JPWO2022224433A5 - - Google Patents

Claims (12)

a hand that has a plurality of gripping parts and grips a magnetic component with the plurality of gripping parts;
a picking robot that transfers the part gripped by the hand;
A control unit that adjusts the magnetic force of the hand,
The control unit grips the part with the plurality of gripping parts magnetized, and after the picking robot picks up the part, turns off the magnetic force or reverses the magnetic force so that the part cannot be gripped. A component gripping device that transports the component after dropping the component that cannot be gripped due to its own weight when the component is present. The component grasping device according to claim 1, wherein the control unit associates the magnetic force with the number information by acquiring number information of the grasped components. 3. The component gripping device according to claim 1, wherein the control section adjusts a hand width that is a mutual interval between the plurality of gripping sections. The component grasping device according to claim 3, wherein the control unit associates the magnetic force, the hand width, and the number information by acquiring the number information of the grasped components. 5. The component gripping device according to claim 3, wherein the hand width is a distance between the pair of opposing gripping parts. The control unit is linked to a magnetic force adjustment unit that adjusts the magnetic force of the hand, a hand width adjustment unit that adjusts the hand width, and a calculation unit that links the magnetic force, the hand width, and the number information. The component gripping device according to any one of claims 3 to 5, further comprising a storage unit that stores the magnetic force, the hand width, and the number information. The component gripping device according to any one of claims 1 to 6, wherein the hand includes the plurality of gripping parts that are magnetic and a coil that magnetizes the gripping parts. 7. The control unit magnetizes the gripping portion using a strong magnetic force for the component having a large mass, and magnetizing the gripping portion using a weak magnetic force for the component having a small mass. The component gripping device described in . The component according to any one of claims 1 to 8, wherein the hand grips the component after attracting the component placed on the mounting portion by magnetizing the plurality of gripping portions. gripping device. The hand magnetizes the plurality of grips with the plurality of grips open to draw the components placed on the mounting portion to the respective grips, and closes the plurality of grips to attract the components to the respective grips. The component gripping device according to any one of claims 1 to 9, wherein the component gripping device collects the components in one place and then grips them. The component grasping device according to any one of claims 1 to 10, wherein the hand grasps a plurality of the components with a magnetic force larger than a magnetic force for grasping a single component. a hand that has a plurality of gripping parts and grips a magnetic component with the plurality of gripping parts;
a picking robot that transfers the part gripped by the hand;
A control unit that adjusts the magnetic force of the hand,
The control unit magnetizes the plurality of gripping parts in an open state to attract the plurality of parts to the plurality of gripping parts, and then closes the plurality of gripping parts to attract the plurality of parts to one place. A component gripping device that forms a pile of the components by collecting the components and turning off the magnetic force.