WO2022224433A1 - Dispositif de préhension de pièce - Google Patents

Dispositif de préhension de pièce Download PDF

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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
Authority
WO
WIPO (PCT)
Prior art keywords
hand
gripping
magnetic force
component
parts
Prior art date
Application number
PCT/JP2021/016432
Other languages
English (en)
Japanese (ja)
Inventor
航 有田
国宗 駒池
Original Assignee
ヤマハ発動機株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by ヤマハ発動機株式会社 filed Critical ヤマハ発動機株式会社
Priority to JP2023515995A priority Critical patent/JP7453472B2/ja
Priority to DE112021006866.0T priority patent/DE112021006866T5/de
Priority to PCT/JP2021/016432 priority patent/WO2022224433A1/fr
Priority to CN202180096536.6A priority patent/CN117120221A/zh
Publication of WO2022224433A1 publication Critical patent/WO2022224433A1/fr

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • 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.

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Health & Medical Sciences (AREA)
  • General Health & Medical Sciences (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Manipulator (AREA)

Abstract

Un dispositif de préhension de pièce (10), selon la présente invention, comprend : une main (30) qui a une pluralité d'unités de préhension (31), et saisit une pièce P par la pluralité d'unités de préhension (31), la pièce P étant un matériau magnétique ; un robot de prélèvement (20) destiné à transférer la pièce P saisie par la main (30) ; et une unité de commande (50) destinée à ajuster la force magnétique de la main (30). Étant donné que la force magnétique de la main (30) peut être ajustée par le dispositif de commande (50), il est possible de saisir de manière appropriée une multitude d'objets à saisir.
PCT/JP2021/016432 2021-04-23 2021-04-23 Dispositif de préhension de pièce WO2022224433A1 (fr)

Priority Applications (4)

Application Number Priority Date Filing Date Title
JP2023515995A JP7453472B2 (ja) 2021-04-23 2021-04-23 部品把持装置
DE112021006866.0T DE112021006866T5 (de) 2021-04-23 2021-04-23 Werkstückgreifvorrichtung
PCT/JP2021/016432 WO2022224433A1 (fr) 2021-04-23 2021-04-23 Dispositif de préhension de pièce
CN202180096536.6A CN117120221A (zh) 2021-04-23 2021-04-23 元件把持装置

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/JP2021/016432 WO2022224433A1 (fr) 2021-04-23 2021-04-23 Dispositif de préhension de pièce

Publications (1)

Publication Number Publication Date
WO2022224433A1 true WO2022224433A1 (fr) 2022-10-27

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PCT/JP2021/016432 WO2022224433A1 (fr) 2021-04-23 2021-04-23 Dispositif de préhension de pièce

Country Status (4)

Country Link
JP (1) JP7453472B2 (fr)
CN (1) CN117120221A (fr)
DE (1) DE112021006866T5 (fr)
WO (1) WO2022224433A1 (fr)

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS6244385A (ja) * 1985-08-21 1987-02-26 沖電気工業株式会社 ロボツトによる部品把持及び定置方法
JPH06144584A (ja) * 1992-10-29 1994-05-24 Daido Steel Co Ltd 乱積みワーク取り出し装置
JPH0911176A (ja) * 1995-06-21 1997-01-14 Aichi Corp マニピュレータのマグネットハンド装置
JP2018114822A (ja) * 2017-01-18 2018-07-26 大成建設株式会社 無人飛行体に装着する運搬物の把持装置
JP2019171535A (ja) * 2018-03-29 2019-10-10 Ｋｙｂ株式会社 把持装置
JP2020189387A (ja) * 2019-05-23 2020-11-26 三菱電機株式会社 部品取り出し装置

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR101734612B1 (ko) 2010-10-17 2017-05-11 시네론 메디컬 리미티드 개인용 피부 미용 치료를 위한 일회용 패치
JP6144584B2 (ja) 2013-09-18 2017-06-07 株式会社イシダ 破損検査装置
JP6625136B2 (ja) 2015-12-01 2019-12-25 株式会社Ｆｕｊｉ ワーク回収装置及びワーク移載システム

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS6244385A (ja) * 1985-08-21 1987-02-26 沖電気工業株式会社 ロボツトによる部品把持及び定置方法
JPH06144584A (ja) * 1992-10-29 1994-05-24 Daido Steel Co Ltd 乱積みワーク取り出し装置
JPH0911176A (ja) * 1995-06-21 1997-01-14 Aichi Corp マニピュレータのマグネットハンド装置
JP2018114822A (ja) * 2017-01-18 2018-07-26 大成建設株式会社 無人飛行体に装着する運搬物の把持装置
JP2019171535A (ja) * 2018-03-29 2019-10-10 Ｋｙｂ株式会社 把持装置
JP2020189387A (ja) * 2019-05-23 2020-11-26 三菱電機株式会社 部品取り出し装置

Also Published As

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JPWO2022224433A1 (fr) 2022-10-27
DE112021006866T5 (de) 2023-11-30
CN117120221A (zh) 2023-11-24
JP7453472B2 (ja) 2024-03-19

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