JPWO2017037967A1 - Pickup device, pickup method, and hand mechanism - Google Patents

Abstract

  A pickup device according to an embodiment of the present technology includes a base unit, a plurality of nozzle units, an angle variable unit, and a control unit. The plurality of nozzle portions are provided on the base portion, have a tip portion capable of holding an object, and a length from the base portion to the tip portion is variable. The angle variable portion changes the angle of the base portion. The control unit includes a first mode in which the length of each of the plurality of nozzle units is fixed and the angle of the base unit is controlled, and the length of each of the plurality of nozzle units is made variable. The second mode for moving the base portion toward the object can be switched to each other.

Description

  The present technology relates to a pickup device, a pickup method, and a hand device that are used, for example, for assembling and inspecting electronic devices.

  2. Description of the Related Art Conventionally, a pickup device that picks up and moves a workpiece for assembly, inspection, or the like is used in an electronic device or electronic component production line. For example, Patent Document 1 discloses a technology that enables a plurality of plate-like workpieces stacked in a vertical posture to be moved in a short time according to a change in loading angle.

  The suction hand described in Patent Document 1 has a sensor mechanism that can detect the expansion / contraction position of the suction pad, and the angle of the suction hand is adjusted based on the detection result of the sensor mechanism. Further, based on the detection result of the sensor mechanism when the plate-like workpiece is sucked, angle correction for sucking the next plate-like workpiece is performed. Since the angle correction is performed during the operation of returning the suction hand, the time required for the correction is almost zero, and the tact time is shortened (paragraphs [0030] to [0046] in the specification of Patent Document 1). ).

JP 2005-262325 A

  As described above, there is a need for a technique that can efficiently pick up an object according to the posture, shape, and the like of the object.

  In view of the circumstances as described above, an object of the present technology is to provide a pickup device, a pickup method, and a hand mechanism that can efficiently pick up an object.

In order to achieve the above object, a pickup device according to an embodiment of the present technology includes a base portion, a plurality of nozzle portions, an angle variable portion, and a control portion.
The plurality of nozzle portions are provided on the base portion, have a tip portion capable of holding an object, and a length from the base portion to the tip portion is variable.
The angle variable portion changes the angle of the base portion.
The control unit includes a first mode in which the length of each of the plurality of nozzle units is fixed and the angle of the base unit is controlled, and the length of each of the plurality of nozzle units is made variable. The second mode for moving the base portion toward the object can be switched to each other.

  In this pickup device, the first mode and the second mode can be switched to each other. Therefore, the object can be efficiently picked up by appropriately selecting each mode according to the posture or shape of the object.

The base portion may have an installation surface. In this case, the plurality of nozzle portions may be installed on the installation surface so that their extending directions are substantially the same.
Thereby, a target object can be hold | maintained stably.

The pickup device may further include a force sensor provided in the base portion. In this case, the control unit may control the angle of the base unit based on the detection result of the force sensor in the first mode.
As a result, in the first mode, each tip can be properly brought into contact with the object, and the object can be stably held.

The plurality of nozzle portions may hold the object by suction. In this case, the pickup device may further include a pressure sensor that detects an adsorption pressure of each of the plurality of nozzle portions. Further, the control unit may control the angle of the base unit based on a detection result of the pressure sensor in the first mode.
Thereby, in the first mode, it is possible to appropriately hold the object at each tip portion, and it is possible to stably hold the object.

The control unit may control movement of the base unit based on a detection result of the pressure sensor in the second mode.
Thereby, in the second mode, it is possible to appropriately hold the object at each tip, and it is possible to stably hold the object.

The control unit may control the angle of the base unit based on detection results of the force sensor and the pressure sensor in the first mode.
As a result, in the first mode, each tip can be held in contact with the object properly. As a result, it is possible to stably hold the object.

In the first mode, the control unit determines whether or not the object can be held for each of the plurality of nozzle units, and determines the angle of the base unit based on the determination result. You may control.
Thereby, it becomes possible to hold | maintain a target object stably.

In the second mode, the control unit may control the movement of the base unit based on a determination result of whether or not the object can be held.
Thereby, it becomes possible to hold | maintain a target object stably.

In the second mode, after the tip portion abuts on the object, the tip portion follows the relative movement of the object toward the base portion and moves toward the base portion. Also good.
As a result, the load on the object can be sufficiently reduced, and deformation or breakage of the object can be prevented.

The plurality of nozzle portions may include an air cylinder that moves the tip portion.
As a result, it is possible to move the tip while sufficiently suppressing the load on the object.

The air cylinder may be operated by an exhaust center solenoid valve.
As a result, it is possible to move the tip part while sufficiently suppressing the load on the object, and after holding the object, it is possible to fix the length of the nozzle part and stably perform assembly work etc. Become.

A pickup method according to an embodiment of the present technology includes selecting one of a first mode and a second mode related to holding an object.
When the first mode is selected, the length from the base part to the tip part of a plurality of nozzle parts having tip parts provided on the base part and capable of holding the object is fixed, The object is held by controlling the angle of the base portion.
When the second mode is selected, the object is held by moving the base part toward the object while changing the lengths of the plurality of nozzle parts.

  By appropriately selecting the first mode and the second mode, an object can be picked up efficiently.

A hand mechanism according to an embodiment of the present technology includes a base portion, a plurality of nozzle portions, a force sensor, and a pressure sensor.
The plurality of nozzle portions are provided on the base portion, and have a tip portion that can hold an object by suction, and an air cylinder that is operated by an exhaust center solenoid valve to move the tip portion. The length to the tip is variable.
The force sensor is provided on the base portion.
The pressure sensor detects an adsorption pressure of each of the plurality of nozzle portions.

  By using the hand mechanism according to the present technology, the first and second modes described above can be switched as appropriate. Accordingly, it is possible to efficiently pick up the object.

  As described above, according to the present technology, an object can be efficiently picked up. Note that the effects described here are not necessarily limited, and may be any of the effects described in the present disclosure.

It is a schematic diagram showing an example of composition of a pick-up device concerning one embodiment of this art. It is a figure which shows typically the structural example of the valve mechanism shown in FIG. It is the schematic which shows an example of the state in which the workpiece | work used as a holding | maintenance object was set. It is a flowchart which shows an example of the holding | maintenance operation | movement of a workpiece | work by a pick-up apparatus. It is a schematic diagram which shows the operation example of the hand part in cylinder fixing mode. It is a schematic diagram which shows the operation example of the hand part in cylinder fixing mode. It is a schematic diagram which shows the operation example of the hand part in cylinder fixing mode. It is a schematic diagram which shows the operation example of the hand part in cylinder fixing mode. It is a schematic diagram which shows the operation example of the hand part in cylinder free mode. It is a schematic diagram which shows the operation example of the hand part in cylinder free mode. It is a schematic diagram which shows the operation example of the hand part in cylinder free mode. It is a schematic diagram which shows an example of the state by which the workpiece | work was adsorbed by the nozzle part.

  Hereinafter, embodiments according to the present technology will be described with reference to the drawings.

[Configuration of pickup device]
FIG. 1 is a schematic diagram illustrating a configuration example of a pickup device according to an embodiment of the present technology. The pickup device 100 is configured as an industrial robot that is used, for example, in a component assembly process in an electronic device production line. Of course, the pickup device according to the present technology may be used in other fields and processes.

  The pickup device 100 includes a robot body 10, a vacuum source 30, a valve mechanism 40, and a controller 50. The robot body 10 includes an articulated arm 11, a hand unit (hand mechanism) 12 connected to the distal end of the articulated arm 11, and a drive unit 13 connected to the proximal end of the articulated arm 12.

  The articulated arm 11 is constituted by, for example, a vertical articulated arm, but is not limited to this. Other than the horizontal articulated type, SCARA (Selective Compliance Assembly Robot Arm) type, frog leg type, parallel link type, etc. It may be composed of an articulated arm of the form

  The drive unit 13 drives the articulated arm 11 and the hand unit 12 based on a control command transmitted from the controller 50. The controller 50 controls operations such as expansion and contraction of the articulated arm 11, turning about the vertical axis (Z axis), and rotation of the hand unit 12.

  Further, in the present embodiment, the holding angle (suction angle) of the hand unit 12 with respect to the workpiece to be held is controlled by operating the multi-joint arm 11. That is, the articulated arm 11 functions as an angle variable unit that changes the angle of the base unit 14 in the present embodiment.

  The hand unit 12 includes a base unit 14, three nozzle units 15, and a force sensor 16. The base portion 14 is made of a rectangular plate-like member, and has a first installation surface 14a and a second installation surface 14b on the opposite side. The shape and material of the base part 14 are not limited.

  The three nozzle portions 15 are installed on the first installation surface 14a of the base portion 14 so that their extending directions are substantially the same. In the present embodiment, two nozzle portions 15a and 15b are installed at both end portions of one side of the base portion 14, and one nozzle portion 15c is installed at the center portion of the opposing sides. The three nozzle portions 15 a to 15 c are arranged at equal intervals on the circumference centered on the central portion of the base portion 14. Thereby, it becomes possible to hold | maintain a workpiece | work stably. The number of nozzle portions 15 and the positions where the nozzle portions 15 are installed are not limited.

  The nozzle unit 15 includes a cylinder tube 17 that constitutes an air cylinder and a rod 18. The cylinder tube 17 is fixed to the first installation surface 14 a of the base portion 14. The rod 18 is inserted so that it can protrude with respect to the cylinder tube 17. Hereinafter, the protruding direction of the rod 18 may be simply referred to as the front-rear direction (the direction of the arrow L).

  A valve mechanism 40 is connected to the cylinder tube 17. The valve mechanism 40 includes an air source (not shown) and an electromagnetic valve 41 (see FIG. 2). When the valve mechanism 40 is controlled by the controller 50, the insertion position of the rod 18 is controlled.

  At the tip of the rod 18 is provided a suction pad 19 that comes into contact with the work and sucks it. When the rod 18 moves in the front-rear direction, the suction pad 19 also moves in the front-rear direction accordingly. That is, in this embodiment, the length from the base part 14 to the suction pad 19 is variable. In this embodiment, the suction pad 19 corresponds to a tip portion capable of holding a workpiece. The shape and material of the suction pad 19 are not limited, and for example, silicon rubber or the like is used.

  The vacuum source 30 is connected to a through hole (not shown) formed from the suction pad 18 through the inside of the nozzle portion 15 via an air hose (not shown). When vacuuming is performed by the vacuum source 30, a negative pressure is generated in the through hole. As a result, the workpiece can be sucked by vacuum suction.

  As shown in FIG. 1, the vacuum source 30 is provided with a pressure sensor that detects the suction pressure of each nozzle portion 15, that is, the magnitude of the negative pressure generated in the through hole. Specific configurations of the vacuum source 30 and the pressure sensor are not limited. For example, an arbitrary vacuum pump, a vacuum sensor, or the like may be used.

  The force sensor 16 is installed on the second installation surface 14 b of the base portion 14. The force sensor 16 can detect a reaction force from the workpiece that is generated when the nozzle portion 15 contacts the workpiece. In the present embodiment, the force sensor 16 is installed such that its center is aligned with the center of the second installation surface 14b. As a result, the reaction force acting on each of the three nozzle portions 15a-15c can be detected with high accuracy. The specific configuration of the force sensor 16 is not limited, and an arbitrary one may be used.

  The controller 50 controls operations of the robot body 10, the vacuum source 30, and the valve mechanism 40. In the present embodiment, the controller 50 controls the mode switching related to workpiece holding and the workpiece holding operation in each mode. The controller 50 is typically configured by a computer, and executes each process according to a program stored in a memory. The computer 50 functions as a control unit in the present embodiment.

  FIG. 2 is a diagram schematically illustrating a configuration example of the valve mechanism 40. In FIG. 2, illustration of a through hole connected to an air hose or the like of the vacuum source 30 is omitted.

  In the present embodiment, a three-position exhaust center electromagnetic valve is used as the electromagnetic valve 41 included in the valve mechanism 40. In a state where the left and right solenoids 42 a and 42 b are not energized, that is, in an initial state, air is exhausted from both the connection ports 20 a and 20 b of the cylinder tube 17 through the speed controller 43. That is, both connection ports 20a and 20b are connected to atmospheric pressure.

  Therefore, the rod 18 is in a free state (also referred to as a neutral state) with respect to the cylinder tube 17. For example, when the rod 18 is moved by hand, the rod 18 moves without following the urging force of the hand following the movement of the hand. .

  When the left solenoid 42a is energized, air is supplied to the connection port 20a, and air is exhausted from the connection port 20b. As a result, the rod 18 moves to the front end portion and is fixed there (see, for example, FIG. 9). When the right solenoid 42b is energized, air supply and exhaust are reversed, and the rod 18 is fixed at the rear end (see, for example, FIG. 5).

[Work holding operation]
FIG. 3 is a schematic diagram illustrating an example of a state in which a workpiece to be held is set. As shown in FIG. 3, a plurality of insertion grooves 61 that are parallel to each other are formed on the bottom surface of the component box 60 at substantially equal intervals. A plate-like workpiece W is inserted vertically into both ends of the insertion groove 61. With the workpieces W inserted in all the insertion grooves 61, the parts box 60 is set at a predetermined position.

  For example, when setting the parts box 60, in order to align the angle of the workpiece W arranged vertically with high precision in the vertical direction, the width and interval of the insertion groove 61, the dimensions of the parts box itself, etc. are designed with high precision. The parts box 60 must be made of a material that does not deform. Also, the work of inserting the workpiece W into the insertion groove 61 and the work of setting the parts box 60 must be performed accurately. As a result, the work time required for the assembly process becomes long, and the burden on the work also increases.

  In the present embodiment, each workpiece W can be efficiently picked up in a short time even when the angles of the workpieces W vary. As a result, it is possible to prevent the above-described problems, and it is possible to realize a reduction in work time, a reduction in production cost and material cost of the parts box 60, a reduction in the burden of the work W insertion work, and the like. .

  FIG. 4 is a flowchart illustrating an example of an operation for holding the workpiece W by the pickup device 100. First, selection of a mode relating to holding of the workpiece W is executed. In the present embodiment, the controller 50 can switch between a cylinder fixing mode as the first mode and a cylinder free mode as the second mode.

  The cylinder fixing mode is a mode in which the angle of the base portion 14 is controlled by fixing the length of the nozzle portion 15 (the length from the base portion 14 to the suction valve 19). The cylinder free mode is a mode in which the length of the nozzle portion 15 is variable and the base portion 14 is moved toward the workpiece W.

  As shown in step 101 of FIG. 4, typically, the work W (part to be taken out) is a part to which a force may be applied, or a thin part or the like that is deformed when the force is applied. Is determined. If the workpiece W is a component to which a force may be applied (Yes in step 101), the cylinder fixing mode is selected (step 102). In the opposite case, the cylinder free mode is selected (step 103). The mode selection conditions are not limited.

  Here, it is assumed that the cylinder fixing mode is selected. 5 to 8 are schematic diagrams illustrating an operation example of the hand unit 12 in the cylinder fixing mode.

  First, the holding operation by the hand unit 12 is started, and an approach to the workpiece W is performed (step 104). The approach operation is determined in advance, and in this embodiment, the suction pad 19 is first moved to the rear side and fixed near the front end of the cylinder tube 17. Then, the base portion 14 is erected in the vertical direction, and the hand portion 12 is moved to a predetermined position toward the work W along the horizontal direction (Y-axis direction). The predetermined position is determined according to the position of the workpiece W in the box part 60 and the like.

  The detection result by the force sensor 16, that is, the reaction force F from the workpiece W when the suction pad 19 contacts the workpiece W is acquired by the controller 50. Then, it is determined whether or not the reaction force F acts uniformly on the first installation surface 14a of the base portion 14 (step 105).

  For example, as shown in FIG. 5, when the workpiece W is set along the vertical direction, the reaction forces F acting on the three nozzle portions 15a-15c (the nozzle portion 15b cannot be seen) are substantially equal to each other. It acts uniformly on the first installation surface 14a. In this case, it is determined that each nozzle portion 15 is in contact with the workpiece W at an appropriate suction angle, and the process proceeds from Yes in Step 105 to Step 106.

  As shown in FIG. 6, when the workpiece W is tilted and set, a part of the nozzle portions 15 (the nozzle portion 15 c in the example shown in the figure) first comes into contact with the workpiece W and a reaction force F is generated. . Since the reaction force F does not act uniformly on the first installation surface 14a, it is determined that the suction angle is not appropriate for the workpiece W, and the process proceeds from step 105 to step 107.

  In step 107, based on the detection result of the force sensor 16, the angle of the base portion 14 is controlled so that the hand portion 12 tilts toward the weaker reaction force F acting on the first installation surface 14a. The In the example shown in FIGS. 6 and 7, the reaction force F from the two lower nozzle portions 15 a and 15 b does not act, and therefore the weaker reaction force F is on the lower side of the base portion 14. Accordingly, the base portion 14 is inclined so that the lower side of the base portion 14 approaches the workpiece W (arrow M).

  The memory of the controller 50 stores the position coordinates of each nozzle unit 15 with respect to the first installation surface 14a. When the direction in which the base portion 14 is tilted is calculated, the position coordinates are used, so that the nozzle portion 15 that is not in contact with the workpiece W can be brought close to the workpiece W efficiently.

  Although the method of inclining the base part 14 is not limited, for example, the base part 14 is rotated around the nozzle part 15c so that the workpiece W in contact with the nozzle part 15c does not substantially move. Accordingly, the other nozzle portions 15a and 15b can be brought into contact with the workpiece W while maintaining the posture of the workpiece W. Note that the direction in which the base portion 14 can be tilted, the tilt angle, and the like may be set as appropriate based on the shape of the workpiece W, the range of variation in posture during setting, and the like.

  After changing the angle of the base portion 14, it is determined whether or not the force value (reaction force) detected by the force sensor 16 is equal to or greater than a predetermined threshold value (step 108). For example, as a result of inclining the hand portion 12, a case in which a high reaction force F is detected due to the other nozzle portion 15 hitting a projection portion or the like other than the portion assumed as the suction target can be considered. In addition, there may be a case where the other nozzle portion 15 is detached from the workpiece W and the reaction force F to the nozzle portion 15 already in contact with the nozzle portion 15 becomes abnormally high.

  Therefore, when a force sense value equal to or greater than a predetermined threshold is detected (Yes in step 108), it is determined that an abnormal situation has occurred, and an operator is called as an abnormal process (step 109). For example, an alert (warning) is notified using a voice, a lamp, or the like. Thereby, it is possible to appropriately cope with an abnormal situation.

  If no abnormal force value is detected (No in step 108), the process returns to step 105, and it is determined again whether or not the reaction force F acts uniformly on the first installation surface 14a. For example, as shown in FIG. 8, if the reaction forces F acting on the respective nozzle portions 15 become substantially equal to each other by controlling the angle of the base portion 14, the process proceeds from Yes in Step 105 to Step 106.

  In step 106, the vacuum source 30 is controlled and vacuum suction is started. Based on the detection result by the pressure sensor, it is determined whether or not all the suction pressures of the nozzle portion 15 are equal to or greater than a predetermined threshold (step 110). If all the suction pressures are equal to or higher than the threshold (Yes in Step 110), it is determined that each nozzle unit 15 is in a state capable of holding the workpiece W, and the workpiece W is taken out (Step 111).

  The picked-up workpiece W is transported to a predetermined position by driving the articulated arm 11 and assembled as a predetermined part of the electronic device. At this time, an assembly process is executed based on the angle of the base portion 14 when the work W is sucked.

  When there is a nozzle unit 15 whose suction pressure is equal to or lower than the threshold (No in Step 110), the hand unit 12 is tilted so that the nozzle unit 15 having a low suction pressure approaches the workpiece W (Step 112). At this time, the inclination amount of the base portion 14 is typically smaller than the inclination amount in step 107. Further, after the base portion 14 is tilted, it may be determined again whether the suction pressure is equal to or higher than the threshold value. When the hand unit 12 is tilted, the process returns to step 105.

  9 to 11 are schematic diagrams illustrating an operation example of the hand unit 12 in the cylinder free mode. Here, a case where thin workpieces W that are easily deformed are placed sideways and stacked vertically will be described as an example. In the drawing, a plate-like workpiece W is shown, but in reality, a projection or the like is often formed on the edge or lower portion of the workpiece W. Accordingly, when the workpieces W are stacked in a short work time, the workpieces W placed obliquely appear.

  Since the workpiece W is easily deformed, it is difficult to adjust the suction angle using the reaction force F from the workpiece W as described in the cylinder fixing mode. In the present embodiment, the workpiece W can be efficiently held by selecting the cylinder free mode.

  First, the vacuum source 30 is controlled, and vacuum suction is started (step 113). An approach operation to the workpiece W by the hand unit 12 is performed (step 114). First, the exhaust center solenoid valve is set to the initial state, and the rod 18 is set to the free state. Then, the hand unit 12 is moved to a predetermined position toward the workpiece W located below. The predetermined position is a reference position for attracting each workpiece W, and is set according to the number of stages of the workpiece W, for example.

  The exhaust center solenoid valve may be set to the initial state at the timing when the cylinder free mode is selected in step 103.

  Based on the detection result of the pressure sensor, it is determined whether or not the suction pressures of all the nozzle portions 15 are equal to or higher than a predetermined threshold. That is, it is determined whether or not each nozzle portion 15 is in a state capable of holding the workpiece W (step 115). If all the suction pressures are equal to or higher than the threshold value (Yes in step 115), the workpiece W is taken out (step 116).

  As shown in FIG. 9, when the workpiece W is attracted by each nozzle unit 15, the hand unit 12 is moved to a position where the workpiece W is separated from the other workpiece W stacked. Typically, the hand unit 12 is moved upward. Then, the electromagnetic valve 41 is controlled to fix the rod 18 to the front end. As a result, the attracted workpiece W can be stably held, and the next assembling work can be executed with high accuracy. The rod 18 may be fixed to the rear end.

  As shown in FIG. 10, when the workpiece W is tilted, the nozzle portion 15 (nozzle portions 15a and 15b) in which the suction pressure is equal to or lower than the threshold value is generated (No in step 115). In this case, the chasing movement of the hand unit 12 is executed, and the base unit 14 is advanced toward the workpiece W (step 117). In the present embodiment, since the workpieces W are stacked sideways, the hand unit 12 is lowered by the driving movement.

  As indicated by an arrow N in FIG. 11, when the base portion 14 is moved, the workpiece W relatively moves toward the base portion 14. As described above, since the rod 18 of the nozzle portion 15 is in a free state, the suction pad 19c already in contact with the workpiece W follows the relative movement of the workpiece W and moves toward the base portion 14. Moving. Since the rod 18c is in a free state, no urging force is generated from the suction pad 19c to the workpiece W. As a result, the load on the workpiece W can be made sufficiently small, and deformation or breakage of the workpiece W can be prevented.

  Thereafter, the workpiece W is adsorbed by the other nozzle unit 15, and the process returns to step 114. When it is determined in step 115 that the adsorption pressure is equal to or higher than the threshold value, the workpiece W is taken out (step 116).

  In the present embodiment, before returning to step 114, it is determined whether or not the number of driving movements of the hand unit 12 is greater than or equal to a predetermined number (n times) (step 118). When the driving movement is smaller than n times (NO in step 118), the process returns to step 114. If the drive-in movement is n times or more (YES in step 118), a retry is performed and the hand unit 12 is reset to the original position where the suction starts (step 119).

  Thereafter, it is determined whether the number of retries is equal to or greater than a predetermined number (m) (step 120). If the determination result is NO, the process returns to step 113. If the determination result is YES, it is determined that an abnormal situation has occurred, and an operator call is executed as an abnormal process (step 121).

  FIG. 12 is a schematic diagram illustrating an example of a state in which the workpiece W is sucked by the nozzle portion 15, and is a view of the workpiece W as viewed from the suction direction (extending direction of the nozzle portion). FIG. 12A is a diagram in a case where the suction is performed without shifting the position of the workpiece W and the position of the hand unit 12 in the suction direction. FIG. 12B is a diagram of a state in which the workpiece W rotates as viewed from the suction direction, and the three nozzle portions 15 suck the workpiece W in that state.

  For example, not only when the workpiece W is inclined with respect to the hand unit 12 in the parts box 60 or in a stacked state, the position may be shifted due to rotation or the like when viewed from the suction direction. Even in such a case, for example, it is possible to determine the suction state based on the photographed image by photographing with the imaging device after the workpiece W is sucked. By appropriately controlling the articulated arm 11 and the like based on the determined suction state, the assembly process and the like can be executed with high accuracy.

  As described above, in the pickup device 100 according to the present embodiment, the cylinder fixing mode and the cylinder free mode can be switched to each other. Therefore, the workpiece W can be efficiently picked up by appropriately selecting each mode according to the posture or shape of the workpiece W.

  For example, if teaching is performed according to the position of each workpiece W in the parts box 60 or in a stacked state, the angle of the hand unit 12 can be appropriately controlled. However, if teaching is performed one by one, the work time becomes very long. In the pickup device according to the present technology, the work W can be stably held without teaching, so that the working time can be greatly shortened.

<Other embodiments>
The present technology is not limited to the embodiments described above, and other various embodiments can be realized.

  In the above, in the cylinder fixing mode, both the detection result of the force sensor and the detection result of the pressure sensor are used to control the angle of the hand unit. As a result, angle control can be performed with very high accuracy, and the workpiece W can be held efficiently and stably.

  As another embodiment, in the cylinder fixing mode, the angle of the hand unit may be controlled based on only the detection result of the force sensor or only the detection result of the pressure sensor. For example, when a pressure sensor is used, the force sensor may not be provided. As a result, the working time can be shortened, the apparatus can be reduced in size, and the parts cost can be reduced.

  Whether or not each nozzle part is in a state capable of holding a workpiece may be determined without looking at the suction pressure of each nozzle part. For example, the state of the hand unit that has performed the approach operation may be captured by the imaging device, and it may be determined whether each nozzle unit is in proper contact with the workpiece based on the captured image. In addition, the distance from the suction pad to the workpiece may be detected by a distance sensor or the like. In any case, the angle control of the hand unit in the cylinder fixing mode and the movement control of the hand unit in the cylinder free mode may be executed depending on whether each nozzle unit is in a state capable of holding a workpiece.

  Depending on the shape of the workpiece to be held, the lengths and extending directions of the nozzle portions may be set differently. Even in this case, it is only necessary to control the angle of the hand unit by comparing the sense of force value and the detected value when sucked in an appropriate posture.

  In the above, the force sensor was installed in the center part of the base part. Thereby, angle control based on the detected value is easily realized. In addition, the attachment position of a force sensor is not limited, For example, you may attach to the corner part of a base part. Even in this case, it is possible to perform proper angle control by storing the force sense value when sucked in an appropriate posture.

  In the above, in the cylinder free mode, the air cylinder and the exhaust center solenoid valve are used to move the suction pad following the movement of the abutted work. However, other configurations may be used to place the suction pad (rod) in a free state. For example, the rod free state and the fixed state may be switched by appropriately combining other types of electromagnetic valves. Any other configuration may be used.

  A pressure sensor for detecting the adsorption pressure may be mounted on the hand unit. The angle adjustment unit may be configured on the hand unit side, and the angle adjustment unit may be connected to an articulated arm or the like. That is, as a head mechanism according to the present technology, a head mechanism including a base portion, a plurality of nozzle portions, a force sensor, and a pressure sensor may be configured.

  Of the characteristic portions according to the present technology described above, it is possible to combine at least two characteristic portions. That is, the various characteristic parts described in each embodiment may be arbitrarily combined without distinction between the embodiments. The various effects described above are merely examples and are not limited, and other effects may be exhibited.

In addition, this technique can also take the following structures.
(1) a base part;
A plurality of nozzle portions provided on the base portion, having a tip portion capable of holding an object, and having a variable length from the base portion to the tip portion;
An angle variable section for changing the angle of the base section;
A first mode in which the length of each of the plurality of nozzle portions is fixed and the angle of the base portion is controlled; and the length of each of the plurality of nozzle portions is made variable so that the base portion is the target A pickup device comprising: a control unit capable of switching between a second mode for moving toward an object.
(2) The pickup device according to (1),
The base portion has an installation surface,
The plurality of nozzle portions are installed on the installation surface so that their extending directions are substantially the same.
(3) The pickup device according to (1) or (2),
Comprising a force sensor provided in the base,
The said control part controls the angle of the said base part based on the detection result of the said force sensor in the said 1st mode Pickup apparatus.
(4) The pickup device according to any one of (1) to (3),
The plurality of nozzle portions hold the object by suction,
The pickup device further includes a pressure sensor that detects an adsorption pressure of each of the plurality of nozzle portions,
The control unit controls an angle of the base unit based on a detection result of the pressure sensor in the first mode.
(5) The pickup device according to (4),
The said control part controls the movement of the said base part based on the detection result of the said pressure sensor in the said 2nd mode.
(6) The pickup device according to any one of (1) to (5),
The plurality of nozzle portions hold the object by suction,
The pickup device further includes a force sensor provided on the base portion, and a pressure sensor that detects an adsorption pressure of each of the plurality of nozzle portions,
The control unit controls an angle of the base unit based on detection results of the force sensor and the pressure sensor in the first mode.
(7) The pickup device according to any one of (1) to (6),
In the first mode, the control unit determines whether or not the object can be held for each of the plurality of nozzle units, and determines the angle of the base unit based on the determination result. Control pickup device.
(8) The pickup device according to any one of (1) to (7),
The said control part controls the movement of the said base part based on the determination result whether it is in the state which can hold | maintain the said target object in the said 2nd mode.
(9) The pickup device according to any one of (1) to (8),
In the second mode, the tip portion contacts the object and then moves toward the base portion following the relative movement of the object toward the base portion ( 10) The pickup device according to (9),
The plurality of nozzle portions include an air cylinder that moves the tip portion.
(11) The pickup device according to (10),
The air cylinder is a pickup device that is operated by an exhaust center solenoid valve.

W ... Work 10 ... Robot body 11 ... Articulated arm 12 ... Hand part (hand mechanism)
DESCRIPTION OF SYMBOLS 14 ... Base part 14a ... 1st installation surface 15 ... Nozzle part 16 ... Force sensor 17 ... Cylinder tube 18 ... Rod 19 ... Adsorption pad 30 ... Vacuum source 40 ... Valve mechanism 41 ... Electromagnetic valve 50 ... Controller 100 ... Pickup device

Claims (13)

A base part;
A plurality of nozzle portions provided on the base portion, having a tip portion capable of holding an object, and having a variable length from the base portion to the tip portion;
An angle variable section for changing the angle of the base section;
A first mode in which the length of each of the plurality of nozzle portions is fixed and the angle of the base portion is controlled; and the length of each of the plurality of nozzle portions is made variable so that the base portion is the target A pickup device comprising: a control unit capable of switching between a second mode for moving toward an object. The pickup device according to claim 1,
The base portion has an installation surface,
The plurality of nozzle portions are installed on the installation surface so that their extending directions are substantially the same. The pickup device according to claim 1, further comprising:
Comprising a force sensor provided in the base,
The said control part controls the angle of the said base part based on the detection result of the said force sensor in the said 1st mode Pickup apparatus. The pickup device according to claim 1,
The plurality of nozzle portions hold the object by suction,
The pickup device further includes a pressure sensor that detects an adsorption pressure of each of the plurality of nozzle portions,
The control unit controls an angle of the base unit based on a detection result of the pressure sensor in the first mode. The pickup device according to claim 4,
The said control part controls the movement of the said base part based on the detection result of the said pressure sensor in the said 2nd mode. The pickup device according to claim 1,
The plurality of nozzle portions hold the object by suction,
The pickup device further includes a force sensor provided on the base portion, and a pressure sensor that detects an adsorption pressure of each of the plurality of nozzle portions,
The control unit controls an angle of the base unit based on detection results of the force sensor and the pressure sensor in the first mode. The pickup device according to claim 1,
In the first mode, the control unit determines whether or not the object can be held for each of the plurality of nozzle units, and determines the angle of the base unit based on the determination result. Control pickup device. The pickup device according to claim 1,
The said control part controls the movement of the said base part based on the determination result whether it is in the state which can hold | maintain the said target object in the said 2nd mode. The pickup device according to claim 1,
In the second mode, the tip portion contacts the object and then moves toward the base portion following the relative movement of the object toward the base portion. The pickup device according to claim 9,
The plurality of nozzle portions include an air cylinder that moves the tip portion. The pickup device according to claim 10,
The air cylinder is a pickup device that is operated by an exhaust center solenoid valve. Select one of the first mode and the second mode for holding the object,
When the first mode is selected, the length from the base part to the tip part of a plurality of nozzle parts having tip parts provided on the base part and capable of holding the object is fixed, Holding the object by controlling the angle of the base part,
When the second mode is selected, a pickup method for holding the object by moving the base part toward the object while changing the lengths of the plurality of nozzle parts. A base part;
A length provided from the base portion to the tip portion, the tip portion being provided on the base portion and capable of holding an object by suction; and an air cylinder operated by an exhaust center electromagnetic valve to move the tip portion. A plurality of nozzle portions that are variable,
A force sensor provided in the base portion;
A hand mechanism comprising: a pressure sensor that detects an adsorption pressure of each of the plurality of nozzle portions.

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