WO2014132400A1

WO2014132400A1 - Robot system

Info

Publication number: WO2014132400A1
Application number: PCT/JP2013/055466
Authority: WO
Inventors: 晃大塩田; 亮介堤
Original assignee: 株式会社安川電機
Priority date: 2013-02-28
Filing date: 2013-02-28
Publication date: 2014-09-04
Also published as: JPWO2014132400A1

Abstract

In order to solve the problem of efficiently and reliably conveying small annular members and attaching same, this robot system (1) comprises a robot (10) and an instruction unit (51b). The robot (10) comprises a robot hand (hand) (14) that includes a mechanism that grasps objects to be grasped. The instruction unit (51b) instructs the robot (10) to perform an operation whereby an annular member (P) is held, by grasping a jig (J) formed in a substantially rod shape, using said jig as the object to be grasped, inserting same into a hole in the annular member (P), and conveying each jig (J).

Description

Robot system

The disclosed embodiment relates to a robot system.

Various types of robot systems have been proposed for improving the efficiency of a production line by causing a robot to perform a predetermined operation that has been conventionally performed by a person in a product production line.

Such robot systems include, for example, an assembly system that assembles a mechanical product such as a motor using a robot while supplying parts by a transfer device or the like.

Incidentally, in the case of an assembly system for assembling such a machine product, an annular member such as an O-ring is often used as a part. Since such an annular member is made of a soft material and is often amorphous, a dedicated device has been used for its conveyance (see, for example, Patent Document 1).

In addition, the “belt transport device” disclosed in Patent Document 1 has a base that is pivotably attached to a frame, suspends an annular member from an arm around which the belt is suspended, and feeds out the belt and the belt. The annular member is conveyed by switching the direction.

JP-A-6-239452

However, the above-described prior art has room for further improvement in terms of efficiently and reliably transporting and mounting small annular members.

For example, since the above-described belt conveying device requires a mechanism such as an arm or a belt, the installation space and cost are easily increased and inefficient. Also, for example, it is not suitable for transporting small annular members such as packing, which are generally smaller than O-rings.

Also, the small annular member may be made of a soft material, so that it is difficult for the robot to hold it and it is difficult to attach it.

One aspect of the embodiment has been made in view of the above, and an object thereof is to provide a robot system capable of efficiently and reliably carrying and attaching a small annular member.

The robot system according to an aspect of the embodiment includes a robot and an instruction unit. The robot includes a robot hand including a mechanism for gripping an object to be gripped. The instructing unit holds the annular member by inserting the jig formed in a substantially rod shape as the object to be grasped into the hole of the annular member, and instructs the robot to carry the jig together. .

According to one aspect of the embodiment, the small annular member can be transported and attached efficiently and reliably.

FIG. 1A is a schematic plan view showing the configuration of the robot system according to the first embodiment. FIG. 1B is a schematic perspective view of a workpiece and an annular member. 1C is a schematic cross-sectional view taken along line A-A ′ shown in FIG. 1B. FIG. 2 is a block diagram of the robot system according to the first embodiment. FIG. 3A is a schematic front view showing the configuration of the robot. FIG. 3B is a schematic plan view showing the configuration of the robot. FIG. 4 is a schematic perspective view showing the configuration of the hand. FIG. 5A is a schematic diagram (part 1) for describing a series of operations from conveyance to attachment of an annular member. FIG. 5B is a schematic diagram (part 2) for explaining a series of operations from conveyance to attachment of the annular member. FIG. 5C is a schematic diagram (No. 3) for explaining a series of operations from conveyance to attachment of the annular member. FIG. 5D is a schematic diagram (part 4) for describing a series of operations from conveyance to attachment of the annular member. FIG. 5E is a schematic diagram (No. 5) for describing a series of operations from conveyance to attachment of the annular member. FIG. 5F is a schematic diagram (No. 6) for describing a series of operations from conveyance to attachment of the annular member. FIG. 5G is a schematic diagram (No. 7) for describing a series of operations from conveyance to attachment of the annular member. FIG. 5H is a schematic diagram (No. 8) for describing a series of operations from conveyance to attachment of the annular member. FIG. 6A is a schematic diagram (part 1) for explaining a series of operations according to the second embodiment. FIG. 6B is a schematic diagram (part 2) for describing a series of operations according to the second embodiment. FIG. 6C is a schematic diagram (part 3) for describing a series of operations according to the second embodiment. FIG. 6D is a schematic diagram (part 4) for describing a series of operations according to the second embodiment. FIG. 6E is a schematic diagram (part 5) for describing a series of operations according to the second embodiment.

Hereinafter, embodiments of a robot system disclosed in the present application will be described in detail with reference to the accompanying drawings. In addition, this invention is not limited by embodiment shown below.

In the following, for convenience of explanation, a robot system specialized in the process of attaching an annular member to a workpiece (workpiece) will be described as an example, but a partial process until one product is completed will be described. It may be considered as an example.

(First embodiment)
FIG. 1A is a schematic plan view showing the configuration of the robot system 1 according to the first embodiment. Note that FIG. 1A shows a three-dimensional orthogonal coordinate system including the Z axis with the vertical direction as the positive direction for easy understanding. Such an orthogonal coordinate system may be shown in other drawings used in the following description. In the present embodiment, it is assumed that the positive direction of the X axis points to the front of the robot 10.

Also, in the following, for a component composed of a plurality of components, only a part of the plurality of components may be provided with a reference numeral, and the provision of a reference numeral may be omitted for the others. In such a case, it is assumed that a part with the reference numeral and the other have the same configuration.

As shown in FIG. 1A, the robot system 1 includes a cell 2 that forms a rectangular parallelepiped work space. The robot system 1 includes a robot 10, a work table 20, a supply table 30, and a camera 40 inside the cell 2.

In addition, the robot system 1 includes a control device 50 outside the cell 2. The control device 50 is connected to various devices in the cell 2 such as the robot 10 and the camera 40 so that information can be transmitted.

Here, the control device 50 is a controller that controls the operation of various connected devices, and includes various control devices, arithmetic processing devices, storage devices, and the like. Details of the control device 50 will be described later with reference to FIG.

In FIG. 1A, the control device 50 of one housing is shown, but the present invention is not limited to this. For example, the control device 50 is composed of a plurality of housings associated with various devices to be controlled. Also good. Further, it may be disposed inside the cell 2.

The robot 10 is a dual-arm manipulator that operates in response to an operation instruction from the control device 50, and describes a robot hand (hereinafter, “hand”) to be described later for each arm (hereinafter, referred to as “arm”). ). Details of the configuration of the robot 10 will be described later with reference to FIGS. 3A to 4.

The work table 20 is a place where the robot 10 performs a series of work from conveyance to attachment of the annular member P. As shown in FIG. 1A, the work table 20 includes a mounting table 21. The mounting base 21 is a place where the robot 10 attaches the annular member P to the workpiece W.

Here, the workpiece W and the annular member P will be described with reference to FIGS. 1B and 1C. FIG. 1B is a schematic perspective view of the workpiece W and the annular member P. 1C is a schematic cross-sectional view taken along line A-A ′ shown in FIG. 1B.

As shown in FIG. 1B and FIG. 1C, the workpiece W in the present embodiment is a member formed in a low-profile, substantially columnar shape used as a motor bracket or the like.

The workpiece W has a flange portion (described later in FIG. 5E and the like), and a hole portion Wh that is a through-hole penetrating from the upper surface side to the lower surface side is formed in a shape that can be fitted to the annular member P. The robot system 1 is attached by fitting the annular member P into the hole Wh (see the arrow 101 in FIG. 1B and FIG. 1C). Moreover, the annular member P shall be formed from soft materials, such as rubber | gum.

Returning to the description of FIG. 1A. The supply stand 30 is a place where, for example, the annular member P supplied from the outside is stocked together with the attachment stand 21. The supply base 30 includes a parts feeder (described later in FIG. 5C and the like), and the annular member P is held by the parts feeder for each type of difference such as the size and shape of the inner diameter. The annular members P1 and P2 shown in FIG. 1A represent differences in the type of the annular member P.

Moreover, the above-described mounting base 21 is provided with jigs J corresponding to the difference in the type of the annular member P. The jigs J1 and J2 shown in FIG. 1A represent differences in the type of the jig J.

In the robot system 1, the annular member P is transported and attached while the annular member P is held using the jig J applied to the robot 10. Details of this point will be described later with reference to FIGS. 5A to 5H.

The camera 40 is an image pickup device having a predetermined image pickup area, and picks up an image of the workpiece W placed on the mounting base 21. Although it is difficult to understand in FIG. 1A, the camera 40 is suspended above the mounting base 21 from the ceiling portion of the cell 2 in this embodiment. Here, the camera 40 may be provided in the vicinity of the hand 14 (described later in FIG. 2) of the robot 10.

In the present embodiment, the work information related to the work W is acquired based on the imaging data of the camera 40. However, the present invention is not limited to the imaging device, and a detection device such as an optical sensor may be used.

Next, the block configuration of the robot system 1 according to the first embodiment will be described with reference to FIG. FIG. 2 is a block diagram of the robot system 1 according to the first embodiment. In FIG. 2, only the components necessary for the description of the robot system 1 are shown, and descriptions of general components are omitted.

In the description using FIG. 2, the internal configuration of the control device 50 will be mainly described, and the description of various devices already shown in FIG. 1A may be simplified.

As shown in FIG. 2, the control device 50 includes a control unit 51 and a storage unit 52. The control unit 51 further includes a work information acquisition unit 51a and an instruction unit 51b.

The storage unit 52 is a storage device such as a hard disk drive or a nonvolatile memory, and stores work information 52a, work identification information 52b, and teaching information 52c.

Note that not all of the components of the control device 50 shown in FIG. 2 need be arranged in the control device 50 alone. For example, any or all of the work information 52a, work identification information 52b, and teaching information 52c stored in the storage unit 52 may be stored in an internal memory of the robot 10.

The control unit 51 performs overall control of the control device 50. The workpiece information acquisition unit 51a receives imaging data of the workpiece W from the camera 40 and stores it as workpiece information 52a.

The instruction unit 51b matches the workpiece information 52a and the workpiece identification information 52b to identify the type of the workpiece W. Here, the workpiece identification information 52b is information for identifying the type of the workpiece W such as the shape and size of the workpiece W and the position and size of the hole Wh. Such work identification information 52b is registered in the storage unit 52 in advance.

And the instruction | indication part 51b produces | generates the operation signal which operates the robot 10 based on the classification | category of the identified workpiece | work W, and the teaching information 52c according to this, and outputs it toward the robot 10. FIG.

The teaching information 52c is information including a “job” which is a specific program for actually operating the robot 10 according to a specific workpiece W, and is input via an input device (not shown) (for example, a programming pendant). Registered in advance.

The “job” includes a mode of attachment operation applied to the workpiece W (specifically, information such as which annular member P is used for which workpiece W and which jig J is used for the annular member P) ) Is included.

Then, the instruction unit 51b generates an operation signal for operating the robot 10 based on the “job”. The operation signal is generated as a pulse signal for the servo motor mounted on each joint portion of the robot 10, for example.

Further, the instruction unit 51b causes the camera 40 to appropriately capture new imaging data at a predetermined timing in a series of operations performed by the robot 10.

The robot 10 includes a hand 14. As described above, since the robot 10 is a double-arm robot, the hand 14 is a generic term for a pair of left and right hands.

Hereinafter, the configuration of the robot 10 that operates based on an instruction from the instruction unit 51b and a series of operations from conveyance to attachment of the annular member P in the robot system 1 will be sequentially described in detail.

First, a configuration example of the robot 10 will be described with reference to FIGS. 3A and 3B. FIG. 3A is a schematic front view illustrating the configuration of the robot 10, and FIG. 3B is a schematic plan view illustrating the configuration of the robot 10.

As shown in FIG. 3A, the robot 10 is a double-armed multi-axis robot. Specifically, the robot 10 includes a base part 11, a body part 12, a left arm part 13L, and a right arm part 13R.

The base portion 11 is fixed to the floor surface or the like inside the cell 2 (see FIG. 1A), and supports the trunk portion 12 at the tip so that it can turn around the axis SW (around the axis SW in FIG. 3A). (See the double arrow).

The trunk portion 12 is supported at the base end portion by the base portion 11, and supports the base end portion of the right arm portion 13R at the right shoulder so that the base end portion can be rotated around the axis S. Similarly, the base end portion of the left arm portion 13L is supported at the left shoulder so as to be rotatable around the axis S (see both double arrows around the axis S in the figure).

Each of the left arm portion 13L and the right arm portion 13R includes a plurality of links and joint portions, and can rotate around the axes S, E, and T at each joint portion from the base end portion to the distal end portion. (See double arrows around the axes S, E and T in the figure).

Further, as shown in FIG. 3B, the left arm portion 13L and the right arm portion 13R can rotate about the axis L, the axis U, the axis R, and the axis B, respectively (the axis L, the axis U, (See double arrows around axis R and axis B). That is, the robot 10 has 7 axes per arm part.

Then, the robot 10 performs various multi-axis operations combining the two 7-axis arms and the turning around the axis SW based on the operation instruction from the control device 50.

The right hand 14R is attached to the terminal movable part around the axis T of the right arm part 13R, and the left hand 14L is attached to the terminal movable part around the axis T of the left arm part 13L.

Next, a configuration example of the hand 14 will be described with reference to FIG. FIG. 4 is a schematic perspective view showing the configuration of the hand 14. In FIG. 4 and the first embodiment, the right hand 14R will be described as an example of the hand 14, but the left hand 14L may be used.

As shown in FIG. 4, the right hand 14R is attached to the terminal movable portion of the right arm portion 13R. The right hand 14R has a pair of gripping claws 14Ra, and grips the gripping object by closing the gripping claws 14Ra in the direction of the arrow 401 in the drawing and sandwiching the gripping target object.

In the present embodiment, the gripping object of the right hand 14R is a jig J. Next, a series of operations from the conveyance to the attachment of the annular member P including the configuration of the jig J will be described with reference to FIGS. 5A to 5H.

FIGS. 5A to 5H are schematic views (No. 1) to (No. 8) for explaining a series of operations from the conveyance to the attachment of the annular member P. FIG. A series of operations performed by the robot 10 described below with reference to FIGS. 5A to 5H are performed based on an instruction from the instruction unit 51b as described above.

First, as shown in FIG. 5A, the jig J has a shape formed in a substantially rod shape. The jig J includes a main body portion Ja and a handle portion Jb. The main body portion Ja is a portion that is inserted into the hole of the annular member P, and the outer diameter thereof is formed to be substantially the same as the inner diameter (that is, the diameter of the hole) of the annular member P.

The grip portion Jb is a portion that is gripped by the right hand 14R, and the shape thereof is formed to be constant even if the inner diameter of the annular member P is different.

Therefore, when there are a plurality of types of the annular member P as in the annular members P1, P2,... (See FIG. 1A), the main body portion Ja corresponding to the inner diameter of each of these types and the handle portion Jb having a common shape. Jigs J1, J2... (See FIG. 1A) are prepared. Thereby, it is not necessary to prepare a plurality of right hands 14R according to the type of the annular member P. That is, an efficient system can be configured at a low cost.

Also, the jig J has a mass to which a larger gravitational force than a frictional force generated between the jig J and the annular member P when inserted into the hole of the annular member P is applied.

Then, as shown in FIG. 5B, the instruction unit 51b instructs the robot 10 to grip the jig J using the gripping claws 14Ra of the right hand 14R when transporting the annular member P.

Next, as shown in FIG. 5C, the instruction unit 51 b drives the right arm unit 13 </ b> R while holding the jig J, and holds the annular member held by the parts feeder 31 included in the supply base 30. The robot 10 is instructed to insert the jig J into the hole P (see arrow 501 in the figure).

At this time, the annular member P is locked to the jig J by the frictional force generated between the annular member P and the inserted jig J. Then, the instruction unit 51b operates the robot to move the annular member P locked to the jig J to the mounting base 21 by driving the right arm portion 13R while holding the jig J. 10 (see arrow 502 in the figure).

Subsequently, as shown in FIG. 5D, the instruction unit 51b instructs the robot 10 to insert the jig J into the hole Wh of the workpiece W placed on the mounting base 21 (see the arrow 503 in the figure). ).

Here, as shown in FIG. 5E, the hole Wh of the workpiece W has a concentric shape in plan view with the flange Wf, and the first inner diameter d1 and the second inner diameter d2 are Have. The first inner diameter d1 is substantially the same as the outer diameter of the annular member P. The second inner diameter d2 is larger than the outer diameter Jd of the jig J and smaller than the first inner diameter d1. Therefore, it can be said that the hole Wh has a shape that allows only the jig J to pass therethrough and holds the annular member P inside.

Further, as shown in FIG. 5F, the mounting table 21 and the work table 20 are provided with a hole 21a and a hole 20a in association with the position of the hole Wh of the workpiece W, respectively. Therefore, the upper surface of the workpiece W is penetrated from the lower surface of the work table 20 through the holes Wh, 21a and 20a. The inner diameters of the hole portion 21a and the hole portion 20a are at least equal to or greater than the above-described second inner diameter d2.

Further, a jig receiving portion 22 having a space communicating with the hole portion 20a is provided on the lower surface of the work table 20. Although not easily understood in FIG. 5F, the jig receiving portion 22 is provided with an opening into which at least one set of gripping claws 14Ra can be inserted.

Then, as shown in FIG. 5G, the instruction unit 51b performs an operation on the robot 10 to open the gripping claw 14Ra and release the gripped jig J from the state where the jig J is inserted into the hole Wh of the workpiece W. (See arrow 504 in the figure). Then, the jig J released from the robot 10 falls into the hole Wh (see arrow 505 in the figure).

Then, as shown in FIG. 5H, the jig J moves through the holes Wh, 21a, and 20a while leaving the annular member P to the flange portion Wf by a gravitational action larger than the frictional force with the annular member P. It falls to the receiving part 22. Thereby, the annular member P is attached to the hole Wh of the workpiece W.

Thus, a series of operations from the conveyance to the attachment of one annular member P is completed. The jig J that has dropped onto the jig receiving unit 22 is collected when the instruction unit 51b instructs the robot 10 to perform a collecting operation, and is used for the next conveyance and attachment of the annular member P. For example, the collecting operation is an operation of inserting and holding the gripping claws 14Ra from the opening of the jig receiving portion 22 and transporting the gripping claws 14Ra to the mounting base 21.

As described above, in the robot system 1 according to the first embodiment, the annular member P is held and transported by the robot 10 using the jig J corresponding to the type of the annular member P. There is no need for special equipment for transport. Therefore, an efficient system with reduced installation space and cost can be configured.

Further, in the robot system 1 according to the first embodiment, the annular member P is moved to the workpiece W by using the gravity action generated by inserting and dropping the jig J that holds the annular member P into the hole Wh of the workpiece W. We decided to attach to. Therefore, even the small annular member P can be efficiently and reliably attached to the workpiece W without causing the robot 10 to perform complicated operations.

As described above, the robot system according to the first embodiment includes a robot and an instruction unit. The robot includes a robot hand including a mechanism for gripping an object to be gripped. The instruction unit holds the annular member while holding the jig formed in a substantially rod shape as the object to be grasped, and instructs the robot to perform an operation of transporting the jig together with the jig. .

Therefore, according to the robot system of the first embodiment, the small annular member can be transported and attached efficiently and reliably.

By the way, in the first embodiment described above, the case where the annular member is locked and conveyed by the frictional force generated between the jig and the annular member has been described as an example. However, the annular member is a process of forming the annular member. It is also conceivable that the inner diameter of the hole varies. A case where such points are taken into account will be described as a second embodiment with reference to FIGS. 6A to 6E.

(Second Embodiment)
6A to 6E are schematic views (No. 1) to (No. 5) for explaining a series of operations according to the second embodiment. Note that the robot system 1 ′ according to the second embodiment (not shown, but hereinafter, given the sign “1 ′” for convenience) is mainly the same as the robot system 1 according to the first embodiment described above. Different parts will be described, and descriptions of common components may be simplified or omitted.

In the robot system 1 ′ according to the second embodiment, the robot 10 includes a right hand 14 </ b> R and a left hand 14 </ b> L. Here, it is assumed that the left hand 14L has the same configuration as the right hand 14R shown in FIG. Further, in the following description, the gripping claws of the left hand 14L are denoted by “14La” for convenience.

Also, in the second embodiment, as shown in FIGS. 6A and 6B, the parts feeder 31 'of the supply base 30 is different from the first embodiment. 6A is a schematic diagram in a side view, and FIG. 6B is a schematic diagram in a plan view.

Specifically, as shown in FIG. 6B, the parts feeder 31 ′ is formed, for example, in a substantially U shape in plan view so as to have an opening 31 ′ a partially opened, and the annular member P It has a structure to hold. As shown in FIG. 6A, the lower part of the parts feeder 31 'is opened to such an extent that a pair of gripping claws 14La of the left hand 14L can be inserted.

Then, as shown in FIG. 6C, in the robot system 1 ′ according to the second embodiment, the instruction unit 51b holds the jig J with the right hand 14R and the annular member P held by the parts feeder 31 ′. The robot 10 is instructed to insert the jig J into the hole (see arrow 601 in the figure).

In addition, the instruction unit 51b instructs the robot 10 to grip the tip of the inserted jig J using the gripping claws 14La of the left hand 14L (see arrow 602 in the figure).

The instruction unit 51b pulls the annular member P together with the jig J from the opening 31'a while holding the jig J with both the right hand 14R and the left hand 14L, and the right arm unit 13R and the left arm unit 13L is driven to instruct the robot 10 to carry the annular member P to the mounting base 21 (see arrow 603 in the figure).

Subsequently, as shown in FIG. 6D, the instruction unit 51b uses the right hand 14R after positioning the tip of the jig J to the upper part of the hole Wh of the work W and releasing the jig J by the left hand 14L. The robot 10 is instructed to insert the jig J into the hole Wh (see

arrows

604 and 605 in the figure).

Further, the instruction unit 51b instructs the robot 10 to move the left hand 14L, which has been released from the jig J, to the lower surface side of the workpiece W (see an arrow 606 in the drawing). In FIG. 6D and subsequent FIG. 6E, the mounting table 21 and the work table 20 are not shown for convenience of explanation.

Then, as shown in FIG. 6E, the instruction unit 51b grips the tip of the jig J inserted through the hole Wh using the left hand 14L and holds the jig J by the right hand 14R. The robot 10 is instructed to unravel (see arrow 607 in the figure).

Then, the instruction unit 51b instructs the robot 10 to drive the left arm unit 13L and pull out the jig J from the lower surface side of the workpiece W using the left hand 14L (see arrow 608 in the figure). ). Thereby, after the jig J is pulled out, the annular member P is attached to the hole Wh of the workpiece W.

Thus, a series of operations according to the second embodiment is completed. Thus, in the robot system 1 'according to the second embodiment, the annular member P is held and transported between the right hand 14R and the left hand 14L. Therefore, for example, even when there is a possibility that the annular member P is loosely fitted to the jig J due to variations in the annular member P, the annular member P can be reliably conveyed.

Further, in the robot system 1 ′ according to the second embodiment, the jig J is pulled out from the lower surface side of the workpiece W using the left hand 14 </ b> L, so that the annular member P can be reliably attached to the workpiece W. Moreover, since the exclusive apparatus for conveying the annular member P etc. are not required similarly to 1st Embodiment, the efficient system which suppressed installation space and cost can be comprised.

In each of the embodiments described above, the annular member has been described as being made of a soft material such as rubber. However, each of the embodiments described above is also applicable when the annular member is made of a hard member such as metal. May apply.

In the above-described embodiment, the dual-arm robot is exemplified, but the present invention is not limited to this. For example, a multi-arm robot having three or more arms may be used. Two single-arm robots having one arm may be provided.

In the above-described embodiment, a multi-axis robot having seven axes per arm is illustrated, but the number of axes is not limited.

Further effects and modifications can be easily derived by those skilled in the art. Thus, the broader aspects of the present invention are not limited to the specific details and representative embodiments shown and described above. Accordingly, various modifications can be made without departing from the spirit or scope of the general inventive concept as defined by the appended claims and their equivalents.

DESCRIPTION OF SYMBOLS 1, 1 'robot system 2 cell 10 robot 11 base part 12 trunk | drum 13L left arm part 13R right arm part 14 hand 14L left hand 14La gripping claw 14R right hand 14Ra gripping claw 20 work table 20a hole part 21 mounting base 21a hole Part 22 Jig receiving part 30 Supply base 31, 31 'Parts feeder 31'a Opening 40 Camera 50 Control device 51 Control part 51a Work information acquisition part 51b Instruction part 52 Storage part 52a Work information 52b Work identification information 52c Teaching information B axis E axis J, J1, J2 Jig Ja body part Jb handle part Jd outer diameter L axis P, P1, P2 annular member R axis S axis SW axis T axis U axis W work Wf flange part Wh hole part d1 first inner diameter d2 Of the second

Claims

A robot having a robot hand including a mechanism for gripping a gripping object;
An instruction unit that holds the annular member while holding the jig formed in a substantially rod shape as the object to be grasped, and holds the annular member, and instructs the robot to carry the jig together. A robot system characterized by this.
The annular member is
It is attached to a work having a through hole formed in a shape that can be fitted with the annular member,
The instruction unit includes:
The robot is instructed to attach the annular member to the workpiece by inserting the tip of the jig into the through-hole while holding the annular member and taking out only the jig from the opposite side of the through-hole. The robot system according to claim 1, wherein:
The through hole is
The robot system according to claim 2, wherein the robot system has a shape that allows only the jig to pass therethrough and holds the annular member inside.
The jig is
Formed so as to have a gravitational mass greater than the friction force generated between the jig and the annular member;
The instruction unit includes:
The operation of dropping the jig after being inserted into the through-hole and instructing the robot to drop it causes only the annular member to be fastened to the through-hole by using a gravitational action. 3. The robot system according to 3.
The robot is
It has two robot hands,
The instruction unit includes:
4. The robot is instructed to insert the jig into the through hole with one robot hand and pull out only the jig from the opposite side of the through hole with the other robot hand. The robot system described in 1.
The instruction unit includes:
After gripping the jig with one robot hand and inserting it into the hole of the annular member, the other robot hand grips the tip of the jig and holds the annular member between the robot hands. The robot system according to claim 5, wherein the robot is instructed to convey the annular member while holding the robot.
The jig is
It has a body part and a handle part,
The main body is
Formed with an outer diameter corresponding to the diameter of the hole of the annular member,
The handle portion is
The robot system according to any one of claims 1 to 6, wherein the robot system is formed with a constant shape regardless of the diameter of the hole of the annular member.