WO2022209411A1 - エンドエフェクタおよびエンドエフェクタのセット - Google Patents
エンドエフェクタおよびエンドエフェクタのセット Download PDFInfo
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- WO2022209411A1 WO2022209411A1 PCT/JP2022/006727 JP2022006727W WO2022209411A1 WO 2022209411 A1 WO2022209411 A1 WO 2022209411A1 JP 2022006727 W JP2022006727 W JP 2022006727W WO 2022209411 A1 WO2022209411 A1 WO 2022209411A1
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- Prior art keywords
- end effector
- pin
- pins
- hole
- hole plate
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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
- B25J15/0033—Gripping heads and other end effectors with gripping surfaces having special shapes
Definitions
- the present disclosure relates to end effectors and sets of end effectors.
- Patent document 1 discloses a robot hand equipped with a suction part such as an electromagnet for sucking a workpiece and a shape-aligning part having six or more pins for following the shape of the workpiece that are lowered by their own weight.
- a robot hand is disclosed that fixes the work by fixing the lifting of the pins according to the need, and by using a support hook that supports the work from below if necessary, such as when the weight of the work is large.
- the present disclosure has been devised in view of the conventional situation described above, and aims to provide an end effector capable of supporting an object (for example, a work).
- An end effector includes at least one hole plate provided with a plurality of holes, a cushioning material used together with the at least one hole plate, a plurality of inner pins, and outer sides of the plurality of inner pins. a plurality of pins including a plurality of outer pins arranged in a row; and a force applying portion that applies an inward force to the plurality of outer pins.
- the plurality of inner pins pass through the plurality of holes and the cushion material so as to be movable relative to the one or more hole plates in the direction of penetration of the plurality of holes by a first distance.
- FIG. 4 is a vertical cross-sectional view showing an example of the state of the end effector in the supporting stage;
- An enlarged view of a portion including a protrusion in an example of the configuration of the end effector Longitudinal sectional view showing an example of the state of the end effector in the pushing stage Conceptual diagram showing a case where an end effector supports an object in the direction of gravity FIG.
- FIG. 4 is a vertical cross-sectional view showing an example of the state of the end effector in the supporting stage;
- Conceptual diagram showing the case where the end effector supports the object in the horizontal direction, corresponding to FIG.
- FIG. 5 is a perspective view showing an example of the configuration of an end effector according to a second embodiment of the present disclosure
- FIG. 5 is a top view showing an example of the configuration of an end effector according to a second embodiment of the present disclosure
- FIG. 5 is a front view showing an example of the configuration of an end effector according to a second embodiment of the present disclosure
- FIG. 11 is a side view showing an example of a configuration of an end effector according to a second embodiment of the present disclosure
- FIG. 11 is a bottom view showing an example of the configuration of the end effector according to the second embodiment of the present disclosure;
- FIG. 5 is an exploded perspective view showing the internal structure of an end effector according to a second embodiment of the present disclosure;
- Sectional view showing the internal structure of the end effector according to the second embodiment of the present disclosure Conceptual diagram showing an example of mounting a hole plate
- FIG. 5 is a comparison diagram of an outer pin, an inner pin, and a sleeve according to a second embodiment of the present disclosure;
- FIG. 5 is a conceptual diagram showing a flow until an end effector according to a second embodiment of the present disclosure supports an object;
- FIG. 5 is a conceptual diagram showing the flow of releasing an object supported by the end effector according to the second embodiment of the present disclosure and returning to the initial state;
- a longitudinal sectional view showing an example of an end effector in a supported state FIG. 21 is a conceptual diagram showing the case where the end effector supports the object in the horizontal direction, corresponding to FIG.
- FIG. 4 is a conceptual diagram illustrating the shape of the inner pin near the first end;
- FIG. 23 is a conceptual diagram of the inner pin shown in FIG. 23 viewed from the first end to the second end. The figure which shows the example of the anti-slip processing given to the 2nd area
- FIG. 11 is a vertical cross-sectional view showing an example of the molding stage of the switching adapter by the end effector according to the modification;
- a longitudinal sectional view showing an example of a stage of supporting a switching adapter by an end effector according to a modification.
- a robot device used in a factory or the like can perform various operations by attaching an end effector 2 to a robot arm (not shown).
- a robot arm uses an end effector to pick up an object Wk, such as a work flowing through a production line in a factory, and carry it to a destination.
- the object Wk may be a relatively small object such as a screw, nut, or washer, or a relatively large object having ribs and bosses (for example, a housing).
- FIG. 1 is a longitudinal sectional view showing an example of the state of the end effector 2 in the standby stage.
- FIG. 1 shows the state of the end effector 2 connected to the robot arm at a stage (standby stage) before starting picking of the object Wk.
- the end effector 2 includes a hole plate 11, a plurality of pins 12, a base 13, a holder 14, a movable plate 15 and an actuator 16.
- the hole plate 11 is a plate provided with a plurality of through holes.
- the thickness of the hole plate 11 may be, for example, 0.1 mm to 2 mm. However, it is not limited to this. Also, the hole plate 11 may be integrated with the base 13 .
- the pin 12 has an elongated rod shape and is inserted into each hole of the hole plate 11 .
- the cross-sectional shape of the pin 12 and the shape of the hole may be circular, but are not limited to this.
- the diameter of the pin 12 may be, for example, 0.1 mm to 2 mm, slightly smaller than the diameter of the hole.
- the material of pin 12 may be metal. However, the material of the pin 12 is not limited to metal, and may be resin, for example.
- the pin 12 may have a head with a diameter larger than the diameter of the hole provided in the hole plate 11 at its upper end. This head serves as a stopper, and the pin 12 hangs from the hole plate 11 by its own weight. Also, since the diameter of the pin 12 is slightly smaller than the diameter of the hole, the pin 12 can move upward when pushed up from below. Here, the thickness of hole plate 11 is sufficiently short relative to the length of pin 12 .
- the tip of the pin 12 has a tapered shape that narrows toward the tip. That is, the tip of the pin 12 is sharp like a needle. Thereby, as will be described later, objects Wk of various shapes can be supported.
- the maximum movable radius of the pin 12 due to play of the pin 12 is the distance from the center of the pin 12 to the center of the adjacent pin 12 may be within This is because if the pin 12 moves beyond the center of the adjacent pin 12, the force transmission efficiency will decrease.
- the pin 12 includes an outer pin 12A and an inner pin 12B.
- the outer pin 12A may be shorter than the inner pin 12B. As a result, as will be described later, the force applied inward to the outer pin 12A (that is, the force directed toward the object Wk) is transmitted not to the tip of the inner pin 12B but to the side surface of the inner pin 12B. , the force supporting the object Wk is improved.
- the base 13 has a cylindrical shape.
- Base 13 is connected to the robot arm.
- a hole plate 11 is fixed to the base 13 .
- a plurality of pins 12 hanging from the hole plate 11 protrude downward in the figure from the end surface of the base 13 .
- the holder 14 has a cylindrical shape and surrounds the outer pin 12A.
- the holder 14 has a side surface portion 14A forming a surface substantially parallel to the pin 12, and a projection portion 14B projecting inwardly of the cylinder.
- the projecting portion 14B is an example of a force applying portion.
- the movable plate 15 is provided facing the hole plate 11 and can move toward or away from the hole plate 11 .
- the moving direction is the vertical direction in the figure.
- the movable plate 15 is connected to a slit 14C provided in the side portion 14A of the holder 14. As shown in FIG. When the movable plate 15 moves away from the hole plate 11, the movable plate 15 contacts the end of the slit 14C. When the movable plate 15 moves further, the movable plate 15 moves the holder 14 from the tip of the pin 12 toward the hole plate 11 (upward in the drawing). Further, the movable plate 15 moves toward the hole plate 11 to push and move the inner pin 12B projecting from the hole plate 11 toward the tip of the inner pin 12B.
- the actuator 16 is a device that moves the movable plate 15 closer to the hole plate 11 or away from the hole plate 11 or stops the movement.
- Actuator 16 may be a pneumatic actuator, for example, and moves movable plate 15 by air intake and exhaust.
- FIG. 2 is a vertical cross-sectional view showing an example of the state of the end effector 2 in the molding stage.
- the robot arm lowers the end effector 2 toward the placed object Wk and presses the tip of the pin 12 against the object Wk. That is, the shape of the object Wk is modeled by the plurality of pins 12 .
- the robot arm for example, lowers the end effector 2 until at least some inner pins 12B of the plurality of inner pins 12B touch the mounting surface of the object Wk. That is, by sliding the inner pins 12B along the holes of the hole plate 11, the end effector 2 can model the shape of the object Wk with the plurality of inner pins 12B.
- the lowering of the end effector 2 may be performed manually or automatically.
- the end effector 2 may generate vibration during the molding stage. Since the pins 12 that are caught and have not fully lowered can be lowered by this vibration, more accurate molding can be performed. Therefore, in the supporting stage, which will be described later, the efficiency of force transmission between adjacent pins 12 and the efficiency of force transmission to object Wk can be improved.
- FIG. 3 is a longitudinal sectional view showing an example of the state of the end effector 2 in the supporting stage.
- the actuator 16 moves the movable plate 15 away from the hole plate 11 (see the upward arrow from the movable plate 15).
- the holder 14 connected to the movable plate 15 also moves, and the protrusion 14B of the holder 14 comes into contact with the side surface of the outer pin 12A, causing an inward force (that is, the object Wk) to be applied to the outer pin 12A. force) is applied.
- This inward force causes the outer pin 12A to tilt inward, and along with this, the inner pin 12B also tilts inward (see left and right arrows on the inner pin 12B), and finally the inner pin 12B contacts the object Wk.
- a pin 12B is pressed against the side surface of the object Wk.
- a plurality of inner pins 12B in contact with the object Wk apply lateral pressure to the object Wk, thereby supporting the object Wk.
- the above-described mechanism and the protrusion 14B that apply an inward force (that is, a force directed toward the object Wk) to the outer pin 12A are an example of the force applying portion.
- the force applying portion may be configured by means other than the projecting portion 14B.
- the robot arm transports the object Wk to the destination.
- FIG. 4 is an enlarged view of a portion including the protrusion 14B in an example of the configuration of the end effector 2.
- FIG. 4 As shown in FIG. 4, when the holder 14 is moved, the protrusion 14B comes into contact with the outer pin 12A and falls inward. The inner pin 12B tilts inward as if pushed by the outer pin 12A, and the side surface portion of the inner pin 12B comes into contact with the object Wk from the horizontal direction shown in the figure. That is, a lateral force is applied to the object Wk. By applying this lateral force from the opposite side so as to face each other, it is possible to support the object Wk so as to grip it.
- the tip portion of the pin 12 may be tapered to narrow toward the tip.
- the side surface portion of the inner pin 12B falling inward comes into contact with the object Wk more smoothly than when the end of the pin 12 is simply rod-shaped. Therefore, it becomes easier to apply a lateral force to the object Wk, and the object Wk is stably supported.
- FIG. 5 is a vertical cross-sectional view showing an example of the state of the end effector 2 in the pushing stage.
- the actuator 16 moves the movable plate 15 to the position closest to the hole plate 11 (down in the figure).
- the holder 14 connected to the movable plate 15 also moves, and the projection 14B of the holder 14 does not come into contact with the outer pin 12A.
- the inward force applied to the outer pin 12A is released. Therefore, the inward force of the inner pin 12B that is in contact with the object Wk is also released, so that the object Wk is not subjected to lateral force and is not supported.
- the inner pin 12B protruding into the hole plate 11 is pushed out in the tip direction.
- the object Wk is also pushed out by the pushed out inner pin 12B.
- the extruded object Wk drops, for example, into a container or the like provided in the next process of the production line.
- FIG. 6 is a conceptual diagram showing the case where the end effector 2 supports the object Wk in the direction of gravity.
- FIG. 6 is a view of the end effector 2 (see FIG. 3) in the supporting stage, viewed from the object Wk toward the end effector 2.
- FIG. When the end effector 2 supports the object Wk placed on a horizontal workbench or the like from above, the object Wk is appropriately supported by the side pressure of the inner pin 12B as described above with reference to FIG. can do.
- FIG. 7 is a longitudinal sectional view showing an example of the state of the end effector 2 in the supporting stage.
- FIG. 8 is a conceptual diagram showing the case where the end effector 2 supports the object Wk in the horizontal direction, corresponding to FIG.
- FIG. 8 is a diagram of the end effector 2 in FIG. 7 viewed from the object Wk toward the end effector 2.
- FIG. 8 Since the direction of the weight of the outer pin 12A and the inner pin 12B is different from the direction in which the pin 12 extends, the inner pin 12B is retracted by force other than contact with the object Wk (upper right direction in FIG. 7). arrow).
- the number of inner pins 12B supporting the object Wk is reduced, as indicated by the dashed circle in FIG. Therefore, the pin loses the transfer function of transferring the shape of the object Wk, and the supporting force decreases. That is, when the end effector 2 is intended to be used sideways or upward, it is difficult to maintain the supporting force of the object.
- an end effector 1 capable of maintaining the supporting force of an object even when used horizontally or upward will be described.
- FIG. 9 is a perspective view showing an example of the configuration of the end effector 1 according to the second embodiment of the present disclosure.
- FIG. 10 is a top view showing an example of the configuration of the end effector 1 according to the second embodiment of the present disclosure.
- FIG. 11 is a front view showing an example configuration of the end effector 1 according to the second embodiment of the present disclosure.
- FIG. 12 is a side view showing an example configuration of the end effector 1 according to the second embodiment of the present disclosure.
- FIG. 13 is a bottom view showing an example of the configuration of the end effector 1 according to the second embodiment of the present disclosure.
- a configuration example of the end effector 1 according to the second embodiment of the present disclosure will be described below based on FIGS. 9 to 13 .
- the end effector 1 includes a catch base 120 and a catch holder 130.
- Catch base 120 and catch holder 130 have a tubular shape.
- catch base 120 and catch holder 130 are formed in a cylindrical shape having a substantially hexagonal cross-sectional shape.
- the cross-sectional shape is not limited to approximately hexagonal, and may be, for example, approximately quadrangular.
- the catch base 120 is inserted into the recess of the catch holder 130 .
- a catch bracket 110 which will be described later, is inserted inside the catch base 120 .
- the catch holder 130 is provided with a screw hole 131 through which the screw 113 is passed.
- the catch base 120 is provided with a slide groove 121 through which the screw 113 is passed. Screws 113 pass through screw holes 131 and slide grooves 121 and are screwed into screw holes provided in catch bracket 110 .
- a diaphragm 132 is provided at the end of the catch holder 130 on the side closer to the tips of the outer pin 105 and the inner pin 106 .
- the diaphragm 132 has a substantially hexagonal cross-sectional shape like the catch holder 130 .
- the diaphragm 132 is tapered. That is, the diameter of the substantially hexagonal cross section of the diaphragm 132 gradually decreases from the side farther from the distal ends of the outer pin 105 and the inner pin 106 toward the closer side. This tapered portion can be interpreted as an inclined portion.
- a plurality of outer pins 105 and a plurality of inner pins 106 arranged inside the outer pins 105 protrude from the inside of the diaphragm 132 .
- a motor 200 is connected to the end effector 1 .
- the motor 200 has a feed screw 201 .
- a lead screw 201 is inserted into the catch bracket 110 .
- FIG. 14 is a perspective view showing the internal structure of the end effector 1 according to the second embodiment of the present disclosure.
- FIG. 15 is an exploded perspective view showing the internal structure of the end effector 1 according to the second embodiment of the present disclosure.
- FIG. 16 is a cross-sectional view showing the internal structure of the end effector 1 according to the second embodiment of the present disclosure.
- FIG. 17 is a conceptual diagram showing an example of mounting a hole plate. The internal structure of the end effector 1 according to the second embodiment of the present disclosure will be described based on FIGS. 14 to 17.
- FIG. 14 is a perspective view showing the internal structure of the end effector 1 according to the second embodiment of the present disclosure.
- FIG. 15 is an exploded perspective view showing the internal structure of the end effector 1 according to the second embodiment of the present disclosure.
- FIG. 16 is a cross-sectional view showing the internal structure of the end effector 1 according to the second embodiment of the present disclosure.
- FIG. 17 is a conceptual diagram showing an example of mounting a hole
- a pin module 100 and a catch bracket 110 are inserted inside the catch base 120 and the catch holder 130 of the end effector 1 .
- the catch bracket 110 is slidably inserted into the catch base 120 in the direction of the tube that the catch base 120 presents.
- the catch base 120 incorporates a spring mechanism (not shown). Therefore, when not receiving an external force, the catch bracket 110 is positioned inside the catch base 120 in an initial state described later with reference to FIGS. 19 and 20 .
- the catch bracket 110 includes a feed screw receiver 111, a pin pushing plate 112, and screw holes 114.
- a feed screw 201 of the motor 200 is inserted into the feed screw receiver 111 .
- the pin push-out plate 112 abuts on an inner pin 106 provided in a pin module 100 to push out the inner pin 106 according to the position of the catch bracket 110 inside the catch base 120 .
- a screw 113 passing through the screw hole 131 and the slide groove 121 is screwed into the screw hole 114 .
- the motor 200 rotates the feed screw 201 . Therefore, the motor 200 adjusts how deeply the feed screw 201 is inserted into the feed screw receiver 111 . Thus, the motor 200 serves to adjust the relative position of the catch bracket 110 with respect to the catch base 120 (position along the tube direction of the catch base 120).
- the relative positions between the catch bracket 110 and the catch holder 130 are fixed by the screws 113 .
- the screw 113 passes through the slide groove 121 of the catch base 120, the relative position of the catch bracket 110 with respect to the catch base 120 is not fixed. Therefore, the motor 200 also serves to adjust the position of the catch holder 130 with respect to the catch base 120 .
- the pin module 100 includes a sleeve 101, a hole plate 102, a cushion material 103, a hole plate 104, a plurality of outer pins 105, and a plurality of inner pins 106.
- a hole plate is a plate provided with a plurality of holes, and is also called a punch plate.
- FIG. 17 shows an example of a punch plate.
- the arrangement of the plurality of holes provided in the hole plates 102, 104 may be staggered. However, it is not intended to exclude other arrangement modes.
- a cushion material 103 is sandwiched between the hole plate 102 and the hole plate 104 . By sandwiching the cushioning material 103 between the two hole plates 102 and 104, the cushioning material 103 does not separate from the hole plates during the operation of the end effector 1. ⁇ Therefore, the end effector 1 can stably hold the cushion material 103 .
- a plurality of outer pins 105 are arranged near the outer peripheries of the hole plates 102 and 104 .
- the outer pin 105 may be arranged near the perimeter of the hole plates 102 and 104 so as to draw a cross-sectional shape similar to the cross-sectional shape of the catch base 120 .
- the plurality of outer pins 105 are arranged to form a hexagon.
- a large number of inner pins 106 are arranged inside the outer pins 105 .
- the plurality of outer pins 105 pass through the holes provided in the hole plate 102, the cushion material 103, and the holes provided in the hole plate 104.
- the hole plate 102, the cushion material 103, and the hole plate 104 are collectively referred to as a hole plate unit.
- the outer pin 105 has a first end and a second end opposite the first end. The first end of the outer pin 105 is the end on the side that protrudes from the hole plate unit in a direction in which it can come into contact with the object Wk when the outer pin 105 passes through the hole plate unit.
- the second end of the outer pin 105 is the end on the side that protrudes from the hole plate unit in the direction opposite to the direction in which the object Wk can be contacted when the outer pin 105 passes through the hole plate unit.
- the sleeve 101 is attached to the second end side of the outer pin 105 .
- the sleeve 101 is attached to the end opposite to the end in contact with the object Wk supported by the end effector 1 .
- a plurality of inner pins 106 pass through holes provided in hole plate 102 , cushion material 103 , and holes provided in hole plate 104 .
- the inner pin 106 has a first end and a second end opposite the first end.
- the first end of the inner pin 106 is the end on the side protruding from the hole plate unit in a direction in which the inner pin 106 can come into contact with the object Wk when the inner pin 106 passes through the hole plate unit.
- the second end of the inner pin 106 is the end on the side that protrudes from the hole plate unit in the direction opposite to the direction in which the object Wk can be contacted when the inner pin 106 passes through the hole plate unit.
- the sleeve 101 is attached to the second end side of the inner pin 106 . In other words, the sleeve 101 is attached to the end opposite to the end in contact with the object Wk supported by the end effector 1 .
- FIG. 18 is a comparison diagram of the outer pin 105, the inner pin 106, and the sleeve 101 according to the second embodiment of the present disclosure.
- FIG. 18 shows a first portion S1, which is the portion on which the first end of the outer pin 105 is located, and a second portion S2, which is the portion on which the second end is located.
- FIG. 18 also shows the first portion T1, which is the portion on the side where the first end of the inner pin 106 is located, and the second portion T2, which is the portion on the side where the second end is located.
- the diameter of the second portion S2 of the outer pin 105 (1 mm in the example of FIG. 18) is smaller than the diameter near the first portion S1 (1.5 mm in the example of FIG. 18).
- Hole diameter D of hole plates 102 and 104 shown in FIG. 17 is equal to or greater than the diameter of second portion S2 and smaller than the diameter of first portion S1. Therefore, the second portion S2 of the outer pin 105 can be passed through the hole plate unit.
- a step is provided between the second portion S2 and the first portion S1 where the diameter increases. The steps abut portions of the hole plate 104 other than the holes. This limits further movement of the outer pin 105 relative to the hole plate.
- the diameter of the second portion T2 of the inner pin 106 (1 mm in the example of FIG. 18) is smaller than the diameter near the first portion T1 (1.5 mm in the example of FIG. 18).
- Hole diameter D of hole plates 102 and 104 shown in FIG. 17 is equal to or greater than the diameter of second portion T2 and smaller than the diameter of first portion T1. Therefore, the second portion T2 of the inner pin 106 can be passed through the hole plate unit.
- a step is provided between the second portion T2 and the first portion T1 where the diameter increases. The steps abut portions of the hole plate 104 other than the holes. This limits further movement of the inner pin 106 relative to the hole plate 104 .
- the sleeve 101 is formed in a hollow cylindrical shape.
- the inner diameter of the sleeve 101 corresponds to the diameter of the second portions S2 and T2.
- the outer diameter of sleeve 101 may correspond to the diameter of first portions S1 and T1.
- the diameter of sleeve 101 may be larger than the hole diameter of hole plate 102 .
- a sleeve 101 is attached to the second portion T2 of the inner pin 106 . Therefore, the sleeve 101 can also serve as a stopper to prevent the inner pin 106 from falling out of the hole plate unit.
- the distance obtained by subtracting the thickness of the hole plate unit from the distance between the step of the inner pin 106 and the sleeve 101 is the distance that the inner pin 106 can move, that is, the first distance.
- FIG. 19 is a conceptual diagram showing the flow until the end effector 1 according to the second embodiment of the present disclosure supports the target object Wk.
- FIG. 20 is a conceptual diagram showing the flow until the end effector 1 according to the second embodiment of the present disclosure releases the supported object Wk and returns to the initial state.
- 19 and 20 are the same as those shown in FIGS. 9 to 18, only some of the constituent elements are denoted by the same reference numerals, and other constituent elements are indicated by the same reference numerals. The notation of reference signs is omitted. Also, the description will be made assuming that the tips of the pins of the end effector 1 are oriented in the direction of gravity.
- the catch bracket 110 slides downward in the drawing with respect to the catch base 120 under the control of the motor 200 .
- the pin pushing plate 112 pushes the second ends of the inner pins 106, aligning the inner pins 106 so that the second ends of the inner pins 106 are flush with each other.
- the catch bracket 110 is returned to a predetermined position (height) with respect to the catch base 120 by a spring mechanism (not shown) provided on the catch bracket 110 .
- the inner pin 106 remains aligned.
- Such a state of the end effector 1 is the initial state.
- the end effector 1 is pressed against the object Wk.
- This pressing may be performed by a human or by a robot arm to which the end effector 1 is attached.
- Those of the plurality of inner pins 106 that come into contact with the object Wk slide upward with respect to the hole plate unit.
- the catch bracket 110 slides upward in FIG. 19 with respect to the catch base 120 under the control of the motor 200.
- a catch holder 130 fixed to the catch bracket 110 also slides upward relative to the catch base 120 .
- the inclined portion of the inner wall of the diaphragm 132 contacts the outer pin 105 and applies an inward force (that is, a force directed toward the object Wk) to the outer pin 105 .
- This inward force causes the outer pins 105 to tilt inward, and accordingly the inner pins 106 on the inner side also tilt inward, and the inner pins 106 that finally come into contact with the target object Wk move the target object Wk.
- a plurality of inner pins 106 in contact with the object Wk apply lateral pressure to the object Wk, thereby supporting the object Wk.
- the biasing force in the rotational direction applied to the feed screw 201 by the motor 200 is turned off. That is, the feed screw 201 becomes freely rotatable. Then, the feed screw 201 is rotated by the spring returning force of the spring mechanism provided in the catch bracket 110, and the catch bracket 110 slides downward in FIG. A catch holder 130 fixed to the catch bracket 110 also slides downward relative to the catch base 120 . As a result, the outer pin 105 is released from the inward force exerted by the aperture 132 . Along with this, the inner pin 106 further inside is also released from the inward force. The object Wk is released from the inner pins 106 by removing the lateral pressure applied to the object Wk by the plurality of inner pins 106 in contact with the object Wk.
- the catch bracket 110 In the pushed state, the catch bracket 110 further slides downward in FIG. As a result, the pin pushing plate 112 pushes the second ends of the inner pins 106, aligning the inner pins 106 such that the second ends of the inner pins 106 are aligned at the same height. 20 aligns the inner pins 106 in the same manner as in the aligned state of FIG. At this time, the object Wk is pushed out by the inner pin 106 .
- a spring mechanism provided in the catch bracket 110 returns the catch bracket 110 to a predetermined position (height) with respect to the catch base 120 .
- the inner pin 106 remains aligned. That is, the state of the end effector 1 returns to the initial state.
- FIG. 21 is a longitudinal sectional view showing an example of the end effector 1 in a supported state.
- FIG. 22 is a conceptual diagram showing the case where the end effector 1 horizontally supports the object Wk, corresponding to FIG.
- FIG. 22 is a view of the end effector 1 in the supported state, viewed in the direction from the object Wk toward the end effector 1.
- the inner pin 106 penetrates the cushion material 103 as described above. Therefore, the cushion material 103 acts as a resistance to prevent the inner pin 106 from sliding unintentionally. Therefore, as shown in FIG. 22, the number of inner pins 106 supporting the object Wk is not reduced.
- the pin does not impair the transfer function of transferring the shape of the object Wk, and the support force does not decrease. This is the same even when the end effector 1 supports the object Wk in another direction, for example, upward.
- the cushion material 103 through which the inner pin 106 penetrates exerts resistance against the sliding movement of the inner pin 106, thereby preventing the inner pin 106 from falling unintentionally. That is, it is possible to obtain the end effector 1 whose supporting force does not decrease in any direction, such as the lateral direction or the upward direction.
- the end effector 1 can be turned on and off by pinching a switch provided on the wall.
- the end effector 1 can grip and rotate the doorknob to open the door.
- the end effector 1 can be removed by rotating a bare light bulb placed on the ceiling of the room.
- the inner pin 106 is attached with the sleeve 101 having an appropriate thickness.
- the inner pins 106 are aligned without a gap at the location where the sleeve 101 is attached.
- the inner pin 106 is prevented from being obliquely displaced with respect to the holes of the hole plates 102 and 104 and caught by another pin. Therefore, the inner pin 106 can correctly transfer the shape of the object Wk regardless of which direction the end effector 1 is used (for example, laterally or upwardly). Therefore, the end effector 1 can firmly support the object Wk.
- the cushion material 103 prevents the inner pin 106 from sliding due to unintended force other than the force received from the object Wk. From this point of view, the cushion material 103 is made of a material capable of applying a frictional force to the penetrating inner pin 106 .
- the cushion material 103 may be made of, for example, urethane foam, but the material is not limited to this.
- the cushion material 103 has elasticity.
- the hole diameter of the cushion material 103 through which the inner pin 106 penetrates is preferably smaller than the diameter of the inner pin 106 .
- the outer pin 105 is fixed with respect to the hole plate 104 so as not to slide in the direction of the hole of the hole plate 104 .
- Outer pin 105 is shorter than inner pin 106 .
- the outer pin 105 has a length equal to or less than the length of the inner pin 106 minus the first distance. have a length.
- the first end of the outer pin 105 that is, the end closer to the object Wk supported by the end effector 1 is rounded. This rounding prevents the first end of the outer pin 105 from being worn when the inner wall (inclined portion) of the diaphragm 132 that slides together with the catch bracket 110 and the first end of the outer pin 105 come into contact with each other.
- the first end of outer pin 105 may be spherical. From the viewpoint of preventing wear, the inner wall (inclined portion) of the diaphragm 132 may be rounded. It should be noted that the diaphragm 132 is one aspect of the force applying portion.
- the aperture 132 of the catch holder 130 slides along the direction of the hole of the hole plate 104, as shown in FIG.
- the inner wall (inclined portion) of the diaphragm 132 smoothly transmits an inward force to the outer pin 105 when the transfer state shown is shifted to the support state.
- the outer pin 105 smoothly tilts inward, and the inner pin 106 further inside smoothly applies lateral pressure to the object Wk. As a result, the end effector 1 can smoothly support the object Wk.
- FIG. 23 is a conceptual diagram illustrating the shape of the inner pin 106 near the first end.
- FIG. 24 is a conceptual diagram of the inner pin 106 shown in FIG. 23 viewed from the first end to the second end.
- the first portion T1 (see FIG. 18) of the inner pin 106 the first region REG1 including the first end of the region in contact with the object Wk is tapered.
- the side portion of the inner pin 106 falling inward comes into contact with the object Wk more smoothly. Therefore, it becomes easier to apply a lateral force to the object Wk, and the object Wk is stably supported.
- FIG. 24 shows an example of how the degree of inclination of the taper of the first region REG1 is set.
- the second region REG2 of the region in contact with the object Wk may be subjected to anti-slip processing.
- the object Wk is a slippery object such as flounder or sea cucumber, it is difficult for the end effector to support such an object.
- the end effector 1 according to the second embodiment of the present disclosure can reliably support a slippery object by applying anti-slip processing that can be caught in the second region REG2.
- This non-slip processing is performed, for example, by leaving the core 1061, which is the central portion of the second region REG2, and processing the peripheral portion of the core 1061 into a shape that increases the frictional force.
- FIG. 25 is a diagram showing an example of anti-slip processing applied to the second region REG2 of the inner pin 106.
- the shape with a hook is, for example, a cylinder
- the surface shape of the second region REG2 is formed by cutting the peripheral portion while leaving the core 1061 .
- the hook shape is a shape with an edge
- the surface shape of the second region REG2 is formed by forming the inner pin 106 itself using a 3D printer.
- the portion of the second region REG2 of the inner pin 106 may be cut away leaving the core 1061 and a non-slip rubber member may be mounted around the core 1061.
- Each component described for the end effector 1 according to the second embodiment of the present disclosure may be applied to the end effector 2 according to the first embodiment of the present disclosure, and the same effects as described above may be obtained. Obtainable.
- FIG. 26 is a block diagram showing an example hardware configuration of a control system 500 used with the end effector according to each embodiment of the present disclosure.
- Control system 500 controls the operation of end effector 1 or end effector 2 described above.
- the control system 500 may further control a robot arm (not shown).
- the control system 500 may be provided inside the robot arm or outside the robot arm.
- the control system 500 includes a processor 501 , a memory 502 , an input device 503 , an end effector connection section 505 , a communication device 506 and an input/output interface 507 .
- the memory 502, the input device 503, the end effector connection unit 505, the communication device 506, and the input/output interface 507 are each connected to the processor 501 via an internal bus or the like so as to input/output data or information.
- the processor 501 functions as a control unit of the control system 500.
- the processor 501 performs control processing for overall control of the operation of each unit of the control system 500, input/output processing of data or information with each unit of the control system 500, data calculation processing, and data or Stores information.
- the processor 501 also functions as a controller that controls the end effector 1, the end effector 2, and the robot arm.
- Processor 501 may, for example, control the operation of actuator 16 for end effector 2 or motor 200 for end effector 1 .
- the processor 501 may be a CPU (Central Processing Unit), MPU (Micro Processing Unit), DSP (Digital Signal Processor), or FPGA (Field Programmable Gate Array).
- the memory 502 stores various programs (OS, application software, etc.) executed by the processor 501 and various data.
- the memory 502 is configured by, for example, an HDD (Hard Disk Drive), flash memory, ROM (Read Only Memory) and/or RAM (Random Access Memory).
- the input device 503 has a function as a human interface with the user, and inputs user's operations. In other words, the input device 503 is used for inputs or instructions in various processes executed by the control system 500 . Examples of input device 503 are a keyboard or mouse. Alternatively, input device 503 is a programming pendant connected to a robot arm controller (not shown).
- the end effector connection section 505 is a device for connecting the end effector 1 or the end effector 2 to the control system 500 .
- the end effector connecting portion 505 and the end effector 1 or the end effector 2 are connected by wires such as connectors and cables.
- the end effector connecting section 505 and the end effector 1 or the end effector 2 may be connected wirelessly.
- a communication device 506 is a device for communicating with the outside via a network 508 . This communication may be wired or wireless.
- the input/output interface 507 has a function as an interface for inputting/outputting data or information between each device constituting the control system 500 .
- control system 500 shown in FIG. 26 is an example, and the control system 500 may not include some of the components shown in FIG. 26, or may include additional components not shown in FIG. You may have more.
- the configuration of the end effector 2 according to the first embodiment of the present disclosure is not limited to the configuration described above.
- the protrusion 14B of the holder 14 may be configured by an air tube, and the air tube may be arranged above the lower end of the outer pin 12A.
- the end effector 2 injects air into the air tube during the support phase.
- the air tube expanded by the injection of air presses the outer pin 12A from the side and applies an inward force (that is, a force directed toward the object Wk) to the outer pin 12A.
- the air tube is one aspect of the force applying section.
- the end effector 2 may be configured to have an outer pin 12A made of a shape memory alloy that deforms inwardly (that is, toward the object Wk) at its tip portion when energized, without having the holder 14 .
- the end effector 2 energizes the outer pin 12A during the supporting stage.
- the outer pin 12A is deformed inward, and the inner pin 12B is accordingly tilted inward, and finally the inner pin 12B coming into contact with the object Wk is pressed against the side surface of the object Wk.
- the end effector 2 can support the object Wk.
- a device that energizes the outer pin 12A is one aspect of the force applying section.
- the end effector 2 that supports the switching adapter will be described.
- the target object Wk supported by the end effector 2 is a work to be picked in a factory or the like, for example.
- the end effector 2 may support other end effectors.
- An example of such another end effector is a switching adapter 33, which will be described later.
- the end effector 2 that supports and utilizes the switching adapter 33 having the suction pad 32 capable of sucking the object Wk will be described below.
- FIG. 27 is a vertical cross-sectional view showing an example of the configuration of the end effector 2 according to the modification.
- the end effector 2 further includes a body suction unit 31.
- the main body suction unit 31 can be connected to a suction pad 32 which will be described with reference to FIG.
- the main suction unit 31 and the actuator 16 may be connected to a common air conveying system.
- FIG. 28 is a vertical cross-sectional view showing an example of the molding stage of the switching adapter 33 by the end effector 2 according to the modification.
- FIG. 29 is a longitudinal sectional view showing an example of the supporting stage of the switching adapter 33 by the end effector 2 according to the modification.
- the switching adapter 33 has a suction pad 32 .
- a pipe 34 for sucking and discharging air to and from the suction pad is connected to the main body suction unit 31 .
- a passage for air intake and discharge from the suction pad 32 to the main body suction unit 31 is formed.
- the end effector 2 performs molding of the switching adapter 33 in the molding stage. Then, as shown in FIG. 29, the end effector 2 supports the switching adapter 33 in the supporting stage.
- the end effector 2 can use the suction pad 32 through the supported switching adapter 33 . That is, the robot arm can utilize another type of end effector, such as the suction pad 32, through the switching adapter 33 without replacing the pin type end effector 2 according to the present disclosure.
- the switching adapter 33 may be equipped with a finger-type, electromagnetic-type, or jamming-type end effector.
- the end effector includes one or more hole plates provided with a plurality of holes, a cushion material used together with the hole plate, and a plurality of pins.
- the multiple pins include multiple inner pins and multiple outer pins arranged outside the inner pins.
- the inner pin penetrates the hole of the hole plate and the cushion material so as to be movable relative to the hole plate in the direction of penetration of the hole by a first distance.
- the end effector further includes a force applying portion that applies an inward force to the outer pin.
- the outer pin is fixed to the hole plate so as not to move in the direction of penetration of the hole of the hole plate. As a result, the fixed outer pin tilts inward, and an inward force can be applied to the inner pin.
- the outer pin has a length equal to or less than the value obtained by subtracting the first distance from the length of the inner pin. Therefore, it is possible to secure a movable range (stroke) in which the inner pin moves along the direction of the hole of the hole plate.
- a sleeve is attached to the end of the plurality of pins opposite to the end in contact with the object supported by the end effector.
- the inner pins are aligned without gaps at the locations where the sleeves are attached.
- the inner pin is prevented from being obliquely displaced with respect to the hole of the hole plate and caught by another pin. Therefore, the inner pin can correctly transfer the shape of the object regardless of which direction the end effector is used (for example, lateral direction or upward direction). Therefore, the end effector can firmly support the object.
- the end of the inner pin that contacts the object supported by the end effector is tapered.
- the side surface portion of the inner pin falling inward comes into contact with the object more smoothly. Therefore, it becomes easier to apply a lateral force to the object, and the object can be stably supported. Also, even when the object is small, the object can be gripped so as to surround the object with the tapered portions of the plurality of inner pins.
- the area of the inner pin that contacts the object supported by the end effector is treated to prevent slipping. Thereby, a slippery object can be reliably supported.
- the end of the outer pin that contacts the object supported by the end effector is rounded. This can prevent wear due to contact between the end portion and the force applying portion.
- the force applying part has an inclined part that is movable along the penetration direction of the hole of the hole plate, and the inclined part has a roundness. As a result, it is possible to prevent wear due to contact between the end portion of the outer pin that contacts the object supported by the end effector and the force applying portion (inclined portion).
- the cushion material may be sandwiched between two hole plates. Thereby, the cushion material is stably held by the two hole plates.
- a set of end effectors comprises the end effector described above and other end effectors that can be supported by the end effector described above. As a result, work can be performed while supporting another end effector without replacing the end effector described above.
- the end effector of the present disclosure can be used for devices that support objects.
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Abstract
Description
本開示においては、重力方向と同方向を下方、重力方向と逆方向を上方として説明する。また、本開示では、重力方向に平行な断面を縦断面、重力方向に垂直な断面を横断面として説明する。
クッション材103は、インナーピン106が、対象物Wkから受ける力以外の、意図しない力を受けてスライドすることを防止する。この観点から、クッション材103は、貫通するインナーピン106に対して摩擦力を与えることが可能な材質によって形成される。クッション材103は例えばウレタンフォームによって形成されてよいが、材質はこれには限られない。クッション材103は弾性を有している。インナーピン106が貫通するクッション材103の孔径は、インナーピン106の径よりも小さいものとなるのが好ましい。
アウターピン105は、穴プレート104の穴の方向にスライドしないように、穴プレート104に対して固定される。アウターピン105は、インナーピン106よりも短い。インナーピン106の、穴プレート104の穴の方向に沿った可動範囲(ストローク)を第1の距離とすると、アウターピン105は、インナーピン106の長さから第1の距離を減じた値以下の長さを有する。
図23は、インナーピン106の第1端付近の形状を例示する概念図である。図24は、図23に示したインナーピン106を、第1端から第2端の方向へと見た概念図である。インナーピン106の第1部分T1(図18参照)における、対象物Wkと接触する領域のうち、第1端を含む第1領域REG1は、テーパー状となるように加工が施されている。これにより、インナーピン106の端部が単なる棒状である場合と比較して、内向きに倒れたインナーピン106の側面部分が、対象物Wkにより滑らかに接することになる。そのため、対象物Wkに対して横向きの力を加えやすくなり、対象物Wkの支持が安定する。また、対象物Wkが小さい場合も、複数のインナーピン106におけるテーパー状となった部分で対象物Wkを囲うように掴むことができる。図24には、第1領域REG1のテーパーの傾斜度をどの程度にするかを示す一例が示されている。
本開示の第1の実施形態に係るエンドエフェクタ2の構成は、上述した構成に限られない。例えば、ホルダ14の突起部14Bがエアチューブによって構成され、エアチューブがアウターピン12Aの下端よりも上部に配置されてよい。この場合、エンドエフェクタ2は、支持段階において、エアチューブに空気を注入する。これにより、空気の注入によって膨張したエアチューブがアウターピン12Aを側面から圧迫して当該アウターピン12Aに対して内向きの力(つまり対象物Wkに向かう力)を加える。この内向きの力により、アウターピン12Aは内向きに倒れ、それに伴ってインナーピン12Bも順次内向きに倒れ、最終的に対象物Wkに接触するインナーピン12Bが当該対象物Wkの側面に押し付けられる。このような構成であっても、エンドエフェクタ2は、対象物Wkを支持できる。エアチューブは、加力部の一態様である。
2 エンドエフェクタ
11 穴プレート
12 ピン
12A アウターピン
12B インナーピン
13 ベース
14 ホルダ
14A 側面部
14B 突起部
14C スリット
15 可動プレート
16 アクチュエータ
31 本体吸着ユニット
32 吸着パッド
33 切替アダプタ
34 管
100 ピンモジュール
101 スリーブ
102 穴プレート
103 クッション材
104 穴プレート
105 アウターピン
106 インナーピン
1061 芯
110 キャッチブラケット
112 プレート
113 ネジ
114 ネジ穴
120 キャッチベース
121 スライド溝
130 キャッチホルダ
131 ネジ穴
200 モータ
201 ネジ
500 制御システム
501 プロセッサ
502 メモリ
503 入力装置
505 エンドエフェクタ接続部
506 通信装置
507 入出力インターフェース
508 ネットワーク
Wk 対象物
Claims (10)
- 複数の穴が設けられた一以上の穴プレートと、
前記一以上の穴プレートと共に用いられるクッション材と、
複数のインナーピンと、前記複数のインナーピンの外側に配置された複数のアウターピンとを含む複数のピンと、
前記複数のアウターピンに対して内側に向かう力を加える加力部と、を備え、
前記複数のインナーピンは、前記一以上の穴プレートに対して前記複数の穴の貫通方向に第1の距離だけ移動可能になるように、前記複数の穴および前記クッション材を貫通する、
エンドエフェクタ。 - 前記複数のアウターピンは、前記複数の穴の貫通方向に移動しないように、前記一以上の穴プレートに対して固定される、
請求項1に記載のエンドエフェクタ。 - 前記複数のアウターピンは、前記複数のインナーピンの長さから前記第1の距離を減じた値以下の長さを有する、
請求項2に記載のエンドエフェクタ。 - 前記複数のピンにおける、前記エンドエフェクタが支持する対象物と接する側の端部とは反対の端部側にスリーブが装着されている、
請求項1から請求項3のうちいずれか一項に記載のエンドエフェクタ。 - 前記複数のインナーピンにおける、前記エンドエフェクタが支持する対象物と接する側の端部がテーパー状になっている、
請求項1から請求項4のうちいずれか一項に記載のエンドエフェクタ。 - 前記複数のインナーピンにおける、前記エンドエフェクタが支持する対象物と接する領域に滑り止め加工がなされている、
請求項1から請求項5のうちいずれか一項に記載のエンドエフェクタ。 - 前記複数のアウターピンにおける、前記エンドエフェクタが支持する対象物に近い側の端部が丸みを有する、
請求項1から請求項6のうちいずれか一項に記載のエンドエフェクタ。 - 前記加力部は、前記複数の穴の貫通方向に沿って移動可能な傾斜部を備え、前記傾斜部が丸みを有する、
請求項1から請求項7のうちいずれか一項に記載のエンドエフェクタ。 - 前記一以上の穴プレートは、2枚の穴プレートであり、
前記クッション材は、前記2枚の穴プレートに挟まれて配置される、
請求項1から請求項8のうちいずれか一項に記載のエンドエフェクタ。 - 請求項1から請求項9のうちいずれか一項に記載のエンドエフェクタと、
前記エンドエフェクタによって支持可能な他のエンドエフェクタを備えた、
エンドエフェクタのセット。
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CN202280025030.0A CN117157175A (zh) | 2021-03-30 | 2022-02-18 | 末端执行器以及末端执行器的套件 |
EP22779638.0A EP4316752A1 (en) | 2021-03-30 | 2022-02-18 | End effector and end effector set |
US18/371,101 US20240009860A1 (en) | 2021-03-30 | 2023-09-21 | End effector and end effector set |
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Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS60161539A (ja) * | 1984-01-31 | 1985-08-23 | Fuji Electric Corp Res & Dev Ltd | 圧覚認識制御装置 |
JPH08503422A (ja) * | 1992-11-26 | 1996-04-16 | フリートヘルム ゼールト, | 特に物品操縦機用の、物品を機械的に把持・保持して移動させるため又は類似操作のための操作装置 |
JPH10264068A (ja) | 1997-03-24 | 1998-10-06 | Okayama Pref Gov Shin Gijutsu Shinko Zaidan | ロボットハンド |
JP3912721B2 (ja) * | 2001-01-17 | 2007-05-09 | 本田技研工業株式会社 | 搬送装置 |
JP5480870B2 (ja) * | 2011-11-14 | 2014-04-23 | 本田技研工業株式会社 | 把持部位置決め治具 |
-
2022
- 2022-02-18 WO PCT/JP2022/006727 patent/WO2022209411A1/ja active Application Filing
- 2022-02-18 EP EP22779638.0A patent/EP4316752A1/en active Pending
- 2022-02-18 JP JP2023510644A patent/JPWO2022209411A1/ja active Pending
- 2022-02-18 CN CN202280025030.0A patent/CN117157175A/zh active Pending
-
2023
- 2023-09-21 US US18/371,101 patent/US20240009860A1/en active Pending
Patent Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS60161539A (ja) * | 1984-01-31 | 1985-08-23 | Fuji Electric Corp Res & Dev Ltd | 圧覚認識制御装置 |
JPH08503422A (ja) * | 1992-11-26 | 1996-04-16 | フリートヘルム ゼールト, | 特に物品操縦機用の、物品を機械的に把持・保持して移動させるため又は類似操作のための操作装置 |
JPH10264068A (ja) | 1997-03-24 | 1998-10-06 | Okayama Pref Gov Shin Gijutsu Shinko Zaidan | ロボットハンド |
JP3912721B2 (ja) * | 2001-01-17 | 2007-05-09 | 本田技研工業株式会社 | 搬送装置 |
JP5480870B2 (ja) * | 2011-11-14 | 2014-04-23 | 本田技研工業株式会社 | 把持部位置決め治具 |
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JPWO2022209411A1 (ja) | 2022-10-06 |
EP4316752A1 (en) | 2024-02-07 |
CN117157175A (zh) | 2023-12-01 |
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