WO2022045300A1 - ロボットシステム - Google Patents

ロボットシステム Download PDF

Info

Publication number
WO2022045300A1
WO2022045300A1 PCT/JP2021/031557 JP2021031557W WO2022045300A1 WO 2022045300 A1 WO2022045300 A1 WO 2022045300A1 JP 2021031557 W JP2021031557 W JP 2021031557W WO 2022045300 A1 WO2022045300 A1 WO 2022045300A1
Authority
WO
WIPO (PCT)
Prior art keywords
claw
finger
members
pair
tip
Prior art date
Application number
PCT/JP2021/031557
Other languages
English (en)
French (fr)
Japanese (ja)
Inventor
雅幸 掃部
朋暉 岡
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 JP2022545737A priority Critical patent/JP7525620B2/ja
Publication of WO2022045300A1 publication Critical patent/WO2022045300A1/ja

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
    • B25J15/04—Gripping heads and other end effectors with provision for the remote detachment or exchange of the head or parts thereof
    • 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

  • This disclosure relates to robot systems.
  • Patent Document 1 A chuck that holds a cylindrical work from the inner peripheral surface side is known (see, for example, Patent Document 1).
  • the chuck disclosed in Patent Document 1 is used for a robot hand, has a wedge member attached to the tip of a cylinder rod, and has a plurality of chuck claws that swing due to the advancement and retreat of the wedge member.
  • the present inventor has conceived a robot system that has a new structure different from the chuck disclosed in Patent Document 1 and can hold a cylindrical work from the inner peripheral surface side. It is an object of the present disclosure to provide a robot system having a novel structure.
  • the robot system has a pair of fingernails and a first direction which is a direction from the tip of one fingernail to the tip of the other fingernail.
  • Each of the pair of claw members includes an actuator that operates the pair of finger members so as to be close to or separated from each other, and a pair of claw members that are detachably configured with respect to the corresponding finger member. Is provided with a proximal end portion and a distal end portion, and when the respective proximal end portions move in a direction close to each other, the tips of the respective distal end portions of the claw member are configured to be separated from each other.
  • the cylindrical work can be held from the inner peripheral surface side.
  • FIG. 1 is a schematic diagram showing a schematic configuration of a robot system according to the first embodiment.
  • FIG. 2 is a schematic diagram showing a schematic configuration of the robot system according to the first embodiment.
  • FIG. 3 is a schematic diagram showing a schematic configuration of the robot system according to the first embodiment.
  • FIG. 4 is a cross-sectional view showing a schematic configuration of a support member and a claw member of the robot system shown in FIG.
  • FIG. 5 is a schematic diagram showing a schematic configuration of a hand and a claw member of the robot system shown in FIG. 1.
  • FIG. 6 is a schematic view of the claw member of FIG. 5 as viewed from different directions.
  • 7A and 7B are schematic views showing how the hand and the claw member of FIG. 5 hold the work.
  • FIG. 1 is a schematic diagram showing a schematic configuration of a robot system according to the first embodiment.
  • FIG. 2 is a schematic diagram showing a schematic configuration of the robot system according to the first embodiment.
  • FIG. 3 is a schematic
  • FIG. 8 is a schematic diagram showing a schematic configuration of a tip portion of a finger member and a claw member of the robot system shown in FIG. 9A and 9B are schematic views showing how the claw member shown in FIG. 4 is attached to the finger member.
  • FIG. 10 is a schematic diagram showing a schematic configuration of a hand to which the claw member of FIG. 8 is attached.
  • FIG. 11 is a schematic diagram showing a schematic configuration of a hand to which another claw member is attached.
  • FIG. 12 is a schematic diagram showing a schematic configuration of a hand to which another claw member is attached.
  • FIG. 13 is a schematic diagram showing a schematic configuration of a hand to which another claw member is attached.
  • FIG. 14 is a flowchart showing an example of the operation of the robot system according to the first embodiment.
  • FIG. 14 is a flowchart showing an example of the operation of the robot system according to the first embodiment.
  • FIG. 15 is a schematic diagram showing a schematic configuration of a hand and a claw member of the robot system of the modified example 1 in the first embodiment.
  • FIG. 16 is a schematic diagram showing a schematic configuration of a finger member and a claw member of the robot system according to the second embodiment.
  • FIG. 1 to 3 are schematic views showing a schematic configuration of the robot system 100 according to the first embodiment.
  • FIG. 1 shows a state in which the claw member is attached to the finger member
  • FIG. 2 shows a state in which the claw member is removed from the finger member.
  • FIG. 3 shows a state viewed from a direction different from that of FIG. 1, and shows a state in which a claw member different from the claw member shown in FIG. 1 is attached.
  • FIGS. 1 to 3 the front-back direction, the up-down direction, and the left-right direction in the robot system are shown in the front-back direction, the up-down direction, and the left-right direction in the figure.
  • the robot system 100 includes a robot 101, a hand 20, a control device 50, and a support member 200.
  • the robot 101 is mounted on the moving body 60.
  • the moving body 60 is arranged on the rail members 301A and 301B extending in the left-right direction, and is configured to move in the left-right direction by an appropriate actuator.
  • the robot system 100 may further include a photographing device (for example, a camera), and image information / video information photographed by the photographing device may be input to the control device 50. Further, the control device 50 may be configured to grasp the shape of the work based on the acquired image information / video information and select a claw member suitable for the shape of the work.
  • a photographing device for example, a camera
  • image information / video information photographed by the photographing device may be input to the control device 50.
  • the control device 50 may be configured to grasp the shape of the work based on the acquired image information / video information and select a claw member suitable for the shape of the work.
  • a support member 200 is arranged in front of the robot 101.
  • a pair of claw members 41 to 45 of a plurality of types are housed in the support member 200.
  • the configuration of the support member 200 will be described with reference to FIGS. 1 and 4.
  • the configuration of the claw members 41 to 45 will be described later.
  • FIG. 4 is a cross-sectional view showing a schematic configuration of a support member 200 and a claw member 42 of the robot system 100 shown in FIG.
  • the vertical direction and the horizontal direction in the robot system 100 are shown in the vertical direction and the horizontal direction in the figure.
  • the support member 200 includes a first support member 201 and a second support member 202 extending in the left-right direction, and a space between the first support member 201 and the second support member 202. Consists of the recess 203.
  • the recess 203 is configured such that the tip portions 71 of the claw members 41 to 45 are inserted therein. Specifically, the tip portions 71 of the claw members 41 to 45 are inserted into the recess 203, respectively, with the stretching direction of the claw members 41 to 45 facing in the vertical direction.
  • the support member 200 adopts a form composed of two members, but the present invention is not limited to this, and the support member 200 may be composed of one member.
  • the recess 203 may be formed on the upper surface of one box-shaped member.
  • various works W1 to W5 are arranged in front of the support member 200.
  • the robot system 100 selects various claw members 41 to 45 suitable for the shapes of the various works W1 to W5 and attaches them to the finger member 30.
  • the robot 101 includes an articulated body of a plurality of links (here, the first link 11a to the sixth link 11f), a plurality of joints (here, the first joint JT1 to the sixth joint JT6), and a group supporting these.
  • a vertical articulated robot arm comprising a pedestal 15.
  • a vertical articulated robot is adopted as the robot 101, but the robot is not limited to this, and a horizontal articulated robot may be adopted.
  • the base 15 and the base end portion of the first link 11a are rotatably connected around an axis extending in the vertical direction.
  • the tip end portion of the first link 11a and the base end portion of the second link 11b are rotatably connected around an axis extending in the horizontal direction.
  • the tip end portion of the second link 11b and the base end portion of the third link 11c are rotatably connected around an axis extending in the horizontal direction.
  • the tip end portion of the 3rd link 11c and the base end portion of the 4th link 11d are rotatably connected around an axis extending in the longitudinal direction of the 4th link 11d.
  • the tip end portion of the fourth link 11d and the base end portion of the fifth link 11e are rotatably connected around an axis orthogonal to the longitudinal direction of the fourth link 11d.
  • the tip end portion of the fifth link 11e and the base end portion of the sixth link 11f are rotatably connected to each other.
  • a mechanical interface 12 is provided at the tip of the sixth link 11f.
  • a hand 20 is detachably attached to the mechanical interface 12. The configuration of the hand 20 will be described later.
  • each of the first joint JT1 to the sixth joint JT6 is provided with a drive motor as an example of an actuator that relatively rotates two members to which each joint is connected (not shown).
  • the drive motor may be, for example, a servomotor controlled by the control device 50.
  • each of the first joint JT1 to the sixth joint JT6 is provided with a rotation sensor for detecting the rotation position of the drive motor and a current sensor for detecting the current for controlling the rotation of the drive motor (respectively). , Not shown).
  • the rotation sensor may be, for example, an encoder.
  • the control device 50 includes an arithmetic processor such as a microprocessor and a CPU, and a storage device such as a ROM and a RAM (none of which is shown). Information such as basic programs and various fixed data is stored in the storage device.
  • the arithmetic processing unit is configured to execute various operations of the robot system 100 by reading and executing software such as a basic program stored in the storage device.
  • the control device 50 may be configured by a single control device that centrally controls, or may be configured by a plurality of control devices that cooperate with each other to perform distributed control. Further, the control device 50 may be composed of a microcomputer, an MPU, a PLC (Programmable Logic Controller), a logic circuit, or the like.
  • FIG. 5 is a schematic diagram showing a schematic configuration of the hand 20 and the claw member 41 of the robot system 100 shown in FIG.
  • the hand 20 has a pair of finger members 30A and 30B, a main body 21, and an actuator 22.
  • the actuator 22 is arranged at the rear of the main body 21 and is configured to operate the pair of finger members 30A and 30B so as to be close to each other / separated from each other.
  • the actuator 22 may be composed of a servo-motor.
  • the hand 20 may have various members (for example, gears, cam mechanism, etc.) for bringing the pair of finger members 30A and 30B closer to each other / separated from each other.
  • the direction from the tip of one finger member 30A to the tip of the other finger member 30B is referred to as the first direction.
  • the direction indicated by the arrow X is the first direction.
  • the first direction will be described as the left-right direction.
  • the stretching direction of the finger members 30A and 30B is the vertical direction (vertical direction).
  • Claw members 41A and 41B are connected to the pair of finger members 30A and 30B, respectively. Further, the pair of finger members 30A and 30b each have four link members 3A to 3D and a connecting member 3E in the first embodiment.
  • the finger member 30 When the pair of finger members 30A and 30B are not distinguished, they may be referred to as the finger member 30. Similarly, when the claw members 41A and 41B are not distinguished, they may be referred to as a claw member 41.
  • the finger member 30 adopts a form having four link members 3A to 3D, but the present invention is not limited to this.
  • the finger member 30 may adopt a form having one link member, or may adopt a form having two link members.
  • the base ends of the link members 3A and 3B are rotatably connected to the main body 21, respectively. Further, the tip end portion of the link member 3A is rotatably connected to the base end portion of the link member 3C. Similarly, the tip end portion of the link member 3B is rotatably connected to the base end portion of the link member 3D. The tip portions of the link members 3C and 3D are rotatably connected to the connecting member 3E, respectively.
  • the base end portion 72 of the claw member 41 is connected to the connecting member 3E provided at the tip end portion of the finger member 30.
  • the configuration of the connecting member 3E of the finger member 30 and the base end portion 72 of the claw member 42 will be described with reference to FIG.
  • the claw member 42 is shown in FIG. 8, since the base end portion 72 of the claw member 41 and the base end portion 72 of the claw member 42 are configured in the same manner, the claw member 42 will be described below. The base end portion 72 of the above will be described.
  • FIG. 8 is a schematic diagram showing a schematic configuration of a tip portion of a finger member 30 and a claw member 41 of the robot system 100 shown in FIG.
  • the front-back direction, the up-down direction, and the left-right direction in the robot system 100 are shown in the front-back direction, the up-down direction, and the left-right direction in the figure.
  • the connecting member 3E of the finger member 30 is formed in a rectangular parallelepiped shape.
  • Flange-shaped engaged portions 61 and 61 extending in the left-right direction are formed at the lower end portion of the front surface and the lower end portion of the rear surface of the connecting member 3E, respectively.
  • the engaged portion 61 is formed in a tapered shape. Specifically, the engaged portion 61 on the finger member 30A side is formed in a tapered shape so that the area on the right side is smaller than that on the left side. Further, the engaged portion 61 on the finger member 30B side is formed in a tapered shape so that the area on the left surface is smaller than that on the right surface.
  • a first lock mechanism 80 is provided on the right surface (inner surface; the tip portion 62 of the engaged portion 61) of the connecting member 3E on the finger member 30A side.
  • the first lock mechanism 80 is provided on the left surface (inner surface; the tip portion 62 of the engaged portion 61) of the connecting member 3E on the finger member 30B side.
  • a first lock mechanism 90 is provided on the first stopper portion 91 of the claw member 42, which will be described later.
  • the first lock mechanisms 80 and 90 can lock the claw member 42 so that the claw member 42 does not fall under its own weight when the tip end portion of the engaged portion 61 faces downward? It may be any aspect.
  • the first lock mechanisms 80 and 90 may be composed of, for example, a magnet or a ball plunger.
  • the claw member 42 is formed in an inverted L shape when viewed from the front-rear direction, and has a base end portion 72 extending in the left-right direction and a tip portion 71 extending in the vertical direction.
  • the base end portion 72 of the claw member 42A is formed with a concave engaging portion 81 extending in the left-right direction (first direction) with the left side open.
  • the base end portion 72 of the claw member 42B is formed with a concave engaging portion 81 extending in the left-right direction, which is open on the right side.
  • the claw member 42 is attached to the finger member 30 by engaging the engaging portion 81 with the engaged portion 61.
  • the inner peripheral surface of the engaging portion 81 may be formed in a tapered shape so as to fit with the engaged portion 61.
  • the bottom surface of the concave portion constituting the engaging portion 81 constitutes the first stopper portion 91.
  • the movement of the finger member 30 is restricted by the contact of the tip portion 62 of the engaged portion 61 with the first stopper portion 91. This makes it possible to facilitate the positioning of the finger member 30 and the claw member 42.
  • first stopper portion 91 is provided with a first lock mechanism 90.
  • the first lock mechanism 90 can fix the claw member 42 to the finger member 30 in cooperation with the first lock mechanism 80.
  • FIG. 9A and 9B show how the claw member 42 stored in the support member 200 is attached to the finger member 30.
  • the control device 50 operates the robot 101 to move the finger members 30A and 30B so that the pair of claw members 42 are located between the pair of finger members 30A and 30B (FIG. 9A).
  • the control device 50 operates the actuator 22 to bring the pair of finger members 30A and 30B close to each other.
  • each engaging portion 81 engages with the corresponding engaged portion 61 (FIG. 9B).
  • each claw member 42 is attached to the corresponding finger member 30.
  • FIGS. 5 to 7 and 10 to 13 show a hand 20 to which the claw member 41 is attached.
  • 10 to 13 are schematic views showing a schematic configuration of a hand 20 to which another claw member is attached.
  • claw members 42A, 42B to 45A, 45B when each of the pair of claw members is distinguished, they are referred to as claw members 42A, 42B to 45A, 45B.
  • the base end portion 72 of the claw member 41 and the claw members 43 to 45 is configured in the same manner as the base end portion 72 of the above-mentioned claw member 42, detailed description thereof will be omitted.
  • FIG. 5 shows a hand 20 to which the claw member 41 is attached.
  • FIG. 6 is a view of the claw member 41 viewed from a direction different from that of FIG.
  • each of the tip end portion 71 of the claw member 41 has a first portion 85 connected from the base end portion 72 and a second portion 86 extending at an angle with respect to the first portion 85. It is equipped with.
  • the first part 85A of one claw member 41A and the first part 85B of the other claw member 41B extend in parallel.
  • the second part 86A of one claw member 41A and the second part 86B of the other claw member 41B are crossed. As shown in FIG.
  • the second portion 86A of one of the claw members 41A is located at the center in the thickness direction (the width direction of the facing surfaces of the pair of tip portions 71) from the tip to the root side. It has a notch 88 that extends towards it.
  • the second portion 86B of the other claw member 41B penetrates the notch 88, so that the second portion 86A of the one claw member 41A and the second portion 86B of the other claw member 41B cross each other.
  • Each tip 71 has a contact surface 87 perpendicular to the first direction X.
  • FIGS. 7A and 7B show how the robot system 100 holds the cylindrical work W1.
  • the control device 50 operates the robot 101 to insert the tip portion 71 of each claw member 41 into the inside of the cylindrical work W1.
  • FIG. 7A shows a state in which the tip end portion 71 is inserted inside the work W1.
  • the control device 50 operates the actuator 22 to operate the finger members 30 so that the tips of the pair of finger members 30 are close to each other in the first direction X.
  • the arrow Y1 and the arrow Y2 indicate the moving direction of the tip end portion of the finger member 30, respectively.
  • the directions Y1 and Y2 are also the moving directions of the base end portion 72 of each claw member 41.
  • the moving directions Y1 and Y2 of the tip of the finger member 30 are parallel to the first direction X.
  • the moving direction of the tip portion of the finger member 30 does not include components other than the first direction X.
  • the moving direction of the finger member 30 does not include a component in the vertical direction.
  • the arrows Z1 and Z2 each represent the moving direction of the tip of the tip 71 of the claw member 41.
  • the second portion 86A of one claw member 41A and the second portion 86B of the other claw member 41B cross each other, when the base end portion 72 of the claw member 41 moves in a direction close to each other, The tip of the tip 71 of the claw member 41 moves in a direction away from each other. The tip of the tip 71 of the claw member 41 moves in parallel with the first direction X.
  • the contact surface 87 of each tip portion 71 comes into contact with the inner peripheral surface of the work W1.
  • FIG. 7B shows a state in which the contact surface 87 is in contact with the inner peripheral surface of the work W1.
  • the robot system 100 holds the cylindrical work W1 from the inner peripheral surface side.
  • the robot system 100 can hold the annular work W2 from the inner peripheral surface side.
  • the control device 50 When the robot system 100 releases the cylindrical work W1, the control device 50 operates the actuator 22 so that the tips of the pair of finger members 30 are separated from each other in the first direction X. 30 is operated. The tips of the tips 71 of the claw member 41 move in directions close to each other. The contact surface 87 of each tip portion 71 is separated from the inner peripheral surface of the work W1. As a result, the cylindrical work W1 is released from the robot system 100.
  • the claw member 42 has a recess 73 formed on the inner surface 71B of the tip portion 71 so as to extend in the vertical direction.
  • a plurality of grooves 74 are formed in the recess 73.
  • the claw member 43 has a V-shaped (or U-shaped) notch 75 formed on the inner surface 71B of the tip portion 71.
  • the rod-shaped work W3 such as a spanner can be easily held by abutting with the notch 75 (see FIGS. 1 and 2).
  • the tip portion 71 of the claw member 44 is formed in an inverted L shape.
  • the box-shaped work W4 such as a cardboard box can be easily held (see FIGS. 1 and 2).
  • the tip portion 71 of the claw member 45A is formed in a U shape.
  • the tip portion 71 of the claw member 45A has a pair of foot portions 76A and 76B.
  • the upper surface of the foot portion 76B located below is inclined in a plurality of stages (here, two stages), and the inclination angle of the tip portion 77 is configured to be larger than the inclination angle of the base end portion 78.
  • the tip portion 71 of the claw member 45B is formed in an inverted L shape. As a result, the plate-shaped work W5 such as a notebook can be easily held (see FIGS. 1 and 2).
  • the tip portion 77 of the foot portion 76B of the claw member 45A is larger than the inclination angle of the base end portion 78, the tip portion 77 easily enters between the lower surface of the work W5 and the floor surface. Can be done. Further, when the held work W5 is placed on the floor surface or the like, since the inclination angle of the tip portion 77 is large, the work W5 can be dropped directly below, and the work W5 can be placed accurately. Can be done.
  • FIG. 14 is a flowchart showing an example of the operation of the robot system 100 according to the first embodiment.
  • the robot system 100 is configured to perform a transfer operation of transporting the work W4 and then transporting the works W1 to W3 and W5 arranged in the work W4 to the outside of the work W4. ing. Further, the robot system 100 is configured to carry out a transfer operation in which the works W1 to W3 and W5 arranged outside the work W4 are conveyed into the work W4 and the work W4 is conveyed.
  • the operator operates an operation device (not shown) to input an instruction signal for executing the transport work for transporting the works W1 to W5 to the control device 50.
  • the operator may instruct the control device 50 which work is to be held and conveyed by the actuator.
  • the control device 50 may grasp the shape of the work based on the image information / video information acquired from the imaging device (not shown) and select the (optimal) claw member that adapts to the shape of the work.
  • control device 50 operates the robot 101 so that the pair of finger members 30A and 30B are located above the claw member 41 (step S101).
  • control device 50 operates the actuator 22 so that the pair of finger members 30A and 30B are separated from each other (step S102).
  • the control device 50 operates the robot 101 so that the claw member 41 is located between the pair of finger members 30A and 30B (step S103). More specifically, the control device 50 operates the robot 101 so that the tip portion 62 of the engaged portion 61 of the finger member 30 faces the opening of the engaging portion 81 of the claw member 41.
  • the state of the finger member 30 and the claw member 41 at this time corresponds to the state of FIG. 9A described above described using the claw member 42.
  • control device 50 operates the actuator 22 so that the pair of finger members 30A and 30B are close to each other (step S104).
  • the engaged portion 61 of the finger member 30 and the engaging portion 81 of the claw member 41 are engaged with each other, and the claw member 41 is attached to the finger member 30.
  • the state of the finger member 30 and the claw member 41 at this time corresponds to the state of FIG. 9B described above described using the claw member 42.
  • the tip portion 62 of the engaged portion 61 comes into contact with the first stopper portion 91, so that the movement of the finger member 30 is restricted. This makes it possible to facilitate the positioning of the finger member 30 and the claw member 41. Further, the claw member 41 is fixed to the finger member 30 by the contact between the first lock mechanism 90 and the first lock mechanism 80.
  • control device 50 operates the actuator 22 and / or the robot 101 so as to hold and convey the work (for example, the work W1) (step S105).
  • control device 50 causes the robot system 100 to perform an operation of detaching the claw member 42 so that the work (for example, the work W2) different from the work W1 can be held and conveyed.
  • the control device 50 operates the robot 101 so that the pair of claw members 41A and 41B are located above the support member 200 (step S106).
  • control device 50 operates the actuator 22 so that the pair of finger members 30A and 30B are close to each other (step S107).
  • the pair of claw members 41A and 41B can be brought close to each other, and the tip end portion 71 of the claw member 41 can be positioned in the opening in the recess 203 of the support member 200.
  • control device 50 operates the robot 101 so that the tip portion 71 of the claw member 41 is located in the recess 203 of the support member 200 (step S108). Specifically, the control device 50 operates the robot 101 so as to move the claw member 41 downward and insert it into the recess 203.
  • control device 50 operates the actuator 22 so that the pair of finger members 30A and 30B are separated from each other (step S109), and ends this program.
  • the pair of claw members 41A and 41B move so as to be separated from each other according to the pair of finger members 30A and 30B, but the outer side surfaces 79 of the tip portions 71 of the claw members 41A and 41B respectively support the first.
  • the pair of claw members 41A and 41B cannot move in the direction in which they are separated from each other. Therefore, the pair of finger members 30A and 30B can each be separated from the claw member 41, and the claw member 41 is housed in the support member 200.
  • control device 50 holds and conveys a work (for example, work W2) different from the work W1, the process of steps S101 to S109 is executed again.
  • a work for example, work W2
  • a concave engaging portion 81 extending in the left-right direction (first direction) is formed at the base end portions 72 of the claw members 41 to 45.
  • a flange-shaped engaged portion 61 extending in the left-right direction (first direction) is formed at the tip portion of the finger member 30.
  • the control device 50 operates the robot 101 so that the claw member 41 is positioned between the pair of finger members 30A and 30B, and then the pair of finger members 30A and 30B are brought close to each other.
  • the claw member 41 can be easily attached to the finger member 30.
  • the bottom surface of the concave portion constituting the engaging portion 81 constitutes the first stopper portion 91.
  • the first stopper portion 91 of the claw member (for example, the claw member 41) 41 is provided with the first lock mechanism 90, and the finger member 30 is engaged.
  • a first lock mechanism 80 is provided at the tip portion 62 of the portion 61.
  • the first lock mechanism 90 and the first lock mechanism 80 can jointly fix the claw member 41 to the finger member 30.
  • the first lock mechanism 80 and the first lock mechanism 90 are used. , The claw member 41 is prevented from falling off from the finger member 30.
  • the claw member 41 is prevented from coming off from the finger member 30 for the following reasons.
  • the pair of claw members 41A and 41B are positioned so as to be lined up and down. Therefore, even if one of the claw members 41A located above moves downward due to its own weight, it will come into contact with the other claw member 41B located below. Therefore, the movement of one of the claw members 41A to the lower side can be suppressed, and the claw member 41A is prevented from falling off from the finger member 30A.
  • the tips of the pair of finger members 30A and 30B are moved in parallel in the first direction so as to be close to each other, the tips 71 and 71 of the respective claw members 41 are moved in parallel.
  • the tips of the robots are configured to be separated from each other.
  • the tip portion 71 of the claw member 41A and the tip portion 71 of the claw member 41B are configured to cross each other in the middle.
  • the actuator 22 is configured to operate at least one finger member 30 of the pair of finger members 30.
  • the other finger member 30 of the pair of finger members 30 may be fixed to the main body 21 of the hand 20.
  • the actuator 22 is configured to operate at least one finger member 30 of the pair of finger members 30.
  • the other finger member 30 of the pair of finger members 30 may be fixed to the main body 21 of the hand 20.
  • FIG. 15 is a schematic diagram showing a schematic configuration of a hand 20 and a claw member 41 of the robot system 100 of the modification 1 of the first embodiment.
  • the robot system 100 of the modification 1 in the first embodiment has the same basic configuration as the robot system 100 according to the first embodiment, but has the same basic configuration as the pair of finger members 30A and 30B. The difference is that at least one finger member 30 operates.
  • the actuator 22 is configured to operate at least one finger member 30 of the pair of finger members 30A and 30B.
  • the actuator 22 may be configured to operate only the finger member 30A.
  • the finger member 30B may be fixed to the main body 21 of the hand 20.
  • the actuator 22 may be configured to operate only the finger member 30B.
  • the finger member 30A may be fixed to the main body 21 of the hand 20.
  • the actuator 22 may be configured to operate both the pair of finger members 30A and 30B.
  • the robot system according to the second embodiment has an engaging portion formed at a base end portion of the claw member and a first direction at the tip end portion of the finger member.
  • a concave engaged portion extending along the is formed, the robot system further comprises a control device, which operates the robot so that the claw member is located between the pair of finger members. After that, the pair of finger members are operated so as to be close to each other to engage the engaged portion with the engaged portion.
  • the engaging portion may be formed in a tapered shape.
  • the finger member may be provided with a second stopper portion so as to face the tip of the engaging portion of the claw member.
  • a second lock mechanism may be provided at the tip of the second stopper portion of the finger member and the engaging portion of the claw member, respectively.
  • a support member for supporting the claw member is further provided in a state where the extension direction of the claw member is oriented in the vertical direction, and the support member is provided with a recess.
  • the pair of claw members may be housed in the support member so that the respective tip portions thereof are inserted into the recesses.
  • a pair of claw members of a plurality of types may be housed in a support member so as to be lined up.
  • FIG. 16 is a schematic diagram showing a schematic configuration of a main part of the robot system 100 according to the second embodiment.
  • the robot system 100 according to the second embodiment has the same basic configuration as the robot system 100 according to the first embodiment, but has a tip portion (connecting member 3E) of the finger member 30. , The point where the concave engaged portion 181 extending along the first direction is formed and the point where the engaging portion 161 is formed at the base end portion 72 of the claw member 42 are different.
  • the base end portion 72 of the claw member 42 is formed in a rectangular parallelepiped shape.
  • Flange-shaped engaging portions 161 and 161 extending in the left-right direction are formed at the upper end portion of the front surface and the upper end portion of the rear surface of the base end portion 72, respectively.
  • the engaging portion 161 is formed in a tapered shape. Specifically, the engaging portion 161 on the claw member 42A side is formed in a tapered shape so that the area on the left surface is smaller than that on the right surface. Further, the engaging portion 161 on the claw member 42B side is formed in a tapered shape so that the area on the right side is smaller than that on the left side.
  • a first lock mechanism 180 is provided on the left surface (outer surface; tip portion 162 of the engaging portion 161) of the base end portion 72 on the claw member 42A side. Similarly, a first lock mechanism 180 is provided on the right surface (outer surface; tip portion 162 of the engaging portion 161) of the base end portion 72 on the claw member 42B side. Further, as will be described later, the first stopper portion 191 of the finger member 30 is provided with the first lock mechanism 190.
  • the first locking mechanisms 180 and 190 can lock the claw member 42 so that the claw member 42 does not fall under its own weight when the tip portion 162 of the engaged portion 161 faces downward. It may be in such an aspect.
  • the first lock mechanisms 180 and 190 may be composed of, for example, a magnet or a ball plunger.
  • the connecting member 3E of the finger member 30 is formed in an inverted T shape when viewed from the left-right direction, and has a lower end portion 31.
  • the lower end portion 31 of the finger member 30A is formed with a concave engaged portion 181 extending in the left-right direction (first direction) and having an opening on the right side.
  • the lower end portion 31 of the finger member 30B is formed with a concave engaged portion 181 extending in the left-right direction, which is open on the left side.
  • the claw member 42 is attached to the finger member 30 by engaging the engaged portion 181 with the engaging portion 161.
  • the inner peripheral surface of the engaged portion 181 may be formed in a tapered shape so as to fit with the engaging portion 161.
  • the bottom surface of the concave portion constituting the engaged portion 181 constitutes the first stopper portion 191.
  • the movement of the finger member 30 is restricted by the contact of the tip portion 162 of the engaging portion 161 with the first stopper portion 191. This makes it possible to facilitate the positioning of the finger member 30 and the claw member 42.
  • first stopper portion 91 is provided with a first lock mechanism 90.
  • the first lock mechanism 190 can fix the claw member 42 to the finger member 30 in cooperation with the first lock mechanism 180.
  • the pair includes a pair of claw members that are detachably configured with respect to the corresponding finger member, each of the pair of claw members has a proximal end portion and a distal end portion, and the respective proximal end portions thereof.
  • a robot system configured such that when the claw members move in a direction close to each other, the tips of the tips of the claw members are separated from each other.
  • the pair of claw members are crossed in the middle, and The robot system according to item 1, wherein the pair of finger members are configured to move in parallel with the first direction.
  • the tip portion includes a first portion extending from the base end portion and a second portion extending inclined with respect to the first portion, and the first portion of one claw member.
  • the robot system according to item 2 wherein the first part of the other claw member extends in parallel, and the second part of the one claw member and the second part of the other claw member cross each other.
  • the second part of one claw member has a notch extending from the tip toward the root side in the center in the thickness direction, and the second part of the other claw member penetrates the notch.
  • the robot system according to item 3 wherein one of the second parts and the other of the second parts are crossed.
  • a control device is further provided, an engaging portion is formed at the base end portion of the claw member, and a concave engaged portion extending in the first direction is formed at the tip end portion of the finger member.
  • the control device operates the finger member so that the claw member is located between the pair of finger members, and then operates the finger member so that the pair of finger members are close to each other, and engages with the engaged portion.
  • the robot system according to any one of items 1 to 5, which engages with a joint.
  • the cylindrical work can be held from the inner peripheral surface side, which is useful in the field of robots.

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
PCT/JP2021/031557 2020-08-31 2021-08-27 ロボットシステム WO2022045300A1 (ja)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP2022545737A JP7525620B2 (ja) 2020-08-31 2021-08-27 ロボットシステム

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2020-146075 2020-08-31
JP2020146075 2020-08-31

Publications (1)

Publication Number Publication Date
WO2022045300A1 true WO2022045300A1 (ja) 2022-03-03

Family

ID=80355382

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2021/031557 WO2022045300A1 (ja) 2020-08-31 2021-08-27 ロボットシステム

Country Status (2)

Country Link
JP (1) JP7525620B2 (enrdf_load_stackoverflow)
WO (1) WO2022045300A1 (enrdf_load_stackoverflow)

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS6039089A (ja) * 1983-08-12 1985-02-28 株式会社日立製作所 グリッパ装置
US4518187A (en) * 1983-06-06 1985-05-21 Leland F. Blatt Parallel movement gripper head
JPH01317989A (ja) * 1988-06-17 1989-12-22 Murata Kogyo Kk 搬送装置
DE102016111893A1 (de) * 2016-06-29 2018-02-22 Schunk Gmbh & Co. Kg Spann- Und Greiftechnik Spann- oder Greifvorrichtung
JP2018144213A (ja) * 2017-03-09 2018-09-20 住友電装株式会社 ロボット

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4518187A (en) * 1983-06-06 1985-05-21 Leland F. Blatt Parallel movement gripper head
JPS6039089A (ja) * 1983-08-12 1985-02-28 株式会社日立製作所 グリッパ装置
JPH01317989A (ja) * 1988-06-17 1989-12-22 Murata Kogyo Kk 搬送装置
DE102016111893A1 (de) * 2016-06-29 2018-02-22 Schunk Gmbh & Co. Kg Spann- Und Greiftechnik Spann- oder Greifvorrichtung
JP2018144213A (ja) * 2017-03-09 2018-09-20 住友電装株式会社 ロボット

Also Published As

Publication number Publication date
JP7525620B2 (ja) 2024-07-30
JPWO2022045300A1 (enrdf_load_stackoverflow) 2022-03-03

Similar Documents

Publication Publication Date Title
JP2024042055A (ja) ロボットシステム及びロボットシステムの運転方法
EP2540456A1 (en) Robotic picking of parts from a parts holding bin
EP0228471B1 (en) Robot control system
JP7289616B2 (ja) ロボットハンド、ロボット装置、ロボットハンドの制御方法
JP5293442B2 (ja) ロボットシステム及び物品並置方法
JP5836843B2 (ja) 部品ハンドリング装置、システム及び方法
JP2006035397A (ja) 搬送ロボットシステム
KR20040018196A (ko) 로봇 핸들링 장치
JPH11300670A (ja) 物品ピックアップ装置
US11833687B2 (en) Robot apparatus, control method for the robot apparatus, assembly method using the robot apparatus, and recording medium
CN116940451A (zh) 机器人系统以及工件供给方法
CN109789555B (zh) 机器人系统及其运转方法
WO2022045300A1 (ja) ロボットシステム
JP2007098501A (ja) ロボットシステム
JP2015085481A (ja) ロボット、ロボットシステム、ロボット制御部及び把持方法
JP3328414B2 (ja) ロボットハンドの姿勢制御装置
JP2015085499A (ja) ロボット、ロボットシステム、制御装置及び制御方法
JP2012228757A (ja) ロボット教示方法、ロボット教示装置およびプログラム
JP2001088073A (ja) 外観検査装置
JP6314431B2 (ja) ロボットシステム、制御装置、ロボット、及び駆動方法
WO2018043493A1 (ja) ロボット及びその運転方法
JP4791168B2 (ja) 位置決めロボット
JP2021094623A (ja) ロボット制御装置、観察システム、ロボットシステム、及びロボット制御方法
JP7692221B2 (ja) ロボット制御システム
JP2012228756A (ja) ロボット制御方法、ロボット制御装置およびプログラム

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: 21861721

Country of ref document: EP

Kind code of ref document: A1

ENP Entry into the national phase

Ref document number: 2022545737

Country of ref document: JP

Kind code of ref document: A

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 21861721

Country of ref document: EP

Kind code of ref document: A1