WO2018212200A1

WO2018212200A1 - Robot and method for operating same, robot system, and hand

Info

Publication number: WO2018212200A1
Application number: PCT/JP2018/018807
Authority: WO
Inventors: 康彦橋本; 信恭下村; 掃部　雅幸; 裕規高山
Original assignee: 川崎重工業株式会社
Priority date: 2017-05-19
Filing date: 2018-05-15
Publication date: 2018-11-22
Also published as: JP2018192598A

Abstract

This robot, which is a robot for mounting a seat (71) inside a vehicle body of a vehicle, is provided with: an articulated robot arm, in which a hand (41) is provided on the tip of an arm part with a wrist part therebetween; and a controller which controls the motion of the robot arm. The seat (71) is provided with a seat part (73) and a backrest part (72); the backrest part (72) is provided with a frame (74) which supports the backrest part (72); the hand (41) is configured to be capable of holding and releasing the frame (74) of the backrest part (72); and the controller is configured to control the motion of the robot arm such that the hand (41) holds and releases the frame (74) of the backrest part (72).

Description

Robot, operation method thereof, robot system, and hand

The present invention relates to a robot, an operation method thereof, a robot system, and a hand.

Conventionally, it is known to attach a seat to a vehicle by a robot. For example, in the technique described in Patent Document 1, the robot attaches the seat to the vehicle so that the hand grips the front part of the seat cushion and the upper part of the seat back.
In the technique described in Patent Document 2, the robot attaches the seat to the vehicle so that the hand supports the lower end portion of the seat back and the upper portion of the seat back.

Japanese Patent Laid-Open No. 05-254466 Japanese Patent Laid-Open No. 06-344963

However, the conventional technology has a problem that the seat (seat) cannot be stably conveyed because the hand grips or supports the cushion of the seat back (backrest portion).

The present invention has been made to solve the above-described problems, and an object thereof is to provide a robot capable of stably transporting a seat, an operation method thereof, a robot system, and a hand.

In order to solve the above problems, a robot according to an aspect of the present invention is a robot for attaching a seat inside a vehicle body of a vehicle, and a hand is provided at the tip of an arm via a wrist. An articulated robot arm and a controller for controlling the operation of the robot arm, the seat includes a seat portion and a backrest portion, and the backrest portion supports the backrest portion. A frame, wherein the hand is configured to hold and release the frame of the backrest, and the controller holds and releases the frame of the backrest by the hand The robot arm is configured to control the operation of the robot arm.

According to this configuration, since the hand holds the frame that supports the seat back portion, the robot arm can stably convey the seat.

The seat portion and the backrest portion are separated from each other, and the hand is configured to be inserted between the seat portion and the backrest portion from the front of the seat, and the control The robot arm inserts the hand between the seat part and the backrest part from the front of the seat, and in that state, holds and releases the frame of the backrest part by the hand. It may be configured to control the operation.

According to this configuration, since the hand is inserted between the seat portion and the backrest portion from the front of the seat and the frame of the backrest portion is held by the hand in this state, the frame that supports the backrest portion of the seat Can be suitably held.

The hand has a main body attached to the wrist, a support part capable of supporting the frame of the backrest part at a tip part, and a pair of support members extending so as to face each other, A support member driver that drives a base end portion of the pair of support members so as to widen and narrow a distance between the pair of support members, and the controller includes the pair of support members, The pair of support members are inserted between the seat portion and the backrest portion from the front of the seat so that the opposing direction of the pair of support members coincides with the width direction of the seat, and in this state, the pair of support members The operation of the robot arm including the operation of the support member driver is controlled so that the frame of the backrest portion is held and released by the support portion by widening and narrowing the interval. The Good.

According to this configuration, the pair of support members are inserted between the seat portion and the backrest portion from the front of the seat so that the facing direction of the pair of support members coincides with the width direction of the seat, In that state, by widening and narrowing the distance between the pair of support members, the frame of the backrest part is held and released by the support part, so it is easy to use the separation region between the seat part and the backrest part. The back frame can be held and released.

In the left-handed orthogonal coordinate system in which the Y axis is parallel to the rotation axis of the wrist torsion joint, the pair of support members obliquely intersects a predetermined plane parallel to the XY plane and is parallel to the Y axis. They may be opposed to each other on the plane and may extend in the direction opposite to the Z direction and in the X direction.

According to this configuration, when the seat before installation is placed horizontally, the hand has a rotational axis of the torsional joint of the wrist (in other words, the Y axis) parallel to the width direction of the seat, and the Z direction is upward. And the X direction is the rear direction of the seat, and the pair of supporting members are positioned above the seat and in front of the backrest, the predetermined parallel to the XY plane of the hand The planes of the two are horizontal, and the pair of support members are obliquely downward and face the rear of the seat. In this state, when the hand is moved obliquely downward and in the rearward direction of the seat, the pair of support members can be inserted from the front into the separation region between the seat portion and the backrest portion of the seat. Thereafter, when the distance between the pair of support members is increased by the support member driver, the frame of the backrest portion can be held.
On the other hand, when the seat is attached to the vehicle body, when the hand is inserted into the vehicle in a posture in which the rotational axis of the torsional joint of the wrist (in other words, the Y axis) is parallel to the width direction of the vehicle body, the seat held by the hand is Look forward. Therefore, the work of attaching the seat to the vehicle body can be easily performed thereafter.

The hand is further configured to be capable of holding and releasing the front of the seat, and the controller is further configured to hold and release the front of the seat by the hand. The robot arm may be configured to control the operation.

According to this configuration, since the front portion of the seat is further held by the hand, the seat can be suitably held.

A robot system according to another aspect of the present invention includes any one of the robots described above and an operating device that outputs an operation command signal in response to an operation by an operator, and the controller includes the operation command. The robot arm is configured to control the operation of the robot arm according to the signal.

According to this configuration, the robot can be remotely operated.

A robot operation method according to still another aspect of the present invention is a robot operation method for mounting a seat inside a vehicle body of a vehicle, wherein the robot is connected to a tip of an arm portion via a wrist portion. An articulated robot arm provided with a hand; the seat includes a seat portion and a backrest portion; the backrest portion includes a frame that supports the backrest portion; and the hand includes the backrest The frame is configured to be capable of holding and releasing the frame, and the operation method includes the step of operating the robot arm to hold and release the frame of the backrest by the hand (a) )including.

Further, a hand according to still another aspect of the present invention is a hand provided via a wrist portion at a tip of an arm portion of a robot arm of a robot for mounting a seat inside a vehicle body of the vehicle, wherein the seat is A seat portion and a backrest portion separated from each other, the backrest portion including a frame that supports the backrest portion, and the hand includes a main body attached to the wrist portion, and a back portion at the back portion. Each of the support portions has a support portion capable of supporting the frame of the bent portion, and is provided on the main body and a pair of support members opposed to each other, and widens and narrows the distance between the pair of support members, thereby supporting the support portion. And a support member driver configured to hold and release the frame of the backrest portion, wherein the pair of support members has a Y axis parallel to a rotation axis of the torsion joint of the wrist portion. In the left-hand orthogonal coordinate system, and extends in and the X-direction in X-Y direction opposite to face each other and the Z direction on a plane parallel to and Y axis intersect at an angle with respect to a predetermined plane parallel to the plane.

The seat includes a frame that supports the seat, and the hand is in contact with the rotational axis of the torsional joint of the wrist on the opposite side of the pair of support members when viewed from the Z direction. A contact member driver provided on the main body and configured to contact and separate the contact member from the frame of the seat by moving the contact member in the X direction. May be further provided.

According to this configuration, since the seat portion is sandwiched between the pair of support members that hold the frame of the backrest portion and the contact member that contacts the frame of the seat portion, the configuration for holding the front portion of the seat portion is simplified. Is done.

The present invention has an effect that a robot capable of stably transporting a seat by a robot arm, an operation method thereof, a robot system, and a hand can be provided.

FIG. 1 is a schematic diagram showing a configuration of a robot system according to an embodiment of the present invention. FIG. 2 is a functional block diagram showing the configuration of the control system of the robot system of FIG. FIG. 3 is a perspective view illustrating a configuration of the operation device in FIG. 1. FIG. 4 is a perspective view showing a configuration of the hand of FIG. FIG. 5 is a side view showing the configuration of the backrest holding portion and the seat holding portion of the hand of FIG. 4. FIG. 6 is a plan view showing the configuration of the backrest holding portion of the hand of FIG. FIG. 7 is a side view showing a structure for attaching a seat to a vehicle body.

Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings. In the following, the same or corresponding elements are denoted by the same reference symbols throughout all the drawings, and redundant description thereof is omitted. In the following drawings, elements not related to the present invention are omitted. In each drawing, an element that is not described may be omitted, and thus may not match each other in a plurality of drawings.

(overall structure)
A robot according to an embodiment of the present invention is a robot for mounting a seat inside a vehicle body of a vehicle, and is an articulated robot arm in which a hand is provided via a wrist at the tip of an arm, and the robot A controller for controlling the operation of the arm, wherein the seat includes a seat portion and a backrest portion, the backrest portion includes a frame that supports the backrest portion, and the hand includes the backrest. The controller is configured to be able to hold and release the frame of a part, and the controller controls the operation of the robot arm to hold and release the frame of the backrest part by the hand. It is configured.

The robot of this embodiment may be an articulated robot. The robot may be operated by an operating device, or may automatically operate according to an operation program. Below, the form (robot system) by which a robot is operated with an operating device is illustrated.

The robot according to the present embodiment is applied to an operation for mounting a seat inside a vehicle body. The “vehicle” only needs to have a seat. An example of a typical vehicle is an automobile. Below, the operation | work which a robot attaches a seat to the vehicle body of a motor vehicle is illustrated.

[Robot system configuration]
FIG. 1 is a schematic diagram illustrating a configuration of a robot system according to the present embodiment. Referring to FIG. 1, the robot system 100 according to the present embodiment includes a robot arm 1, an operating device 2, a controller 3, a camera 4, and a monitor 5. The robot arm 1 and the controller 3 constitute a robot 10. The robot arm 1 includes a hand 4 as an end effector.

FIG. 2 is a functional block diagram showing the configuration of the control system of the robot system 100 of FIG. Referring to FIG. 2, the controller 3 includes an arm control unit 3a and a display control unit 3b. Referring to FIGS. 1 and 2, in the robot system 100, the camera 4 captures a scene in the operating range of the robot arm 1 and transmits the captured image signal to the display control unit 3b. The display control unit 3 b converts the received imaging signal into an image display signal and transmits it to the monitor 5. The monitor 5 displays an image according to the received image display signal. Thereby, the image captured by the camera 4 is displayed on the monitor 5. The operator operates the operating device 2 to operate the robot arm 1 while viewing the image displayed on the monitor 5. When the operation device 2 is operated, an operation signal corresponding to the operation is transmitted to the arm control unit 3a. The arm control unit 3 a generates a control signal for controlling the operation of the robot arm 1 according to the received operation signal, and transmits the control signal to the robot arm 1. Thereby, the robot arm 1 moves according to the operation of the operation device 2.

Hereinafter, the elements of the robot system 100 will be described in order.

A known camera 4 can be used. The camera 4 is installed at a location where the operation of the robot arm 1 can be imaged. Here, one camera 4 is installed. When it is necessary to monitor the operation of the robot arm 1 from a plurality of viewpoints, a plurality of cameras 4 may be installed. In this case, the controller 3 displays the images of the plurality of cameras 4 on the monitor 5 by, for example, appropriately dividing the display screen of the monitor 5. The image display unit of the monitor 5 may be configured with a touch panel, a camera selection area may be displayed on the display screen, and a captured image of the camera 4 selected by the operator may be displayed.

The monitor 5 can be a known one. The monitor 5 is installed in the vicinity of the operation device 2.

The controller 3 includes, for example, a calculation unit (not shown) including a microcontroller, an MPU, an FPGA (Field Programmable Gate Array), a PLC (Programmable Logic Controller), a logic circuit, and a storage unit (not shown) including a ROM and a RAM. (Not shown). The arm control unit 3a and the display control unit 3b are functional blocks that are realized when the calculation unit reads and executes a predetermined control program stored in the storage unit.

<Robot arm 1>
The robot arm 1 includes a base 15, an arm part 13 supported by the base 15, and a wrist part 14 supported at the tip of the arm part 13 and to which an end effector 41 is attached. As shown in FIG. 1, the robot arm 1 is an articulated robot arm having three or more joints JT1 to JT6, and a plurality of links 11a to 11f are sequentially connected. More specifically, in the first joint JT1, the base 15 and the base end portion of the first link 11a are coupled so as to be rotatable about an axis extending in the vertical direction. In the second joint JT2, the distal end portion of the first link 11a and the proximal end portion of the second link 11b are coupled to be rotatable about an axis extending in the horizontal direction. In the third joint JT3, the distal end portion of the second link 11b and the proximal end portion of the third link 11c are coupled to be rotatable about an axis extending in the horizontal direction. In the fourth joint JT4, the distal end portion of the third link 11c and the proximal end portion of the fourth link 11d are coupled so as to be rotatable about an axis extending in the longitudinal direction of the fourth link 11c. In the fifth joint JT5, the distal end portion of the fourth link 11d and the proximal end portion of the fifth link 11e are coupled so as to be rotatable about an axis orthogonal to the longitudinal direction of the link 11d. In the sixth joint JT6, the distal end portion of the fifth link 11e and the proximal end portion of the sixth link 11f are coupled so as to be torsionally rotatable. A mechanical interface is provided at the tip of the sixth link 11f. A hand 41 as an end effector corresponding to the work content of the robot arm 1 is detachably attached to the mechanical interface.

The arm portion 13 of the robot arm 1 is formed by a link-joint joint composed of the first joint JT1, the first link 11a, the second joint JT2, the second link 11b, the third joint JT3, and the third link 11c. Is formed. Further, the wrist portion of the robot arm 1 is formed by a link-joint coupling body including the fourth joint JT4, the fourth link 11d, the fifth joint JT5, the fifth link 11e, the sixth joint JT6, and the fourth link 11f. 14 is formed.

The joints JT1 to JT6 are provided with a drive motor (not shown) as an example of an actuator that relatively rotates two members connected to each other. The drive motor is, for example, a servo motor that is servo-controlled via a servo amplifier by a control signal transmitted from the controller 3. The joints JT1 to JT6 are provided with a rotation angle sensor (not shown) for detecting the rotation angle of the drive motor and a current sensor (not shown) for detecting the current of the drive motor. Yes. The controller 3 generates control signals for the arm portion 13 and the wrist portion 14 of the robot arm 1 using the detection signal of the rotation angle sensor and the detection signal of the current sensor as a hoodback signal, and the arm portion 13 and the wrist portion 14. Feedback control of the operation. The controller 3 controls a support member driver 52 and a contact member driver 61 of the hand 41, which will be described later, in accordance with operation signals (ON and OFF signals) from the operation device 2.

<Operator 2>
FIG. 3 is a perspective view showing the configuration of the operation device 2 of FIG. Referring to FIG. 3, the operating device 2 includes a grip portion 21 that is gripped by an operator, an arm portion 22 that supports the grip portion 21 so as to be movable, and a motor 24. The motor 24 is composed of a servo motor.

The grip portion 21 is formed so that the operator can grip and grip the grip portion 21 so that the operator can easily grip the grip portion 21. The operator moves the robot arm 1 by operating the robot arm 1 by moving the grip unit 21 while the operator grips and holds the grip unit 21.

The grip part 21 is supported by a support part 23. The gripping part 21 is connected to the support part 23 via a cylindrical connection part 23c. The support part 23 is movably supported by the arm part 22. The arm part 22 is connected to a motor 24.

The arm portions 22 each have a joint 22a, and are formed so as to be able to be bent around the joint 22a. Therefore, the arm part 22 is connected so that the grip part side arm part 22b and the motor side arm part 22c can be bent by the joint 22a.

The motor 24 is supported by the support base 30. Six motors 24 are provided. The six motors 24 have one side formed by the pair of motors 24 and are arranged in a triangular shape on the support base 30. More specifically, the six motors 24 are arranged so that the rotation axes (center axes) of the main shafts of the pair of motors 24 constitute one side of an equilateral triangle. A pair of arm portions 22 is provided corresponding to the pair of motors 24 constituting one side. The pair of arm portions 22 sandwiches one side 23 a of the three sides that define the outer shape of the support portion 23. A shaft 23 b is disposed on the side 23 a of the support portion 23 through the inside of the support portion 23. Both ends of the shaft 23b are rotatably held around three mutually orthogonal axes including the central axis of the shaft 23b by two gripping portion side arm portions 22b sandwiching the side 23a. As a result, the support portion 23 is pivotally supported around three axes orthogonal to each other including the central axis of the shaft 23b. Thus, the support part 23 is supported by the two grip part side arm parts 22b so as to be rotatable around three axes orthogonal to each other including the central axis of the axis 23b. The configuration of the side 23 a and the shaft 23 b in the support portion 23 is the same for the three sides of the support portion 23. Here, the central axes of the three axes 23b form an equilateral triangle.

In addition, the above-described joint 22a connects the grip portion side arm portion 22b to the motor side arm portion 22c so as to be rotatable around three axes orthogonal to each other including an axis parallel to the center axis of the output shaft of the pair of motors 24. is doing.

Therefore, the rotation angles of the six motors 24 are uniquely determined according to the position and posture of the support portion 23.

Next, the control system of the operation device 2 will be described. In the controller 2, the six motors 24 are servo-controlled (position control) by the controller 3 via servo amplifiers. Each of the six motors 24 is provided with a rotation angle sensor (not shown). The rotation angle sensor is composed of an encoder, for example. A detection signal of the rotation angle sensor is transmitted to the controller 3. A detection signal of the rotation angle sensor is an operation signal of the operation device 2 described above. The controller 3 detects the position and orientation of the support portion 23 based on the detection signal of the rotation angle sensor, and generates a control signal so that the hand 41 of the robot arm 1 takes the position and orientation of the support portion 23. This is transmitted to the robot arm 1. Further, the controller 3 feedback-controls the rotation angles of the six motors so that the support unit 23 takes the reference position and the reference posture based on the detection signal of the rotation angle sensor. However, the output torque of each motor is set to such an extent that the operator feels an appropriate reaction force when moving the grip portion 21.

Further, push

buttons

21 a and 21 b are provided on the grip portion 21 of the operation device 2. The push button 21a is an operation button that turns on and off a support member driver 52 of a backrest holding unit 45 and a contact member driver 61 of a seat holding unit 46, which will be described later. The push button 21a is configured, for example, so as to switch between an on operation command and an off operation command each time it is pressed. The push button 21b is an operation button for locking and releasing a second main body 43 of the hand 41 described later with respect to the first main body 42. Since the push button 21b is not directly related to the present invention, further explanation is omitted.

Next, the operation when the robot arm 1 is operated by the operation device 2 will be described. When operating the arm portion 13 and the wrist portion 14 of the robot arm 1 with the operation device 2, the operator holds the grip portion 21. In this state, the gripper takes the reference position and the reference posture under the control of the controller 3. While the operator holds the grip part 21, the grip part 21 is moved in accordance with the direction in which the robot arm 1 is desired to be moved.

When the operator moves the gripping part 21, the support part 23 that supports the gripping part 21 moves with the movement of the gripping part 21. Further, the six arm portions 22 connected to the support portion 23 are moved by the movement of the support portion 23.

When the six arm portions 22 are moved, the output shafts of the six motors 24 are rotated accordingly, and the six rotation angle sensors detect the rotation angles, and the detection signals are output to the controller 3 as operation signals. Based on the detection signals of these rotation angle sensors, the controller 3 generates a control signal such that the hand 41 of the robot arm 1 takes a position and posture corresponding to the position and posture of the support portion 23, and outputs this control signal to the robot 3. Send to arm 1 Then, the robot arm 1 operates so that the hand 41 takes a position and posture corresponding to the position and posture of the support portion 23. Thereby, the operator can operate the robot arm 1 as intended by operating the grip portion 21 of the operating device 2.

On the other hand, during this time, the controller 3 performs feedback control so that the gripper 21 takes the reference position and the reference posture, and the gripper 21 is moved against this control. Feel the reaction force. When the operator releases the grip portion 21, the grip portion 21 returns to the reference position and the reference posture under the control of the controller 3.

The operator presses the push button 21a when turning on or off the support member driver 52 of the backrest holding part 45 of the hand 41 and the contact member driver 61 of the seat holding part 46. Then, the support member driver 52 of the backrest holding part 45 of the hand 41 and the contact member driver 61 of the seat holding part 46 are turned on or off.

In addition, you may perform bilateral control using the operation device 2. FIG.

<Hand 41>
Before describing the hand 41, the seat 71 and the seat fixing portion 81 will be described. Referring to FIG. 7, the seat 71 has a backrest 72 and a seat 73. The backrest 72 has a first frame 74 formed in a frame body whose front surface bulges slightly forward, the back surface is flat, and the whole is inclined rearward. A cushion portion is disposed on the front surface of the first frame 74. The seat portion 73 is configured by arranging a cushion portion on a second frame 75 extending horizontally. A plurality of fitting members 76 having pin holes are provided on the lower surface of the second frame 75. The lower portion of the first frame 74 is connected to the rear end portion of the second frame 75 so as to be rotatable within a predetermined angular range. Accordingly, although the backrest 72 and the seat 73 are connected to each other by the first frame 74 and the second frame 75 that support the backrest 72 and the seat 73, the respective cushions are separated from each other and will be described later between them. A region into which the pair of

support members

53A and 53B of the hand 41 to be inserted can be inserted is formed. In the present invention, “the seat portion and the backrest portion are separated” means that the cushion portion of the seat portion 73 and the cushion portion of the backrest portion 72 are thus separated. A member denoted by reference numeral 59 is an outer buckle of a seat belt.

The seat fixing portion 81 has a rectangular parallelepiped base 81a. A plurality of fitting pins 81b project from the upper surface of the base 81a. The fitting pin 81b arranged on the front side is fitted with the pin hole of the fitting member 76 arranged on the front side of the second frame 75 of the seat portion 73, and the fitting pin 81b arranged on the rear side is the second frame. 75 is arranged so as to be fitted to the pin hole of the fitting member 76 arranged on the rear side of 75.

Next, the hand 41 will be described. FIG. 4 is a perspective view showing the configuration of the hand 41 of FIG. 1 and 4, a reference coordinate system is set (defined) in the hand 41 in the control of the operation of the hand 41 by the controller 3. This reference coordinate system is a left-handed orthogonal coordinate system, and the Y-axis is parallel to the rotation axis 401 in the torsional rotation of the sixth link 11f of the wrist portion 14. Here, for convenience, in this reference coordinate system, the positive directions of the X, Y, and Z axes are referred to as the X, Y, and Z directions, respectively, and the negative directions of the X, Y, and Z axes are respectively referred to. The directions are referred to as the opposite direction of the X direction, the opposite direction of the Y direction, and the opposite of the Z direction, respectively. Further, the positive and negative directions of the X axis, the Y axis, and the Z axis are referred to as an X axis direction, a Y axis direction, and a Z axis direction, respectively.

The hand 41 includes main bodies 42 to 44, a backrest holding portion 45, and a seat holding portion 46. The main bodies 42 to 44 include a first main body 42, a second main body 43, and a connecting portion 44 that connects the first main body 42 and the second main body 43.

The first main body 42 is formed so as to extend on a plane parallel to the XY plane. The first main body 42 includes, for example, a pair of frames 42b that are spaced from each other and extend in the Y-axis direction, a first substrate 201 that connects ends in the Y direction of the pair of frames 42b, and a pair of frames. And a flange portion 42a that connects ends of the direction opposite to the Y direction of 42b. The flange portion 42a is made of, for example, a plate-like member parallel to the XZ plane, and a circular through hole 42c is formed in the center portion. The flange portion 42 a is attached to the mechanical interface of the wrist portion 14 of the robot arm 1. The rotation shaft 401 in the torsional rotation of the sixth link 11f passes through the center of the through hole 42c.

Referring to FIGS. 4 and 7, the second main body 43 is formed to extend on a predetermined first plane 402 parallel to the XY plane. The second main body 43 includes, for example, a frame body 43a composed of four frames combined in a rectangular shape so as to extend on a predetermined first plane 402, and an upper surface of an end portion in the X direction of the frame body 43a. And a second substrate 203 provided. For example, the second substrate 203 is formed by stacking two plate-like members.

The first substrate 201 and the second substrate 203 of the first main body 42 are connected by four columnar connecting members 313 so as to overlap when viewed from the Z-axis direction. The four columnar connecting members 313 constitute the connecting portion 44.

4 to 7, the backrest holding portion 45 is provided at the central portion of the side surface on the X direction side of the frame body 43 a of the second main body 43. The backrest holding part 45 includes a pair of support members 53 A and 53 B and a support member driver 52. The pair of

support members

53A and 53B obliquely intersect a predetermined first plane 402 parallel to the XY plane and face each other on a predetermined second plane 403 parallel to the Y axis and opposite to the Z direction. Direction and in the X direction. Here, the pair of

support members

53A and 53B are each formed in a plate shape, and in a plate shape in which the side surface opposite to the opposite side surface extends linearly from the base end to the front end and the width becomes narrower. Is formed. Of course, the shape of the pair of

support members

53A and 53B is not limited to this, and may be, for example, a rod shape.

Referring to FIG. 6, support portions 54 A and 54 B that support the frame 74 of the backrest portion 72 of the seat 71 are provided at the distal ends of the pair of support members 53 A and 53 B. One support portion 54A is provided as a projection protruding in the direction opposite to the Y direction at the tip of the support member 53A, and the side surface in the direction opposite to the X direction is formed as a flat inclined surface 58A inclined in the X direction. Has been. The other support portion 54B is provided as a protrusion protruding in the Y direction at the tip of the support member 53B, and the side surface opposite to the X direction is formed as a flat inclined surface 58B inclined in the X direction. . As described above, the first frame 74 of the backrest portion 72 is formed in a frame body having a flat rear surface (rear surface) and inclined rearward, so that as shown in the enlarged view of the portion A in FIG. When the spacing between the

support members

53A and 53B is increased at a predetermined insertion position, the pair of

support portions

54A and 54B abut against the lower end portion of the first frame 74, and the

inclined surfaces

58A and 58B respectively It contacts the rear surface and supports the lower end in the upward direction.

The support member driver 52 drives the base end portions of the pair of

support members

53A and 53B so as to widen and narrow the distance between the pair of

support members

53A and 53B. When the support member driver 52 increases the distance between the pair of

support members

53A and 53B, the backrest 72 is held by the hand 41, and when the support member driver 52 decreases the distance between the pair of

support members

53A and 53B, The drooping part 72 is released from the hand 41. The support member driver 52 is constituted by an air chuck, for example.

Referring to FIGS. 4 to 7, the pair of seat holding portions 46 includes an end portion in a direction opposite to the X direction on the side surface on the Y direction side of the frame body 43 a of the second main body 43, and a direction opposite to the Y direction. It is provided at the end of the side surface opposite to the X direction. The pair of seat holding portions 46 are provided symmetrically with respect to the center plane of the second main body 43 in the Y-axis direction. Therefore, below, the seat holding part 46 provided on the side surface on the Y direction side of the frame 43a will be described, and the description of the other seat holding part 46 will be omitted.

The seat holding part 46 includes a contact member 63 and a contact member driver 61. The abutting member 63 extends along the Z axis with the abutting member 63 that abuts the front end of the second frame 75 of the seat portion 73, the abutting member 63 is fixed to the distal end portion, and the proximal end portion is abutted. And a support member 62 connected to the contact member driver 61. The contact member driver 61 is provided at an end portion of the side surface on the Y direction side of the frame body 43a opposite to the X direction, and is configured to advance and retract the base end portion of the support member 62 in the X direction. The abutting member driver 61 is constituted by an air cylinder, for example.

When the pair of

support members

53A and 53B of the backrest holding portion 45 are located at the predetermined insertion position described above, the seat holding portion 46 comes into contact with the base end portion of the support member 62 when it advances in the X direction. When the member 63 comes into contact with the front end of the second frame 75 of the seat portion 73 and the base end portion of the support member 62 moves backward in the direction opposite to the X direction, the contact member 63 moves from the front end of the second frame 75 of the seat portion 73. Designed to be separated. The seat portion 73 is held and released by the hand 41 by the contact and separation of the seat portion 73 of the contact member 63 from the front end of the second frame 75.

[Operation of Robot System 100]
Next, the operation of the robot system 100 configured as described above will be described separately for the holding operation of the seat 71 and the mounting operation of the seat 71.

<Seat holding action>
Referring to FIGS. 1, 3 to 7, in the initial state, the support member driver 52 and the contact member driver 61 of the hand 41 are off, and the distance between the pair of

support members

53A and 53B is narrowed. Further, the contact member 63 is retracted in the direction opposite to the X direction. Further, the push button 21a of the operation device 2 is switched so as to instruct an on-operation when pressed. From this state, the operator operates the grip portion 21 of the operating device 2 while looking at the monitor 5 to move the hand 41 of the robot arm 1 above the seat portion 73 of the seat 71 placed at a predetermined location. Let At this time, as shown in FIG. 4, the posture of the hand 41 is controlled so that the Y axis of the coordinate system of the hand 41 is horizontal, the Z direction coincides with the upward direction, and the X direction coincides with the rear direction of the seat 71. . Referring to FIGS. 1 and 3 to 7, in this state, the operator moves the hand 41 obliquely downward and in the rearward direction of the seat 71 so that the pair of

support members

53A and 53B are placed on the seat 71 and the back of the seat 71. It is inserted from the front into the separation area from the drooping portion and stopped at a predetermined insertion position. In this state, the contact member 63 is positioned in front of the front end of the second frame 75 of the seat portion 73 in each of the pair of seat portion holding portions 46. Then, the operator presses the push button 21 a of the grip portion 21 of the operation device 2. Then, the support member driver 52 and the contact member driver 61 of the hand 41 are turned on. Thereby, in the backrest holding portion 45, the distance between the pair of

support members

53A and 53B is widened, and the pair of

support portions

54A and 54B abuts on the lower end portion of the first frame 74 of the backrest portion 72. The lower end is supported upward. Further, in the seat holding portion 46, the base end portion of the support member 62 advances in the X direction, the contact member 63 contacts the front end of the second frame 75 of the seat portion 73, and the pair of

support portions

54A and 54B The second frame 75 of the seat portion 73 is sandwiched between the two. Thereby, the seat 71 is held by the hand 41.

<Seat installation operation>
Referring to FIGS. 1 and 7, the operator operates the robot arm 1 with the operating device 2 so as to convey the seat held by the hand 41 toward the vehicle body while looking at the monitor 5. Then, the hand is inserted into the vehicle from the side of the vehicle body, and the seat 71 is positioned above the seat fixing portion 81. Then, the seat 71 is lowered so that the pin hole of the fitting member 76 of the seat portion 73 is fitted to the fitting pin 81 b of the seat fixing portion 81. Then, the push button 21a of the grip portion 21 of the operation device 2 is pressed. Then, the support member driver 52 and the contact member driver 61 of the hand 41 are turned off. As a result, in the backrest holding portion 45, the distance between the pair of

support members

53A and 53B is narrowed, and the pair of

support members

54A and 54B releases the lower end portion of the first frame 74 of the backrest portion 72. In the seat holding portion 46, the base end portion of the support member 62 is retracted in the direction opposite to the X direction, and the contact member 63 releases the front end of the second frame 75 of the seat portion 73. As a result, the seat 71 is released from the hand 41. As a result, the seat 71 is attached to the seat fixing portion 81.

As described above, according to the present embodiment, since the hand 41 holds the first frame 74 that supports the backrest 72 of the seat 71, the robot arm 1 can stably convey the seat. it can.
(Other embodiments)
In the above-described embodiment, a parallel link robot is used as the operation device 2, but another type of robot may be used. For example, an articulated robot may be used. The operation device 2 may not be a robot as long as the robot arm 1 can be operated. For example, a joystick may be used.

In the above embodiment, the hand 41 has the two

main bodies

42 and 43, but the hand 41 may have a single main body.

In the above embodiment, the hand 41 holds the seat 71 with the backrest holding part 45 and the seat holding part 46, but the hand 41 holds the seat 71 with only the backrest holding part 45. Also good.

From the above description, many modifications and other embodiments of the present invention are apparent to persons 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.

The robot and its operation method, robot system, and hand of the present invention are useful as a robot capable of stably transporting a seat by a robot arm, its operation method, robot system, and hand.

DESCRIPTION OF SYMBOLS 1 Robot arm 2 Controller 3 Controller 3a Arm control part 3b Display control part 4 Camera 5 Monitor 10 Robot 13 Arm part 15 Wrist part 15 Base 21 Grasping part

21a Push button

21b Push button 22 Arm part 23 Support part 24 Motor 30 Support base 41 Hand (end effector)
42 1st main body 43 2nd main body 44 Connection part 45 Backrest holding | maintenance part 46 Seat part holding | maintenance part 52

Support member driver

53A,

53B Support member

54A,

54B Support part

58A, 58B Inclined surface 61 Contact member driver 62 Support Member 63 Contact member 71 Seat 72 Backrest 73 Seat 74 First frame 75 Second frame 76 Fitting member 81 Seat fixing unit 100 Robot system 203 Second substrate 401 Rotating shaft 402 Predetermined first plane 403 Predetermined first 2 planes

Claims

A robot for mounting a seat inside a vehicle body,
An articulated robot arm in which a hand is provided via the wrist at the tip of the arm;
A controller for controlling the operation of the robot arm,
The seat includes a seat and a backrest,
The backrest includes a frame that supports the backrest,
The hand is configured to be able to hold and release the frame of the backrest,
The robot, wherein the controller is configured to control operation of the robot arm to hold and release the frame of the backrest by the hand.
The seat portion and the backrest portion are separated from each other;
The hand is configured to be inserted between the seat and the backrest from the front of the seat,
The controller inserts the hand from the front of the seat between the seat portion and the backrest portion, and in that state, holds and releases the frame of the backrest portion by the hand. The robot of claim 1, wherein the robot is configured to control operation of the robot arm.
The hand has a main body attached to the wrist, a support part capable of supporting the frame of the backrest part at a tip part, and a pair of support members extending so as to face each other, A support member driver that is provided on the main body and drives the base end portions of the pair of support members so as to widen and narrow the distance between the pair of support members;
The controller includes the pair of support members between the seat portion and the backrest portion from the front of the seat such that the facing direction of the pair of support members coincides with the width direction of the seat. Including the operation of the support member driver to hold and release the frame of the backrest portion by the support portion by inserting and widening and narrowing the distance between the pair of support members in that state. The robot according to claim 2, wherein the robot is configured to control operation of the robot arm.
In the left-handed orthogonal coordinate system in which the Y axis is parallel to the rotation axis of the wrist torsion joint, the pair of support members obliquely intersects a predetermined plane parallel to the XY plane and is parallel to the Y axis. The robot according to claim 3, which faces each other on a plane and extends in a direction opposite to the Z direction and in the X direction.
The hand is further configured to be capable of holding and releasing the front of the seat;
The robot according to any one of claims 1 to 4, wherein the controller is further configured to control the operation of the robot arm so as to hold and release the front portion of the seat by the hand. .
A robot according to any one of claims 1 to 5, and an operating device that outputs an operation command signal in response to an operation by an operator,
The robot system, wherein the controller is configured to control the operation of the robot arm according to the operation command signal.
A robot operation method for attaching a seat inside a vehicle body,
The robot includes an articulated robot arm in which a hand is provided at a tip of an arm part via a wrist part,
The seat includes a seat and a backrest,
The backrest includes a frame that supports the backrest,
The hand is configured to be able to hold and release the frame of the backrest,
The operation method includes a step (a) of operating the robot arm to hold and release the frame of the backrest by the hand.
The seat portion and the backrest portion are separated from each other;
The hand is configured to be inserted between the seat and the backrest from the front of the seat,
In the step (a), the hand is inserted between the seat part and the backrest part from the front of the seat, and in this state, the frame of the backrest part is held and released by the hand. The robot operating method according to claim 6, wherein the robot arm is operated.
The hand has a main body attached to the wrist, a support part capable of supporting the frame of the backrest part at a tip part, and a pair of support members extending so as to face each other, A support member driver that is provided on the main body and drives the base end portions of the pair of support members so as to widen and narrow the distance between the pair of support members;
In the step (a), the pair of support members are placed between the seat portion and the backrest portion from the front of the seat such that the facing direction of the pair of support members coincides with the width direction of the seat. The support member driver and the robot are inserted so that the frame of the backrest portion is held and released by the support portion by widening and narrowing the gap between the pair of support members in that state. The robot operating method according to claim 8, wherein the arm is operated.
In the left-handed orthogonal coordinate system in which the Y axis is parallel to the rotation axis of the wrist torsion joint, the pair of support members obliquely intersects a predetermined plane parallel to the XY plane and is parallel to the Y axis. The robot operation method according to claim 9, wherein the robot faces each other on a plane and extends in a direction opposite to the Z direction and in the X direction.
The hand is further configured to be capable of holding and releasing the front of the seat;
The robot operation method according to claim 7, further comprising a step (b) of operating the robot arm to hold and release the front portion of the seat by the hand.
A hand provided via a wrist at the tip of an arm of a robot arm of a robot for attaching a seat inside a vehicle body,
The seat includes a seat portion and a backrest portion separated from each other,
The backrest includes a frame that supports the backrest,
The hand has a main body attached to the wrist, a support part capable of supporting the frame of the backrest part at a tip part, and a pair of support members facing each other, and the main body provided with A support member driver configured to hold and release the frame of the backrest portion by the support portion by widening and narrowing a distance between the pair of support members,
In the left-handed orthogonal coordinate system in which the Y axis is parallel to the rotation axis of the wrist torsion joint, the pair of support members obliquely intersects a predetermined plane parallel to the XY plane and is parallel to the Y axis. Hands facing each other on a plane and extending in a direction opposite to the Z direction and in the X direction.
The seat includes a frame that supports the seat,
The hand is provided on the main body, the contact member disposed on the opposite side of the pair of support members with respect to the rotation shaft of the torsional joint of the wrist as viewed from the Z direction, The hand according to claim 12, further comprising: an abutting member driver configured to abut and separate the abutting member with respect to the frame of the seat portion by advancing and retreating in a direction.