WO2018066590A1

WO2018066590A1 - End effector for conveying workpiece and workpiece conveyance device

Info

Publication number: WO2018066590A1
Application number: PCT/JP2017/036094
Authority: WO
Inventors: 修平倉岡; 敏幸鈴木; 山根　秀士; 敦高見
Original assignee: 川崎重工業株式会社
Priority date: 2016-10-06
Filing date: 2017-10-04
Publication date: 2018-04-12
Also published as: CN109789558A; JP2018058169A; CN109789558B; JP6864454B2

Abstract

The end effector (3) for conveying a workpiece is equipped with: an end effector-side interface (32) to be connected to a hand tip part of a robot arm (2); a base (35) connected to the end effector-side interface (32); a workpiece fixing jig (31) connected to the base (35); and an operating tool (34) disposed on the base (35) and receiving an input for operating the robot arm (2).

Description

Work transfer end effector and work transfer device

The present invention relates to a work transfer end effector having a function of holding a work, and a work transfer device including the same.

Conventionally, as an aspect of an end effector that is detachably attached to a robot arm, one having a function as a work jig for holding a work to be processed or transported so as not to move is known. Patent Document 1 discloses this type of technology.

Patent Document 1 shows an XY table, a scanning control axis having a main axis in a direction orthogonal to the movement allowable direction of the XY table, and a work jig supported via a tool changer at a hand portion of a robot arm. Has been. This work is a seam welded fuel tank.

Incidentally, a hand guide robot is known in which an operation tool is provided on a robot arm, and the robot arm is operated intuitively by an operator operating the operation tool. Patent Document 2 discloses this type of technology.

The hand guide robot described in Patent Document 2 includes a manipulator as a control target, an operation device, and a control device. The operating device is for an operator to operate the hand guide robot, and is installed on the tip side of the third link of the manipulator.

JP-A-9-314351 JP 2010-269418 A

When a work mounting operation is performed using an end effector having a function as a work jig and a robot arm equipped with the end effector as in Patent Document 1, the robot arm is operated and held by the end effector. The moved workpiece is automatically moved to a predetermined mounting position. Here, there is a case where the work of attaching the work is accompanied by a wiring work such as a cable, but it is difficult to automatically perform this wiring work.

Therefore, when wiring work is involved in workpiece mounting work, the workpiece is automatically moved to the vicinity of a predetermined mounting position, and after the worker performs wiring work (or at the same time as wiring work), the workpiece is moved. It is conceivable to move to a predetermined mounting position.

When the worker moves the workpiece to a predetermined mounting position, the worker moves the workpiece (or workpiece jig) supported by the robot arm directly or moves it, or the hand guide robot of Patent Document 2 As described above, it is conceivable that the operator operates the operating tool provided at the tip of the robot arm to operate the robot arm. However, the former requires a large operating force due to the torque acting on each axis of the robot arm. In the latter case, depending on the work jig and the work held by the work jig, the work mounting position that the operator wants to visually recognize may be separated from the operation tool. In such a case, the operability is inferior.

In view of the above, in the present invention, in an end effector having a function as a work jig, and a work transfer device having the same, a work held by the end effector is moved by manual operation of a robot arm by an operator. It is possible to improve the operability of this manual operation.

A workpiece transfer end effector according to an aspect of the present invention is a workpiece transfer end effector attached to a robot arm,
An interface connected to the hand portion of the robot arm;
A base connected to the interface;
A workpiece fixing jig connected to the base;
And an operating tool that is provided on the base and receives an operation input of the robot arm.

A workpiece transfer device according to another aspect of the present invention includes a robot arm, the workpiece transfer end effector mounted on a hand portion of the robot arm, and a control device that controls the operation of the robot arm. It is characterized by providing.

In the work transfer end effector and the work transfer device, an operation tool for receiving an input of operation of the robot arm is provided in the end effector that holds the work. As described above, since the work held by the end effector and the operation tool are close to each other, the operator can manually operate the robot arm by moving the operation tool while visually checking the work and its mounting position. As a result, the operator can more reliably position the workpiece at the mounting position, and can improve the operability of manual operation of the robot arm.

According to the present invention, the operator can manually operate the robot arm by moving the operation tool while visually confirming the workpiece and its mounting position, so that the operability of the manual operation can be improved.

FIG. 1 is a schematic view of a workpiece transfer apparatus according to the first embodiment of the present invention. FIG. 2 is a diagram showing the configuration of the hand portion of the robot arm and the work transfer end effector. FIG. 3 is a view showing a work conveying end effector and a work held by the work effector. FIG. 4 is a block diagram illustrating a configuration of a control system of the workpiece transfer apparatus according to the first embodiment. FIG. 5 is a diagram showing a configuration of a hand part of a robot arm and a work transfer end effector of a work transfer device according to a second embodiment of the present invention. 6 is a view taken in the direction of arrows VI-VI in FIG. FIG. 7 is a block diagram illustrating a configuration of a control system of the workpiece transfer apparatus according to the second embodiment. FIG. 8 is a diagram illustrating a state in which the operator is aligning the workpiece held by the workpiece transfer end effector.

[First Embodiment]
Next, embodiments of the present invention will be described with reference to the drawings. FIG. 1 is a schematic diagram of a workpiece transfer apparatus 1 according to the first embodiment of the present invention, and FIG. 2 is a configuration of a hand portion of a robot arm 2 and a workpiece transfer end effector (hereinafter simply referred to as “end effector 3”). FIG. 3 is a view showing a work conveying end effector and a work held by the work effector. In FIG. 3, the arm assembly 98 that is a workpiece is indicated by a two-dot chain line.

A workpiece transfer apparatus 1 shown in FIG. 1 includes a robot arm 2, an end effector 3 that is detachably attached to a hand portion of the robot arm 2, and a control device 6 that controls the operation of the workpiece transfer apparatus 1. . In FIG. 1, as an example of work that can be used by the work transfer device 1, a work of attaching an arm assembly 98 that is a work to the carriage 99 in the manufacturing process of the double-arm robot is shown. The arm assembly 98 is obtained by assembling two arms 982 on a support shaft 981. A control device 96 is mounted in the carriage 99, and the control device 96 and the arm assembly 98 are connected by a plurality of cables and tubes (hereinafter referred to as “cables 97”).

[Robot arm 2]
In the workpiece transfer device 1 according to the present embodiment, a 6-axis vertical articulated arm is employed as the robot arm 2. However, the aspect of the robot arm 2 is not limited to this embodiment. The robot arm 2 may be an industrial robot arm corresponding to the application. As the robot arm 2, a vertical articulated arm having three or more axes or a horizontal articulated arm having at least one lifting axis may be employed. Moreover, although the workpiece conveyance apparatus 1 which concerns on this embodiment is provided with the single robot arm 2, it is good also as a multiple arm by providing the several robot arm 2. FIG.

The robot arm 2 includes a base 20, a first link 21 connected to the base 20 via a turning axis S so as to be turnable, and a swingable movement to the first link 21 via a lower arm swinging axis L. The connected second link 22, the third link 23 connected to the second link 22 via the upper arm swinging shaft U so as to be swingable, and the third link 23 can be turned via the wrist turning axis R. The connected fourth link 24, the fifth link 25 connected to the fourth link 24 via the wrist swing axis B so as to be swingable, and the fifth link 25 can be rotated via the wrist rotation axis T. The arm-side interface 26 is connected. The robot arm 2 is provided with a servo motor or a rotation angle detector as an actuator for each axis (all not shown). As the robot arm 2, a known articulated vertical articulated arm may be used, and further detailed description of the robot arm 2 is omitted.

[End effector 3]
As shown in FIGS. 2 and 3, the end effector 3 has a function as a work jig for holding an arm assembly 98 as a work. Further, the end effector 3 has a function as a jig-type pallet for holding each component of the arm assembly 98 so as not to move during storage or transfer in a state where the end effector 3 is detached from the robot arm 2.

The end effector 3 includes a base unit 30 that is attached to the hand portion of the robot arm 2 and a workpiece fixing jig 31 that is detachably connected to the base unit 30. The base unit 30 is fixed to the end effector side interface 32, the base 35, a floating mechanism 33 that connects the base 35 and the end effector side interface 32, an operation tool 34 provided on the base 35, and the base 35. The chuck device 38 is provided. The chuck device 38 is an example of a connection mechanism between the base unit 30 and the workpiece fixing jig 31.

The end effector side interface 32 and the arm side interface 26 are provided with an automatic changer 4 which is an example of a connector. The automatic changer 4 includes a convex unit 4 a provided in the arm side interface 26 and a concave unit 4 b provided in the end effector side interface 32. A commercially available automatic changer (tool changer) for automatically changing the end effector can be used as the automatic changer 4.

In the automatic exchange device 4 according to the present embodiment, the convex unit 4 a is provided with a fitting convex portion 41, a plunger 42 as a lock mechanism provided on the outer peripheral portion of the fitting convex portion 41, a positioning pin 43, A coupling 44 is provided. Further, the concave unit 4 b is provided with a fitting concave portion 46, a plunger groove 47 provided in the inner peripheral portion of the fitting concave portion 46, a positioning hole 48, and an electric coupling 49.

In the automatic exchange device 4 having the above-described configuration, when the fitting convex portion 41 of the convex unit 4a is fitted into the fitting concave portion 46 of the concave unit 4b, the positioning pin 43 is inserted into the positioning hole 48, whereby the convex unit 4a. The concave side unit 4b is positioned (that is, the arm side interface 26 and the end effector side interface 32 are positioned), and the convex side unit 4a is prevented from coming off from the concave side unit 4b by fitting the plunger 42 into the plunger groove 47. The electrical coupling 44 and the electrical coupling 49 are connected.

The floating mechanism 33 displaces the base 35 relative to the end effector side interface 32 within a predetermined range (that is, floats). In the workpiece transfer apparatus 1 according to the present embodiment, a centering unit is employed as the floating mechanism 33. A commercially available centering unit may be used.

The floating mechanism 33 includes a base portion 331 coupled to the base 35 and a top plate 332 coupled to the end effector side interface 32. The top plate 332 can move in a 360 ° free direction within the plane of the top plate 332 with respect to the base 331. That is, the top plate 332 can be translated in the plane of the top plate 332 and rotated around an axis orthogonal to the plane. Further, the top plate 332 can be locked at a desired position with respect to the base 331, and when the lock is released, the top plate 332 is automatically returned to a position where it is centered on the base 331.

The base 35 is provided with two grips 36 for the operator to grip. The operator can move the workpiece together with the base 35 holding the workpiece by grasping these grips 36 with both hands (or with one hand) and applying a force in a desired direction. The form of the grip 36 is not limited as long as the grip 36 has a shape that can be grasped by a hand. For example, the two columnar members fixed to the base 35 as in the present embodiment may be used as the grips 36, respectively. Alternatively, when the base 35 is formed by a plurality of crosspieces, a part of the crosspiece forming the base 35 may be used as the grip 36. As described above, there is no particular difference in shape between the grip 36 and other portions in the base 35.

The operating tool 34 is provided on the base 35 at the grip 36 or in the vicinity thereof. Thereby, the operator can operate the operation tool 34 while holding the grip 36. In the present embodiment, the operation tool 34 is provided on the columnar member forming the grip 36. The operation tool 34 is electrically connected to the control device 6 via the

electric couplings

44 and 49 of the automatic exchange device 4 described above and wirings not shown. At least one of the operation tools 34 is for manually operating the robot arm 2. When the operation tool 34 for manually operating the robot arm 2 is operated, the operation signal is input to the control device 6, and the control device 6 that has received the operation signal moves the robot in accordance with the operation signal. The arm 2 is moved, and as a result, the end effector 3 (and the work held by the end effector 3) is displaced.

One of the operation tools 34 according to the present embodiment is a cross-shaped direction operation key. The direction operation keys are keys corresponding to up, down, left and right when viewed from the operator holding the grip 36. When the operator operates the direction operation keys, the end effector 3 (and the work held by the end effector 3) are displayed. Moves up / down / left / right according to the key operation. However, the operation tool 34 for manually operating the robot arm 2 is not limited to the cross-shaped direction operation key, and may be an operation tool capable of inputting at least a lowering operation, such as a lever, a vertical operation key, a button, or a slider. That's fine.

In addition to the above-described direction operation keys, the operation tool 34 provided in the end effector 3 includes an operation tool (switch) for operating the robot arm 2 such as a forced stop switch and a safety stop switch, a shift switch, and the like. An operation tool or the like for expanding the function of the operation tool 34 may be included. Although not shown, an indicator lamp or the like indicating the operation state of the robot arm 2 may be provided in the vicinity of the grip 36 or the operation tool 34.

The work fixing jig 31 is a restraining tool for restricting the movement of the work, and is a positioning tool for positioning and fixing the work with respect to the base 35. The workpiece fixing jig 31 according to this embodiment includes a jig base 311 and a jig frame 312 fixed to the jig base 311. The jig base 311 is provided with a flange 313 for engaging with the gripping claws 382 of the chuck device 38. The flange 313 is an example of a locking portion that is provided on the workpiece fixing jig 31 side and can be locked by the gripping claws 382 of the chuck device 38. In addition, the latching | locking part provided in the workpiece | work fixing jig 31 side is not limited to the said flange 313, What is necessary is just a shape part which the latching claw 382 can latch.

The jig frame 312 can be formed by combining, for example, a crosspiece member, a column member, and a fastener. However, the jig frame 312 is not limited to this, and may be formed according to a work fixed to the work fixing jig 31. In this embodiment, the work ends are fixed by fastening the hand portions of both arms 982 of the arm assembly 98 to the jig frame 312 and restraining the movement of the base ends of both arms 982 by the jig frame 312. The arm assembly 98 is fixed to the jig 31 so as not to move.

The workpiece fixing jig 31 configured as described above may be a dedicated product corresponding to a workpiece. In other words, various workpieces can be held on the base 35 by changing the aspect of the workpiece fixing jig 31. Since the workpiece fixing jig 31 is not provided with a movable part or an actuator, it can be obtained or manufactured at a low cost.

The chuck device 38 includes a casing 381 fixed to the base 35, three gripping claws 382 that move radially with respect to the casing 381, and a drive actuator (not shown) of the gripping claws 382 that are built in the casing 381. Yes. The chuck device 38 is electrically connected to the control device 6, and opens and closes the gripping claws 382 under the control of the control device 6. 2 shows three gripping claws 382 in an open state, and FIG. 3 shows a state in which the three gripping claws 382 are closed and the flange 313 of the workpiece fixing jig 31 is gripped. By gripping the flange 313 of the workpiece fixing jig 31 with the chuck device 38, the base 35 and the workpiece fixing jig 31 are connected.

[Control device 6]
FIG. 4 is a block diagram showing the configuration of the control system of the work transfer device 1. The robot arm 2, the automatic exchange device 4, the operation tool 34, and the chuck device 38 are communicably connected to the control device 6 shown in FIG. The control device 6 is a so-called computer, and includes an arithmetic processing unit such as a CPU and a storage unit such as a ROM and a RAM (none of which are shown). The storage unit stores a control program executed by the control device 6, various fixed data, and the like. The arithmetic processing unit transmits / receives data to / from an external device. The arithmetic processing unit inputs detection signals from various sensors and outputs control signals to each control target. In the control device 6, processing for controlling various operations of the work transfer device 1 is performed by the arithmetic processing unit reading and executing software such as a program stored in the storage unit. The control device 6 may execute each process by centralized control by a single computer, or may execute each process by distributed control by cooperation of a plurality of computers. Moreover, the control apparatus 6 may be comprised from the microcontroller, the programmable logic controller (PLC), etc.

[Example of operation of work transfer device 1]
Here, the operation of the workpiece transfer apparatus 1 when performing the work of attaching the arm assembly 98 to the carriage 99 using the workpiece transfer apparatus 1 having the above configuration will be described. Conventionally, such work is generally performed using a crane.

The arm assembly 98 is housed in a transfer pallet (not shown) in a state of being held by the work fixing jig 31 in the end effector 3. A base unit 30 is mounted in advance on the hand portion of the robot arm 2.

First, the control device 6 connects the robot arm 2 and the chuck device 38 so that the workpiece fixing jig 31 holding one of the arm assemblies 98 accommodated in the transfer pallet is connected to the base unit 30. To work. Specifically, the control device 6 first operates the robot arm 2 so that the gripping claw 382 of the chuck device 38 moves to a position where the flange 313 of the workpiece fixing jig 31 can be gripped, and then the gripping claw. The chuck device 38 is operated so as to grip the flange 313 by 382. As described above, the base unit 30 and the workpiece fixing jig 31 constituting the end effector 3 are connected.

Subsequently, the control device 6 operates the robot arm 2 so that the arm assembly 98 held by the end effector 3 is moved directly above the carriage 99 placed in the work area. When the arm assembly 98 reaches directly above the carriage 99, the control device 6 temporarily stops the robot arm 2 safely. The operator enters the work area after confirming that the robot arm 2 has stopped. The operator connects cables 97 and the like extending from the arm assembly 98 to the control device 96 in the arm assembly 98. These cables 97 are led into the inside of the carriage 99 from an opening 991 formed on the upper surface of the carriage 99 (see FIG. 1).

Subsequently, as shown in FIG. 1, the operator applies an external force to the base 35 by gripping the grip 36 provided on the end effector 3, and causes the base 35 to move relative to the end effector side interface 32 by the floating mechanism 33. By moving the arm assembly 98 in the horizontal direction, the arm assembly 98 is positioned in the vertical direction and the rotational position with respect to the carriage 99. As the floating mechanism 33 is locked, the arm assembly 98 is held in the positioned position.

Subsequently, the operator places the cables 97 in the opening 991 of the carriage 99, operates the operation tool 34 provided on the end effector 3, and lowers the arm assembly 98 toward the carriage 99. The arm assembly 98 is placed on the carriage 99 by repeating the above. Here, the control device 6 receives the operation signal from the operation tool 34 and operates the robot arm 2 so as to lower the arm assembly 98 held by the end effector 3. Note that the descending speed of the end effector 3 (that is, the speed of the hand portion of the robot arm 2) is that the worker is nearby and that the worker moves the cables 97 into the opening 991 of the carriage 99. Assuming that, it is limited sufficiently late.

When the arm assembly 98 is placed on the carriage 99, the control device 6 operates the chuck device 38 so as to open the gripping claws 382. As a result, the connection between the base unit 30 of the end effector 3 and the workpiece fixing jig 31 is released, and the control device 6 starts the mounting operation of the next arm assembly 98. However, first, the arm assembly 98 is removed from the workpiece fixing jig 31, and the control device 6 transports the end effector 3 not holding the workpiece to a recovery pallet (not shown). The robot arm 2 and the chuck device 38 may be operated so as to release the connection with the workpiece fixing jig 31.

As described above, the end effector 3 of the present embodiment is connected to the end effector side interface 32 connected to the hand portion of the robot arm 2, the base 35 connected to the end effector side interface 32, and the base 35. The workpiece fixing jig 31 and the operating tool 34 provided on the base 35 for receiving the input of the operation of the robot arm 2 are provided. In the above embodiment, the end effector side interface 32 and the base 35 are indirectly connected via the floating mechanism 33.

And the workpiece conveyance apparatus 1 of this embodiment is provided with the robot arm 2, the above-mentioned end effector 3 mounted on the hand portion of the robot arm 2, and the control device 6 that controls the operation of the robot arm 2. It is a feature.

In the end effector 3 and the work transfer device 1, an operation tool 34 that receives an input of an operation of the robot arm 2 is provided in the end effector 3 that holds the work. Thus, since the work held by the end effector 3 and the operation tool 34 are close to each other, the operator manually operates the robot arm 2 by moving the operation tool 34 while visually recognizing the work and its mounting position. Can do. As a result, the operator can more reliably position the workpiece at the mounting position, and the operability of manual operation of the robot arm 2 can be improved.

In the workpiece transfer device 1, the hand portion of the robot arm 2 and the end effector 3 are detachably connected via the automatic changer 4, and the operation tool 34 and the control device 6 are connected to the automatic changer 4 and It is electrically connected via wiring.

Thus, when the end effector 3 is attached to the hand portion of the robot arm 2 by the automatic exchange device 4, the operation tool 34 is automatically electrically connected to the control device 6.

In addition, the end effector 3 of the present embodiment is provided with a grip 36 that is gripped by an operator on the base 35, and is connected to the end effector side interface 32 and the base 35 so as to be relatively movable within a predetermined range. A mechanism 33 is further provided.

By applying an external force to the base 35 by the floating mechanism 33, the base 35 (and the work fixing jig 31 coupled thereto) can be moved relative to the end effector side interface 32. Since the operator can directly move the workpiece fixing jig 31 holding the workpiece, the operator can intuitively position the workpiece.

Further, the end effector 3 of the present embodiment further includes a connection mechanism that removably connects the base 35 and the workpiece fixing jig 31. In this embodiment, the coupling mechanism includes a chuck device 38 fixed to the base 35 and a flange 313 which is a locking portion provided on the workpiece fixing jig 31 and capable of locking the gripping claws 382 of the chuck device 38. And have.

Thus, since the workpiece fixing jig 31 can be attached to and detached from the base unit 30 including the base 35, it is possible to work on a single base unit 30 using a plurality of workpiece fixing jigs 31. . Since the workpiece fixing jig 31 is not mounted with an actuator, it can be manufactured at a relatively low cost. In addition, the workpiece fixing jig 31 can be used as a workpiece fixing jig (or a jig-type pallet) that fixes the workpiece even when the connection with the base unit 30 is released. Then, if the work is held in the work fixing jig 31 in advance and put into operation standby, the time required for the work attachment and transport work can be shortened and the production efficiency can be increased.

[Second Embodiment]
Next, the workpiece conveyance apparatus 1 which concerns on 2nd Embodiment of this invention is demonstrated. FIG. 5 is a view showing the configuration of the hand portion of the robot arm 2 and the work transfer end effector 3 of the work transfer device 1 according to the second embodiment of the present invention, and FIG. 6 is a view taken along arrows VI-VI in FIG. FIG. 7 is a block diagram showing a configuration of a control system of the work transfer device 1 according to the second embodiment, and FIG. 8 shows a state in which an operator aligns a work held by the work transfer end effector 3. FIG. In these drawings, the same or similar members as those in the first embodiment are denoted by the same reference numerals.

In the workpiece transfer apparatus 1 according to the first embodiment described above, the base unit 30 of the end effector 3 and the workpiece fixing jig 31 are detachably connected, whereas in the workpiece transfer apparatus 1 according to the present embodiment, This is mainly different in that a workpiece fixing jig 31 (more specifically, a jig base 311) is fixed to the base unit 30 of the end effector 3. Except for this difference, the workpiece transfer apparatus 1 according to both the first and second embodiments has substantially the same or similar configuration. Therefore, in the following, the end effector 3 will be described in detail, and the description of the remaining configuration, operation, and effect will be omitted.

As shown in FIGS. 5 and 6, the end effector 3 according to the present embodiment is detachably coupled to the base unit 30, which is attached to the hand portion of the robot arm 2, and to the base unit 30. It is comprised from the workpiece fixing jig 31. FIG. In the present embodiment, the workpiece fixing jig 31 is integrally assembled with the base unit 30. That is, the chuck device 38 is not provided between the base unit 30 and the workpiece fixing jig 31. Therefore, as shown in FIG. 7, the control system of the work transfer device 1 according to the present embodiment includes a control device 6, a robot arm 2, an automatic exchange device 4, and an operation tool 34 that are electrically connected to the control device 6. It has. Further, since the end effector 3 according to the present embodiment does not include the chuck device 38 as a coupling mechanism for the base unit 30 and the workpiece fixing jig 31, the structure is compared with the end effector 3 according to the first embodiment. It becomes simple and the cost can be reduced.

The base unit 30 includes an end effector side interface 32, a base 35, a floating mechanism 33 that connects the base 35 and the end effector side interface 32, and an operation tool 34 provided on the base 35. The base 35 is provided with two grips 36 for the operator to grip the base 35.

The work fixing jig 31 has a band 314 that restrains the upper arms of both arms 982 of the arm assembly 98, and the band 314 is fastened and fixed to the base 35 via a spacer 315. The spacer 315 adjusts the relative position of the workpiece with respect to the base 35.

In the present embodiment, in order to restrict the movement of the lower arm with respect to the upper arm of both arms 982 of the arm assembly 98 and the movement of the upper arm with respect to the support shaft 981, a restraining tool 50 that is an additional work fixing jig is provided. Yes. The restraining tool 50 is a frame in which a horizontal beam 501 and a vertical beam 502 are assembled in a cross shape. The lower arms of both arms 982 of the arm assembly 98 are fastened and fixed to both ends of the horizontal rail 501. The horizontal rail 501 restricts the relative movement of both arms 982 of the arm assembly 98. The vertical beam 502 is inserted into the horizontal beam 501 and a hole (for example, a hole for fixing to the carriage 99) of the support shaft 981 of the arm assembly 98. The vertical beam 502 restricts relative movement between the arms 982 and the support shaft 981. The restraint 50 is not coupled to the base 35, but may be coupled to the base 35.

Here, the operation of the workpiece transfer apparatus 1 when performing the work of attaching the arm assembly 98 to the carriage 99 using the workpiece transfer apparatus 1 according to the second embodiment will be described.

The arm assembly 98 is accommodated in a transfer pallet (not shown) while being held by the work fixing jig 31 of the end effector 3. The control device 6 operates the robot arm 2 so that the end effector 3 holding one of the arm assemblies 98 accommodated in the transfer pallet is attached to the hand portion of the robot arm 2. Specifically, the control device 6 first moves the convex side unit 4a of the automatic exchange device 4 provided in the robot arm 2 directly above the concave side unit 4b, and then moves the convex side unit 4a to the concave side unit 4b. The robot arm 2 is moved so as to be lowered toward. When the convex unit 4a is fitted into the concave unit 4b, the control device 6 operates the automatic exchange device 4 (particularly the plunger 42) so that the connection with the convex unit 4a is locked to the concave unit 4b. Let As described above, the end effector 3 is attached to the hand portion of the robot arm 2.

Subsequently, the control device 6 operates the robot arm 2 so that the arm assembly 98 held by the end effector 3 is moved directly above the carriage 99 placed in the work area. When the arm assembly 98 reaches directly above the carriage 99, the control device 6 temporarily stops the robot arm 2 safely. The operator enters the work area after confirming that the robot arm 2 has stopped. The operator connects cables 97 and the like extending from the arm assembly 98 to the control device 96 in the arm assembly 98. These cables 97 are led into the inside of the carriage 99 from an opening 991 formed on the upper surface of the carriage 99.

Next, as shown in FIG. 8, the operator applies an external force to the base 35 by gripping the grip 36 provided on the end effector 3, and causes the base 35 to move relative to the end effector side interface 32 by the floating mechanism 33. By moving the arm assembly 98 in the horizontal direction, the arm assembly 98 is positioned in the vertical direction and the rotational position with respect to the carriage 99. As the floating mechanism 33 is locked, the arm assembly 98 is held in the positioned position.

Subsequently, the operator places the cables 97 in the opening 991 of the carriage 99, operates the operation tool 34 provided on the end effector 3, and lowers the arm assembly 98 toward the carriage 99. The arm assembly 98 is placed on the carriage 99 by repeating the above. Here, the control device 6 receives the operation signal from the operation tool 34 and operates the robot arm 2 so as to lower the arm assembly 98 held by the end effector 3.

When the arm assembly 98 is placed on the carriage 99, the control device 6 operates the automatic exchange device 4 (particularly, the plunger 42) so that the connection lock between the concave unit 4b and the convex unit 4a is released. As a result, the connection between the robot arm 2 and the end effector 3 is released, and the control device 6 starts the mounting operation of the next arm assembly 98. However, first, the arm assembly 98 is removed from the end effector 3, and the control device 6 transports the end effector 3 not holding the workpiece to a recovery pallet (not shown), where the robot arm 2 and the end effector are transported. The robot arm 2 may be operated so as to release the connection with the robot 3.

The preferred embodiment of the present invention has been described above. From the foregoing description, many modifications and other embodiments of the present invention are obvious to one skilled in the art. Accordingly, the foregoing description should be construed as illustrative only and is provided for the purpose of teaching those skilled in the art the best mode of carrying out the invention. The details of the structure and / or function may be substantially changed without departing from the spirit of the invention.

1: Work transfer device 2: Robot arm 20: Bases 21 to 25: Link 26: Arm side interface 3: End effector for work transfer 30: Base unit 31: Work fixing jig 311: Jig base 312: Jig frame 313: Flange (an example of a locking part)
314: Band 315: Spacer 32: End effector side interface 33: Floating mechanism 331: Base 332: Top plate 34: Operating tool 35: Base 36: Grip 38: Chuck device (an example of a coupling mechanism)
4: Automatic changer 4a: Convex side unit 4b: Concave side unit 41: Fitting convex part 42: Plunger 43: Positioning pin 44: Electric coupling 46: Fitting concave part 47: Plunger groove 48: Positioning hole 49: Electric cup Ring 6: Control device 50: Restraint device 96: Control device 97: Cables 98: Arm assembly 99: Cart 991: Opening

Claims

An end effector for workpiece transfer attached to a robot arm,
An interface connected to the hand portion of the robot arm;
A base connected to the interface;
A workpiece fixing jig connected to the base;
An operating tool provided on the base for receiving an input of an operation of the robot arm;
An end effector for workpiece conveyance comprising:
The base is provided with a grip gripped by an operator,
A floating mechanism for connecting the interface and the base so as to be relatively movable within a predetermined range;
The end effector for workpiece conveyance according to claim 1.
A connection mechanism for detachably connecting the base and the workpiece fixing jig;
The work effector end effector according to claim 1 or 2.
The coupling mechanism includes a chuck device fixed to the base, and a locking portion provided on the workpiece fixing jig and capable of locking a gripping claw of the chuck device.
The work effector end effector according to claim 3.
A robot arm,
The work transfer end effector according to any one of claims 1 to 4, which is attached to a hand portion of the robot arm;
A control device for controlling the operation of the robot arm,
Work transfer device.
The hand part of the robot arm and the work effector end effector are detachably connected via an automatic changer, and the operation tool and the controller are electrically connected via the automatic changer and wiring. Connected,
The workpiece transfer apparatus according to claim 5.