WO2017010320A1 - 吸着装置、把持装置および搬送方法 - Google Patents
吸着装置、把持装置および搬送方法 Download PDFInfo
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- WO2017010320A1 WO2017010320A1 PCT/JP2016/069653 JP2016069653W WO2017010320A1 WO 2017010320 A1 WO2017010320 A1 WO 2017010320A1 JP 2016069653 W JP2016069653 W JP 2016069653W WO 2017010320 A1 WO2017010320 A1 WO 2017010320A1
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- suction
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Classifications
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- 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
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
- B25J15/0683—Details of suction cup structure, e.g. grooves or ridges
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- 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
- B25J15/0052—Gripping heads and other end effectors multiple gripper units or multiple end effectors
- B25J15/0061—Gripping heads and other end effectors multiple gripper units or multiple end effectors mounted on a modular gripping structure
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- 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
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
- B25J15/065—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum provided with separating means for releasing the gripped object after suction
-
- 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
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
- B25J15/0691—Suction pad made out of porous material, e.g. sponge or foam
Definitions
- the present invention relates to an adsorption device that adsorbs to a plate member, a gripping device including the adsorption device, and a conveyance method for conveying the plate member.
- Patent Document 1 a system for adsorbing and carrying a large structural member such as an aircraft fuselage is known (for example, see Patent Document 1).
- a vacuum cup is attached to a rail formed along the shape of a workpiece having a curved shape, and the workpiece is adsorbed and carried in a state matched to the shape of the curved workpiece. Is disclosed.
- Patent Document 1 since the system disclosed in Patent Document 1 uses rails formed along the shape of the workpiece, in order to carry other workpieces having different shapes, the rail is formed along the shape of the other workpiece. A new system using the other rails is required. Therefore, in order to carry a plurality of types of workpieces, it is necessary to prepare rails having a shape corresponding to each workpiece and to exchange the rails every time the workpiece to be carried is changed.
- the present invention has been made in view of such circumstances, and a dedicated part is prepared for each of a plurality of types of plate-like members having a curvature along a predetermined direction, or the type of plate-like member to be conveyed is changed.
- An adsorption device capable of appropriately adjusting the angle of the adsorption surface according to the shape of the plate-like member and adsorbing it to the plate-like member without replacing the dedicated parts each time, a holding device equipped with the adsorption device, And it aims at providing the conveyance method of a plate-shaped member.
- An adsorption device is an adsorption device that is attached to a distal end portion of an articulated drive mechanism and adsorbs to a plate-like member having a curvature along at least a predetermined direction.
- a pair of suction mechanisms having a pair of suction surfaces arranged at intervals in a first direction so as to sandwich a mounting position of the support portion attached to the tip portion;
- a pair of first angle adjustment mechanisms capable of adjusting an inclination angle of the suction surface of each of the suction mechanisms along the first direction.
- the pair of suction mechanisms that are arranged at an interval in the first direction so as to sandwich the attachment position of the multi-joint drive mechanism to the distal end portion are arranged in the first direction.
- the pair of suction surfaces contact the plate member.
- the pair of suction mechanisms are attracted to the plate-like member in a state where the pair of suction surfaces are in contact with the plate-like member, the plate-like member is held at the tip of the multi-joint drive mechanism.
- the plate-like member has a curvature in a predetermined direction
- the inclination angle of the suction surface along the first direction that coincides with the predetermined direction is adjusted by the first angle adjustment mechanism, so that the shape of the plate-like member having the curvature is adjusted.
- each of the pair of adsorption surfaces is adsorbed to the plate-like member.
- a dedicated part is prepared for each of a plurality of types of plate-like members having a curvature along a predetermined direction, or the type of the plate-like member to be conveyed is changed.
- each of the pair of suction surfaces may be formed in a rectangular shape having a short first direction and a long second direction perpendicular to the first direction.
- the suction device includes a plurality of pairs of suction mechanisms arranged along the second direction, the first pair of suction mechanisms adjacent to the second direction, and a second Between the pair of suction mechanisms, an inclination angle of the suction surface of the first pair of suction mechanisms along the second direction and the first of the suction surfaces of the second pair of suction mechanisms.
- the structure provided with the 2nd angle adjustment mechanism which can adjust the inclination-angle along 2 directions may be sufficient.
- the plate-like member having a curvature along a predetermined direction has a double contour shape having a curvature also in a direction orthogonal to the predetermined direction (a shape having different curvatures in two axial directions in the plane)
- the pair of suction surfaces are respectively formed along the shape of the plate member having a curvature in the direction orthogonal to the predetermined direction. Adsorb to the plate-like member.
- a plate-shaped member can be reliably adsorb
- a gripping device includes the suction device according to any one of the above, and a multi-joint drive mechanism to which the suction device is attached at a distal end portion.
- a dedicated component is prepared for each of a plurality of types of plate-shaped members having a curvature along a predetermined direction, or the dedicated component is changed each time the type of the plate-shaped member to be conveyed is changed. Without performing the replacement work, the angle of the suction surface can be appropriately adjusted according to the shape of the plate-like member and sucked to the plate-like member.
- a plate-shaped member having a curvature along a predetermined direction is transported by a gripping device including a multi-joint drive mechanism and a suction device attached to the tip of the multi-joint drive mechanism.
- the suction device is spaced in a first direction so as to sandwich a support portion attached to the tip portion of the multi-joint drive mechanism and an attachment position of the support portion attached to the tip portion.
- a pair of suction mechanisms having a pair of suction surfaces, and a pair of first angle adjustment mechanisms capable of adjusting an inclination angle of the suction surfaces of the pair of suction mechanisms along the first direction.
- An adsorption step of adsorbing the plate-like member on the pair of adsorption surfaces in contact with the member, and a state where the plate-like member is adsorbed on the pair of adsorption surfaces by the adsorption step by the multi-joint drive mechanism A transporting process for transporting the plate member.
- the pair of suction mechanisms are attracted to the plate-like member in a state where the pair of suction surfaces are in contact with the plate-like member, so that the plate-like member is the tip of the multi-joint drive mechanism.
- the plate-like member has a curvature in a predetermined direction
- the inclination angle of the suction surface along the first direction that coincides with the predetermined direction is adjusted by the first angle adjustment mechanism, so that the shape of the plate-like member having the curvature is adjusted.
- each of the pair of adsorption surfaces is adsorbed to the plate-like member.
- a plate-shaped member is conveyed in the state which made the pair of adsorption surfaces adsorb a plate-shaped member, respectively.
- a dedicated part is prepared for each of a plurality of types of plate-like members having a curvature along a predetermined direction, or the type of the plate-like member to be conveyed is changed.
- the plate-like member can be sucked and conveyed by appropriately adjusting the angle of the suction surface according to the shape of the plate-like member, without performing a replacement operation for the dedicated component.
- a dedicated part is prepared for each of a plurality of types of plate-like members having a curvature along a predetermined direction, or without performing a replacement operation of the dedicated parts each time the type of the plate-like member to be transported is changed.
- a gripping device capable of appropriately adjusting the angle of the adsorption surface according to the shape of the plate-like member and adsorbing it to the plate-like member, a gripping device including the adsorption device, and a method of conveying the plate-like member it can.
- FIG. 8 is an AA arrow view of the suction hand unit shown in FIG. 7.
- a plurality of plate-like structural members 200 (plate-like members) having a pair of positioning holes 220 and 221 formed at both ends in the long side direction are used as an assembly jig 100 (positioning device).
- This is a system for positioning and assembling a plurality of plate-like structural members 200 by processing such as riveting.
- An assembly jig 100 shown in FIG. 1 is a device for positioning a plurality of plate-like structural members 200 in which a pair of positioning holes 220 and 221 are formed at both ends in the long side direction.
- the assembling jig 100 is attached to the support unit 110 including a pair of first support members 110 a and a plurality of second support members 110 b, and has a plate-like structure on the support unit 110.
- a pair of positioning portions 120 and 121 for positioning the member 200 is provided.
- the pair of first support members 110a are long members arranged in parallel along the axis Y1, and are fixed to an installation surface on which the support unit 110 is installed by fastening bolts (not shown) or the like.
- the plurality of second support members 110b are members that have one end fixed to one of the pair of first support members 110a and the other end fixed to the other of the pair of first support members 110a. As shown in FIG. 1, each of the plurality of second support members 110b is disposed in parallel to each other so as to extend in a direction along the axis X1 orthogonal to the axis Y1. As shown in FIG. 1, the second support member 110 b has an arch shape in which the central portion along the axis X ⁇ b> 1 protrudes upward from both ends with respect to the installation surface on which the first support member 110 a is installed. ing.
- the reason why the second support member 110b has an arch shape with a curvature is to support the lower surface of the plate-like structural member 200 along the shape.
- the plurality of second support members 110b support the lower surface (first surface) of the plate-like structural member 200 at a plurality of locations along the axis Y1.
- the pair of positioning portions 120 and 121 are disposed at the same position along the axis X1. Three pairs of positioning portions 120 and 121 are formed at three different positions along the axis X1 on the second support member 110b on both ends along the axis Y1.
- the three plate-like structural members 200 can be positioned by the three pairs of positioning portions 120 and 121.
- the plate-like structural member 200 is a plate-like member having a rectangular shape in plan view and having a pair of positioning holes 220 and 221 formed at one end in the long side direction.
- a pair of projecting portions 210 and 211 formed so as to project outward are formed at both ends in the long side direction of the plate-like structural member 200.
- the pair of positioning holes 220 and 221 are formed in the pair of projecting portions 210 and 211.
- the three plate-like structural members 200 are positioned on the support portion 110 by three pairs of positioning portions 120 and 121 arranged at three different positions along the axis X1. Is done.
- the plate-like structural member 200 of the present embodiment is a long structural member used for an aircraft fuselage or main wing, for example.
- Various lengths can be adopted as the length in the long side direction and the short side direction.
- the long side direction is about 8 m to 10 m
- the short side direction is about 2 m.
- the thickness of the plate-like structural member 200 is, for example, 3 mm to 5 mm.
- the material of the plate-like structural member 200 for example, an aluminum alloy.
- the plate-like structural member 200 shown in FIG. 2 has no through-holes.
- the plate-like structural member 200 has one or more through-holes (for example, a plurality of plate-like structural members 200 used in an aircraft fuselage). It is good also as what formed the through-hole for window attachment formed in (3).
- the assembly system 700 includes an assembly jig 100, a plate-like structural member 200, a pair of gripping devices 300 and 400 that move while gripping the plate-like structural member 200, and a plate-like structure.
- a supply base 500 for temporarily holding the member 200 and a control device 600 for controlling the assembly system 700 are provided.
- the pair of gripping devices 300 and 400 are vertical articulated robots having multi-joint arms 330 and 430 (multi-joint drive mechanism), and the suction hand units 310 and 410 (suction devices) attached to the tip portions 330a and 430a are three-dimensionally arranged. It is an apparatus that can be positioned in an arbitrary position at an arbitrary position in space.
- the suction hand portions 310 and 410 are sucked onto the upper surface (second surface) of the plate-like structural member 200 by the action of negative pressure.
- imaging devices 320 and 420 are attached to the tip portions 330a and 430a of the multi-joint arms 330 and 430, respectively.
- the imaging device 320 captures the protruding portion 210 of the plate-like structural member 200, acquires image information, and transmits the image information to the control device 600.
- the control device 600 calculates the position of the positioning hole 220 formed in the protruding portion 210 based on the image information received from the imaging device 320 and the position and orientation of the imaging device 320 attached to the gripping device 300.
- the imaging device 420 images the protruding portion 211 of the plate-like structural member 200 to acquire image information, and transmits the image information to the control device 600.
- the control device 600 calculates the position of the positioning hole 221 formed in the protruding portion 211 based on the image information received from the imaging device 420 and the position and orientation of the imaging device 420 attached to the gripping device 400.
- the pair of gripping devices 300 and 400 move the suction hand portions 310 and 410 from the initial position indicated by the solid line in FIG. 4 to the position indicated by the broken line in FIG. Adsorb. As shown in FIG. 5, the pair of gripping devices 300 and 400 cooperate with each other in a state where both ends in the long side direction of the long plate-like structural member 200 are attracted to the suction hand portions 310 and 410. The plate-like structural member 200 held on the supply base 500 is moved toward the assembling jig 100.
- the pair of gripping devices 300 and 400 includes a plate-like structural member 200 such that the pair of positioning holes 220 and 221 are disposed above the pair of positioning portions 120 and 121 of the assembly jig 100. Move. Thereafter, the pair of gripping devices 300 and 400 moves the plate-like structural member 200 downward so that the pair of positioning holes 220 and 221 are positioned in the pair of positioning portions 120 and 121.
- suction hand portions 310 and 410 attached to the distal end portions 330a and 430a of the multi-joint arms 330 and 430 of this embodiment will be described with reference to FIGS.
- the suction hand unit 310 will be described in detail, but the suction hand unit 410 has the same structure as the suction hand unit 310, and thus the description thereof will be omitted.
- the suction hand portion 310 has an axis line so as to sandwich a support portion 311 attached to the distal end portion 330a of the articulated arm 330 and an attachment position P1 of the support portion 311 attached to the distal end portion 330a.
- Suction mechanisms 312 and 313 are provided that are spaced apart in the X2 direction (first direction).
- the suction hand unit 310 includes two pairs of suction mechanisms 312 and 313 arranged at the same position in the direction of the axis Y2.
- the support portion 311 extends along the axis Y2 and is spaced apart in the direction of the axis X2, and extends along the axis X2 and in the direction of the axis Y2.
- each of the two suction mechanisms 313 is attached to the first support member 311 a of the support portion 311 via the two first angle adjustment mechanisms 315.
- the suction mechanism 313 includes a suction part 313a attached to the first support member 311a and a sponge part 313b attached to the suction part 313a.
- An adsorption surface 313c that adsorbs the plate-like structural member 200 is formed on the opposite side of the surface of the sponge portion 313b attached to the adsorption portion 313a.
- each of the two suction mechanisms 312 is attached to the first support member 311 a of the support portion 311 via the two first angle adjustment mechanisms 314.
- the suction mechanism 312 includes a suction part 312a attached to the first support member 311a and a sponge part 312b attached to the suction part 312a.
- An adsorption surface 312c that adsorbs the plate-like structural member 200 is formed on the opposite side of the surface of the sponge portion 312b attached to the adsorption portion 312a.
- the suction surface 313c is formed in a rectangular shape having a short axis X2 direction and a long axis Y2 direction orthogonal to the axis X2.
- the sponge portion 313b of the suction mechanism 313 is formed with 16 through holes 313d having a rectangular shape in plan view.
- Four suction holes 313e are provided in the suction portions 313a at positions corresponding to the through holes 313d of the sponge portion 313b.
- the suction hole 313e is connected to a negative pressure source (not shown).
- the number of through holes 313d formed in the sponge portion 313b and the number of suction holes 313e provided in the suction portion 313a can be arbitrarily set.
- the suction surface 312c is formed in a rectangular shape that is short in the direction of the axis X2 and long in the direction of the axis Y2 orthogonal to the axis X2.
- the sponge portion 312b of the suction mechanism 312 has 16 through holes 312d that are rectangular in plan view.
- Four suction holes 312e are provided in the suction portions 312a at positions corresponding to the through holes 312d of the sponge portion 312b.
- the suction hole 312e is connected to a negative pressure source (not shown).
- the number of through holes 312d formed in the sponge portion 312b and the number of suction holes 312e provided in the suction portion 312a can be arbitrarily set.
- a portion of the through hole 312d of the sponge portion 312b is a closed space partitioned by the plate-like structural member 200, the suction portion 312a, and the sponge portion 312b.
- the pair of first angle adjustment mechanisms 314 and 315 included in the suction hand unit 310 will be described.
- the first angle adjustment mechanism 314 is a mechanism for attaching the suction mechanism 312 to the first support member 311a.
- the first angle adjustment mechanism 315 is a mechanism for attaching the suction mechanism 313 to the first support member 311a.
- the pair of suction mechanisms 312 and 313 is a mechanism having a pair of suction surfaces 312c and 313c that sucks the plate-like structural member 200 having a curvature along at least the direction of the axis X2.
- the first angle adjustment mechanism 314 includes a plate-like member 314a to which the suction portion 312a is attached to the lower surface, and a plate-like member 314a.
- the swing member 314b attached to the upper surface, the pair of first angle adjustment members 314c attached to the lower surface of the first support member 311a, and the female screw of the fastening hole formed in the pair of first angle adjustment members 314c are inserted.
- a pair of fixing pins 314d and a second angle adjustment member 314e attached to the lower surface of the first support member 311a are provided.
- a second angle adjustment member 314e shown in FIG. 11 is a member that supports a support shaft 314f that is inserted into a through hole formed in the swing member 314b. As indicated by an arrow in FIG. 11, the swing member 314b supported by the support shaft 314f can swing around the support shaft 314f.
- the pair of fixing pins 314d having external threads formed on the outer peripheral surfaces thereof are adjusted by adjusting the amount of fastening to the fastening holes of the pair of first angle adjusting members 314c (the amount of rotation about the axis of the fixing pin 314d). Is adjusted.
- the swing angle of the swing member 314b around the support shaft 314f is fixed by abutting the tips of the pair of fixing pins 314d against the right side surface and the left side surface of the swing member 314b.
- the swing angle of the swing member 314b around the support shaft 314f is an inclination angle ⁇ with respect to the axis X2 of the suction surface 312c of the suction mechanism 312.
- the first angle adjustment mechanism 314 can adjust the inclination angle ⁇ of the suction surface 312c of the suction mechanism 312 with respect to the axis X2 direction (first direction).
- the structure of the first angle adjustment mechanism 315 is the same as that of the first angle adjustment mechanism 314.
- the suction hand unit 310 of the present embodiment includes a pair of first angle adjustment mechanisms 314 that can adjust the inclination angle ⁇ along the axis X2 of the suction surfaces 312c and 313c of the pair of suction mechanisms 312 and 313, respectively. 315 is provided.
- the attachment position of the plate-like member 314a with respect to the swing member 314b shown in FIG. 11 is movable along the axis X2.
- the mounting position of the plate-like member 314a with respect to the swing member 314b can be moved from the position shown in FIG. 11 to the position shown by the solid line in FIG. 12 or the position shown by the broken line in FIG.
- the arrangement interval D of the pair of suction mechanisms 312 and 313 shown in FIG. It will spread along X2.
- the arrangement interval D in the axis X2 direction of the pair of suction mechanisms 312 and 313 can be adjusted by the pair of first angle adjustment mechanisms 314 and 315 of the present embodiment.
- the arrangement interval D is narrowed, and when the radius of curvature of the plate-like structural member 200 in the axis X2 direction is large, the arrangement interval D is widened.
- the pair of suction mechanisms 312 and 313 can be arranged at appropriate positions according to the curvature of the plate-like structural member 200 in the direction of the axis X2, and the plate-like structural member 200 can be reliably sucked.
- the gripping devices 300 and 400 of the present embodiment grip the plate-like structural member 200 held on the supply base 500 and transport it to the assembly jig 100 according to the following procedure.
- the operator who operates the gripping devices 300 and 400 has a first angle adjustment mechanism so as to have an appropriate inclination angle ⁇ with respect to the shape (curvature) of the plate-like structural member 200 held by the supply base 500.
- the inclination angles ⁇ of the suction surfaces 312c and 313c are adjusted by 314 and 315 (adjustment process).
- This adjustment is performed by adjusting the fastening amount of the fixing pin 314d of the first angle adjustment mechanism 314 and adjusting the swing angle of the swing member 314b around the support shaft 314f. This adjustment is performed by the same method for the first angle adjustment mechanism 315 as well.
- an operator who operates the gripping devices 300 and 400 inputs a control command to the control device 600 to operate the articulated arms 330 and 430, and the pair of suction surfaces 312c and 313 of the pair of suction mechanisms 312 and 313 are operated.
- 313c is brought into contact with the plate-like structural member 200 (contact process).
- the control device 600 has a pair of suction mechanisms 312, with the direction in which the plate-like structural member 200 has a curvature (the direction of the axis X 1 in FIGS. 1 and 3) and the direction of the axis X 2 of the suction hands 310 and 410 being aligned.
- a pair of adsorption surfaces 312 c and 313 c of 313 are brought into contact with the plate-like structural member 200.
- FIG. 13 is a view showing a state in which the suction surface 312c of the suction mechanism 312 is in contact with the plate-like structural member 200.
- FIG. 13 indicates a state before the suction surface 312c of the suction mechanism 312 is brought into contact with the plate-like structural member 200.
- the plate-like structural member 200 moves before and after contact with the suction surface 312 c with reference to the suction mechanism 312, but actually the plate-like structural member 200 is positioned at a fixed position of the supply base 500.
- the suction mechanism 312 moves in the direction approaching the plate-like structural member 200 while being held in the position.
- the sponge portion 312 b of the suction mechanism 312 is thinner than before the plate-like structural member 200 is contacted. This is because the sponge part 312b contracts due to the force with which the articulated arm 330 presses the sponge part 312b against the plate-like structural member 200. When the sponge portion 312b contracts and becomes thin, the flow of air from the side surface to the inside is blocked or suppressed. As a result, the external air is prevented from flowing into the sponge portion 312b due to the negative pressure generated by the suction portion 312a inside the sponge portion 312b.
- the thickness of the sponge portion 312b is less than half that before pressing.
- an operator who operates the gripping devices 300 and 400 inputs a control command to the control device 600, and the pair of suction surfaces in a state where the pair of suction surfaces 312c and 313c are in contact with the plate-like structural member 200.
- the plate-like structural member 200 is adsorbed to 312c and 313c (adsorption process).
- the suction hand units 310 and 410 input a control command to the control device 600 so that the air inside the sponge unit 312b is discharged to the outside through the suction holes 312e and 313e.
- an operator who operates the gripping devices 300 and 400 inputs a control command to the control device 600, and the plate-like structural member is in a state where the plate-like structural member 200 is sucked by the pair of suction surfaces 312c and 313c.
- the gripping devices 300 and 400 are controlled so as to convey the 200 to the assembly jig 100.
- the gripping devices 300 and 400 according to the present embodiment grip the plate-like structural member 200 held on the supply base 500 and convey it to the assembly jig 100.
- a pair of suction mechanisms arranged at intervals in the axis X2 direction so as to sandwich the attachment position P1 of the articulated arms 330 and 430 to the distal end portions 330a and 430a.
- the pair of suction surfaces 312c and 313c are plate-like structural members. 200 is contacted.
- the plate-like structural member 200 When the pair of suction mechanisms 312 and 313 are attracted to the plate-like structural member 200 in a state where the pair of suction surfaces 312c and 313c are in contact with the plate-like structural member 200, the plate-like structural member 200 is connected to the multi-joint arms 330 and 430. It is hold
- the plate-like structural member 200 has a curvature in the direction of the axis X1, the inclination angle ⁇ of the suction surfaces 312c and 313c along the direction coinciding with the direction of the axis X1 is adjusted by the first angle adjusting mechanisms 314 and 315.
- a pair of adsorption surfaces 312c and 313c are adsorbed to the plate-like structural member 200 along the shape of the plate-like structural member 200 having the above.
- a plate-like structural member that prepares or conveys dedicated parts for each of a plurality of types of plate-like structural members 200 having a curvature along the direction of the axis X1.
- each of the pair of suction surfaces 312c and 313c is formed in a rectangular shape having a short axis X2 direction and a long axis Y2 direction orthogonal to the axis X2 direction.
- the plate-like structure member 200 having a curvature at a pair of positions along the axis X2 direction is adsorbed along the shape, and the plate-like structure is wide in the axis Y2 direction orthogonal to the axis X2 direction.
- the structural member 200 can be reliably adsorbed.
- the assembly system of this embodiment is a modification of the assembly system 700 of the first embodiment, and is the same as that of the first embodiment, except as specifically described below.
- the suction hand unit 310 provided in the assembly system 700 of the first embodiment maintains the pair of suction surfaces 312c and 313c along the axis Y2 in parallel with the axis Y2.
- the suction hand portion 310 of the first embodiment is based on the premise that the plate-like structural member 200 having no curvature in the direction of the axis Y2 is sucked.
- the suction hand portion 310 ′ included in the assembly system of the present embodiment has a second angle adjustment mechanism 316 that can tilt the pair of suction surfaces 312c ′ and 313c ′ along the axis Y2 with respect to the axis Y2. Is provided.
- the suction hand portion 310 ′ of this embodiment has a structure capable of sucking the plate-like structural member 200 having a curvature in the direction of the axis Y ⁇ b> 2.
- the suction hand portion 310 ′ of the present embodiment has three sets of suction mechanisms 312 ′ and 313 ′ arranged along the direction of the axis Y ⁇ b> 2. Since FIG. 14 is a front view, three sets of suction mechanisms 313 'arranged along the axis Y2 are shown. Reference numerals in parentheses in FIG. 14 indicate the suction mechanism 312 'and the suction surface 312c' when the suction hand portion 310 'is viewed from the back side.
- the suction hand portion 310 ′ of the present embodiment supports a first pair of suction mechanisms 312 ′ and 313 ′ (the mechanism shown on the left side in FIG. 14) adjacent in the direction of the axis Y ⁇ b> 2.
- a second angle adjustment mechanism 316 capable of adjusting the inclination angles of 312c ′ and 313c ′ is provided.
- the second angle adjustment mechanism 316 sets the inclination angle ⁇ of the left adsorption mechanism 313 ′ with respect to the inclination angle of the central adsorption mechanism 313 ′. It is possible to adjust.
- the plate-like structural member 200 having a curvature along the axis X1 direction has a double contour shape having a curvature also in the direction of the axis Y1 orthogonal to the axis X1 direction (two in-plane shapes). Plate having a curvature in the direction of the axis Y1 perpendicular to the direction of the axis X1 because the inclination angle of the suction surfaces 312c ′ and 313c ′ is adjusted by the second angle adjustment mechanism 316 even if the curvature is different in the shape of the axis.
- the adsorbing surfaces 312 c ′ and 313 c ′ adsorb to the plate-shaped structural member 200 along the shape of the structural member 200.
- the plate-like structural member 200 can be reliably sucked by the pair of suction mechanisms 312 ′ and 313 ′ along the double contour shape of the plate-like structural member 200.
- a floating mechanism 318 shown in FIG. 15 may be adopted as a structure for connecting the distal end portion 330a of the articulated arm 330 and the fourth support member 311d of the support portion 311.
- the floating mechanism 318 is a mechanism in which a shaft member 318a having a spherical tip is attached to the support portion 311 and an accommodation chamber 318b for accommodating the tip of the shaft member 318a is formed inside the tip portion 330a.
- the attachment angle of the support portion 311 with respect to the distal end portion 330a of the multi-joint arm 330 is rotated within a certain allowable angle (for example, 1 degree). be able to. Therefore, even when an error occurs in the positioning of the distal end portion 330a of the multi-joint arm 330, the error can be absorbed within a range of a certain allowable angle (for example, 1 degree).
- the outer diameter of the spherical portion at the tip of the shaft member 318a may be made slightly smaller than the inner diameter of the storage chamber 318b.
- the first angle adjustment mechanisms 314 and 315 and the second angle adjustment mechanism 316 described above may be capable of adjusting the inclination angles of the suction surfaces 312c and 313c by a drive mechanism such as a motor, respectively.
- a drive mechanism such as a motor
- the operator of the gripping devices 300 and 400 inputs a control command for controlling the first angle adjustment mechanisms 314 and 315 and the second angle adjustment mechanism 316 to the control device 600, whereby the suction surfaces 312c and 313c. Can be arbitrarily adjusted.
- Assembly jig 110 support parts 120, 121 positioning part 200 plate-like structural member (plate-like member) 210, 211 Protruding part 220, 221 Positioning hole 300, 400 Grasping device 310, 310 ', 410 Suction hand part (suction device) 311, 311 ′ support portions 312, 312 ′, 313, 313 ′ suction mechanisms 312 a, 313 a suction portions 312 b, 313 b sponge portions 312 c, 312 c ′, 313 c, 313 c ′ suction surfaces 314, 315 first angle adjustment mechanism 316 second angle Adjustment mechanism 318 Floating mechanism 320, 420 Imaging device 330, 430 Articulated arm (articulated drive mechanism) 330a, 430a Tip 500 Supply table 600 Controller 700 Assembly system P1 Mounting position X1, X2, Y1, Y2 Axis
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Abstract
Description
特許文献1には、湾曲した形状を有する加工物の形状に沿って形成されたレールに真空カップを取り付けることにより、湾曲した加工物の形状に合致させた状態で加工物を吸着して持ち運ぶことが開示されている。
そのため、複数種類の加工物を持ち運ぶためには、それぞれの加工物に応じた形状のレールを用意するとともに、持ち運ぶ加工物を替えるたびにレールを交換する必要がある。
本発明の一態様にかかる吸着装置は、多関節駆動機構の先端部に取り付けられるとともに少なくとも所定方向に沿って曲率を有する板状部材に吸着する吸着装置であって、前記多関節駆動機構の前記先端部に取り付けられる支持部と、前記先端部に取り付けられる前記支持部の取付位置を挟むように第1方向に間隔を空けて配置される一対の吸着面を有する一対の吸着機構と、該一対の吸着機構それぞれの前記吸着面の前記第1方向に沿った傾斜角度を調整可能な一対の第1角度調整機構とを備える。
このようにすることで、第1方向に沿った一対の位置で曲率を有する板状部材をその形状に沿って吸着しつつ、第1方向に直交する第2方向の広い範囲で板状部材を確実に吸着することができる。
このように、本構成によれば、板状部材のダブルコンター形状に沿って一対の吸着機構により板状部材を確実に吸着することができる。
本発明の一態様にかかる把持装置によれば、所定方向に沿って曲率を有する複数種類の板状部材ごとに専用部品を用意し、あるいは搬送する板状部材の種類を替えるたびに専用部品の交換作業を行うことなく、板状部材の形状に応じて吸着面の角度を適切に調整して板状部材に吸着することができる。
以下に、本発明の第1実施形態にかかる組立システム700について、図面を参照して説明する。
本実施形態の組立システム700は、長辺方向の両端部に一対の位置決め孔220,221が形成された複数の板状構造部材200(板状部材)を組立用治具100(位置決め装置)に位置決めし、複数の板状構造部材200を鋲打ち(リベッティング)等の加工により組み立てるシステムである。
図1に示すように、組立用治具100は、一対の第1支持部材110aと複数の第2支持部材110bからなる支持部110と、支持部110に取り付けられるとともに支持部110に板状構造部材200を位置決めする一対の位置決め部120,121とを備える。
一対の第1支持部材110aは、軸線Y1に沿って平行に配置される長尺状の部材であり、支持部110が設置される設置面に締結ボルト(図示略)等により固定されている。
図1に示すように、第2支持部材110bは、第1支持部材110aが設置される設置面に対して軸線X1に沿った中央部が両端部よりも上方に向けて突出したアーチ形状となっている。第2支持部材110bが曲率を持ったアーチ形状となっているのは、板状構造部材200の下面をその形状に沿って支持するためである。複数の第2支持部材110bは、板状構造部材200の下面(第1面)を軸線Y1に沿った複数箇所で支持する。
図3の斜視図に示すように、3枚の板状構造部材200は、軸線X1に沿った異なる3箇所の位置に配置される3組の一対の位置決め部120,121により支持部110に位置決めされる。
また、図2に示す板状構造部材200は、貫通穴が形成されていないものであるが、1箇所あるいは複数箇所に貫通穴(例えば、航空機の胴体に用いられる板状構造部材200の複数箇所に形成される窓取付用の貫通穴)を形成したものとしてもよい。
図4に示すように、組立システム700は、組立用治具100と、板状構造部材200と、板状構造部材200を把持した状態で移動させる一対の把持装置300,400と、板状構造部材200を供給するために一時的に保持する供給台500と、組立システム700を制御する制御装置600とを備える。
吸着ハンド部310,410は、負圧の作用により板状構造部材200の上面(第2面)に吸着するものである。
また、多関節アーム330,430の先端部330a,430aには、撮像装置320,420が取り付けられている。
同様に、撮像装置420は、板状構造部材200の突出部211を撮像して画像情報を取得し、制御装置600へ送信する。制御装置600は、撮像装置420から受信した画像情報と把持装置400に取り付けられる撮像装置420の位置および姿勢とに基づいて、突出部211に形成される位置決め孔221の位置を算出する。
一対の把持装置300,400は、図5に示すように、長尺状の板状構造部材200の長辺方向の両端側を吸着ハンド部310,410に吸着させた状態で、互いに協調しながら供給台500に保持された板状構造部材200を組立用治具100へ向けて移動させる。
なお、以下では吸着ハンド部310について詳細に説明するが、吸着ハンド部410は吸着ハンド部310と同様の構造であるため、以下での説明を省略する。
吸着機構313は、第1支持部材311aに取り付けられる吸着部313aと、吸着部313aに取り付けられるスポンジ部313bとを有する。スポンジ部313bの吸着部313aに取り付けられる面の反対側には、板状構造部材200を吸着する吸着面313cが形成されている。
図11に示すように、吸着機構312は、第1支持部材311aに取り付けられる吸着部312aと、吸着部312aに取り付けられるスポンジ部312bとを有する。スポンジ部312bの吸着部312aに取り付けられる面の反対側には、板状構造部材200を吸着する吸着面312cが形成されている。
スポンジ部313bの貫通穴313dに対応する位置の吸着部313aには、それぞれ4つの吸入孔313eが設けられている。吸入孔313eは、負圧源(図示略)に連結されている。
なお、スポンジ部313bに形成する貫通穴313dの数および吸着部313aに設ける吸入孔313eの数は、任意に設定可能である。
スポンジ部312bの貫通穴312dに対応する位置の吸着部312aには、それぞれ4つの吸入孔312eが設けられている。吸入孔312eは、負圧源(図示略)に連結されている。
なお、スポンジ部312bに形成する貫通穴312dの数および吸着部312aに設ける吸入孔312eの数は、任意に設定可能である。
図10(図7に示す吸着ハンド部のA-A矢視図)に示すように、第1角度調整機構314は、吸着機構312を第1支持部材311aに取り付ける機構である。また、第1角度調整機構315は、吸着機構313を第1支持部材311aに取り付ける機構である。
一対の吸着機構312,313は、少なくとも軸線X2方向に沿って曲率を有する板状構造部材200に吸着する一対の吸着面312c,313cを有する機構である。
外周面に雄ねじが形成された一対の固定ピン314dは、一対の第1角度調整部材314cの締結穴への締結量(固定ピン314dの軸回りの回転量)を調整することにより、その先端位置が調整される。図11に示すように、揺動部材314bの右側面および左側面に一対の固定ピン314dの先端を突き当てることにより、揺動部材314bの支持軸314f回りの揺動角度が固定される。
なお、図11においては、第1角度調整機構314について説明したが、第1角度調整機構315の構造も第1角度調整機構314と同様である。
このように、本実施形態の吸着ハンド部310は、一対の吸着機構312,313それぞれの吸着面312c,313cの軸線X2に沿った傾斜角度θを調整可能な一対の第1角度調整機構314,315を備える。
揺動部材314bに対する板状部材314aの取付位置を、図11に示す位置から図12に実線で示す位置に移動させた場合、図10に示す一対の吸着機構312,313の配置間隔Dが軸線X2に沿って広がることとなる。また、揺動部材314bに対する板状部材314aの取付位置を、図11に示す位置から図12に破線で示す位置に移動させた場合、図10に示す一対の吸着機構312,313の配置間隔Dが軸線X2に沿って狭まることとなる。
本実施形態の把持装置300,400は、以下の手順により供給台500に保持される板状構造部材200を把持して組立用治具100まで搬送する。
第1に、把持装置300,400を操作する操作者は、供給台500の保持される板状構造部材200の形状(曲率)に対して適切な傾斜角度θとなるように第1角度調整機構314,315により吸着面312c,313cの傾斜角度θを調整する(調整工程)。この調整は、第1角度調整機構314が有する固定ピン314dの締結量を調整し、揺動部材314bの支持軸314f回りの揺動角度を調整することにより行われる。この調整は、第1角度調整機構315についても同様の方法により行われる。
制御装置600は、板状構造部材200が曲率を有する方向(図1,3の軸線X1方向)と吸着ハンド部310,410の軸線X2方向とを一致させた状態で、一対の吸着機構312,313の一対の吸着面312c,313cを板状構造部材200に接触させる。
以上のようにして、本実施形態の把持装置300,400は、供給台500に保持される板状構造部材200を把持して組立用治具100まで搬送する。
本実施形態の吸着ハンド部310,410によれば、多関節アーム330,430の先端部330a,430aへの取付位置P1を挟むように軸線X2方向に間隔を空けて配置される一対の吸着機構312,313を、その軸線X2方向と板状構造部材200の曲率を有する軸線X1方向とが一致するように板状構造部材200に近付けることにより、一対の吸着面312c,313cが板状構造部材200に接触する。一対の吸着面312c,313cが板状構造部材200に接触した状態で一対の吸着機構312,313が板状構造部材200に吸着することにより、板状構造部材200が多関節アーム330,430の先端部330a,430aに保持される。板状構造部材200は軸線X1方向に曲率を有するが、第1角度調整機構314,315により軸線X1方向と一致した方向に沿った吸着面312c,313cの傾斜角度θが調整されるため、曲率を有する板状構造部材200の形状に沿って一対の吸着面312c,313cがそれぞれ板状構造部材200に吸着する。
このようにすることで、軸線X2方向に沿った一対の位置で曲率を有する板状構造部材200をその形状に沿って吸着しつつ、軸線X2方向に直交する軸線Y2方向の広い範囲で板状構造部材200を確実に吸着することができる。
次に、本発明の第2実施形態にかかる組立システムについて図面を参照して説明する。
本実施形態の組立システムは、第1実施形態の組立システム700の変形例であり、以下で特に説明する場合を除き、第1実施形態と同様であるものとする。
第1実施形態の組立システム700が備える吸着ハンド部310は、軸線Y2に沿った一対の吸着面312c,313cを軸線Y2と平行に維持するものであった。この第1実施形態の吸着ハンド部310は、軸線Y2方向に曲率を有しない板状構造部材200を吸着することを前提としたものである。
第2角度調整機構316は、図14中の中央に示す吸着機構313’の傾斜角度を固定する場合には、中央の吸着機構313’の傾斜角度に対する左側の吸着機構313’の傾斜角度αを調整することが可能である。
このように、本実施形態によれば、板状構造部材200のダブルコンター形状に沿って一対の吸着機構312’,313’により板状構造部材200を確実に吸着することができる。
多関節アーム330の先端部330aと支持部311の第4支持部材311dを連結する構造として、例えば、図15に示すフローティング機構318を採用してもよい。
フローティング機構318は、支持部311に先端が球形状の軸部材318aを取り付け、軸部材318aの先端を収容する収容室318bを先端部330aの内部に形成した機構である。
この場合、把持装置300,400の操作者は、制御装置600に第1角度調整機構314,315および第2角度調整機構316を制御するための制御指令を入力することにより、吸着面312c,313cの傾斜角度を任意に調整することができる。
110 支持部
120,121 位置決め部
200 板状構造部材(板状部材)
210,211 突出部
220,221 位置決め孔
300,400 把持装置
310,310’,410 吸着ハンド部(吸着装置)
311,311’ 支持部
312,312’,313,313’ 吸着機構
312a,313a 吸着部
312b,313b スポンジ部
312c,312c’,313c,313c’ 吸着面
314,315 第1角度調整機構
316 第2角度調整機構
318 フローティング機構
320,420 撮像装置
330,430 多関節アーム(多関節駆動機構)
330a,430a 先端部
500 供給台
600 制御装置
700 組立システム
P1 取付位置
X1,X2,Y1,Y2 軸線
Claims (5)
- 多関節駆動機構の先端部に取り付けられるとともに少なくとも所定方向に沿って曲率を有する板状部材に吸着する吸着装置であって、
前記多関節駆動機構の前記先端部に取り付けられる支持部と、
前記先端部に取り付けられる前記支持部の取付位置を挟むように第1方向に間隔を空けて配置される一対の吸着面を有する一対の吸着機構と、
該一対の吸着機構それぞれの前記吸着面の前記第1方向に沿った傾斜角度を調整可能な一対の第1角度調整機構とを備える吸着装置。 - 前記一対の吸着面のそれぞれは、前記第1方向が短く該第1方向に直交する第2方向に長い矩形状に形成されている請求項1に記載の吸着装置。
- 前記第2方向に沿って配置される複数対の吸着機構を有し、
前記第2方向に隣接する第1の前記一対の吸着機構と第2の前記一対の吸着機構との間に、前記第1の一対の吸着機構が有する前記吸着面の前記第2方向に沿った傾斜角度と前記第2の一対の吸着機構が有する前記吸着面の前記第2方向に沿った傾斜角度とを調整可能な第2角度調整機構を備える請求項2に記載の吸着装置。 - 請求項1から請求項3のいずれか1項に記載の吸着装置と、
先端部に前記吸着装置が取り付けられる多関節駆動機構とを備える把持装置。 - 多関節駆動機構と該多関節駆動機構の先端部に取り付けられた吸着装置とを備える把持装置により所定方向に沿って曲率を有する板状部材を搬送する搬送方法であって、
前記吸着装置は、
前記多関節駆動機構の前記先端部に取り付けられる支持部と、
前記先端部に取り付けられる前記支持部の取付位置を挟むように第1方向に間隔を空けて配置される一対の吸着面を有する一対の吸着機構と、
該一対の吸着機構それぞれの前記吸着面の前記第1方向に沿った傾斜角度を調整可能な一対の第1角度調整機構とを備えており、
前記第1角度調整機構により、前記板状部材の前記所定方向の曲率に応じて前記吸着面の前記第1方向に沿った傾斜角度を調整する調整工程と、
前記多関節駆動機構により、前記所定方向と前記第1方向とを一致させた状態で前記一対の吸着面を前記板状部材に接触させる接触工程と、
前記一対の吸着機構により、前記接触工程により前記一対の吸着面が前記板状部材に接触した状態で該一対の吸着面に前記板状部材を吸着させる吸着工程と、
前記多関節駆動機構により、前記吸着工程により前記一対の吸着面に前記板状部材を吸着させた状態で該板状部材を搬送する搬送工程とを備える搬送方法。
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CN201680014322.9A CN107428011A (zh) | 2015-07-13 | 2016-07-01 | 吸附装置、抓持装置以及输送方法 |
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- 2016-07-01 US US15/558,187 patent/US10189167B2/en active Active
- 2016-07-01 BR BR112017019675-1A patent/BR112017019675A2/ja active Search and Examination
- 2016-07-01 WO PCT/JP2016/069653 patent/WO2017010320A1/ja active Application Filing
- 2016-07-01 CA CA2979737A patent/CA2979737C/en not_active Expired - Fee Related
- 2016-07-01 CN CN201680014322.9A patent/CN107428011A/zh active Pending
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EP3925923A1 (en) * | 2020-06-17 | 2021-12-22 | Famatec S.r.l. | Gripping equipment for lifting apparatuses and lifting apparatus provided with such gripping equipment |
US11981540B2 (en) | 2020-06-17 | 2024-05-14 | Famatec S.R.L. | Gripping equipment for lifting apparatuses and lifting apparatus provided with such gripping equipment |
Also Published As
Publication number | Publication date |
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US10189167B2 (en) | 2019-01-29 |
CA2979737A1 (en) | 2017-01-19 |
EP3292962A4 (en) | 2018-07-18 |
BR112017019675A2 (ja) | 2018-05-15 |
EP3292962A1 (en) | 2018-03-14 |
JP6367158B2 (ja) | 2018-08-01 |
US20180071924A1 (en) | 2018-03-15 |
CA2979737C (en) | 2020-01-21 |
CN107428011A (zh) | 2017-12-01 |
JP2017019060A (ja) | 2017-01-26 |
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