WO2021044835A1 - Dispositif de saisie de pièce à travailler - Google Patents

Dispositif de saisie de pièce à travailler Download PDF

Info

Publication number
WO2021044835A1
WO2021044835A1 PCT/JP2020/031047 JP2020031047W WO2021044835A1 WO 2021044835 A1 WO2021044835 A1 WO 2021044835A1 JP 2020031047 W JP2020031047 W JP 2020031047W WO 2021044835 A1 WO2021044835 A1 WO 2021044835A1
Authority
WO
WIPO (PCT)
Prior art keywords
work
block
workpiece
gripping device
gripping
Prior art date
Application number
PCT/JP2020/031047
Other languages
English (en)
Japanese (ja)
Inventor
康彦 可知
Original Assignee
康彦 可知
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 康彦 可知 filed Critical 康彦 可知
Publication of WO2021044835A1 publication Critical patent/WO2021044835A1/fr

Links

Images

Classifications

    • 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
    • B25J15/08—Gripping heads and other end effectors having finger members

Definitions

  • the present invention relates to a work gripping device provided on a hand portion at the tip of an industrial robot arm.
  • Industrial robots are widely used in large-scale mass production factories such as the automobile industry and semiconductor industry, and contribute significantly to improving productivity, quality, and labor saving. Moreover, in many developed countries, it tends to be difficult to secure a labor force due to the effects of aging and population decline, and further expansion of the fields in which robots can be used is expected as one of the effective measures. In order to effectively utilize industrial robots, the most important requirement is to develop a work gripping device that can stably hold the target work in each work environment and handle it reliably according to the purpose of the work. ..
  • the shape of the work has a specific element suitable for gripping, a simpler method can be selected. For example, if there is always a recess of a certain size, a special fixing claw is provided at the tip of the gripper, if there is a flat part of a certain area, it is sucked with a vacuum pad, and an opening of a predetermined size is opened in the center. If there is a portion, there is a method of inserting a jig into the hole to expand and grip the portion. Both methods are suitable for workpieces with a relatively light weight. (See Patent Document 2)
  • a gripping device having a three to five finger-shaped articulated mechanism like a human hand has also been developed. It is composed of a refraction mechanism that gently fits the outer shape of an object and an activator that manipulates them. Not only does it have a high degree of freedom in shape, but it also has the characteristic of being able to handle soft materials such as strawberries.
  • the weight that can be handled is limited to about 500 ml PET bottles, and since it is equipped with a large number of actuators and sensors that control them, it is equipped with a high temperature atmosphere, an environment with a lot of oxidation scale and dust, and sometimes a shock. It is a device that is difficult to handle with rough handling. (See Non-Patent Document 1)
  • the present invention is a work gripping device provided in the hand portion at the tip of an industrial robot arm, which targets semi-finished products or finished products, each of which is relatively heavy in weight in an environment with a large amount of oxide scale and dust, and is arranged in a stand. It has a function to grip the work so that it can be handled stably even if it is placed in a mixed manner as well as when it is placed, and it does not depend on the method that uses the attractive force of the electromagnet. ..
  • An auxiliary finger is added to the gripper that opens and closes in the horizontal direction, which is generally provided in the hand part, and the whole is curved in an arc shape to become rigid so that it follows the lower surface of the work, and the tip is on the lower surface side of the work. It is a work gripping device that can support the weight from the lower surface side by entering.
  • the auxiliary finger is composed of one or more intermediate blocks and a tip block, and the block can be made of any material or manufacturing method as long as the necessary functions can be obtained.
  • each block When viewed from the side, each block has a trapezoidal shape with a short side in contact with the work and a long side not in contact with the work, and is connected from the gripper to the tip block by hinges at the upper and lower ends on the long side. ..
  • the traction tool means a chain, wire or rope, and the material and dimensions do not matter as long as the specifications can withstand the required tension.
  • the traction device applies tension to the above-mentioned traction tool, and any device that can control the tension and traction amount required to maintain the curved shape of the auxiliary finger against the weight when gripping the work. , Warm wheels, rotary encoders, servo motors, power cylinders, etc., in any combination.
  • the tip block When gripping the work, the tip block is pulled by applying tension to the traction tool with a traction device. As a result, the short side of each block that has been opened is brought into close contact with each other in sequence, and the auxiliary finger becomes an arc shape with a concave side in contact with the work when viewed from the side surface, and the whole becomes rigid. The gripper is finally closed after the auxiliary fingers have secured the required rigidity.
  • the traction tool of the auxiliary finger is relaxed without applying strong tension except when gripping, that is, in the standby state, the short side side of all blocks is opened and the whole hangs down by its own weight, but the spring provided on the connecting hinge Due to the mechanism and the angle stopper, all blocks have the function of aligning the long side in a straight line and holding the state.
  • Auxiliary fingers are provided on at least two opposing grippers among the grippers provided on the hand portion.
  • a plurality of grippers are divided into functions for long sides and short sides so as to correspond to the projected shape of the work, it is effective to provide auxiliary fingers on the opposing grippers for the short sides.
  • a wedge-shaped shim is fitted in the opening on the short side of the intermediate block to reduce the overall amount of curvature when gripping. It can be dealt with.
  • the robot arm After selecting the workpiece to be gripped and determining the gripping procedure based on the information from the visual sensor, the robot arm adjusts the orientation and height of the hand, and the gripper mechanism adjusts the opening, and the auxiliary finger in the standby state. Close to both sides of the work. The adjustment in the height direction required in the process of changing the auxiliary finger from the standby state to the arc shape is controlled by the robot arm. The gripping of the work is completed by closing all the grippers after the auxiliary fingers form an arc shape and secure the rigidity.
  • an auxiliary finger is connected to a gripper provided on the hand portion at the tip of the robot arm, which forms an arc shape to maintain rigidity. It can be inserted on the lower surface side, and then the gripper can be finally closed. As a result, the weight is not only supported by the frictional force of the side surface by the gripper, but also from the lower surface side along the work, so unstable movement such as slipping and rocking is prevented even for various heavy works. It can be gripped in a stable state.
  • the auxiliary fingers are not integrated, but have a structure in which a large number of blocks are connected by hinges. As a result, the required space before and after the finger in the standby state, that is, when not gripping, can be suppressed to be significantly smaller than in the case of integration, so that the work can be easily picked up even when the gap between the works is narrow.
  • the mechanism for forming the curved shape of the auxiliary finger is simple, and the finger part does not require a complicated link mechanism, pneumatic or hydraulic cylinders, or even a large number of sensors. Therefore, since the whole can be realized in a slim shape, it is easy to bring the auxiliary fingers close to each other even when the workpieces are miscellaneously placed and the gap between the workpieces is narrow, and the workpiece is placed on a dedicated stand when introducing the robot. There is no need to align the robots, which saves time and effort and does not squeeze the storage space.
  • the activator that curves the auxiliary finger in an arc shape is mainly a traction device, and can be installed in the hand remote from the work. Therefore, since the finger portion close to the work does not have a delicate mechanism or a large number of sensors, it is not easily broken by an impact and can easily withstand disturbances such as radiant heat of the work. In addition, it is not easily affected by the oxide scale and a dirty environment with a lot of dust, and the simple mechanism makes it easy to clean when it gets dirty and easy to maintain in the event of a failure.
  • the work gripping device is effective for stably gripping a work having a diameter equal to or larger than the diameter of the arc formed by the two opposing auxiliary fingers.
  • a workpiece smaller than that, it is possible to reduce the radius formed by applying a wedge-shaped shim between the blocks.
  • FIG. 1 is an operation explanatory view of a work gripping device using an auxiliary finger.
  • FIG. 2 is an operation explanatory view of a finger of a type in which an arc-shaped hook rotates around a fulcrum.
  • FIG. 3 is an operation explanatory view of a type of finger in which an arcuate hook that is divided into multiple parts and connected is rotated around a fulcrum.
  • FIG. 4 is a side view showing a gripping state of the auxiliary fingers (concentric circle type).
  • FIG. 5 is a side view showing the standby state of the auxiliary fingers (concentric circle type).
  • FIG. 6 is a side view showing a gripping state of the auxiliary finger (concentric circle type).
  • FIG. 7 is a side view showing a standby state of the auxiliary finger (concentric circle type).
  • FIG. 8 is a side view showing a state in which a wedge-shaped shim is applied between blocks and gripped.
  • FIG. 1 is an operation explanatory view of a work gripping device using the auxiliary finger of the present invention.
  • various workpieces placed in the yard are recognized by a visual sensor, selection of the target workpiece 1 to be gripped, and analysis for accurately grasping the workpiece (overall shape of the workpiece, position of the center of gravity, horizontal direction). Tilt, tilt in the vertical plane, gripping procedure, etc.).
  • the illustrated hand 2 has two long-side grippers 3 and two short-side grippers 4 that open and close in the horizontal direction, and the short-side gripper is provided with an auxiliary finger 5. At this stage, both grippers are approaching the work but have not yet pinched it.
  • (3) shows the operating state of the auxiliary finger 5 by paying attention only to the gripper for the short side.
  • the traction tool 15 (roller chain in this case) penetrating the inside of the auxiliary finger 5 is towed by the hoisting mechanism 6 while lowering the height of the hand 2 with the robot arm to assist. The steps until the entire finger is formed into an arc shape are shown.
  • (3) -3 is a stage in which the work is subsequently restrained by the opening / closing mechanism of the short side gripper 4.
  • (3) -4 indicates a stage in which the opening / closing mechanism of the long side gripper 3 is operated to complete the gripping of the work 1.
  • FIG. 2 is an operation explanatory view of an example in which an arc-shaped auxiliary finger is embodied.
  • An auxiliary finger of the type that allows the tip to enter the lower surface of the work by rotating the arc-shaped hook connected to the fixed block by a hinge by 90 degrees in the work direction when gripping the work, and can support the weight of the work from the lower surface as well.
  • the rear part of the hook protrudes more than the vertical line, so that it is difficult to insert the auxiliary finger when the distance between the workpieces is narrow. If it is attempted to reduce the overhang so that it can be easily inserted, the radius of the arc of the finger must be reduced, so that the effect of stably gripping the work cannot be sufficiently obtained.
  • FIG. 3 is an operation explanatory view of an auxiliary finger of a type in which an arcuate hook that rotates around a fulcrum as shown in FIG. 2 is divided into multiple parts (two parts in the figure) instead of being integrated.
  • the shape when the work is gripped is the same as that in FIG. 2, but in the standby state, the number of hooks can be significantly reduced as compared with the case where the rearward overhang is not divided. Therefore, even when the space between the workpieces is small, the auxiliary finger can be easily inserted and the workpiece can be easily gripped.
  • a simple actuator has the function of holding the multi-divided hooks in a straight line in the standby state and forming a rigid integrated arc-shaped hook with many hooks when gripping the work. And it needs to be realized by the mechanism.
  • FIG. 4 and subsequent views are side views of the auxiliary fingers embodying the type in which the arcuate hook is divided into many parts.
  • FIG. 4 shows an example in which the arc-shaped hook is divided into three intermediate blocks 11 and one tip block 12, and all the blocks form an integral arc-shaped hook having rigidity with the short side inside. However, it shows the state of gripping the work.
  • the finger tip block is provided with an acute-angled guide so that it can easily enter the lower part of the work.
  • the envelopes on the outer surface side opposite to the inner surface side in contact with the work of the block group when the finger is viewed from the side are concentric circles, and the thickness seen from the side surface from the first block to the tip block is It is almost constant.
  • the auxiliary fingers are continuous with the gripper 10, and a plurality of (three in this case) intermediate blocks 11 and tip blocks 12 are connected by hinges 13.
  • tension is applied to the attracting tool 15 (roller chain in the figure) that penetrates each block and is connected to the pin 14 of the tip block, and the short side side of each block that was open during standby is in close contact.
  • the necessary conditions for this are that the block has a short side and a long side, that the long side is connected by a hinge, and that the block has a surface that is attracted and brought into close contact with a traction tool. It does not have to be trapezoidal, and may be E-shaped.
  • FIG. 5 is a side view of the standby state of the auxiliary finger.
  • the inspection tool 15 relaxes and the intermediate block 11 and the tip block 12 hang down in the vertical direction due to their own weight, but the long side side of each block is aligned linearly by the spring and angle stopper equipped on the hinge 13. It is controlled.
  • Sections AA show a cross section of the intermediate block 11, and cross sections BB show a cross section of the tip block 12.
  • the tip block is provided with a pin 14 for connecting the traction tool.
  • the cross-sectional view of the embodiment is rectangular as a whole, but the necessary condition for satisfying the function is that the side in contact with the work has a necessary area suitable for gripping, and the opposite side can be equipped with a hinge.
  • the space through which the traction tool penetrates is secured, and the strength required for gripping the work is secured as a whole. If these conditions are met, the cross section as a whole may be inverted ⁇ -shaped or T-shaped. I do not care.
  • the wall thickness on both sides of the block is reduced as an example of a device for reducing the total weight of the auxiliary fingers.
  • FIG. 6 is a side view in which the auxiliary finger grips the work, but unlike FIG. 4, the envelope of the arc on the inner surface side and the opposite side in contact with the work of the block group is an example of a concentric circle type.
  • the moment for supporting the weight of the work with the auxiliary fingers is secured, but if it is insufficient, the phenomenon that the lower surface of the fixed block and the upper surface of the uppermost intermediate block cannot be secured first appears.
  • the block shape of the auxiliary finger is a concentric circle type, the arm length from the top hinge to the traction tool can be longer than in the case of the concentric circle type, so the tension applied to the traction tool required to support the work weight can be reduced.
  • FIG. 7 is a side view of the standby state of the auxiliary finger of FIG. Since it is a concentric circle type, the thickness gradually decreases from the upper end of the intermediate block to the tip block. Sections AA, BB, and CC show such a situation. Other explanations are similar to those in Fig. 5, so they are omitted here.
  • FIG. 8 is a side view showing a state in which a wedge-shaped shim is installed between the fixed block and the uppermost intermediate block to grip the work.
  • This figure is an example of an auxiliary finger designed assuming that the short side of the work is 200 mm or more.
  • the work can be gripped stably.
  • the range can be expanded to 140 mm or more. Further, if the same wedge-shaped shim is applied between the next blocks, the range of the work that can be stably gripped can be expanded to 90 mm or more.

Landscapes

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

Abstract

La présente invention vise à procurer un dispositif de saisie de pièce à travailler pour utiliser efficacement un robot industriel en raison de l'environnement de milieu de travail et de l'objet qui est élaboré sur le terrain, par exemple, par coulée, par forgeage et par traitement thermique. A cet effet, l'invention porte sur un dispositif de saisie de pièce à travailler, dans lequel dispositif un doigt auxiliaire (5) est ajouté à un outil de saisie (4) duquel une partie de main (2) à l'extrémité de pointe d'un bras de robot est équipée. Le doigt auxiliaire est de forme droite dans un état d'attente pour faciliter une approche de celui-ci jusqu'à une pièce à travailler cible, et est formé sous une forme en arc globalement rigide dans une étape pour saisir la pièce à travailler alors qu'un dispositif de traction (6) dans la main tire un bloc d'extrémité de pointe par l'intermédiaire d'un outil de traction pénétrant à travers chaque bloc. Finalement, des outils de saisie (3, 4) sont fermés pour supporter la pièce à travailler du côté de surface inférieure et des surfaces latérales de celle-ci, de façon à rendre ainsi possible de saisir de manière stable même une lourde pièce à travailler.
PCT/JP2020/031047 2019-09-03 2020-08-18 Dispositif de saisie de pièce à travailler WO2021044835A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2019160121A JP7107508B2 (ja) 2019-09-03 2019-09-03 ワーク把持装置
JP2019-160121 2019-09-03

Publications (1)

Publication Number Publication Date
WO2021044835A1 true WO2021044835A1 (fr) 2021-03-11

Family

ID=74849147

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2020/031047 WO2021044835A1 (fr) 2019-09-03 2020-08-18 Dispositif de saisie de pièce à travailler

Country Status (2)

Country Link
JP (1) JP7107508B2 (fr)
WO (1) WO2021044835A1 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN116495405A (zh) * 2023-06-28 2023-07-28 四川英创力电子科技股份有限公司 电路板输送夹持装置及其使用方法

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5997882A (ja) * 1982-11-29 1984-06-05 日本電気ホームエレクトロニクス株式会社 物品のグリツプ装置
JP2007237358A (ja) * 2006-03-10 2007-09-20 Nissan Motor Co Ltd ロボットハンドおよびそのロボットハンドによる把持方法
JP2013119151A (ja) * 2011-12-08 2013-06-17 Tokusen Kogyo Co Ltd 指関節構造
JP2013240863A (ja) * 2012-05-21 2013-12-05 Precision Machinery Research & Development Center ロボットハンド装置

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5969288A (ja) * 1982-10-07 1984-04-19 廣瀬　茂男 柔軟把握機構
JP2010269397A (ja) 2009-05-21 2010-12-02 Honda Motor Co Ltd ロボットハンド装置
JP6354315B2 (ja) 2014-05-16 2018-07-11 日産自動車株式会社 ロボットハンド及びこれを備えた自動組立ロボット

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5997882A (ja) * 1982-11-29 1984-06-05 日本電気ホームエレクトロニクス株式会社 物品のグリツプ装置
JP2007237358A (ja) * 2006-03-10 2007-09-20 Nissan Motor Co Ltd ロボットハンドおよびそのロボットハンドによる把持方法
JP2013119151A (ja) * 2011-12-08 2013-06-17 Tokusen Kogyo Co Ltd 指関節構造
JP2013240863A (ja) * 2012-05-21 2013-12-05 Precision Machinery Research & Development Center ロボットハンド装置

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN116495405A (zh) * 2023-06-28 2023-07-28 四川英创力电子科技股份有限公司 电路板输送夹持装置及其使用方法
CN116495405B (zh) * 2023-06-28 2023-10-10 四川英创力电子科技股份有限公司 电路板输送夹持装置及其使用方法

Also Published As

Publication number Publication date
JP2021037574A (ja) 2021-03-11
JP7107508B2 (ja) 2022-07-27

Similar Documents

Publication Publication Date Title
JP4182074B2 (ja) ハンド及びハンドリングロボット
AU2010200817B2 (en) Grippers for use in palletising packaged goods
CN107838938B (zh) 一种机器人抓手
JP2009262304A (ja) 荷役物搬送装置
WO2019210761A1 (fr) Manipulateur souple d'entraînement composite électrique à cadre en ressort à plaque formé avec une épaisseur irrégulière
KR20120115108A (ko) 중력보상된 하중 바디를 자동적으로 움직이기 위한 방법 및 핸들링 시스템
WO2021044835A1 (fr) Dispositif de saisie de pièce à travailler
JP2824641B1 (ja) 荷の挟持吊り上げ装置
JP2007098501A (ja) ロボットシステム
CN107032228A (zh) 异形类零部件起吊翻转装置
JP2013193155A (ja) ロボットシステム及びロボットハンドの爪保持機構
US20090289401A1 (en) Work Positioning Device
TWI617404B (zh) 物品保持具、搬送機器人及物品搬送方法
JP2010023120A (ja) ロボットハンドとこれを用いた対象物の把持方法
Gutierrez et al. Development of Wire Actuated Monolithic Soft Gripper Positioned by Robot Manipulator
CN111086019B (zh) 一种用于抓取圆柱形工件的气动-电磁混合控制机械手的控制方法
JPH11349276A (ja) 缶用吊具
Borisov et al. Design of the high-payload grasping device for assistive manipulation
US7237815B2 (en) Lifting apparatus
Ji et al. Design and simulation of an end effector for a wheel handling manipulator
CN206568172U (zh) 一种带有机械自锁装置的搬运夹具
JP2010076002A (ja) 移載ロボット
JPH0584405U (ja) ロールリフター
WO2021026861A1 (fr) Dispositif de préhension pour manipuler un verrou tournant
CN210633697U (zh) 用于蜂窝陶瓷的夹具

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 20861159

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 20861159

Country of ref document: EP

Kind code of ref document: A1