WO2019026203A1 - エンドエフェクタ - Google Patents

エンドエフェクタ Download PDF

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Publication number
WO2019026203A1
WO2019026203A1 PCT/JP2017/028067 JP2017028067W WO2019026203A1 WO 2019026203 A1 WO2019026203 A1 WO 2019026203A1 JP 2017028067 W JP2017028067 W JP 2017028067W WO 2019026203 A1 WO2019026203 A1 WO 2019026203A1
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WO
WIPO (PCT)
Prior art keywords
unit
collecting
end effector
pressure
flow path
Prior art date
Application number
PCT/JP2017/028067
Other languages
English (en)
French (fr)
Japanese (ja)
Inventor
識 西山
Original Assignee
株式会社Ｆｕｊｉ
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 株式会社Ｆｕｊｉ filed Critical 株式会社Ｆｕｊｉ
Priority to PCT/JP2017/028067 priority Critical patent/WO2019026203A1/ja
Priority to CN201780093437.6A priority patent/CN110944809B/zh
Priority to JP2019533796A priority patent/JP6870092B2/ja
Publication of WO2019026203A1 publication Critical patent/WO2019026203A1/ja

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means

Definitions

  • the present disclosure has been made in view of such problems, and is intended to be mounted on an articulated robot and to provide an end effector capable of handling a plurality of works with a configuration as simple as possible. I assume.
  • the end effector disclosed herein employs the following means in order to achieve the above-mentioned main object.
  • the end effector disclosed herein is: A mounting unit mounted on an articulated robot for collecting and moving a work; A first collecting unit for collecting a workpiece; A second sampling unit that samples a workpiece, and a first movement flow path that is supplied with pressure from the articulated robot side and moves at least the first sampling unit; A first sampling flow path which is supplied with pressure from the articulated robot side and causes the first sampling unit to perform sampling operation; A second movement flow path for supplying pressure from the articulated robot side and moving at least the second collecting unit; A second sampling flow path which is supplied with pressure from the articulated robot side and causes the second sampling unit to perform sampling operation; Is provided.
  • pressure is supplied to the first movement flow channel and the first collection flow channel, the first collection unit moves, and the work is collected, and the second movement flow channel and the second collection flow channel Pressure is supplied to the flow path, the second collecting unit moves, and the work is collected.
  • the first collecting unit and the second collecting unit are movable independently, and it is difficult to disturb each other's work such as evacuating the other collecting unit during the collecting operation of one collecting unit, It is efficient.
  • this end effector does not require a drive source such as a motor, and can work with the supplied pressure, so that the configuration can be simplified.
  • this end effector can handle a plurality of workpieces with the simplest possible configuration.
  • pressure includes negative pressure, positive pressure and normal pressure.
  • movement of collection unit includes movement to a collection position and movement to a withdrawal position.
  • FIG. 2 is a schematic explanatory view of an articulated robot 20.
  • FIG. 7 is a perspective view of the end effector 30.
  • FIG. 7 is a cross-sectional view of the end effector 30. Explanatory drawing which shows an example of operation
  • FIG. The schematic showing the example of another end effector 30B.
  • FIG. 1 is a schematic explanatory view of an articulated robot 20 which is an example of the present disclosure.
  • FIG. 2 is a perspective view of the end effector 30.
  • FIG. FIG. 3 is a cross-sectional view of the end effector 30.
  • FIG. 4 is an explanatory view showing an example of the operation of the end effector 30.
  • the articulated robot 20 performs an operation of collecting the workpiece W and placing it on the placement member.
  • the workpiece W is not particularly limited as long as it is an article, and examples thereof include mechanical parts, electrical parts, electronic parts, chemical parts, and food.
  • the workpiece W may be, for example, one in which connectors, pins, etc.
  • a mounting member is a member which arranges and mounts the workpiece
  • work W for example, a pallet, a tray, etc. are mentioned.
  • the articulated robot 20 is movable in all directions, there is no specific direction to be fixed, but for the convenience of description, the left-right direction, the front-rear direction and the up-down direction are as shown in FIGS. explain.
  • the articulated robot 20 collects the workpieces W from the accommodation unit accommodating one or more workpieces W, and moves and places the collected workpieces W on the mounting member in a predetermined arrangement.
  • the articulated robot 20 includes an arm unit 23, a base 24, an effector fixing unit 25, and a control unit 28.
  • the arm unit 23 includes a first arm 21 in which the effector fixing unit 25 is disposed on the distal end side, and a second arm 22 that supports the first arm 21 and is disposed on the base 24.
  • the belt 2, the ball screw 3, and the drive motor 4 are inscribed in the first arm 21.
  • the belt 2 is bridged between a front end side pulley 5 provided in the first arm 21 at the front end side of the first arm 21 and a rear end side pulley 6 provided in the first arm 21 at the second arm 22 side. It is done.
  • An effector fixing portion 25 is disposed on the rotary shaft 7 of the distal end side pulley 5.
  • the ball screw 3 is disposed on the inside of the belt 2 along the longitudinal direction of the first arm 21 and is connected to the slide 8 fixed to the belt 2.
  • the drive motor 4 is disposed inside the belt 2 and is directly connected to the rotation shaft 7 of the ball screw 3 and drives the rotation shaft 7 to move the slide 8 back and forth in the longitudinal direction.
  • the effector fixing unit 25 is for mounting the end effector 30 for collecting the workpiece W, and is rotatably mounted on the tip of the arm unit 23.
  • a mounting portion 26 to which the end effector 30 is mounted is disposed on the lower surface side of the effector fixing portion 25.
  • a driving portion 27 which rotationally drives a driving shaft such as a driving motor is disposed.
  • the control unit 28 controls the entire device of the articulated robot 20, and includes a CPU and the like.
  • the end effector 30 is a member for collecting the work W and placing the collected work W on the mounting member.
  • the end effector 30 includes a mounting portion 31, a fixing portion 32, a main portion 33, and a rotating portion 36, as shown in FIGS.
  • the end effector 30 performs an operation of collecting the workpiece W using the pressure (positive pressure, negative pressure, normal pressure, etc.) supplied from the articulated robot 20.
  • the end effector 30 is not provided with a drive source such as a control valve or a motor other than the piping.
  • the articulated robot 20 is provided with a relatively lightweight and compact arm 23 because it handles a small work W such as an electronic component, for example.
  • the end effector 30 is lightweight because no drive source is provided, and can be used for the articulated robot 20 provided with the lightweight and compact arm portion 23.
  • the mounting unit 31 is mounted to the mounting unit 26 disposed at the tip of the arm unit 23 of the articulated robot 20.
  • the mounting portion 31 is fixed to the upper portion of the main body portion 33.
  • the fixing portion 32 is a member for firmly fixing the effector fixing portion 25 and the main body portion 33 from the outside.
  • the main body 33 includes a central main body 33 a, a first main body 34, and a second main body 35.
  • the central body portion 33 a is a housing located at the center of the end effector 30, and is fixed to the effector fixing portion 25 so as not to be able to rotate or turn with respect to the effector fixing portion 25.
  • a cylindrical internal space is formed at the center of the main body 33.
  • the rotating portion 36 is accommodated in the internal space, and the main body portion 33 supports the rotating portion 36 so as to be capable of axial rotation.
  • the first main body portion 34 is a housing fixed to the side surface (left side in FIG. 2) of the central main body portion 33 a.
  • the first collecting portion 41 is disposed in the first main body portion 34.
  • the first collecting unit 41 has a first nozzle 54 mounted at its tip (lower end), and the first nozzle 54 collects and places the work W.
  • the first main body portion 34 axially rotatably supports the first nozzle 54 at the arrangement position of the first collecting portion 41 as the rotation portion 36 rotates.
  • the second main body portion 35 is a housing fixed to the side surface (right side in FIG.
  • a second collecting portion 61 is disposed in the second main body portion 35.
  • a second nozzle 74 is attached to the tip (lower end) of the second collecting unit 61, and the second nozzle 74 collects and places the work W.
  • the second main body portion 35 axially rotatably supports the second nozzle 74 at the arrangement position of the second collecting portion 61 as the rotation portion 36 rotates.
  • the rotating portion 36 is axially supported in the internal space of the main body portion 33 via a bearing 38 (see FIG. 3).
  • the rotating unit 36 is axially rotated by the rotational driving force supplied from the driving unit 27 of the articulated robot 20.
  • a central pulley 37 is disposed at the tip of the rotating portion 36.
  • a first belt 51 and a second belt 71 are stretched around the central pulley 37, and these belts transmit the driving force to the first pulley 50 and the second pulley 70.
  • the end effector 30 is configured as a so-called rotation type work collecting mechanism in which the main portion 33 does not rotate, and the first nozzle 54 and the second nozzle 74 can axially rotate at their respective arrangement positions.
  • the plurality of works W can be collected and moved by the first nozzle 54 and the second nozzle 74, and the postures of the works W can be individually changed by axial rotation of the first nozzle 54 and the second nozzle 74. It is.
  • the first main body portion 34 includes a first collecting portion 41, a first movement flow path 42, a first collection flow path 43, a first pressure operating portion 44, a pivoting member 49, and a first pulley 50. , A first belt 51, a first guide roller 52, and bearings 55, 56.
  • the first collecting unit 41 collects and places a work, and includes a first shaft member 45, a tip 53, and a first nozzle 54.
  • the first sampling unit 41 moves (for example, moves up and down) between the first position, which is the upper standby position, and the second position, which is the lower operation position, by the first pressure operation unit 44.
  • the first shaft member 45 is a cylindrical long member, and a through hole for transmitting pressure is formed at the center thereof.
  • the first shaft member 45 is inserted into an internal space formed in the first main body portion 34, and is axially rotatably supported via bearings 55, 56. An upper end of the first shaft member 45 having an opening is accommodated in an upper end space partitioned in an airtight state by a bearing 56.
  • the first collection flow path 43 is connected to the upper end space.
  • the first nozzle 54 is removably mounted on the first shaft member 45 at its tip (lower end).
  • the distal end portion 53 is a member that is fixed to a fixed stay 57 (see FIG. 2) formed downward from the outside of the first main body portion 34 and supports the distal end side of the first shaft member 45.
  • the tip 53 pivotally supports the first shaft member 45 and the first nozzle 54 via a bearing (not shown).
  • the first nozzle 54 is a member for adsorbing and collecting the workpiece W.
  • the first nozzle 54 picks up the work W by the negative pressure supplied through the through hole of the first shaft member 45, and performs the process of separating the work W by the supplied positive pressure and normal pressure.
  • the 1st collection part 41 sucks and picks up work W by a nozzle, if it operates with pressure supplied, for example, it is also used as a mechanical chuck which pinches and picks up work W. Good.
  • the first movement flow path 42 is a flow path for transmitting the pressure supplied from the articulated robot 20 side.
  • the first collecting unit 41 is moved by the first pressure operation unit 44 using the pressure supplied from the first movement flow path 42.
  • a pipe for example, a pressure resistant tube or the like
  • a first pressure operation unit 44 is connected to the other end of the first movement flow path 42.
  • Pressure is supplied to the first movement channel 42 from the articulated robot 20 via a pipe connected from the outside.
  • the first collecting flow path 43 is a flow path for transmitting the pressure supplied from the articulated robot 20 side.
  • the first sampling unit 41 performs the sampling operation and the mounting operation of the work W using the pressure supplied from the first sampling flow path 43.
  • a pipe (for example, a pressure resistant tube or the like) is connected to one end of the first collecting flow path 43 from the outside. Further, the other end of the first collection flow path 43 is connected to the upper end space. Pressure is supplied to the first collecting flow path 43 from the articulated robot 20 side through a pipe connected from the outside.
  • the first pressure operation unit 44 is connected to the first movement flow path 42 and provided with the first collecting unit 41, and moves the first collecting unit 41 between the first position and the second position. It is configured as an air cylinder.
  • the first pressure operating unit 44 includes a cylinder 46, a piston 47 and a first biasing member 48.
  • the cylinder portion 46 has a cylindrical space in which the first main portion 34 is formed.
  • the piston portion 47 slides and moves inside the cylinder portion 46.
  • the first movement flow path 42 is connected to the cylinder portion 46, and a positive pressure is supplied to the internal space thereof.
  • the piston portion 47 is a portion formed on the outer periphery of the first shaft member 45 in a flange shape.
  • the piston portion 47 is disposed below the bearing 56.
  • the first biasing member 48 is a member for biasing the first shaft member 45 of the first collecting portion 41 to the first position side (predetermined direction), and may be, for example, an elastic member such as a spring.
  • the upper portion of the first biasing member 48 is in contact with the lower surface of the piston portion 47.
  • the first biasing member 48 biases the first shaft member 45 to the first position side (standby position), and the pressure supplied from the first movement flow channel 42 causes the first shaft member 45 to move.
  • the first collecting unit 41 is moved to the second position side (working position) by releasing the biasing force.
  • the pivot support member 49 is a member disposed on the outer periphery of the central portion of the first shaft member 45.
  • the pivot support member 49 has the same center axis as the center axis of the first shaft member 45, and rotates with the first shaft member 45 by meshing with the first shaft member 45.
  • the pivot support member 49 supports the first shaft member 45 so as to be vertically movable between the first position and the second position along a gear groove formed on the inner periphery.
  • the bearing 55 is disposed on the outer periphery on the upper end side of the pivotal support member 49.
  • the pivot support member 49 is supported by the bearing 55 and pivots.
  • a space having a bottom with the first shaft member 45 is formed on the upper end side of the pivotal support member 49, and the bottom supports the lower portion of the first biasing member 48.
  • the first pulley 50 is fixed to the outer periphery of the lower end side of the pivotal support member 49.
  • the first belt 51 is stretched around the first pulley 50. Further, the first belt 51 is stretched around the central pulley 37 and transmits the driving force of the rotating portion 36 to the first pulley 50.
  • the first guide roller 52 is fixed to the lower side of the first main body portion 34, and guides the middle portion of the first belt 51 (see FIG. 3).
  • the second main body portion 35 includes a second collecting portion 61, a second movement flow path 62, a second collecting flow path 63, a second pressure operating portion 64, a pivoting member 69, and a second pulley 70. , A second belt 71, a second guide roller 72, and bearings 75, 76.
  • the second collecting unit 61 collects and places the work W, and includes a second shaft member 65, a tip 73, and a second nozzle 74.
  • the second collecting portion 61 is axially rotatably supported at a second arrangement position of the first main body portion 34 located on the diagonal side of the first arrangement position with respect to the rotating portion 36.
  • the second collecting unit 61 moves by releasing the biasing force in a predetermined direction by the pressure supplied from the second movement flow path 62.
  • the second movement flow path 62 is a flow path to which pressure is supplied from the articulated robot 20 side to move the second collecting unit 61, and is connected to the second pressure operation unit 64.
  • piping is connected to the 2nd movement flow path 62 from the exterior.
  • the second collecting flow channel 63 is a flow channel which is supplied with pressure from the articulated robot 20 and causes the second collecting unit 61 to perform a collecting operation.
  • the second pressure operation unit 64 is connected to the second movement flow passage 62 and is provided with the second collecting unit 61, and is configured as an air cylinder that moves the second collecting unit 61.
  • the second pressure operating unit 64 includes a cylinder 66, a piston 67, and a second biasing member 68.
  • each structure with which this 2nd main-body part 35 is provided shall be the same as each structure with which the 1st main-body part 34 is provided, The detailed description is abbreviate
  • Each configuration of the second main body portion 35 may have the same size, shape, material, etc. as long as it has the same function as each configuration of the first main body portion 34. It is also good.
  • the control unit 28 of the articulated robot 20 controls the arm unit 23 so as to move the end effector 30 to the accommodation unit accommodating the work W.
  • the control unit 28 controls the control valve of the articulated robot 20, supplies positive pressure to the first movement channel 42 to lower the first sampling unit 41 to the working position, and the first sampling flow Negative pressure is supplied to the first nozzle 54 through the passage 43 and the first shaft member 45, and the work W is collected by the end effector 30 (FIG. 4B).
  • the control unit 28 stops the supply of positive pressure to the first movement flow channel 42 to raise the first sampling unit 41 to the standby position, and the second sampling unit 61 receives the first sampling unit.
  • the same processing as in 41 is performed, and the second collecting unit 61 collects the work W.
  • the control unit 28 controls the arm unit 23 so that the work W moves to a predetermined position of the mounting member, and rotates the rotating unit 36 as necessary to axially rotate the first collecting unit 41.
  • the angle of the work W is changed as the shaft of the first collecting unit 41 rotates.
  • the control unit 28 supplies a positive pressure to the first movement flow channel 42 to lower the first collecting unit 41, and stops the supply of the negative pressure to the first collection flow channel 43 and mounts it.
  • the work W is placed on the member.
  • the control unit 28 places the work W collected by the second collecting unit 61 on the mounting member.
  • the mounting unit 31 of the present embodiment corresponds to the mounting unit
  • the first collection unit 41 corresponds to the first collection unit
  • the second collection unit 61 corresponds to the second collection unit.
  • the first movement flow path 42 corresponds to the first movement flow path
  • the first collection flow path 43 corresponds to the first collection flow path
  • the second movement flow path 62 is for the second movement. It corresponds to a flow path
  • the second collection flow path 63 corresponds to a second collection flow path.
  • the end effector 30 In the end effector 30 according to the present embodiment described above, pressure is supplied to the first movement flow channel 42 and the first collection flow channel 43, the first collection unit 41 moves, and the work W is collected. Pressure is supplied to the second movement flow channel 62 and the second collection flow channel 63, the second collection unit 61 moves, and the work W is collected.
  • the first collecting unit 41 and the second collecting unit 61 can move independently, and prevent each other's work such as evacuating the other collecting unit during the collecting work of one collecting unit It is difficult and work efficiency is good.
  • this end effector 30 since it is possible to work with the supplied pressure without requiring a drive source such as a motor, a simpler configuration can be achieved. Thus, this end effector can handle a plurality of workpieces with the simplest possible configuration.
  • the end effector 30 is connected to the first movement flow path 42 and is provided with the first collecting portion 41 to move the first collection portion 41, and the second movement flow path A second pressure operating unit 64 is provided which is connected to the second collecting unit 61 and moves the second collecting unit 61 while being connected thereto.
  • the first and second collecting units 41 and 61 can be moved by the operation of the pressure operation unit.
  • the end effector 30 includes a first biasing member 48 for biasing the first collecting portion 41 in a predetermined direction, and a second biasing member 68 for biasing the second collecting portion 61 in the predetermined direction.
  • the first collection unit 41 is moved by releasing the biasing force in a predetermined direction by the pressure supplied from the first movement flow channel 42, and the second collection unit 61 is supplied from the second movement flow channel 62. It moves by releasing the biasing force in a predetermined direction by the pressure.
  • the first and second collecting portions 41 and 61 can be moved with a relatively simple configuration of the biasing portion and the movement flow path.
  • the end effector 30 includes a rotating unit 36 that is axially rotated by the power supplied from the articulated robot 20, and the first collecting unit 41 is provided with a position at which the first collecting unit 41 is disposed.
  • the second collecting unit 61 is axially rotated at the position where the second collecting unit 61 is provided as the rotating unit 36 rotates. In the end effector 30, since the first and second collecting units 41 and 61 axially rotate at the arrangement position, for example, the direction of the collected work W can be changed.
  • the end effector 30 since the end effector 30 has the 1st, 2nd nozzle 54 and 74 which extract the work W by pressure, the angle of the work W and extraction of the work W can be performed by pressure. Also, the end effector 30 includes a mounting portion 31 mounted to the tip of the arm of the articulated robot 20. The end effector 30 can change the posture of the work without requiring a drive source such as a motor, and therefore, the end effector 30 is highly applicable to, for example, the articulated robot 20 whose weight is limited at its tip.
  • the first pressure operating unit 44 includes the first biasing member 48.
  • FIG. 5 is a schematic view showing an example of another end effector 30B.
  • the end effector 30B includes a first pressure operation unit 44B in which the third movement flow passage 48B is connected to the lower cylinder portion 46 of the piston portion 47.
  • the end effector 30B includes a second pressure operation unit 64B in which a fourth movement channel 68B is connected to the lower cylinder portion 66 of the piston portion 67.
  • the first transfer channel 42 is connected to the fourth transfer channel 68 B via the first pipe 11.
  • the second movement flow path 62 is connected to the third movement flow path 48 B via the second pipe 12.
  • the end effector 30B when the pressure is supplied to the first movement flow path 42, the first collecting unit 41 is moved in the first direction (downward) and the second collecting unit 61 is the first direction.
  • the pressure is supplied to the second movement flow path 62 by moving in the reverse second direction (upward)
  • the second sampling portion 61 is moved in the first direction (downward) and the first sampling portion 41 is moved to the first direction. Move in 2 directions (upward).
  • a plurality of workpieces can be handled with a configuration as simple as possible.
  • the first collecting unit 41 and the second collecting unit 61 have been described as the autorotation end effector 30 that rotates in an axial direction at the installation position, but the invention is not particularly limited thereto. It may be a revolving end effector 30C.
  • FIG. 6 is a schematic view showing an example of another end effector 30C.
  • a first main portion 34C and a second main portion 35C are disposed on a rotating portion 36C that is axially rotated by the power supplied from the articulated robot 20.
  • the first collecting unit 41 is fixed at a first arrangement position of the rotating unit 36C
  • the second collecting unit 61 is a second arrangement position located on the diagonal side of the first arrangement position with respect to the rotation axis of the rotating unit 36C. It is fixed to The first collecting unit 41 and the second collecting unit 61 rotate together with the rotating unit 36C around the rotation axis of the rotating unit 36C.
  • the first movement flow path 42 is connected to the first pressure operation unit 44 so as to supply pressure from the inside of the rotation unit 36C.
  • the second movement flow path 62 is connected to the second pressure operation unit 64 so as to supply pressure from the inside of the rotation unit 36C.
  • pressure is supplied from the inside of the rotating portion 36C to the first collecting flow path 43 and the second collecting flow path 63 as well.
  • the main body portion 33C is non-rotatably fixed to the effector fixing portion 25, and in the main body portion 33C, the first groove 81, the second groove 82, and the second groove 82 are formed along the inner periphery of the internal space.
  • a third groove 83 and a fourth groove 84 are formed.
  • a first pipe 11 from the articulated robot 20 side is connected to the first groove 81, and similarly, a second pipe (not shown) is connected to the second groove 82, and a third pipe 83 is connected to the third groove 83.
  • a pipe is connected, and a fourth pipe (not shown) is connected to the fourth groove 84.
  • the rotating portion 36C has a multi-pipe structure including a first internal pipe 85, a second internal pipe 86, and a third internal pipe 87 in its interior, and a flow path is formed between the respective pipes.
  • a through hole 93 communicating with the opening and a through hole 94 communicating with the fourth groove 84 are formed.
  • the through hole 91 communicates with the through hole of the first inner pipe 85 and the space 95.
  • the through hole 92 is in communication with the flow path and the space 96 between the first inner pipe 85 and the second inner pipe 86.
  • the through hole 93 is in communication with the flow path and the space 97 between the second inner pipe 86 and the third inner pipe 87.
  • the through hole 94 is in communication with the flow path and the space 98 between the third inner pipe 87 and the rotating portion 36C.
  • the spaces 95 to 98 are connected to the second collecting flow channel 63, the first collecting flow channel 43, the second moving flow channel 62, and the first moving flow channel 42, respectively.
  • pressure is always supplied to the first main portion 34C and the second main portion 35C even when the rotating portion 36C rotates. Also in such an end effector 30C, since it is possible to work with the supplied pressure without requiring a drive source such as a motor, a simpler configuration can be achieved. Further, the angle of the workpiece W collected by the first nozzle 54 and the second nozzle 74 can be changed with the rotation of the rotating portion 36C.
  • FIG. 7 is a schematic view showing an example of another end effector 30D.
  • the end effector 30D includes the configurations of the first pressure operating unit 44B and the second pressure operating unit 64B described above. Further, the third movement flow path 48B is connected to the space 97, and the fourth movement flow path 68B is connected to the space 98. Also in this end effector 30D, since it is possible to work with the supplied pressure, the configuration can be simpler.
  • the end effectors 30 and 30B are of a rotation type, and the end effectors 30C and 30D are of a revolving type, but the present invention is not particularly limited thereto, and may be a rotating and revolving end effector.
  • this end effector either two driving units may be provided in the effector fixing unit 25 or the driving force of the driving unit may be branched by a gear or the like to perform rotation and revolution.
  • the end effector is connected to at least a first pressure operation unit connected to at least the first movement channel and disposed at the first collecting unit to move the first collecting unit.
  • a second pressure operation unit may be provided, which is connected to the moving flow path and disposed with the second collecting unit to move the second collecting unit.
  • the first and second sampling units can be moved by the operation of the pressure operation unit.
  • the pressure operating unit is not particularly limited as long as it operates according to the pressure, and may be, for example, an air cylinder.
  • the end effector includes a first biasing member that biases the first collecting portion in a predetermined direction, and a second biasing member that biases the second collecting portion in the predetermined direction.
  • the first collecting unit is moved by releasing the biasing force in the predetermined direction by the pressure supplied from the first movement channel, and the second collecting unit is supplied from the second movement channel.
  • the movement may be performed by releasing the biasing force in the predetermined direction by the pressure.
  • the first and second collecting portions can be moved with a relatively simple configuration of the biasing portion and the movement flow path.
  • the first movement channel moves the first collecting unit in a first direction and moves the second collecting unit in a second direction opposite to the first direction
  • the second movement channel may move the second collecting portion in the first direction and move the first collecting portion in the second direction.
  • the first and second collecting portions can be moved with a relatively simple configuration of the first and second movement flow paths.
  • the end effector includes a first pressure operating unit provided with the first collecting unit and moving the first collecting unit, and a second pressure operating unit provided with the second collecting unit and moving the second collecting unit.
  • the first movement flow path is connected to the first portion of the first pressure operation portion
  • the second movement flow path is connected to the second portion of the first pressure operation portion.
  • the second movement passage is connected to the first portion of the second pressure operation unit, and the first movement passage is connected to the second portion of the second pressure operation unit.
  • the end effector of the present disclosure includes a rotating unit that is axially rotated by power supplied from the articulated robot, and the first collecting unit is disposed at a position where the first collecting unit is disposed as the rotating unit rotates.
  • the second collecting unit may be axially rotated at an arrangement position of the second collecting unit as the rotating unit rotates.
  • the end effector since the first and second collecting units are pivoted at the arrangement position, for example, the direction of the collected work can be changed.
  • the end effector includes a first pressure operation unit which is provided with the first collecting unit and moves the first collecting unit, and a second pressure operating unit which is provided with the second collecting unit and which moves the second collecting unit.
  • a pressure operating unit wherein the first transfer channel is connected to at least the first pressure operating unit from the outside, and the second transfer channel is connected to at least the second pressure operating unit from the outside It may be connected to Furthermore, the end effector includes a main body portion to which the mounting portion is fixed, the rotating portion is pivotally supported by the main body portion so as to be axially rotatable, and the first collecting portion is configured to The second collecting unit is rotatably supported at a second arrangement position of the main body, and the first arrangement position corresponds to the first arrangement position relative to the rotating unit. It may be located on the diagonal side of the second arrangement position.
  • the end effector of the present disclosure includes a rotating unit that is axially rotated by power supplied from the articulated robot, and the first collecting unit and the second collecting unit are configured to rotate around the axis of the rotating unit. It may be rotated with the In this end effector, since the first and second collecting units rotate together with the rotating unit, for example, the direction of the collected work can be changed. Further, the end effector includes a first pressure operation unit which is provided with the first collecting unit and moves the first collecting unit, and a second pressure operating unit which is provided with the second collecting unit and which moves the second collecting unit.
  • a pressure operating unit wherein the first movement channel is connected to at least the first pressure operating unit to supply pressure from the inside of the rotating unit, and the second movement channel is It may be connected to at least the second pressure operating unit so as to supply pressure from the inside of the rotating unit.
  • the end effector includes a main body portion to which the mounting portion is fixed, the rotating portion is pivotally supported by the main body portion so as to be axially rotatable, and the first collecting portion is configured to The second collecting unit is fixed to a second arrangement position of the rotary unit, and the first arrangement position is a diagonal of the second arrangement position with respect to the rotation axis of the rotary unit. It may be located on the side.
  • the end effector of the present disclosure can be used in the technical field of an apparatus that performs processing such as collecting and arranging a work.

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
PCT/JP2017/028067 2017-08-02 2017-08-02 エンドエフェクタ WO2019026203A1 (ja)

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