-axis moving member 18 and are set to be driven to move by drive motors 24, 26, and 28, respectively.

[Description of each module]

Next, the configuration of each module M, -M will be explained. (Description of finger module M8) First, the finger module M6, which is attached to the lowest part of the hand mechanism 10 and is for gripping an article, is attached to the third finger module M6.
As shown in Fig. A to Fig. 3F, six types of finger modules M8A+ Ms+++ Ms from the first to the sixth.
Equipped with e+ Meo+ Msi+ M6F. Here, the first to fourth finger modules M, -M
,. is configured to mechanically grip an article,
Fifth and sixth finger modules M aE, M 8
F is configured to grip an article by suction. Note that the first to fourth finger modules M, A-M, are configured to mechanically grip an article. The gripping pieces are configured to hold the article by holding both sides of the article and lift it, and the gripping piece for a so-called side clamp is configured to engage the bottom surface of the article and lift it. There are two types: a so-called scooping gripping piece. In this way, the finger module M6 is configured to mechanically grip an article, and there are a total of four types of gripping modes, and a total of two types of gripping piece configurations for each gripping mode. In the end, the front part selects one type from among eight types that is most suitable for the article to be mechanically gripped. On the other hand, the first finger module M8A includes a frame member 30 and a frame member 3, as shown in FIG. 3A.
A pair of gripping pieces 3 disposed near and apart from each other at 0
The finger mechanism 29 itself is of a so-called double type, which generally includes 1a and 31b. That is, this first finger module M6A is set to be optimal for gripping relatively small objects. The structure of the double-type finger mechanism 29 will be described in detail later with reference to FIGS. 4A to 4E. Further, as shown in FIG. 3B, the second finger module M as is composed of a mounting member 33 made of a long plate and a so-called single type finger mechanism 35 attached to both ends of this mounting member 33, respectively. has been done. here,
Each single-type finger mechanism 35 is generally composed of the above-described frame member 30 and one gripping piece 31 disposed on the frame member 30 so as to be movable in one direction. That is, this second finger module M
118, the length of the attachment member 33 can be arbitrarily set, so that the gripping length of the article to be gripped can be freely set; in other words, the gripping member 33 has a long gripping length. It is set so that it can grip objects reliably. In addition, single type finger mechanism 35
The configuration will be explained in detail later with reference to FIGS. 4F to 4th engineering drawings. Further, the third finger module M 6c is generally composed of the above-mentioned mounting member 33 and double-type finger mechanisms 29 attached to both ends of the mounting member 33, respectively. Here, in this third finger module Msc, a pair of gripping pieces 31a in each double type finger mechanism 29. The gripping direction of the mounting member 31b is set to be perpendicular to the longitudinal direction of the mounting member 33. That is, this third finger module M ac is capable of grasping an extremely elongated article, in other words, it is capable of grasping an article that cannot be gripped in the longitudinal direction of the article. It is set as follows. Further, the fourth finger module MIID is generally composed of the above-described attachment member 33 and single-type finger mechanisms 35 attached to each of the four corners. Here, in this fourth finger module MID, the moving direction of each gripping piece 31 in each single type finger mechanism 35 is set to match the longitudinal direction of the mounting member 33. That is, this fourth finger module M6. ll can grip an object that is too large to be gripped with a pair of gripping pieces, in other words, it can grip an object that cannot be lifted unless it is gripped in four places. It is set as follows. Further, as shown in FIG. 3E, the fifth finger module M8E includes the above-mentioned mounting member 33 and the mounting member 33.
It is generally composed of a pair of suction tubes 37a and 37b, which are attached to both ends of the suction tubes 37a and 37b and supported independently of each other so as to be movable up and down. In detail, each suction pipe 37a, 37
b is a tube body 3 supported by a mounting member 33 so as to be movable up and down;
7a+, 37bz, and suction pads 37az, 37b attached to the lower ends of the tube body 37a137b1, respectively.
* and coil springs 37a3, 37b that are wound around each tube body 37a237b2 and bias each tube downward.
It is composed of 3. In other words, the fifth finger module M6E is set to be optimal for gripping the upper surface of an article with a considerably large slope by suction. Here, this fifth finger module Mst includes the pair of coil springs 378s and 37bs described above.
Therefore, it has an overload absorption function, that is, a cushion function. As shown in FIG. 3F, the sixth finger module M8F includes the above-mentioned mounting member 33, a pair of suction tubes 37a and 37b fixedly attached to both ends of this mounting member, and The pivot portion 39 pivotally supports the member 33. For details,
Each suction tube 37a, 37b is a tube body 37a fixedly attached to the lower surface of the attachment member 33. 37b1, and suction pads 37a237b2 attached to the lower ends of the tube bodies 37a, 37b+, respectively, and the pivoting part 39 can be attached to any of the other modules M1 to M5 or the mounting plate 22 to which it is attached. It is set so that it can pivot relative to the lower part. That is, the sixth finger module M+tF is set to be optimal for suctioning and gripping the upper surface of an article with a relatively gentle slope. Although the pivot portion 39 is not shown in detail, it is equipped with a spring that elastically damps the movement of the mounting plate 22 in the axial direction, and the sixth finger module M6F is This coil spring has an overload absorbing function, that is, a cushioning function, similar to the fifth finger module May described above. (Description of the double type finger mechanism 29) As described above, each end of the first finger module M6A shown in FIG. 3A defines itself, or the third finger module M6A shown in FIG. 3C. The double type finger mechanism 29 provided in the section is specifically constructed as shown in detail in FIGS. 4A to 4E. That is, this double-type finger mechanism 29 is configured to be driven by pneumatic pressure, that is, by operating compressed air, and as shown in the figure, the frame member 30 has a square planar shape with the interior vertically penetrated. It is equipped with As is clear from FIG. 4E, inside this frame member 30, a pair of guide shafts 32a, 3 are arranged parallel to each other in a horizontal plane.
2b is attached. These guide shafts 32a32
a pair of slide members 34 while being guided together by b.
a and 34b are respectively slide bushes 36a+; 36
a2.36b+ ;Slideably supported via 36bz. As is clear from FIG. 4C, a mounting piece 38 (not shown) is attached to the lower surface of the outer end of each slide member 34a, 34b in a downwardly protruding state.
a and 38b are integrally formed in a downwardly protruding state. Note that the shape of these gripping pieces can be arbitrarily changed depending on the shape of the article to be gripped. Further, both slide members 34a and 34b are always urged in a direction away from each other by a coil spring 40 shown in FIG. 4E. On the other hand, in order to resist the biasing force of the coil spring 40 and slide the slide members 34a, 34b closer to each other, the pneumatic cylinder mechanisms 42a, 42b are arranged on a horizontal surface, as is clear from FIG. 4D. They are arranged in such a way that they do not face each other. Each pneumatic cylinder mechanism 42a, 42b has a cylinder chamber 42a+ opened at the rear surface of each corresponding slide member 34a, 34b. 42b, and a through hole 42 formed in the frame member 30.
The piston body 42a has its tip inserted into the corresponding cylinder chamber 42a+, 42bl while being fixed by penetrating through the piston body 42a and 42b2. 42b3. Here, compressed air introduction passages 42a4 and 42b4 are formed in each of the piston bodies 42as, 42b3 in a state penetrating in the axial direction. Furthermore, as is clear from Fig. 4D, each pneumatic cylinder mechanism 4
A stopper member 44a extends through the slide members 34b and 34a, respectively, at a position facing each of the slide members 2a and 42b in the horizontal plane. 44b is attached. These stopper members 44
a and 44b are screwed so as to be movable forward and backward relative to the frame member 30 so as to abut the inner surfaces of the corresponding slide members 34a and 34b and adjustably define the amount of each slide. Since the double-type finger mechanism 29 is configured as described above, the fourth B
As shown in the figure, both slide members 34a, 34b are urged away from each other. As a result, the mounting piece 38
The gripping pieces (not shown) attached to a and 38b, respectively, are
They will be separated from each other by a maximum distance. On the other hand, when working compressed air is introduced into both pneumatic cylinder mechanisms 42a and 42b, the corresponding compressed air introduction passage 42a4
．． The cylinder chambers 42a, 42b are connected to each other via the cylinder chambers 42b4, 42b4, respectively.
, and as a result, the cylinder chambers 42a+,
42b+ are formed on the slide members 34a and 34b, respectively.
are biased toward each other against the urging force of the coil spring 40. As a result, the article located between the two gripping pieces is gripped by the two gripping pieces that are close to each other.
4b, it is prohibited to approach within a distance shorter than a predefined minimum distance. Attachment screw holes 46a are formed in the four corners of the upper surface of this frame member 30, having the above-mentioned constant diameter d1 and spaced apart from each other at a constant pitch D1. The diameter d and the arrangement pitch D1 are 6
Regarding the types of modules M, -M and the mounting plate 22,
Each is set to a common value. In addition, frame member 3
At the center of the two pieces facing each other on the upper surface of 0, the bottom surfaces of each of the modules M1 to M5 and the mounting plate 22, which will be described later, have a common diameter d2 and are spaced apart by a common distance D2. A positioning hole 46b and a positioning groove 46c are formed into which a pair of positioning bins are respectively inserted. These positioning holes 46b and positioning grooves 46c
are set in common to each of the modules M1 to M and the hand mounting plate 22 as described above, so this first finger module M8A is
1 to M and the lower part of the mounting plate 22 in the same manner. Here, for example, this double type finger mechanism 29
A first finger module M I constructed directly from
When attaching the IA directly to the hand mounting plate 22, a threaded portion formed at the lower end of a mounting screw (not shown) inserted from above through the mounting hole 22a of the hand mounting plate 22 is used for mounting. It will be screwed into the screw hole 46a. (Description of single-type finger mechanism 35) Also,
In the above-mentioned second finger module Maa shown in FIG.
It is specifically constructed as shown in detail in the figures to the fourth engineering drawing. That is, this single type finger mechanism 35
As shown in FIG. It is configured so that Inside this frame member 30, as shown in FIG. 4F, a pair of guide shafts 4 are arranged parallel to each other in a horizontal plane.
1a and 41b are attached. One slide member 43 is slidably supported via a slide bush 45 while being guided by the pair of guide shafts 41a and 41b. As is clear from FIG. 4G and the fourth engineering drawing, a mounting piece 47 is integrally provided on the lower surface of this slide member 43 to which only one gripping piece (not shown) can be attached. In order to slide the slide member 43, a pair of pneumatic cylinder mechanisms 49a and 49b are arranged in the same horizontal plane so as not to oppose each other. Here, the left pneumatic cylinder mechanism 49a located on the left side in the figure
The above-mentioned pair of guide shafts 4 are installed in the slide member 43.
1a and 41b, it is provided with a left cylinder chamber 5'l a which extends along the sliding direction of this and is open on the left side of this in the figure, and also has a left cylinder chamber 5'la which is formed in a state where it is opened on the left side of this in the figure. The right pneumatic cylinder mechanism 49b located at
The slide member 43 is provided with a right cylinder chamber 51b that is formed at the same height as the left cylinder chamber 51a, extends parallel to the left cylinder chamber 51a, and is open to the right side surface in the figure. On the other hand, a left piston body 53a is implanted on the left side of the frame member 30, with its tip protruding into the left cylinder chamber 51a, and the base end of the left piston body 53a is connected to the frame member 30. It penetrates the left outer surface of the member 30 and is cut outward. Further, a right piston body 53b is implanted on the right side of the frame member 30 with its tip protruding into the above-mentioned right cylinder chamber 51b. It penetrates the right outer surface of the body and is taken out to the outside. Here, inside each piston body 53a, 53b, compressed air introduction passages 55a, 55 are provided, penetrating along the axial direction.
b are formed respectively. Moreover, each piston body 53a,
Connecting boats 57a and 57b for connecting to a pneumatic source (not shown) are attached to the base end of each of 53b. In addition, as shown in FIG. 4H, this slide member 43
In the state where the left piston body 53a is deflected to the maximum right in the figure,
The tip of the right piston body 53b is located on the opening side of the corresponding left cylinder chamber 51a, and the tip of the right piston body 53b is positioned on the innermost side of the corresponding right cylinder chamber 51b. . Further, as shown in FIG. 4H, stopper members 59a and 5
9b are attached respectively. These stopper members 59
a and 59b selectively contact both left and right side surfaces of this slide member 43 to respectively define the left and right stopping positions of this slide member 43, in other words, the sliding stroke of this slide member 43 It is established to specify the In order to be able to arbitrarily define the sliding stroke of the slide member 43, both stopper members 59a and 59b are attached to be movable forward and backward along the sliding direction of the slide member 43. Since the single type finger mechanism 35 is configured as described above, when operating compressed air is introduced into the right pneumatic cylinder mechanism 49b, it is transferred to the right cylinder chamber 51b through the corresponding compressed air introduction passage 55b. brought within;
As a result, the slide member 43 in which the right cylinder chamber 51b is formed is biased to the left in the figure. As a result, for example, the second finger module M to which this single type finger mechanism 35 is attached at both ends
In llB, the slide members 43 located at both ends come close to each other, and the article located between both grip pieces 31 attached to these slide members 43 is gripped by both grip pieces 31 that come close to each other. will be done. Note that these gripping pieces 31 are attached to the stopper member 59 described above.
It is prohibited to approach within a distance shorter than the minimum distance predefined by 59a and 59b. Here, the four corners of the upper surface of this frame member 30 have a constant diameter d1 and a constant arrangement pitch D1, just as in the case of the double type finger mechanism 29 described above.
Attachment screw holes 46a are formed spaced apart from each other. Furthermore, in the center of the two opposing pieces on the upper surface of the frame member 30, each module M, -M, which will be described later, is provided.
, and the bottom surface of the mounting plate 22 are formed with a positioning hole 46b and a positioning groove 46c into which a pair of positioning bins having a common diameter d2 and separated by a common distance D2 are respectively inserted. . (Description of the reversing module M) The reversing module M1 for performing the above-mentioned reversing operation is set to be orthogonal to the central axis of the reversing module M, as shown in FIGS. 5A to 5F. The rotation shaft 48 is provided with a pair of upper and lower mounting bases 50a and 50b which are rotatably mounted relative to each other. Here, the upper mounting base 50a is integrally provided with a mounting stay 52a that extends downward from the lower surface thereof, and the lower mounting base 50b is provided with a pair of mounting stays 52b, 52b2 that rise upwardly from the upper surface thereof. It is equipped with the following. As is clear from FIG.
It is set to pass through 2b2 sequentially. Note that this rotation shaft 48 is
It is rotatably supported via a pair of bearing members 54a and 54b through a through hole 56 formed so as to extend in the same direction as the bearing members 54a and 54b. Moreover, this rotation shaft 48 has both mounting stays 52bl at both ends thereof.
, 52b2 so as to rotate together with each other. In addition, a pinion gear 58 is key-fitted in the central part of the rotation shaft 48, in other words, in the part inserted into the through hole 56 formed in the mounting stay 52a, so that the pinion gear 58 rotates integrally with each other. It is installed like this. Further, as is clear from FIG. 5F, the above-mentioned mounting stay 52a has a rotating shaft 48 in between.
A pair of pneumatic cylinder mechanisms 60a for rotationally driving 8.
, 60b are arranged so as to extend by 20 in the vertical direction from each other. Here, each pneumatic cylinder mechanism 60a, 60b has a cylinder chamber 60a, 60b formed in the mounting stay 52a.
, and pistons 60a2, 60 slidably inserted in the corresponding cylinder chambers 60a+60bz in an airtight manner.
b2, and rack members 60ax, 601:z connected to the corresponding pistons 60a260b and taken out downward from the cylinder chambers 60a+, 60b+. Further, both rack members 60ai and 60bs are engaged with the pinion gear 58 mentioned above. Further, each cylinder chamber 60 a + and 60 a 2 has a compressed air introduction passage 60 formed at the upper end thereof.
Working compressed air is arranged to be introduced via a 4160 b 4, respectively. Note that operating compressed air is selectively introduced into both compressed air introduction passages 60a, 60b by means of switching valves (not shown). On the other hand, as is clear from FIG. 5C, on the outer surface of one of the lower mounting stays 52b, a plurality of rotation amount regulating holes 62 are formed concentrically around the horizontal central axis 48 at intervals of 30 degrees. ing. In these rotation amount regulating holes 62,
Two rotation amount regulating members 64a and 64b are inserted so that their positions can be exchanged. In addition, the upper mounting base 5
A pair of stays 66a, 66b are fixed to the stays 66a, 66b, and a pair of stopper bins 68a, 68b are attached to these stays 66a, 66b so that their positions can be adjusted and moved forward and backward along the vertical direction. It is screwed on. As described above, this reversing module M is configured, so that when compressed air is introduced into the pneumatic cylinder mechanism 60b on the right side of the figure, as shown in FIG. 5F, the corresponding rack member 60b8 is pushed downward, so the pinion gear 58 that meshes with it rotates clockwise, and as shown in FIG. 5C, the left rotation amount regulating member 66a hits the left stopper bin 68a. In this state, the amount of rotation is regulated, that is, stopped. In this embodiment, with the left rotation amount regulating member 66a in contact with the left stopper bin 68a, the lower mounting base 50b is parallel to the upper mounting base 50a. It is set to be. On the other hand, in this reversing module M, when the switching valve (not shown) is switched from the state shown in FIG. 5F to introduce compressed air into the pneumatic cylinder mechanism 60a on the left side of the figure, the corresponding Since the rack member 60a3 is pushed down, the pinion gear 58 that meshes with it rotates counterclockwise, and as shown by the two-dot chain line in FIG. 5C, the right rotation amount regulating member 66b It rotates until it comes into contact with the right stopper bin 68b, and in this state, the amount of rotation is regulated, that is, it stops. In this embodiment, with the right rotation amount regulating member 66b in contact with the right stopper bin 68b, the lower mounting base 50b is angled at 90 degrees with respect to the upper mounting base 50a. are set so that they intersect at an angle of Here, the four corners of the upper mounting base 50a are provided with a diameter d1 in a state where they are spaced apart from each other at the above-mentioned constant pitch D.
Attachment screw holes 70a are formed in the four corners of the lower mounting base 50b, and through-holes 70b are formed in the same manner at the four corners of the lower mounting base 50b. In addition, each module M, to M5 is provided at the center of two opposing sides of the upper surface of the upper mounting base 50a.
A positioning hole 70c and a positioning groove 70d into which a pair of commonly formed positioning pins are respectively inserted are formed on the bottom surface of the body. At the center of two opposing sides of the lower surface of the lower mounting base 50b, other modules M2 to M
, or a pair of positioning pins 70e having a diameter d2 and spaced apart by a predetermined distance D2, which are inserted into the positioning holes and positioning grooves formed in the first finger module MMA, respectively, protrude downward. It is attached as one piece. In this way, at the bottom of this inversion module M,
Which of the other modules M2 to M6 is selectively installed, and on top of this, the other modules M2 to M6 are selectively attached.
Either of the M5 or the hand attachment plate 22 can be selectively attached. (Description of shift module M2) Shift module M for performing the above-mentioned shift operation
2. As shown in FIGS. 6A to 6D, the shift module M2 includes a pair of upper and lower mounting bases 72a and 72b that are movably attached to each other along the central axis of the shift module M2. Here, the upper mounting base 72a is integrally provided with a main body portion 74 that extends downward from the center of the lower surface thereof. This main body portion 74 includes a lower mounting base 72.
A pneumatic cylinder mechanism 76 is provided for moving the upper mounting base 72a along its central axis. This pneumatic cylinder mechanism 76 extends along the central axis of the shift module M2, and includes a cylinder chamber 78 formed in the main body portion 74 with an open bottom surface. Further, the main body portion 7 is arranged so that the pair of guide holes 80a and 80b penetrate in the vertical direction with the cylinder chamber 78 sandwiched therebetween.
4. On the other hand, a lower end of a piston rod 82a is fixed to the upper surface of the lower mounting base 72b, protruding upward along its central axis and inserted into the cylinder chamber 78 from below. A piston 82b that slides on the inner peripheral surface of the cylinder chamber 78 is attached to the upper end of the cylinder chamber 78. Here, the cylinder chamber 78 is divided into two upper and lower chambers by this piston 82b, and the upper cylinder compartment 78
a and a lower cylinder compartment 78b are formed. Further, the lower ends of a pair of guide rods 84a, 84b are fixed to the upper surface of the lower mounting base 72b, which are slidably inserted into the pair of guide holes 80a, 80b, respectively, from below. Further, compressed air introduction passages 76a and 76b through which working compressed air is introduced are connected to the upper end of the upper cylinder compartment 78a and the lower end of the lower cylinder compartment 78b, respectively. In this way, the working compressed air is introduced into the lower cylinder compartment 78b via the lower compressed air introduction passage 76b, and as shown in FIG. While being guided, the lower mounting base 72b is biased upward along the central axis, and as a result, the lower mounting base 72b is shifted to a position close to the upper mounting base 72a. On the other hand, by introducing working compressed air into the upper cylinder compartment 78a through the upper compressed air introduction passage 76a, the piston 82b
As a result, the lower mounting base 72b is biased downward along the central axis while being guided by the upper mounting base 7
It will be shifted to a position away from 2a. Normally, in the non-shift mode, operating compressed air is introduced into the lower cylinder compartment 78b through the lower compressed air introduction passage 76b via a switching valve (not shown), and as a result, The lower mounting base 72b is placed close to the upper mounting base 72a. Here, a pair of mutually opposing edges at the lower end of the main body portion 74 described above is provided with an overhang piece 74a. 74b is integrally formed. These overhang pieces 7
The outer edges of 4a and 74b are set to vertically align with the corresponding edges of the lower mounting base 72b. A bolt-shaped upper shift position regulating member 86a is screwed into both the projecting pieces 74a, 74b so as to be able to move forward and backward along the vertical direction, and is adjacent to the position regulating member 86a. Through holes (
(not shown) is formed. This position regulating member 86a
The lower end of the lower mounting base 72b can be brought into contact with the upper surface of the lower mounting base 72b.
The upper shift position of is defined. Note that the upward shift position can be finely adjusted by moving the regulating member 86a back and forth in the vertical direction. On the other hand, the lower end of the support rod 86b is fixed to the upper surface of the lower mounting base 72b while passing through the through hole. The projecting pieces 74a, 74 of this support rod 86b
A nut-shaped downward shift position regulating member 86c is screwed to the upper end located above b so as to be movable back and forth in the vertical direction. The lower surface of this position regulating member 86c is capable of coming into contact with the upper surfaces of the overhanging pieces 74a and 74b, respectively, and is set such that the downward shift position of the lower mounting base 72b is regulated in the state of contact. Toward,
By moving the regulating member 86c forward and backward in the vertical direction, the downward shift position can be finely adjusted. Here, at the four corners of the upper mounting base 72a, there are mounting screw holes 88a having the above-described fixed diameter d1 and spaced apart from each other at a fixed pitch D1. Attachment through holes 88b are formed in the same manner at each of the four corners. In addition, the upper mounting base 72
A positioning hole 88c and a positioning groove 88d into which a pair of positioning bins formed in common on the bottom surface of each of the modules M1 to M and the hand mounting plate 22 are inserted, respectively, in the center of two opposing sides of the upper surface of a. is formed. Another module M is provided at the center of two opposing sides of the lower surface of the lower mounting base 72b. A pair of positioning pins 88e each inserted into the positioning holes and positioning grooves formed in M3 to M6- have a predetermined diameter d1, are integrally attached with a predetermined distance D2 apart, and protrude downward. ing. In this way, any of the other modules M, , M, ~M, (7) is selectively attached to the lower part of this shift module M2, and the other modules M1. Any one of Ms to M5 or the hand attachment plate 22 can be selectively attached. (Description of the turning module M3) The turning module M for performing the above-mentioned turning operation is set to align with the central axis of the turning module M3, as shown in FIGS. 7A to 7F. A pair of upper and lower mounting bases 92a and 92b are provided which are rotatably mounted relative to each other around a rotation support shaft 90. Here, a main body part 94 is integrally formed in the center of the lower surface of the upper mounting base 92a in a state of protruding downward, and a through hole is formed in the center of the main body part 94, penetrating vertically. 96 is formed. The above-mentioned rotation support shaft 90 passes vertically through the through hole 96, and a pair of bearings 98a. It is fixed to the upper surface of the lower mounting base 92b while being rotatably supported via the lower mounting base 98b. Further, a snap ring 100 is attached to the upper end of the pivot shaft 90 in order to prevent it from being pulled out and falling downward from the through hole 96. 20 A pinion gear 10 is provided on the outer periphery of the central part of the rotation support shaft 90.
2 are coaxially attached so that they rotate together through a key. On the other hand, as is clear from FIG. 7E, a pneumatic cylinder mechanism 104 for rotationally driving the pivot shaft 90 is disposed in the main body portion 94 described above. This pneumatic cylinder mechanism 104 includes a cylinder body 106 that extends along a direction perpendicular to the rotation support shaft 90 and is integral with the main body portion 94. Cylinder chamber 1 extending along the direction perpendicular to 90
08 is formed. Inside this cylinder chamber 108, a pair of pistons 110a are provided.
, 110b are integrally connected to each other via a piston rod 112, and are slidably housed while maintaining an airtight state. Further, the cylinder chamber 108 has an opening at its center that communicates with the through hole 96, and the piston rod 112 is formed with a rack 114 that meshes with the above-mentioned pinion gear 102 through this opening. There is. One cylinder compartment 108a is defined by a portion of the cylinder chamber 108 located outwardly from one piston 110a, and the other cylinder compartment 108b is defined by a portion of the cylinder chamber 108 located outwardly from the other piston 110b. is stipulated. Furthermore, compressed air introduction passages 116a and 116b into which operating compressed air is introduced are connected to the outer ends of the one and the other cylinder compartments 108a108b, respectively. In this way, the working compressed air is introduced into the other cylinder compartment 108b through the other compressed air introduction passage 116b, so that both pistons 110a and 110b are moved by the piston rod 112, as shown in FIG. 7E. While connected to each other, the inside of the cylinder chamber 108 is biased upward in FIG. 7E, and as a result, the lower mounting base 92b
is pivoted relative to the upper mounting base 92a about the pivot shaft 90 in a counterclockwise direction in the figure. On the other hand, working compressed air is introduced into one cylinder compartment 1-() 8a through one compressed air introduction passage 116a, thereby causing both pistons 110a to open. 110b are connected to each other by the piston rod 112 and are biased downward in the cylinder chamber 108 in FIG. It rotates around the center in a clockwise direction in the figure. Normally, in the non-swivel mode, working compressed air is introduced into the other cylinder compartment 108b through the other compressed air introduction passage 116b via a switching valve (not shown), and as a result, , lower mounting base 92b
is subjected to a counterclockwise rotation biasing force with respect to the upper mounting base 92a. Here, both compressed air introduction passages 116a
, 116b are configured to selectively introduce operating compressed air by switching valves (not shown). On the other hand, as is clear from FIG. 7D, the lower mounting base 92b
A plurality of rotation amount regulating holes 118 are formed concentrically around the rotation support shaft 90 at intervals of 22.5 degrees. Two rotation amount regulating members 120a are provided in these rotation amount regulating holes 118. 120b is inserted so that its mounting position can be exchanged. Further, a pair of stays 122a and 122b are fixed to the main body portion 94 of the upper mounting base 92a, and a pair of stopper bins 124a and 124b can be moved forward and backward to adjust their positions on these stays 122a and 122b. It is screwed in such a way that it comes 8. As described above, this turning module M3 is configured, so that when compressed air is introduced into the cylinder compartment 108b in the lower part of the figure, as shown in FIG. 7F,
Since the rack 114 is biased upward in the figure, the pinion gear 102 that meshes with it rotates counterclockwise, and as shown in the figure, the other rotation amount regulating member 120b
While in contact with the corresponding stopper bin 124b, the amount of rotation thereof is regulated, that is, stopped. In this embodiment, with the other rotation amount regulating member 120b in contact with the stopper bin 124b, the lower mounting base 92b is lower than the upper mounting base 9.
2a. On the other hand, in this swing module M, the switching valve (not shown) is switched from the state shown in FIG. 7E,
When compressed air is introduced into the cylinder compartment 108a in the upper part of the figure, the rack 114 is pushed down, so the pinion gear 102 that meshes with it rotates clockwise, and one of the rotation amount regulating members 120a rotates until it comes into contact with the corresponding stopper bin 124a, and in this state, the amount of rotation is regulated, that is, it stops. In this embodiment, in a state where one rotation amount regulating member 120a is in contact with the corresponding stopper bin 124a, the lower mounting base 92b is fixed to the upper mounting pace 9.
It is set to rotate at an angle of 90 degrees clockwise with respect to 2a when viewed from above. 2. At the four corners of the upper mounting base 92a, the diameter d
The mounting screw holes 126a of the lower mounting base 92
Attachment through holes 126b are formed in the same manner at the four corners of b. In addition, each module M1 is provided at the center of two opposing sides of the upper surface of the upper mounting base 92a.
~A positioning hole 126c and a positioning groove 12 into which a pair of positioning pins formed in common on the bottom of M6 are respectively inserted.
6d is formed. At the center of two opposing sides of the lower surface of the lower mounting base 92b, other modules MM2. A pair of positioning pins having a diameter d2 and spaced apart by a predetermined distance D2, which are inserted into the positioning holes and positioning grooves formed in M, to M6, respectively! 26e is integrally attached with the part 26e protruding downward. In this way, in the lower part of this turning module M3,
Other modules Ml, M2. Any one of M, to M6 is selectively attached, and any of the other modules M 1 + M 2 + M 4゜M or the hand attachment plate 22 is selectively attached above it. It can be installed. The reversing module M1 and shift module M described above
2. The rotation module M3 constitutes an active module in the hand mechanism 10, that is, a module whose position can be actively changed by its own drive source (pneumatic cylinder mechanism). (Description of Cushion Module) The cushion modules M4 for performing the above-mentioned cushioning operation are attached so as to be movable relative to each other along the central axis of the cushion modules M4, as shown in FIGS. 8A to 8C. A pair of upper and lower mounting bases 1
28a and 128b. Here, a pair of guide bins 130a and 130b are fixed in an upright position on the lower mounting base 128b at mutually symmetrical positions with the center axis line between them. On the other hand, these guide bins 1 are mounted on the upper mounting base 128a.
Stepped through holes 1 are provided at positions facing each of 30a and 130b.
32a and 132b are formed so as to penetrate in the vertical direction. Each stepped through hole 132a, 132b is a small diameter through hole portion 1 that opens on the lower surface of the upper mounting base 128a.
32a + + 312b + and large-diameter through-hole portions 132aa and 132bz that are open on the upper surface and are coaxial with each other. Here, the upper part of each guide bin 130a, 130b is connected to a slide bearing 134a, 1 at a small diameter through hole portion 132a+, 132tz of the corresponding stepped through hole 132a, 132b.
34b in a slidable manner, and flange members 136a, 136b are fixed to the upper ends of each of them to fit into large-diameter through-hole portions 132a2, 132bz. With this configuration, the lower mounting base 128b is supported in a suspended state by the upper mounting base 128a via the pair of guide bins 130a, 130b. Here, a coil spring 138 is located between the mounting bases 128a and 128b along the central axis of the mounting bases 128a and 128b.
is interposed. This coil spring 138 has a biasing force that biases both mounting bases 128a128b in a direction away from each other. In this way, in the cushion module M4, in the non-cushion mode state, the lower mounting base 128b is moved by the urging force of the coil spring 138 to prevent the flange members 136a, 1
36b is a stepped through hole 132a. 132b, each large-diameter through-hole portion 132az. 132b, until it touches the bottom of the upper mounting base 1.
28a. On the other hand, when the component held by the finger portion F mentioned above is inserted into the hole, when the bottom of the component comes into contact with the bottom surface of the hole, the cushioning operation is passively performed in this cushion module M4. That is, when the insertion operation of the component is continued with the bottom of the component in contact with the bottom of the hole, the lower mounting base 128b connected to the finger portion F resists the biasing force of the coil spring 138. Then, it moves along the central axis via the pair of guide bins 130a and 130b so as to approach the upper mounting base 128a. In this way, if the cushion module M4 is incorporated into the hand mechanism 10, the shock along the central axis due to interference between the part and the hole, for example when inserting a part, is absorbed, and the finger This effectively prevents excessive force from acting on F or the robot 12. Here, in the four corners of the upper mounting base 128a, there are mounting screw holes 140a with a diameter d1 spaced apart from each other at the above-described fixed pitch D1.
At the four corners of 28b, there are mounting through holes 140 in the same condition.
b are formed respectively. Further, in the center of two mutually opposing sides of the upper surface of the upper mounting base 128a, there are a positioning hole 140C and a positioning groove 140d into which a pair of positioning bins formed in common on the bottom surface of each module M1 to M6 are respectively inserted. It is formed. At the center of two opposing sides of the lower surface of the lower mounting base 128b, other modules M, ~M, , M
s. A pair of positioning pins 140e having a diameter d and spaced apart by a predetermined distance D2 are integrally formed in a downwardly protruding state to be inserted into a positioning hole and a positioning groove formed in M6. In this way, below this cushion module M4, other modules M1 to Ma1M s , M 6
At the same time, any one of the other modules M, . (Compliance module) Finally, the compliance module M for performing the above-mentioned compliance operation is shown in FIGS.
As shown in FIG.
It is equipped with Here, these mounting bases 142a. As is clear from FIG. 9D, a pair of compliance mechanisms 144 and 146 are disposed between 142b and symmetrically about the central axis, and these compliance mechanisms 144 and 146 A pair of locking mechanisms 14 are disposed on axes orthogonal to the disposed axes at positions symmetrical about the above-mentioned central axis.
8°150 is interposed. Here, a main body portion 152 that protrudes downward is integrally formed at the center of the lower surface of the upper mounting base 142a, and a flange member 154 that extends radially outward is integrally formed on the lower surface of this main body portion 152. is installed. on the other hand,
At the outer peripheral edge of the upper surface of the lower mounting base 142b, a ring is inserted into the peripheral edge of the above-mentioned flange member 154 from above.
In other words, the flange member 154 and the upper mounting base 142
The ring-shaped locking member 156 is inserted between the
is fixed. The lower surface of this locking member 156 and the flange member 15
Ball bearings 158a and 158b are respectively interposed between the upper surface of the flange member 154 and the upper surface of the lower mounting base 142b. In this way, the lower mounting base 142b is connected to the upper mounting base 142a via these ball bearings 158a, 158b.
It is suspended so as to be rotatable relative to the vertical axis and movable within a plane perpendicular to the vertical axis (hereinafter referred to as a cross section). Here, the above-mentioned pair of compliance mechanisms 144.
146 is the trade-in base 142b in the normal state.
When no equivalent external force is applied to the upper mounting base 14
2a and the central axis C1 of the lower mounting base 142b.
2 are elastically maintained in alignment with each other along the central axis of the compliance module M, and when an external force in the cross section is applied to the lower mounting base 142b, in response to this external force, It is set to allow softness (deviation) within this cross section within a predetermined range.The configuration of the compliance mechanism 144146 will be explained below, but both compliance machines horizontal 14
4 and 146 have the same configuration, only the configuration of the compliance mechanism 144 on the left side of the figure will be explained in detail, and the configuration of the compliance mechanism 146 on the right side of the figure will be explained using the same alphabetic subscripts. By attaching it, it will be omitted. That is, this compliance mechanism 144
When no external force is equally applied to the first shaft member 144a attached to the lower surface of the 52 so as to protrude downward and the lower mounting base 142b, the first shaft member 144a is attached to the lower mounting base 142b in a direction perpendicular to the first shaft member 144a. A second shaft member 144b is attached to the upper surface of the lower mounting base 142b so as to project upward in an aligned state. Note that these first and second shaft members 144a144b are
Both shaft members 144a are formed to have outer peripheral surfaces having the same radius, and the lower end of the first shaft member 144a is connected to the second shaft member 144a.
They are set to face each other at a slight distance from the upper end of 44b. The compliance mechanism 144 also includes support bins 144c as a plurality of support members disposed so as to simultaneously surround the opposing ends of the first and second shaft members 144a and 144b. . Specifically, these support bins 144c, in this embodiment,
It is formed from a cylindrical body having the same radius as the first and second shaft members 144a and 144b described above, and the number thereof is 6.
It is set in the book. These six support bins 144c are the first and second shaft members 144a. They are arranged so as to simultaneously surround the opposite ends of 144b without any gaps. Here, each support bin 144c has an upper end portion and a lower end portion.
An annular cut groove 144d is formed in each. and,
These support bins 144c are both shaft members 144a and 144b.
In the state surrounding these support bins 144c, each cut groove 144d has a
These support bins are connected to the first and second shaft members 144a, 14
A ring-shaped biasing member 144e is housed and wound around each of the ring-shaped biasing members 144e, which bias elastically press against the circumferential surfaces of the mutually opposing ends of the terminals 4b. In this embodiment, the biasing member 144e is formed from a finely wound ring-shaped coil spring. Further, the locking mechanisms 148 and 150 described above, when the two-axis arm 20 of the robot 12 moves laterally at high speed,
Due to its inertia, the lower mounting base 142b moves to the upper mounting base 1.
It is provided to prevent deviation in the lateral direction with respect to 42a. Here, both the double-ended locking mechanisms 148 and 150 have the same configuration, as shown in FIG. 9D. For this reason, only the configuration of the locking mechanism 148 in the upper part of the figure will be explained in detail.
A description of the structure of the locking mechanism 150 in the lower part of the figure will be omitted by adding the same alphabetical subscript. The locking mechanism 148 includes a cylinder chamber 148a that is open on the lower surface of the main body portion 152 and extends along the vertical axis. This cylinder chamber 1
A piston 148b is slidably housed in the piston 48a, and a piston rod 148c serving as a locking pin that projects downward from the lower surface of the main body portion 152 is connected to the piston 148b. Here, lock bin 1
48c is biased toward the upper mounting base 142a by a coil spring 148d, and the biasing force of the coil spring 148d causes a stopper member 148e integrally formed with the upper end of the lock bin 148c to protrude upward. The retracted position of the lock bin 148c is defined at the position where it comes into contact with the upper surface of the cylinder chamber 148a and stops. Further, on the upper surface of the lower mounting base 142b, a lock hole 148f into which the tip of the corresponding lock bin 148c is inserted is formed at a position opposite to the tip of each lock bin 148c. Here, in each cylinder chamber 148a described above,
A compressed air introduction passage 148g through which working air is introduced is connected to a portion above the upper end of the piston 148b. By introducing operating compressed air into the cylinder chamber 148a through this compressed air introduction passage 148g, each lock bin 148C is pushed down from the retracted position against the biasing force of the corresponding coil spring 148d. and biased into the locked position. In addition, in this lock position, the lower end of each lock bin 148c will fit into the corresponding lock hole 148f. In this way, by activating this locking mechanism 148,
The upper mounting base 142a and the lower mounting base 142b are locked to each other in the lateral direction and move laterally as a unit. Compliance module M configured as above
The alignment operation at @ will be explained below. As shown in FIG. 10A, when inserting one bottle P held by finger F into hole H,
The positional information on the x-y plane of Information-based control mechanism (not shown)
The movement is controlled by the control operation of. By controlling the movement of the Z-axis arm 20, when the Z-axis arm 20 moves along the horizontal direction, that is, in the Through the double-ended hook mechanism 1
Compressed air will be supplied at 48°150. In this manner, each lock bin 148c, 150c has a corresponding coil spring 148d. It is pushed down from the retracted position against the biasing force of 150d and biased to the lock position. In this way, the double-ended locking mechanisms 148 and 150 are activated and are in a locking state, and each locking pin 148c is activated. 150C is brought to the lock position and fitted into the corresponding lock holes 148f, 150f, so that the pair of upper and lower mounting bases 142a, 142b are locked to each other in the lateral direction and can move laterally as one unit. become. On the other hand, by controlling the movement of the Z-axis arm 20, when the Z-axis arm 20 moves along the vertical direction, that is, within the x-z or y-z plane, the solenoid valve closes and the double-ended locking mechanism 148
, 150c will not be supplied with compressed air. In this way, each lock pin 148c, 150b is pushed upward from the locked position to the retracted position by the biasing force of the corresponding coil spring 148e, 150e.
biased into the retracted position. In this way, the double-ended locking mechanism 1
48 and 150 are in an inoperative state, and each lock pin 148
c, 150c is brought into the retracted position and the corresponding locking hole 148f. By being pulled out from 150f, the upper and lower mounting bases 142a, 142b are brought into a state where they can move freely relative to each other in the lateral direction. In addition, here, if this position information is accurate, the two-axis arm 20 is moved and driven according to the control contents of the control mechanism, and the hole H is positioned according to the set value, Directly above, based on the movement control operation described above,
By moving the pin P and then lowering it vertically, the pin P fits into the hole H well. However, the positioning of the hole H is not accurate, and
If there is a slight deviation from the set value in the plane, or if the 2-axis arm 2
The zero position may deviate slightly from the position specified by the control mechanism due to errors in the drive system, such as backlash in gears. If such a deviation occurs, the biaxial arm 20
The pin P, which has been lowered vertically due to the lowering of
As shown in Figure A, its lower edge comes into contact with the tapered surface T of the hole H. Then, as the biaxial arm 20 further descends, the lower edge of the bin P receives a component force F0 directed in the horizontal direction along the tapered surface T. Here, as described above, when the Z-axis arm 20 moves along the vertical direction, the double-ended hook mechanisms 148, 1
50 is in an inactive state. For this reason, the pair of upper and lower mounting bases 142a, 142b can be laterally displaced relative to each other. As a result, the bin P receives the above-mentioned horizontal component force F0, and this component force F acts on the compliance machine @144.146 via the lower mounting base 142b. Therefore, this component force F. 10B, the pair of upper and lower biasing members 14
4e; 146e, the first and second shaft members 144a, 144b 146a; 146b are elastically aligned with each other in the vertical axial direction, and as shown in FIG. 10C, the biasing members 144e; 146e are The support pins 144c; 146c tilt obliquely against the biasing force, thereby causing the second members 144b, 146b to shift horizontally. In addition, when moving in this horizontal direction, as shown in FIG. 10C, the lower mounting base 142b moves while supporting the bin P so as to extend vertically without tilting its posture. become. Therefore, the subsequent insertion operation can be performed very easily. In this way, the deviation between the bottle P and the hole H is elastically absorbed by the deviation of the first and second shaft members 144a; 144b: 146a; 146b in each compliance mechanism 144, 146, and the deviation between the bottle P and the hole H are aligned with each other along the vertical direction, and as the biaxial arm 20 descends, the bottle P is properly fitted into the hole H. After the operation of inserting the bottle P into the hole H is completed, the grip of the bottle P by the finger part F is released, and the two-axis arm 2
When 0 is driven upward, the finger part F moves upward by itself while separating the bottle P. Then, when the bottle P is completely separated from the finger portion F, the above-mentioned component force F0 does not act on the lower mounting base 142b.As a result, in both compliance mechanisms 144 and 146, the second shaft member , 146b is eliminated, and the pair of upper and lower biasing members 144e; 146e
Due to the biasing force, both mounting bases 142a and 142b are successfully returned from the biased state shown in FIG. 10C to the aligned state shown in FIG. 10B. In this way, this compliance module M6
In other words, the elastic biasing and returning operations in the compliance mechanisms 144 and 146 are completed. Here, in the four corners of the upper mounting base 142a, there are mounting screw holes 160a having a diameter d1 spaced apart from each other at the above-described fixed pitch D1.
At the four corners of 42b, there are mounting through holes 160 in the same condition.
b are formed respectively. In addition, the upper mounting base 142a
A positioning hole 160c and a positioning groove 160d into which a pair of positioning bins formed in common on the bottom of each module M, -M are respectively inserted are formed in the center of two opposing sides of the top surface. . And lower mounting base 1
Other modules M1 to M are located at the center of two opposing sides of the lower surface of 42b. It has a straight line wd2 which is inserted into the positioning hole and the positioning groove respectively formed in the predetermined ratio 11! A pair of positioning bins 160e, which are spaced apart by D, are integrally attached in a downwardly protruding state. In this way, this compliance module M6
At the bottom are other modules M1 to M4. Any one of the modules M a is selectively attached, and any of the other modules M1 to M4 or the hand attachment plate 22 is selectively attached above it. With the cushion module M4 and the compliance module M described above, a passive module in the hand mechanism 10, that is, a module that does not have its own driving source and can deform (bias) itself according to the state of the opponent It is composed of

[Explanation of hand mechanism selection system]

Below, a system for selecting the hand mechanism 10, which is a feature of the present invention, that is, a system for selecting a combination of modules optimal for gripping a predetermined article will be described in detail. (Schematic Configuration of Selection System) First, the schematic configuration of this selection system 200 will be explained with reference to FIGS. 11 and 12. As shown in FIG. 11, this selection system 200 includes a hand mechanism selection control section 202 that controls the overall selection operation;
The selection control section 202 includes a keyboard 204 as a manual means for inputting information on the article to be gripped by the hand mechanism 10, and a display means for displaying the selection results selected by the selection control section 202 on a CRT. Display section 206
Based on the selection results selected by the selection control unit 202, an It is generally composed of a hand mechanism assembly control section 212 that assembles the hand mechanism 10 from predetermined modules. Here, the hand mechanism assembly robot 210 takes out the module selected by the selection control unit 202 from the module placement station 214, where various modules used for assembly are previously placed, and the two-axis arm of the robot 12. A predetermined hand mechanism IO is installed at the lower part of a hand mounting plate 22 provided at the lower end of the hand mounting plate 20 . Here, the above-mentioned selection control unit 202 includes a CPU that executes the selection control procedure, a ROM in which control programs and spec data for this CPU are stored in advance, and information that needs to be stored during execution of the CPU control procedure. 12 is a system diagram of this selection system 200. As is clear from this FIG. 12, the hand mechanism As information on the article (work) to be gripped in step 10, first, "work name" is entered as work registration information.
, "workpiece number", "line name", and "station number", as well as unique information such as "workpiece attribute information", "charging form information", "workpiece posture information", etc. The "work attribute information" includes "shape pattern", "size", "weight", "material", etc., and the above-mentioned "insertion form information". ], [Press force], etc., and the above-mentioned "workpiece posture information" includes [clamping posture] and [
Posture during charging]. This work information is temporarily stored in the RAM in the selection control unit 202 via the keyboard 204 mentioned above, and is called up and used in the module selection control procedure and the work data search control procedure via the work data management system. It is. In addition, the above-mentioned ROM stores spec data in advance, and this spec data includes "unit name", "layer code", "
There are "weight", "clamping force", "release force", etc. These spec data are called and used in the spec data inspection control procedure and the combination check control procedure via the spec data management system. (Basic control procedure for selection control) Next, referring to FIG.
The basic control procedure for selecting the hand mechanism 10 will be explained. When this selection control procedure is started, first, step SI
At O, the posture change state of the workpiece is determined from the workpiece posture information. The details of this determination procedure will be explained in detail later, but the key point is to determine the posture of the workpiece when it is gripped (picked up) by this hand mechanism IO, and the posture when this workpiece is attached (placed) to the inserted site. Recognizing the attitude change state that occurs between It is configured to determine the posture. When it is determined in this step SIO whether or not the reversing module M5 and the turning module M3 are attached based on the state of change in the posture of the workpiece, the determination result is stored in the RAM in step S12. Subsequently, in step S14, the presence or absence of an insertion operation when mounting a workpiece is recognized, and the shift module M
The system is configured to determine the necessity of 2. Then, in step S14, it is determined whether or not the shift module M2 is attached based on the insertion operation during attachment, and in step 816, this determination result is stored in the RAM. After that, in step 318, the occurrence of overload when mounting the workpiece is recognized, and the cushion module M4
The system is configured to determine the necessity of When it is determined in step 318 whether or not the cushion module M4 is attached based on overload, step S2
0, this determination result is stored in RAM. Further, in step S22, when mounting the workpiece, the state of occurrence of positional deviation from the mounting position of the workpiece to the mounting position is recognized, and the necessity of the compliance module M is determined. This step S2
When it is determined in step S2 whether or not the compliance module M is attached based on the misalignment state, step S2
At step 4, this determination result is stored in the RAM. Furthermore, in step S26, the type of finger module M6 required for gripping the workpiece is determined from the workpiece attribute information. When the type of finger module M6 is determined in step 826, step 528
At this time, this determination result is stored in the RAM. In this way, the selection state of modules M1 to M6. When all the conditions are determined, in step S30, the RA
Read all the determination results from M, step 53-2
Then, as a result of the selection, in other words, the final form of the hand mechanism IO required to pick up the work is finally checked in relation to the robot 12 to which it is attached. Then, in step S34, the result of the final check is output, and the series of hand mechanism IO selection control procedures is completed. Here, the final form of the hand mechanism 10 selected in this way is output to the display unit 206 and/or the x-y plotter 208, as described above, so that it can be visually recognized by the operator. Ru. When this output result is supported by the operator, the selection result is sent to the hand mechanism assembly control unit 212, and based on the selection result, the hand mechanism assembly robot 210 specifically configures the hand mechanism 10. will be assembled. (Description of posture change determination procedure) Next, the posture change determination procedure in step S10 described above will be described in detail with reference to FIGS. 13 to 18G. First, in order to recognize a change in the posture of a workpiece, it is necessary to accurately recognize the posture of the workpiece when it is picked up and the posture when it is placed. Therefore, in this embodiment, two vectors, a placement vector and a work reference vector, are newly introduced. Here, the placement vector is defined as a vector pointing in the placement direction from the reference point of the workpiece, as shown in FIG. 14, and is used as a vector specific to the workpiece. On the other hand, the work reference vector is a vector that extends from the above-mentioned reference point along a direction arbitrarily determined by the designer, and is defined as a vector that indicates the reference of the work. Note that the placement vector and the workpiece reference vector are set so as not to be parallel to each other. Here, these placement vectors and workpiece reference vectors are independently defined by a coordinate system uniquely set for the workpiece and an absolute coordinate system defined by matching, for example, the robot coordinate system. It is assumed that both vectors are set so as to be displayed in their respective coordinate systems as shown in Table 1 below. (Hereinafter, blank space) Table 1 And in the following explanation, the workpiece coordinate system at the time of picking up the workpiece is 01 as shown in Fig. 15A.
The coordinate system of the object on which the work is placed at the time of placement is defined as 0□-x2y2Z2, as shown in Figure 15B, and the absolute coordinate system is It is defined as 0-xyz. However, the absolute coordinate system and the coordinate system of each workpiece are set to have an arbitrary positional relationship. In addition, in order to identify each vector at the time of pickup, at the time of placement, and after matching the different placement vectors at the time of pickup and place,
The subscripts ■, II, and III are attached to each vector, respectively. With these various specifications, the workpiece coordinate system at the time of pickup and placement is displayed in the absolute coordinate system 0 according to the well-known conversion process between orthogonal coordinate systems.
- It will be displayed in a unified state as xyz. On the other hand, the placement vector AI and workpiece reference vector B1 at the time of pickup and the placement vector at the time of placement are, after all,
What is necessary is to consider the angle parameters indicating the respective distances from the three orthogonal axes of +y+2. For this study, the extension directions of the mounting vector A and the workpiece reference vector B are uniquely defined by angle parameters as shown in FIGS. 16A and 16B. Here, in FIG. 16A, the vector A' is the orthogonal projection vector of the mounting vector A onto the XY plane, the angle parameter α is the angle between the X axis and the orthogonal projection vector A', and the angle parameter β indicate the angle between the Z axis and the placement vector A, respectively. Then, when the mounting vector A and the vector 2 are parallel to each other, the angle parameter a
is set to "0". In addition, in FIG. 16B, the plane M passes through the origin 0,
A plane perpendicular to the mounting vector A, a pectoprojection vector, a vector Z an orthogonal projection vector onto a single plane M on the Z axis, and an angle parameter γ are the orthogonal projection vector B' and the orthogonal projection vector Z. The angles formed with ′ are shown respectively. However, in this case, the angle parameter γ is set to be the angle formed by the orthogonal projection vector B' and the orthogonal projection vector of the vector X. Here, for the sake of explanation, it is depicted as passing through the placement origin O, but it is not limited to passing through the origin 0 in this way. By defining the three angle parameters α, β, and γ in this manner, the extending direction of each vector in the absolute coordinate system is uniquely set. In other words,
These angle parameters α, β, and γ are input in advance as information representing the posture at the time of picking up the workpiece and the posture at the time of placing the workpiece in the “workpiece posture information” when inputting the workpiece data described above. It is. Next, with reference to FIG. 17, step S in the basic control procedure in the establishment control operation of the hand mechanism 10 described above.
The posture change determination operation in IO will be explained in detail. When this posture change determination operation starts, first, step S
At step 40, the value of the angle parameter α between the X axis and the orthogonal projection vector A' is compared between the value at the time of pickup and the value at the brace (ie, aI+α3.). In this step S40, it is determined whether the values of both angle parameters αl and al are equal to each other, or whether the phase difference is 180 degrees. If YES is determined in this step S40, that is, both angle parameters at, α
If it is determined that the eye values are equal to each other or that the phase difference is 180 degrees, step S42, which will be described later, is performed.
Proceed to. On the other hand, if the determination in step S40 is NO, that is, both angle parameters α3. If it is determined that the values of α1□ are not equal to each other or that the phase difference is not 180 degrees, the process advances to step S41. In this step S41, β, = 0; β, = 18
It is determined whether any of the following conditions holds true: 0; β2=0; β2=180. If YES in this step S41, that is, if it is determined that any of the above four conditions is satisfied, then the process proceeds to step S42 described above. In this step S42, regarding the angle parameter β between the Z axis and the placement vector A, the values at the time of pickup and at the time of place (ie, β1.βII) are compared. On the other hand, if it is determined No in this step S41, that is,
If none of the above four conditions are satisfied, the process advances to step S56, which will be described later. (Hereinafter, blank space) On the other hand, in step S42 described above, both angle parameters β1. If it is determined that βI+ are equal to each other, then in step S44, the orthogonal projection vector B'
For the angle parameter γ between
．． γII+). In this step S44, if it is determined that both angle parameters γI+, γ1, 1 are equal to each other, the placement vector Ar+ and the workpiece reference vector Bl+ at the time of picking up and placing the workpiece respectively match. Therefore, when picking up and placing this workpiece, there is no need for a turning operation or a reversing operation. As a result, as shown in FIG. 17, both angle parameters γ11. If it is determined that the values of γII+ match, in step S46, a selection state in which the swing module M and the reversing module M1 are not installed is obtained as a determination result. After the determination result is obtained in step S46, this subroutine returns to the original basic control procedure. On the other hand, in step S44, both angle parameters γ,
1. If it is determined that γ+++ are not equal to each other, then the turning module M3 is required. For example, the 18th A
When the workpiece is placed as shown in the figure, the placement vectors AH and AI at the time of pick-up and place are
Both I are set parallel to the Z axis, and the work reference vectors B+ and B at the time of pickup and placement are
Since only the ++ points in different directions around the Z-axis, only the operation of rotating the work around the Z-axis is required when picking up and placing the work. As a result, as shown in FIG. 17, if it is determined in step S44 that there is a mismatch between the angle parameters γI+ and γ1°, in step S48, the selection state in which only the swing module M is installed is changed as a result of the determination. It will be obtained as follows. After the determination result is obtained in step S48, this subroutine returns to the original basic control procedure. On the other hand, in step S42 described above, both angle parameters β1. If it is determined that the values of β and I are not equal, in step S50, the process proceeds to step S44 described above.
Similarly, the angle parameter γ! 1. Compare γ11°. In this step S50, if it is determined that the values of both angle parameters γI++ and γII+ are equal to each other, the inversion module M1 is required. For example, if the workpieces are arranged as shown in Figure 18B, 1
, the placement vectors A+ and A++ at the time of picking up and placing the work are rotated by a predetermined angle in the X-axis direction, 90 degrees in this case, and the work reference vectors B+ and B++ are similarly Since the workpiece is rotated 90 degrees around itself in the X-axis direction, when picking up and placing the workpiece, only the operation of reversing the workpiece around itself in the X-axis direction is required. As a result, as shown in FIG. 17, if it is determined in step S50 that both angle parameters γI++ and γII+ match, in step S52, a selection state in which only the reversing module M1 is installed is obtained as a determination result. It's going to happen. After the determination result is obtained in step S52, this subroutine returns to the original basic control procedure. On the other hand, in step S50, both angle parameters γ1
If it is determined that the values of γII+ are not equal to each other, the reversing module M1 and the turning module M3 are required. For example, when the workpiece is placed as shown in FIG. 18C, the placement vector A and the workpiece reference vector B1 are parallel to the Z-axis and the Y-axis, respectively. The workpiece reference vector B is parallel to the Y-axis, but the placement vector A + + is set to be slightly inclined with respect to the X-axis. Therefore, when picking up and placing the work, the work must be
After rotating around the axial direction, the loading vector A at the time of loading
It is necessary to rotate it around 11 directions. As a result, as shown in FIG. 17, if it is determined in step S50 that there is a mismatch between the angle parameters γI++ and γII+, in step S54, the reversing module M and the turning module M connected below this
The selection state that 3 is attached will be obtained as a judgment result. After the determination result is obtained in step S54, this subroutine returns to the original basic control procedure. On the other hand, if the determination in step S41 is NO, that is, both angle parameters β3. If it is determined that neither β11 is 0 degrees or 180 degrees,
In step S56, the angle parameter β8. Compare β11. In this step S56, both angle parameters β1.
If it is determined that β11 are equal to each other, then in step S58, the angle parameters γI+, γ1
Compare □. In this step S58, both angle parameters γ15. If it is determined that γ111 are equal to each other, the turning module M3 is required. for example,
When the workpiece is arranged as shown in FIG. 18D, the placement vector A at the time of pickup and the workpiece reference vector B1 are set parallel to the X-axis and the Y-axis, respectively, while the placement vector A at the time of place In other words, by rotating the workpiece around the two axes when picking it up, the workpiece is placed parallel to the positioning direction and the X axis. When picking up and placing, only a turning operation around the Y-axis direction is required. As a result, as shown in FIG. 17, both angle parameters γ0. If it is determined that the rotation module M
A selection state in which only 3 is attached will be obtained as a judgment result. After the determination result is obtained in step S60, this subroutine returns to the original basic control procedure. Meanwhile, in step 358, both angle parameters γ,
, γ1□ are not equal to each other, 2
One turning module M3 is required. For example, the 18th
When the workpiece is arranged as shown in Figure E, the placement vectors AI and A at the time of picking up and placing the workpiece are set parallel to the X-axis and the Y-axis, respectively. However, since the workpiece reference vectors B, , B, during pickup and placement are set parallel to the Y-axis and Z-axis, respectively, rotation around the Y-axis direction Therefore, when picking up and placing this work, the rotation module M3, which rotates on its own in the Z-axis direction, and the Y
A turning module M3 around the axis is required. As a result, as shown in FIG. 17, both angle parameters γ1, γ8. If it is determined that there is a mismatch, then in step S62, a selection state in which the two swing modules M are installed with their rotation axes different from each other is obtained as a result of the determination. After the determination result is obtained in step S62, this subroutine returns to the original basic control procedure. On the other hand, in step S56 described above, the same angle parameters β work, β0 . If it is judged that they are not equal, then
In step S64, the angle parameters γI+, γ, 1 . Compare. In this step S64, both angle parameters γ,
1. If it is determined that γIII are equal to each other, the turning module Ms and the reversing module M1 are required. For example, when the workpiece is arranged as shown in FIG. 18F, the placement vector AI and the workpiece reference vector B when picking up the workpiece are set parallel to the XZ plane, and the The workpiece reference vector Bl+ at the time of placement is set parallel to the Z axis, and the placement vector A++ is set parallel to the XY plane. Therefore, when picking up and placing the workpiece, it is necessary to rotate the workpiece in the Z-axis direction and then rotate it in the Zll-axis direction. As a result, as shown in FIG. 17, both angle parameters γ11. If it is determined that the γI11 match, in step S66, a selection state in which the rotation module M and the reversing module M1 are installed vertically is obtained as a determination result. After the determination result is obtained in step S66, this subroutine returns to the original basic control procedure. On the other hand, in step S64, both angle parameters γI
If it is determined that the values of +, γ, and k are not equal to each other, two turning modules M and one reversing module M1 are required. For example, as shown in Figure 18G, when picking up and placing a work,
Vector A+. A, and the work reference vector B7. If the workpiece is set not parallel to any axis, such as B+, when picking up and placing the workpiece, first rotate the workpiece around the Z-direction axis, then y
It is necessary to rotate the workpiece around one axis, and then rotate the workpiece rotated in this way around the X-axis direction. As a result, as shown in FIG. 17, both angle parameters γ11. If it is determined that the values of γ and 1□ do not match, in step S68, from top to bottom, the turning module M1, the reversing module M1
, and a selection state in which the swing module Ms is attached is obtained as a determination result. After the determination result is obtained in step S68, this subroutine returns to the original basic control procedure. As described above, step S46. S48. S52, S54
．． S60. S62. In S66 and S68, the determination result of the combination of the reversing module M1 and the turning module M that are required in response to the change in the posture of the workpiece is determined by the thirteenth
After returning to the main routine shown in the figure, step S
At 12, it is stored in RAM. (Insertion operation determination procedure) Next, the determination operation regarding the presence or absence of an insertion operation during the workpiece placement operation shown in step S14 in FIG. 13 will be described with reference to FIG. 19. Generally, the orthogonal system robot 12 as shown in FIG. 2A is equipped with a two-axis arm 20 that moves along the Z-axis direction, which is a vertical axis, so that the workpiece insertion direction is aligned with the orthogonal coordinate system. along each axis of this robot 12
This insertion operation will be accomplished by a side operation, and the shift module M2 will be unnecessary. On the other hand, if the insertion direction of the workpiece is inclined with respect to the Z-axis, if this insertion operation is attempted to be performed on the robot 12 side, the robot 12
A linear interpolation function that moves along a straight line between any two points is required. From this viewpoint, the insertion operation determination procedure in step S14 will be described below. That is, when step S14 is started, as shown in FIG. 19, first, in step S70, it is determined whether or not the robot 12 is equipped with a linear interpolation function. If YES is determined in this step S70, that is, if the robot 12 is equipped with a linear interpolation function, the shift module M2 is unnecessary, so the selection state in which the shift module M2 is not installed is determined in step S72. is obtained as the judgment result. After the determination result is obtained in step S72, this subroutine returns to the main routine shown in FIG. 13. On the other hand, if it is determined No in this step S70, that is, if it is determined that the robot 12 does not have a linear interpolation function, then in step S74, the workpiece insertion operation is a single-axis movement. It is determined whether or not. Here, this "single-axis" movement means that the workpiece insertion operation is performed along each axis in the orthogonal coordinate system of the robot 12, that is,
This is a movement state that is defined when the axis is set parallel to either the y-axis or the z-axis. If YES is determined in this step S74, that is, if it is determined that the workpiece insertion operation is a uniaxial movement, the shift module M2 is unnecessary, so the shift module M2 is determined in step S72 as described above.
2 is not adopted, and this subroutine returns to the main routine shown in FIG. On the other hand, if it is determined NO in this step S74, that is, it is determined that the workpiece insertion operation is not a uniaxial movement (or is tilted with respect to the X, y, and Z axes in the robot coordinate system). If the shift module M2 is selected in step S76, the subroutine returns to the main routine shown in FIG. 13. As described above, steps S72 and S76 correspond to the workpiece insertion operation. The result of the determination as to whether or not the shift module M2 is adopted is stored in the RAM in step S16 after returning to the main routine of FIG. 13. (Overload determination procedure) The determination operation as to whether or not an overload has occurred during the workpiece placement operation shown in step 81g in FIG. 13 will be explained with reference to FIG. When a press-fitting operation or a rolling-in operation is performed, the reaction force in the press-fitting operation or rolling-in operation is directly transmitted to the robot 12 side, and in order to prevent it from having an adverse effect on the drive system of the robot 12, Countermeasures against overload are required. From this point of view, the overload operation determination procedure in step S] and 8 will be explained below. That is, when step S18 is started, first, in step S78, during the mounting operation, the overload operation determination procedure will be explained. , it is determined whether or not an overload condition occurs due to the press-fit operation or the bar-adjustment operation.If it is determined No in this step 378,
That is, if an overload state based on a press-fitting operation or a bar-adjusting operation does not occur, a selection state in which the cushion module M4 is not attached is obtained as a determination result in step S80. After the determination result is obtained in step S80, this subroutine
3. Return to the main routine shown in FIG. On the other hand, if it is determined NO in this step 378, that is, if an overload state based on the press-fitting operation or the ball-threading operation occurs during the mounting operation, step S8
In step 2, the selection of the cushion module M4 is determined in order to absorb this overload condition, and this subroutine returns to the main routine shown in FIG. As described above, in steps S80 and S82, the cushion module M4, which is required in response to the workpiece insertion operation, is
The determination result as to whether or not to adopt is stored in the RAM in step S20 after returning to the main routine of FIG. (Positional Misalignment Judgment Procedure) Next, with reference to FIGS. 21A and 21B, the judgment operation regarding the presence or absence of positional misalignment during the workpiece placement operation shown in step S22 of FIG. 13 will be described. I will explain. In general, when mounting a workpiece, if the misalignment between the side on which the workpiece is mounted and the side on which it is mounted is accumulated, and the amount of misalignment exceeds an allowable value, a mounting failure will occur. However, based on the poor installation,
Compliance measures are required to prevent adverse effects on the drive system of the robot 12. From this point of view, the positional deviation determination procedure in step S22 will be described below. That is, as shown in FIG. 21A, when step S22 is started, first, in step S84, the mutual positional deviation of the workpieces is determined depending on the dimensions and tolerances of the workpieces and the performance of the device such as the repeatability of the robot. Calculate. Here, in this embodiment, when calculating the probability accumulation, the worst value method is not used for the allowable positional deviation amounts 1 and 2 and the compliance amount F, which will be explained below.
Using the variance addition theorem, this calculation result is calculated as a two-dimensional area. Next, in step S86, as shown in FIG. 21B, a first positional deviation tolerance E1 (=CI +C,) is calculated as the sum of the mutual chamfering amounts C, , C2 of the workpieces. Then, in the subsequent step S88, this positional deviation measure and the first positional deviation allowable amount E are compared, and if the positional deviation measure is larger than the first positional deviation allowable amount E1, the positional deviation measure is large. In this case, no matter how much compliance there is, it will be determined that charging is not possible. Here, when comparing the size of the positional deviation measurement and the first positional deviation allowance E1, in this embodiment, the entire area of the positional deviation measurement is within the area of the first positional deviation allowance E1. If included, the first positional deviation tolerance E1 is set so as to be determined to be larger than the positional deviation amount. This determination procedure is performed in step S94, which will be described later.
The same applies to comparative judgments. Then, in this step 388, the rank! If the amount of deviation is larger than the first allowable amount of positional deviation E1 (if it is determined that loading is not possible, a request to increase the amount of chamfering is displayed on the display unit 206 in the subsequent step S90, and a series of On the other hand, in step 388, if it is determined that the positional deviation amount is less than the first positional deviation tolerance E1 and the workpieces can be chamfered together, the compliance module M6 The compliance function can now be activated, and the process proceeds to step S92, where the second positional deviation tolerance E2 is calculated.Here, generally,
When assembling two workpieces together, if there is no gap between the two workpieces, the two workpieces cannot be assembled together. The second positional deviation tolerance E2 referred to here is defined from this gap. Therefore, when a plurality of workpieces are piled up, this second positional deviation tolerance E2 is also piled up. Thereafter, the process proceeds to step S94, where the positional deviation measure and the second positional deviation tolerance E2 are compared. In this step S94, if it is determined that the positional deviation measurement is smaller than the second positional deviation tolerance E2, the positional deviation state can be absorbed only by the gap between the workpieces without using a new compliance module M5. It means that 8 comes. Therefore, in the subsequent step S96, a judgment result indicating that the compliance module M is not installed is obtained. After obtaining this rejection determination result, this subroutine returns to the main routine shown in FIG. 13. On the other hand, in step S94 described above, if it is determined that the positional deviation measurement is larger than the second positional deviation allowance E2, the positional deviation state cannot be absorbed only by the gap between the workpieces. The compliance module M5 is required, and in step S98, the required compliance amount F is calculated and the compliance module M that is optimal for the calculated required compliance amount F is selected. Here, the required compliance amount F is defined as the value obtained by subtracting the positional deviation amount from the second positional deviation allowable amount E2. Then, from this required compliance amount F, an optimal compliance module M is selected from among the series of compliance modules using the compliance amount as a parameter. Here, the selection criteria are larger than the required compliance amount F,
Furthermore, the setting is such that the smallest one is selected from among the larger ones. After selecting the optimal compliance module M5 in step 398, the process returns to the main routine shown in FIG. (Finger Type Determination Procedure) Next, referring to FIG. 22, a description will be given of the operation for determining the optimal finger type during the workpiece pickup and placement operations shown in step 526 of FIG. 13. Here, when picking up and placing a workpiece, in this embodiment, as shown in FIGS. 3A to 3F, a total of six types of finger modules are used as the finger module M6 without considering the classification of the gripping pieces. M 6 A ”-M II F are prepared. Here, these six types of finger modules M IIA ~
In the MIF, as already mentioned above, there are first to fourth finger modules MBA for mechanical clamping.
There are two types of M ail, one for side clamps and one for side clamps, based on the classification of the gripping pieces.In the end, there are a total of 8 types of finger modules for this mechanical clamp as a result of combinations. Then, if we add the above-mentioned two types of suction finger modules M at and M 8F to these eight types of mechanical clamp finger modules, we will select the most suitable one from a total of 10 types of finger modules. That is, when step S26 is activated, first, in step 5100, various information regarding work attributes is selected.
Load from work data management system, step 51
In step 02, it is determined which of the finger modules is most suitable for clamping the workpiece: a side clamp, a scoop clamp, or a suction clamp, based on the workpiece attribute information excluding the planar shape. This step 510
Details of 2 will be explained later with reference to FIGS. 23A to 23C. If it is determined in step 5102 that the side clamp is the most suitable clamp type, step 5
At 104, gripping pieces for the side clamps are selected. On the other hand, if it is determined in step 5102 that a scoop clamp is the most suitable clamping form, then in step 8106 a gripping piece for the scoop clamp is selected. In this way, in step 5104 or step 5106, when the shape of the gripping piece according to the clamp form is selected, in step 5108, the selection matrix shown in FIG. 24 is selected according to the planar shape of the workpiece in the workpiece attribute information. The type of finger module is searched based on . The search content in step 5108 will be explained in detail later. Here, in step 5108, if the object to be grasped is small, in step S110, the first finger module M IIA as shown in FIG.
is selected. Also, in step 8108, if the object to be gripped is long, then in step 5112, the second finger module M as shown in FIG. 3B is used. is selected. Also, in step 5108,
If the object to be grasped is elongated, step 51
At 14, a third finger module Mac as shown in FIG. 3C is selected. And step 5108
In step Sl 16, if the object to be gripped is large, a fourth finger module M 60 as shown in FIG. 3D is selected. In this way, in steps 511O to 5116, the first to fourth finger modules MIIA to M6
After selecting one of these, this subroutine returns to the original basic control procedure. On the other hand, if it is determined in step 5102 that the suction clamp is the most suitable clamping form, then in step 8118, the degree of inclination of the upper surface of the workpiece to be suction clamped, that is, the surface to be sucked, with respect to the horizontal plane is determined. It is determined. In this step 5118, if it is determined that this degree of inclination is large, in particular, if it is determined that it is larger than a predetermined reference value, in step 5120, the fifth finger shown in FIG. Module Mat is selected and the subroutine returns to the original basic control procedure. Further, in step 5118, if it is determined that this degree of inclination is small, specifically, if it is determined that it is smaller than a predetermined reference value including the horizontal state, in step 5122, the slope shown in FIG. The sixth finger module M8F shown in is selected, and the subroutine returns to the original basic control procedure. As described above, steps 5ilo, 5112, 5114,
Sl 16-. 5120 and 5122, each finger module M required corresponding to the clamping operation of the workpiece.
The determination result regarding the selection of No. 6 is determined in step 32B after returning to the main routine of FIG.
Stored in AM. (Detailed explanation of step 5102) Next, with reference to FIGS. 23A to 23C and FIG. 25, when clamping the workpiece described in step 5102 of FIG. In this section, a control procedure for selecting an optimal clamp type from among side clamps, scoop clamps, and suction clamps will be explained. First, in the clamp form selection control procedure based on this workpiece attribute, a workpiece having a specific workpiece attribute is checked by eight check items CK shown in FIGS. 23A to 23C.
(i) (where i = 1 to 8) is examined, and OK/NG is determined for each check item. Here, regarding each check item, as shown in the upper right and lower right of Fig. 25, OK is set commonly for all workpieces.
Table arrangement (1,j) (however, j=1 to 3) and NG table TBL (2,j) (however, j=1 to 3) are set in advance. Here, j=1 indicates a side clamp, j=2 a scoop clamp, and j=3 a suction clamp. In the check operation performed in the following control procedure, if OK is determined, OK information regarding that check item is transferred from the OK table, and if NG is determined, the OK information is transferred from the NG table. NG information regarding the check items is transferred, and in this way, for example,
For the specific work shown in the upper left of Fig. 25, check table CHK (i, j) (where i = 1 to 8 degrees, j = 1 to 3
) is set to be created. The clamp form selection control procedure will be explained below with reference to Figures 23A to 2.3C. This will be explained while creating the check table shown in the lower left of FIG. 25. First, when step 5102 is activated, first, in step 5124, the material stiffness, ie, the elastic modulus of the workpiece, is checked as a first check item as part of the workpiece rigidity check. This step 512
In step 4, if the elastic modulus of the workpiece is greater than or equal to a predetermined value, it is determined that the material rigidity is OK, and if it is smaller than a predetermined value, it is determined that the material rigidity is NG. Here, if it is determined to be OK in this step 5124, in step 8126, CK (1) indicating the first check item is set to "1" indicating the determination result of OK.
”. On the other hand, if it is determined as NG in step 5124, in step 5128, CK(1) indicating the first check item is set to "2" indicating the result of determination as NG. Here, in the work shown in the upper left of FIG. 25, this first check item CK (1) is determined to be OK, so CK (1) = 1 is set in step 8126, and as a result, the check item CK (1) is set to 1 in step 8126. In step 5172, the check table CHK (1, j) contains the first item "rlJ, ri" of the OK table TBL (1, j). "1" will be transferred. In this way, in step 5126 or 5128, the first
When the check results regarding the check items are set in the check table, in step 8130, the first shape rigidity, that is, the thickness of the workpiece, is checked as a second check item as part of the workpiece rigidity check. be exposed. In this step 5130, if the thickness of the workpiece is equal to or greater than a predetermined value, it is determined that the first shape rigidity is OK, and if it is smaller than the predetermined value, the first shape rigidity is determined to be NG. I judge that there is. Here, this step 513
If it is determined to be OK at 0, step 513
In step 2, CK (2) indicating the second check item is set to rlJ indicating an OK judgment result. On the other hand, if it is determined as NG in step 5130, then in step 5134, CK (2) indicating the second check item is set to "2" indicating the result of determination as NG. Here, in the work shown in the upper left of FIG. 25, this second check item CK (2) is determined to be OK, so CK (2) = 1 is set in step 5132, and as a result, it is determined that the second check item CK (2) is OK. In step 5172, check table CHK (2, j) contains rlJ, rlJrlJ from the second item of OK table equipment (1, j).
will be moved. In this way, in step 5132 or 5134, the second
When the check results regarding the check items are set in the check table, in step 5136, as part of the workpiece rigidity check, the second shape rigidity, that is, the workpiece thickness ratio is checked as the third check item. It will be done. Here, the thickness ratio of the workpiece means that when the length of the workpiece along the gripping direction is β and the thickness of the workpiece is t, f2. It is defined from the value expressed as /l. In this step 5130, the workpiece thickness ratio n/
If l is greater than or equal to the predetermined value, the second shape rigidity is OK.
If it is smaller than a predetermined value, it is determined that the second shape rigidity is NG. Here, if it is determined to be OK in this step 8136, in step 5138, CK indicating the third check item is checked.
Set "1" in (3) to indicate an OK determination result. On the other hand, if it is judged as NG in this step 5136, in step 5140, "2" indicating the judgment result as NG is set in CK (3) indicating the third check item.
Set. Here, in the work shown in the upper left of FIG. 25, this third check item CK (3) is determined to be NG, so CK (3) = 2 is set in step 5140, and as a result, the check item CK (3) is set to 2. In step 5172, check table CHK (3, j) contains "0", "l" r from the third item of NG table TBL (2, j).
lJ will be transferred. In this way, in step 5138 or 5140, the third
When the check result regarding the check item is set in the check table, in step 5142, the side surface of the work is checked as a fourth check item as part of the check of the clamp surface of the work. In this step 5142, (al) the side surface of the workpiece is a surface that the gripping piece can contact due to quality, and (a2) there is a gap larger than a predetermined value adjacent to the side surface when picking up and placing the workpiece. and (a3) that the side portions where the gripping pieces of the pair come into contact are opposed to each other and parallel to each other.
If these three conditions are satisfied at the same time, it is determined that the side check is OK, and if at least one condition is not satisfied, the side check is determined to be NG.Here If it is determined to be OK in this step 5142, in step 5144, "CK" (4) indicating the fourth check item is set to indicate the result of the determination as OK.
1”. On the other hand, if it is determined as NG in step 5142, then in step 8146, CK (4) indicating the fourth check item is set to "2" indicating the result of determination as NG. In the work shown in the upper left of FIG. 25, this fourth check item CK (4) is determined to be OK, so CK (4) = 1 is set in step 5144, and as a result, the step to be performed later 5172, check table CHK (4, j) includes rlJ, rlJ' from the fourth item of OK table TBL (1, j).
1" will be transferred. In this way, in step 5144 or 5146, the fourth
When the check result regarding the check item is set in the check table, in step 5148, a check of the rake face of the work is performed as a fifth check item as part of the check of the clamp face of the work. In this step 5148, a lower surface rake check and a side pin insertion check are performed as rake surface checks. (b,
) At the time of picking up and placing the workpiece, two conditions in total are checked: the surfaces must be adjacent to each other with a gap of more than a predetermined value, and if these two conditions are satisfied at the same time, the bottom surface is checked. (If the check is determined to be OK and at least one condition is not satisfied, the bottom scoop check is determined to be NG.On the other hand, in the side pin insertion scoop check, (C
1) There are pins or holes formed on the sides of the workpiece that do not cause quality problems; (C2) One or more parallel pins or holes are formed on each side surface that faces each other; (C1) When picking up and placing the work, a total of three conditions are checked: a gap of a predetermined value or more is adjacent to the side surface, and if these three conditions are satisfied at the same time, It was determined that the side pin insertion scoop check was OK, and the
If two conditions are not satisfied, it is determined that the side pin insertion scoop check is NG. Then, if either the lower rake or the side pin insertion is OK, this rake face check is determined to be OK. Here, if it is determined to be OK in this step 5148, step 5150 In , CK (5) indicating the fifth check item is marked with “
1”. On the other hand, if it is determined as NG in step 8148, in step 5152, CK (5) indicating the fifth check item is set to "2" indicating the result of determination as NG. Here, in the work shown in the upper left of FIG. 25, this fifth check item CK (5) is determined to be OK, so CK (5) = 1 is set in step 5150, and as a result, the check item CK (5) is set to 1. In step 5172, the check table CHK (5, j) contains the data from the fifth item of the OK table TBL (1, j) to "rl", rlj "
1" will be transferred. In this way, in step 5150 or 5152, the fifth
When the check results regarding the check items are set in the check table, in step 5154, as part of checking the clamp surface of the work, a check of the suction surface defined from the top surface of the work is performed as a sixth check item. . In this step 5154,
Two conditions are checked: (d) the top surface of the workpiece is a quality surface that can be contacted by the suction pad, and (d2) the surface roughness of the top surface of the workpiece is below a predetermined value. When the two conditions are satisfied at the same time, it is determined that the suction surface check is OK, and when at least one of the conditions is not satisfied, it is determined that the suction surface check is NG. Here, if it is determined to be OK in this step 5154, in step 8156, "CK" (6) indicating the sixth check item indicates the result of the determination as OK.
1”. On the other hand, if it is determined as NG in step 5154, in step 5158, CK (6) indicating the sixth check item is set to "2" indicating the result of determination as NG. Here, in the work shown in the upper left of FIG. 25, this sixth check item CK (6) is determined to be OK, so CK (6) = 1 is set in step 5158, and as a result, the check item CK (6) is set to 1. In step 5172, the check table CHK (6, j) contains the 6th item rl'', rl'' of the OK table TBL (6, j). rlJ will be transferred. In this way, in step 5156 or 5158, the sixth
When the check results regarding the check item are set in the check table, in step 5160, as part of the work clamp force check, the side clamp force is checked as a seventh check item. In this step 8160, W/μF (however,
W: Workpiece weight, F: Clamping force, μ: Friction coefficient) When the side clamping force specified by W: Workpiece weight, F: Clamping force, μ: Friction coefficient is above a predetermined value, it is judged that the side clamping force check is OK, and when it is smaller than the predetermined value, Side clamp force check is NG
It is determined that Here, if it is determined to be OK in this step 8160, in step 8162, the CK (7) indicating the seventh check item is displayed with """ indicating the OK determination result.
1”. On the other hand, if it is determined as NG in step 8160, in step 5172, CK (7) indicating the seventh check item is set to "2" indicating the result of determination as NG. Here, in the work shown in the upper left of FIG. 25, this seventh check item CK (7) is determined to be NG, so CK (7) = 2 is set in step 8164, and as a result, the check item CK (7) is set to 2. In step 5172, check table CHK (7, j) contains rOJ, rlJ " from the 7th item of NG table TBL (2, j).
1" will be transferred. In this way, in step 5162 or 5164, the seventh
When the check results regarding the check item are set in the check table, in step 8166, a suction force check is performed as an eighth check item as part of the workpiece clamping force check. In this step 8166, (el) the upper surface of the workpiece is not porous, (e2) W/PA (where P: suction force, A
. The suction force specified by the suction area) must be greater than the specified value,
The following two conditions are checked, and if these two conditions are satisfied at the same time, it is determined that the suction force check is OK, and if at least one of the conditions is not satisfied, it is determined that the suction force check is NG. . Here, if it is determined to be OK in this step 8166, in step 5168, the CK (8) indicating the eighth check item indicates the result of the determination as OK.
1”. On the other hand, if it is determined as NG in step 8166, in step 5170, CK (8) indicating the eighth check item is set to "2" indicating the result of determination as NG. Here, in the work shown in the upper left of FIG. 25, this eighth check item CK (8) is determined to be OK, so CK (8) = 1 is set in step 8168, and as a result, the check item CK (8) is set to 1. In step 5172, check table CHK (8, j) contains rlJ, rlJ from the 8th item of OK table equipment (1, j). "1" will be transferred. In this way, in step 5168 or 5170, the eighth
When the check result regarding the check item is set in the check table CHK, in step 5172, as already explained, the check table CHK is set.
The first to eighth check items of (i, j) (i.e., i=
1 to 8), as a check result, OK table installation (
By transferring the corresponding rlJ and rOJ from the NG table TBL (2, j) or the NG table TBL (2, j), a check table CHK as shown in FIG. 25, for example, is completed. After completing the check table CHK in this way, in step 5174, 1. Calculate OK/NG code N0KNG (j). N0KNG (j)= CHK (1, j)*CHK (2, j)*CHK (
3,j)*CHK (4,j)*CHK (5,j)*
CHK (6,j)*CHK (7,j)*CHK (
8, j) (however, j=1 to 3)...(1) That is, in this equation (1), in the check table CHK (i, j) shown in the lower left of FIG. 25, j=
Execute the operation of multiplying each column value for the side clamp indicated by 1, define the operation result as the O K/N G code N0KNG (1) for the side clamp, and also calculate the rake clamp indicated by j=2. Executes the operation of multiplying each numerical value in the column about , and calculates the result of the operation.
0KNG (2), then perform an operation that multiplies each numerical value in the column regarding the suction clamp shown by j = 3, and use the operation result as O for the suction clamp.
It is defined as K/NG code N0KNG(3). Here, in the work shown in the upper left of Fig. 25,
N0KNG (j) becomes rob, rlJ, rlJ. In this way, in step 5174, OK/NG code N
After 0KNG (j) is calculated, step 8176
In this step, a design ranking code ND (j) is calculated based on the first equation shown in equation (2) below. ND (j)=NOKNG (j)*N5EL (j)
(However, j = 1 to 3) ... (2) Here, N5EL (j) is defined as a priority code, and rl is assigned to the side clamp of j = 1.
However, "2" is in the scoop clamp of j=2, and "2" is also in the scoop clamp of j=3.
"3" is uniquely set for each suction clamp. These numerical values are set so that the smaller the number, the higher the priority of selecting the clamp form. In other words, in this embodiment, in a state where any clamp type can be selected, this priority code N5
Based on EL (j), settings are made such that first the side clamp is selected, then the scoop clamp is selected, and finally the suction clamp is selected. That is, in this equation (2), for each j, the OK/NG code N0KN already calculated in step 5174 is
G (j) is multiplied by the priority code N5EL (j), and the result of this calculation is specified as the design priority code ND (j), and the check table CHK (i , j), the 25th
In the work shown in the upper left of the figure, the design order code ND (1) regarding the side clamp indicated by j = 1 is r
OJ, and the design order code ND (2) for the scoop clamp denoted by j=2, and j
Design order code N for suction clamps indicated by =3
D (3) becomes "3". In this way, in step 8176, the design order code ND
After calculating (j), in step S78, a clamp form that is determined to be optimal in this control procedure is selected based on this design order code ND (j). That is, in this step 5178, among the calculated design order codes ND (j), the clamp form having the result of rOJ has N in at least one check item.
Since this is determined to be G, this is excluded and the clamp form having the smallest natural number among the numerical values as the calculation result is selected as the optimum lamp form. Based on this procedure, the workpiece shown in the upper left of Fig. 25 has a side clamp of "0", a scoop clamp of "2", and a suction clamp of "3", so the selection criteria described above are met. Based on, the work is
The result is that it is determined that gripping with a scoop clamp is optimal. In this way, after going to step 5178 and selecting the clamp form suitable for R, the control procedure of the subroutine that shows step 5102 in detail ends and returns to the original subroutine, step S26 shown in FIG. . (Detailed explanation of step 5108) Next, referring to FIG. 24, step 510 of FIG.
8, when mechanically clamping a workpiece, there are four types of finger modules M a A.
The control procedure for selecting the optimal finger module from among ``'-M s o will be explained. First, when the workpiece to be gripped is viewed from above, its upper left corner is placed at the upper left corner of the selection matrix shown in Fig. 24. The finger module is set to be uniquely defined based on the area where the lower right corner of the workpiece is located when the workpiece is placed at the reference position defined by the corner part.In other words, in this embodiment, the gripping For example, if the maximum size of the workpiece to be processed is 500 mm in the length direction (horizontal direction in the figure) and width direction (vertical direction in the figure), and the size of the workpiece changes within this range, The selection matrix shown in Fig. 24 ensures that the finger modules are defined.In this selection matrix, the four-digit alphanumeric characters defined in the area where the lower right corner of the workpiece described above is located. The optimum finger module is set by the combination code of . This selection matrix is stored in the ROM mentioned above in advance. In the combination code, the leftmost digit is "0". Consists of the four alphabets rAJ, rBJ, rCJ,
Indicates the type of finger module used. That is, rOJ refers to the use of the first finger module M am shown in FIG. 3A, and rAJ refers to the use of the second finger module M am shown in FIG. 3B.
The use of the finger module MllII of rB
J indicates the use of the third finger module M8C shown in FIG. 3C, and "C" indicates the use of the fourth finger module M8D shown in FIG. 3D. Furthermore, the second digit from the left in the above-mentioned four-digit alphanumeric combination code is composed of three alphabetic characters rSJrMJ and rLJ, and indicates the size of each finger module. That is, rSJ indicates the small size of each type of finger module, "M" indicates the medium size of each type of finger module, and rLJ indicates the large size of each type of finger module. Also, the second digit from the right in the 4-digit alphanumeric combination code mentioned above is "0". It is composed of five numbers: "rx", "r2J", "3", and "l"4", and indicates the length and size of the workpiece that can be gripped. In other words, "0" means that the length of the workpiece that can be gripped is 1
00mm or less, "1" indicates that the length of the workpiece that can be gripped is within the range of 100 to 200mm, and "2" indicates that the length of the workpiece that can be gripped is within the range of 120 to 30mm.
0IIIn, "3" indicates that the length of the workpiece that can be gripped is within the range of 220 to 400 mm, and "4" indicates that the length of the workpiece that can be gripped is within the range of 220 to 400 mm. It shows that it is within the range of 400 to 500 mm. In addition, the rightmost digit in the above-mentioned four-digit alphanumeric combination code is ro, 1. rl”. It is composed of four numbers r2J and r3J, and indicates the width size of the workpiece that can be gripped. That is, rOJ indicates that the width of the workpiece that can be gripped is 200mm or less, and "l" indicates that the width of the workpiece that can be gripped is 200 to 300mm.
"2" indicates that the width of the workpiece that can be gripped is within the range of 160 to 400III11, and "3" indicates that the width of the workpiece that can be gripped is within the range of 320mm.
It shows that it is within the range of ~500+n+n. In this way, in step 8108, by using the selection matrix shown in FIG. 24, the type of finger mechanism for mechanical clamping can be easily determined. As explained above, step 326 shown in FIG.
The finger type determination procedure in step 326 is specifically executed as shown in FIG. 22, and upon completion of the control procedure as a subroutine shown in FIG. The judgment result is
At step 528, it is stored in RAM. (Final Check Procedure) Finally, the final check procedure regarding the combination status of the modules selected based on all the determination results shown in step S32 in FIG. 13 will be explained with reference to FIGS. 26 and 27. explain. In this final check control procedure, as shown in FIG. 26, first, in step 5180, the cushion module M4 and the suction finger M61 or M6r of the finger module It is determined whether or not both are included. If the determination in step 8180 is YES, in step 8182, the cushion module M4 is dropped from the selection in order to reduce the overall weight of the hand mechanism IO. Furthermore, even if the cushion module is dropped like this, the remaining suction fingers Mg!
Or, since the M6F has a cushion function, there is no problem. After this step 5182 is executed, or if the determination is NO in step 8180, in step 5184, all selected modules are assumed to have the same size based on the size of the workpiece to be gripped. For example, if the workpiece to be gripped is S size, first, all selected modules are assumed to be S size. and subsequent step 8186
In, the finger module M is assumed to be of size,
Assume the gripping position of the workpiece gripped at . In this gripping position assumption operation, the calculation of the center of gravity position of the workpiece in this gripping state is set to be performed simultaneously. In this way, in step 8186, the gripping position of the workpiece is assumed based on the assumed size, and then in step 3188, the specifications of all the selected modules are sequentially checked from the bottom. That is, the finger module M6 is always provided at the bottom end of the hand mechanism 10.
Since the finger module M6 will be installed, a spec check will first be performed on this finger module M6. The spec check of each module will be explained later in detail as a subroutine with reference to FIG. 27. When the spec check operation for a predetermined module is completed in step 8188, it is determined in step 5190 whether or not the checked module is the module located at the top position. If the determination is No, then In order to perform a spec check operation on the module located directly above, the process returns to step 8188 as described above. On the other hand, this step 5190
If YES is determined in step 5192 and it is determined that the spec check operation of the module located at the top position has been completed, it means that the spec check of all the selected modules has been completed, so the process advances to step 5192.
Here, the entire weight W of the hand mechanism 10 including all the selected modules is calculated. After this, in step 5194, a spec check operation of the robot 12 is performed. In this robot spec check operation, it is determined whether the overall weight of the hand mechanism 10 calculated in step 5192 is allowable in relation to the maximum allowable load on the robot 12. In this step 5194, the check contents are OK, that is,
If the weight of the hand mechanism 10 is smaller than the maximum allowable load on the robot 12 (and the robot 12 can reliably move the hand mechanism 10 selected by the hand mechanism selection system 200, the robot 12 performs this final check operation). When the process ends, the process returns to the main routine shown in FIG. 51
Proceeding to 96, it is determined whether shift module M2 and cushion module M4 are both selected. If YES is determined in this step 8196, that is, if it is determined that both the shift module M2 and the cushion module M4 are selected, from the viewpoint of duplication of functions, in step 8198, the cushion module M4 is selected. is dropped from the selection contents, and then this cushion module M4 is dropped.Based on the selection result, the process jumps to step 8188 and executes the above-mentioned control procedure in order to execute the spec check of all the selected modules in order from the bottom again. It will be executed repeatedly. Further, if it is determined NO in step 8196 described above, that is, if it is determined that both the shift module M2 and the cushion module M4 are not selected, there is no module to be dropped from the selection contents (the hand mechanism 10 Since it is not possible to reduce the weight of the robot 12, the process proceeds to step 5200, where information indicating that the maximum allowable load of the robot 12 should be increased (the size of the robot 12 should be increased) is displayed on the display unit 206. The control procedure ends. In this way, the final check procedure of step 5132 in FIG. In step S34 of this main routine, the hand mechanism 1 is combined with the module that is most suitable for picking up and placing the workpiece inputted via the keyboard 204 as a result of selection in this selection procedure.
0 configuration will be displayed on display 206 and/or xy plotter 208. Finally, with reference to FIGS. 27 and 28, step 5
The subroutine for checking the specs of the selected module, indicated by 188, will be explained. When step 5188 described above is activated, as shown in FIG. 27, first, in step 5202, the total weight of the module connected to the lower side of the module to be used and the workpiece held by the finger module is calculated. and calculate the center of gravity. Then, continue with step 52
At step 04, a spec check is performed on the module being checked. In this step 5204, step 5 described above is performed.
Based on the weight and center of gravity position calculated in step 202, a spec check of the module to be checked is executed. In this spec check, the above-mentioned weight and center of gravity position are within the permissible range for the specifications stipulated as the maximum permissible range of torque, operating range, etc. required for the module to be checked to operate. If it is determined to be OK, and if it is outside the allowable range, N
It is set so that G is determined. Note that when finger module M6 is spec-checked in step 5204, since no other module is connected below this finger module M6, the weight and center of gravity position of the workpiece held therein are checked. only will be calculated. If OK is determined in this step 5204, the control procedure in this subroutine ends.
The process returns to the original routine shown in FIG. On the other hand, if the result of step 5204 is NG, the process proceeds to step 5206, where it is checked whether the module being checked can be increased in size. That is, basically, if the specification check in step 5204 described above is determined to be NG, the size of that module and all the modules above that module is increased by one rank. In this way, by increasing the size of the module and increasing the maximum allowable range, the judgment result is canceled (overturned)
It is something that can be done. However, in step 5184 described above, rL has already been determined based on the size of the workpiece.
If J size is assumed, it is not possible to increase the size any further, and therefore NG is determined in this step 5206. If NG is determined in this step 5206, that is, it is determined that the size of the module being checked is set to rLJ, and that the required specifications cannot be satisfied by increasing the size of the module. If so, in the subsequent step 5208, the content that was rejected is displayed on the display section 206, and the series of control operations is ended. On the other hand, if it is determined to be OK in step 5206,
That is, if the module being checked is of "S" or rMJ size and it is determined that it is possible to increase the size, the process proceeds to step 5210, where the modules located above, including the module being checked, are Executes a size-up operation to increase the size of the module by one rank. As a result, if the size of the module being checked is "-8", it will be increased in size to rMJ, and if it is "M", it will be increased in size to "L". Thereafter, in the subsequent step 5212, a check operation is performed based on the combination check list shown in FIG. is executed. In the combination check list shown in FIG. 28, 0 marks indicate possible combinations. From this combination check list, only modules of the same size can be combined directly above the module being checked, but in general terms, modules that are the same size or similar to the size of the module being checked can be combined below. It is designed so that it can be combined with a small size. The combination check list shown in FIG. 28 is as follows:
This is stored in the RAM in advance, and will be read out from the RAM as appropriate when step 5212 is executed. In the bond check in step 5212, O
If K is determined, the process jumps to step 5204, and the spec check is restarted for the enlarged module whose connection state is determined to be OK. In addition, when performing the connection check of the finger module M6 limited to the lowest position in this step 5212, since no module is attached to the lower side of this finger module M6, as shown in FIG. OK is determined without reading out the combination check list shown, and the process jumps to step 5204. On the other hand, if it is determined that this step 5212 is NG, that is, if it is determined that the combined state is not a mode that is allowed in the combination list, the hand mechanism 10 is configured with the increased size module. Since it is not possible to do so, the process jumps to step 8208 described above, displays the content that is rejected on the display unit 206, and ends the series of control procedures. As detailed above, this hand mechanism selection control system 2
By executing the above-described hand mechanism selection control procedure in the hand mechanism selection control unit 202 in 00, by inputting the data of a desired workpiece via the keyboard 204, it is automatically picked up and placed. The configuration of the hand machine-horizontal 10 with the optimal combination of modules for operation will be displayed on the display section 206 and/or the x-y plotter 208. As a result, the operator confirms the displayed content and instructs the hand mechanism assembly control unit 212 to assemble the hand mechanism 10 based on the displayed content unless there is any particular abnormality in the displayed content. perform an action. and,
Based on this command operation, the hand mechanism assembly robot 210
Under the control of the hand mechanism assembly control section 212, the module selected by the above-mentioned selection control is taken out from the module placement station 214 and placed on the robot 1.
Assemble these modules in a predetermined order below the hand mounting plate 22 of No. 2, and install the hand mechanism No. 1 according to the selection results.
It will operate as if it constitutes the entire 0. In this way, in this embodiment, it is possible to automatically select and assemble the optimum hand mechanism 10 when performing a wide variety of pick-up and place operations for a wide variety of workpieces. As described above, the hand mechanism assembly control section 212 automatically selects the hand mechanism via the hand mechanism assembly robot 210 according to the content selected by the hand mechanism selection control section 202 without the operator's judgment. The mechanism 10 may be configured to operate so as to be assembled below the hand mounting plate 22. It goes without saying that this invention is not limited to the configuration of the one embodiment described above, and can be modified in various ways without departing from the gist of the invention. [Effects of the Invention] As described in detail above, the method for selecting a hand mechanism for a robot according to the present invention provides a method for selecting a hand mechanism for a robot according to the present invention, in order to assemble at least two objects in a robot, a rotation operation, a reversal operation, a shift operation, a cushion operation, a compliance operation, In the method for selecting a hand mechanism in which modules for performing each element movement of a gripping operation of an article can be independently combined with each other, the posture of the first article at the pick-up position with respect to the absolute coordinate system of the robot; a first step of defining a reference vector that uniquely defines a pick-up direction of the first article, and a placement vector that defines a pick-up direction of the first article; a second step of determining a placement vector that defines the placement direction of the first article and a reference vector that uniquely defines the posture; The mutual identity of the reference vector and placement vector when picking up the first article, and the reference vector and placement vector of the first article when placing this first article on the second article. A third step of determining, and based on the determination result of this third step,
The method is characterized by comprising a fourth step of selecting the module. Further, the method for selecting a robot hand mechanism according to the present invention is characterized in that in the fourth step, a rotation module and a reversal module are selected in order to change the attitude of the first article. Further, in the method for selecting a hand mechanism for a robot according to the present invention, the third step is to compare vector components on two reference planes at the pickup time and the place time in the absolute coordinate system of the placement vector. The present invention is characterized in that it is determined whether or not the reversing module and the turning module are necessary. Therefore, according to the present invention, there is provided a method for selecting a hand mechanism for a robot, which involves selecting an optimal combination mode for gripping and assembling an arbitrary article with modules for performing a plurality of element movements. That will happen. In particular, according to this invention, regardless of the presence or absence of work experience,
This makes it possible to select a robot's hand mechanism in a highly reliable state, and has high industrial utility.

[Brief explanation of drawings]

FIG. 1 is a front view schematically showing the configuration of a hand mechanism to which an embodiment of the hand mechanism selection method according to the present invention is applied; FIG. 2A is a schematic front view showing the configuration of a robot to which this hand mechanism is attached. FIG. 2B is a bottom view showing the bottom shape of the hand mounting plate; FIGS. 3A to 3F are front views schematically showing the configurations of the first to fifth finger modules; FIG. 4A is a partially cutaway perspective view showing the configuration of the double-joy type finger mechanism shown in FIG. 3A; FIGS. 4B and 4C are top and front views, respectively, of the finger portion shown in FIG. 2; Figures 4D and 4E are D-D in Figure 4C, respectively.
4F and 4G are a plan view and a front view showing the configuration of the single-joist type finger mechanism shown in FIG. 3B, respectively; 4H Figures 41 and 41 are H-H in Figure 4G, respectively.
Figure 5A is a perspective view showing the configuration of the reversing module shown in Figure 1; Figures 5B to 5D; are top, front, and bottom views of the inversion module shown in FIG. 5A; FIGS. 5E and 5F are E-Ell and 5E in FIG. 5C, respectively;
A transverse cross-sectional view and a longitudinal cross-sectional view taken along line F-F in the figure; Figures 6A to 6C are top and bottom views, respectively, showing details of the configuration of the shift module shown in Figure 1. , and a bottom view; FIG. 6D is a vertical sectional view taken along the line D-D in FIG. 6A; FIG. 7A is a perspective view showing the configuration of the turning module shown in FIG. 1; FIG. 7B 7D are a top view, a front view, and a bottom view of the swing module shown in FIG. 7A; FIGS. 7E and 7F are lines E-E in FIG. 7C and F in FIG. 7E, respectively. - A transverse cross-sectional view and a longitudinal cross-sectional view shown in a state cut along Flit; Figures 8A to 8C are a top view and a partially cut-away front view respectively showing the configuration of the cushion module shown in Figure 1 in detail. 9A to 9C are a top view, a front view, and a bottom view showing the configuration of the compliance module shown in FIG. 1 in detail; FIGS. 9D and 9E are , D in FIG. 9B, respectively.
-Dl! 10A is a top view of the device for explaining the compliance operation; FIG. 10B is the compliance operation being performed. FIG. 10C is a front view showing the compliance mechanism in the previous state; FIG. 10C is a front view showing the compliance mechanism in the state after the compliance operation has been performed; FIG. Figure 12 is a block diagram schematically showing the configuration of the selection system. Figure 12 is a system diagram schematically showing the system configuration of the finger mechanism selection system shown in Figure 11. Figure 13 is the basic control of selection control in the finger mechanism selection system. A flowchart showing the procedure; FIG. 14 is a perspective view showing the prescribed states of the placement vector and the workpiece reference vector. FIG. 15A is a perspective view showing the prescribed states of the placement vector and the workpiece reference vector when picking up the workpiece. FIG. 15B is a perspective view showing the respective setting states of the placement vector and the work reference vector defined on the object to be placed when placing the workpiece;
Figures 16A and 16B are diagrams for explaining angle parameters that uniquely define the respective extension directions of the placement vector and the workpiece reference vector; Figure 17 is a diagram for determining posture change in the selection control procedure; A flowchart showing the configuration of the subroutine in detail; FIGS. 18A to 18G are perspective views for explaining different postures when picking up and placing a workpiece; FIG. 19 shows the steps shown in FIG. 13 FIG. 20 is a flowchart showing in detail the control procedure for determining the insertion operation in step S14 as a subroutine; FIG. 20 is a flowchart showing in detail the control procedure for overload determination in step S18 shown in FIG. 13 as a subroutine; FIG. A flowchart showing in detail the control procedure for positional deviation determination in step S22 shown in FIG. 23A to 23C are flowcharts showing in detail the control procedure for determining the clamp type in step 5102 shown in FIG. 22 as a subroutine; FIG. FIG. 25 is a diagram showing the structure of the selection matrix used in step 3108 shown in FIG. FIG. 26 is a flowchart showing as a subroutine the control procedure for the final check in step S32 shown in FIG. 13; FIG. 27 is a flowchart showing the control procedure for the spec check in step 5188 shown in FIG. 26 as a subroutine; and FIG. 13 is a diagram showing the structure of a combination list used in the final check control procedure in step S32 shown in FIG. 13, which defines the acceptability of combinations of selected modules. In the figure, C,, C2... each center axis of the upper and lower mounting bases of the compliance module, dl... the diameter of the mounting hole, D,... the pitch of the mounting holes, d2...
・Diameter of positioning bin, D2... Distance between positioning bins, Fo... Component force, H; Ha; Hb... Hole, P
; Pa ; Pb... bottle (article to be gripped), S
... Inclined surface, T ... Tapered surface, [Hand mechanism 1 10 ... Hand mechanism, Ml ... Inversion module, M
2...Shift module, M3...Swivel module, M4...Cushion module, M,...Compliance module, M,...Finger module, Msa...First finger module, M HB・
...Second finger module, M8C...Third finger module, M6. ...Fourth finger module, M 6E...Fifth finger module, M
5 F...Sixth finger module [robot] 12...Robot, 14...X-axis arm, 16...
・Y-axis arm, 18...y-axis moving member, 2o...2
Axis arm, 22... Hand mounting plate, 22a... Mounting through hole, 22b... Positioning pin, 24... X-axis peripheral drive motor, 26... Y-axis drive motor, 28...
・Z-axis single drive motor, [Finger module M,] 29...Double type finger mechanism, 3o...Frame member, 31; 31a; 33... Mounting member, 34a; 34 b... Slide member, 35
...Single type finger mechanism, 36a; 36
a2; 36b1; 36b2...Slide bush, 37a; 37 b-...Suction tube, 37 a I
; 37 b + ・= tube body, 37ax ; 37
ba'・'Suction pad, 37a. ; 37b, --- Coil spring, 38a ; 38
b... Mounting piece, 39... Pivoting part, 40... Coil spring, 41 a; 4 l b-Guide shaft, 4
2a; 42b...pneumatic cylinder mechanism, 42a+;
42b+...Cylinder chamber, 42az; 42bz"'
Through hole, 42as; 42bl--piston body,
42 a 4 ; 42 b 4- compressed air introduction passage, 43... slide member, 44a; 44b... stopper member, 45... slide bush, 46a...
・Mounting screw hole, 46b...Positioning hole, 46c...
・Positioning groove, 47...Installation is one piece, 49 a;
49 b---Pneumatic cylinder mechanism, 51a; 51b...
- Cylinder chamber, 53a; 53b... piston body,
55a; 55b... compressed air introduction passage, 57a;
57b... Connection boat, 59a; 59b... Stopper member, 61a; 61b... Coil spring,
[Reversing module M,] 48...Rotation axis, 50a; 50b...Mounting base, 52a - Upper mounting stay, 52b,; 52
b2... Lower mounting stay, 54a; 54b...
・Bearing member, 56... Through hole, 58... Pinion gear, 60a; 60 b... Pneumatic cylinder mechanism, 60a
+;60bz...Cylinder chamber, 60az;6
0b2... Piston, 60as; 60bs-Rack member, 60a; 60b4... Compressed air introduction passage, 62... Rotation amount regulating hole, 64 a; 64 b-
Rotation amount regulating member, 66a; 66b...stay, 68a
; 68b...Stopper bin, 70a...Screw hole for mounting, 70b...Through hole for mounting, 70c...Positioning hole, 70d...Positioning groove, 70e...Positioning bin, [Shift module M ,] 72a; 72b... Mounting base, 74... Main body portion, 78.74b... Overhanging piece, 76... Pneumatic cylinder mechanism, 78... Cylinder chamber, 78a; 7
8b... Cylinder compartment, 80a; 80b... Guide hole, 82a... Piston rod, 82b... Piston, 84a; 84b... Guide rod, 86a.
... Upper shift position regulating member, 86b... Support rod, 86c... Lower shift position regulating member, 88a...
Mounting screw hole, 88b... Mounting through hole, 88c...
・Positioning hole, 88d...Positioning groove, 88e...
Positioning bin, [swivel module M,] 90... Rotation support shaft, 92a; 92b... Mounting base, 94... Main body portion, 96... Through hole, 98a98b
...-bearing, 100... snap ring, 102...
・Pinion gear, 104...Pneumatic cylinder mechanism, 10
6... Cylinder body, 108... Cylinder chamber, 108
a; 108b・=cylinder compartment, 110a; 110b・
... Piston, 112 ... Piston rod, 114.
... Rack, 116a; 116b... Compressed air introduction passage, 118... Rotation amount regulation hole, 120a; 120 b
- = rotation amount regulating member, 122a; 122b... stay, 124a; 124b... stopper bin, 126a
...Threaded hole for mounting, 126b...Through hole for mounting, 1
26c...positioning hole, 126d...positioning groove,
126e...Positioning bin, [Cushion module M4] 128a; 128b-Mounting base, 130a130b
... Guide bin, 132 a-1132b ...
Stepped through hole, l 32 a, ; 132 b +
"'Small diameter through hole portion, 132a; 132b2-large diameter through hole portion, 134a; 134b...slide bearing, 136a; 136b...flange member,
138...Coil spring, 140a...Screw hole for mounting, 140b...Through hole for mounting, 140c...
・Positioning hole, 140d...Positioning groove, 140e・
...Positioning bin, [Compliance module M,] 142 a; 142 b-Mounting base, 144; 1
46... Compliance inoculation, 144a... 1st
Shaft member, 144b...Second shaft member, 144c...
- Support bottle, 144d... Cut groove, 144e... Urging member, 148.150... Lock mechanism, 148a.
...Cylinder chamber, 148b...Piston, 148c.
...Lock bin, 148d...Coil spring, 1
48e...stopper member, 148f...lock hole,
148g... Compressed air introduction passage, 152... Main body portion, 154... Flange member, 156... Locking member, 158a; 158b... Ball bearing, 16
0a...Screw hole for mounting, 160b...Through hole for mounting, 160c...Positioning hole, 160d...Positioning groove, 160e...Positioning pin, [Hand mechanism selection system] 200...Hand Mechanism selection system, 202... Hand mechanism selection control unit, 204... Keyboard, 206
...Display section, 208...x-y plotter, 210.
. . . Hand mechanism assembly robot, 212 . . . Hand mechanism assembly control unit, 214 . . . Module mounting station. Patent applicant Canon Co., Ltd. Agent Patent attorney Yasunori Amaba (and 1 other person) 2nd A1
1 fig. 6D L'j 9A 9B~. 9D 9E ρy 10A tos :' 10C 11 13 Sofa knob 15 Ai;- 16A 16B Engraving of the drawings 9 Engraving of the drawings Figure 20 East engraving W212 International engraving 2 Old diagram 23C-, <j Figure 827 Procedural amendment 1tζ (Method) 1. Indication of the incident Special Bureau Hei 2- ■ Name of invention No. 59 Robot Relationship with the case of a person amending the retraction method of a hand mechanism Patent applicant Canon Co., Ltd. Agent 2-5 Toranomon, Minato-ku, Tokyo 105 July 31, 1990 (shipped) Subject of sleeve correction

Claims (3)

[Claims] (1) In order to assemble at least two articles in a robot, modules for performing each element movement of turning operation, reversing operation, shifting operation, cushioning operation, compliance operation, and object grasping operation are independently combined with each other. In the method for selecting a hand mechanism that can be equipped with a first step of determining a placement vector; and a reference that uniquely defines a placement vector and orientation that define a placement direction of the first article to a second article at a place position with respect to the absolute coordinate system of the robot. a second step of determining a reference vector and a placement vector when picking up the first article when mounting the first article on a second article; a third step of determining the mutual identity of the reference vector and the placement vector of the first article when placing the article on the second article; and based on the determination result of this third step, A method for selecting a hand mechanism for a robot, comprising a fourth step of selecting the module. (2) In the fourth step, the hand mechanism of the robot according to claim 1 is selected from a turning module and a reversing module in order to change the posture of the first article. Selection method. (3) The third step is to compare vector components on two reference planes at the pickup time and place in the absolute coordinate system of the placement vector to determine whether the reversal module and the rotation module are necessary. 3. The method for selecting a hand mechanism for a robot according to claim 2, wherein the method comprises: determining a hand mechanism of a robot;