WO2017002266A1 - Système de support d'article - Google Patents

Système de support d'article Download PDF

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Publication number
WO2017002266A1
WO2017002266A1 PCT/JP2015/069184 JP2015069184W WO2017002266A1 WO 2017002266 A1 WO2017002266 A1 WO 2017002266A1 JP 2015069184 W JP2015069184 W JP 2015069184W WO 2017002266 A1 WO2017002266 A1 WO 2017002266A1
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WO
WIPO (PCT)
Prior art keywords
robot
article
mounting table
processing
gripping
Prior art date
Application number
PCT/JP2015/069184
Other languages
English (en)
Japanese (ja)
Inventor
敏広 塘
Original Assignee
株式会社安川電機
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 株式会社安川電機 filed Critical 株式会社安川電機
Priority to PCT/JP2015/069184 priority Critical patent/WO2017002266A1/fr
Priority to JP2017525778A priority patent/JPWO2017002266A1/ja
Publication of WO2017002266A1 publication Critical patent/WO2017002266A1/fr

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators

Definitions

  • the present invention relates to an article support system.
  • a robot is used to control the position or orientation of an article or to perform processing (processing or measurement) on an article.
  • 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.
  • an article support system 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.
  • the gripper may include a rotation support mechanism for rotatably supporting the gripper that rotates around the tip axis of the robot.
  • 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.
  • 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.
  • 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.
  • 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.
  • a second arm portion to be connected.
  • the grip portion may be connected to a tip portion of the second arm portion.
  • 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. .
  • 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.
  • 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.
  • 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.
  • 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
  • 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.
  • 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.
  • 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.
  • 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.
  • FIG. 1 It is a perspective view which shows an example of the whole structure of the article
  • 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.
  • 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.
  • processing on an article includes, for example, processing (welding, coating, etc.) or measurement (measurement of surface roughness) on the article.
  • 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
  • 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.
  • XYZ coordinate system three-dimensional orthogonal coordinate system
  • the article support system 1 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.
  • 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.
  • a hydraulic clamping mechanism that clamps the article 2 using hydraulic pressure as a power source can be employed.
  • a holding mechanism having a strong holding force (clamping force) can be realized with a relatively small size.
  • a clamp mechanism that clamps the article 2 with another power source air pressure or the like
  • 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.
  • the mounting table 60 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.
  • 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.
  • FIG. 4 is a diagram for explaining an example of the configuration of the first support robot 10 and the second support robot 20.
  • 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.
  • a supply mechanism 19 which will be described later is omitted for easy explanation.
  • 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).
  • 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).
  • 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 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.
  • the 3rd side part 64 is the conveyance direction D among the side parts (in other words, the side part which cross
  • 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.
  • 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.
  • 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.
  • 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. .
  • 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.
  • 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.
  • 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.
  • a predetermined value for example, 100%
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • FIG. 5 is a diagram for explaining the configuration of the gripping portions 15 and 25.
  • 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.
  • 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.
  • 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.
  • 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.
  • the bearing mechanism is attached to the grip 15 so that the grip 15 is inserted through the bearing of the bearing mechanism.
  • the hook 36 (wire 35) is connected to the grip portion 15 through a bearing mechanism.
  • 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.
  • 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.
  • the structure for the holding part 15 to hold the mounting table 60 is not limited to this, and various structures can be employed.
  • 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.
  • 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.
  • 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.
  • 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.
  • the article support system 1 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.
  • 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.
  • 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.
  • 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.
  • a predetermined value for example, 100%
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.

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

Abstract

L'invention concerne un système de support d'article (1) comprenant un robot (10) et un mécanisme d'assistance (30). Le robot (10) est pourvu d'une partie de préhension (15) destinée à saisir une base de mise en place (60) pour un article (2) et commande la position ou l'orientation de l'article (2) en commandant la position ou l'orientation de la partie de préhension (15) qui saisit la base de mise en place (60). Le mécanisme d'assistance (30) tire la partie de préhension (15) vers le haut. La base de mise en place (60) est pourvue d'un mécanisme de maintien (61) pour maintenir l'article (2). La partie de préhension (15) est pourvue d'un mécanisme d'alimentation (19) pour fournir une source d'alimentation du mécanisme de maintien (61) à la base de mise en place (60).
PCT/JP2015/069184 2015-07-02 2015-07-02 Système de support d'article WO2017002266A1 (fr)

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PCT/JP2015/069184 WO2017002266A1 (fr) 2015-07-02 2015-07-02 Système de support d'article
JP2017525778A JPWO2017002266A1 (ja) 2015-07-02 2015-07-02 物品支持システム

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Application Number Priority Date Filing Date Title
PCT/JP2015/069184 WO2017002266A1 (fr) 2015-07-02 2015-07-02 Système de support d'article

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Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2018139574A1 (fr) * 2017-01-30 2018-08-02 川崎重工業株式会社 Système de transport et procédé de fonctionnement de celui-ci
JP2019072804A (ja) * 2017-10-17 2019-05-16 ユニパルス株式会社 物品移動装置システム
WO2020039508A1 (fr) * 2018-08-21 2020-02-27 株式会社安川電機 Système de transport et procédé de transport
JPWO2021141039A1 (fr) * 2020-01-09 2021-07-15
JP2022048198A (ja) * 2017-10-17 2022-03-25 ユニパルス株式会社 制御部
JP2023024974A (ja) * 2022-01-13 2023-02-21 ユニパルス株式会社 吊下げ本体部及び移動部

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JP2004130441A (ja) * 2002-10-10 2004-04-30 Fukuoka Institute Of Technology ウィンチロボットマニピュレータ
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