JPH0413587A - Hand mechanism of robot and selection method thereof - 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 kind which optimizes the finger module holding a commodity with its gripping according to the size of the plane shape of the commodity. CONSTITUTION:A 1st finger module directly composed of the double type finger mechanism equipped with a pair of the holding pieces which are fitted to a frame member approachably and separatably is selected(S110), in the case of the plane shape of a commodity being judged to be small at a 1st stage. Then, a 2nd finger module composed in the state of the single type finger mechanism equipped with a piece of the holding piece fitted to the frame member movably at both ends of the fitting member is selected(S112) in the case of the plane shape of a commodity being judged long at the 1st stage.

Description

[Detailed description of the invention]

[Industrial Application Field] The present invention relates to a robot hand mechanism in which a finger module for holding an article is attached to the lowermost end, and a robot hand mechanism that is interposed between a finger section and an arm section of the robot and has a predetermined structure attached to the finger section. This invention relates to a method for selecting a hand mechanism for a robot that performs posture change operations. [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 elemental movements of reversing action, shifting action, turning action, cushioning action, and compliance action are provided independently and can be combined with each other, and any of these modules can be combined with each other. By combining the modules, the finger section is configured to perform eight predetermined posture changing operations. [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. In particular, in finger modules that directly hold objects, especially in types that grip and hold objects, it is necessary to change the type of finger module depending on the size of the object to be gripped to ensure that the object can be gripped reliably. The holding state will not be achieved. For this reason, it has been desired to establish a specific configuration and a specific selection method for the finger module for gripping and holding. This invention has been made in view of the above-mentioned problems, and an object of the present invention is to select an optimal type of finger module for gripping and holding an article according to the size of the planar shape of the article. An object of the present invention is to provide a hand mechanism and a method for selecting the same. [Means for Solving the Problems] In order to solve the above-mentioned problems and achieve the purpose, a method for selecting a robot hand mechanism according to the present invention is to select a grasping finger for gripping and holding an article in the robot hand mechanism,
In the selection method of selecting from a plurality of types, there is a first step of determining the planar shape of the article, and when the planar shape of the article is determined to be small in this first step, it is possible to approach or separate from the frame member. a second step of selecting a first finger module directly constituted by a double-type finger mechanism having a pair of gripping pieces attached to the second step; In this case, a second component comprising a mounting member and a single-type finger mechanism provided at both ends of the mounting member with one gripping piece movably attached to the frame member.
The method is characterized by comprising a third step of selecting a finger module. Furthermore, in the method for selecting a hand mechanism for a robot according to the present invention, the single-type finger mechanism is configured to be movable along the gripping direction of the article. Further, in the method for selecting a hand mechanism for a robot according to the present invention, when the planar shape of the article is determined to be elongated in the first step, the double-type finger mechanism is attached to each end of the mounting member. The third part consists of
The method is characterized by further comprising a fourth step of selecting a finger module. Further, in the method for selecting a hand mechanism for a robot according to the present invention, the double-type finger mechanism in the third finger module may be attached so as to be close to or apart from each other along a direction perpendicular to the longitudinal direction of the article. It is characterized by Furthermore, the method for selecting a robot hand according to this invention is as follows:
If it is determined in the first step that the planar shape of the article is large, a fourth finger module is selected in which the single-type finger mechanism is attached to each of the four corners of the mounting member. It is characterized by further comprising a fifth step. Further, in the robot hand mechanism according to the present invention, in the robot hand mechanism in which a finger module for holding an article is attached to the lowermost end, the finger module is attached to a mounting member and to both ends of the mounting member, respectively. and a double-type finger mechanism, each double-type finger mechanism having a frame member attached to a corresponding end of the mounting member, and a frame member movable along one direction at both ends of the frame member. It is characterized by comprising a pair of attached gripping pieces and a driving means for moving the two gripping pieces in a direction toward or away from each other. Further, in the robot hand mechanism according to the present invention, the driving means moves the pair of gripping pieces along a gripping direction defined from a direction perpendicular to the longitudinal direction of the object. . Further, in the robot hand mechanism according to the present invention, in the robot hand mechanism in which a finger module for holding an article is attached to the lowermost end, the finger module is attached to a mounting member and to both ends of the mounting member, respectively. Each single type finger mechanism is configured to include a frame member attached to a corresponding end of the mounting member, and a frame member movable in one direction on each frame member. attached 1
It is characterized by comprising a drive means for moving the book gripping piece and the corresponding gripping pieces of both single-type finger mechanisms in directions away from or toward each other. Further, in the robot hand mechanism according to the present invention,
The driving means is characterized in that it moves and drives the pair of gripping pieces along a gripping direction defined from the longitudinal direction of the article. Further, in the robot hand mechanism according to the present invention, in the robot hand mechanism in which a finger module for holding an article is attached to the lowermost end, the finger module is attached to a mounting member and each of the four corners of the mounting member. and a single-type finger mechanism, each single-type finger mechanism comprising a frame member attached to a corresponding end of the attachment member, and a frame member attached to each frame member so as to be movable in one direction. The present invention is characterized by comprising one gripping piece, and a driving means for moving the corresponding gripping pieces in a pair of single-type finger mechanisms facing each other in a direction away from or toward each other. (Hereinafter, blank spaces) [Embodiment] The configuration of an embodiment of a robot hand mechanism according to the present invention will be described in detail below 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 cushion module M4, the compliance module M5 that executes the compliance operation, and the finger module M6 that executes the gripping operation of the article are provided in any combination. In the configuration, there are 6 types of modules M, -
M, are arranged in the above-described order downward from the Z-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 central axis of the object itself, and the compliance operation means an operation of absorbing a positional deviation in a direction perpendicular to the central axis of the object itself. 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 lO
When any of the inversion module M1 to the compliance module M is selected, it is set to be installed at the bottom of the combination of the selected modules. There is. The method for selecting a combination of these six types of modules M1 to M6 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 that performs a compliance operation will be explained in detail later. The arrangement order of the modules M 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
As shown in FIG. 2A, the X-axis arm 14 and the
A y-axis arm 16 is mounted movably along the y-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, and a Z-axis member 18 is attached to the y-axis moving member 18 so as to be movable in the vertical direction and is supported so as to be movable up and down.
It is composed of a shaft arm 20. This Z-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 two-axis arm 20 in the x-y plane on the y-axis or in a state that is not parallel to the y-axis. It is structured like this. 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 extend vertically through the holes 22a. The diameter and arrangement pitch of these through holes 22a are as follows:
A constant value d and a constant distance are respectively set. Further, on the lower surface of this hand mounting plate 22, a pair of positioning pins 22b are provided at a predetermined diameter d2 and a predetermined distance D2 in order to accurately specify the mounting positions of the modules M1 to M5 to be mounted thereon. It is fixed in a downwardly protruding state. Note that these y-axis arm 16, y-axis moving member 18,
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 M1 to M will be explained. (Description of finger module M6) First, the finger module M6, which is attached to the lowest part of this hand mechanism 10 and is for gripping an article, is attached to the third A
As shown in FIGS. 3F to 3F, there are six types of finger modules M IIA, M 811. M
11(:+M8D+M8EI Mep. Here, the first to fourth finger modules M6E~M
6° is configured to mechanically grip the article,
Fifth and sixth finger modules M flit M
6r is configured to grip an article by suction. The gripping pieces of the first to fourth finger modules MIIA to Mso, which are configured to mechanically grip an object, restrain the object by gripping both sides of the object and lift it. There are two types of gripping pieces: a so-called side clamp gripping piece and a so-called scooping gripping piece configured to engage with the lower surface of an article and lift it. 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 is connected to the third finger module M8A.
As shown in the figure, from the so-called double type finger mechanism 29 itself, which generally includes a frame member 30 and a pair of gripping pieces 31a and 31b that are arranged on the frame member 30 so as to be able to approach and separate from each other. It is configured. That is, this first finger module M8A is set to be optimal for gripping relatively small objects. Toward,
The structure of the double type finger mechanism 29 will be described in detail later with reference to FIGS. 4A to 4E. The second finger module M 6B 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 the mounting member 33, as shown in FIG. 3B. 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
As, 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 as has a long gripping length. It is set so that it can grip objects reliably. The configuration of the single type finger mechanism 35 will be described in detail later with reference to FIGS. 4F to 41. Furthermore, the third finger module Mae is roughly constructed from 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 Mac, 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, the third finger module M6c is designed to be able to grip an extremely elongated object, in other words, to grip an object that cannot be gripped in the longitudinal direction of the object. is set to . Further, the fourth finger module M8D 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 Mso, 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 M. In other words, it is possible to grip an object that is too large to be gripped with a pair of gripping pieces, or in other words, it is possible to 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;
7 a + 37 b 1 and the tube body 37a137
suction pads 37ai attached to the lower ends of b.
, 37bz and wound around each tube body 37a237b2,
Coil springs 37aa that urge each downward
, 37bs. That is, this fifth
The finger module MIIE is quite thick (it is set to be optimal for gripping the top surface of an inclined article by suction). 37a3
37bx, it has an overload absorption function, that is, a cushion function. As shown in FIG. 3F, the sixth finger modules M and F include the above-mentioned mounting member 33 and a pair of suction tubes 37a and 37b fixedly attached to both ends of the mounting member, respectively. The mounting member 33 is generally composed of a pivoting portion 39 that pivotally supports the mounting member 33. For details,
Each suction tube 37a, 37b is composed of a tube body 37a37b1 fixedly attached to the lower surface of the mounting member 33, and a suction pad 37a237b2 attached to the lower end of the tube bodies 37a+, 37b+, respectively. Furthermore, the pivot portion 39 is configured to be able to pivot relative to the lower part of the other modules M1 to M to which it is attached or the mounting plate 22. That is, the sixth finger module M61 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 can elastically damp the movement of the mounting plate 22 in the axial direction, and this sixth finger module M 8 F This coil spring provides an overload absorption function, that is, a cushion function, similar to the fifth finger module M6E described above. (Description of the double type finger mechanism 29) The first finger module M6A shown in FIG. 3A, as described above.
The double-type finger mechanism 29 defining itself or provided at each end of the third finger module M ac shown in FIG. 3C is as shown in detail in FIGS. 4A to 4E. It is specifically structured. 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 32a. 32b, the pair of slide members 34a and 34b each move to a slide bush 36a+;
36a2, 36bt; Slidably supported via 36bi. 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. 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 42a42b opened at the rear surface of each corresponding slide member 34a, 34b, and a through hole 42az, 42b2 formed in the frame member 30, respectively. The corresponding cylinder chamber 42a+ is penetrated and fixed,
Piston body 42a with each tip fitted into 42tz
s +42b. Here, compressed air introduction passages 42a4, 42b4 are formed in each piston body 42as, 42b3, 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, 44b contact the inner surfaces of the corresponding slide members 34a, 34b, and are movable forward and backward relative to the frame member 30 so as to adjustably define the amount of each slide. ! being looked after. Since the double-type finger mechanism 29 is configured as described above, the 4th 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 operating compressed air is introduced into the rain pneumatic cylinder mechanisms 42a and 42b, the corresponding compressed air introduction passage 42a4
, 42tz, the cylinder chambers 42a+, 42, respectively.
bz, 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 will be 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 top surface of 0, each module M, to M, which will be described later, and the bottom surface of the mounting plate 22 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 pins are respectively inserted. These positioning holes 46b and positioning grooves 46c
are set in common to each of the modules M1 to M6 and the hand mounting plate 22 as described above, so this first finger module M8A is set in common to the modules M, M, and the hand mounting plate 22, respectively.
~M6 and the lower part of the mounting plate 22 can be mounted in the same state. Here, for example, this double type finger mechanism 29
The first finger module M constructed directly from
When attaching A directly to the hand mounting plate 22, a threaded portion formed at the lower end of a set screw (not shown) inserted from above through the mounting hole 22a of the hand mounting plate 22, It will be screwed into the mounting screw hole 46a. (Description of Single Type Finger Mechanism 35) Furthermore, in the second finger module M6m shown in FIG. 3B described above, the single type finger mechanism 35 attached to each end of the mounting member 33 is 4th floor
It is specifically constructed as shown in detail in FIGS. 41 to 41. 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 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 41 are disposed within the slide member 43.
A and 41b are provided with a left cylinder chamber 51a that extends along the sliding direction and is open to the left side of the cylinder, and is located on the right side in the figure. The right pneumatic cylinder mechanism 49b has a right cylinder chamber 51b formed in the slide member 43 at the same height as the left cylinder chamber 51a, extending parallel thereto and opening on the right side surface thereof in the figure. It is equipped with On the other hand, a left piston body 53a is implanted on the left side of the frame member 30, with its tip end protruding 8 into the left cylinder chamber 51a, and the base end of this left piston body 53a is connected to the frame member 30. It passes through the left outer surface of the member 30 and is taken out to the outside. 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 bows h57a and 57b for connecting to a pneumatic source (not shown) are attached to the base end of each of the 53b. In addition, as shown in FIG. 4H, when this slide member 43 is deviated to the right as much as possible in the figure, the left piston body 53
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. There is. In addition, as shown in Fig. 4H, various left and right side views and left and right inner side views of the frame member 0 at opposing positions in the horizontal plane show that the stopper members 9a and 59b are attached, respectively. These stopper members 9a and 59b are arranged like a bar to define the left and right stopping positions of this slide member 43, respectively.
It is provided to define a sliding stroke of 3. In addition, in order to be able to arbitrarily define the sliding stroke of this slide member 43, both stop flange members 5 are
9a 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 working compressed air is introduced into the right pneumatic cylinder mechanism 49b, it is transferred to the right cylinder chamber 5lb via the corresponding compressed air introduction passage 55b. brought within;
As a result, the slide member 43 in which the right cylinder chamber 5lb 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
8B, the slide members 43 located at both ends are close to each other, and the article located between the two grip pieces 31 attached to these slide members 43 is moved by the two grip pieces 31 that are close to each other. It will be grabbed. These gripping pieces 31 are connected to the stopper member 59a described above.
, 59b is prohibited. Here, at the four corners of the upper surface of this frame member 30, all (similarly to the case of the above-mentioned double type finger mechanism 29) have a constant diameter d1 and a constant arrangement pitch D1.
Attachment screw holes 46a are formed spaced apart from each other. In addition, in the center portion of the two pieces facing each other on the upper surface of the frame member 30, each module M, to M, which will be described later, is provided.
, and a positioning hole 46b and a positioning groove 46c into which a pair of positioning pins having a common diameter d2 and separated by a common distance D2 are inserted, respectively, are formed on the bottom surface of the mounting plate 22. . (Description of the reversing module M1) The reversing module M for performing the above-mentioned reversing operation has a rotation set perpendicular to the central axis of the reversing module M1, as shown in FIGS. 5A to 5F. A pair of upper and lower mounting bases 50a and 50b are provided so as to be rotatable relative to each other around a moving shaft 48. Here, the upper mounting base 50a is integrally provided with a mounting stay 52a that extends downward from its lower surface, and the lower mounting base 50b is integrally provided with a pair of mounting stays 52b, 52bl that rise upwardly from its upper surface. It is equipped with the following. As is clear from FIG. 5E, the above-described rotation shaft 48 is attached to these mounting stays 52 b
It is set to pass through a + 52 b 2 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 52b, .
52b, and are fixed 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 vertically from each other. Here, each pneumatic cylinder mechanism 60a, 60b has a cylinder chamber 6Q a 1 + formed in the mounting stay 52a.
60 b + and the corresponding cylinder chamber 60a+
A piston 60 a 2160 b z and a corresponding piston 6 slidably inserted in an airtight state in a 60 br
0ai, connected to 60b2, cylinder chamber 60a+,
Rack member 60a taken out downward from 60b1 =
, 60b. Moreover, both rack members 60as and 60b3 are meshed with the pinion gear 58 mentioned above. Further, each cylinder chamber 60a+, 60az has compressed air introduction passages 60a4, 60b4 formed at the upper end thereof.
The operating compressed air is respectively introduced through the . In addition, both compressed air introduction passages 60aa and 60b
4 is set so that operating compressed air is selectively introduced by a switching valve (not shown). On the other hand, as is clear from FIG. 5C, on the outer surface of one of the lower mounting stays 52b1, a plurality of rotation amount regulating holes 62 are formed concentrically around the horizontal central axis 48 at intervals of 30 degrees. There is. These rotation amount regulating holes 62 have two
The rotation amount regulating members 64a and 64b of the book are inserted so that their positions can be changed. In addition, the upper mounting base 50
A pair of stays 66a, 66b are fixed to the stays 66a, 66b, and these stays 66a, 66b are screwed so that a pair of stopper bins 68a, 68b can move forward and backward in the vertical direction so that their positions can be adjusted. It is worn. 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 60b is pushed downward, so the pinion gear 58 that meshes with it rotates clockwise, and as shown in FIG. In the state of contact, the amount of rotation is regulated, that is, it is stopped. In this embodiment, the lower mounting base 50b becomes parallel to the upper mounting base 50a with the left rotation amount regulating member 66a in contact with one of the stopper bins 68a. It is set as follows. On the other hand, in this reversing module M1, 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 rack Since the 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 other 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 tilted 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 same manner, and through-holes 70b for attachment are formed in the four corners of the lower attachment base 50b, respectively. In addition, each module M1 to MI
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 M2 are installed.
M, or inserted into the positioning holes and positioning grooves formed in the first finger module M84, respectively.
A pair of positioning bins 70e having a diameter d2 and spaced apart by a predetermined distance D2 are integrally attached in a downwardly protruding state. In this way, at the bottom of this inversion module M,
Any of the other modules M2 to M6 is selectively attached, and on top of this, other modules M2 to M6 are attached.
M, or the hand attachment plate 22 can be selectively attached. (Description of shift module M2) The shift modules M2 for performing the above-mentioned shift operation are movable relative to each other along the central axis of the shift modules M2, as shown in FIGS. 6A to 6D. A pair of upper and lower mounting bases 72a and 72b are attached.
It is equipped with 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 part 74 has a lower mounting base 7.
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 upper and lower blade 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 opposing edges at the lower end of the main body portion 74 described above are provided with tension pieces 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. still,
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. Mounting 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 into which a pair of positioning bins formed in common on the bottom surface of each module M, -M and the hand mounting plate 22 are inserted, respectively, are provided in the center of two opposing sides of the upper surface of a. 88d is formed. A pair of positioning pins 88e each having a predetermined diameter are inserted into the positioning holes and positioning grooves formed in the other modules MM3 to M6, respectively, at the center of two opposing sides of the lower surface of the lower mounting base 72b. d1, and are integrally attached with a predetermined distance D2 apart and protruding downward. In this way, any one of the other modules M, , M3 to M6 is selectively attached to the lower part of the shift module M2, and the other modules M, , M, to M6 are selectively attached to the upper part of this shift module M2. , or the hand attachment plate 22 can be selectively attached. (Description of the turning module M) The turning module M3 for performing the above-mentioned turning operation is set to align with the center 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. A pinion gear 10 is provided on the outer periphery of the central portion of this 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. A cylinder chamber 1 extending along a direction perpendicular to
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 1.14 that meshes with the above-mentioned pinion gear 102 through this opening. has been done. 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. In addition, one and the other cylinder compartments 108ai osb
Compressed air introduction passages 116a and 1'16b, through which operating compressed air is introduced, are connected to the outer ends of each of the air conditioners. 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 the pistons 110a and 110b are mutually connected to each other by the piston rod 112, as shown in FIG. 7E. In the connected state, the inside of the cylinder chamber 108 is
In Fig. E, the lower mounting base 92b is biased upward, and as a result, the lower mounting base 92b is rotated by the pivot shaft 90 with respect to the upper mounting base 92a.
It will rotate in a counterclockwise direction in the figure with the center at . On the other hand, working compressed air is introduced into one cylinder compartment 108a 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 1], 6
A and 116b are set so that operating compressed air is selectively introduced by a switching valve (not shown). On the other hand, as is clear from FIG. 7D, a plurality of rotation amount regulating holes 118 are formed concentrically around the rotation support shaft 90 at intervals of 22.5 degrees in the lower mounting base 92b. Two rotation amount regulating members 120a120b are inserted into these rotation amount regulating holes 1]8 so that their mounting positions 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, the lower mounting base 92b is aligned with the upper mounting base 92a with the other rotation amount regulating member 120b in contact with the stopper bin], 24b. is set to . On the other hand, in this swing module M3, when the switching valve (not shown) is switched from the state shown in FIG. 7E and compressed air is introduced into the cylinder compartment 108a at the upper side in the figure, the rack 114 is pushed downward. Therefore, the pinion gear 102 that meshes with the pinion gear rotates clockwise, and one rotation amount regulating member 120a
Rotate until it comes into contact with the corresponding stopper bin 124a,
In the state of contact, the amount of rotation is regulated, that is, it is stopped. In this embodiment, with one rotation amount regulating member 120a in contact with the corresponding stopper bin 124a, the lower mounting base 92b is positioned clockwise relative to the upper mounting base 92a when viewed from above. It is set to rotate at a 90 degree angle. Here, the four corners of the upper mounting base 92a are provided with a diameter d in a state where they are spaced apart from each other at the above-mentioned constant pitch D1.
The mounting screw hole 126a of No. 1 is also connected to 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 1 into which a pair of positioning bins formed in common on the bottom surface of ~M, are respectively inserted.
26d is formed. The center portions of the two opposing sides of the lower surface of the lower mounting base 92b have a diameter d at which they are inserted into the positioning holes and positioning grooves formed in the other modules MM, , M, to M, respectively. , and a pair of positioning bins 126e spaced apart by a predetermined distance D2 are integrally attached in a state of protruding downward. In this way, in the lower part of this turning module M,
Any of the other modules M, , M, , M4 to M6 is selectively attached, and on top of this, another module M l+ M! +M4 +M6 or the hand attachment plate 22 can be selectively attached. The reversing module M2 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 modules) The cushion modules M4 for performing the above-mentioned cushion operation are movable relative to each other along the central axis of the cushion modules M4, as shown in FIGS. 8A to 8C. Installed 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 132a2.32a+, 312b+. 132 bz and coaxial with each other. Here, the upper part of each guide bin 130a, 130b is slidably inserted into the small diameter through-hole portions 132a+, 132b+ of the corresponding stepped through-hole 132a, 132b via slide bearings 134a, 134b, respectively. The upper end of each has a large-diameter through-hole portion 132a2, 13.
Flange members 136a and 136b that fit into 2bz are fixed. With this configuration, the lower mounting base 1
28b is supported in a suspended state by the upper mounting base 128a via a pair of guide bins 130a and 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 is attached to both mounting bases 12sa. It has a biasing force that biases 128b in a direction away from each other. In this way, this cushion module M
4, in the non-cushion mode state, the lower mounting base 128b has the large diameter through-hole portions 132a of the stepped through-holes 132a and 132b, so that the flange members 136a and 136b are moved by the biasing force of the coil spring 138.
x+132b, and is separated from the upper mounting base 128a until it comes into contact with the bottom surface of the upper mounting base 128a. On the other hand, when the component gripped by the fingers F is inserted into the hole, and the bottom of the component comes into contact with the bottom of the hole, the cushioning module M4 passively performs a cushioning operation. 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 this 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 is absorbed, even when inserting a part, and the finger This effectively prevents excessive force from acting on the part 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 D.
At the four corners of 28b, there are mounting through holes 140 in the same condition.
b are formed respectively. In addition, a positioning hole 140C and a positioning groove 140d into which a pair of positioning bins formed in common on the bottom of each module M, to M6 are respectively inserted are located at the center of two opposing sides of the upper surface of the upper mounting base 128a. is formed. At the center of two opposing sides of the lower surface of the lower mounting base 128b, other modules M, ~M, , M
,. A pair of positioning pins 140e having a diameter d2 and spaced apart by a predetermined distance D2 are integrally formed in a downward protruding state to be inserted into the positioning holes and positioning grooves formed in M6. In this way, below this cushion module M4, other modules M1 to M are installed. Either M, , M, is selectively attached, and
On top of this, other modules M1 to M3, M
A or the hand attachment plate 22 can be selectively attached. (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 142b, and these compliance mechanisms 144 and 146 are arranged symmetrically about the central axis. 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
4 and between the lower surface of the flange member 154 and the upper surface of the lower mounting base 142b, ball bearings 158a are provided, respectively. 158b is interposed. In this way, the lower mounting base 142b can accommodate these ball bearings 158a, 1
58b, it is suspended from the upper mounting base 142a so as to be rotatable 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 indicates that when an equivalent external force is not acting on the lower mounting base 142b in the normal state, the upper mounting base 142
a central axis C0 and the central axis C2 of the lower mounting base 142b
are elastically maintained in a state aligned with each other along the central axis of the compliance module Ms, and when an external force in the cross section is applied to the lower mounting base 142b, a predetermined range is maintained according to this external force. The setting is such that it is possible to allow soft deviation within this cross section. The configurations of the compliance mechanisms 144 and 146 will be explained below, but both compliance mechanisms 1
44 and 146 have the same configuration, so 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 144a. 144b are formed to have outer circumferential surfaces having the same radius, and the lower end of the first shaft member 144a is set to face the upper end of the second shaft member 144b with a slight distance therebetween. There is. Further, this compliance mechanism 144 includes first and second shaft members 144a, 144. A plurality of support bins 144C are provided as a plurality of support members disposed so as to simultaneously surround mutually opposing ends of the support bins 144C. For details,
In this embodiment, these support bins 144c are formed from cylindrical bodies having the same radius as the first and second shaft members 144a and 144b, and the number thereof is set to six. There is. These six support bins 144c
are arranged so as to simultaneously surround the opposing ends of the first and second shaft members 144a144b 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 L44a, 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 of a fine (wound) ring-shaped coil spring. When 20 moves horizontally 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 1.48 and 150 have the same configuration, as shown in FIG. 9D. For this reason,
Only the structure of the locking mechanism 148 in the upper part of the figure will be described in detail, and the explanation of the structure of the locking mechanism 150 in the lower part of the figure will be omitted by adding the same alphabetic 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 in , 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 Based on the information (control mechanism (not shown)
The movement is controlled by the control operation of. Here, by controlling the movement of the two-axis arm 20, when the two-axis arm 20 moves along the horizontal direction, that is, within the x-y plane, a solenoid valve (not shown) opens to open the corresponding compressed air introduction passage 148g. Compressed air is supplied to the double-ended hook mechanism 148150 through 150 g of each. In this way, 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 to enter the locking state, and each locking bin 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,
, 150c will not be supplied with compressed air. In this way, each lock bin 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
48,150 are inactive, and each lock bin 148
c, 150c is brought into the retracted position and the corresponding locking hole 148f. By pulling out the upper and lower mounting bases 150f, the upper and lower mounting bases 142a and 142b are brought into a state in which they can move freely relative to each other in the lateral direction. Further, here, if this position information is accurate, the Z-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, the position of this hole H is Directly above, based on the movement control operation described above,
By moving the bottle P and then lowering it vertically, the bottle P fits well into the hole H. 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 Z-axis arm 20
Bin P, which has been lowered vertically by the descent 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 is subjected to a component force F directed in the horizontal direction along the Taber surface T. will be accepted. 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 horizontal component force F mentioned above. When the bottle P receives this force, this component force F acts on the compliance mechanisms 144 and 146 via the lower mounting base 142b. Therefore, this component force F. 10B, the pair of upper and lower biasing members 14
4e; 146e causes the first and second shaft members 144a; 144b and 146a; 146b to be elastically aligned with each other in the vertical axial direction, and as shown in FIG. 10C, these biasing members 144e; Resisting the biasing force of 146e, the support bin 144c; 146c tilts diagonally (thereby, the second members 144b, 146b move so as to be shifted in the horizontal direction. In this case, 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. In this way, the misalignment between the bottle P and the hole H is reduced by adjusting the position of the first and second shaft members 144a; 144b 146a; 146b in each compliance mechanism 144, 146. The deviation is elastically absorbed, and the bin P and hole H are brought into alignment along the vertical direction with respect to each other, and the Z-axis arm 20
As the bottle P is lowered, 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 part F, the above-mentioned component force F is applied. However, it no longer acts on the lower mounting base 142b. As a result, the force acting on the second shaft members 144b, 146b in both compliance mechanisms 144, 146 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 M,
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, to M6 are respectively inserted are formed in the center of two mutually opposing sides of the upper surface. And lower mounting base 1
The center portions of the two opposing sides of the lower surface of 42b have a diameter d2 and are spaced apart by a predetermined distance D2 to be inserted into the positioning holes and positioning grooves formed in the other modules M, to M6, respectively. A pair of positioning bins 160e are integrally attached in a downwardly protruding state. In this way, this compliance module M,
Any of the other modules M1 to M, , Mll is selectively attached to the lower part of the module, and the upper part of the module is
Any of the other modules M, to M4 or the hand attachment plate 22 can be selectively attached. The cushion module M4 and the compliance module M described above serve as a passive module in the hand mechanism 10, that is, a module that does not have its own driving source and can deform (deviate) itself according to the state of the opponent. is composed of

[Explanation of hand mechanism selection system]

The hand mechanism 10, which is a feature of the present invention, will be explained below.
selection system, i.e. the most suitable one for gripping a given item.
About the selection system for module combinations
, will be explained in detail. (Schematic configuration of selection system) First, with reference to Section 11 and Figure 12, we will explain this selection system.
The general configuration of the system 200 will be explained. As shown in FIG. 11, this selection system 200
A hand inoculation selection control unit 202 that controls the overall operation;
Let's grip this selection control section 202 with the hand mechanism 10.
As an input means for inputting information, etc. on the goods to be used.
Selection selected by keyboard 204 and selection control unit 202
Display unit 206 as a display means for displaying the results on a CRT
and display the selection results selected by the selection control unit 202 on the paper.
x-y block as an output means to output in the state shown
208 and the selection result selected by the selection control unit 202.
Then, the hand mechanism 10 is assembled by the hand mechanism assembly robot 210.
Hand mechanism assembly system that allows you to assemble from predetermined modules
The control section 212 is generally configured from a control section 212. Here, hang
The robot mechanism assembly robot 210 is equipped with various types of robots used for assembly.
Module mounting station on which modules are placed in advance
module 214 selected by the selection control unit 202.
Under the Z-axis arm 20 of the robot 12,
A predetermined handle is attached to the lower part of the hand mounting plate 22 provided at the end.
It is set so that the door mechanism 10 is assembled. Here, the selection control unit 202 described above executes the selection control procedure.
The CPU to be executed and the control program and speed of this CPU and U.
ROM in which peck data is stored in advance and CPU control
Remember information that needs to be remembered while performing a procedure
It is generally equipped with a RAM as an external storage section. FIG. 12 shows the system in this selection system 200.
The figure shows. As is clear from this Figure 12, the handle
information about the article (work) to be gripped by the hand mechanism 10;
First, enter the "work name" as work registration information.
, "Work number", "Line name", "Station number"
There is also ``work attribute information'' as unique information.
information,” “charging form information,” and “workpiece posture information.”
, the above-mentioned "work attribute information" includes [shape pattern
[size], [weight], [material], etc.
, the above-mentioned "insertion form information" includes press-fitting and fitting cylinder information.
There are [charging mode], [pressing force], etc., and the above-mentioned "
``Workpiece posture information'' includes ``Position when clamping'' and ``Workpiece posture information''.
Entrance posture]. These work information are transmitted via the keyboard 204 mentioned above.
is temporarily stored in the RAM in the selection control unit 202.
module selection via the work data management system.
In the fixed control procedure and work data search control procedure,
It is used in comparison. In addition, the ROM mentioned above
, spec data is stored in advance, and this spec
The data includes "unit name", "layer code", "
There are "weight", "clamping force", "release force", etc. child
These spec data are stored in a spec data management system.
Through the specification data search control procedure and combination check
This is called and used in the stock control procedure.
Ru. (Basic control procedure for selection control) Next, referring to FIG.
Basic control procedure when selecting the hand mechanism 10 in
Explain. When this selection control procedure is started, first, step SI
At O, the workpiece posture change status is determined from the workpiece posture information.
status is determined. The details of this judgment procedure will be explained in detail later.
As will be explained, the key point is that this hand mechanism 10 is used to grasp (pick up)
The posture of the workpiece when inserting the workpiece
The appearance that occurs between the position and the position when putting it on (place)
Recognizes the state of change in position and is necessary for this change of position.
Selection of the reversing module MI, the turning module M, and
, selected module M 0. Installation of Mn is in order.
to determine the orientation and mounting orientation of the swing module M3.
It is configured. In this step SIO, based on the workpiece posture change state,
Installation of reversing module M+ and turning module M3
When the presence or absence is determined, this determination is made in step S12.
The results are stored in RAM. Subsequently, in step S14, when mounting the workpiece,
Shift module M recognizes the presence or absence of insertion operation.
The system is configured to determine the necessity of . And this
In step S14 of
When it is determined whether the shift module M2 is installed or not,
, in step 816, this determination result is recorded in the RAM.
be remembered. After this, in step S1g, when mounting the workpiece,
Cushion module M4 recognizes the occurrence of overload.
The system is configured to determine the necessity of And this
In step S18, based on the overload (cushion modulation
When it is determined whether or not the module M4 is attached, step S2
0, this determination result is stored in RAM. Also, in step S22, when mounting the workpiece,
Occurrence of positional deviation between the mounting position of the workpiece and the mounting position
compliance module M,
It is configured to determine the necessity. This step S2
2, based on the positional deviation state (compliance module)
When it is determined whether the module Ms is attached or not, step S2
At step 4, this determination result is stored in the RAM. Furthermore, in step S26, from the attribute information of the workpiece,
, of the finger module M6 necessary for gripping the workpiece.
Determine the type. In this step S26, the finger
When the type of module M is determined, step S28
At this time, this determination result is stored in the RAM. In this way, all the selection states of modules M, ~M8 are
If it is determined, in step S30, the data is removed from the RAM.
Read all the determination results, and in step S32,
The selection result, in other words, the work is picked up.
For the final form of the hand mechanism 10 required to
, in the context of the robot 12 to which this is attached.
, and finally check whether it is possible. and step
In S34, the result of the final check is output and the
The series of selection control procedures for the hand mechanisms 10 is completed. Here, the final form of the hand mechanism 10 selected in this way is
As described above, the display unit 206 and/or the
8 force is applied to the rotter 208 and visually recognized by the operator.
It will be done as it is done. Then, the result of these eight forces is given to the operator.
Once supported, the selection result is sent to the hand mechanism assembly control section.
212, and here, based on the selection results, the
Specifically, in the hand mechanism assembly robot 210,
Structure 10 will be assembled. (Explanation of posture change determination procedure) Next, referring to FIGS. 13 to 18G, the above-mentioned step
Detailed explanation of the procedure for determining posture change in TP SIO
do. First, in order to recognize changes in the posture of the workpiece,
Posture when picking up and appearance when placing
It is necessary to accurately recognize the situation. For this reason, this
In one embodiment, the loading vector and the workpiece reference vector
We introduce two new vectors: Here, place
The vector is the reference point of the workpiece, as shown in Figure 14.
This is defined as a vector pointing in the loading direction from the
It is used as a vector specific to the network. one
On the other hand, the work reference vector is the one designed from the reference point mentioned above.
a vector extending along a direction arbitrarily determined by the person
is defined as a vector indicating the standard of the workpiece.
There is. Note that the placement vector and workpiece reference vector are mutually exclusive.
They are set so that they are not parallel to each other. Here, what are these loading vectors and work reference vectors?
, a coordinate system that is uniquely set for the workpiece, and a robot, for example.
An absolute coordinate system that is specified in a state that coincides with the coordinate system.
Both vectors are defined independently of each other, and both vectors are
In each coordinate system, it is displayed as shown in Table 1 below.
shall be set so that (Hereinafter, blank space) Table 1 And in the following explanation, when picking up the workpiece
As shown in Fig. 15A, the workpiece coordinate system in O+
Defined as X + y + Z + coordinate system, and when placing
The coordinate system of the object on which the work is placed is shown in Figure 15B.
As shown in , o2-x23'2Z2 is specified, and
The paired coordinate system is defined as 0-xyz. However, absolute coordinates
The system and the coordinate system of each work are in an arbitrary positional relationship.
It is set. Furthermore, when picking up each vector,
It is different when placing, picking up, and placing.
In order to identify each after matching the mounting vector and
, each vector has ■, Il, and III as subscripts.
I will attach them to each. With these various regulations in place, pick-up and play
The placement vector displayed in the workpiece coordinate system at the time of
Both the vector a and the work reference vector b are well-known orthogonal vectors.
According to the conversion process between coordinate systems, the absolute coordinate system 0-xy
It will be displayed in a unified state as z. Placement vector AI and work reference during pickup
Vector B, and placement vector A1. as well as
The comparison with the work reference vector B Il is, after all,
X+, which defines the direction of extension of each vector
Indicates the distance from the three orthogonal axes of 3'+Z.
All you have to do is consider the angle parameters. For this study, the placement vector A and the workpiece reference vector
B is the angle parameter as shown in Figures 16A and 16B.
The direction of each extension is uniquely defined by the meter.
Ru. Here, in FIG. 16A, vector A' is the loading vector.
The orthogonal projection vector of torque A onto the XY plane is expressed as an angular parameter.
The data α is the angle between the X axis and the orthogonal projection vector A'.
Then, the angle parameter β is the relationship between the Z axis and the mounting vector A.
The angles shown are shown respectively. And the placement vector A
When the vectors 2 and 2 are parallel to each other, the angle parameter α
is set to "0". In addition, in FIG. 16B, the plane M passes through the origin O,
The plane perpendicular to the mounting vector A, and the pect projection vector
, vector 2 is the unit vector on the Z axis, vector
2′ is the orthogonal projection vector of unit vector 2 onto plane M.
, and the angle parameter γ is the orthogonal projection vector B'
and the orthogonal projection vector 2'. However, if the placement vector A and vector Z are parallel to each other,
In this case, the angle parameter γ is
is set so that it forms an angle with the orthogonal projection vector of vector
It is. For the purpose of explanation, it is drawn so that it passes through the placement origin 0.
However, as shown above, it is limited to passing through the origin 0.
isn't it. In this way, the three angle parameters α, β, and γ are defined respectively.
By doing this, each vector can be expressed as
Each direction will be uniquely set. In other words,
These angle parameters α β, γ are
When inputting data, the work position information is
Posture when picking up the workpiece and when placing the workpiece
This information is input in advance as information representing the posture of each person.
Ru. Next, referring to FIG. 17, the above-mentioned hand mechanism IO
Step S in the basic control procedure in enactment control operation
The posture change determination operation in IO will be explained in detail. When this posture change determination operation starts, first, step S
40, the angle between the X axis and the orthogonal projection vector A'
Regarding the parameter α, the difference between pick-up and place
Compare the values (ie, β9.α11). This step S
40, both angle parameters α3. The values of α1□ are mutually
or whether the phase difference is 180 degrees.
be judged. Determined as YES in this step S40
, that is, both angle parameters α1. α1. The value of the
are equal to each other, or the phase difference is 180 degrees
If it is determined that
. On the other hand, in this step S40, it is determined that the answer is No.
In other words, both angle parameters α1. The values of α11 are mutually
or the phase difference is not 180 degrees
If it is determined that this is the case, the process advances to step S41. This space
In step S41, β, =O; β, =18
0. It is determined whether any of β2=0;β,=180 holds.
Cut off. YES in this step S41, that is,
When it is determined that any of the above four conditions is satisfied,
Next, the process proceeds to step S42 described above. This step
In step S42, the angle between the Z axis and the placement vector A
Regarding the parameter β, the difference between pick-up and place
Compare the values (ie, β1.βI+). On the other hand, this step
If it is determined No in step S41, that is, the above-mentioned
If none of the above four conditions are met, the following
The process advances to step S56. (Hereafter, margin) On the other hand, in step S42 described above, both angle parameters are
Data β1. If β and 1 are judged to be equal to each other, then
, then in step S44, the angle parameter γ
Regarding, place time, pick up time and place
value after matching different mounting vectors at times (i.e.,
γ, 1. γ10. ). In this step S44
, both angle parameters γ, 1. γIl+ are equal to each other
If it is determined that the
Placement vector A 1 Hl when placing and placing
and work reference vector B I+, respectively.
This is a case where this work is picked up and played.
There is no need for turning or reversing movements when
Ru. As a result, as shown in FIG.
Both angle parameters γ10. Judgment is made by matching the value of γ1□1
If so, in step 346 the rotation module is
module M and reversing module M must be installed.
The selected state will be obtained as a judgment result. this
After the determination result is obtained in step S46, this sample
The routine returns to the original basic control procedure. On the other hand, in step S44, both angle parameters γ1
1. If it is determined that γ1° are not equal to each other,
A turning module M3 is required. For example, Figure 18A
If the workpiece is arranged as shown in
Placement vectors A+ and A++ when loading and placing
are both set parallel to the Z axis, and the pickup
Work reference vector B+, B at the time of pull and place
If only + points in different directions around the Z axis
Therefore, when picking up and placing this work,
In this case, only the operation of rotating the workpiece around two axes is required.
becomes. As a result, as shown in FIG.
It was determined that the two angle parameters γI++ and γ111 did not match.
If so, in step S48, the turning module is
The selection condition of installing only the module M3 is the judgment result.
You will get it as a result. This step 348 smell
After obtaining the judgment result, this subroutine returns to the original basic
Return to control procedure. On the other hand, in step S42 described above, both angle parameters are
Data β1. β1. If the values of are determined to be unequal, then
In step S50, the above-mentioned step S44
Similarly, the angle parameter γ00. Compare γ1°
Ru. In this step S50, both angle parameters γ
33. When the values of γIl+ are judged to be equal to each other,
requires an inversion module M1. For example, the 18th
If the workpiece is arranged as shown in figure B, the workpiece
Placement vector when picking up and placing
A+, All are at a predetermined angle around themselves in the X-axis direction, in this case
The relationship is rotated 90 degrees, and the work reference vector
LeB. , Bz, similarly, 90 degrees around itself in the X-axis direction.
This workpiece is picked up because it is in a rotated relationship.
And when placing, the workpiece is rotated around itself in the X-axis direction.
The only action required is to As a result, as shown in FIG. 17, in step S50,
It is determined that both angle parameters γ1□ and γII+ match.
In this case, in step S52, the 1 inversion module is
The selection state of attaching only Le M is the same as the judgment result.
You can get it by doing this. In this step S52,
After obtaining a certain result, this subroutine returns to the original basic control.
Return to step. On the other hand, in step S50, both angle parameters γ,
, when it is determined that the values of γI11 are not equal to each other,
requires a reversing module M and a turning module M3.
becomes. For example, the workpiece is arranged as shown in Fig. 18C.
If the placement vector A1 and the workpiece reference base
vector B1 is parallel to the Z axis and the Y axis, respectively,
On the other hand, the work reference vector B at the time of placement is on the Y axis.
Although parallel, the placement vector A17 is slightly parallel to the X axis.
It is set in a tilted position. Therefore, this work
When picking up and placing the workpiece, move it in the Y-axis direction.
After rotating in the direction, the loading vector A1.
An action of rotating around the direction is required. As a result, as shown in FIG. 17, in step S50,
The discrepancy between both angle parameters γI+ and γII+ is determined by
If so, in step S54, the inversion module is
M, and a swing module M3 connected below it.
The selected state of installing the is obtained as a judgment result.
It will happen. After the determination result is obtained in step S54,
The subroutine returns to the original basic control procedure. On the other hand, in step S41 mentioned above, N. If it is determined that both angle parameters β3. βI
If neither + is determined to be 0 degrees or 180 degrees
If so, in step S56, the
Angle parameter β1 during racing. Compare β and I
do. In this step S56, both angle parameters β1.
If β− is determined to be equal to each other, then step
In step 358, the angle parameters γ, γII+ are
compare. In this step S58, both angle parameters are
Data γ16. When γ1.1 is judged to be equal to each other
, a swing module M3 is required. For example, the first
If the workpiece is arranged as shown in Figure 8D, the pin
Placement vector A and work reference during backup
Vectors B, are set parallel to the X and Y axes, respectively,
On the other hand, when placing the
In other words, the workpiece at the time of pickup
By rotating around two axes, it is possible to place the
If this matches the position, pick this work.
Rotating movement around the Y-axis direction when moving up and placing
only is required. As a result, as shown in FIG.
Both angle parameters γ8. γII+ match was determined
In this case, in step S60, the rotation module
The selection state of installing only M3 is the judgment result.
This is what you will get. Determined in this step S60
After obtaining the result, this subroutine returns the original basic control hand.
Return in order. On the other hand, in step S58, both angle parameters γ
, γ, 1, are not equal to each other, then
Two swivel modules M3 are required. For example, the first
If the workpiece is arranged as shown in Figure 8E, the workpiece
Placement vector when picking up and placing a truck
Les A + and A + are parallel to the X and Y axes, respectively.
is set, and by rotating it around the Y-axis direction, the
match, but when picking up and placing
The work reference vectors B, , B, , which are
Since it is set parallel to the Z axis, it can be rotated around the Y axis direction.
This work pick is in case you need to
Rotation modulation around the Y-axis direction when moving up and placing
module M, and a rotation module M3 around the Y-axis direction are required.
The key point. As a result, as shown in FIG.
Both angle parameters γ, 1. The man-hours of γ111 are determined.
In this case, in step S62, the two turning models are
Joule M3 is installed with different rotation axes.
The selection state of attaching is obtained as a judgment result.
Become. The determination result was obtained in this step S62.
Afterwards, this subroutine returns to the original basic control procedure.
Ru. On the other hand, in step S56 described above, both angle parameters are
Data β1. If it is determined that β11 is not equal,
In step S64, the same as step 558 described above.
Compare the angle parameters γ1□ and γIl+ as follows.
. In this step S64, both angle parameters γ1
9. If γ1 is determined to be equal to each other, turn
A module M3 and an inversion module M1 are required. For example, the workpiece is arranged as shown in Figure 18F.
In this case, the placement vector at the time of picking up the workpiece
A1 and work reference vector B+ are flat on the XZ plane.
When placing the workpiece,
The workpiece reference vector Bl+ is parallel to the Z axis and
The position vector AII is set parallel to the XY plane.
. Therefore, when picking up and placing this work,
Then, with the workpiece rotated around the two axes, further
, it is necessary to rotate it around the z1-axis direction. As a result, as shown in FIG.
Both angle parameters γ, 1. A match of γ1□1 is determined.
In this case, in step S66, the rotation module
The module M3 and reversing module M are installed vertically.
The selected state will be obtained as the determination result. This space
After the determination result is obtained in step S66, this sub
The routine returns to the original basic control procedure. On the other hand, in step S64, both angle parameters γ1
0. When it is determined that the values of γII+ are not equal to each other
has two swivel modules M and one reversing module.
M, is required. For example, as shown in Figure 18G
, Placement when picking up and placing workpieces
It is set so that it is not parallel to the axis of vector A1.
If this is the case, please be careful when picking up and placing this work.
After rotating the workpiece around the axis in the Z direction,
Rotate around the y1 axis direction after the rotation of
The workpiece is rotated in the X-axis direction after it has been rotated.
It is necessary to rotate the As a result, as shown in FIG.
It is determined that the values of the same angle parameters γ and γIl+ are different.
If so, in step 368, from top to bottom
towards the turning module M3, the reversing module M1,
And the selection state of installing the rotation module M.
is obtained as the judgment result. This step 3
After the determination result is obtained in 68, this subroutine
returns to the original basic control procedure. As described above, step S46. S48. S52, S54
．． S60. S62. The appearance of the workpiece in S66 and S68
The reversing module M and the rotating
The determination results for the combinations of modules M, are shown in Figure 13.
After returning to the main routine, step S1
2, it is stored in RAM. (Insertion operation determination procedure) Next, the workpiece shown in step S14 in FIG.
When placing (place) the
The determination operation will be explained with reference to FIG. Here, generally, a robot of an orthogonal system as shown in Fig. 2A is used.
12, the movement along the Z-axis direction is the vertical axis.
Since it is equipped with a two-axis arm 20 that allows
is along each axis of the orthogonal coordinate system, then this robot 12
This insertion movement is accomplished by a side movement, and the shift
Module M2 becomes unnecessary. On the other hand, how to insert the workpiece
If the direction is inclined with respect to the two axes, this insertion operation
When trying to execute on the robot 12 side, the robot 12
has a linear interpolation function that moves along a straight line between any two points.
It will be required. From this perspective, the steps below are as follows.
The insertion operation determination procedure in step S14 will be explained. That is, when step S14 is activated, the process shown in FIG.
First, in step S70, the robot 12
It is determined whether a linear interpolation function is provided. child
If it is determined YES in step S70, immediately
In other words, if the robot 12 is equipped with a linear interpolation function,
, since shift module M2 is unnecessary, step
Do not install shift module M2 in S72
This selection state will be obtained as the determination result. After the determination result is obtained in step S72,
The subroutine returns to the main routine shown in Figure 13.
turn on. On the other hand, if it is determined NO in this step S70,
In other words, the robot 12 does not have a linear interpolation function.
If it is determined that
, it is determined whether the workpiece insertion operation is an axle movement or not.
Ru. Here, this "single-axis" movement refers to the insertion movement of the workpiece.
is each axis in the orthogonal coordinate system of the robot 12, that is,
When set parallel to axis, y-axis, or x-axis
, is the defined movement state. If it is determined as YES in this step S74
, that is, the workpiece insertion operation is determined to be a single-axis movement.
In this case, the shift module M2 is unnecessary.
, in step S72 described above, the shift module M
This subroutine is shown in Figure 13.
Return to main routine. On the other hand, in this step S74, it is determined as No.
In other words, the workpiece insertion movement is not a single-axis movement, but a rotational movement.
Tilt with respect to the X-axis, y-axis, and X-axis in the bot coordinate system
If it is determined that the
, determines the selection of shift module M2, and selects this subroutine.
The process returns to the main routine shown in FIG. As described above, in steps S72 and S76, the workpiece is inserted.
Adoption of shift module M2 required for input operation
The judgment results regarding employment/rejection are shown in the main table in Figure 13.
In step 316,
, stored in RAM. (Overload determination procedure) Next, the workpiece shown in step 31g in FIG.
During the placement operation, check whether overload occurs or not.
The related determination operation will be explained with reference to FIG. Here, in general, when mounting a workpiece, a press-fitting operation is performed.
or when a baratin operation is performed, these press-fit movements
The reaction force during the movement and pacing movement is directly applied to the robot 12 side.
is transmitted to the robot 12 and does not adversely affect the drive system of the robot 12.
To ensure this, overload countermeasures are required. This kind of view
From this point, the overload operation determination procedure in step S18 is described below.
explain. That is, when step 318 is activated, first step 318 is activated.
In S78, during the installation operation, there is no press-fitting operation or parachute
It is determined whether an overload condition will occur due to the on operation.
. If it is determined NO in this step 378,
In other words, an overload condition may occur due to press-fitting or baradin operation.
If not, in step S80, the cushion is
The selection state of not installing module M4 is
This will be obtained as a fixed result. In this step S80
After the determination result is obtained, this subroutine performs the first
3. Return to the main routine shown in FIG. On the other hand, if it is determined NO in this step S78,
In other words, when installing
If an overload condition based on occurs, step S8
In order to absorb this overload condition, the shoes are
This subroutine determines the selection of the option module M4.
returns to the main routine shown in FIG. As described above, in steps S80 and S82, the workpiece is inserted.
Cushion module M4 required for input operation
The results of the decision on whether to hire or not are shown in Figure 13.
After returning to the main routine, proceed to step S20.
and stored in RAM. (Positional deviation determination procedure) Next, the workpiece shown in step S22 in FIG.
Is there any misalignment during the placement operation?
Refer to FIG. 21A and FIG. 21B for the determination operation regarding
and explain. Generally, when loading a workpiece, the workpiece is
Misalignment between the side that is being worn and the side that is being worn is cumulative.
If the amount of misalignment exceeds the allowable value, remove the
This will result in poor fitting, but based on the poor fitting,
To prevent any negative impact on the drive system of the robot 12
Therefore, compliance measures are required. This kind of perspective
The following describes the positional deviation determination procedure in step S22.
do. That is, as shown in FIG. 21A, step S22 is activated.
If the size of the work is determined, first, in step S84, the dimensions of the work are
and equipment performance, such as tolerances and repeatability of the robot.
Calculate the amount of positional deviation between the workpieces. here
1. In this example, when calculating the accumulation of probability,
In this case, the allowable positional deviation amounts 1, 2 and 2 as explained below are
Regarding the amount of compliance and the amount of compliance F, instead of using the worst value method,
, using the variance addition theorem, and converting this calculation result into a two-dimensional
I am trying to calculate it as an area. Next, step
In step S86, as shown in FIG. 21B, the workpieces are
From the chamfering amounts C,,C2, the first positional deviation is the sum of the chamfering amounts C,,C2
Calculate the allowable amount E, (=C+ +C2). Then, in the subsequent step S88, this position
Compare the deviation measurement and the first positional deviation tolerance ICE, and determine the position.
When the deviation amount is larger than the first positional deviation tolerance IE1
In this case, the misalignment scale is too large and the chamfers overlap each other.
In this case, no matter how much compliance
Even if there is an amount of
It's going to happen. Here, the difference between the positional deviation scale and the first positional deviation allowance E1 is calculated.
When comparing the size, in this embodiment, the first
The area of positional deviation measurement is within the area of positional deviation tolerance E.
If all A are included, the first positional deviation tolerance
E1 is set so that it is judged to be larger than the positional deviation scale.
has been done. 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 positional deviation MD is
It is larger than the first positional deviation tolerance E1, and charging is impossible.
When the judgment is made, the process continues (in step S90).
, a request to increase the amount of chamfering is displayed on the display unit 206, and a series of
control operation is terminated. On the other hand, in step S88, the positional deviation amount is determined to be the first
The positional deviation tolerance E is less than or equal to, and the mutual chamfering of the workpieces is
If it is determined that it is possible to engage in
Compliance function in ance module M.
It is determined that the operation is possible, and the process proceeds to step S92.
2 is calculated. Here, in general,
When assembling two workpieces together,
If there is no gap between the two, assemble them together.
It is something that cannot be done. The second misalignment mentioned here
The allowable amount E2 is defined from this gap. Therefore
, if multiple workpieces are piled up, this second position
The displacement tolerance E2 is also stacked. After that, the process advances to step S94, where the positional deviation measurement is performed.
and the second positional deviation tolerance E2. This step
In step S94, the positional deviation scale is set to the second positional deviation tolerance.
If it is determined that the amount is smaller than the amount E2, a new controller is applied.
work phase without using appliance module M5.
Misalignment can be absorbed only by the gap between them.
It means something. For this reason, the subsequent steps
At S96, the compliance module M5 was installed.
Failure to do so will result in a rejection decision.
. After obtaining this rejection judgment result, this subroutine
returns to the main routine shown in FIG. On the other hand, in step S94 mentioned above, the positional deviation amount is
If it is determined that the positional deviation is larger than the second positional deviation tolerance E2,
In this case, the gap between the workpieces alone cannot absorb the misalignment.
Compliance module
M5 is required, and in step 398,
Calculation of the compliance amount F and its calculated necessity
Compliance that is optimal for required compliance amount F
Execute the selection of module M. Now, add this required code.
The compliance amount F is the second position from the position deviation scale.
It is defined from the value obtained by subtracting the allowable deviation amount E2. and
, From this required compliance amount F, the compliance
Optimum compliance modulation using the amount of air as a parameter.
Compliance model M is a series of
It will be selected from Joule. Here, the selection
The specified standard is thicker than the required compliance amount F.
Maybe it's like selecting the smallest one from the larger ones.
is set to . In this step 398, the optimal compliance model is
After selecting Joule M5, the main route shown in Fig.
Return to Chin. (Finger type determination procedure) Next, the workpiece shown in step 326 in FIG.
Optimum for pick-up and place operations.
The finger type determination operation will be explained with reference to FIG.
Ru. Here, when picking up and placing the work,
In this embodiment, FIGS. 3A to 3F show
As shown, the fins are assembled without considering the type of gripping piece.
A total of 6 types of finger modules as the finger module M6
A file M II A-M + i r is prepared. here
So, these six types of finger modules M II A
” In MBF, as already mentioned above, the mechanical
First to fourth finger modules M for pumping
8 A-M ao are side parts in terms of classification of gripping pieces.
There are two types: one for clamps and one for dull clamps. in the end
, for this mechanical clamp, the combined result is
Therefore, there are a total of 8 types of finger modules.
Ru. And, these 8 types of mechanical clamps are
The two types of suction fingers mentioned above are attached to the finger module.
Adding module M 8E, M ar, total 10
The one that is judged to be the most suitable among the various finger modules.
will be selected. That is, when step S26 is activated, first, step S26 is started.
In 5100, various information regarding work attributes is
Load from work data management system, step 51
In 02, based on workpiece attribute information excluding planar shape.
, in the finger module, the clamping form of the workpiece and
Side clamp, rake clamp, suction clamp
It is determined which one is optimal. This step 510
The details of 2 will be explained later in FIGS. 23A to 23C.
Explain with reference to. In this step 5102, the clamp configuration is
If it is determined that the id clamp is optimal, step 5
At 104, a gripping piece for the side clamp is selected.
Ru. On the other hand, in step 5102, the clamp mode is set.
Once it has been determined that a scoop clamp is optimal, the
In step 8106, the gripping piece for the screw clamp is selected.
be done. In this way, step 5104 or step 5106
The shape of the gripping piece is selected according to the clamp type.
And, in step 5108, in the work attribute information
Depending on the planar shape of the workpiece, the selection shown in Figure 24 is available.
Based on the finger module type
is searched. The search content of this step 5108 will be
will be explained in detail. Here, in step 8108, an attempt is made to grasp
If the item is small, in step 5110
The first finger module M a k as shown in Figure 3A
is selected. Also, in step 5108, the grasping
If the article to be processed is long, step 5112
, a second finger module as shown in FIG.
M 6 B is selected. Also, in step 8108
If the object you are trying to grasp is long and narrow, use the stem.
In step 5114, a third filter as shown in FIG.
module M sc is selected. And step
In step 5108, if the object to be grasped is large,
If so, in step 8116, as shown in FIG.
A fourth finger module M so is selected. Then, in steps 5110 to 5116,
and the first to fourth finger modules M a A-M
After selecting either e o, this subroutine
Chin returns to the original basic control procedure. On the other hand, in step 5102 described above, the clamp type
Once a suction clamp is determined to be the best option, the
At step 5118, the workpiece to be suction clamped is
The angle of inclination of the upper surface of the arch, that is, the surface to be absorbed, with respect to the horizontal plane.
Size is determined. In this step 5118, if this slope is large,
If determined, in detail, the
If it is determined that the
, the fifth finger module M6E shown in FIG. 3E is selected.
is specified, and this subroutine returns to the original basic control procedure.
Turn on. Also, in step 5118, this slope is small.
If it is determined that the
If the value is determined to be smaller than the specified reference value, the step
5122, the sixth finger module shown in FIG.
module Mar is selected, and this subroutine returns to the original basis.
Return to this control procedure. As mentioned above, steps 5LIO, 5112, 5114,
5116, 5120, and 5122, respectively, for clamping the workpiece.
The finger module M6 required for the
The judgment results regarding selection are shown in the main routine in Figure 13.
In the returned state, in step S28, the RAM
is memorized. (Detailed explanation of step 5102) Next, with reference to FIGS. 23A to 23C and FIG.
Then, as explained in step 5102 of FIG.
, when clamping the workpiece, the finger module
In M6, set the clamp type to side clamp.
A system for selecting the optimal one from among lamps and suction clamps.
I will explain the procedure. First, the clamp form selection control method based on this workpiece attribute is
In order, a work with specific work attributes is
Eight check items CK shown in Figures 23A to 23C
(i) (however, i = 1 to 8), and
Determine OK/NG regarding the check item. here
, for each check item, in the upper right and lower right of Figure 25.
As shown, OK is set commonly for all workpieces.
Table decoration (1, j) (however, j = 1 to 3) and NG type
Table TBL (2, j) (where j = 1 to 3) is
is set. Here, j=1 means that the side clamp is
, j=2 is the scoop clamp, and j=3 is the suction clamp.
The lamps are shown respectively. Then, the check operation performed according to the following system (company) procedure
If OK is determined, the OK child table etc.
OK information is transferred for that check item, and N
If G is detected, select that chip from the NG table.
In this way, the NG information regarding the
For example, for the specific work shown in the upper left of FIG.
As shown in the lower left of the figure, check the check items for each check item.
cable CHK (i, j) (however, i=1~8゜j=1
~3) are set to be created. Below, with reference to FIGS. 23A to 23C, the crank
In this explanation, we will explain the procedure for controlling the configuration selection.
, when applied to the specific work shown in the upper left of Figure 25.
As an example of physical application, the check table shown in the lower left of Fig. 25
Explain as you create the file. First, when step 5102 is started, step
5124, as part of the workpiece rigidity check.
The material stiffness, that is, the modulus of elasticity of the workpiece, is the first
This is done as the first check item. This step 512
4, if the elastic modulus of the workpiece is greater than a predetermined value,
If so, it is determined that the material rigidity is OK, and the
If it is small, it is determined that the material rigidity is NG. child
Here, it is determined that it is OK in this step 5124.
If so, in step 8126 the first check
CK (1) indicating the item is marked with “1” indicating the result of judgment as OK.
”. On the other hand, in this step 5L24
If it is determined to be NG, in step 5128
, CK (1) indicating the first check item is judged as NG.
Set "2" to indicate the cutting result. Here, in the work shown in the upper left of Fig. 25, this
Check item CK (1) is determined to be OK, so
, CK(1)=1 is set in step 8126.
As a result, in the subsequent step 5172,
, check table CHK (1,j) has an OK table.
rlJ, rlJ from the first item of bull (1, j). "1" will be transferred. In this way, in step 3126 or 5128, the first
The check results for the check items are
If set to
The first geometrical stiffness as part of the rigidity check of the
The second check item is checking the thickness of the workpiece.
will be carried out. In this step 5130, the thickness of the workpiece is set to a predetermined value.
If the value is greater than or equal to the value, the first shape rigidity is OK.
and if the first shape rigidity is smaller than the predetermined value.
is judged to be NG. Here, this step 513
If it is determined to be OK at 0, step 513
2, in CK (2) indicating the second check item.
Set rlJ indicating the determination result of OK. On the other hand, this
If it is judged as NG in step 5130,
, in step 3134, the second check item is shown.
Set “2” to CK (2) to indicate the judgment result is NG.
to Here, in the work shown in the upper left of Fig. 25, this
Check item CK (2) in step 2 is determined to be OK.
, CK('2)=1 is set in step 5132.
As a result, in step 5172, which is performed later,
The check table CHK (2,j) has an OK text.
rlJ, rlJ from the second item of table TBL (1, j)
. "1" will be transferred. In this way, in step 5132 or 5134, the second
The check results for the check items are
If set to
As part of the rigidity check of the arc, the second geometrical rigidity, i.e.
, checking the thickness ratio of the workpiece is the third check item.
It will be done as follows. Here, the thickness ratio of this workpiece is
Let the length of the workpiece along the direction be i, and the thickness of the workpiece be t.
is specified from the value expressed as I2/l.
. In step 5130, the workpiece thickness ratio ρ/
If l is greater than or equal to the predetermined value, the second shape rigidity is OK.
If it is smaller than the predetermined value, the second
It is determined that the shape rigidity is NG. Now this step
If it is determined OK in step 8136, the step
In step 5138, CK indicating the third check item
Set "1" in (3) to indicate an OK determination result. On the other hand, if it is judged as NG in this step 8136,
If so, a third check is performed in step 514-0.
In the CK (3) indicating the item, mark “2” indicating the judgment result as NG.
”. Here, in the work shown in the upper left of Fig. 25, this
3. Check item CK (3) is judged as NG, so
, CK(3)=2 is set in step 5140.
As a result, in the subsequent step 5172,
, check table CHK (3,j) has NG table.
rOJ, rlJ from the third item of the bull (2, j). "1" will be transferred. In this way, in step 5138 or 5140, the third
The check results for the check items are
If set to
As part of checking the clamping surface of the workpiece,
A face check is performed as the fourth check item. this
In step 5142, (al) the side surface of the workpiece is
For quality reasons, the gripping piece must have a contactable surface (a2)
When picking up and placing tracks, place them on the sides.
It is specified that a gap larger than a certain value is adjacent to each other.
and (a3) a side surface where at least one pair of gripping pieces comes into contact.
The parts are opposite and parallel to each other, total 3
three conditions are checked and these three conditions are met simultaneously.
If it is added, it is judged that the side check is OK and the
(If one condition is not satisfied, side check
is judged to be NG. Here, it is determined that it is OK in this step 5142.
If so, in step 5144, a fourth check is performed.
CK (4), which indicates the question item, indicates the judgment result of OK.
1”. On the other hand, in this step 5142
If it is determined to be NG, proceed to step 8146.
CK (4), which indicates the fourth check item, is marked as NG.
Set "2" to indicate the judgment result. In the work shown in the upper left of Fig. 25, this
Check item CK (4) in step 4 is determined to be OK.
, GK(4)=1 is set in step 5144.
As a result, in the subsequent step 5172,
, check table CHK (4,j) has an OK table.
rlJ, rlJrlJ from the 4th item of bull (1, j)
will be moved. In this way, in step 5144 or 5146, the fourth
The check results for the check items are
If set to
As part of checking the clamping surface of the workpiece,
A face check is performed as the fifth check item.
. In this step 8148, the rake face check is performed.
As a bottom scoop check and side pin insertion scoop check.
Etsuku is carried out. In this underside check, (b)
For quality reasons, the bottom surface must be a surface that the gripping piece can contact (b2
) When picking up and placing the work,
The surface must be defined with adjacent gaps that are larger than a certain value.
A total of two conditions are checked, and these two conditions
If both are satisfied, the bottom scoop check is OK.
If at least one of the conditions is not satisfied
On the other hand, in the side pin insertion scoop check, it is determined that the bottom face (c) check is NG.
,) There are bins or holes on the side of the workpiece that do not cause quality problems.
(c2) On the side parts facing each other
, each formed with one or more parallel bins or holes.
(c3) When picking up and placing a workpiece
, when a gap larger than a specified value is adjacent to the side surface.
A total of three conditions are checked, and this
Side pins are inserted when three conditions are satisfied at the same time.
It is determined that the scoop check is OK, and the
If the following conditions are not met, insert the side pin (
It is determined that the test is NG. And, what about the bottom rake or side pin insertion rake?
If either side is OK, this second side check is OK.
It is judged that. Here, it is determined that it is OK in this step 5148.
If so, in step 5150, the fifth check is performed.
CK (5), which indicates the question item, indicates the judgment result of OK.
Set "l". On the other hand, in this step 5148
If it is determined to be NG, proceed to step 5152.
CK (5), which indicates the fifth check item, indicates NG.
Set "2" to indicate the judgment result. Here, in the work shown in the upper left of Fig. 25, this
Check item CK (5) in step 5 is determined to be OK.
, CK(5)=1 is set in step 5150.
As a result, in step 5172 performed later,
, check table CHK (5,j) has an OK table.
From the fifth item of bull TBL (1, j), rlJ, rlJ'
1" will be transferred. In this way, in step 5150 or 5152, the fifth
The check results for the check items are
If set to
As part of the workpiece clamp surface check,
The check of the suction surface defined by is the sixth check item.
It is done as an eye. In this step 5154,
(dl) Due to the quality, the suction pad can touch the top surface of the workpiece.
(d2) The surface roughness of the upper surface of the workpiece must be a specified value.
Two conditions are checked: 1.
Suction surface check is performed when two conditions are satisfied at the same time.
It is determined that the condition is OK, and the
If not, it is determined that the suction surface check is NG. Here, it is determined that it is OK in this step 5154.
If so, in step 8156, the sixth check
CK (6), which indicates the question item, indicates the judgment result of OK.
1”. On the other hand, in this step 5154
If it is determined to be NG, proceed to step 5158.
CK (6) indicating the 6th check item indicates NG.
Set "2" to indicate the judgment result. Here, in the work shown in the upper left of Fig. 25, this
Check item CK (6) of 6 is determined to be OK, so
, CK(6)=1 is set in step 5158.
As a result, in the subsequent step 5172,
, check table CHK (6,j) has an OK table.
rlJ, rlJ from the 6th item of bull (6, j). rlJ will be transferred. In this way, in step 5156 or 5158, the sixth
The check results for the check items are
If set to
As part of checking the clamping force of the
A check of pull force is performed as the seventh check item.
. In this step 3160, W/μF (however,
W: Workpiece weight, F: Clamping force, μ: Friction coefficient)
If the specified side clamping force is greater than or equal to the specified value, the
It is determined that the idle clamp force check is OK, and the specified value is set.
If it is smaller than , the side clamp force check is NG.
It is determined that Here, it is determined that it is OK in this step 8160.
If so, in step 8162, the seventh
CK (7), which indicates the question item, indicates the judgment result of OK.
1”. On the other hand, in this step 5160
If it is determined to be NG, proceed to step 5172.
Then, show the 7th check item 'tCK (7) with NG.
Set "2" to indicate the judgment result. Here, in the work shown in the upper left of Fig. 25, this
Check item CK (7) of 7 is judged as NG.
, CK(7)=2 is set in step 5164.
As a result, in the subsequent step 5172,
, check table CHK (7,j) has NG table.
From the 7th item of bull TBL (2, j), rOJ, rlJ'
1" will be transferred. In this way, in step 5162 or 5164, the seventh
The check results for the check items are
If set to
As part of checking the clamping force of the
A check is performed as the eighth check item. This step
In step 8166, (e,) the upper surface of the workpiece is porous.
(e!2) W/PA (However, P; suction power,
The suction force specified by A suction area) must be greater than the specified value.
, are checked and if these two conditions are the same.
It is determined that the suction force check is OK if the
and if at least one of the conditions is not satisfied, the
It is determined that the attraction check is NG. Here, it is determined that it is OK in this step 8166.
If so, in step 5168, the eighth check
CK (8), which indicates the question item, indicates the judgment result of OK.
1”. On the other hand, in this step 5166
If it is determined to be NG, proceed to step 5170.
CK (8) indicating the 8th check item indicates NG.
Set "2" to indicate the judgment result. Here, in the work shown in the upper left of Fig. 25, this
8. Check item CK (8) is determined to be OK, so
, CK(8)=1 is set in step 8168.
As a result, in the subsequent step 5172,
, check table CHK (8,j) has an OK table.
rl'', rl''r from the 8th item of Bull TBL (1, j)
lJ will be transferred. In this way, in step 5168 or 5170, the eighth
The check results for the check items are
When set to bull CHK, in step 5172
As already explained, the check table CHK
The first to eighth check items of (i, j) (i.e., i=
1 to 8), as a check result, OK table mounting (1
Corresponding to ゜j) or NG table mounting (2,j)
By transferring rlJ and rOJ, for example, the 25th
The check table CHK as shown in the figure is completed. After completing the check table CHK in this way, step
In step 5174, the first equation shown in equation (1) below is
Based on 1, calculate OK/NG code N0KNG (j)
do. 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), as shown in the lower left of Fig. 25,
In the check table CHK (i, j), j=
Multiply each value in the column related to the side clamp indicated by 1.
Executes the summation operation and sidecluns the result.
OK K/N G code N0KNG (1) and
and the rake clamp denoted by j=2.
Performs an operation that multiplies each number in the related column, and then
Scroll the calculation result to ○ regarding clamp/NG code N
0KNG (2) and denoted by j=3.
Multiply the values in the columns related to the suction clamps
Execute the calculation and obtain the result O regarding the exhaustion clamp.
It is defined as K/NG code N0KNG(3). Here, in the work shown in the upper left of Fig. 25, N0
KNG (j) becomes rOJ, rl, J, rlJ
. In this way, in step 5174, the OK/NG code is
After N0KNG (j) is calculated, step 517
6, based on the first equation shown in equation (2) below,
A design ranking code ND (j) is calculated. ND (j) =NOKNG (j)*N5EL (j
) (However, j = 1 to 3) ... (2) Here, N5EL (j) is specified as the priority code.
rlJ 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 set for each suction clamp to be fixed.
. And, the smaller these numbers are, the more clamping
It is set so that the priority of selecting the form increases. paraphrase
In this embodiment, either clamp type can be used.
In the state where the priority code N5 can also be selected,
First, the side clamp is selected based on EL (j).
Then the scoop clamp is selected and finally the suction clamp is selected.
The setting is such that the lamp is selected. That is, in this equation (2), for each j, we already have
OK/NG code N0KN calculated in step 5174
Multiply G (j) by the priority code N5EL (j)
Execute the matching operation and use the result of this operation as the design order code.
ND (j), and the chip shown in the lower left of Figure 25
As shown in the table CHK (i, j), the 25th
In the workpiece shown in the upper left of the figure, the sample indicated by j=1 is
The design order code ND (1) regarding the id clamp is r
OJ and also for the scoop clamp denoted by j=2.
The design order code ND (2) is "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 5178, this
This control procedure is based on the design order code ND(,i) of
Select the clamp form that is judged to be optimal. In other words, this
In step 5178, the calculated design ranking code is
Among the nodes ND (j), the clans with a result of “0”
The number of check items is small (N in one check item).
Since it is judged as G, we exclude this and calculate the operation result.
the smallest natural number among the resulting numbers
The clamp form with the value as the optimal lamp form
Select. Based on this procedure, as shown in the upper left of Figure 25,
The workpiece has a side clamp at “0” and a scoop clamp.
2, and the suction clamp is 3.
Therefore, based on the selection criteria mentioned above, the work is
Determined that gripping with a scoop clamp is optimal
You will get results. In this way, in step 5178, the optimal clan
This step 5102 is shown in detail after selecting the configuration.
The control procedure of the subroutine ends and the original subroutine returns.
The process returns to step S26 shown in FIG. (Detailed explanation of step 5108) Next, referring to FIG. 24, step 810 of FIG.
By mechanically clamping the workpiece as explained in 8.
There are four types of finger modules M s A.
”” M Optimal finger module from l, o
The control procedure for selecting is explained below. First, look at the workpiece you are trying to grip from above.
the upper left corner of the selection matrix shown in Figure 24.
when placed at the reference position defined by the upper left corner of the box.
, the finger is located based on the area where the lower right corner of the workpiece is located.
It is set so that the module is uniquely defined. That is, in this embodiment, the most
The large size is
For example, 500 mm in each direction (middle, vertical direction).
, if the workpiece size changes within this range, the
The selection matrix shown in Figure 24 ensures that
A finger module is defined. So
In this selection matrix, the above
defined in the area where the lower right corner of the workpiece
A 4-digit alphanumeric combination code allows you to select the optimal fit.
The engine module is set. Furthermore, this
The selection matrix is stored in advance in the ROM mentioned above.
It is something that is remembered. Here, enter the 4-digit alphanumeric combination code mentioned above.
, the leftmost digit is "0" rAJ, rBJ, rCJ
The finger modifier used is composed of four alphabetic characters.
Indicates the type of module. That is, "0" is shown in Figure 3A.
The use of the first finger module M 6A shown also
, "A" is the second finger module M shown in FIG. 3B.
! 111, and rBJ is shown in Figure 3C.
The use of the finger module M6c of 3 and ``C
" is the fourth finger module M6I shown in FIG. 3D,
The use of these is shown respectively. In addition, the 4-digit alphanumeric combination code mentioned above
The second digit from the left inside is rSJrMJ, rLJ.
The size of each finger module consists of letters
It shows. That is, "S" represents each type of finger modifier.
The rMJ shows the small size of each type of
indicates a medium size in the finger module, and
, rLJ is a large size in each type of finger module.
Shows size. In addition, the 4-digit alphanumeric combination code mentioned above
The second digit from the right inside is "0". Consists of 5 numbers: rlJ, r2J, rBJ, r4J
This indicates the length and size of the workpiece that can be gripped. In other words, the length of the workpiece that can be gripped by rOJ is 100 m.
m or less, and "1" indicates that the workpiece that can be gripped is
Indicates that the length is within the range of 100 to 200 mm,
2", the length of the workpiece that can be gripped is 120 to 300 mm
"3" indicates that the workpiece is within the range of
Indicates that the length is within the range of 220 to 400 mm,
And "4" means that the length of the workpiece that can be gripped is 400~
It shows that it is within a range of 500mm. In addition, the 4-digit alphanumeric combination code mentioned above
The rightmost digit inside is 4, rOJ, rl, Jr2J, rBJ.
The width size of the workpiece that can be gripped is made up of two numbers.
It shows. In other words, "0" is the width of the workpiece that can be gripped.
indicates that it is 200mm or less, and rlJ indicates that the grip
The width of the workpiece to be obtained must be within the range of 200 to 300 mm.
"2" indicates that the width of the workpiece that can be gripped is 160 to 4
00mm range, and "3" indicates that it is possible to grasp it.
The width of the workpiece to be used must be within the range of 320 to 500 mm.
Show and be. In this way, in this step 5108, FIG.
By using the selection matrix shown in
It is simply a matter of knowing the type of finger mechanism for mechanical clamps.
It becomes possible to do this. As explained above, step 326 shown in FIG.
The finger type determination procedure is as shown in Figure 22.
, the subroutine specifically executed and shown in FIG.
When the original control procedure is completed, the original basic control procedure is
The process returns in order, and the determination result in step S26 is as follows.
At step 328, it is stored in RAM. (Final check procedure) Finally, check the full size as shown in step S32 in FIG.
Combination status of modules selected based on the results
The final check procedure for
Explain with reference to. In this final check control procedure, as shown in FIG.
First, in step 5180, the selected
Among all modules, cushion module M4 and
, suction finger M6□ in finger module M6
or M ay is included together.
. If YES is determined in this step 5180,
If so, in step 5182, the hand mechanism 10 is
Cushion module M4 to reduce overall weight
be removed from the selection contents. In addition, like this, the cushion module
Even if the tool is dropped, the remaining suction finger M6
If the cushion function is set to K or M6F.
Therefore, there is no problem. After this step 5182 is executed or
If NO is determined in step 5180, step
5184, depending on the size of the workpiece to be gripped.
All selected modules are assumed to be the same size based on
do. For example, if the workpiece to be gripped is S size
First, all selected modules are set to S size.
Assume that and subsequent step 8186
, the finger module M6 is assumed to be of size
Assume the gripping position of the workpiece gripped at . This grasping position
In the position assumption operation, the workpiece in this gripping state is
It is set to calculate the center of gravity position at the same time. In this way, in step 8186, the gripping position of the workpiece is
Assume the gripping position of the workpiece based on the assumed size.
After that, in step 5188, all selected modules are
Check the specs of each module starting from the bottom. That is, Han
The finger module M8 must be installed at the bottom end of the door mechanism 10.
will be installed, so first of all, this finger
Joule M6 spec check will be performed.
. In addition, the spec check for each module is
This process will be explained in detail later with reference to Figure 27.
Ru. Then, in this step 5188, a predetermined module is
Once the spec check operation is complete for the sticker,
In step 5190, the checked module is
It is determined whether the module is located at the position, and the result is NO.
If the module is disconnected, the module located directly above will continue to be disconnected.
To perform the spec check operation of the tool, use
Return to step 5188. On the other hand, this step 5190
is judged as YES, and the module located at the top position
When it is determined that the spec check operation of the tool has been completed,
If so, check the specs of all selected modules.
Since the process has been completed, proceed to step 5192.
Now, with all selected modules installed.
The entire weight W of the hand mechanism 10 is calculated. After this, in step 5194, the robot 12
A pec check motion is performed. This robot spec
In the check operation, the value calculated in step 5192 is
The overall weight of the hand mechanism 10 is the highest in the robot 12.
Whether or not it is permissible is determined in relation to the large permissible load.
. In this step 5194, the check contents are OK, that is,
The weight of the hand mechanism 10 is the maximum allowable weight for the robot 12.
smaller than the load (the robot 12 has a hand mechanism selection system)
Securely moves the hand mechanism 10 selected by the stem 200
If possible, terminate this final check operation.
After completing the process, return to the main routine shown in Figure 13.
. On the other hand, if it is determined as NG in step 5194
, that is, the weight of the hand mechanism 10 on the robot 12 is
If the maximum allowable load is exceeded, step 819
Proceed to step 6, where shift module M2 and cushion
It is determined whether module M4 is also selected.
It will be done. It is determined as YES in this step 8196.
In other words, if the shift module M2 and the cushion module
When it is determined that M4 and M4 are selected together,
In step 5198, from the viewpoint of duplication of functions,
and removed the cushion module M4 from the selection contents.
, After this, the selection that dropped this cushion module M4
Based on the results of the evaluation, all selected modules are
Step 3 to run the spec check sequentially from the bottom.
Jump to 188 and repeat the above-mentioned control procedure.
become. Also, N in step 8196 described above. If it is determined that the shift module M2 and shoes
It is determined that both application module M4 and M4 are not selected.
In this case, there are no modules to be dropped from the selection contents.
, since it is not possible to reduce the weight of the hand mechanism 10,
Proceeding to step 5200, where the maximum
Request to increase the size of this to increase the allowable load
The control procedure is terminated by displaying information indicating this on the display unit 206.
Complete. In this way, the final step of step 5132 in FIG.
The final check procedure ends. Then, it is determined to be OK in step 5194 described above.
Return to the main routine only if this main
In step S34 in the routine, this selector
The result selected in the order, that is, the keyboard 204
Pick up and place the work input through the
Hand mechanism 1 that combines modules optimal for
0 configuration is the display section 206 and/or x-y block
208 will be displayed. Finally, with reference to FIGS. 27 and 28, step 5
Specifications of the selected module shown in 188
The check subroutine will be explained. When step 5188 described above is activated, FIG.
As shown, first, in step 5202, check
Use the module that is combined with the bottom of the module and
, the total weight of the workpiece held in the finger module
and calculate the center of gravity. Then, continue with step 52
In 04, the specs in the module being checked are
Execute check. In this step 5204, step 5 described above is performed.
Check based on the weight and center of gravity position calculated in 202.
Run a spec check for the module you are using.
Ru. In this spec check, check and
The torque and operating range required for the module to operate
For specifications stipulated as the maximum allowable range of
, the above-mentioned weight and center of gravity position are within the allowable range.
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 in this step 5204, the finger module
When the M6 is spec checked, this finger
No other module is connected below Joule M6.
The weight of the workpiece held by this
Only the heart position will be calculated. Then, in this step 5204, OK is determined.
Then, the control procedure in this subroutine ends,
This will return to the original routine shown in Figure 26.
. On the other hand, if it is judged as NG in this step 5204, the
Proceed to step 8206, where the module being checked is
It is checked whether the size of the file can be increased. That is, the basic
Specifically, the spec check in step 5204 described above
If the module is judged to be NG in the
and all modules above that module
Increase the size of by one rank. like this
, increase the size of that module and increase the maximum allowable range
By increasing it, the judgment result is canceled (overturned).
It is something that can be done. However, the above steps
In step 5184, rL is already determined based on the size of the workpiece.
If J size is assumed, larger size
Since it cannot be uploaded, in this step 8206
will be judged as NG. Then, in this step 8206, NG is determined.
i.e. the size of the module being checked is
rLJ and satisfies the required specifications.
It was determined that this could not be done due to the increase in the size of the module.
If it is rejected, in the subsequent step 5208
, display the rejected contents on the display section 206 and check the result.
control operation is terminated. On the other hand, if it is determined to be OK in step 8206
, that is, the module being checked is rSJ or rMJ.
size, and it was determined that it is possible to increase the size.
If so, proceed to step 5210, where check
Modules located above this, including modules inside
Size up operation that increases the size of the file by one rank
Execute. As a result, the size of the module being checked is
If the target is rSJ, then the rMJ
If so, the size will be increased to "L".
. After this, in a subsequent step 5212, the current
The module located directly below the module being
Bottom, simply called the bottom module. ) can be combined with
Based on the combination check list shown in Figure 28,
, a check operation is performed. Here, as shown in FIG.
In the combination check list, a 0 mark indicates a combination.
This shows a possible mode. Check this combination
From the list, the module being checked is directly above it.
It is possible to combine only size modules, but below
On the side, the module being checked is shown, expressed atomically.
Can be combined with a similar or smaller size.
It is as if it were coming. The combination check list shown in FIG. 28 is as follows:
This step is stored in RAM in advance.
When 5212 is executed, it is read out from RAM as appropriate.
It will happen. In the bond check in step 5212, O
If K is determined, the process jumps to step 5204 and the conclusion process is performed again.
The enlarged module whose status is determined to be OK.
The spec check is restarted for the file. Furthermore, this
Fins limited to the lowest position in step 5212
When performing a binding check for module M6, use this flag.
There are no modules attached to the bottom of the finger module M.
Since it is not attached, the combination shown in Figure 28 is used.
Read the check list, decide if it's OK without stressing, and proceed with the process.
It will jump to step 5204. On the other hand, if it is judged as NG in this step 5212
If the combination state is possible in the combination list, i.e.
If it is determined that the mode is not the
Configure the hand mechanism IO with the upgraded module
Since this is not possible, the process jumps to step 5208 described above.
, the content that was rejected is displayed on the display unit 206, and a series of
Terminate the control procedure. As detailed above, this hand mechanism selection control system 2
The hand mechanism selection control unit 202 in 00
The keyboard mechanism selection control procedure is executed.
Input the data of the desired workpiece via the code 204.
Automatically pick this up and place it
Equipped with a module combination state that is optimal for operation.
The configuration of the hand mechanism 10 obtained is shown in the display section 206 and/or
will be displayed in xy block 208. As a result, the operator confirms the displayed content and
Assembling the hand mechanism unless there are any special abnormalities in the contents shown.
The hand machine is controlled by the displayed contents to the control unit 212.
A command operation such as assembling the structure 10 is executed. and,
Based on this command operation, the hand mechanism assembly robot 210
The motor is operated under the control of the hand mechanism assembly control section 212.
From the Ginyl loading station 214, the above-mentioned selection system
Take out the module selected by the controller and place it in robot 1.
Place these modules below the hand mounting plate 22 of 2.
Assemble the hand mechanism 1 in the specified order and assemble the hand mechanism 1 according to the selection results.
It will operate as if it constitutes the entire 0. In this way, in this embodiment, a wide variety of
Performs a wide variety of pickup and place movements
The most suitable hand mechanism 10 is automatically selected when
It becomes possible to set and assemble the parts. As mentioned above, the hand mechanism
According to the content selected by the selection control unit 202, the hand mechanism assembly is
The vertical control unit 212 automatically controls the hand mechanism assembly robot.
The hand mechanism 10 is connected to the hand mounting plate 22 via 210.
It may be configured to operate so as to be assembled downward. This invention is limited to the configuration of the embodiment described above.
Various modifications may be made without departing from the gist of the invention.
Needless to say, it is. [Effects of the invention] As detailed above, the robot handle according to this invention
The method for selecting the hand mechanism is to use the robot's hand mechanism to
Select from multiple types of gripping fingers for gripping and holding.
In the selection method, the first step is to determine the planar shape of the article.
process, and if the planar shape of the article is small in this first process,
If determined, it can be installed close to or separated from the frame member.
A double type fin with a pair of attached gripping pieces.
The first finger module consists directly of the finger mechanism.
a second step of selecting a flat surface of the article in the first step;
If the shape is determined to be long, the mounting member and this mounting
movably attached to the frame member at each end of the member.
Single type finger mechanism with one gripping piece
A second finger module configured with
The method is characterized by comprising a third step of selecting. Also, how to select the hand mechanism of the robot related to this invention.
In the law, the single type finger mechanism is
It is specially designed to be movable along the gripping direction of the product.
It is a sign. Further, a method for selecting a hand mechanism of a robot according to the present invention
If the planar shape of the article is determined to be elongated in step 1 above,
When the mounting member is installed, the double type
The third finger mechanism is configured with the finger mechanisms attached respectively.
It further includes a fourth step of selecting the finger module.
It is characterized by Also, how to select the hand mechanism of the robot related to this invention.
In the method, the third finger module
The bull type finger mechanism is arranged directly in the longitudinal direction of the article.
Can be installed close or apart along the intersecting direction
It is characterized by things. Furthermore, the method for selecting a robot hand according to this invention is as follows:
In the first step, it was determined that the planar shape of the article was large.
In case, the single type is installed at the four corners of the mounting member.
A fourth device consisting of a finger mechanism attached to each
The method further includes a fifth step of selecting a finger module.
It is characterized by Furthermore, the hand mechanism of the robot according to the present invention is
Attached to the end is a finger module that holds the article.
In the hand mechanism of the robot, the finger module is
The cables are attached to the mounting member and each end of the mounting member.
It consists of a double type finger mechanism attached.
, each double type finger mechanism has a pair of said mounting members.
a frame member attached to a corresponding end;
attached to both ends of the member so that it can move in one direction.
The pair of gripping pieces and the picture gripping piece should be moved in the direction closer to each other or
shall be provided with a driving means for moving in the direction of separation.
It is a feature. Furthermore, in the hand mechanism of the robot according to the present invention,
The driving means is configured to move the pair of gripping pieces of the article.
along the gripping direction defined from the direction perpendicular to the longitudinal direction.
It is characterized by being driven and moved. Furthermore, the hand mechanism of the robot according to the present invention is
Attached to the end is a finger module that holds the article.
In the hand mechanism of the robot, the finger module is
The cables are attached to the mounting member and each end of the mounting member.
It consists of a single type finger mechanism attached.
Each single type finger mechanism is attached to the mounting member.
frame members attached to corresponding ends of the
One piece that is attached to the system member so that it can move in one direction.
grip piece and both single type finger mechanisms.
The corresponding gripping pieces move away from each other or toward each other.
It is characterized by comprising a driving means for moving. Further, in the robot hand mechanism according to the present invention,
The driving means moves the pair of gripping pieces along the longitudinal direction of the article.
It is possible to move and drive along the gripping direction defined by the direction.
It is a feature. Further, the hand mechanism of the robot according to the present invention has a lowermost end.
A finger module that holds the article is attached to the
In the hand mechanism of a robot, the finger module is
The rails are attached to the mounting member and each of the four corners of this mounting member.
It consists of a single-type finger mechanism with
, each single type finger mechanism is attached to the mounting member.
Frame members attached to corresponding ends and each frame
A single piece attached to a member so that it can move in one direction.
A grip piece and a pair of single-type fins facing each other.
Corresponding gripping pieces in the gripping mechanism are spaced apart from each other or
It is particularly characterized in that it is equipped with a driving means for moving in the direction of proximity.
It is a sign. Therefore, according to the present invention, the fins that grip and hold the article
Depending on the size of the planar shape of the item,
Robot hand mechanism that allows you to select the suitable type
and a selection method for this glue will be provided. In particular, according to this invention, regardless of the presence or absence of work experience,
Selection of robot hand mechanism under highly reliable conditions
It is now possible to carry out the
It has the following. Further, according to the present invention, the number of finger module structures is reduced.
The finger module is optimal for all workpieces.
This means that it will be possible to supply

[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 bottom view showing the bottom shape of the hand mounting plate; Figure 3A is a partially cutaway perspective view showing the configuration of the double-joy type finger mechanism; Figures 4B and 4C are top and front views of the finger section shown in Figure 2, respectively; Figure 4D 4C and FIG. 4E 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; Figures 4H and 41 are H-H in Figure 4G, respectively.
Figure 5A is a perspective view showing the structure of the reversing module shown in Figure 1; Figures 5B to 5D are , a top view, a front view, and a bottom view of the inversion module shown in FIG. 5A, respectively; FIGS. 5E and 5F are cut along lines E-E in FIG. 5C and F-F in FIG. 5E, respectively. 6A to 6C are a top view, a bottom view, and a bottom view showing the structure of the shift module shown in FIG. 1 in detail; FIG. 6D is a vertical cross-sectional view taken along line D-D in FIG. 6A; FIG. 7A is a perspective view showing the configuration of the turning module shown in FIG. 1; FIGS. 7B to 7D are respectively A top view, a front view, and a bottom view of the swing module shown in FIG. 7A; FIGS. 7E and 7F are cut along the line E-E in FIG. 7C and the line F-F in FIG. 7E, respectively. 8A to 8C are top views showing the configuration of the cushion module shown in FIG. 1 in detail;
FIGS. 9A to 9C are top, front, and bottom views, respectively, showing details of the configuration of the compliance module shown in FIG. 1; FIGS. 9D Figures 9E and 9E respectively represent D- in Figure 9B.
A cross-sectional view and a vertical cross-sectional view taken along the line D and the line E-E in FIG. 9A; FIG. 10A is a top view for explaining the compliance operation; FIG. 10B is the cross-sectional view when the compliance operation is performed. FIG. 11 is a front view showing the compliance mechanism in a state before the compliance operation is performed; FIG. 11 is a front view showing the compliance mechanism in the state after the compliance operation is performed; FIG. 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 basics of selection control in the finger mechanism selection system. A flowchart showing the control procedure. FIG. 14 is a perspective view showing the prescribed states of the placement vector and the workpiece reference vector. FIG. 15A is a flowchart showing the placement vector and workpiece reference vector specified on the workpiece when picking up the workpiece. FIG. 15B is a perspective view showing the respective setting states of the placement vector defined on the object to be placed and the workpiece reference vector when placing the workpiece; FIGS. 16A and 16B The figure is a diagram for explaining the angle parameters that uniquely define the respective extension directions of the placement vector and the workpiece reference vector; Figure 17 shows the detailed structure of the subroutine for determining posture change in the selection control procedure. 18A to 18G are perspective views for explaining the different postures when picking up and placing a workpiece; FIG. 19 is a flowchart for determining the insertion operation in step S14 shown in FIG. 13. Flowchart showing the control procedure in detail as a subroutine; FIG. 20 is a flowchart showing in detail the control procedure for overload determination in step 318 shown in FIG. 13 as a subroutine; FIG. Flowchart showing the control procedure in detail as a subroutine; Figure 21B shows the position of two workpieces! A diagram for explaining the misalignment state; FIG. 22 is a flowchart showing in detail the control procedure for finger type determination in step S26 shown in FIG. 13 as a subroutine; FIGS. 23A to 23C show the steps shown in FIG. 22 A flowchart showing in detail the control procedure for determining the clamp form in step 5102 as a subroutine. Fig. 24 is a diagram showing the configuration of the selection matrix used in step 5108 shown in Fig. 22. Fig. 25 shows the configuration of the selection matrix used in step 5108 shown in Fig. 22. FIG. 26 is a flowchart showing the final check control procedure in step S32 shown in FIG. 13 as a subroutine; FIG. A flowchart showing the spec check control procedure in step S32 shown in FIG. 13 as a subroutine: FIG. FIG. 3 is a diagram showing the structure of a prescribed combination list. In the figure, C,, C,... 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... Bin (article to be gripped), S... Inclined surface, T... Taber surface, [Hand mechanism] 10... Hand mechanism, M,... Reversing module, M
2...Shift module, M,...Swivel module, M,...Cushion module, M,...Compliance module, M6...Finger module, M IIA...First finger module, Msi
... second finger module, M sc ... third finger module, M aD ... fourth finger module, M 6 E ... fifth finger module, M sv ... th 6 finger modules [robot] 12...robot, 14...X-axis arm, 16...
・Y-axis arm, 18...y-axis moving member, 20...2
Axis arm, 22... Hand mounting plate, 22a... Mounting through hole, 22b... Positioning pin, 24... X-axis drive motor, 26... Y-axis trunk drive motor, 28...
・Z drive motor, [finger module M,] 29... Double type finger mechanism, 30... Frame member, 31; 31 a; 3 l b -
32a; 32b...Guide shaft, 33...
・Mounting member, 34a; 34b...Sliding member,
35...Single type finger mechanism, 36a+
;36a* ;36 b l;36 b z ”
'Slide bush, 37a, 37b... Suction tube, 37a1; 37b1... Tube body, 37aa; 3
7bi'' Suction pad, 37as, 37b, --- Coil spring, 38a; 38b... Mounting piece, 39
... Pivoting part, 40 ... Coil spring, 41 a
; 4l b-guide shaft, 42a; 42b... pneumatic cylinder mechanism, 42 a + : 42 b,
・・Cylinder chamber, 42 a2; 42 ba-through hole, 42as'42b,'・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, 46
b...Positioning hole, 46c...Positioning groove, 47.
...Mounted in one piece, 49a; 49b-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, 52 a-...Upper mounting stay, 52bl;
52b2... lower mounting stay, 54a; 54b...
・Bearing member, 56... Through hole, 58... Pinion gear, 60a; 60 b... Pneumatic cylinder mechanism, 60
a,;60b...Cylinder chamber, 60az;60b
2...Piston, 60as; 60bg'' Rough 2 member, 60a4:60b4...Compressed air introduction passage, 62...Rotation amount regulation hole, 64a; 64b
- Rotation amount regulating member, 66a; 66b...stay, 68
a; 68b... Stopper bin, 70a... Screw hole for mounting, 70b... Through hole for mounting, 70c... Positioning hole, 70d... Positioning groove, 70e... Positioning bin, [Shift module M2] 72a; 72b...Mounting base, 74...Body portion, 78.74b...Protruding piece, 76...Pneumatic cylinder mechanism, 78...Cylinder chamber, 78a; 78b
... Cylinder compartment, 80a; 80b... Guide hole, 82a... Piston rod, 82b... Piston, 84a; 84b... Guide rod, 86a...
Upper shift position regulating member, 86b...support rod, 8
6c... Downward shift position regulating member, 88a... Screw hole for mounting, 88b... Through hole for mounting, 88c... Positioning hole, 88d... Positioning groove, 88e... Positioning pin, [ Rotation module M,] 90... Rotation support shaft, 92a; 92b... Mounting base, 94... Main body portion, 96... Through hole, 98a; 98
b...Bearing, 100...Snap ring, 102.
...Pinion gear, 104...Pneumatic cylinder mechanism, 1
06... Cylinder body, 108... Cylinder chamber, 10
8a; 108b---Cylinder compartment, 110a; 1
10b... Piston, 112... Piston rod,
114... Rack, 116a; 116b... Compressed air introduction passage, 118... Rotation amount regulating hole, 120a; 1
20 b--Rotation amount regulating member, 122a; 122b-
...stay, 124a; 124b...stopper bin, 126a...screw hole for mounting, 126b...through hole for mounting, 126c...positioning hole, 126d...
Positioning groove, 126e... Positioning bin, [Cushion module M4] 128a; 128b-Mounting base, 130a; 13
0 b ... Guide bin, 132 a - 132 b
-...Stepped through hole, 132a1; 132b1...Small diameter through hole portion, 132 a 2 7132 b x ”
'Large diameter transparent hole part, 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; l 42 b ・−Mounting base, 14
4:146...Compliance organization, 144a...
・First shaft member, 144b...Second shaft member, 144
c... Support bin, 144d... Cut groove, 144e.
...Biasing member, 148.150...Lock mechanism, 14
8a... Cylinder chamber, 148b... Piston, 14
8c...Lock bin, 148d...Coil spring, 148e...Stopper member, 148f...Lock hole, 148g...Compressed air introduction passage, 152...
Main body portion, 154...flange member, 156...locking member, 158a158b-...ball bearing, 1
60a... 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-like structure assembly robot, 212 . . . Hand mechanism assembly control unit, 214 . . . Module mounting station. Patent Hatake Ganto Canon Co., Ltd. Agent Patent Attorney Yasunori Amaba (and 1 other person) □−−,+−
4 Soup, -2 4D1- 9q Fig. 4E, 4F 1. '=2 4th G 1'''','] 2〒m? 4H 1;7 41 Figure 6A1] 6B 6th Cizu 6Dt・-1 9B, -/I 9D Figure 9E ('n i y 108th [z; 10B; 1 Noah 7 No. 15A1 Engraving of the drawings Fig. 15B Fig. 16A Fig. 16B Figure procedure amendment 1t (Method) % formula % Robot hand mechanism and its selection method Relation to the case of the person who corrects the same Patent applicant Canon Co., Ltd. Agent 2-5 Toranomon, Minato-ku, Tokyo 105, Japan 1- Date of amendment order July 3, 1990 (shipped)

Claims (10)

[Claims] (1) A selection method in which a gripping finger for gripping and holding an article is selected from a plurality of types in a robot hand mechanism, comprising: a first step of determining the planar shape of the article;
If the planar shape of the item is determined to be small in the process,
a second step of selecting a first finger module that is directly composed of a double-type finger mechanism having a pair of gripping pieces that are attached to the frame member so as to be close to and separate from each other; If the planar shape is determined to be long, the mounting member is configured with a single-type finger mechanism equipped with a single gripping piece movably attached to the frame member at both ends of the mounting member. and a third step of selecting a second finger module. (2) The method for selecting a hand mechanism for a robot according to claim 1, wherein the single-type finger mechanism is configured to be movable along the gripping direction of the object. (3) If the planar shape of the article is determined to be elongated in the first step, a third finger module configured with the double-type finger mechanisms attached to both ends of the mounting member, respectively; 2. The method for selecting a robot hand mechanism according to claim 1, further comprising a fourth step of selecting. (4) The double-type finger mechanism in the third finger module is attached so as to be able to approach and move away from each other along a direction perpendicular to the longitudinal direction of the article. How to select a robot hand. (5) If the planar shape of the article is determined to be large in the first step, a fourth finger module is configured in which the single-type finger mechanism is attached to each of the four corners of the mounting member. 4. The method of selecting a robot hand mechanism according to claim 3, further comprising a fifth step of selecting. (6) In a robot hand mechanism in which a finger module for holding an article is attached to the lowest end, the finger module is composed of a mounting member and a double-type finger mechanism respectively attached to both ends of the mounting member. , each double type finger mechanism includes a frame member attached to a corresponding end of the attachment member, a pair of gripping pieces attached to both ends of the frame member so as to be movable in one direction; A hand mechanism for a robot, comprising a drive means for moving both gripping pieces toward or away from each other. (7) The robot according to claim 6, wherein the driving means moves the pair of gripping pieces along a gripping direction defined from a direction perpendicular to the longitudinal direction of the object. hand mechanism. (8) In a robot hand mechanism in which a finger module for holding an article is attached to the lowest end, the finger module is composed of a mounting member and a single-type finger mechanism attached to each end of the mounting member. , each single type finger mechanism includes a frame member attached to a corresponding end of the mounting member, one gripping piece attached to each frame member so as to be movable along one direction, and both single type finger mechanisms. 1. A robot hand mechanism, comprising: a drive means for moving corresponding gripping pieces in a type of finger mechanism in a direction away from or toward each other. (9) The robot hand mechanism according to claim 8, wherein the driving means moves the pair of gripping pieces along a gripping direction defined from a longitudinal direction of the object. (10) In a robot hand mechanism in which a finger module for holding an article is attached to the lowermost end, the finger module is composed of a mounting member and a single-type finger mechanism attached to each of the four corners of the mounting member. and each single type finger mechanism includes a frame member attached to a corresponding end of the attachment member, one gripping piece attached to each frame member so as to be movable along one direction, and mutually connected to each other. A hand mechanism for a robot, comprising a drive means for moving corresponding gripping pieces in a pair of opposing single-type finger mechanisms in a direction away from or toward each other.