WO2017203945A1 - Dispositif de préhension de pièce et procédé de préhension de pièce - Google Patents

Dispositif de préhension de pièce et procédé de préhension de pièce Download PDF

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Publication number
WO2017203945A1
WO2017203945A1 PCT/JP2017/017163 JP2017017163W WO2017203945A1 WO 2017203945 A1 WO2017203945 A1 WO 2017203945A1 JP 2017017163 W JP2017017163 W JP 2017017163W WO 2017203945 A1 WO2017203945 A1 WO 2017203945A1
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WO
WIPO (PCT)
Prior art keywords
workpiece
robot arm
gripper
pair
robot
Prior art date
Application number
PCT/JP2017/017163
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English (en)
Japanese (ja)
Inventor
祐輝 枝川
Original Assignee
アズビル株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by アズビル株式会社 filed Critical アズビル株式会社
Publication of WO2017203945A1 publication Critical patent/WO2017203945A1/fr

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators

Definitions

  • the present invention relates to a technology of a robot workpiece gripping device in an assembly work process.
  • Patent Document 1 There is a conventional example where a double-arm robot is used to pull out a workpiece from the work stocker, and then check if there is a positional shift by moving the robot arm and transfer it to a tray (Patent Document 1).
  • Patent Document 1 the amount of positional deviation at the time of drawing is detected by two-point contact with a double arm with a sensor, and the target position is corrected.
  • Patent Document 2 grips a component with high reproducibility even when the tray is bent when the component placed on the tray is gripped to perform precise transfer or assembly. This is because the robot body is operated so that the robot hand abuts the tray and presses the tray against the gantry, and the work placed on the tray is gripped by a plurality of fingers while the tray is pressed against the gantry. .
  • Patent Document 3 Provided is an industrial robot capable of assembling an assembling part to an assembling body as it is even when the gripping position of the robot hand is slightly deviated from the reference position of the assembling part.
  • the assembly part is gripped by the robot hand, the amount of deviation of the robot hand from the reference position of the assembly part is detected, and the position correction of the robot hand is performed based on the detected amount of deviation. Go and assemble the assembly parts to the assembly body.
  • JP 2012-196768 A Japanese Patent Laying-Open No. 2015-205368 Japanese Patent Application Laid-Open No. 07-88794
  • the tray has a placement portion on which the component is placed, and a protrusion formed to protrude from the placement portion.
  • the control portion is Since the robot body can be operated so that the hand body abuts against the protrusion and the tray is pressed against the gantry, so-called guides are provided, so it is not necessary to use a lot of nerves for gripping and positioning the workpiece. There wasn't.
  • the robot needs to be provided with a position detection device (sensor) for detecting the amount of deviation of the reference position of the assembled part in the robot hand, and the device needs to be large-scale and elaborate. is there.
  • the present invention does not require a guide or the like for gripping a workpiece from above, does not require extra steps such as once placing the workpiece on the floor and gripping the workpiece again, and requires a special position sensor. There is no problem, and it is an object to be able to efficiently assemble the work.
  • the present invention provides a first robot arm having a gripper formed of a pair of fingers at the tip,
  • a work gripping device comprising a second robot arm having a gripper made of a pair of fingers at the tip, The first robot arm grips one side of a rectangular parallelepiped workpiece with its gripper, And the second robot arm set at a position facing the first robot arm grips another opposite side surface of the workpiece orthogonal to the opposite side surface with its gripper, The workpiece slides to a position where the gripper of the first robot arm grips the center point of the workpiece by the second robot arm pinching the other opposite side with the gripper.
  • This is a workpiece gripping device.
  • the present invention further provides: Operate the first robot arm or the second robot arm, Release the workpiece from one robot arm, Move the workpiece to a predetermined placement position while holding the workpiece by the other robot arm, A workpiece gripping device to be assembled to a mounting base.
  • the present invention also includes a first robot arm having a gripper formed of a pair of fingers at the tip,
  • a work gripping method in a work gripping device comprising a second robot arm having a gripper composed of a pair of fingers at the tip, Operating the first robot arm to grip the workpiece; Facing the first robot arm and the second robot arm so that each gripper grips an orthogonal side surface of the workpiece; Clamping the workpiece with the gripper of the second robot arm, and sliding the workpiece until the gripper of the first robot arm grips the center point of the workpiece. It is.
  • the present invention can be implemented with only two robot arms, it is highly effective with a simple system. In order to always hold the center of the work, the work is moved by two robot arms and the position is corrected, so that there is no burden on the subsequent process and the tact time is short.
  • FIG. 1 shows an overall configuration of a workpiece gripping apparatus according to an embodiment of the present invention.
  • the shape of the workpiece and the side designation will be shown.
  • 3A and 3B show a workpiece pick-up mode by the gripper of the first robot arm according to the embodiment of the present invention.
  • the change mode by the grippers of the first robot arm and the second robot arm according to the embodiment of the present invention is shown.
  • 5A, FIG. 5B, and FIG. 5C are transition diagrams showing a top view (top view) of a change-over process in the first robot arm and the second robot arm shown in FIG.
  • grip method concerning embodiment of this invention is shown.
  • FIG. 1 shows an overall configuration of a workpiece gripping apparatus 100 showing an embodiment of the present invention.
  • a first robot arm 110 and a second robot arm 120 at the center.
  • a plurality of rectangular parallelepiped workpieces 10 are randomly placed on the tray 1 marked as a pickup area.
  • the place area is described, it is shown that the work is placed on the placement base 2 in an orderly manner at a predetermined position.
  • first robot arm 110 and the second robot arm 120 It is the role of the first robot arm 110 and the second robot arm 120 to move the workpiece 10 from the pickup area to the place area.
  • a gripper 111 and a gripper 121 each including at least two (a pair) fingers are provided at the tip thereof.
  • the first robot arm 110 and the second robot arm 120 are preferably composed of a robot with six axes of freedom, but the second robot arm 120 on the receiving side has a degree of freedom up to that point. Not necessary. In order to fulfill the functions of the present invention, a degree of freedom of only one axis (only gripping and gripping of the gripper) is sufficient.
  • the workpiece 10 is intended for a rectangular parallelepiped shape.
  • the front surface (Surface) 10A, the bottom surface (Bottom) 10B, and the side surfaces are referred to as 10C, 10D, 10E, and 10F in the counterclockwise direction.
  • the center point P of the workpiece 10 is imaged at the intersection of dotted lines connecting the centers of the opposing surfaces.
  • one opposite side surface (10C and 10E) is gripped by the gripper 111 of the first robot arm 110, and another opposite side surface (10D and 10F) is the gripper 121 of the second robot arm 120. It will be gripped by.
  • the edge of the surface 10A is marked with a double line in the drawing.
  • the first robot arm 110 is appropriately turned and the workpiece 10 on the tray 1 is picked up by the gripper 111.
  • one side surface (10C and 10E) of the workpiece 10 is held by the gripper 111 (finger 111-1 and 111-2).
  • the gripper 111 After lightly grasping, as shown in FIG. 3B, the work 10 is sufficiently grasped by an elastic function (not shown) that presses the gripper 111 below the work 10.
  • This elastic function means a predetermined compliance mechanism, which may be passive or active, and is naturally provided in the gripper. Therefore, further description of the function is omitted.
  • the gripping mechanism at this time uses the visual function of the robot (unillustrated vision system), and can be held almost at the center according to the orientation of the workpiece 10, but the accuracy is not sufficient for assembly work. , There is a possibility of deviation
  • FIG. 1 is a side view.
  • the central axes of the first robot arm 110 and the second robot arm 120 can be mechanically matched so as to be indicated by the one-dot chain line in FIG. Positioning is performed by a controller (not shown).
  • the second robot arm 120 grips another side surface (10D and 10F) of the workpiece 10 with the gripper 121 (finger 121-1 and 121-2).
  • the gripper 111 has already accurately grasped the center point P of the workpiece 10, the effect of the present invention is small, but conversely, the function described below is exhibited when it is not.
  • FIG. 5 shows a top view of the configuration of FIG. 4 as viewed from above.
  • the first robot arm 110 and the second robot arm 120 according to the embodiment of the present invention are shown in FIG. 5A, 5B, and 5C are transition diagrams sequentially showing a pinching process by the gripper 121 of the second robot arm 120 according to the changeover by each gripper.
  • the gripper 111 of the first robot arm 110 is gripping a position that is deviated by ⁇ from the center point P of the workpiece.
  • the opening L of both fingers 121-1 and 121-2 of the gripper 121 of the second robot arm 120 is sufficiently wide to include the long side 10C of the workpiece 10 with some margin.
  • the finger 121-1 is close to the side surface 10D, while the other finger 121-2 is considerably separated from the side surface 10F.
  • FIG. 5B in the middle stage shows a state in which the gripper 121 is gradually closed.
  • the gripper 121 is pinched with equal force from both side fingers.
  • the finger 121-1 of the gripper 121 contacts the side surface 10D of the workpiece 10.
  • One finger 121-2 approaches the other side surface 10F but is still separated.
  • FIG. 5C in the lowermost stage shows how the gripper 121 is further closed.
  • the finger 121-1 of the gripper 121 pushes and sandwiches the side surface 10D of the workpiece 10 until the other finger 121-2 contacts the side surface 10F.
  • the gripping force of the gripper 111 of the first robot arm 110 is slightly relaxed, and the workpiece 10 is slid on the inner side of the fingers 111-1 and 111-2.
  • a material with an appropriately small coefficient of friction is selected for the inner side of the finger.
  • the gripper 111 of the first robot arm 110 correctly grips the center point P of the workpiece 10 at the center of the gripper itself.
  • the gripper 121 is provided with a predetermined elastic function (compliance) like the gripper 111 so as to grip the workpiece with a predetermined force.
  • the gripper 121 of the second robot arm 120 releases the workpiece 10, and the workpiece 10 is carried to the place area while being held by the gripper 111 of the first robot arm 110, where it is transferred to the mounting base 2. It is assembled at a predetermined position. Conversely, the gripper 111 can be released, transported by the gripper 121 of the second robot arm 120, and assembled.
  • the mounting surface in that case also has the advantage that the front and back surfaces of the workpiece 10 are reversed.
  • the first robot arm 110 is operated, and the workpiece 10 is gripped and picked up by the gripper 111 in an appropriate direction (S2).
  • the first robot arm 110 is turned to face the second robot arm 120 (S3).
  • the grippers 111 and 121 hold the workpiece 10 so as to have orthogonal side surfaces.
  • the gripper 121 of the second robot arm 120 is operated to clamp the work 10 from both sides.
  • the object of the workpiece 10 has been described by limiting the horizontal and vertical orientations.
  • the direction can be changed by 90 degrees, that is, the gripper 111 of the first robot arm 110 when facing. May grip the vertical side surface of the workpiece 10 and the gripper 121 of the second robot arm 120 may grip the horizontal side surface of the workpiece 10.
  • the gripping mechanism may be an electric or air drive type.
  • the robot arm has been described as being independent, it can also be constituted by a single-arm robot.
  • explanations of the robot drive devices (controllers) are omitted, general configurations may be used.
  • the compliance mechanism it is desirable to refer to Japanese Patent Application Laid-Open No. 2015-3361 to 3363 by the applicant of the present application.
  • the gripper of the present application is composed of a pair of fingers, it may have fingers in addition to the two fingers. As such, various design additions and modifications may be possible but should be understood to fall within the scope of the present invention.
  • the shape of the workpiece is limited to a rectangular parallelepiped, but of course, the present invention can be implemented even in a cubic shape, which is useful in various production processes for handling such a rectangular workpiece.

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

Abstract

L'invention porte sur un dispositif de préhension de pièce et sur un procédé de préhension de pièce. Le dispositif de préhension de pièce comprend : un premier bras de robot (110) possédant, au niveau de son extrémité avant, une organe de préhension (111) composé d'une paire de doigts (111-1, 111-2); et un second bras de robot (120) possédant, au niveau de son extrémité avant, un organe de préhension (121) composé d'une paire de doigts (121-1, 121-2). Dans le dispositif de préhension de pièce, le premier bras de robot saisit, au moyen de son organe de préhension, une première paire de surfaces latérales opposées d'une pièce en forme de parallélépipède rectangle (10); le second bras de robot qui est placé dans une position faisant face au premier bras de robot saisit, au moyen de son organe de préhension, une autre paire de surfaces latérales opposées, de la pièce, perpendiculairement à la première paire de surfaces latérales opposées respectives; et, du fait que l'autre paire de surfaces latérales opposées est prise en sandwich et pressée par l'organe de préhension du second bras de robot, la pièce coulisse jusqu'à une position telle que l'organe de préhension du premier bras de robot saisit le point central de la pièce.
PCT/JP2017/017163 2016-05-27 2017-05-01 Dispositif de préhension de pièce et procédé de préhension de pièce WO2017203945A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2016-106212 2016-05-27
JP2016106212A JP2017209768A (ja) 2016-05-27 2016-05-27 ワーク把持装置およびワーク把持方法

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WO2017203945A1 true WO2017203945A1 (fr) 2017-11-30

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2020066418A1 (fr) * 2018-09-28 2020-04-02 川崎重工業株式会社 Système de robot et procédé d'utilisation associé
EP3685967A1 (fr) * 2019-01-23 2020-07-29 Aida Engineering Ltd. Dispositif de transport de pièce de fabrication
JP2022122193A (ja) * 2021-02-09 2022-08-22 東レエンジニアリング株式会社 識別コード読取装置

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP7193830B2 (ja) * 2018-02-28 2022-12-21 紀伊産業株式会社 物品清掃装置
CN112203814B (zh) * 2018-05-31 2023-09-05 川崎重工业株式会社 输送手及输送机器人
JP2020196075A (ja) * 2019-05-31 2020-12-10 川崎重工業株式会社 保持装置、それを備えるロボット、及び保持装置の制御方法

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH04244393A (ja) * 1991-01-30 1992-09-01 Fuji Electric Co Ltd ロボットハンドおよびワーク把持方法
JP2012245602A (ja) * 2011-05-31 2012-12-13 Mitsubishi Electric Corp 部品供給装置

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH04244393A (ja) * 1991-01-30 1992-09-01 Fuji Electric Co Ltd ロボットハンドおよびワーク把持方法
JP2012245602A (ja) * 2011-05-31 2012-12-13 Mitsubishi Electric Corp 部品供給装置

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2020066418A1 (fr) * 2018-09-28 2020-04-02 川崎重工業株式会社 Système de robot et procédé d'utilisation associé
EP3685967A1 (fr) * 2019-01-23 2020-07-29 Aida Engineering Ltd. Dispositif de transport de pièce de fabrication
US11491531B2 (en) 2019-01-23 2022-11-08 Aida Engineering, Ltd. Workpiece conveyance device
JP2022122193A (ja) * 2021-02-09 2022-08-22 東レエンジニアリング株式会社 識別コード読取装置
JP7398399B2 (ja) 2021-02-09 2023-12-14 東レエンジニアリング株式会社 識別コード読取装置

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