WO2022224433A1 - Part grasping device - Google Patents
Part grasping device Download PDFInfo
- Publication number
- WO2022224433A1 WO2022224433A1 PCT/JP2021/016432 JP2021016432W WO2022224433A1 WO 2022224433 A1 WO2022224433 A1 WO 2022224433A1 JP 2021016432 W JP2021016432 W JP 2021016432W WO 2022224433 A1 WO2022224433 A1 WO 2022224433A1
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- WO
- WIPO (PCT)
- Prior art keywords
- hand
- gripping
- magnetic force
- component
- parts
- Prior art date
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- 239000000696 magnetic material Substances 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 6
- 238000011017 operating method Methods 0.000 description 6
- 230000000694 effects Effects 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 238000003384 imaging method Methods 0.000 description 3
- 238000006243 chemical reaction Methods 0.000 description 2
- 230000001846 repelling effect Effects 0.000 description 2
- 230000003746 surface roughness Effects 0.000 description 2
- 238000006073 displacement reaction Methods 0.000 description 1
- 239000012636 effector Substances 0.000 description 1
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 description 1
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
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0608—Gripping heads and other end effectors with vacuum or magnetic holding means with magnetic holding means
-
- 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
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0253—Gripping heads and other end effectors servo-actuated comprising parallel grippers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1612—Programme controls characterised by the hand, wrist, grip control
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/39—Robotics, robotics to robotics hand
- G05B2219/39567—Use electromagnetic attraction to bring robot hand in contact with workpiece
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/45—Nc applications
- G05B2219/45063—Pick and place manipulator
Definitions
- the present disclosure relates to a component gripping device.
- the work transfer device described in International Publication No. 2017/094112 is known as a device for picking up and placing works.
- This work transfer device has an attracting portion that attracts and picks up a magnetic work to the tip of a shaft member, and a pinching portion that pinches and supports the work in a posture after being attracted by the attracting portion.
- a shaft member of the attracting portion is connected to an electromagnet, and magnetic force (attracting force) in multiple stages is generated in the attracting portion according to power supplied to the electromagnet.
- the attracting part and the holding part are configured separately, and the holding part itself that holds the work cannot generate a magnetic force. Since it is the clamping portion that clamps the component, it is necessary to provide the clamping portion according to the shape of the component, and it is necessary to prepare a special clamping portion for each component. Further, in the above-described work transfer apparatus, the number of works that can be held by the holding section is one, so a plurality of works cannot be held at once. Thus, it cannot be said that the versatility to handle various clamping modes, for example, the ability to accurately clamp various clamping objects having different sizes, weights, quantities, etc., is sufficient.
- a component gripping apparatus of the present disclosure includes a plurality of gripping units, a hand gripping a magnetic component with the plurality of gripping units, a picking robot transferring the component gripped by the hand, and the hand and a control unit that adjusts the magnetic force of the component holding device.
- the magnetic force of the hand can be adjusted by the control unit, various objects to be grasped can be accurately grasped.
- FIG. 1 is a front view of a component gripping device.
- FIG. 2 is a block diagram of the component gripping device.
- FIG. 3 is a front view of the hand.
- FIG. 4 is a bottom view of the hand.
- 5A and 5B are operation explanatory diagrams of the component gripping device of the first embodiment.
- FIG. FIG. 6 is a flow chart of the component gripping device of the first embodiment.
- FIG. 7 is an explanatory view of the operation of the component gripping device of embodiment 2-1.
- FIG. 8 is a flow chart of the component gripping device of embodiment 2-1.
- FIG. 9 is an explanatory diagram of the operation of the component gripping device of the embodiment 2-2.
- FIG. 10 is a flow chart of the component gripping device of embodiment 2-2.
- 11A and 11B are operation explanatory diagrams of the component gripping device of the third embodiment.
- FIG. 12 is a flow chart of the component gripping device of the third embodiment.
- a component gripping device of the present disclosure includes a hand that has a plurality of gripping units, grips a magnetic component with the plurality of gripping units, and a picking robot that transfers the component gripped by the hand. and a controller for adjusting the magnetic force of the hand. Since the magnetic force of the hand can be adjusted by the control unit, any number of parts can be gripped by attracting or repelling the parts with the magnetic force.
- control unit associates the magnetic force with the number information by acquiring number information of the gripped parts. By acquiring the number information of the gripped parts, the magnetic force and the number information can be linked by the control unit.
- the control section adjusts a hand width, which is a mutual interval between the plurality of gripping sections. Since the width of the hand can be adjusted by the control unit, a plurality of types of parts with different sizes can be gripped with the same hand.
- control unit associates the magnetic force, the hand width, and the number information by acquiring number information of the gripped parts. By acquiring the number information of the gripped parts, the magnetic force, the hand width, and the number information can be linked by the control unit.
- the hand width may be the distance between the pair of gripping portions facing each other.
- the width of the hand can be easily adjusted because it is sufficient to adjust the distance between the pair of grips facing each other.
- the control unit includes a magnetic force adjustment unit that adjusts the magnetic force of the hand, a hand width adjustment unit that adjusts the hand width, and a calculation unit that links the magnetic force, the hand width, and the number information, It is preferable to have a storage unit that stores the magnetic force, the hand width, and the number information that are associated with each other.
- the magnetic force, the hand width, and the number information are linked by the calculation unit, and the linked information is stored in the storage unit, so that the magnetic force and the hand width can be controlled to have a high gripping success rate. In addition, by doing so, it is possible to learn and control the magnetic force and hand width that have a higher gripping success rate.
- the hand includes the plurality of gripping portions that are magnetic bodies, and a coil that magnetizes the gripping portions.
- the gripping portion is magnetized by the coil so that the gripping portion itself has a magnetic force, so that the part can be reliably gripped and transferred.
- the control section magnetizes the gripping portion by using a strong magnetic force for the component with a large mass, and magnetizes the gripping portion by using a weak magnetic force for the component with a small mass. is preferred. If a strong magnetic force is applied to a component with a small mass, the component with a small mass will be attracted more than necessary by the strong magnetic force, and there is a possibility that the component will be dropped during transfer. Therefore, by using an appropriate magnetic force according to the mass of the parts as described above, the required number of parts can be drawn, and the gripping success rate can be increased.
- the hand magnetizes the plurality of gripping portions in an open state so that the component placed on the placing portion is drawn toward the respective gripping portions, and closes the plurality of gripping portions. Therefore, it is preferable to gather the parts in one place and then grip them. For example, if the parts are scattered on the placement portion of the tray, the gripping success rate may be low. Even in such a case, the parts can be collected in one place by drawing the parts to the respective gripping parts and closing the plurality of gripping parts, so that the success rate of gripping can be increased.
- the hand grips the plurality of parts with a magnetic force greater than the magnetic force for gripping a single part. Multiple parts can be gripped without dropping without changing the hand.
- the component gripping device 10 is a device for taking out some components P from a box containing a large amount of components P and subdividing them.
- the component gripping device 10 includes a picking robot 20 for gripping and transferring a component P, a camera 40 for capturing an image of an object such as the component P, and the like.
- the picking robot 20 includes a vertically articulated robot arm 21 and a hand 30 attached to the tip of the robot arm 21 to grip the part P. As shown in FIG.
- the hand 30 is sometimes called an end effector.
- the robot arm is not limited to the vertical articulated type, and may be a SCARA robot (horizontally articulated robot) or other robots.
- the robot arm 21 includes a base portion 23 fixed to a frame 22 and a plurality of links 24 that transmit displacement and force. connected as possible.
- the robot arm 21 has three swinging axes and six rotating joints 25, and each joint 25 incorporates a joint driving device (not shown).
- the hand 30 includes a plurality of gripping portions 31 for gripping the component P.
- the pair of gripping portions 31 sandwich and hold the component P.
- the hand 30 is attached to the link 24 positioned at the end opposite to the base portion 23 .
- the pair of gripping portions 31 can be displaced in directions toward and away from each other, and the part P is gripped by the pair of gripping portions 31 moving parallel in the direction of approaching each other (closing operation). The part P is released by the parallel movement (opening operation) of the parts 31 in the direction away from each other.
- the hand 30 includes a pair of grasping portions 31, a coil 32, and a hand body portion 33, as shown in FIGS. 3 and 4 in detail.
- the pair of gripping portions 31 are aligned in two rows from the hand body portion 33 and protrude downward, and are arranged to face each other in the opening/closing direction.
- Coils 32 are arranged at the ends of the pair of gripping portions 31 on the side of the hand body portion 33 .
- the coil 32 is arranged so as to surround the two grips 31 .
- the gripping portion 31 is made of a magnetic material, and is magnetized (has magnetic force) by a magnetic field generated by applying a current to the coil 32 .
- the direction of the magnetic field can be controlled by the direction of the current flowing through the coil 32
- the intensity of the magnetic force can be controlled by the intensity of the current flowing through the coil 32 .
- the adjustment of the strength of the magnetic force and the adjustment of the hand width can be performed before starting the picking work, during the picking work, and after the picking work is completed.
- the picking work includes the work of gripping the part P by the pair of gripping units 31 and the work of transferring the gripped part P by the picking robot 20 .
- the hand width is the distance between the pair of gripping portions 31 facing each other (the distance between the pair of facing surfaces 34).
- the hand 30 of the present disclosure includes the coil 32 and fixes the part P by magnetic force, so the number of types of parts P that can be gripped by the same gripping portion 31 increases.
- a strong magnetic force is used to magnetize the gripping part 31 to grip and transfer the part P
- a weak magnetic force is used. to magnetize the gripping portion 31 to grip and transfer the component P.
- the camera 40 is a device for capturing an image of the component P, and includes a photoelectric conversion element such as a CCD or CMOS, a light source for illuminating the component P, and the like.
- the camera 40 outputs an image signal obtained by photoelectrically converting an image by the photoelectric conversion element to the control unit 50 described below.
- the control unit 50 can acquire information such as the type and number of the part P by performing image processing on the image signal.
- the camera 40 is attached to a member different from the picking robot 20 (for example, a ceiling wall (not shown) arranged above the pedestal 22).
- the component gripping apparatus 10 has a control section 50, and the control section 50 controls and integrates the whole.
- the control unit 50 includes a gripping position estimation unit 51 , a magnetic force adjustment unit 52 , a hand width adjustment unit 53 , a calculation unit 54 and a storage unit 55 .
- the picking robot 20 , the hand 30 and the camera 40 are connected to the control unit 50 .
- the operation of the picking robot 20 , the operation of the hand 30 , and the operation of the camera 40 are all controlled by the control unit 50 .
- the gripping position estimation unit 51 estimates the position of the part P based on the image of the part P captured by the camera 40 .
- the center position of the image is set as the position of the camera, and since the camera position is known, the position of the part P is estimated by measuring the deviation amount of the part P from the center position of the image.
- the control unit 50 controls the operation of the robot arm 21 so that the center of the pair of holding units 31 moves to the position of the part P. As shown in FIG.
- the magnetic force adjustment unit 52 adjusts the strength of the magnetic force generated in the coil 32 by adjusting the strength of the current flowing through the coil 32 .
- the strength of the magnetic force is determined by the mass calculated based on the number information of the parts P.
- the magnetic force adjustment unit 52 adjusts the direction of the magnetic field generated in the coil 32 by adjusting the direction of the current flowing through the coil 32 . By changing the direction of the magnetic field, the part P can be attracted or repelled.
- the hand width adjustment unit 53 adjusts the hand width according to the type of the component P. Since the size of the part P is known, the hand width can be determined according to the type of the part P.
- the computing unit 54 associates the magnetic force, the hand width, and the number information with each other, and causes the storage unit 55 to store the associated information. Further, the calculation unit 54 calculates the total mass of the parts P based on the mass of each part P and information on the number of the parts P. As shown in FIG. Further, the calculation unit 54 acquires information such as magnetic force and hand width corresponding to the number information (total mass) of the parts P by inquiring the storage unit 55 .
- the storage unit 55 includes a table 56 in which the part name of the part P and the hand width are linked (hereinafter referred to as "hand width & part table”), and a table in which the part name and the mass of the part P are linked (hereinafter referred to as the "part mass”). ) 57 and a table (hereinafter referred to as “magnetic force & mass table”) 58 in which mass and magnetic force (electric power) are linked.
- FIG. 5A shows a case where a small-mass component SP is gripped as the component P placed on the placement portion 61 of the tray 60
- FIG. A case is shown in which a part LP having a large mass is gripped as a part P with a large mass.
- Both the small part SP and the large part LP are magnetic bodies.
- the small part SP is smaller and lighter than the large part LP.
- the hand width for gripping the small part SP is smaller than the hand width for gripping the large part LP.
- the magnetic force used when gripping the small part SP is weaker than the magnetic force used when gripping the large part LP.
- the hand width for gripping the small part SP may be 5 mm
- the hand width for gripping the large part LP may be 8 mm.
- the mass of the small part SP is 1 g and the mass of the large part LP is 5 g
- the magnetic force (power) when gripping the small part SP is 20 W
- the magnetic force (power) when gripping the large part LP is 20 W.
- the magnetic force (power) when gripping the large part LP is 20 W.
- the magnetic force (power) when gripping the large part LP may be larger, such as 100 W.
- the calculation unit 54 may determine the hand width by inquiring of the storage unit 55 and referring to the hand width & parts table 56 .
- the calculation unit 54 determines the mass per piece by referring to the part mass 57 by inquiring the storage unit 55, and calculates the total mass of the part P based on the information on the number of the parts P and the mass per piece. can be calculated.
- the calculation unit 54 may determine the magnetic force corresponding to the total mass of the part P by referring to the magnetic force & mass table 58 by inquiring the storage unit 55 .
- the same hand 30 can grip multiple types of components P.
- the small part SP and the large part LP exemplified above but also parts P of other sizes can be gripped as long as the hand width is within the adjustable range.
- the part P can be held more reliably, and the probability of the part P falling when the part P is transferred can be reduced.
- the camera 40 picks up an image of the component P placed on the placement unit 61, so that the gripping position estimating unit 51 estimates the gripping position of the component P, and moves the hand 30 to the gripping position (step S1).
- the calculation unit 54 determines the width of the hand by inquiring of the storage unit 55 and referring to the hand width & parts table 56 (step S2).
- the hand width adjustment unit 53 moves the two holding parts 31 so that the distance between the pair of holding parts 31 becomes the hand width determined in step S2.
- the computing unit 54 inquires of the storage unit 55 to refer to the part mass 57 (step S4), similarly refers to the magnetic force & mass table 58 (step S5), and the computing unit 54 refers to steps S4 and S5. A magnetic force is determined from the result (step S6).
- the magnetic force adjustment unit 52 turns ON the magnetic force determined in step S6 (step S7).
- the two gripping units 31 grip the part P (step S8), and the robot arm 21 lifts the part P (step S9).
- the magnetic force adjustment unit 52 turns off the magnetic force or reverses the magnetic force (step S10), so that the part P that cannot be gripped (the part P fixed to the surface other than the facing surface 34 only by the magnetic force) is dropped by its own weight.
- the magnetic force adjustment unit 52 turns ON a magnetic force stronger than that in step S6 (step S11), thereby making it difficult to drop the component P when transferring the component.
- the robot arm 21 transfers the part P to another placement unit (step S12).
- the hand 30 is opened (step S13) to release the part P, and when the robot arm 21 places the part P, the magnetic force adjustment unit 52 turns off the magnetic force or reverses the magnetic force (step S14).
- the part P can be reliably released from the grip part 31. - ⁇
- the component gripping device 10 of the present disclosure has a plurality of gripping units 31, and the hand 30 grips the component P, which is a magnetic material, with the plurality of gripping units 31, and the component P gripped by the hand 30.
- the component gripping device 10 includes a picking robot 20 for transferring and a control unit 50 for adjusting the magnetic force of the hand 30 . Since the magnetic force of the hand 30 can be adjusted by the control unit 50, any number of the parts P can be gripped by attracting or repelling the parts P by the magnetic force. In this way, it is possible to cope with various gripping modes, and to accurately grip various gripping objects having different numbers.
- control unit 50 associates the magnetic force with the number information by acquiring the number information of the gripped parts P. By acquiring the number information of the gripped parts P, the magnetic force and the number information can be linked by the control unit 50 .
- the controller 50 preferably adjusts the hand width, which is the distance between the plurality of grippers 31 . Since the hand width can be adjusted by the control unit 50, the same hand 30 can grip a small component SP and a large component LP. In this way, the versatility of the hand 30 can be enhanced, and various gripping objects of different sizes can be accurately gripped.
- the control unit 50 preferably associates the magnetic force, the hand width, and the number information by acquiring the number information of the gripped parts P. By acquiring the number information of the gripped parts P, the magnetic force, the hand width, and the number information can be linked by the control unit 50 .
- the hand width may be the distance between the pair of grips 31 facing each other.
- the width of the hand can be easily adjusted because the distance between the pair of grips 31 facing each other can be adjusted.
- the control unit 50 is connected to a magnetic force adjustment unit 52 that adjusts the magnetic force of the hand 30, a hand width adjustment unit 53 that adjusts the hand width, and a calculation unit 54 that links the magnetic force, the hand width, and the number information. and a storage unit 55 for storing magnetic force, hand width, and number information.
- the magnetic force, the hand width, and the number information can be linked by the computing unit 54, and the linked information can be stored in the storage unit 55 to control the magnetic force and the hand width with a high gripping success rate. In addition, by doing so, it is possible to learn and control the magnetic force and hand width that have a higher gripping success rate.
- the hand 30 has a plurality of gripping portions 31 that are magnetic bodies, and a coil 32 that magnetizes the gripping portions 31 .
- the gripping portion 31 is magnetized by the coil 32 and the gripping portion 31 itself has a magnetic force, so that the part P can be reliably gripped and transferred.
- the magnetic force adjustment unit 52 of the control unit 50 uses a strong magnetic force to magnetize the gripping portion 31 for the part LP having a large mass, and magnetizes the gripping portion 31 using a weak magnetic force for the part SP having a small mass. Let If a strong magnetic force is applied to a part SP having a small mass, the part SP having a small mass will be attracted more than necessary by the strong magnetic force, and there is a possibility that the small part SP will be dropped during the transfer of the part. Therefore, by using an appropriate magnetic force according to the mass of the parts P as described above, the required number of parts P can be drawn, and the gripping success rate can be increased. According to the first embodiment, it is possible to accurately grip various objects to be gripped that differ in size, weight, or quantity.
- Embodiment 2-1 of the present disclosure will be described with reference to FIGS. 7 and 8.
- FIG. 2-1 when there is a part P at the corner of the tray 60 (the end of the placing section 61) and the hand 30 cannot grasp the part P and unpack it, the hand 30 is magnetized, A method of moving and unpacking the part P by pulling the part P to a position where it can be gripped by the hand 30 is described.
- FIG. 7(A) shows how the parts P are placed at the corners of the tray 60 . If the part P is placed on the end of the placing section 61, the part P cannot be gripped by the pair of gripping sections 31 even if the hand 30 is moved to the end of the tray 60 to open the pair of gripping sections 31. I understand. Therefore, FIG. 7B shows how the magnetic force of the gripping portion 31 is turned on by applying a current to the coil 32, thereby drawing the part P to the gripping portion 31 only by the magnetic force.
- FIG. 7C shows a state in which the hand 30 is moved to the center of the tray 60 while the pair of gripping portions 31 are closed in a state where the part P is drawn to the gripping portions 31 .
- FIG. 7D shows a state in which the magnetic force of the gripping portions 31 is turned off to release the part P, and then the hand 30 is moved upward to open the pair of gripping portions 31 to a hand width corresponding to the type of the part P. showing.
- the operating procedure of the component gripping device 10 will be described with reference to the flowchart of FIG.
- the part P that is difficult to grip with the hand 30 is identified by imaging the part P with the camera 40 (step S210).
- the calculation unit 54 determines the magnetic force by inquiring the storage unit 55 and referring to the magnetic force & mass table 58 (step S212).
- the magnetic force adjustment unit 52 turns ON the magnetic force determined in step S212 (step S213).
- the component P is attracted from the end of the mounting portion 61 to the gripping portion 31 by the magnetic force.
- the pair of gripping parts 31 of the hand 30 are closed, or the robot arm 21 is moved to a position where the part P can be gripped (for example, the central part of the placement part 61). ) (step S214).
- the magnetic force adjustment unit 52 turns off the magnetic force, thereby releasing the component P from the gripping unit 31 (step S215).
- the hand 30 is moved over the part P (step S216), and the gripping position estimation unit 51 estimates the gripping position of the part P by imaging the part P with the camera 40 (step S217).
- the pair of gripping portions 31 of the hand 30 are opened so that the width of the hand can grip the component P, and the hand 30 is moved to the height position of the placement portion 61 .
- the part P is gripped by closing the pair of gripping parts 31 (step S218).
- the part P is lifted by moving the hand 30 upward (step S219).
- the hand 30 of the present disclosure magnetizes the plurality of gripping portions 31 to pull the component P placed on the placing portion 61 and then grips the component P.
- FIG. For example, even if the part P is located at a location where it is difficult to grip, such as the end of the placing portion 61 of the tray 60, the part P can be gripped after the part P is drawn to a grippable position.
- Embodiment 2-2 of the present disclosure will be described with reference to FIGS. 9 and 10.
- FIG. 2-2 when a plurality of parts P are thinly arranged, the gripping width of the parts P is larger than the width of the part P and the magnetic force is strong. A method for increasing the grasping success rate by gathering the parts P in one place and forming a mountain of the parts P is explained.
- FIG. 9A shows a state in which a plurality of components P are placed on the placement portion 61 of the tray 60 so as to be thin. If an attempt is made to grip the part P with the hand 30 in this state, the part P may not be gripped in some cases, and it can be seen that the gripping success rate is low. Therefore, FIG. 9B shows how a plurality of parts P are attracted to the pair of gripping portions 31 only by the magnetic force by turning on the magnetic force of the pair of gripping portions 31 by applying an electric current to the coil 32 . .
- FIG. 7(C) shows how a plurality of parts P are collected in one place by closing the pair of gripping portions 31 .
- FIG. 7D shows how the magnetic force of the gripping portion 31 is turned off to release the part P, and then the hand 30 is moved upward to form a mountain of the part P.
- FIG. 9B shows how a plurality of parts P are attracted to the pair of gripping portions 31 only by the magnetic force by turning on the magnetic force of the pair
- the magnetic force adjustment unit 52 determines a strong magnetic force (step S222) and turns on the magnetic force (step S223). As a result, the plurality of parts P are attracted to the pair of gripping portions 31 by magnetic force. By closing the pair of gripping portions 31 in this state, the plurality of parts P are collected in one place (step S224). Next, the magnetic force adjustment unit 52 turns off the magnetic force, thereby forming a mountain of the component P (step S225).
- the hand 30 is moved over the multiple parts P (step S226), and the multiple parts P are imaged by the camera 40.
- the calculation unit 54 calculates the surface roughness based on the image captured by the camera 40, and determines whether or not a mountain of the component P is formed (step S227).
- the pair of gripping portions 31 of the hand 30 are opened so that the width of the hand can grip the part P, and the hand 30 is moved to the vicinity of the top of the mountain of the part P. As shown in FIG. After the part P is arranged between the pair of gripping parts 31, the part P is gripped by closing the pair of gripping parts 31 (step S228). Next, the part P is lifted by moving the hand 30 upward (step S229).
- the hand 30 magnetizes the plurality of gripping portions 31 in an open state so that the component P placed on the placement portion 61 is drawn toward the respective gripping portions 31, and the plurality of gripping portions 31 are magnetized.
- the parts P are collected in one place and then gripped.
- the gripping success rate may be low.
- the parts P can be collected in one place by drawing the parts P to the respective gripping parts 31 and closing the plurality of gripping parts 31, so that the gripping success rate can be increased.
- FIG. 3 when it is desired to grip a plurality of (two or more) parts P, the hand 30 is magnetized so as to have a magnetic force greater than the magnetic force for gripping one part P, thereby gripping the plurality of parts P. Describes how to grasp.
- FIG. 11A shows a state in which the gripping position of the component P by the hand 30 is determined by imaging the placement portion 61 of the tray 60 with the camera 40, and the hand 30 is moved to the gripping position.
- FIG. 11B shows how the hand 30 is magnetized with a strong magnetic force and the pair of gripping portions 31 are closed to grip a plurality of parts P.
- FIG. 11(C) shows how the hand 30 is moved onto the tray 60 .
- FIG. 11D shows a state in which the part P that cannot be gripped by turning off the magnetic force generated in the hand 30 (the part P that is attracted to the hand 30 only by the magnetic force) is dropped onto the placing portion 61 of the tray 60. is shown.
- the magnetic force (electric power) when holding a part P with a mass of 1 g may be 50 W
- the magnetic force (electric power) when holding a part P with a mass of 5 g may be 250 W. Since this magnetic force is 2.5 times the magnetic force of the first embodiment, a plurality of parts P can be securely held.
- the calculation unit 54 captures an image of the placement unit 61 of the tray 60 with the camera 40, determines the position where the most parts P are gathered based on the captured image, and determines the position where the largest number of components P are gathered. The current position is determined as the gripping position (step S30).
- the computing unit 54 inquires of the storage unit 55 about the mass of the part P to be gripped, refers to the component mass 57 (step S31), and similarly refers to the magnetic force & mass table 58 (step S32). determines the magnetic force based on the reference results of steps S31 and S32 and information on the number of gripped parts P (step S33).
- the calculation unit 54 inquires of the storage unit 55, refers to the hand width & parts table 56, and determines the hand width corresponding to the part P to be gripped (step S34).
- the hand width adjusting section 53 moves the pair of holding sections 31 so as to achieve the hand width determined in step S34.
- the magnetic force adjustment unit 52 turns ON the magnetic force determined in step S33 (step S35).
- the two gripping units 31 grip the part P (step S36), and the robot arm 21 lifts the part P (step S37).
- the magnetic force adjustment unit 52 turns off the magnetic force or reverses the magnetic force (step S38), so that the part P that cannot be gripped (the part P fixed to the surface other than the facing surface 34 only by the magnetic force) is dropped by its own weight.
- the magnetic force adjustment unit 52 turns ON a magnetic force stronger than that in step S33 (step S39), thereby making it difficult to drop the part P.
- the robot arm 21 transfers the part P to another placement unit (step S40).
- the hand 30 of the present disclosure grips a plurality of parts P with magnetic force greater than the magnetic force for gripping a single part P.
- a plurality of parts P can be gripped without dropping without changing the hand 30.
- the transfer performance of the hand 30 can be improved.
- the camera 40 is attached to a member separate from the picking robot 20, but the camera 40 may be attached to the hand 30 of the picking robot 20.
- the hand 30 has a pair of gripping portions 31, but the hand may have three or more gripping portions, and the width of the hand is adjusted by adjusting the intervals between the plurality of gripping portions. You should do it.
- the part P has a square shape when viewed from the side, but it may have a circular shape when viewed from the side.
- the coil 32 is used to magnetize the grip portion 31, but a permanent magnet may be used to magnetize the grip portion. In that case, the magnetic force may be adjusted by moving the permanent magnet toward or away from the grip.
Abstract
Description
最初に本開示の実施態様を列記して説明する。
(1)本開示の部品把持装置は、複数の把持部を有し、前記複数の把持部によって磁性体である部品を把持するハンドと、前記ハンドによって把持された前記部品を移送するピッキングロボットと、前記ハンドの磁力を調整する制御部と、を備える、部品把持装置である。
制御部によってハンドの磁力を調整できるため、磁力によって部品を引き寄せたり、反発させたりすることで任意の個数の部品を把持できる。 [Description of Embodiments of the Present Disclosure]
First, the embodiments of the present disclosure are listed and described.
(1) A component gripping device of the present disclosure includes a hand that has a plurality of gripping units, grips a magnetic component with the plurality of gripping units, and a picking robot that transfers the component gripped by the hand. and a controller for adjusting the magnetic force of the hand.
Since the magnetic force of the hand can be adjusted by the control unit, any number of parts can be gripped by attracting or repelling the parts with the magnetic force.
把持された部品の個数情報を取得することで、制御部によって磁力と個数情報とを紐付けることができる。 (2) It is preferable that the control unit associates the magnetic force with the number information by acquiring number information of the gripped parts.
By acquiring the number information of the gripped parts, the magnetic force and the number information can be linked by the control unit.
制御部によってハンド幅を調整できるため、同一のハンドで大きさの異なる複数種類の部品を把持できる。 (3) Preferably, the control section adjusts a hand width, which is a mutual interval between the plurality of gripping sections.
Since the width of the hand can be adjusted by the control unit, a plurality of types of parts with different sizes can be gripped with the same hand.
把持された部品の個数情報を取得することで、制御部によって磁力とハンド幅と個数情報とを紐付けることができる。 (4) It is preferable that the control unit associates the magnetic force, the hand width, and the number information by acquiring number information of the gripped parts.
By acquiring the number information of the gripped parts, the magnetic force, the hand width, and the number information can be linked by the control unit.
対向する一対の把持部の間隔を調整すればよいから、ハンド幅の調整が容易になる。 (5) The hand width may be the distance between the pair of gripping portions facing each other.
The width of the hand can be easily adjusted because it is sufficient to adjust the distance between the pair of grips facing each other.
演算部によって磁力とハンド幅と個数情報とを紐付けし、紐付けされたこれらの情報を記憶部に記憶させ把持成功率の高い磁力、ハンド幅に制御することができる。また、このようにすることで、さらに把持成功率の高い磁力、ハンド幅を学習し、制御するようにすることもできる。 (6) The control unit includes a magnetic force adjustment unit that adjusts the magnetic force of the hand, a hand width adjustment unit that adjusts the hand width, and a calculation unit that links the magnetic force, the hand width, and the number information, It is preferable to have a storage unit that stores the magnetic force, the hand width, and the number information that are associated with each other.
The magnetic force, the hand width, and the number information are linked by the calculation unit, and the linked information is stored in the storage unit, so that the magnetic force and the hand width can be controlled to have a high gripping success rate. In addition, by doing so, it is possible to learn and control the magnetic force and hand width that have a higher gripping success rate.
コイルによって把持部が磁化されて把持部自体が磁力を持つことにより、部品の確実な把持、移送が可能になる。 (7) It is preferable that the hand includes the plurality of gripping portions that are magnetic bodies, and a coil that magnetizes the gripping portions.
The gripping portion is magnetized by the coil so that the gripping portion itself has a magnetic force, so that the part can be reliably gripped and transferred.
仮に質量の小さい部品に対して強い磁力を用いると、質量の小さい部品を強い磁力で必要以上に引き寄せてしまい、部品移送時に部品を落とす可能性がある。そこで、上記のように部品の質量に応じた適切な磁力を用いることにより、必要な数の部品を引き寄せることができ、把持成功率を上げることができる。 (8) The control section magnetizes the gripping portion by using a strong magnetic force for the component with a large mass, and magnetizes the gripping portion by using a weak magnetic force for the component with a small mass. is preferred.
If a strong magnetic force is applied to a component with a small mass, the component with a small mass will be attracted more than necessary by the strong magnetic force, and there is a possibility that the component will be dropped during transfer. Therefore, by using an appropriate magnetic force according to the mass of the parts as described above, the required number of parts can be drawn, and the gripping success rate can be increased.
例えばトレーの載置部の端部等、把持することが難しい箇所に部品がある場合にも部品を把持可能な位置に引き寄せた後に部品を把持することができる。 (9) It is preferable that the hand grips the part after pulling the part placed on the placing part by magnetizing the plurality of gripping parts.
For example, even when a part is located at a location where it is difficult to grip, such as the end of a tray mounting portion, the part can be gripped after the part is drawn to a grippable position.
例えばトレーの載置部に部品がばらけた状態で配置されている場合、把持成功率が低くなることがある。その場合でも、部品をそれぞれの把持部に引き寄せた状態とし、複数の把持部を閉じることにより部品を一箇所に集めることができるから、把持成功率を高めることができる。 (10) The hand magnetizes the plurality of gripping portions in an open state so that the component placed on the placing portion is drawn toward the respective gripping portions, and closes the plurality of gripping portions. Therefore, it is preferable to gather the parts in one place and then grip them.
For example, if the parts are scattered on the placement portion of the tray, the gripping success rate may be low. Even in such a case, the parts can be collected in one place by drawing the parts to the respective gripping parts and closing the plurality of gripping parts, so that the success rate of gripping can be increased.
ハンドを変更することなく、複数の部品を落とさず把持できる。 (11) Preferably, the hand grips the plurality of parts with a magnetic force greater than the magnetic force for gripping a single part.
Multiple parts can be gripped without dropping without changing the hand.
[部品把持装置の全体構成]
部品把持装置10の全体構成について、図1を参照して説明する。部品把持装置10は、大量の部品Pが収納された箱から一部の部品Pを取り出して小分けにするための装置である。部品把持装置10は、部品Pを把持、移送するためのピッキングロボット20、部品Pなどの対象物を撮像するためのカメラ40などを備えている。 [Details of Embodiment 1 of the Present Disclosure]
[Overall Configuration of Part Holding Device]
The overall configuration of the
ピッキングロボット20は、垂直多関節型のロボットアーム21と、ロボットアーム21の先端部に取り付けられて部品Pを把持するハンド30と、を備えている。ハンド30は、エンドエフェクタと称呼される場合がある。ロボットアームは垂直多関節型に限られず、スカラロボット(水平多関節型ロボット)でもよいし、その他のロボットでもよい。 [Picking robot configuration]
The picking
ハンド30は、部品Pを把持する複数の把持部31を備え、本実施形態では一対の把持部31によって部品Pを挟んで保持する。ハンド30は、ベース部23とは反対側の端部に位置するリンク24に取り付けられている。一対の把持部31は、互いに近接および離間する方向に変位可能となっており、一対の把持部31が互いに近づく方向に平行移動(閉動作)することにより部品Pが把持され、一対の把持部31が互いに離れる方向に平行移動(開動作)することにより部品Pが解放されるようになっている。 [Hand configuration]
The
カメラ40は、部品Pを撮像するための装置であって、CCDやCMOS等の光電変換素子や、部品Pを照らすための光源などを備えている。カメラ40は、画像が光電変換素子によって光電変換された画像信号を次述する制御部50に出力する。例えばハンド30に把持された部品Pを撮像した場合、制御部50は、画像信号を画像処理することにより部品Pの種類や個数情報などを取得できる。カメラ40は、ピッキングロボット20とは別の部材(例えば架台22の上方に配された図示しない天井壁)に取り付けられている。 [Camera configuration]
The
次に、部品把持装置10の電気的構成について、図2のブロック図を参照して説明する。部品把持装置10は制御部50を有しており、制御部50によってその全体が制御統括されている。制御部50は、把持位置推定部51と、磁力調整部52と、ハンド幅調整部53と、演算部54と、記憶部55と、を含む。制御部50には、ピッキングロボット20とハンド30とカメラ40とが接続されている。ピッキングロボット20の動作とハンド30の動作とカメラ40の動作とはいずれも制御部50によって制御されている。 [Electrical Configuration of Part Holding Device]
Next, the electrical configuration of the
次に、部品把持装置10の動作について、図5の動作説明図を参照して説明する。図5(A)はトレー60の載置部61に載置された部品Pとして質量の小さい部品SPを把持する場合を示し、図5(B)はトレー60の載置部61に載置された部品Pとして質量の大きい部品LPを把持する場合を示している。小さい部品SPと大きい部品LPはいずれも磁性体である。小さい部品SPは大きい部品LPよりも小さく、軽い。小さい部品SPを把持する際のハンド幅は、大きい部品LPを把持する際のハンド幅よりも小さい。また、小さい部品SPを把持する際に使用する磁力は、大きい部品LPを把持する際に使用する磁力よりも弱い。 [Description of the operation of the component gripping device]
Next, the operation of the
次に、部品把持装置10の動作手順について、図6のフローチャートを参照して説明する。まず、カメラ40が載置部61に載置された部品Pを撮像することにより把持位置推定部51が部品Pの把持位置を推定し、その把持位置にハンド30を移動させる(ステップS1)。次に、演算部54が記憶部55に問い合わせてハンド幅&部品テーブル56を参照することにより、ハンド幅を決定する(ステップS2)。次に、ハンド幅調整部53は、一対の挟持部31の間隔がステップS2で決定したハンド幅になるように2つの挟持部31を移動させる。次に、演算部54が記憶部55に問い合わせて部品質量57を参照し(ステップS4)、同様にして磁力&質量テーブル58を参照し(ステップS5)、演算部54がステップS4とS5の参照結果から磁力を決定する(ステップS6)。 [Operating procedure of component gripping device]
Next, the operation procedure of the
以上のように本開示の部品把持装置10は、複数の把持部31を有し、複数の把持部31によって磁性体である部品Pを把持するハンド30と、ハンド30によって把持された部品Pを移送するピッキングロボット20と、ハンド30の磁力を調整する制御部50と、を備える、部品把持装置10である。
制御部50によってハンド30の磁力を調整できるため、磁力によって部品Pを引き寄せたり、反発させたりすることで任意の個数の部品Pを把持できる。
このように多様な把持態様に対応することができ、数量が異なる多様な把持対象を的確に把持することができる。 [Effects of Embodiment 1]
As described above, the
Since the magnetic force of the
In this way, it is possible to cope with various gripping modes, and to accurately grip various gripping objects having different numbers.
把持された部品Pの個数情報を取得することで、制御部50によって磁力と個数情報とを紐付けることができる。 It is preferable that the
By acquiring the number information of the gripped parts P, the magnetic force and the number information can be linked by the
制御部50によってハンド幅を調整できるため、同一のハンド30で小さい部品SPと大きい部品LPとを把持できる。
このようにハンド30の汎用性を高めることができ、サイズが異なる多様な把持対象を的確に把持することができる。 The
Since the hand width can be adjusted by the
In this way, the versatility of the
把持された部品Pの個数情報を取得することで、制御部50によって磁力とハンド幅と個数情報とを紐付けることができる。 The
By acquiring the number information of the gripped parts P, the magnetic force, the hand width, and the number information can be linked by the
対向する一対の把持部31の間隔を調整すればよいから、ハンド幅の調整が容易になる。 The hand width may be the distance between the pair of
The width of the hand can be easily adjusted because the distance between the pair of
コイル32によって把持部31が磁化されて把持部31自体が磁力を持つことにより、部品Pの確実な把持、移送が可能になる。 The
The gripping
仮に質量の小さい部品SPに対して強い磁力を用いると、質量の小さい部品SPを強い磁力で必要以上に引き寄せてしまい、部品移送時に小さい部品SPを落とす可能性がある。そこで、上記のように部品Pの質量に応じた適切な磁力を用いることにより、必要な数の部品Pを引き寄せることができ、把持成功率を上げることができる。
実施形態1のようにすることにより、サイズ、重量または数量が異なる多様な把持対象を的確に把持することができる。 The magnetic
If a strong magnetic force is applied to a part SP having a small mass, the part SP having a small mass will be attracted more than necessary by the strong magnetic force, and there is a possibility that the small part SP will be dropped during the transfer of the part. Therefore, by using an appropriate magnetic force according to the mass of the parts P as described above, the required number of parts P can be drawn, and the gripping success rate can be increased.
According to the first embodiment, it is possible to accurately grip various objects to be gripped that differ in size, weight, or quantity.
次に、本開示の実施形態2-1について、図7および図8を参照して説明する。実施形態2-1は、トレー60の角(載置部61の端部)に部品Pがあり、ハンド30で部品Pをつかめず、荷ばらしもできないような場合に、ハンド30を磁力化し、部品Pをハンド30によって把持可能な位置に引き寄せることで部品Pの移動と荷ばらしを行う方法について説明している。 [Details of Embodiment 2-1 of the Present Disclosure]
Next, Embodiment 2-1 of the present disclosure will be described with reference to FIGS. 7 and 8. FIG. In the embodiment 2-1, when there is a part P at the corner of the tray 60 (the end of the placing section 61) and the
図7(A)はトレー60の角に部品Pが載置されている様子を示している。載置部61の端部に部品Pが載置されていると、ハンド30をトレー60の端部まで移動させて一対の把持部31を開いても一対の把持部31によって部品Pを把持できないことがわかる。そこで、図7(B)はコイル32に電流を流して把持部31の磁力をONにすることにより、磁力のみで部品Pを把持部31に引き寄せる様子を示している。図7(C)は把持部31に部品Pが引き寄せられた状態で一対の把持部31を閉じつつハンド30をトレー60の中央に移動させた様子を示している。図7(D)は把持部31の磁力をOFFにして部品Pを解放した後、ハンド30を上方に移動させて一対の把持部31を部品Pの種類に対応するハンド幅に開いた状態を示している。 [Description of the operation of the component gripping device]
FIG. 7(A) shows how the parts P are placed at the corners of the
次に、部品把持装置10の動作手順について、図8のフローチャートを参照して説明する。まず、カメラ40で部品Pを撮像することによりハンド30による把持が難しい部品Pを特定する(ステップS210)。次に、ハンド30の一対の把持部31を開くことで把持部31の一方が部品Pにできるだけ近づけた状態にしておく(ステップS211)。次に、演算部54が記憶部55に問い合わせて磁力&質量テーブル58を参照することで磁力を決定する(ステップS212)。 [Operating procedure of component gripping device]
Next, the operating procedure of the
以上のように本開示のハンド30は、複数の把持部31を磁化させることで載置部61に載置された部品Pを引き寄せた後に部品Pを把持する。
例えばトレー60の載置部61の端部等、把持することが難しい箇所に部品Pがある場合にも部品Pを把持可能な位置に引き寄せた後に部品Pを把持することができる。 [Effects of Embodiment 2-1]
As described above, the
For example, even if the part P is located at a location where it is difficult to grip, such as the end of the placing
次に、本開示の実施形態2-2について、図9および図10を参照して説明する。実施形態2-2は複数の部品Pが薄くならして配置されている場合に、部品Pのつかみ幅よりも大きく、磁力も強くした状態で、ハンド30を閉じる動作をすることによって、複数の部品Pを一箇所に集めて部品Pの山を作ることで把持成功率を高くする方法について説明している。 [Details of Embodiment 2-2 of the Present Disclosure]
Next, Embodiment 2-2 of the present disclosure will be described with reference to FIGS. 9 and 10. FIG. In Embodiment 2-2, when a plurality of parts P are thinly arranged, the gripping width of the parts P is larger than the width of the part P and the magnetic force is strong. A method for increasing the grasping success rate by gathering the parts P in one place and forming a mountain of the parts P is explained.
図9(A)はトレー60の載置部61に複数の部品Pが薄くならして載置されている様子を示している。この状態で部品Pをハンド30で把持しようとすると、部品Pを把持できない場合もあり、把持成功率が低いことがわかる。そこで、図9(B)はコイル32に電流を流して一対の把持部31の磁力をONにすることにより、磁力のみで複数の部品Pを一対の把持部31にそれぞれ引き寄せる様子を示している。図7(C)は一対の把持部31を閉じることで複数の部品Pを一箇所に集めた様子を示している。図7(D)は把持部31の磁力をOFFにして部品Pを解放した後、ハンド30を上方に移動させることで部品Pの山を作る様子を示している。 [Description of the operation of the component gripping device]
FIG. 9A shows a state in which a plurality of components P are placed on the
次に、部品把持装置10の動作手順について、図10のフローチャートを参照して説明する。まず、カメラ40で複数の部品Pを撮像することで、ハンド30によって把持しにくい状態を特定する。カメラ40としては3Dカメラを使用することが好ましく、ばら積み状態の部品Pを撮像する。演算部54はカメラ40によって撮像された画像に基づいて面粗度を算出し、部品Pの山ができているか否かを判定し、部品Pの山ができていなければ把持しにくい状態であると特定する(ステップS220)。次に、ハンド30の一対の把持部31を開く。その際のハンド幅は、一対の把持部31がトレー60と干渉しない範囲内で最大の幅となるように設定する(ステップS221)。次に、磁力調整部52は磁力を強に決定し(ステップS222)、磁力をONにする(ステップS223)。これにより、複数の部品Pは磁力によって一対の把持部31にそれぞれ引き寄せられる。その状態で一対の把持部31を閉じることで複数の部品Pを一箇所に集める(ステップS224)。次に、磁力調整部52が磁力をOFFにすることで部品Pの山が形成される(ステップS225)。 [Operating procedure of component gripping device]
Next, the operating procedure of the
以上のように本開示のハンド30は、複数の把持部31を開いた状態で磁化させることで載置部61に載置された部品Pをそれぞれの把持部31に引き寄せた状態とし、複数の把持部31を閉じることにより部品Pを一箇所に集めてから把持する。
例えばトレー60の載置部61に部品Pがばらけた状態で配置されている場合、把持成功率が低くなることがある。その場合でも、部品Pをそれぞれの把持部31に引き寄せた状態とし、複数の把持部31を閉じることにより部品Pを一箇所に集めることができるから、把持成功率を高めることができる。
実施形態2-1または実施形態2-2のようにすることで、積載状態が異なる多様な把持対象を的確に把持することができる。 [Effects of Embodiment 2-2]
As described above, the
For example, when the parts P are arranged in a scattered state on the
By adopting Embodiment 2-1 or Embodiment 2-2, it is possible to accurately grip various grip targets with different loading states.
次に、本開示の実施形態3について、図11および図12を参照して説明する。実施形態3は、複数(2個以上)の部品Pを把持したい場合に、1個の部品Pを把持するための磁力よりも大きい磁力を持つようにハンド30を磁化させて複数の部品Pを把持する方法について説明している。 [Details of Embodiment 3 of the Present Disclosure]
Next, Embodiment 3 of the present disclosure will be described with reference to FIGS. 11 and 12. FIG. In the third embodiment, when it is desired to grip a plurality of (two or more) parts P, the
図11(A)はカメラ40でトレー60の載置部61を撮像することによりハンド30による部品Pの把持位置を決定し、その把持位置にハンド30を移動させた様子を示している。図11(B)は強い磁力でハンド30を磁化させて一対の把持部31を閉じることにより複数の部品Pを把持した様子を示している。図11(C)はハンド30をトレー60の上に移動させた様子を示している。図11(D)はハンド30に発生する磁力をOFFにすることで把持できていない部品P(ハンド30に磁力のみで引き寄せられた部品P)をトレー60の載置部61に落下させた様子を示している。 [Description of the operation of the component gripping device]
FIG. 11A shows a state in which the gripping position of the component P by the
次に、部品把持装置10の動作手順について、図12のフローチャートを参照して説明する。まず、演算部54は、カメラ40でトレー60の載置部61を撮像し、撮像された画像に基づいて、どの位置に部品Pが多く集まっているかを判断し、最も部品Pが多く集まっている位置を把持位置として決定する(ステップS30)。次に、演算部54が把持する部品Pの質量を記憶部55に問い合わせて部品質量57を参照し(ステップS31)、同様にして磁力&質量テーブル58を参照し(ステップS32)、演算部54がステップS31とS32の参照結果と把持された部品Pの個数情報とに基づいて磁力を決定する(ステップS33)。 [Operating procedure of component gripping device]
Next, the operation procedure of the
以上のように本開示のハンド30は、単数の部品Pを把持するための磁力よりも大きい磁力で複数の部品Pを把持する。
ハンド30を変更することなく、複数の部品Pを落とさず把持できる。
実施形態3のようにすることで、ハンド30による移載性能を高めることができる。 [Effects of Embodiment 3]
As described above, the
A plurality of parts P can be gripped without dropping without changing the
By adopting the third embodiment, the transfer performance of the
(1)上記実施形態ではカメラ40がピッキングロボット20とは別の部材に取り付けられているものを例示したが、カメラ40がピッキングロボット20のハンド30に取り付けられているものでもよい。 [Other embodiments]
(1) In the above embodiment, the
20:ピッキングロボット 21:ロボットアーム 22:架台 23:ベース部 24:リンク 25:関節
30:ハンド 31:把持部 32:コイル 33:ハンド本体部 34:対向面
40:カメラ
50:制御部 51:把持位置推定部 52:磁力調整部 53:ハンド幅調整部 54:演算部 55:記憶部 56::ハンド幅&部品テーブル 57:部品質量 58:磁力&質量テーブル
60:トレー 61:載置部
P:部品 SP:小さい部品 LP:大きい部品 10: Component gripping device 20: Picking robot 21: Robot arm 22: Base 23: Base 24: Link 25: Joint 30: Hand 31: Grip 32: Coil 33: Hand body 34: Opposing surface 40: Camera 50: Control unit 51: Grasping position estimation unit 52: Magnetic force adjustment unit 53: Hand width adjustment unit 54: Calculation unit 55: Storage unit 56: Hand width & parts table 57: Parts mass 58: Magnetic force & mass table 60: Tray 61: Placement part P: Part SP: Small part LP: Large part
Claims (11)
- 複数の把持部を有し、前記複数の把持部によって磁性体である部品を把持するハンドと、
前記ハンドによって把持された前記部品を移送するピッキングロボットと、
前記ハンドの磁力を調整する制御部と、を備える、部品把持装置。 a hand having a plurality of gripping portions and gripping a magnetic component with the plurality of gripping portions;
a picking robot that transfers the part gripped by the hand;
and a controller that adjusts the magnetic force of the hand. - 前記制御部は、把持された前記部品の個数情報を取得することで、前記磁力と前記個数情報とを紐付ける、請求項1に記載の部品把持装置。 The component gripping device according to claim 1, wherein the control unit associates the magnetic force with the number information by acquiring the number information of the gripped components.
- 前記制御部は、複数の前記把持部の相互の間隔であるハンド幅を調整する、請求項1または請求項2に記載の部品把持装置。 The component gripping device according to claim 1 or 2, wherein the control unit adjusts a hand width, which is a mutual interval between the plurality of gripping units.
- 前記制御部は、把持された前記部品の個数情報を取得することで、前記磁力と前記ハンド幅と前記個数情報とを紐付ける、請求項3に記載の部品把持装置。 The component gripping device according to claim 3, wherein the control unit associates the magnetic force, the hand width, and the number information by acquiring the number information of the gripped components.
- 前記ハンド幅は、対向する一対の前記把持部の間隔である、請求項3または請求項4に記載の部品把持装置。 The component gripping device according to claim 3 or 4, wherein the hand width is the distance between a pair of opposing gripping portions.
- 前記制御部は、前記ハンドの磁力を調整する磁力調整部と、前記ハンド幅を調整するハンド幅調整部と、前記磁力と前記ハンド幅と前記個数情報とを紐付ける演算部と、紐付けされた前記磁力と前記ハンド幅と前記個数情報とを記憶する記憶部と、を有する、請求項3から請求項5のいずれか1項に記載の部品把持装置。 The control unit includes a magnetic force adjustment unit that adjusts the magnetic force of the hand, a hand width adjustment unit that adjusts the hand width, and a computing unit that links the magnetic force, the hand width, and the number information. 6. The component gripping device according to claim 3, further comprising a storage unit for storing said magnetic force, said hand width, and said number information.
- 前記ハンドは、磁性体である前記複数の把持部と、前記把持部を磁化させるコイルと、を有する、請求項1から請求項6のいずれか1項に記載の部品把持装置。 The component gripping device according to any one of claims 1 to 6, wherein the hand has the plurality of gripping portions that are magnetic bodies, and a coil that magnetizes the gripping portions.
- 前記制御部は、質量の大きい前記部品に対しては強い磁力を用いて前記把持部を磁化させ、質量の小さい前記部品に対しては弱い磁力を用いて前記把持部を磁化させる、請求項7に記載の部品把持装置。 8. The control section magnetizes the gripping portion by using a strong magnetic force for the part having a large mass, and magnetizing the gripping portion for the part having a small mass by using a weak magnetic force. 3. The component gripping device according to .
- 前記ハンドは、前記複数の把持部を磁化させることで載置部に載置された前記部品を引き寄せた後に前記部品を把持する、請求項1から請求項8のいずれか1項に記載の部品把持装置。 The part according to any one of claims 1 to 8, wherein the hand pulls the part placed on the placement part by magnetizing the plurality of gripping parts and then grips the part. gripping device.
- 前記ハンドは、前記複数の把持部を開いた状態で磁化させることで載置部に載置された前記部品をそれぞれの前記把持部に引き寄せた状態とし、前記複数の把持部を閉じることにより前記部品を一箇所に集めてから把持する、請求項1から請求項9のいずれか1項に記載の部品把持装置。 The hand magnetizes the plurality of gripping portions in an open state to pull the component placed on the placement portion toward the respective gripping portions, and closes the plurality of gripping portions to draw the component to the respective gripping portions. 10. The component gripping device according to any one of claims 1 to 9, wherein the components are gathered in one place and then gripped.
- 前記ハンドは、単数の前記部品を把持するための磁力よりも大きい磁力で複数の前記部品を把持する、請求項1から請求項10のいずれか1項に記載の部品把持装置。 The component gripping device according to any one of claims 1 to 10, wherein the hand grips a plurality of the components with a magnetic force greater than a magnetic force for gripping a single component.
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CN202180096536.6A CN117120221A (en) | 2021-04-23 | 2021-04-23 | Element holding device |
DE112021006866.0T DE112021006866T5 (en) | 2021-04-23 | 2021-04-23 | Workpiece gripping device |
JP2023515995A JP7453472B2 (en) | 2021-04-23 | 2021-04-23 | Parts gripping device |
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JPS6244385A (en) * | 1985-08-21 | 1987-02-26 | 沖電気工業株式会社 | Part holding and stationary method by robot |
JPH06144584A (en) * | 1992-10-29 | 1994-05-24 | Daido Steel Co Ltd | Taking-out device for randomly piled work |
JPH0911176A (en) * | 1995-06-21 | 1997-01-14 | Aichi Corp | Magnet hand device of manipulator |
JP2018114822A (en) * | 2017-01-18 | 2018-07-26 | 大成建設株式会社 | Shipment gripping device mounted to unmanned flying object |
JP2019171535A (en) * | 2018-03-29 | 2019-10-10 | Kyb株式会社 | Gripping device |
JP2020189387A (en) * | 2019-05-23 | 2020-11-26 | 三菱電機株式会社 | Part retrieval device |
Family Cites Families (3)
Publication number | Priority date | Publication date | Assignee | Title |
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KR101734612B1 (en) | 2010-10-17 | 2017-05-11 | 시네론 메디컬 리미티드 | A disposable patch for personal aesthetic skin treatment |
JP6144584B2 (en) | 2013-09-18 | 2017-06-07 | 株式会社イシダ | Damage inspection device |
JP6625136B2 (en) | 2015-12-01 | 2019-12-25 | 株式会社Fuji | Work collection device and work transfer system |
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2021
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- 2021-04-23 JP JP2023515995A patent/JP7453472B2/en active Active
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JPS6244385A (en) * | 1985-08-21 | 1987-02-26 | 沖電気工業株式会社 | Part holding and stationary method by robot |
JPH06144584A (en) * | 1992-10-29 | 1994-05-24 | Daido Steel Co Ltd | Taking-out device for randomly piled work |
JPH0911176A (en) * | 1995-06-21 | 1997-01-14 | Aichi Corp | Magnet hand device of manipulator |
JP2018114822A (en) * | 2017-01-18 | 2018-07-26 | 大成建設株式会社 | Shipment gripping device mounted to unmanned flying object |
JP2019171535A (en) * | 2018-03-29 | 2019-10-10 | Kyb株式会社 | Gripping device |
JP2020189387A (en) * | 2019-05-23 | 2020-11-26 | 三菱電機株式会社 | Part retrieval device |
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