WO2017002266A1

WO2017002266A1 - Article supporting system

Info

Publication number: WO2017002266A1
Application number: PCT/JP2015/069184
Authority: WO
Inventors: 敏広塘
Original assignee: 株式会社安川電機
Priority date: 2015-07-02
Filing date: 2015-07-02
Publication date: 2017-01-05
Also published as: JPWO2017002266A1

Abstract

This article supporting system (1) is provided with a robot (10) and an assisting mechanism (30). The robot (10) is provided with a grip part (15) for gripping a placement base (60) for an article (2), and controls the position or orientation of the article (2) by controlling the position or orientation of the grip part (15) that grips the placement base (60). The assisting mechanism (30) pulls the grip part (15) upward. The placement base (60) is provided with a holding mechanism (61) for holding the article (2). The grip part (15) is provided with a supplying mechanism (19) for supplying a power source of the holding mechanism (61) to the placement base (60).

Description

Article support system

The present invention relates to an article support system.

In recent years, unmanned or labor-saving has been achieved by using robots in production processes or transport processes. For example, a robot is used to control the position or orientation of an article or to perform processing (processing or measurement) on an article.

Japanese Patent Laid-Open No. 9-1492

When a robot directly grips an article to control the position or orientation of the article, and the weight of the article is large, a robot with a large portable weight that can directly grasp and carry a heavy article Is required. However, since a robot having a large payload has a large size, there is a problem that the equipment becomes large. In addition, since a robot having a large payload is generally expensive, there is a problem that the cost increases. Therefore, it is conceivable to install a device for reducing the weight of the article conveyed by the robot. In an aspect in which the robot directly grips the article, it is desirable that the part of the article gripped by the robot is uniform. However, the form of the article may vary, and the part of the article gripped by the robot There is also a problem that may not be uniform. Therefore, it may be possible to adopt a mode in which the robot grips the mounting table on which the article is mounted. In this case, the robot securely holds the article on the mounting table while the robot is holding the mounting table. There is a need to.

The present invention has been made in view of the above problems, and its purpose is to make it possible to securely fix an article to a mounting table when the robot is holding the mounting table, It is another object of the present invention to provide an article support system that can control the position or posture of a heavy article using a robot.

In order to solve the above-described problem, an article support system according to the present invention includes a gripping unit that grips a mounting table for an article, and controls the position or posture of the gripping unit that grips the mounting table. A robot that controls the position or orientation; and an auxiliary mechanism that pulls the gripping portion upward, wherein the mounting table includes a holding mechanism that holds the article, and the gripping unit is A supply mechanism for supplying a power source of the holding mechanism is provided.

In one aspect of the present invention, the gripper may include a rotation support mechanism for rotatably supporting the gripper that rotates around the tip axis of the robot.

In one aspect of the present invention, the auxiliary mechanism may include a wire connected to the grip portion from above the grip portion, and pull the grip portion upward by winding up the wire. The rotation support mechanism may include a bearing mechanism. The wire may be connected to the grip portion via the bearing mechanism.

In one aspect of the present invention, a monitoring unit that monitors the load status of the robot, and an adjustment unit that adjusts the magnitude of the force by which the auxiliary mechanism pulls the gripping portion upward based on the load status of the robot; May be provided.

In one aspect of the present invention, the auxiliary mechanism may include a servomotor, and the gripper may be pulled upward using the servomotor. The adjusting unit may adjust the magnitude of the force pulling the gripping unit upward by controlling the servo motor based on a load state of the gripping unit.

In one aspect of the present invention, the robot includes a base portion, a turning base portion that is connected to the base portion so as to be turnable about a first axis, and a second that is substantially perpendicular to the first axis. A first arm portion coupled to the turning base portion so as to be rotatable around an axis of the first arm portion, and a tip portion of the first arm portion rotatable around a third axis substantially parallel to the second axis. And a second arm portion to be connected. The grip portion may be connected to a tip portion of the second arm portion.

In one aspect of the present invention, the monitoring unit may monitor the load torque of the second axis of the robot and the load torque of the third axis of the robot. The adjusting unit may control the servo motor so that a load torque of the second axis of the robot and a load torque of the third axis of the robot do not exceed a predetermined value. .

In one aspect of the present invention, the auxiliary mechanism may include a wire connected to the grip portion from above the grip portion, and pull the grip portion upward by winding up the wire. The auxiliary mechanism may further include a suspension unit that suspends the wire from above the gripping unit, and a moving mechanism that enables the suspension unit to move in the horizontal direction.

In one embodiment of the present invention, the holding mechanism may hold the article by hydraulic pressure. The supply mechanism may supply hydraulic pressure to the holding mechanism of the mounting table.

In one embodiment of the present invention, a processing robot including a processing unit that performs processing on the article, and the processing robot is controlled so that the processing unit moves relative to the article, thereby controlling the article. A control unit that controls the processing unit to perform the processing.

In one embodiment of the present invention, a first robot including a first gripping unit that grips the first side of the mounting table, and a first robot on the opposite side of the mounting table from the first side. A second robot having a second gripping part for gripping the second side part, a first auxiliary mechanism for pulling the first gripping part upward, and a second robot for pulling the second gripping part upward And an auxiliary mechanism. The position or posture of the article is controlled by controlling the position or posture of the first grip portion of the first robot and the position or posture of the second grip portion of the second robot. You may be made to do. At least one of the first grip portion and the second grip portion may include the supply mechanism.

In one embodiment of the present invention, a processing robot including a processing unit that performs processing on the article, and the processing robot is controlled so that the processing unit moves relative to the article, thereby controlling the article. A control unit that controls the processing unit to perform the processing. The mounting table may include a third side portion that connects the first side portion and the second side portion. The processing robot may be arranged to face the third side portion.

In one aspect of the present invention, the mounting table on which the article is mounted may be transported from the first position to the second position. The first robot and the second robot may be arranged so as to face each other at a position sandwiching the mounting table conveyed to the second position. The processing robot is arranged at a position extending in a direction extending from the first position to the second position so as to face the mounting table conveyed to the second position. Also good.

According to the present invention, it is possible to firmly fix an article to the mounting table while the robot is holding the mounting table, and to control the position or posture of the article heavier than the loadable weight of the robot. Can be performed.

It is a perspective view which shows an example of the whole structure of the article | item support system which concerns on embodiment of this invention. It is a front view which shows an example of the whole structure of the article | item support system which concerns on embodiment of this invention. It is a block diagram of an article support system. It is a figure for demonstrating a support robot. It is a figure for demonstrating the holding part and mounting base of a support robot.

Hereinafter, an example of an article support system according to an embodiment of the present invention will be described in detail with reference to the drawings. In the following, as an example of an article support system according to an embodiment of the present invention, one or more robots support an article to control the position or posture of the article, and one or more other robots perform processing on the article. A system for performing (work) will be described.

It should be noted that “processing on an article” includes, for example, processing (welding, coating, etc.) or measurement (measurement of surface roughness) on the article. In the following, a robot that supports an article and controls the position or posture of the article is referred to as a “support robot”, and a robot that performs processing on the article is referred to as a “processing robot”.

FIG. 1 is a perspective view showing an example of the overall configuration of the article support system according to the embodiment of the present invention, and FIG. 2 is a front view showing an example of the overall configuration of the article support system according to the embodiment of the present invention. is there. FIG. 3 is a block diagram of the article support system according to the embodiment of the present invention, and shows the relationship between each component. 1 and 2 illustrate a three-dimensional orthogonal coordinate system (XYZ coordinate system) including a Z-axis having a vertically upward direction as a positive direction for the sake of simplicity.

As shown in FIGS. 1 to 3, the article support system 1 according to the embodiment of the present invention includes a transfer line 4, a first support robot 10, a second support robot 20, and a first auxiliary mechanism 30. And a second auxiliary mechanism 40, a processing robot 50, and a mounting table 60.

The transport line 4 has an initial position P1 (first position) where the mounting table 60 on which the article 2 to be processed is mounted is installed. As will be described later, the mounting table 60 installed at the initial position P1 is transported by the first support robot 10 and the second support robot 20 to the processing position P2 (second position) where the processing on the article 2 is performed. Is done.

2 and 3, the mounting table 60 includes a holding mechanism 61 that holds the article 2. The holding mechanism 61 holds the article 2 with a power source such as hydraulic pressure or pneumatic pressure. For example, as the holding mechanism 61, a hydraulic clamping mechanism that clamps the article 2 using hydraulic pressure as a power source can be employed. By adopting the hydraulic clamp mechanism, a holding mechanism having a strong holding force (clamping force) can be realized with a relatively small size. Instead of the hydraulic clamp mechanism, a clamp mechanism that clamps the article 2 with another power source (air pressure or the like) may be adopted as the holding mechanism 61. Alternatively, a mechanism other than the clamp mechanism may be employed as the holding mechanism 61.

The first support robot 10 and the second support robot 20 are robots for controlling the position or posture of the article 2. In general, the same robot is used as the first support robot 10 and the second support robot 20. Note that the first support robot 10 and the second support robot 20 may be different robots.

The first support robot 10 and the second support robot 20 are arranged so as to face each other at a position sandwiching the transfer line 4 therebetween. Specifically, the first support robot 10 and the second support robot 20 are arranged so as to face each other at a position sandwiching the mounting table 60 transported to a predetermined position. In the example shown in FIGS. 1 and 2, the first support robot 10 and the second support robot 20 are arranged at positions that sandwich the mounting table 60 that has been transported to the processing position P2. The first support robot 10 faces a first side 62 that is a side portion of the mounting table 60 along the transport direction D of the mounting table 60, and the second support robot 20 is connected to the mounting table 60. The second side portion 63, which is the side portion opposite to the first side portion 62, faces the second side portion 63.

Before the processing for the article 2 is performed, the mounting table 60 is located at the initial position P1 on the transport line 4. After the article 2 to be processed is placed on the mounting table 60, the mounting table 60 placed at the initial position P1 is gripped and lifted by the first support robot 10 and the second support robot 20, and the processing position is set. It is conveyed to P2.

In addition, the first support robot 10 and the second support robot 20 control the position or posture of the mounting table 60 that has been transported to the processing position P <b> 2 according to the content of the processing that the processing robot 50 performs on the article 2. To do. In this way, the first support robot 10 and the second support robot 20 control the position or posture of the article 2 in accordance with the content of the process performed on the article 2 by the processing robot 50.

In addition, it becomes possible to improve workability | operativity at the time of installing the articles | goods 2 in the mounting base 60 by dividing the initial position P1 and the processing position P2 as mentioned above. In addition, by providing a certain distance between the initial position P1 and the processing position P2, it is possible to improve the degree of freedom of operation and the safety of the first support robot 10 and the second support robot 20. Further, by dividing the initial position P1 and the processing position P2, the initial position can be obtained while the processing on the article is performed by the first support robot 10, the second support robot 20, and the processing robot 50 at the processing position P2. In P1, it becomes possible to prepare an article to be processed next, and as a result, continuous processing becomes possible. Note that the initial position P1 and the processing position P2 may be in any form unless there are special circumstances in workability, robot operation, or the like.

FIG. 4 is a diagram for explaining an example of the configuration of the first support robot 10 and the second support robot 20. Although FIG. 4 shows the configuration of the first support robot 10, the second support robot 20 also has the same configuration as the first support robot 10. Further, in FIG. 4, a supply mechanism 19 which will be described later is omitted for easy explanation.

As shown in FIG. 4, the first support robot 10 is a so-called multi-joint type (multi-axis) robot, and includes a base portion 11, a turning base portion 12, a first arm portion 13, and a second arm portion. The arm part 14 and the holding part 15 are provided.

The base part 11 is a support base part fixed to a floor surface or the like. The turning base portion 12 is connected to the base portion 11. The first support robot 10 includes a servo motor for turning the turning base portion 12 around the S axis that is an axis corresponding to the normal direction of the surface to which the base portion 11 is fixed. The base portion 12 is connected to the base portion 11 so as to be rotatable around the S axis (see arrow 100 in FIG. 4). In addition, when the surface to which the base part 11 is fixed is a floor surface or a surface substantially parallel to the floor surface, the S axis is an axis corresponding to the vertical direction.

The first arm portion 13 is connected to the turning base portion 12. The first support robot 10 includes a servo motor for rotating the first arm unit 13 around the L axis, which is an axis substantially perpendicular to the S axis, and the first arm unit 13 includes the L axis. It connects with the turning base part 12 so that rotation is possible (refer arrow 101 of FIG. 4).

The second arm portion 14 is connected to the tip portion of the first arm portion 13. The first support robot 10 includes a servo motor for rotating the second arm portion 14 around the U axis, which is an axis substantially parallel to the L axis (that is, an axis substantially perpendicular to the S axis). The second arm portion 14 is connected to the distal end portion of the first arm portion 13 so as to be rotatable around the U axis (see arrow 102 in FIG. 4).

The first support robot 10 also includes a servo motor for twisting the tip of the second arm portion 14 around the R axis that is an axis corresponding to the extending direction (longitudinal direction) of the second arm portion 14. The distal end of the second arm portion 14 is provided so as to be able to twist around the R axis (see arrow 103 in FIG. 4).

The grip 15 is connected to the tip of the second arm 14. The first support robot 10 also includes a servo motor for rotating the gripping part 15 about the B axis, which is an axis substantially perpendicular to the extending direction (longitudinal direction) of the gripping part 15. It is connected to the tip of the second arm portion 14 so as to be rotatable around the B axis (see arrow 104 in FIG. 4).

Further, the first support robot 10 includes a servo motor for twisting the gripping part 15 about the T axis that is an axis corresponding to the extending direction (longitudinal direction) of the gripping part 15. Is provided to be able to twist around the T-axis (see arrow 105 in FIG. 4).

The gripping part 15 is used for gripping the mounting table 60. As shown in FIGS. 1 and 2, the grip portion 15 (first grip portion) of the first support robot 10 is used to grip the first side portion 62 of the mounting table 60. On the other hand, the grip portion 25 (second grip portion) of the second support robot 20 is used to grip the second side portion 63 of the mounting table 60.

The details of the configuration of the

gripping portions

15 and 25 will be described later (see FIG. 5). Since the

grip portions

15 and 25 are related to the first auxiliary mechanism 30 and the second auxiliary mechanism 40, the

grip portions

15 and 15 are described after the first auxiliary mechanism 30 and the second auxiliary mechanism 40 are described. The configuration of will be described again.

The processing robot 50 is a robot for processing the article 2. The processing robot 50 is also a so-called multi-joint type (multi-axis) robot similar to the first support robot 10 and the like, and includes a processing unit 51 that performs processing on the article 2. “Processing on the article 2” is, for example, processing (welding, application, etc.) or measurement (measurement of surface roughness) on the article, and the processing unit 51 is, for example, welding for welding the article 2 A coating unit that performs coating on the article 2, a measuring unit that performs measurement on the article 2, and the like.

The processing robot 50 is transported to a predetermined position at a position in the extension direction of the transport direction D of the mounting table 60 (in other words, the direction from the initial position P1 to the processing position P2, the extending direction of the transport line 4). 60 is arranged to face 60. That is, the processing robot 50 is disposed so as to face the third side portion 64 of the mounting table 60. In addition, the 3rd side part 64 is the conveyance direction D among the side parts (in other words, the side part which cross | intersects the conveyance direction D) which connects the 1st side part 62 and the 2nd side part 63. It is a side part on the far side, and is a side part opposite to the fourth side part 65 shown in FIGS.

Although omitted in FIGS. 1 and 2, the article support system 1 includes a robot controller 70 as shown in FIG. The robot controller 70 includes a microprocessor and a memory. The memory stores a program executed by the microprocessor and data used for controlling the robot.

The robot controller 70 controls the first support robot 10, the second support robot 20, and the processing robot 50 based on programs and data stored in the memory.

For example, the robot controller 70 controls the first support robot 10 so that the grip portion 15 of the first support robot 10 grips the first side portion 62 of the mounting table 60, and the second support robot 20. The second support robot 20 is controlled so that the grip portion 25 grips the second side portion 63 of the mounting table 60. The robot controller 70 controls the position or posture of the gripping unit 15 by driving a servo motor included in the first support robot 10, and drives the servo motor included in the second support robot 20. Is used to control the position or posture of the grip portion 25.

Also, the robot controller 70 controls the first support robot 10 and the second support robot 20 that have gripped the mounting table 60, and transports the mounting table 60 from the initial position P1 to the processing position P2. Further, the robot controller 70 controls the processing unit 51 to execute processing on the article 2 by controlling the processing robot 50 so that the processing unit 51 moves relative to the article 2. At this time, the robot controller 70 controls the first support robot 10 and the second support robot 20 to change the position or posture of the article 2 in accordance with the execution of the processing by the processing unit 51 of the processing robot 50. That is, the robot controller 70 controls the position or orientation of the

gripping units

15 and 25 that grip the mounting table 60 in accordance with the execution of the processing by the processing unit 51 of the processing robot 50, thereby changing the position or posture of the article 2. Control.

The first auxiliary mechanism 30 is for assisting the support of the mounting table 60 by the first support robot 10. The first auxiliary mechanism 30 pulls the grip 15 of the first support robot 10 that grips the mounting table 60 upward.

As shown in FIG. 2, in the present embodiment, the first auxiliary mechanism 30 is realized by using a jib crane including a host 31 and a jib 32.

The jib 32 is provided with a hanging portion 33 for hanging the wire 35 and the hook 36. The hanging part 33 is located above the grip part 15. For this reason, the wire 35 and the hook 36 are suspended from above the grip portion 15, and the wire 35 is connected to the grip portion 15 through the hook 36.

The suspension unit 33 includes a servo mechanism 34 for winding the wire 35. The servo mechanism 34 includes a servo motor, and the wire 35 is wound up by the servo motor.

The first auxiliary mechanism 30 pulls the grip portion 15 upward by winding the wire 35 using the servo mechanism 34. By doing in this way, the 1st auxiliary mechanism 30 reduces the load of the 1st support robot 10 which grasps and supports the mounting base 60 (article 2).

The first auxiliary mechanism 30 includes a moving mechanism that can move the hanging portion 33 in the horizontal direction (X-axis direction). That is, the suspending portion 33 is movable along the jib 32, and the position of the suspending portion 33 can be adjusted according to a change in the position or posture of the grip portion 15. For this reason, even if the holding part 15 of the first support robot 10 moves, the support of the mounting table 60 by the first support robot can be assisted while the suspension part 33 moves in the horizontal direction. .

Similarly, the second auxiliary mechanism 40 is for assisting the support of the mounting table 60 by the second support robot 20. The second auxiliary mechanism 40 pulls the grip portion 25 of the second support robot 20 that grips the mounting table 60 upward.

The configuration of the second auxiliary mechanism 40 is the same as that of the first auxiliary mechanism 30. That is, the second auxiliary mechanism 40 includes a host 41, a jib 42, a suspension part 43, a servo mechanism 44, a wire 45, and a hook 46. These are the same as the host 31, jib 32, suspension part 33, servo mechanism 34, wire 35, and hook 36 of the first auxiliary mechanism 30.

Although omitted in FIGS. 1 and 2, the article support system 1 includes an auxiliary mechanism controller 80 as shown in FIG. The auxiliary mechanism controller 80 includes a microprocessor and a memory. The memory stores a program executed by the microprocessor and data used for controlling the first auxiliary mechanism 30 and the second auxiliary mechanism 40.

The auxiliary mechanism controller 80 controls the first auxiliary mechanism 30 and the second auxiliary mechanism 40 based on programs and data stored in the memory. The auxiliary mechanism controller 80 includes a monitoring unit 81 and an adjustment unit 82 as functions. The monitoring unit 81 and the adjustment unit 82 are realized by, for example, a microprocessor executing a program.

The monitoring unit 81 monitors the load status of the first support robot 10. The adjusting unit 82 adjusts the magnitude of the force with which the first auxiliary mechanism 30 pulls the gripping unit 15 upward based on the load state of the first support robot 10. For example, the adjusting unit 82 controls the servo motor of the servo mechanism 34 based on the load state of the first support robot 10, thereby adjusting the magnitude of the force that pulls the grip unit 15 upward.

Specifically, for example, the monitoring unit 81 monitors the load torques of the L axis and the U axis of the first support robot 10. That is, the monitoring unit 81 includes a load torque of the servo motor for rotating the first arm unit 13 around the L axis, and a load torque of the servo motor for rotating the second arm unit 14 around the U axis. To monitor. The monitoring unit 81 may acquire these load torques via the robot controller 70 or may directly acquire them from the first support robot 10.

The adjusting unit 82 controls the servo motor of the servo mechanism 34 so that the load torques of the L axis and the U axis of the first support robot 10 do not exceed a predetermined value (for example, 100%). For example, when at least one of these load torques approaches a predetermined value, the adjusting unit 82 controls the servo motor of the servo mechanism 34 to increase the force that pulls the gripping unit 15 upward, thereby increasing these load torques. Is adjusted so as not to exceed a predetermined value.

Similarly, the monitoring unit 81 also monitors the load status of the second support robot 20. The adjusting unit 82 also adjusts the magnitude of the force with which the second auxiliary mechanism 40 pulls the gripping unit 25 upward based on the load state of the second support robot 20.

Note that an auxiliary mechanism controller that controls the second auxiliary mechanism 40 may be provided separately from the auxiliary mechanism controller that controls the first auxiliary mechanism 30.

Also, the first auxiliary mechanism 30 and the second auxiliary mechanism 40 may be realized by a mechanism other than the jib crane as shown in FIGS. For example, the first auxiliary mechanism 30 and the second auxiliary mechanism 40 may be realized by a wall crane in which a jib is supported by a wall, or an overhead crane in which a suspension part is supported by a ceiling. In addition, in the case of an overhead crane, the suspension part is placed on the ceiling in both or one of the first direction (for example, the X-axis direction) and the second direction (for example, the Y-axis direction) orthogonal to the first direction. It may be movable.

Here, the configuration of the

grip portions

15 and 25 of the first support robot 10 and the second support robot 20 will be described. FIG. 5 is a diagram for explaining the configuration of the

gripping portions

15 and 25. Although FIG. 5 shows the configuration of the gripping unit 15 of the first support robot 10, the gripping unit 25 of the second support robot 20 has the same configuration as the gripping unit 15. In FIG. 5, the housing portion of the mounting table 60 is indicated by diagonal lines in order to clarify the distinction between the gripping unit 15 and the mounting table 60.

As shown in FIG. 5, the grip portion 15 includes a rotation support mechanism 16. The rotation support mechanism 16 supports the grip portion 15 that rotates about the tip axis of the first support robot 10 (that is, the tip axis of the grip portion 15: the T axis in FIG. 4) so that the first auxiliary mechanism 30 can rotate. It is a mechanism to do.

For example, the rotation support mechanism 16 is realized using a bearing mechanism. FIG. 5 shows a case where the rotation support mechanism 16 is realized using a bearing mechanism. In this case, the bearing mechanism is attached to the grip 15 so that the grip 15 is inserted through the bearing of the bearing mechanism.

Further, the hook 36 (wire 35) is connected to the grip portion 15 through a bearing mechanism. In this way, the hook 36 (wire 35) is coupled to the gripping part 15 via the bearing mechanism, whereby the gripping part 15 of the first support robot 10 is connected to the first auxiliary mechanism 30 (wire 35 or hook 36). It is secured so that it can rotate around the T-axis without being affected (see arrow 105 in FIG. 5). That is, the first auxiliary mechanism 30 can support the grip portion 15 so as to be rotatable around the T-axis.

Further, the grip portion 15 further includes a clamp mechanism 17 and a pin 18. The mounting table 60 is gripped by the grip portion 15 by the clamp mechanism 17 and the pin 18. In addition, the structure for the holding part 15 to hold the mounting table 60 is not limited to this, and various structures can be employed.

Furthermore, the gripping unit 15 includes a supply mechanism 19 for supplying a power source of the holding mechanism 61 of the mounting table 60 to the mounting table 60.

For example, when the power source of the holding mechanism 61 is hydraulic, a pipe for supplying hydraulic pressure is included in the gripping unit 15 as the supply mechanism 19 as shown in FIG. Although omitted in FIG. 5, the pipe is connected to a hydraulic pressure source.

Meanwhile, the mounting table 60 also includes a supply mechanism 66 for supplying a power source of the holding mechanism 61 to the holding mechanism 61. The supply mechanism 19 on the gripping part 15 side and the supply mechanism 66 on the mounting table 60 side are provided so as to be connected when the mounting table 60 is gripped by the gripping part 15. For this reason, when the mounting table 60 is held by the holding unit 15, the supply mechanism 19 on the holding unit 15 side and the supply mechanism 66 on the mounting table 60 side are connected. In a state where the supply mechanism 19 on the gripping part 15 side is not connected to the supply mechanism 66 on the mounting table 60 side, the supply of the power source from the supply mechanism 19 to the outside of the supply mechanism 19 is restricted (suppressed), and the gripping part When the supply mechanism 19 on the 15 side and the supply mechanism 66 on the mounting table 60 side are connected, the restriction is released, and the supply of the power source is started under the control of the robot controller 70. To the mounting table 60.

For example, when the power source of the holding mechanism 61 is hydraulic pressure, as shown in FIG. 5, the hydraulic pressure supplied from the grip portion 15 to the mounting table 60 is supplied to the holding mechanism 61 via the supply mechanism 66 and the hydraulic valve. Is done. Then, when the hydraulic pressure is supplied to the holding mechanism 61, the article 2 is securely fixed to the mounting table 60 by the holding mechanism 61.

According to the article support system 1 described above, by providing the

supply mechanisms

19, 29, etc., the article 2 moves relative to the placement table 60 as the placement table 60 is gripped by the gripping

units

15, 25. Since it is securely held, the article 2 can be reliably fixed to the mounting table 60 when the first and

second support robots

10 and 20 hold the mounting table 60. In addition, according to the article support system 1, since the

grip portions

15 and 25 that grip the mounting table 60 are assisted by the first auxiliary mechanism 30 and the second auxiliary mechanism 40, the first and second support robots 10. , 20 can be reduced. As a result, even if the weight of the article 2 is large, the position and posture of the article 2 can be changed to the first and second support robots 10 without increasing the size of the first and

second support robots

10 and 20. , 20 can be controlled.

That is, according to the article support system 1, even if the weight of the article 2 is heavier than the portable weight of the first and

second support robots

10 and 20, the position and posture of the article 2 are changed to the first and second positions. The processing robot 50 can perform processing on the article 2 while being controlled by the two

support robots

10 and 20. Further, according to the article support system 1, the first and

second support robots

10 and 20 and the processing robot 50 have the arrangement as shown in FIG. 1 and FIG. The processing robot 50 can stably perform the processing on the article 2 while the supporting

robots

10 and 20 support the article 2 from both sides and control the position or posture thereof.

It should be noted that when the position or posture of an article heavier than the load capacity of the robot is controlled by the robot, a load is easily applied to the L axis and the U axis. In this respect, the article support system 1 includes a monitoring unit 81 and an adjustment unit 82, and particularly monitors the load torque of the L axis and the U axis so as not to exceed a predetermined value (for example, 100%), thereby minimizing the configuration. This makes it possible to solve the problem. That is, it is not necessary to monitor all the servo motors that drive each joint of the multi-joint type (multi-axis) robot.

Further, in the article support system 1, the first auxiliary mechanism 30 and the second auxiliary mechanism 40 include the

servo mechanisms

34 and 44, so that the first auxiliary mechanism 30 and the second auxiliary mechanism 40 are gripping portions. The magnitude of the force pulling 15 and 25 upward can be suitably adjusted.

In addition, as a method for enabling the robot to grip the position or posture of an article heavier than the robot's payload, a method in which the robot grips a part of a crane or the like that supports the article or the mounting table, Although a method in which the robot grips an article or a mounting table supported by a crane or the like can be considered, in these methods, since the article or the mounting table is supported by a crane or the like, there is a degree of freedom regarding the position / posture control of the article. There were cases where it was restricted. In this respect, the article support system 1 employs a “mechanism that assists the support of the mounting table by the robot by pulling the grip portion of the robot upward”, so that the position / The degree of freedom regarding attitude control is improved. Further, in the article support system 1, the shape of the article that can be dealt with by adopting an aspect in which the robot grasps the placing table on which the article is placed, instead of the aspect in which the robot directly grasps the article. The degree of freedom has also improved.

The present invention is not limited to the embodiment described above.

For example, only one of the supply mechanism 19 provided in the holding unit 15 of the first support robot 10 and the supply mechanism 29 provided in the holding unit 25 of the second support robot 20 may be provided, and the other may be removed. Good.

Further, for example, the robot controller 70 and the auxiliary mechanism controller 80 may be realized integrally. That is, the robot controller 70 and the auxiliary mechanism controller 80 may be realized by a single microprocessor.

Further, for example, in the example described above, the mounting table 60 is supported by two supporting robots, but the mounting table 60 may be supported by one supporting robot, or three or more It may be supported by a support robot.

Claims

A robot that includes a gripping unit that grips the mounting table of the article, and that controls the position or posture of the article by controlling the position or posture of the gripping part that grips the mounting table;
An auxiliary mechanism for pulling the grip portion upward,
The mounting table includes a holding mechanism for holding the article,
The grip portion includes a supply mechanism that supplies a power source of the holding mechanism to the mounting table.
Article support system.
The gripping unit includes a rotation support mechanism for the auxiliary mechanism to rotatably support the gripping unit that rotates around the tip axis of the robot.
The article support system according to claim 1.
The auxiliary mechanism includes a wire connected to the grip portion from above the grip portion, and pulls the grip portion upward by winding up the wire.
The rotation support mechanism includes a bearing mechanism;
The wire is connected to the grip portion via the bearing mechanism.
The article support system according to claim 2.
A monitoring unit for monitoring the load status of the robot;
An adjustment unit that adjusts the magnitude of the force by which the auxiliary mechanism pulls the gripping unit upward based on the load state of the robot;
The article support system according to any one of claims 1 to 3.
The auxiliary mechanism includes a servo motor, and the servo motor is used to pull the grip portion upward.
The adjusting unit adjusts the magnitude of the force that pulls the gripping unit upward by controlling the servo motor based on a load situation of the gripping unit.
The article support system according to claim 4.
The robot is
A base,
A turning base portion coupled to the base portion so as to be turnable around a first axis;
A first arm portion coupled to the turning base portion so as to be rotatable around a second axis substantially perpendicular to the first axis;
A second arm portion coupled to a tip portion of the first arm portion so as to be rotatable around a third axis substantially parallel to the second axis,
The grip portion is connected to a tip portion of the second arm portion,
The monitoring unit monitors the load torque of the second axis of the robot and the load torque of the third axis of the robot;
The adjusting unit controls the servo motor so that a load torque of the second axis of the robot and a load torque of the third axis of the robot do not exceed a predetermined value;
The article support system according to claim 5.
The auxiliary mechanism includes a wire connected to the grip portion from above the grip portion, and pulls the grip portion upward by winding up the wire.
The auxiliary mechanism is
A suspension part for suspending the wire from above the gripping part;
A moving mechanism that allows the hanging portion to move in the horizontal direction,
The article support system according to any one of claims 1 to 6.
The holding mechanism holds the article by hydraulic pressure,
The supply mechanism supplies hydraulic pressure to the holding mechanism of the mounting table.
The article support system according to any one of claims 1 to 7.
A processing robot comprising a processing unit for processing the article;
A control unit that controls the processing unit to perform the processing on the article by controlling the processing robot so that the processing unit moves relative to the article.
The article support system according to any one of claims 1 to 8.
A first robot comprising a first gripping part for gripping the first side of the mounting table;
A second robot comprising a second gripping part for gripping the second side part of the mounting table opposite to the first side part;
A first auxiliary mechanism for pulling the first gripping portion upward;
A second auxiliary mechanism that pulls the second gripping portion upward,
The position or posture of the article is controlled by controlling the position or posture of the first grip portion of the first robot and the position or posture of the second grip portion of the second robot. And
At least one of the first grip portion and the second grip portion includes the supply mechanism,
The article support system according to any one of claims 1 to 9.
A processing robot comprising a processing unit for processing the article;
A control unit that controls the processing unit to perform the processing on the article by controlling the processing robot so that the processing unit moves relative to the article;
The mounting table includes a third side portion that connects the first side portion and the second side portion,
The processing robot is disposed to face the third side portion.
The article support system according to claim 10.
The mounting table on which the article is mounted is transported from the first position to the second position,
The first robot and the second robot are arranged so as to face each other at a position sandwiching the mounting table conveyed to the second position.
The processing robot is arranged at a position in an extension direction of the direction from the first position to the second position so as to face the mounting table conveyed to the second position.
The article holding system according to claim 11.