WO2019188196A1 - Dispositif de commande de préhension - Google Patents

Dispositif de commande de préhension Download PDF

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Publication number
WO2019188196A1
WO2019188196A1 PCT/JP2019/009719 JP2019009719W WO2019188196A1 WO 2019188196 A1 WO2019188196 A1 WO 2019188196A1 JP 2019009719 W JP2019009719 W JP 2019009719W WO 2019188196 A1 WO2019188196 A1 WO 2019188196A1
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WO
WIPO (PCT)
Prior art keywords
gripping
linear object
robot
grip
control device
Prior art date
Application number
PCT/JP2019/009719
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English (en)
Japanese (ja)
Inventor
基善 北井
Original Assignee
倉敷紡績株式会社
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Application filed by 倉敷紡績株式会社 filed Critical 倉敷紡績株式会社
Priority to JP2020509819A priority Critical patent/JP7140826B2/ja
Publication of WO2019188196A1 publication Critical patent/WO2019188196A1/fr

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01R—ELECTRICALLY-CONDUCTIVE CONNECTIONS; STRUCTURAL ASSOCIATIONS OF A PLURALITY OF MUTUALLY-INSULATED ELECTRICAL CONNECTING ELEMENTS; COUPLING DEVICES; CURRENT COLLECTORS
    • H01R43/00—Apparatus or processes specially adapted for manufacturing, assembling, maintaining, or repairing of line connectors or current collectors or for joining electric conductors
    • H01R43/28—Apparatus or processes specially adapted for manufacturing, assembling, maintaining, or repairing of line connectors or current collectors or for joining electric conductors for wire processing before connecting to contact members, not provided for in groups H01R43/02 - H01R43/26

Definitions

  • the present invention relates to a grip control device for gripping a linear object using a robot hand.
  • Patent Document 1 Japanese Patent Application Laid-Open No. 2014-176917
  • Patent Document 2 a robot apparatus for assembling a linear object, in which the fixed end of the linear object with one end fixed is fixed.
  • An apparatus is described in which after gripping the vicinity, the gripper is slid along a predetermined locus and moved to the other end. Accordingly, it is possible to quickly grasp the other end that is difficult to accurately estimate with a hook or the like attached to an electric wire that is an example of a linear object.
  • Patent Document 2 discloses an invention relating to a method for manufacturing a wire harness and an image processing method, and in the course of manufacturing the wire harness, the three-dimensional shape of the wire assembly is measured. A processing position specifying process is performed in which the processing position is specified.
  • control is performed such that a wire harness or the like is gripped as a linear object at the grip portion of the robot hand and the tip of the wire harness is moved to a predetermined target position.
  • tip of the wire harness into the through-hole provided in the target object is assumed.
  • the wire harness since the rigidity of the wire harness is relatively low in many cases, if the wire harness is gripped only at one place using the grip portion of the robot hand, the tip side becomes unstable from the grip portion. Furthermore, the wire harness may be continuously connected to the opposite side (rear end side) of the wire harness held by the holding unit. In this case, there is a concern that the weight of the wire harness on the rear end side is added to the grip portion of the robot hand, so that the grip of the wire harness by the grip portion becomes unstable.
  • An object of the present invention is to solve the above-described problems.
  • a gripping control device having a configuration capable of stably gripping a linear object when the linear object is gripped by a gripping portion of a robot hand. It is to provide.
  • the gripping control device is a gripping control device that notifies the robot of gripping information of the linear object to a robot having a linear object gripping device capable of gripping the linear object.
  • a three-dimensional camera that obtains the three-dimensional shape, and a first gripping position is recognized based on the three-dimensional shape, the second gripping position is calculated by a predetermined method, and the first gripping position and the second gripping position are calculated.
  • a processing unit for notifying the robot is a gripping control device that notifies the robot of gripping information of the linear object to a robot having a linear object gripping device capable of gripping the linear object.
  • the second gripping position is calculated based on at least one of the three-dimensional shape, the shape of the linear object gripping device, and the movable range of the linear object gripping device.
  • the processing unit further notifies a gripping posture when the linear object gripping device grips the first gripping position and the second gripping position.
  • the gripping posture is a posture in which the linear object and the gripping part of the linear object gripping device are orthogonal to each other at the first gripping position.
  • the linear object is a multi-core wire in which a plurality of fine wires are covered with a covering material, an exposed fine wire portion in which the plurality of fine wires are exposed, and a covering bundle portion covered with a covering material;
  • the first grip position is located in the exposed thin line portion, and the second grip position is located in the covering bundle portion.
  • the robot is a single articulated robot
  • the processing unit sets the first gripping position and the second gripping position that can be gripped by a robot hand provided in the articulated robot to the multi-joint robot. Notify the joint robot.
  • this grip control device it is possible to provide a grip control device having a configuration capable of stably gripping a linear object when the linear object is gripped by the grip portion of the robot hand.
  • an electric wire is used as an example of a linear object, but the present invention is not limited to an electric wire.
  • the linear object in this description may be anything as long as it has an elongated shape.
  • yarn, a fiber, glass fiber, an optical fiber, a tube, dry noodles, etc. are mentioned. It is not limited to the electric wire which bundled the thin wire, The electric wire etc. which consist of a single wire are also included.
  • the effect of the present embodiment appears more remarkably.
  • the overall system 10 for carrying out the linear object gripping method includes a robot 20, a three-dimensional camera 31, and a control device 32.
  • a wire harness W composed of an electric wire W1, an electric wire W2, and an electric wire W3 is disposed.
  • a robot hand 22 is provided at the tip of the robot arm 21, and a linear object is gripped by a pair of gripping portions 23, 23 of the robot hand 22.
  • the three-dimensional camera 31 is not particularly limited as long as it can measure the three-dimensional shape of the electric wire W1, the electric wire W2, and the electric wire W3.
  • a stereo camera is preferably used.
  • the stereo camera is preferable for measuring the three-dimensional shape of the linear object at high speed.
  • a stereo camera includes two cameras, finds corresponding points of points to be measured on two images taken from different viewpoints, and determines the three-dimensional measurement points according to the principle of triangulation from the positional relationship of the two cameras. Calculate the position.
  • Japanese Patent Laid-Open No. 2-309202 discloses that a large number of linear objects are imaged by two cameras, and the inclination of the bright lines in the two images and the distance between the bright lines. It is described that the corresponding point is determined by collating the distances as features, and the processing time for determining the corresponding point can be shortened.
  • a straight line obtained by projecting a line connecting the viewpoint of one image and a measurement point onto the other image is called an epipolar line, and the other line corresponding to the point on one image The corresponding point on the image is always projected on the epipolar line on the other image.
  • the intersection of the linear object and the epipolar line can be obtained on the other image, and the three-dimensional shape of the linear object can be obtained at high speed. Can be measured.
  • the color camera is used to extract the corresponding color from the image and then obtain the corresponding points, thereby making the three-dimensional shape of each linear object faster. Can be requested.
  • the control device 32 communicates with the three-dimensional camera 31 through a communication unit (not shown), and acquires the three-dimensional shapes of the electric wire W1, the electric wire W2, and the electric wire W3 from the stereo camera.
  • the control device determines whether or not the robot hand 22 interferes with another linear object when the robot hand 22 grips the linear object, based on the three-dimensional shape acquired from the stereo camera, using an arithmetic unit (not shown). Various calculations are performed to determine the target linear object.
  • the control device notifies the robot 20 of the gripping position of the target linear object to be gripped based on the calculation result via the communication unit.
  • another device for example, a robot controller or a control personal computer for controlling the operation of the robot is provided between the control device 32 and the robot 20. Notification may be made.
  • the related-art linear object gripping method includes a step of measuring a three-dimensional shape of a plurality of electric wires W1, electric wires W2, and electric wires W3 (S1), and the robot hand 22 detects a linear object based on the measured three-dimensional shape.
  • the step S1 of measuring the three-dimensional shape of the plurality of electric wires W1, the electric wires W2, and the electric wires W3 is performed by the three-dimensional camera 31.
  • the stereo camera captures a work space with a linear object, and performs arithmetic processing on the two images to acquire the three-dimensional shapes of the electric wire W1, the electric wire W2, and the electric wire W3.
  • the three-dimensional shape of the linear object is represented by an orthogonal coordinate system or an oblique coordinate system, and is preferably represented by an orthogonal coordinate.
  • Determination step S2 is performed by the control device 32. Details of the determination step will be described later.
  • the step S3 for gripping the target linear object is performed by the robot 20.
  • the robot is notified of the gripping position of the target linear object to be gripped from the control device 32, and moves the robot arm 21 and the robot hand 22 to execute a gripping operation.
  • the determination step S2 will be described in detail below. Referring to FIG. 3, in the determination step S2 of the related technology, acquisition of a three-dimensional shape of a linear object (S21), selection of a target linear object (S22), determination of a gripping position of the target linear object (S23) ), Obtaining the robot hand standby position (S24), setting various interference areas (S51 to S54), and various interference determinations (S61 to S64).
  • control device 32 acquires the three-dimensional shapes of the electric wire W1, the electric wire W2, and the electric wire W3 from the three-dimensional camera 31 (S21).
  • the control device 32 selects a line-of-interest to be gripped by the robot hand 22 (S22).
  • the wire of interest W1, the wire W2 and the wire W3, which are intended to grip the electric wire W1 will be described as a wire (other wire) other than the wire of interest.
  • the control device may receive a designation such as the color of the electric wire from the outside and determine the target linear object based on the instruction.
  • the control device selects a line-of-interest for the autonomous reference number (see Japanese Patent Application No. 2017-221045).
  • the highest position that is, the uppermost linear object is selected as the target linear object based on the acquired three-dimensional shape. Can do. This is because even when linear objects are placed in an overlapping manner, the higher the linear object, the lower the probability that another linear object will interfere when the linear object is gripped.
  • the control device 32 determines a gripping position of the wire W1 to be noted (S23). For example, based on a predetermined condition such as how many mm from the tip of the noticeable linear object, the control device calculates the grip position of the noticeable linear object as three-dimensional coordinates.
  • the control device 32 acquires the standby position of the robot hand 22 (S24). If the standby position of the robot hand 22 is predetermined, the coordinates are acquired as the standby position. When the standby position is determined based on the three-dimensional shape of the linear object, for example, when it is determined above a predetermined distance away from the linear object, the standby position is obtained by calculation.
  • the control device 32 acquires the current position of the robot hand 22 from the robot 20 and moves the robot hand 22 to the standby position when the current position of the robot hand 22 is different from the standby position.
  • a line segment connecting the standby position of the robot hand 22 and the gripping position of the electric wire W1 provides an approximate movement path when the robot hand 22 executes the gripping operation.
  • the control device 32 sets several interference areas including the gripping position of the target linear object in order to determine the interference between the robot hand 22 and the other electric wires W2 and W3.
  • the first interference area, the first extended interference area, the second interference area, and the second extended interference area are set in this order.
  • interference determination is performed to determine whether or not the other linear object is included in each of the interference regions.
  • Interference judgment for each linear object is to determine whether the point is in the interference area or whether the line segment intersects the interference area while shifting the point or line segment on the linear object in the length direction. Can be done.
  • the second preliminary determination for the second extended interference region, the second determination for the second interference region, the first preliminary determination for the first extended interference region, and the first determination for the first interference region are performed in this order.
  • each interference region and interference determination for the region will be described.
  • the robot hand 22 in the first determination step S61 for the first interference region 51, it is determined whether or not the robot hand 22 interferes with the other electric wires W2 and W3 when holding the electric wire W1.
  • the first interference area 51 is a planar area including the gripping position P of the electric wire W1 and having a predetermined shape and a predetermined size.
  • the first interference region preferably includes the grip position P at the center thereof.
  • the shape of the first interference region is not particularly limited, but is preferably a polygon, a circle, or an ellipse. When the first interference region is a polygon, it is preferably a quadrangle, more preferably a square. This is because the calculation load is reduced and high-speed determination is possible.
  • the first interference region is a polygon
  • a square having sides parallel to a plane formed by any two axes of a coordinate system (hereinafter simply referred to as a “coordinate system”) representing a three-dimensional shape of the linear object is
  • coordinate system a coordinate system representing a three-dimensional shape of the linear object
  • the efficiency of the first preliminary determination can be improved by reducing the first extended interference region described later. If the first interference area is not a polygon, it is preferably a circle. Similarly, the calculation load is reduced and high-speed determination is possible.
  • the first interference region is preferably included in a circle having a diameter 2.0 times that of the circle C1. More preferably, the size is contained in a circle having the same size as the circle C1.
  • the first interference region is preferably a circle C2. It is a size that can contain a circle of the same size as that of Japanese Patent Application No. 2017-221405.
  • the first interference region 51 is preferably orthogonal to the electric wire W1. That the first interference region is orthogonal to the target linear object means that the direction in which the target linear object extends at the gripping position P is perpendicular to the first interference region. This is because a plane equation including the first interference region can be easily obtained.
  • the linear object is often gripped from the side, that is, from a direction perpendicular to the linear object. If there is another linear object in the first interference region orthogonal to the target linear object, even if the robot hand 22 does not grip the target linear object from the side, the robot hand 22 This is because there is a high probability of interference with the linear object.
  • the first determination step S ⁇ b> 61 can be performed by determining the intersection of the line segment L on the other target electric wire W ⁇ b> 2 and the first interference region 51.
  • the line segment L can be a line segment between two adjacent points S and T in the point group representing the three-dimensional shape of the electric wire W2. If the line segment L intersects the first interference area, some point on the line segment L is included in the first interference area.
  • the intersection determination can be performed by a known method. For example, when the inner product of the normal vector N of the plane U including the first interference region 51 and the vectors PS and PT from the gripping position P to both ends S and T of the line segment L is taken, the signs of the two inner products are different.
  • the line segment L intersects the plane U. When the line segment L and the plane U intersect, it may be determined whether or not the intersection is in the first interference region 51.
  • the first preliminary determination step S62 for the first extended interference region 52 is performed prior to the first determination, and faster calculation is performed when the robot hand 22 does not interfere with the other electric wires W2, W3. To find out.
  • the first extended interference region 52 is a spatial region that includes the first interference region 51.
  • the shape and size of the first extended interference region are not particularly limited, but preferably the smallest one of the hexahedrons including the first interference region and having all sides parallel to any axis of the coordinate system is the first. Set as one extended interference area.
  • the coordinate system is an orthogonal coordinate system
  • the hexahedron is a rectangular parallelepiped.
  • the coordinates of the eight vertices A to H of the first extended interference region 52 are as shown in FIG. 8, and the coordinates of one end point S of the line segment L are (xS, yS, zS), if x1 ⁇ xS ⁇ x2, y1 ⁇ yS ⁇ y2, and z1 ⁇ zS ⁇ z2, the point S is in the first extended interference region; otherwise, the point S is 1 Outside the extended interference area.
  • the first determination can be omitted if the result of the first preliminary determination indicates that the hand and other linear objects do not interfere with each other.
  • the second interference region 53 is a planar region that includes a line segment PQ that connects the gripping position P of the electric wire W1 and the standby position Q of the robot hand 22, and has a predetermined width extending on both sides of the line segment PQ.
  • the second interference region preferably includes a line segment PQ at the center in the width direction.
  • the shape of the second interference region is not particularly limited, but is preferably a rectangle or a parallelogram, and more preferably a rectangle having a line segment PQ as an axis of symmetry of line symmetry. This is because the calculation load is reduced and the determination is made at a higher speed.
  • the width of the second interference region 53 is preferably equal to or smaller than the diameter of the circle C1 in FIG.
  • the width of the second interference region is preferably equal to or larger than the diameter of the circle C2 in FIG.
  • the second interference region 53 is preferably set so that the intersection angle with the electric wire W1 is maximized. This is because, when the robot hand 22 approaches the electric wire W1, the gripping portions 23 and 23 often travel in such a plane.
  • 2nd determination process S63 can be performed by the intersection determination of the line segment L on the other electric wire W2 made into object, and the 2nd interference area
  • the second preliminary determination step (S64) for the second extended interference area 54 is performed prior to the second determination, and the case where the robot hand 22 does not interfere with the other electric wires W2 and W3 is found by faster calculation. To do.
  • the second extended interference area 54 is a spatial area that includes the second interference area 53.
  • the shape and size of the second extended interference region are not particularly limited, but preferably the smallest one of the hexahedrons including the second interference region and having all sides parallel to any axis of the coordinate system is the second. 2 Set as an extended interference area.
  • the coordinate system is an orthogonal coordinate system
  • the hexahedron is a rectangular parallelepiped. Thereby, the second preliminary determination can be performed only by comparing the size of the coordinates.
  • the second determination can be omitted when the second preliminary determination shows that the hand and other linear objects do not interfere with each other.
  • the control device 32 interferes with other linear objects when the robot hand 22 holds the holding position of the electric wire W1. Judge that there is no. Then, the electric wire W1 is set as the target linear object, and the grip position is notified to the robot 20.
  • the control device 32 grips the gripping position of the electric wire W1 with the robot hand 22. It is determined that there is interference from other linear objects. The subsequent determination process is omitted, and the process returns to step S22, and the same processing is repeated while changing the target linear object.
  • the control device 32 autonomously selects the next linear object of interest, for example, based on the three-dimensional shape of the electric wires W1 to W3 previously obtained from the three-dimensional camera 31, the linear object at the next higher position is used. An object can be selected as a noticeable linear object.
  • each step may be performed again after changing the positional relationship between the linear objects.
  • the distance from the gripping position of each target linear object to the nearest other linear object may be calculated as the interference distance, and the linear object having a long interference distance may be gripped.
  • the interference distance can be easily calculated by using the distance from the intersection between the first interference region or the second interference region and another linear object in the interference determination to the gripping position.
  • the presence or absence of interference with other linear objects of the robot hand 22 is implemented by calculating the presence or absence of intersection with the polyhedron using the CAD data on the robot hand 22 side and the three-dimensional shape data of the linear object. Also good. However, this method is excellent in accuracy of determination, but is a time-consuming process.
  • whether or not a linear object other than the target linear object exists in the first interference region can be determined by the intersection determination between the planar first interference region and the linear object. And the presence or absence of interference can be determined at high speed. When there is no linear object other than the target linear object in the first interference region, there is a high probability that the robot hand 22 can grip the target linear object without interfering with other linear objects. The same applies to the second interference region.
  • each determination step is not particularly limited, except that the first preliminary determination is performed prior to the first determination and the second preliminary determination is performed prior to the second determination.
  • the 1st determination process was implemented after the 2nd determination process first, you may reverse this order.
  • all determination processes are performed for each line segment while shifting the line segment L in the length direction of the linear object.
  • one determination process for example, the second preliminary determination
  • another determination step for example, a second determination step
  • the attention linear object is selected prior to the acquisition of the standby position of the robot hand 22 (S24) (S22), but the standby position of the robot hand 22 is acquired first, and the attention line is based on the standby position.
  • a shape may be selected.
  • the linear object that is closest to the standby position can be selected as the target linear object.
  • a linear object having the shortest distance between the coordinates of the standby position and the coordinates of the gripping position of the linear object may be selected. This is preferable in that a linear object that is unlikely to interfere with other linear objects can be preferentially selected when gripped.
  • the posture (gripping posture) when the robot hand 22 grips the linear object is preferably gripped so that the grip portion and the linear object are substantially perpendicular. This is because if the orientation of the linear object from the gripping position to the gripping portion is substantially perpendicular to the gripping part, the robot can be easily controlled even when it is inserted into a processing machine after gripping.
  • the posture of the robot hand 22 is adjusted so that the gripping portion and the linear object are oriented at right angles when gripped. Thereafter, the robot hand 22 moves along the second interference region from the standby position toward the gripping position. Thereby, since the posture of the robot hand 22, the moving direction of the robot hand 22, and the orientation of the planes of the first and second interference areas coincide, it is possible to perform highly accurate interference determination.
  • the robot hand 22 that holds the linear object may convey the linear object to various manufacturing apparatuses and processing apparatuses.
  • the tip of the gripped electric wire may be moved by the robot hand 22 and inserted into a film peeling machine or a terminal crimping device. You may use for the process of inserting the front-end
  • a gripping control device 40 a device that controls the gripping posture and gripping position of the linear object by the gripping portion 23 of the robot hand 22 is referred to as a gripping control device 40.
  • the grip control device 40 recognizes the first grip position H1 based on the three-dimensional camera 31 that acquires the three-dimensional shape of the wire harness W and the three-dimensional shape, and will be described below.
  • a processing unit that calculates the second gripping position H2 by a predetermined method and notifies the robot 20 of the first gripping position H1 and the second gripping position H2.
  • This processing unit may be included in the control device 32 or may be configured as a separate device.
  • the control device 32 includes a processing unit.
  • the processing unit acquires the three-dimensional shape of the linear object (wire harness W) from the three-dimensional camera 31 that acquires the three-dimensional shape of the linear object W1, and acquires the position of the tip of the linear object from the three-dimensional shape. It is assumed that the robot 20 having the robot hand 22 is notified of the gripping posture and the gripping position information based on the position of the tip of the linear object.
  • the control device 32 may be any of a control device independent of the robot 20 and the three-dimensional camera 31, a control device provided in the robot 20, and a control device provided in the three-dimensional camera 31.
  • the vicinity of the tip of the linear object is gripped at one place. It is possible to do.
  • the linear object has a relatively low rigidity in many cases, if the linear object is gripped only at one place using the grip part 23, the tip side from the grip part 23 may become unstable. . In such a case, there is a concern that even if the linear object is gripped and moved so as to be inserted into a predetermined processing hole, the tip end side is unstable, so that it cannot be inserted.
  • the linear object may be continuously connected to the opposite side (rear end side) of the linear object gripped by the grip part 23.
  • the weight of the linear object on the rear end side is added to the grip part 23 of the robot hand, so that the grip of the linear object by the grip part 23 becomes unstable.
  • the linear object When gripping and moving a linear object to a predetermined position, there is a concern that the linear object may come into contact with other parts or obstacles during the movement due to the deflection of the linear object.
  • the robot grips a linear object and stores it in a predetermined case, the linear object may not be stored in the predetermined case if the shape of the linear object becomes an unexpected shape during the gripping. .
  • a grip control device and a linear object gripping device having a configuration capable of gripping the linear object in two places so that the linear object can be gripped and moved stably.
  • FIG. 9 is a schematic diagram showing the gripping position of the linear object
  • FIG. 10 is a schematic diagram showing the configuration of the linear object gripping device 220.
  • the wire harness W in which the electric wire W1, the electric wire W2, and the electric wire W3 are bundled is used as the linear object used in the present embodiment.
  • the electric wire W1, the electric wire W2, and the electric wire W3 are in an exposed state (exposed thin wire portion) after the coating is removed from the distal end portion of the covering bundle portion W10 of the wire harness W.
  • the tip of the electric wire W1 is transported to a predetermined position.
  • the linear object gripping device 220 is farther from the distal end side of the wire harness W than the position of the exposed thin wire portion (first gripping position H1) at a predetermined distance L1 from the distal end side of the electric wire W1 and the first gripping position H1.
  • the covering bundle portion W10 at the position L1 + L2 (second holding position H2) is held.
  • the distance L1 from the tip of the electric wire W1 is set to about 10 mm as the first gripping position H1.
  • the distance L2 between the first grip position H1 and the second grip position H2 was set to about 100 mm.
  • the distance L1 and the distance L2 can be appropriately set to optimum distances according to the type, weight, etc. of the linear object.
  • the linear object gripping device 220 includes a first gripping device 22A that grips the first gripping position H1 of the electric wire W1 and a second gripping device 22B that grips the second gripping position H2 of the wire harness W. Including.
  • the first gripping device 22A and the second gripping device 22B are connected by a bridge member 25 so as to be integrated. Further, a connecting member 26 connected to the distal end side of the robot arm 21 is attached to the bridge member 25.
  • the first gripping device 22A has a first main body device 24A.
  • a pair of grip hands 23a and 23a for gripping the first gripping position H1 of the electric wire W1 are provided at the distal end portion of the first main body device 24A.
  • the pair of grip hands 23a, 23a are provided so as to be opened and closed in the direction of arrow P in the drawing by an actuator (not shown) provided in the first main body device 24A.
  • the opening / closing operation of the grip hands 23a, 23a is controlled by the control device 32 described above.
  • a flat plate member is used for the pair of grip hands 23a and 23a. Thereby, even the electric wire W1 having a relatively thin wire diameter can be stably held.
  • the second gripping device 22B also has a second main body device 24B.
  • a pair of grip hands 23b and 23b for gripping the second gripping position H2 of the covering bundle portion W10 are provided at the distal end portion of the second main body device 24B.
  • the pair of grip hands 23b, 23b is provided so as to be opened and closed in the direction of arrow P in the drawing by an actuator (not shown) provided inside the second main body device 24B.
  • the opening / closing operation of the pair of grip hands 23b, 23b is controlled by the control device 32 described above.
  • the direction in which the first gripping device 22A and the second gripping device 22B are located is the Z direction orthogonal to the X direction. That is, the gripping posture of the wire harness is a posture in which the wire harness and the grip hands 23a, 23a and 23b, 23b that are gripping portions are orthogonal to each other at the first gripping position and the second gripping position.
  • the arrow P direction in the figure where the pair of grip hands 23a, 23a and the pair of grip hands 23b, 23b open and close is the Y direction orthogonal to both the X direction and the Z direction.
  • the orthogonal is not 90 degrees in a strict sense, it includes some errors within a range where the effects of the present embodiment shown below can be obtained.
  • a flat plate member is used for the pair of grip hands 23b and 23b. Thereby, even the electric wire W1 having a relatively thin wire diameter can be stably held.
  • the first gripping position H1 of the electric wire W1 is gripped by the first gripping device 22A, and the covering bundle portion W10 is gripped by the second gripping device 22B. .
  • gripping apparatus 220 will hold
  • the wire harness W can be stably held and the tip of the electric wire W1 can be accurately conveyed to a predetermined position using the robot hand 22.
  • the second gripping position H2 is determined by providing the second gripping device 22B at a predetermined distance from the first gripping position H1, but is not limited to this determination method. For example, when another robot arm has already grasped a linear object (when receiving a wire harness from another robot arm), the second grasping position H2 is determined from position information grasped by the other robot arm. May be.
  • the second gripping position H2 may be calculated based on at least one of the three-dimensional shape of the wire harness W, the shape of the linear object gripping device 220, and the movable range of the linear object gripping device 220.
  • the determination based on the movable range of the linear object gripping device 220 means that a movable region determination is made to determine whether or not the second gripping position H2 is within the operating range of the robot 20 and the linear object gripping device 220. Do. If the determination result is out of the movable region, another determination may be made with the second gripping position as the second gripping position, and information (rotation, movement, etc.) for changing the posture of the wire harness W is notified to the robot 20. May be.
  • the linear object to be grasped is not limited to the wire harness W.
  • Examples thereof include electric wires, solder, strings, threads, fibers, glass fibers, optical fibers, tubes, and dry noodles.

Abstract

L'invention concerne un dispositif de commande de préhension (40) qui notifie à un robot (20), lequel possèdant un dispositif de préhension d'objet linéaire capable de saisir un objet linéaire, des informations de préhension d'un faisceau de câbles (W). Le robot (20) comprend : un appareil de prise de vues tridimensionnelles (31) destiné à acquérir la géométrie tridimensionnelle du faisceau de câbles (W); et une unité de traitement qui reconnaît une première position de préhension sur la base de la géométrie tridimensionnelle, calcule une deuxième position de préhension avec un procédé prescrit et notifie au robot (20) de la première position de préhension et de la deuxième position de préhension.
PCT/JP2019/009719 2018-03-28 2019-03-11 Dispositif de commande de préhension WO2019188196A1 (fr)

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JP2012115915A (ja) * 2010-11-29 2012-06-21 Fanuc Ltd ワーク取り出し方法
JP2012200805A (ja) * 2011-03-24 2012-10-22 Canon Inc ロボット制御装置、ロボット制御方法、プログラム及び記録媒体
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WO2016158339A1 (fr) * 2015-03-31 2016-10-06 株式会社オートネットワーク技術研究所 Procédé de fabrication de faisceau de fils électriques, et dispositif de support de parties de retenue de connecteur

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JP7407584B2 (ja) 2019-12-16 2024-01-04 倉敷紡績株式会社 コネクタ分類方法、コネクタ付きケーブルの把持方法及びコネクタ分類カメラ

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