WO2016129526A1 - Effecteur terminal et robot - Google Patents

Effecteur terminal et robot Download PDF

Info

Publication number
WO2016129526A1
WO2016129526A1 PCT/JP2016/053533 JP2016053533W WO2016129526A1 WO 2016129526 A1 WO2016129526 A1 WO 2016129526A1 JP 2016053533 W JP2016053533 W JP 2016053533W WO 2016129526 A1 WO2016129526 A1 WO 2016129526A1
Authority
WO
WIPO (PCT)
Prior art keywords
end effector
pinching
pieces
advance
cylindrical member
Prior art date
Application number
PCT/JP2016/053533
Other languages
English (en)
Japanese (ja)
Inventor
徳和 佐藤
中村　一也
全弘 斎藤
Original Assignee
並木精密宝石株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 並木精密宝石株式会社 filed Critical 並木精密宝石株式会社
Priority to JP2016574779A priority Critical patent/JPWO2016129526A1/ja
Publication of WO2016129526A1 publication Critical patent/WO2016129526A1/fr

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/08—Gripping heads and other end effectors having finger members

Definitions

  • the present invention relates to an end effector and a robot including the end effector.
  • the present invention has been made in view of the above-described conventional circumstances, and an object thereof is to provide an end effector and a robot capable of handling an object with high accuracy and various operations. More specifically, for example, when an electronic component is placed on a printed circuit board, it is possible to change the orientation of the electronic component to place it with higher accuracy, or to automatically correct a bent lead. That is.
  • an end effector attached to the tip of a robot arm is provided with a plurality of clip pieces that open and close each other, and the plurality of clip pieces are opened and closed, rotated, and swung.
  • a sandwiching device capable of independently driving each of the plurality of sandwich pieces is disposed. And this clamping device has the 1st clamping device and 2nd clamping device which can move relatively with respect to each other.
  • the present invention is configured as described above, it becomes an end effector and robot capable of handling an object with high accuracy and various operations.
  • the first feature of the present embodiment is that the end effector includes a pinching device having a plurality of pinching pieces that open and close each other, and this pinching device causes the pinching pieces to open / close, rotate, and swing.
  • each of the plurality of sandwich pieces can be driven independently.
  • at least two of the 1st clamping device and the 2nd clamping device are arrange
  • the “squeezing device” includes a mode in which an object is held on the front end side of a plurality of clamping pieces, a mode in which an object is completely clamped on the front end side of the plurality of clamping pieces, and the like. According to this configuration, since the two pinching devices having a plurality of operation forms are provided and the positional relationship between the two pinching devices can be changed, the object can be handled with high accuracy and various operations. Can do.
  • the plurality of pinching pieces of the end effector pinching device are configured to open and close each other by rotating about the rotation fulcrum portion.
  • the pinching device includes a cylindrical member that supports the rotation fulcrum so that the front end side of the pinching piece protrudes forward, and an advance / retreat mechanism that moves the linear motion member back and forth within the cylindrical member.
  • a plurality of forward / backward mechanisms are provided to respectively correspond to the plurality of sandwiching pieces by engaging the linearly moving members that are advanced and retracted by the advancement / retraction mechanism with the sandwiching pieces and rotating the sandwiching pieces.
  • Each advancing / retreating mechanism is disposed on the rear side of each clip piece, and the plurality of advancing / retreating mechanisms are controlled independently. According to this configuration, since the pinch piece rotates about the rotation fulcrum portion, a stable opening / closing operation can be performed and the operation of each pinch piece can be controlled independently, so that a more accurate operation can be performed. It can be carried out.
  • an advance / retreat mechanism is constituted by the feed screw and the electric motor.
  • the hollow motor which has a hollow rotating shaft was arrange
  • a robot is provided that includes an arm having an end effector having at least one of the first to third features described above attached to the tip.
  • the object treated by the end effector unit can be moved within a wide movable range. For example, a defective product such as a bent lead of an electronic component detected by a surface mounter can be gripped and moved by a robot having this end effector, and the lead can be corrected by the same robot.
  • FIG. 1 (a) shows a robot 100 according to the present invention.
  • An end effector 120 is provided at the tip of the arm 101 of the robot 100.
  • FIG. 1B is an enlarged view of the end effector 120 portion.
  • the end effector 120 is provided with two pinching devices 1. Of the two pinching devices 1, the front pinching device 1 ⁇ / b> R is held by the movable member 121 and the back pinching device 1 ⁇ / b> L is held by the fixed member 122 in FIG.
  • the movable member 121 is moved relative to the fixed member 122 in the direction indicated by the arrow V (vertical direction in FIG. 1B) by a structure (not shown) in which a rack and pinion mechanism is combined with a drive source such as a motor. Can do.
  • the sandwiching device 1 (1R, 1L) includes a plurality of sandwiching pieces and can be handled by sandwiching and holding an object on the front end side of the plurality of sandwiching pieces. Next, the structure of the pinching device 1 will be described with reference to FIGS.
  • the sandwiching device 1 has a cylindrical shape that supports a plurality of sandwiching pieces 10 that are opened and closed by pivoting about a pivoting fulcrum part and a pivoting fulcrum part 21 so that the front end side of the sandwiching piece 10 projects forward.
  • a member 20 and an advancing / retracting mechanism 30 for advancing / retreating the linear motion member 31 in the cylindrical member 20 are provided.
  • the linear motion member 31 advanced / retracted by the advancing / retreating mechanism 30 is engaged with the clamping piece 10 to rotate the clamping piece 10. Configured to do.
  • Two sandwich pieces 10 are provided so as to overlap in a direction orthogonal to the center of the cylindrical member 20. These two pinching pieces 10 and 10 are rotatably supported by a common rotation fulcrum 21 (shaft member) inserted through the rear end side.
  • the two sandwiching pieces 10 and 10 constitute forceps capable of sandwiching an object.
  • the two sandwiching pieces 10 and 10 rotate so as to bring the sandwiching surfaces 11 and 11 on the front end side closer to each other, and perform a closing operation. , 11 are rotated so as to be spaced apart from each other and open (see FIG. 2).
  • each sandwich piece 10 includes a protruding piece portion 10 a extending so as to protrude forward, and a base piece portion 10 b bent in a substantially orthogonal direction on the rear end side of the protruding piece portion 10 a.
  • a shaft hole 15 through which the rotation fulcrum portion 21 is inserted is provided at a position near the center of the cylindrical member 20 in the clip piece 10b.
  • the pinching piece 10b at a position away from the shaft hole 15 in the radially outward direction of the cylindrical member 20 (rightward according to FIG. 3), the object is long in the direction approaching and separating from the shaft hole 15.
  • An engagement hole 16 is provided.
  • the sandwiching pieces 10, 10 on both sides are pivotally supported by a common pivoting fulcrum 21 with the base piece 10 b on the rear end side being overlapped.
  • the cylindrical member 20 is a long cylindrical member, and has support piece portions 20a protruding forward on both sides in the radial direction on the front end side thereof, and rotates between the support piece portions 20a on both sides.
  • the fulcrum part 21 is supported.
  • the cylindrical member 20 houses the advance / retreat mechanism 30, the power supply wiring of the advance / retreat mechanism 30, the control board, and the like.
  • the cylindrical member 20 in the illustrated example improves the maintainability with respect to the internal advance / retreat mechanism 30 and the like by providing the notch 25 in a part of the peripheral wall. However, as another example, the notch 25 is omitted. May be.
  • the advance / retreat mechanism 30 is a mechanism in which the linear motion member 31 is advanced and retracted by the rotation drive source 33.
  • a plurality (two in the illustrated example) of the advance / retreat mechanism 30 is provided corresponding to each of the plurality of clip pieces 10.
  • Each advance / retreat mechanism 30 is linearly arranged on the rear side of the corresponding clip piece 10.
  • the plurality of advance / retreat mechanisms 30 are independently controlled by a control circuit (not shown).
  • Rotational drive source 33 is an electric gear motor, and for example, the rotational force of the motor may be adjusted to an appropriate rotational speed with a planetary gear and output.
  • a feed screw 32 is provided on the front end side of the output shaft in the rotational drive source, and a linear motion member 31 is screwed into the feed screw 32.
  • the linear motion member 31 has a female screw (not shown) screwed into the feed screw 32 therein.
  • the linear motion member 31 is engaged with the tubular member 20 so as not to rotate but to advance and retreat.
  • the outer peripheral portion of the linear motion member 31 is formed in a prismatic shape, and the inner surface of the cylindrical member 20 is fitted to the outer peripheral portion of the linear motion member 31 to guide the outer peripheral portion in the front-rear direction.
  • a mode in which a convex portion is provided on one of the outer peripheral portion of the linear motion member 31 and the inner peripheral portion of the cylindrical member 20, and a groove for guiding the convex portion in the front-rear direction is provided on the other side. That's fine.
  • the front end side of the linear motion member 31 is formed in a bifurcated shape sandwiching the rear end side portion of the sandwiching piece 10 (see FIG. 2), and the bifurcated portion is engaged so as to be orthogonal to the center line of the tubular member 20.
  • the shaft 34 is fixed.
  • the engagement shaft 34 is inserted into the engaged hole 16 (see FIG. 3) of the clip piece 10, and by moving forward, the clip piece 10 rotates in the closing direction (see FIG. 4) and moves backward. Then, the pinching piece 10 is rotated in the opening direction (see FIG. 5).
  • a hollow motor 50 (see FIG. 2) having a hollow rotating shaft is disposed behind the cylindrical member 20.
  • the rotor (not shown) of the hollow motor 50 is connected to the cylindrical member 20, and can rotate and drive the cylindrical member 20 integrated with the advance / retreat mechanism 30 and the clip piece 10.
  • the power supply wiring of the advance / retreat mechanism 30 is led to the rear of the hollow motor 50 through the hollow portion.
  • a state in which both pinching pieces 10 and 10 are closed is an initial state.
  • the linear motion members 31 and 31 are moved backward by both the advancing and retracting mechanisms 30 and 30, the engagement shaft 34 on the rear end side of the clip piece 10 rotates rearward.
  • the front end of is open.
  • the movement of all patterns such as closing the clip pieces 10, 10 in the closed state to the opposite side or rotating only one clip piece 10 is possible. Is possible.
  • the responsiveness of the clip 10 is better than that of the conventional technique using a wire, and the output can be easily increased by selecting the rotation drive source 33.
  • the pinching device 1 is a manipulator that has good operability and controllability and can be miniaturized.
  • forceps was comprised by the two pinching pieces 10 and 10, but as another example, a blade is provided in each pinching piece 10 and an object is formed by the two pinching pieces 10 and 10. It is also possible to configure scissors that cut the squeeze or to open and close three or more sandwich pieces 10.
  • the electric motor and the feed screw 32 were used as the advancing / retreating mechanism 30, as an other example of the advancing / retreating mechanism 30, an air motor, a hydraulic motor, and another rotary motor can also be used. It is. Further, as another example of the advance / retreat mechanism 30, it is possible to adopt a structure in which the linear motion member 31 is directly advanced and retracted by a linear motion such as a vibration type linear motion mechanism or a linear drive source of an electromagnetic solenoid.
  • a pinching device 1 that can cause a plurality of pinching pieces to perform movements such as “opening / closing”, “rotating”, “swinging movement”, “partially fixed, partial movement”
  • the position of each other can be changed relatively by moving one of the two pinching devices.
  • This realizes an end effector capable of handling an object with high precision and extremely various operations.
  • the robot arm itself has a degree of freedom and has a large degree of freedom and a wide range of movement.
  • the two sandwiching devices 1 when the movable member 121 of the end effector 120 moves relative to the fixed member 122, the two sandwiching devices 1 are configured to move toward and away from each other while looking obliquely.
  • FIG. The movable member 123 may slide in the direction of the arrow H with respect to the fixed member 124 as shown in the end effector 120 ′ shown in FIG. At this time, the two sandwiching devices 1 move toward and away from each other while viewing the same direction.
  • the two clamping devices 1 were used with respect to one end effector, it is not limited to two, More pinching devices and several movable and fixed members are included. By combining them, more various operations are possible.
  • the end effector and the robot of the medical pinching device of the present invention can be applied to, for example, an industrial robot that automatically performs bending of electronic component leads, etc., from sorting to correction.
  • it can be effectively applied to applications that require precise manipulation and processing of minute objects in a limited space, including surgery support robots used in advanced medical settings.
  • Clamping device 10 Clamping piece 10a: Projection piece 10b: Base piece 15: Shaft hole 16: Engaged hole 20: Cylindrical member 21: Rotating fulcrum 30: Advance / retreat mechanism 31: Direct Moving member 32: Feed screw 33: Rotation drive source 34: Engagement shaft 50: Hollow motor 100: Robot 120, 120 ': End effector 121, 123: Movable member 122, 124: Fixed member A: Object

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

[Problème] Fournir un effecteur terminal et un robot capables de manipuler un objet avec des mouvements très précis et très variés. [Solution] Au moins deux dispositifs de préhension équipés de multiples pièces de préhension qui s'ouvrent et se ferment les unes par rapport aux autres, et capables de mouvements d'ouverture/fermeture, de mouvements de rotation et de mouvements de lacet des multiples pièces de préhension, et d'entraîner chacune des multiples pièces de préhension de manière indépendante, sont prévus sur un effecteur terminal. L'un des deux dispositifs de préhension est disposé sur l'élément fixe de l'effecteur terminal et l'autre dispositif de préhension est disposé sur l'élément mobile de l'effecteur terminal. En installant ledit effecteur terminal à l'extrémité d'un bras de robot, il est possible de manipuler un objet avec des mouvements très précis et très variés.
PCT/JP2016/053533 2015-02-12 2016-02-05 Effecteur terminal et robot WO2016129526A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP2016574779A JPWO2016129526A1 (ja) 2015-02-12 2016-02-05 エンドエフェクタ及びロボット

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2015025861 2015-02-12
JP2015-025861 2015-02-12

Publications (1)

Publication Number Publication Date
WO2016129526A1 true WO2016129526A1 (fr) 2016-08-18

Family

ID=56614983

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2016/053533 WO2016129526A1 (fr) 2015-02-12 2016-02-05 Effecteur terminal et robot

Country Status (2)

Country Link
JP (1) JPWO2016129526A1 (fr)
WO (1) WO2016129526A1 (fr)

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108656105A (zh) * 2017-03-30 2018-10-16 泰科电子(上海)有限公司 自动取料设备
WO2020105983A1 (fr) * 2018-11-20 2020-05-28 한국생산기술연구원 Appareil de traitement de précision mettant en œuvre un bras de robot, et son procédé de fonctionnement
CN113380560A (zh) * 2021-04-29 2021-09-10 国网浙江省电力有限公司嘉兴供电公司 一种多功能末端执行机构
WO2023105967A1 (fr) * 2021-12-07 2023-06-15 川崎重工業株式会社 Instrument médical chirurgical et dispositif de préhension

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS60186386A (ja) * 1984-03-02 1985-09-21 三菱電機株式会社 複数ワ−ク搬送用のロボツトハンド
JPH0544485U (ja) * 1991-11-28 1993-06-15 大同特殊鋼株式会社 鍛造用マニピユレータ装置
JP2008168408A (ja) * 2007-01-12 2008-07-24 Honda Motor Co Ltd ギヤ装置組立て方法

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS60186386A (ja) * 1984-03-02 1985-09-21 三菱電機株式会社 複数ワ−ク搬送用のロボツトハンド
JPH0544485U (ja) * 1991-11-28 1993-06-15 大同特殊鋼株式会社 鍛造用マニピユレータ装置
JP2008168408A (ja) * 2007-01-12 2008-07-24 Honda Motor Co Ltd ギヤ装置組立て方法

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108656105A (zh) * 2017-03-30 2018-10-16 泰科电子(上海)有限公司 自动取料设备
JP2020512202A (ja) * 2017-03-30 2020-04-23 タイコ エレクトロニクス （シャンハイ） カンパニー リミテッド 自動ピックアップ装置
WO2020105983A1 (fr) * 2018-11-20 2020-05-28 한국생산기술연구원 Appareil de traitement de précision mettant en œuvre un bras de robot, et son procédé de fonctionnement
CN113380560A (zh) * 2021-04-29 2021-09-10 国网浙江省电力有限公司嘉兴供电公司 一种多功能末端执行机构
CN113380560B (zh) * 2021-04-29 2022-11-04 国网浙江省电力有限公司嘉兴供电公司 一种多功能末端执行机构的工作方法
WO2023105967A1 (fr) * 2021-12-07 2023-06-15 川崎重工業株式会社 Instrument médical chirurgical et dispositif de préhension

Also Published As

Publication number Publication date
JPWO2016129526A1 (ja) 2017-11-24

Similar Documents

Publication Publication Date Title
WO2016129526A1 (fr) Effecteur terminal et robot
JP6292092B2 (ja) 塗布装置、塗布ロボットおよび塗布方法
JP2008073824A (ja) 産業用ロボットのハンド装置
CN108526970B (zh) 机床
JP4876796B2 (ja) 産業用ロボットのハンド装置
JP2008073823A (ja) 産業用ロボットのハンド装置
JP2008049418A (ja) 産業用ロボットのハンド装置
US11389952B2 (en) Robot arm
CN107598467B (zh) 旋转机构
WO2016186009A1 (fr) Dispositif et procédé d'attachement d'équipement électrique
JP2018089752A (ja) 把持装置、ロボット、ロボットの制御方法、および物品の製造方法
US20110146440A1 (en) Manipulator arm mechanism
JP2008080471A (ja) 産業用ロボットのハンド装置の制御方法
JP2020055094A (ja) 電動締付装置
TWI608913B (zh) Guide groove gripper device
JP2015083324A (ja) ワーク挿入装置
CN111065498B (zh) 机器人手、机器人装置、以及生产电子设备的方法
EP3438507A1 (fr) Manipulateur de came, en particulier de changement automatique d'outils sur une machine-outil
KR20120004464A (ko) 굽힘 가공장치
CN101298112A (zh) 用于x型枪的电驱动单元
CN108237553B (zh) 工具带动模块及其适用的机器手臂
JP2010240715A (ja) 曲げ加工装置
JPWO2019016919A1 (ja) エンドエフェクタ
WO2016174916A1 (fr) Manipulateur
WO2016063851A1 (fr) Pince

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 16749170

Country of ref document: EP

Kind code of ref document: A1

ENP Entry into the national phase

Ref document number: 2016574779

Country of ref document: JP

Kind code of ref document: A

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 16749170

Country of ref document: EP

Kind code of ref document: A1