WO2023248778A1 - ロボットハンド並びにそれを用いたロボット移載装置、ロボット移載システム及びワーク移載方法 - Google Patents

ロボットハンド並びにそれを用いたロボット移載装置、ロボット移載システム及びワーク移載方法 Download PDF

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Publication number
WO2023248778A1
WO2023248778A1 PCT/JP2023/020936 JP2023020936W WO2023248778A1 WO 2023248778 A1 WO2023248778 A1 WO 2023248778A1 JP 2023020936 W JP2023020936 W JP 2023020936W WO 2023248778 A1 WO2023248778 A1 WO 2023248778A1
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WIPO (PCT)
Prior art keywords
workpiece
transfer
robot
robot hand
gripping
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PCT/JP2023/020936
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English (en)
French (fr)
Japanese (ja)
Inventor
康孝 河北
紘行 森山
トマ グエン
Original Assignee
株式会社クリエイティブテクノロジー
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.)
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Application filed by 株式会社クリエイティブテクノロジー filed Critical 株式会社クリエイティブテクノロジー
Priority to CN202380036363.8A priority Critical patent/CN119095701A/zh
Priority to JP2024528739A priority patent/JPWO2023248778A1/ja
Publication of WO2023248778A1 publication Critical patent/WO2023248778A1/ja

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    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/90—Devices for picking-up and depositing articles or materials

Definitions

  • the present invention relates to a robot hand used for grasping a workpiece (hereinafter simply referred to as a "workpiece") that is an object to be transferred, etc., a robot transfer device using the same, a robot transfer system, and a robot hand for transferring a workpiece. Regarding the loading method.
  • a vacuum hand such as that disclosed in Patent Document 1 can be applied to transfer a workpiece of a rectangular bag containing an irregularly shaped object in a substantially flat manner by suction, but such a vacuum hand uses air that generates compressed air. Since a compressor is required, the factory equipment that can be used is limited. Furthermore, it is not an efficient method because it is necessary to change the vacuum hand depending on the contour shape of the workpiece, and time is lost when replacing the robot hand.
  • the belt-type transfer machine as described in Patent Document 2 can be used stably only when the size and weight are approximately constant and uniform, such as semi-finished processed meat products, bread dough, fruits, etc. There are restrictions in that it is an effective transfer method only if it can be transferred in large quantities and is sorted by size in advance. In addition, such transfer machines are often large-sized, making them unsuitable in cases where installation space is limited.
  • these days not only nearly identical products, but also a wide variety of products of various sizes, shapes, and weights are mixed together, and it is necessary to pick up and transfer them one by one.
  • a robot hand such as a robot equipped with such a hand
  • the target products are not only industrial products, but also include daily necessities and food products, so for example, there are products that do not have a specific shape, such as soft objects, thin foil products, and packaged products, or those that have a different shape.
  • thermomodule that utilizes the Peltier effect, which creates a temperature difference when energized.
  • a method of fixing and gripping an object and transferring it by cooling and solidifying the liquid has also been proposed (for example, Patent Document 3).
  • the object is released from the thermo module by releasing (heating) the cooling solidification between the object and the thermo module by utilizing the heat dissipation effect of the thermo module by changing the energization. That's what it means.
  • Patent Document 3 it is possible to reliably grasp and transfer the object regardless of its size, and there is no need to apply local stress to the object during transfer. It is said to have advantages.
  • Patent Document 3 Although the method described in Patent Document 3 has some advantages as mentioned above, it takes a certain amount of time to cool or heat the thermo module used, so it is difficult to continuously cool and solidify the object and heat it. In reality, if you try to perform a transfer based on a regular cycle, there is a risk that downtime will inevitably occur. For example, in operations that require the repeated transfer of many items, such as assortment work or topping work, even if the time loss for each item is small, the time loss will be incurred for all the items to be transferred. This may result in a huge amount of time being lost, making it extremely difficult to improve efficiency.
  • Patent Document 3 does not mention any issues regarding such continuous transfer and transportation or when handling multiple items. That is, Patent Document 3 only discloses a gripping device having one gripping portion.
  • an object of the present invention is to provide a robot hand that can more efficiently and speed up the continuous gripping and transfer of workpieces containing a mixture of different sizes, shapes, and weights.
  • the object of the present invention is to provide a robot transfer device and a robot transfer system such as a robot arm equipped with such a robot hand.
  • Another object of the present invention is to provide a method for transferring a work using a device equipped with such a robot hand.
  • the gist of the present invention is as follows.
  • a robot hand having a workpiece gripping part that firmly grips a workpiece,
  • the workpiece gripping section includes at least a workpiece contacting section that contacts the workpiece, and a heating and cooling device that heats or cools the workpiece contacting section,
  • the robot hand is characterized in that two or more workpiece gripping parts are arranged at different positions.
  • two or more workpiece gripping parts are arranged at different positions, when one workpiece gripping part is used, any or all of the other workpiece gripping parts are precooled or cooled by the heating and cooling device.
  • a robot transfer system comprising at least the robot transfer device according to [9], a workpiece transfer source, and a workpiece transfer destination.
  • the robot transfer system according to [10] characterized in that a liquid spraying unit that sprays a liquid medium that can be frozen and thawed is provided near the workpiece transfer source.
  • a pre-cooling step v) Grasping the work fixed in step iii) and transferring it to a transfer destination; vi) The heating and cooling device at the workpiece contacting part of the workpiece gripping part used for transferring in step v) above is energized and activated, heating the workpiece contacting part and melting the stuck part with the workpiece.
  • a method for transferring a workpiece comprising the step of releasing the . [13] In any of the steps from v) to vi), using at least one of the workpiece contact parts in the other workpiece gripping part that has been cooled by the precooling in step iv), transfer to the next step.
  • continuous gripping and transfer of workpieces containing a mixture of different sizes, shapes, and weights can be made more efficient without changing equipment such as sorting or robot hands. It can be faster.
  • a primary processed product into a final form (product), such as assembling multi-item foods for lunch boxes or topping ingredients for sweets and breads, etc. Contribute to the automation of work.
  • Such a controller 5 may be, for example, a controller that controls the operation of the robot, or a controller that detects the temperature of the workpiece contacting part 15, performs calculations to bring the temperature of the workpiece contacting part 15 closer to the target temperature, and performs calculations according to the calculation results.
  • a controller for controlling the driving power of the heating/cooling device 11 such as a Peltier element can be mentioned, and can be adopted depending on the necessary control.
  • the controller for the movement of the robot arm is connected to the motor of each axis (joint) of the robot hand, and controls the movement while monitoring the joint angle (encoder value) and acceleration/force (current value). I'm in control.
  • a user can use such a controller to issue operational instructions to a robot arm or a robot hand.
  • the robot transfer device 2 includes a robot (robot arm) 4 and a robot hand 3 mounted on its tip, etc., as described above. Other parts and devices may also be included.
  • the robot (robot arm) 4 may be one that moves linearly, or one that moves flexibly with a rotation axis or multiple joints, etc. It can be changed as appropriate. It is preferable to use a robot (robot arm) 4 that is articulated or has multiple rotational axes from the viewpoint of being able to flexibly respond to gripping and transfer operations depending on various processes and uses.
  • the robot hand 3 can continue to hold the workpiece while it is being gripped and transferred from the transfer source to the transfer destination, and can continue to hold the workpiece at the transfer destination. It's fine as long as it's something you can let go of (release).
  • the device may be configured to have other additional effects.
  • "grasping" of the work it is only necessary to be able to take out (lift) the work at the transfer source, and any known mechanical action such as grasping, squeezing, picking, scooping, placing, etc.
  • physicochemical effects such as adhesion and adsorption can also be optionally included, but means for expressing the effect of cooling and solidification, which will be described later, is essential.
  • this example of the robot hand 3 is equipped with a rectangular parallelepiped box-shaped support 10 (optional configuration), and a workpiece is fixed and gripped in this support 10. Two workpiece gripping parts 19 are provided.
  • a liquid spraying section 16 (optional configuration) capable of spraying a liquid medium is provided between the two workpiece gripping sections 19.
  • the shape, size, material, etc. of the support body 10 can be arbitrarily set as long as the work gripping part 19 and the liquid spraying part 16 can be installed or stored therein. As long as the workpiece gripping part 19 can be installed on the robot hand 3, it is not essential to provide the support body 10, and the support body 10 may be configured integrally with a part or all of the workpiece gripping part 19.
  • the method of installation and storage on the support body 10 is also arbitrary, and it may be possible to fix it by fitting the workpiece gripping part 19 or the like, or to fix it together with a fixing tool such as a nut, bolt, or clamp as necessary.
  • the workpiece gripping part 19 has a workpiece contacting part 15 that contacts the workpiece, and also includes a heating/cooling device 11 that can cool or heat the workpiece contacting part 15.
  • the workpiece gripping section 19 generates an air layer (bubbles) that can serve as a heat insulating layer between the workpiece contact section 15 and the heating/cooling device 11 to promote heat transfer (that is, to maximize the heat transfer area).
  • a thermal compound 14 is provided to minimize the As shown in FIG. 2, the thermal compound 14 is also provided on the upper surface side of the heating/cooling device 11, which is a side different from the workpiece contact portion 15 side, so that, for example, the heat dissipation effect to the upper surface side can be improved. can be increased.
  • each work gripping part 19 is arranged at different positions on the robot hand 3 (support body 10), so that one workpiece gripping part 19 can be used in the procedure (transfer method) described later. Even when it is used for transferring a workpiece, any or all of the other workpiece gripping parts 19 can be pre-cooled or cooled to prepare for gripping the next workpiece, thereby reducing the waiting time. This reduces workpiece gripping and transfer, making workpiece gripping and transfer more efficient and faster.
  • each work gripping part 19 is arranged near the end of the support 10 (approximately at the end).
  • the workpiece gripping parts 19 are preferably arranged at regular intervals on the robot hand 3 and the support body 10, and more preferably, when viewed from the bottom side of the robot hand 3 (bottom view: FIG. 2). It is preferable that the work gripping parts 19 are arranged approximately evenly in the center of the robot hand 3 and the support body 10. By arranging the workpiece gripping section 19 in this way, the degree of freedom of movement of the robot hand (rotation and parallel motion) is increased, and each operation of gripping and transferring the workpiece and its cycle can be made more efficient. can. In addition, contact and interference between workpieces can be prevented.
  • the liquid medium always adheres to the workpiece contact portion 15 in a liquid state or solidified (ice) state, so during continuous use, cleaning of the adhered material ( In some cases, it may be necessary to take measures such as wiping (wiping) or drying, so it is preferable to provide a plurality of work gripping parts 19. It is more preferable that three or more workpiece gripping parts 19 are arranged, and it is preferable that the number is determined as appropriate depending on the actual work or site.
  • the shape and size of the workpiece contact portion 15 that comes into contact with the workpiece can be appropriately selected and determined according to the shape and size of the workpiece.
  • the shape may be a flat plate, a disc, a polygonal flat, a curved surface, a sphere, an ellipsoid, a cone, or the like.
  • the thickness is preferably 2 mm or less, more preferably 1 mm or less.
  • the thickness is preferably 0.3 mm or more.
  • a heating/cooling device 11 for cooling or heating the workpiece contacting part 15 is provided on the upper surface side of the workpiece contacting part 15.
  • the heating/cooling device 11 is not limited as long as it can achieve the purpose, but it is preferable to use a Peltier device, for example, since it is advantageous in terms of space saving and high-speed response.
  • a Peltier element is a semiconductor element that can generate thermal energy (temperature difference) when energized.Based on its principle, when energized, heat is absorbed from one surface, and heat is radiated from the other surface. will be able to cool down. If the direction in which the Peltier element is energized is reversed, the surfaces where heat absorption and heat radiation occur can be switched.
  • the number and size (area) of the elements are selected appropriately depending on the shape, size, weight, and other characteristics of the workpiece [softness, surface condition (roughness, moisture, etc.)]. be able to.
  • the workpiece contacting part 15 on the cooling surface side has the ability to be cooled down to -5°C or less within 10 seconds after electricity is applied. It is preferable that the type and arrangement of the elements be configured.
  • the heating/cooling device 11 is not limited to the Peltier device as long as it can perform the same function as the Peltier device described above and achieve the object of the present invention.
  • the workpiece contacting part 15 adjacent to the heating and cooling device 11 (including cases where other inclusions are included) is cooled to achieve cooling solidification and fixation (gripping) with the workpiece, and after transfer, the workpiece contacting part 15 is cooled. It is sufficient if the workpiece can be released by heating it.
  • a vapor compression refrigerator type, heat pump type, or absorption type refrigerator heat exchanger can be used. It is arranged to conduct heat and pre-cool the workpiece contact area.
  • a heat transfer device may also be installed on the heating surface of the heating/cooling device 11 for use during melting.
  • a thermal compound 14 may be provided between the workpiece contact portion 15 and the heating/cooling device 11 in order to promote and improve heat conduction between them.
  • the thermal compound 14 for example, one having a thermal conductivity of 0.5 W/m ⁇ K or more is suitable, and more preferably a thermal conductivity of 0.9 W/m ⁇ K or more.
  • the type of thermal compound 14 is not limited as long as it does not impede the purpose, but in order to suppress the formation of a partial air gap or bubble layer within the contact surface, compositions such as grease or paste, or semi-cured products thereof may be used. It is preferable to use a cured product or the like. In particular, silicone grease for thermal conduction, flux for brazing, etc. can be used.
  • a heat dissipation device such as an air cooling fan 13 may be provided together with the cooling fan 13.
  • the heat sink 12 and the air cooling fan 13 publicly known ones can be appropriately selected and employed.
  • the heat sink 12 for example, a plate fin type, a square pin fin type, a round pin fin type, a spray fin type, etc. can be used.
  • the air cooling fan 13 for example, an axial fan, a centrifugal fan, a blower fan, etc. can be used.
  • These heat dissipation devices are designed to have a thermal resistance of 20°C/W or less in order to ensure the cooling response of the workpiece contact area (cooling speed is slow, cooling temperature does not drop completely). It is preferable to adopt it as appropriate, and more preferably the thermal resistance is 10°C/W or less, but the load capacity of the robot hand 3 (robot transfer device 2) used and the heating used It can be selected and determined as appropriate depending on the cooling device 11.
  • the installation positions of these heat dissipation devices are not limited to those shown in FIG. 2, and can be changed as appropriate. For example, it is preferable to install the air cooling fan 13 on the side of the heat sink 12 instead of on the top surface, since the heat exchange surface such as fins on the heat sink 12 can be effectively used.
  • the robot hand 3 may be provided with a liquid spraying section 16 at an arbitrary position for spraying a liquid medium onto the workpiece 8 before being transferred.
  • the liquid spraying section 16 is provided in the robot hand 3, it is preferably arranged near the middle (center) of each workpiece gripping section 19 from the viewpoint of efficiency of spraying the liquid onto the workpiece.
  • the liquid spraying unit 16 is supplied with a cable for sending signals, etc. for energization or synchronization with the operation of the robot hand (robot transfer device 2), and a medium such as a liquid medium or air. (these are collectively referred to as the "supply line 18") are connected to the medium supply pipe for this purpose.
  • a valve (such as a solenoid valve) for inlet and outlet of the medium may be provided.
  • the liquid medium is one that is solidified (frozen) by cooling and can be fixed and gripped between the workpiece 8 and the workpiece contact portion 15 before being transferred, and the solidified (frozen) portion is heated by heating after transfer.
  • the solidified (frozen) portion is heated by heating after transfer.
  • a liquid medium containing a mixture of can be used. It may also be one whose freezing point is adjusted to be high.
  • the freezing point in this case is not limited, but is preferably in the range of 0°C to 10°C. Low viscosity is preferred to prevent nozzle clogging during spraying. From the viewpoints of coagulability, versatility, economic efficiency, etc., it is preferable to use water or a food solution.
  • any known liquid spraying means can be employed without limitation, and any means that can spray a liquid medium using a one-fluid type, two-fluid type, ultrasonic type, or the like may be used.
  • a sprayer spray nozzle
  • a two-fluid nozzle that can spray the liquid medium and compressed air is preferably used, which enables uniform spraying onto the workpiece.
  • an appropriate amount (minimum necessary) of the liquid medium can be applied to the surface of the workpiece, and excessive spraying can be prevented.
  • fine spraying allows the liquid medium to be sprayed only on the surface of the textile product, preventing liquid from staining the back side of the textile product due to excessive spraying.
  • the amount of spraying can be appropriately set depending on the workpiece to be used and the degree of cooling and solidification with the workpiece.
  • the liquid spraying section 16 does not need to be provided as the robot hand 3, and may be provided near the workpiece 8 before being transferred in the robot transfer system 1. It is only necessary to provide a means that can spray a liquid medium onto the workpiece 8 before being transferred before contacting with the previous workpiece contacting section 15 . As described above, in such a case, the liquid spray section 16 is preferably disposed substantially directly above the work 8 before being transferred, in order to improve the efficiency of spraying the liquid medium onto the work. On the other hand, when there is moisture adhering to the surface of the workpiece (e.g. food with a lot of water) or the workpiece has already been frozen (e.g. frozen food or processed food), the forced liquid medium may be For manufacturing processes that do not require spraying, the liquid spraying section 16 may not be provided.
  • the liquid spraying section 16 may not be provided.
  • FIG. 4 is a diagram schematically showing the robot hand 3 according to Embodiment 2 of the present invention, and is a plan view viewed from directly below (bottom view) as in the case of FIG. 2 described above.
  • FIG. 5 is a side view when viewed from the direction of the white arrow in FIG. 4.
  • the liquid spraying part 16 is shown slightly to the right, but this is to avoid overlapping with the work gripping part 19 that is visible on the back side of the liquid spraying part 16.
  • the support body 10 is branched into three parts, and the tip (substantially the end) of each branch part has the above-mentioned A similar work gripping section 19 is mounted.
  • the configuration of the workpiece gripping section 19 may be the same as that of the first embodiment described above. That is, in the second embodiment, the support body 10 is divided approximately equally so as to correspond to each vertex of the equilateral triangle, and the workpiece is gripped approximately evenly with respect to the center of the support body 10. Section 19 is arranged. Further, as shown in the broken line in FIG. 4 and in FIG. Since the three workpiece gripping parts 19 are rotatable about 20, the operation in gripping and transferring the workpieces can be made more efficient.
  • the support body 10 may have a branched structure having four or more tips (ends), such as a square, a regular pentagon, or a regular hexagon. It is also possible to configure substantially uniform tips (ends) to be located at each vertex of a (regular) polygon such as This is preferable because it can be arranged approximately evenly in 10.
  • one or more of the work grip parts 19 can be used for standby or maintenance. Since it can also be used for purposes such as cleaning, etc., it is possible to more efficiently grip and transfer workpieces without interrupting operations as much as possible.
  • the robot hand 3 of the second embodiment has a liquid spraying section 16 near the center of the lower surface of the support 10, as shown in FIG. It is preferable to arrange the liquid spraying section 16 near the center of the lower surface of the support 10 because it is possible to construct the shortest path for moving from the spraying step to the transfer step.
  • the position of the liquid spray section 16 is not limited to this.
  • the structure of the liquid spray section 16 is the same as that of the first embodiment described above, and the structure and arrangement can be changed as appropriate.
  • the robot transfer device 2 equipped with the robot hand 3 according to the embodiment described above is used. Further, in the robot transfer system 1 using such a robot transfer device 2, a workpiece is transferred from a workpiece transfer source 6 to a workpiece transfer destination 9.
  • the workpiece transfer method according to the embodiment of the present invention is characterized by having at least the following steps/steps i) to vi), although they are not limited to them. The description will be made using the reference numerals in FIGS. 1 to 5 as appropriate.
  • the surface of the workpiece contact portion 15 be at -5°C or lower, and preferably at -8°C or lower. More preferably, the temperature is ⁇ 10° C. or less. Although there is no limit to the lower limit of the temperature, it is generally preferable to set the temperature to -15° C. or higher to avoid overcooling as much as possible. When handling a workpiece with moisture attached at room temperature, it is preferable to keep the temperature of the workpiece contact portion 15 at about -8°C to -10°C.
  • the time required for this can be adjusted as appropriate by taking into consideration the performance (cooling performance, heat dissipation performance, etc.) of the heating and cooling device 11, the material and thickness of the thermal compound 14 and/or the workpiece contact part 15, etc.
  • the time is within one minute, more preferably within 30 seconds, and even more preferably within 20 seconds.
  • the work 8 to which the liquid medium as described above has been attached is used as the work 8 before being transferred to be gripped by the work gripping part 19 (work contact part 15) that has been precooled or cooled in step i). It has a step of preparing. Normally, for a workpiece whose surface does not have moisture attached to it, the liquid medium is sprayed onto the surface of the workpiece 8 by spraying the liquid medium from the liquid spraying section 16 provided inside and outside the robot hand 3.
  • the time required for such adhesion (spraying) of the liquid medium to the workpiece 8 depends on the size, shape, surface characteristics (hydrophilicity/hydrophobicity, surface roughness, etc.) of the workpiece, and the arrangement of equipment during the process. Although it may vary depending on the situation, in order to improve the efficiency of work transfer, it is preferable that the time is within 1 minute, more preferably within 30 seconds, and even more preferably within 20 seconds. This time includes the time required to bring the workpiece 8 close to the liquid spraying section 16, but this time is usually preferably within 10 seconds, and more preferably within 5 seconds.
  • the time required to complete cooling and solidification (freezing) of such a contact area is preferably within 20 seconds, more preferably within 10 seconds, in order to improve the efficiency of workpiece transfer. More preferably, the time is within 5 seconds.
  • the robot hand includes a plurality of workpiece gripping parts 19 (workpiece contact parts 15).
  • the workpiece transfer method according to the embodiment of the present invention is characterized in that the plurality of workpiece gripping parts 19 (workpiece contact parts 15) are utilized to improve the efficiency of workpiece gripping and transfer. That is, as step iv), one of the other workpiece gripping parts 19 (workpiece contacting part 15) used subsequent to the workpiece gripping part 19 (workpiece contacting part 15) used in the steps i) to iii) above.
  • there is a step of pre-cooling or cooling each workpiece contact portion by energizing and operating the respective heating and cooling devices 11 provided in the plurality of devices.
  • the timing of pre-cooling/cooling the other workpiece contacting parts 15 may be at the same time as step i), or may be later than that, depending on the preparation status of the next workpiece and the gripping thereof. This can be determined as appropriate depending on the timing of transfer. In order to improve the efficiency of workpiece transfer, the cooling of these (other) workpiece contacting parts 15 must be completed without undue delay in pre-cooling or cooling of the workpiece contacting parts 15 that have been used from the beginning. Preferably, the timing may be the same as the pre-cooling or cooling of the workpiece contacting portion 15 used from the beginning.
  • step v) Following step iii), the workpiece 8' gripped and fixed to the workpiece contact portion 15 used from the beginning is transferred to the transfer destination 9.
  • the workpieces are transferred by suitable means according to the process by controlling the movements of the robot (robot arm) 4 and robot hand 3 by their respective controllers.
  • Heating of the workpiece contact portion 15 is performed by energizing the heating and cooling device 11. That is, for example, when a Peltier element is used, the cooling surface and the heating surface can be exchanged by energizing the heating/cooling device 11 in a different direction (in the opposite direction) than in step i) above. , Therefore, heat is conducted to the workpiece contacting portion 15 side, which has been used in a cooled state, and is heated. Further, when a refrigeration cycle is used as the heating/cooling device 11, it is preferable that the workpiece contact portion 15 is heated by utilizing the released heat generated by liquefying and condensing the refrigerant gas.
  • the contact portion (fixed portion) between the workpiece 8' and the workpiece contact portion 15 is melted in a relatively short time.
  • the fixed portion can be melted in a relatively short time while suppressing excessive heating.
  • the time required for melting is preferably within 20 seconds, more preferably within 10 seconds, even more preferably within 5 seconds, in order to improve the efficiency of transferring the workpiece.
  • the workpiece gripping unit 15 For each workpiece with or without water attached, the workpiece gripping unit 15, which is ready for cooling, is pressed against the top surface of the workpiece, held for 1 to 3 seconds, and then the robot arm is operated to grip each workpiece. and lifted it (for about 1 second). For the workpieces that could be lifted for 10 seconds, the transferability was indicated as "OK”. On the other hand, for workpieces that could not be grasped or lifted, the transferability was evaluated as "NG”. The results are shown in Table 1.
  • Robot transfer system 2... Robot transfer device, 3... Robot hand, 4... Robot (robot arm), 5... Controller, 6... Transfer source, 7... Conveyor, 8, 8', 8''... Workpiece, 9...Transfer destination, 10...Support, 11...Heating/cooling device, 12...Heat sink, 13...Air cooling fan, 14...Thermal compound, 15...Work contact part, 16...Liquid spray part, 17...Cable, 18 ... Supply line, 19... Work gripping section, 20... Connection section

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  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Manipulator (AREA)
PCT/JP2023/020936 2022-06-20 2023-06-06 ロボットハンド並びにそれを用いたロボット移載装置、ロボット移載システム及びワーク移載方法 WO2023248778A1 (ja)

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JPH02188326A (ja) * 1988-10-18 1990-07-24 Pfaff Ind Gmbh 裁断材を個別化し、搬送し、降ろすための装置
JP2008028318A (ja) * 2006-07-25 2008-02-07 Fujikoshi Mach Corp 半導体ウェーハの搬送装置および搬送方法
JP2008072099A (ja) * 2006-08-14 2008-03-27 Qimonda Ag 半導体形成工程において部材を取り扱うための方法および装置
JP2008117844A (ja) * 2006-11-01 2008-05-22 Disco Abrasive Syst Ltd ウエーハの搬送方法および加工装置
JP2008517623A (ja) * 2004-10-29 2008-05-29 シンベント アクティーゼルスカブ 湿った製品を取り扱う装置と方法

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