WO2019207687A1 - Robot articulé horizontal - Google Patents

Robot articulé horizontal Download PDF

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Publication number
WO2019207687A1
WO2019207687A1 PCT/JP2018/016813 JP2018016813W WO2019207687A1 WO 2019207687 A1 WO2019207687 A1 WO 2019207687A1 JP 2018016813 W JP2018016813 W JP 2018016813W WO 2019207687 A1 WO2019207687 A1 WO 2019207687A1
Authority
WO
WIPO (PCT)
Prior art keywords
arm
articulated robot
horizontal articulated
hand
plane
Prior art date
Application number
PCT/JP2018/016813
Other languages
English (en)
Japanese (ja)
Inventor
和範 平田
Original Assignee
川崎重工業株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 川崎重工業株式会社 filed Critical 川崎重工業株式会社
Priority to PCT/JP2018/016813 priority Critical patent/WO2019207687A1/fr
Publication of WO2019207687A1 publication Critical patent/WO2019207687A1/fr

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms

Definitions

  • the present invention relates to a horizontal articulated robot.
  • a restaurant system including manipulator means for grasping a dish on which ingredients are arranged and moving it to a table is known (for example, see Patent Document 1).
  • Patent Document 1 A restaurant system including manipulator means for grasping a dish on which ingredients are arranged and moving it to a table is known (for example, see Patent Document 1).
  • the restaurant system disclosed in Patent Document 1 since the food is arranged on the plate, it is not considered to invert the plate.
  • the spindle is connected to the holder so that its axial direction is the same as the penetration direction of the plate into the cassette.
  • the spindle is rotated by the motor, the wafer held on the plate can be reversed through the suction cup.
  • the horizontal articulated robot according to the present invention is offset with respect to the tip of the arm within a first plane that is parallel to a base, an arm having a plurality of arm members, and a plane on which the arm operates. And a hand configured to rotate about a rotation axis located in the first plane.
  • the hand By this, by rotating the hand around the rotation axis, the work gripped by the hand can be conveyed while being reversed, so that the work efficiency can be improved.
  • the hand since the hand is disposed so as to be offset with respect to the distal end portion of the arm, contact with the arm can be suppressed when the hand rotates around the rotation axis.
  • the work efficiency can be improved by carrying the work held by the hand while inverting it.
  • FIG. 1 is a front view schematically showing a schematic configuration of the horizontal articulated robot according to the first embodiment.
  • FIG. 2 is a side view schematically showing a schematic configuration of the horizontal articulated robot according to the first embodiment.
  • FIG. 3 is a side view schematically showing a schematic configuration of the horizontal articulated robot according to the first embodiment.
  • FIG. 4 is a plan view schematically showing a schematic configuration of the horizontal articulated robot according to the first embodiment.
  • FIG. 5 is a plan view schematically showing a schematic configuration of the horizontal articulated robot according to the first embodiment.
  • FIG. 6 is a functional block diagram schematically showing the configuration of the control device in the horizontal articulated robot shown in FIG.
  • FIG. 7 is a flowchart showing an example of the operation of the horizontal articulated robot according to the first embodiment.
  • the horizontal articulated robot according to the first embodiment has a base, an arm having a plurality of arm members, and a first plane that is a plane parallel to the plane on which the arm operates, And a hand arranged to be offset and configured to rotate about a rotation axis located in the first plane.
  • the hand may be offset in the direction of the rotation axis located in the first plane with respect to the tip of the arm.
  • the pair of hands may be arranged so as to be separated from each other in the extending direction of the rotation axis.
  • the horizontal articulated robot according to the first embodiment further includes a control device, and the control device rotates the hand around the rotation axis so as to invert the work held by the hand, thereby reversing the work.
  • You may be comprised so that it may mount in a state.
  • control device uses the space on the side where the arm is not arranged with respect to the plane parallel to the first plane and including the hand as the tip of the hand.
  • the hand may be configured to rotate such that the hand moves.
  • FIG. 1 is a front view schematically showing a schematic configuration of the horizontal articulated robot according to the first embodiment.
  • FIG. 2 and 3 are side views schematically showing a schematic configuration of the horizontal articulated robot according to the first embodiment.
  • FIG. 2 shows a state where the hand holds the workpiece
  • FIG. 3 shows a state where the held workpiece is reversed and conveyed.
  • FIG. 4 and 5 are plan views schematically showing a schematic configuration of the horizontal articulated robot according to the first embodiment.
  • FIG. 4 shows a state where the hand holds the workpiece
  • FIG. 5 shows a state where the held workpiece is reversed and conveyed.
  • FIG. 6 is a functional block diagram schematically showing the configuration of the control device in the horizontal articulated robot shown in FIG.
  • FIG. 1 the vertical and horizontal directions of the horizontal articulated robot are shown as the vertical and horizontal directions shown in the figure. 2 and 3, the vertical direction and the front-rear direction of the horizontal articulated robot are shown as the vertical direction and the front-rear direction shown in the drawing, respectively. Furthermore, in FIG.4 and FIG.5, the front-back direction and the left-right direction of a horizontal articulated robot are respectively represented as the front-back direction and the left-right direction shown in the figure.
  • the horizontal articulated robot 100 includes gripping hands (hands) 1A and 1B, a manipulator 2, and a control device 3, and includes a gripping hand.
  • the work W is held and transported by 1A and 1B.
  • Examples of the work W include tableware such as a plate in the first embodiment.
  • the workpiece W may be, for example, food, a semiconductor wafer, or the like.
  • the horizontal articulated robot 100 exemplifies a form that employs a horizontal articulated robot of the type installed on the floor, but is not limited thereto, and is a type of horizontal articulated type that is suspended from the ceiling.
  • a robot may be employed.
  • the manipulator 2 includes a base (base) 20 and a pair of arms 200A and 200B.
  • a vacuum generator 26 is disposed inside the base 20.
  • a suction unit 12 of gripping hands 1A and 1B, which will be described later, is connected to the vacuum generator 26 via a pipe (not shown). Thereby, the gripping hands 1 ⁇ / b> A and 1 ⁇ / b> B can hold the work W by suction by making the inside of the suction part 12 have a negative pressure by the vacuum generator 26.
  • the vacuum generator 26 is disposed inside the base 20 in the first embodiment.
  • the present invention is not limited to this, and the vacuum generator 26 is disposed outside the base 20. You may employ
  • the base 20 is provided with a base shaft 30.
  • the base shaft 30 includes, for example, a ball screw mechanism, a drive motor, a rotation sensor that detects the rotation position of the drive motor, and a current sensor (none of which is shown) that detects a current that controls the rotation of the drive motor. It is configured to expand and contract in the vertical direction.
  • the drive motor may be a servo motor that is servo-controlled by the control device 3, for example.
  • the rotation sensor may be an encoder, for example.
  • the 3rd arm member 23 is connected with the tip part of the 2nd arm member 22 via the direct-acting joint J3 so that an up-and-down movement is possible to the 2nd arm member 22.
  • a rotary joint J4 is provided at the lower end of the third arm member 23, and a mounting device 24 is provided at the lower end of the rotary joint J4.
  • the mounting device 24 is configured so that the gripping hand 1A can be attached and detached.
  • the mounting device 24 includes a pair of bar members that are configured such that the distance between them can be adjusted, and the gripping hand 1 ⁇ / b> A is sandwiched between the pair of bar members, thereby holding the gripping hand. 1A can be mounted on the mounting device 24. Thereby, the gripping hand 1A can be rotated around the rotation axis L3 by the rotary joint J4. The tip of the bar member may be bent.
  • the rotation axis L1, the rotation axis L2, and the rotation axis L3 are in a parallel relationship with each other, and are configured to extend in the vertical direction in the first embodiment.
  • the gripping hand 1 ⁇ / b> A has a rod-shaped first member 10, a base plate 11, and a suction part 12.
  • the base plate 11 is formed in a substantially rectangular shape in plan view, and the suction portion 12 is disposed on the main surface thereof. At least one suction portion 12 is disposed at each of the base end portion and the tip end portion of the base plate 11 (here, two locations).
  • the gripping hand 1A has a distal end portion (third arm member 23) of the arm 200 in a first plane (here, a horizontal plane; the planes of FIGS. 4 and 5) that is a plane parallel to the plane on which the arm 200A operates.
  • a first plane here, a horizontal plane; the planes of FIGS. 4 and 5
  • the gripping hand 1A has a distal end portion (third arm member 23) of the arm 200 in a first plane (here, a horizontal plane; the planes of FIGS. 4 and 5) that is a plane parallel to the plane on which the arm 200A operates.
  • a first plane here, a horizontal plane; the planes of FIGS. 4 and 5
  • the gripping hand 1 ⁇ / b> A has a proximal end portion connected to the distal end portion of the arm 200 (third arm member 23) via the connection member 25.
  • the gripping hand 1A is arranged so that its base end portion is separated in the extending direction of the rotation axis L4 with respect to the tip end portion of the arm 200 (third arm member 23) when viewed from the vertical direction. ing.
  • the manipulator 2 includes a drive motor for rotating around the rotation axes L1 to L4 corresponding to the first arm member 21, the second arm member 22, the third arm member 23, and the connection member 25, It has a power transmission mechanism, a rotation sensor, and a current sensor (all not shown).
  • the drive motor may be a servo motor that is servo-controlled by the control device 3, for example.
  • the rotation sensor may be an encoder, for example.
  • control device 3 includes an arithmetic unit 3a such as a CPU, a storage unit 3b such as a ROM and a RAM, and a servo controller 3c.
  • arithmetic unit 3a such as a CPU
  • storage unit 3b such as a ROM and a RAM
  • servo controller 3c a servo controller
  • the storage device 3b stores information such as a basic program of the robot controller and various fixed data.
  • the arithmetic unit 3a controls various operations of the manipulator 2 by reading and executing software such as a basic program stored in the storage unit 3b.
  • the arithmetic unit 3a generates a control command for the manipulator 2 and outputs it to the servo controller 3c.
  • the servo controller 3c controls the drive of the servo motor that rotates the rotation shaft corresponding to each of the first arm member 21 to the third arm member 23 of the manipulator 2 based on the control command generated by the arithmetic unit 3a. It is configured as follows.
  • FIG. 7 is a flowchart showing an example of the operation of the horizontal articulated robot according to the first embodiment.
  • the control device 3 drives each drive motor of the manipulator 2 to move the gripping hands 1A and 1B to a predetermined first place (step S101).
  • the first place is, for example, a loading position where the workpiece W is loaded, and is stored in the storage device 3b in advance.
  • control device 3 drives each drive motor of the manipulator 2 and the vacuum generation device 26 to convey the work W held by the gripping hands 1A and 1B while being reversed (step S103).
  • the control device 3 allows the first arm member 21 and the second arm member 23 of the manipulator 2 to be substantially L-shaped when viewed from the vertical direction. Each drive motor is driven. Next, the control device 3 drives the drive motor so as to rotate the connecting member 25 around the rotation axis L4. As a result, the gripping hands 1A and 1B can be transported backward while rotating around the rotation axis L4 and inverting the workpiece W held.
  • the control device 3 has a space (a space above or below the arms 200A and 200B) on the side where the arms 200A and 200B are not disposed with respect to a plane (here, a horizontal plane) including the gripping hands 1A and 1B. ),
  • the gripping hands 1A and 1B may be rotated so that the tip ends of the gripping hands 1A and 1B move. Thereby, when gripping hand 1A, 1B rotates, a contact with arm 200A, 200B can be suppressed.
  • the control device 3 drives each drive motor of the manipulator 2 and the vacuum generator 26 to place the work W held by the gripping hands 1A and 1B in a predetermined second place set in advance.
  • the predetermined second place may be, for example, a work area or a production line where the next process (work) is performed on the work W, or a case for storing the work W, or the like. It is often stored in advance in the storage device 3b.
  • the gripping hands 1A and 1B are rotated in a first plane which is a plane parallel to the plane on which the arms 200A and 200B operate. It is configured to rotate about the axis L4. Accordingly, the work W can be conveyed while being reversed by rotating the gripping hands 1A and 1B around the rotation axis L4. For this reason, work efficiency can be improved compared with the conventional robot hand.
  • the gripping hands 1A and 1B are arranged so as to be offset with respect to the distal ends of the arms 200A and 200B, respectively. For this reason, it is possible to suppress the gripping hands 1A, 1B from coming into contact with the arms 200A, 200B when the gripping hands 1A, 1B rotate around the rotation axis L4.
  • the horizontal articulated robot 100 is of the type installed on the floor, it is possible to prevent the cleaning liquid or the like falling from the workpiece W from being applied to the arms 200A and 200B. Further, in the case where the horizontal articulated robot 100 is a type that is suspended from the ceiling, it is possible to suppress the cleaning liquid or the like falling from the horizontal articulated robot 100 from being applied to the workpiece W.
  • a configuration including a pair of arms 200A and 200B is employed, but the present disclosure is not limited thereto, and a configuration including a single arm may be employed. You may employ
  • the horizontal articulated robot of the present invention is useful in the field of industrial robots because work efficiency can be improved by carrying the work held by the hand while inverting it.

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

Abstract

L'invention concerne un robot articulé horizontal pourvu : d'une base (20) ; d'un bras comprenant une pluralité d'éléments de bras ; et d'une main (1) agencée de manière à être décalée par rapport à la pointe du bras (200) dans un premier plan parallèle à un plan dans lequel fonctionne le bras (200), ladite main (1) étant conçue pour tourner autour d'un axe de rotation positionné dans le premier plan.
PCT/JP2018/016813 2018-04-25 2018-04-25 Robot articulé horizontal WO2019207687A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
PCT/JP2018/016813 WO2019207687A1 (fr) 2018-04-25 2018-04-25 Robot articulé horizontal

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/JP2018/016813 WO2019207687A1 (fr) 2018-04-25 2018-04-25 Robot articulé horizontal

Publications (1)

Publication Number Publication Date
WO2019207687A1 true WO2019207687A1 (fr) 2019-10-31

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Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2018/016813 WO2019207687A1 (fr) 2018-04-25 2018-04-25 Robot articulé horizontal

Country Status (1)

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WO (1) WO2019207687A1 (fr)

Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH08224623A (ja) * 1995-02-23 1996-09-03 Komatsu Ltd ロボットのワーク把持動作制御装置
JP2002145448A (ja) * 2000-11-08 2002-05-22 Kawasaki Heavy Ind Ltd 反転積み重ね装置
US20020102155A1 (en) * 2001-01-26 2002-08-01 Wu Kung Chris Simplified and enhanced scara arm
JP2003019687A (ja) * 2001-07-03 2003-01-21 Aitec:Kk ロボットハンドの駆動装置
JP2012244918A (ja) * 2011-05-25 2012-12-13 Kobird Co Ltd どら焼き用皮製造装置並びにどら焼き製造装置及び方法
JP2014000627A (ja) * 2012-06-18 2014-01-09 Seiko Epson Corp ロボットハンド及びロボット装置
JP2016111976A (ja) * 2014-12-16 2016-06-23 テーブルマーク株式会社 焼成食品の製造方法および焼成食品の製造装置
JP2017045784A (ja) * 2015-08-25 2017-03-02 株式会社ディスコ ロボットハンド
JP2018001352A (ja) * 2016-07-04 2018-01-11 川崎重工業株式会社 ワークの反転装置

Patent Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH08224623A (ja) * 1995-02-23 1996-09-03 Komatsu Ltd ロボットのワーク把持動作制御装置
JP2002145448A (ja) * 2000-11-08 2002-05-22 Kawasaki Heavy Ind Ltd 反転積み重ね装置
US20020102155A1 (en) * 2001-01-26 2002-08-01 Wu Kung Chris Simplified and enhanced scara arm
JP2003019687A (ja) * 2001-07-03 2003-01-21 Aitec:Kk ロボットハンドの駆動装置
JP2012244918A (ja) * 2011-05-25 2012-12-13 Kobird Co Ltd どら焼き用皮製造装置並びにどら焼き製造装置及び方法
JP2014000627A (ja) * 2012-06-18 2014-01-09 Seiko Epson Corp ロボットハンド及びロボット装置
JP2016111976A (ja) * 2014-12-16 2016-06-23 テーブルマーク株式会社 焼成食品の製造方法および焼成食品の製造装置
JP2017045784A (ja) * 2015-08-25 2017-03-02 株式会社ディスコ ロボットハンド
JP2018001352A (ja) * 2016-07-04 2018-01-11 川崎重工業株式会社 ワークの反転装置

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