WO2018066603A1 - Robot - Google Patents

Robot Download PDF

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Publication number
WO2018066603A1
WO2018066603A1 PCT/JP2017/036147 JP2017036147W WO2018066603A1 WO 2018066603 A1 WO2018066603 A1 WO 2018066603A1 JP 2017036147 W JP2017036147 W JP 2017036147W WO 2018066603 A1 WO2018066603 A1 WO 2018066603A1
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WO
WIPO (PCT)
Prior art keywords
hand
arm
workpiece
work
robot
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Application number
PCT/JP2017/036147
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French (fr)
Japanese (ja)
Inventor
敏幸 鈴木
山根　秀士
敦 高見
Original Assignee
川崎重工業株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Publication date
Application filed by 川崎重工業株式会社 filed Critical 川崎重工業株式会社
Priority to CN201780061584.5A priority Critical patent/CN109803797B/en
Publication of WO2018066603A1 publication Critical patent/WO2018066603A1/en

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

Definitions

  • the present invention relates to a robot provided with a first hand, a second hand, and an arm that attaches the first hand and the second hand to the tip in a replaceable manner.
  • the transport apparatus is provided with a plurality of transport units.
  • Each transport unit includes a rotary index, a SCARA robot arranged in front of the rotary index, and a work table arranged between adjacent SCARA robots.
  • ⁇ Work supplied on the rotary index is transferred to the SCARA robot by the rotary index.
  • the workpiece is transferred to the workpiece table by the SCARA robot and transferred to the adjacent rotary index by the adjacent SCARA robot. Subsequently, the workpiece is transferred to an operator or an automatic assembly robot by a rotary index, where parts are supplied and assembled.
  • the work hand is attached to the arm and the work is transported to the operator.
  • the arm then replaces the workpiece hand with the component hand, and supplies the component to the workpiece.
  • the arm is changed from the parts hand to the work hand, and the work with the parts assembled is conveyed.
  • the work hand when the work hand is replaced with the part hand, if the hand is not removed from the work, it is necessary to return the arm to the position where the work hand is removed after the parts are supplied.
  • the work when the work is assembled with parts, the work may move, and the position of the hand may change accordingly. In this case, since the position of the hand is shifted from the removed position, the hand cannot be attached to the arm even if the arm is returned to the removed position.
  • the hand when the work hand is replaced with the part hand, if the hand is removed from the work and placed in a predetermined place, the hand can be attached to the arm if the hand is returned to the predetermined place.
  • a place for placing the hand is required, and the apparatus becomes large.
  • the present invention has been made in view of the above circumstances, and an object of the present invention is to reduce the size and improve the working efficiency of a robot.
  • a robot includes a first hand, a second hand, and an arm that replaceably attaches the first hand and the second hand to a tip, and the first hand includes a floor A positioning portion that defines a positional relationship with a predetermined position of the first position, the arm is attached to the first hand, the positioning portion is fixed to a predetermined position on the floor, and the first hand is replaced with the first hand. Two hands are mounted, and the first hand is mounted instead of the second hand.
  • the arm can be controlled for a specific operation, so that the size can be reduced. Further, when the first hand is replaced with the second hand, for example, if the first hand is left attached to the work, the place for placing the first hand is unnecessary, and the size can be reduced. Furthermore, since the positional relationship with the predetermined position is defined by fixing the positioning portion at a predetermined position on the floor, the arm can be returned to the removed position and the first hand can be attached to the arm, so that work efficiency can be improved. Can be improved.
  • the positioned portion provided at a predetermined position of the floor is a protrusion provided on the floor, and the positioning portion is a recess provided on the lower surface of the first hand and fitted into the protrusion. There may be. According to the above configuration, by disposing the first hand on the positioned portion, the recessed portion of the first hand fits into the protruding portion of the positioned portion, and the positioning portion can be easily fixed at a predetermined position.
  • the first hand has a pair of support members that can be inserted into a workpiece attachment portion and can change a distance between each other.
  • One hand may hold the workpiece.
  • the workpiece and the first hand can be fixed and the positional relationship can be defined by inserting the pair of support members into the mounting portion and widening the interval. Therefore, the positional relationship between the workpiece and the floor is fixed via the first hand fixed at a predetermined position on the floor.
  • the robot can be reduced in size and improved in work efficiency.
  • FIG. 2A is a view of the state in which the workpiece is held by the first hand as viewed from below.
  • FIG. 2B is a side view of FIG. 2A.
  • the robot 20 is a device capable of performing a specific work.
  • the robot 20 is a device capable of transporting the workpiece 11 and performing another work.
  • the operation of holding the component 12 and supplying it to the workpiece 11 will be described below, but other operations may be performed.
  • work 11 holding a nozzle may be sufficient.
  • the robot 20 according to the present embodiment is a 6-axis vertical articulated robot.
  • the present invention is not limited to the above, and can be widely applied to robots having multi-joint arms regardless of the number of axes, regardless of whether they are horizontal multi-joint type or vertical multi-joint type.
  • the robot 20 includes a base 21, an articulated arm (hereinafter simply referred to as “arm”) 22 supported by the base 21, a first hand 23 or a second hand 24 attached to the tip of the arm 22, an arm 22, a first hand 23, and a control device 25 that controls the operation of the second hand 24.
  • the arm 22 is formed by connecting a plurality of links in series. Specifically, the arm 22 includes the first link 221, the second link 222, the third link 223, the fourth link 224, the fifth link 225, and the sixth link 226 from the proximal end portion to the distal end portion. Concatenated in this order.
  • the first link 221 is connected to the base 21 so as to be able to turn around a vertical axis via a turning joint JT1.
  • the base end portion of the second link 222 is connected to the first link 221 via the rotary joint JT2.
  • the distal end portion of the second link 222 and the proximal end portion of the third link 223 are connected via a rotary joint JT3.
  • the rotary joints JT2 and JT3 are joints that link the links so as to rotate vertically around the horizontal axis.
  • the distal end portion of the third link 223 and the proximal end portion of the fourth link 224 are connected via a twisted joint JT4.
  • the distal end portion of the fourth link 224 and the proximal end portion of the fifth link 225 are connected via a rotary joint JT5.
  • the distal end portion of the fifth link 225 and the proximal end portion of the sixth link 226 are connected via a twisted joint JT6.
  • a connecting body of the fourth link 224, the fifth link 225, and the sixth link 226 including the rotary joint JT 5 and the twist joint JT 6 constitutes the wrist portion of the arm 22.
  • a mechanical interface 227 is provided at the tip of the sixth link 226.
  • the first hand 23 and the second hand 24 are attached to the mechanical interface 227 so as to be interchangeable.
  • the first hand 23 has a first mounting surface 231, a first holding part 232, and a positioning part 233.
  • the first mounting surface 231 is a surface to which the mechanical interface 227 is attached, and is provided horizontally on the upper surface of the first hand 23, for example.
  • maintenance part 232 is a holding
  • the positioning part 233 is a part for defining the positional relationship between the floor 13 and the first hand 23 and detachably attaching the first hand 23 to a predetermined position (first predetermined position) of the floor 13.
  • the positioning part 233 is attached to the positioned part 13 a in the first hand 23 and is formed by a recess provided on the lower surface of the first hand 23, for example.
  • the positioned portion 13a determines the target position of the first hand 23, and is formed by a protrusion such as a pin protruding from the floor 13, for example.
  • the second hand 24 has a second mounting surface 241 and a second holding part 242.
  • the second mounting surface 241 is a surface to which the mechanical interface 227 is attached, and is provided horizontally on the upper surface of the second hand 24, for example.
  • the second holding unit 242 is a holding unit that holds the component 12 attached to the workpiece 11 and is attached to the component 12 in advance.
  • the arm 22 includes a joint drive unit corresponding to each joint JT1 to JT6 (axis).
  • Each joint drive unit includes a servo driver, a servo motor, a rotation angle detector, a speed reducer, and the like.
  • the rotation of the servo motor is servo controlled by the control device 25.
  • the control device 25 includes a calculation unit 25a such as a CPU, a storage unit 25b such as a ROM and a RAM, and a servo control unit 25c.
  • the control device 25 is a robot controller including a computer such as a microcontroller.
  • the control device 25 may be configured by a single control device 25 that performs centralized control, or may be configured by a plurality of control devices 25 that perform distributed control in cooperation with each other.
  • the storage unit 25b stores information such as a basic program as a robot controller and various fixed data.
  • the calculation unit 25a controls various operations of the robot 20 by reading and executing software such as a basic program stored in the storage unit 25b.
  • the control device 25 controls the operation of the arm 22 and the attachment / detachment of the mechanical interface 227 based on a program stored in advance in the storage unit 25b or an operation input by an operator.
  • the arithmetic unit 25a generates a control command for the robot 20 and outputs it to the servo control unit 25c.
  • the servo control unit 25c is configured to control the driving of the servo motors corresponding to the joints JT1 to JT6 of the arm 22 based on the control command generated by the calculation unit 25a.
  • the first holding part 232 is constituted by a pair of support members 23a and 23b, for example, and holds the work 11 thereby.
  • the support members 23a and 23b are plate-like members, projecting from the lower side of the center of the first mounting surface 231 to the side, and extending long.
  • the pair of support members 23a and 23b are arranged in parallel to each other.
  • the side surfaces facing each other are referred to as inner side surfaces, and the side surfaces facing the inner side surfaces are referred to as outer side surfaces.
  • a linear motion device such as a linear motion actuator is attached to the pair of support members 23a and 23b. Thereby, a pair of support members 23a and 23b move to the arrangement direction, and change a mutual gap.
  • the workpiece 11 is a cart assembly in which components such as a controller are incorporated in advance in the cart.
  • the component 12 is, for example, an arm assembly in which a link and a joint are combined in advance.
  • the workpiece 11 is not limited to the cart assembly, and the component 12 is not limited to the arm assembly.
  • the mechanical interface 227 at the tip of the arm 22 is attached to the first mounting surface 231 of the first hand 23, and the first hand 23 is attached to the tip of the arm 22. Accordingly, the first hand 23 moves and operates according to the movement of the arm 22.
  • the first hand 23 holds the workpiece 11 by the first holding unit 232.
  • the pair of support members 23 a and 23 b of the first holding portion 232 are placed below the work 11 so that the alignment direction is parallel to the lower surface of the work 11. It inserts in the provided attachment part 11a.
  • the attachment portion 11 a has a cylindrical shape attached to the lower surface of the work 11.
  • the attachment portion 11a has a rectangular tube shape having a rectangular cross section, and has a rectangular parallelepiped internal space, and the internal space communicates with the outside through an attachment opening.
  • the attaching portion 11a extends linearly from one side of the workpiece 11 to the vicinity of the other side facing the workpiece 11.
  • the attachment port is provided on one side of the workpiece 11.
  • the pair of support members 23a and 23b are inserted into the attachment portion 11a from the attachment opening.
  • the support members 23a and 23b are arranged at predetermined positions on the mounting portion 11a, as their positions in the longitudinal direction are detected by a sensor (not shown). Then, the pair of support members 23a and 23b are moved so that the interval is widened in the arrangement direction. As a result, the outer surface of the support member 23a is in contact with the inner surface of the mounting portion 11a facing this, and the outer surface of the support member 23b is in contact with the inner surface of the mounting portion 11a facing this.
  • the pair of support members 23a and 23b are stretched against the inner surface of the attachment portion 11a, and the pair of support members 23a and 23b are fixed to the attachment portion 11a in the arrangement direction.
  • the pair of support members 23a and 23b are fixed to the attachment portion 11a in the longitudinal direction by the frictional force between the outer side surfaces of the support members 23a and 23b and the inner surface of the attachment portion 11a.
  • the height of the support members 23a and 23b in the vertical direction is equal to the height of the inner surface of the attachment portion 11a. Therefore, the support members 23a and 23b are fixed to the attachment portion 11a also in the vertical direction. In this way, the pair of support members 23a and 23b are fixed to the attachment portion 11a in any of the arrangement direction, the longitudinal direction, and the vertical direction, and the positional relationship between the first hand 23 and the workpiece 11 is fixed.
  • each drive part of the arm 22 is driven, and the workpiece
  • a positioned portion 13a is provided on the floor 13 in front of the worker.
  • the 1st hand 23 is arrange
  • the to-be-positioned part 13a fits into the positioning part 233, and the 1st hand 23 is fixed to the 1st predetermined position of the floor
  • the first hand 23 is removed from the tip of the arm 22. However, the first hand 23 is kept attached to the workpiece 11 without being removed from the workpiece 11. Then, the arm 22 is moved to the second hand 24 arranged at a predetermined position (second predetermined position). Then, the mechanical interface 227 of the arm 22 is attached to the second attachment surface 241 of the second hand 24, and the second hand 24 is attached to the arm 22. Thereby, according to the movement of the arm 22, the second hand 24 and the component 12 held in advance by the second hand 24 move.
  • the part 12 held by the second hand 24 is conveyed onto the work 11 by driving the arm 22.
  • the workpiece 11 is not directly positioned with respect to the floor 13.
  • the positional relationship between the first hand 23 and the first predetermined position of the floor 13 is fixed by the positioning portion 233 and the positioned portion 13a, and the workpiece 11 and the first hand 23 are fixed by the first holding portion 232 and the mounting portion 11a.
  • the positional relationship with is fixed.
  • the work 11 is positioned on the floor 13 by these, and is arranged at a predetermined position (third predetermined position). Therefore, by moving the second hand 24 to the third predetermined position, the component 12 held by the second hand 24 is disposed on the workpiece 11.
  • the worker performs the work of assembling the part 12 to the work 11.
  • the workpiece 11 may move from the third predetermined position by such an assembling operation of the worker.
  • the first hand 23 is fixed at the first predetermined position by the positioning portion 233 and the positioned portion 13a, the first hand 23 does not move from the first predetermined position.
  • the second hand 24 is removed from the tip of the arm 22.
  • the arm 22 is moved to the first hand 23.
  • the work 11 may be displaced from the position where the work 11 is conveyed due to the assembly work of the parts 12, but the first hand 23 is fixed to the positioned part 13 a arranged at the first predetermined position by the positioning part 233. ing. Therefore, when the distal end portion of the arm 22 is moved based on the first predetermined position, the mechanical interface 227 of the arm 22 is disposed at a position facing the first mounting surface 231 of the first hand 23. Therefore, the mechanical interface 227 is attached to the first attachment surface 231 and the first hand 23 is attached to the arm 22. Thereby, the arm 22 is driven and the workpiece 11 is conveyed.
  • the arm 22 mounts the first hand 23 and transports the workpiece 11, fixes the positioning unit 233 at a predetermined position, and mounts the second hand 24 instead of the first hand 23 to provide a component. 12 is supplied to the work 11, the first hand 23 is attached instead of the second hand 24, and the work 11 is transported.
  • the first hand 23 is fixed at the first predetermined position by the positioning portion 233 that defines the positional relationship with the first predetermined position of the floor 13. For this reason, even if the workpiece 11 is moved by the work of assembling the component 12 to the workpiece 11, the first hand 23 is removed from the arm 22 and then attached to the first hand 23 again based on the first predetermined position. By disposing the tip of the arm 22 at the position where the first hand 23 is removed, the first hand 23 can be securely attached to the arm 22 and the working efficiency can be improved.
  • the apparatus can be miniaturized. Further, while the arm 22 is mounted on the second hand 24, the first hand 23 remains attached to the workpiece 11, so that a place for placing the first hand 23 is not required, and the apparatus can be downsized. .
  • the positioned portion 13a is a protrusion provided on the floor 13, and the positioning portion 233 is a recess provided on the lower surface of the first hand 23 and fitted into the protrusion. For this reason, just by lowering the first hand 23 onto the floor 13 so that the positioning part 233 is positioned on the positioned part 13a, the positioned part 13a is fitted into the positioning part 233, and the first hand 23 is brought to the first predetermined position. Fixed.
  • the first hand 23 has a pair of support members 23a and 23b that are inserted into the attachment portion 11a of the workpiece 11 and can change the distance between each other, and the pair of support members 23a and 23b is included in the attachment portion 11a.
  • the first hand 23 holds the workpiece 11 with the mutual interval widened. In this way, by fixing the positional relationship between the first hand 23 and the workpiece 11, the first hand 23 fixed by the positioning portion 233 and the positioned portion 13a and the first predetermined position of the floor 13 are used.
  • the workpiece 11 is fixed to the third predetermined value of the floor 13.
  • the present invention is useful as a robot that can be reduced in size and improved in work efficiency.

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Automatic Assembly (AREA)

Abstract

The robot (20) comprises a first hand (23), a second hand (24), and an arm (22) with a tip on which the first hand (23) or the second hand (24) can be interchangeably attached. The first hand (23) has a positioning part (233) for defining the positional relation with a predetermined position on a floor (13). The first hand (23) is attached to the arm (22), the positioning part (233) is fixed to the predetermined position, the second hand (24) is attached in place of the first hand (23), and the first hand (23) in attached in place of the second hand (24).

Description

ロボットrobot
　本発明は、第１ハンド、第２ハンド、ならびに、先端に第１ハンドおよび第２ハンドを交換可能に装着するアームを備えるロボットに関する。 The present invention relates to a robot provided with a first hand, a second hand, and an arm that attaches the first hand and the second hand to the tip in a replaceable manner.
　従来、ロボットを用いて特定の作業を行う装置として、たとえば、特許文献１の搬送装置および組立装置が挙げられる。この搬送装置には複数の搬送ユニットが設けられている。各搬送ユニットは、ロータリーインデックス、ロータリーインデックスの前に配置されるスカラロボット、および、隣接するスカラロボットの間に配置されるワーク台を備えている。 Conventionally, as a device that performs a specific operation using a robot, for example, a transfer device and an assembly device of Patent Document 1 can be cited. The transport apparatus is provided with a plurality of transport units. Each transport unit includes a rotary index, a SCARA robot arranged in front of the rotary index, and a work table arranged between adjacent SCARA robots.
　このロータリーインデックス上に供給されたワークは、ロータリーインデックスによりスカラロボットの前に移送される。そして、ワークは、スカラロボットによりワーク台に移送され、隣接するスカラロボットにより隣接するロータリーインデックスに移送される。続いて、ワークは、ロータリーインデックスにより作業者または自動組立ロボットへ移送され、ここで部品が供給されて組み立てられる。 ¡Work supplied on the rotary index is transferred to the SCARA robot by the rotary index. The workpiece is transferred to the workpiece table by the SCARA robot and transferred to the adjacent rotary index by the adjacent SCARA robot. Subsequently, the workpiece is transferred to an operator or an automatic assembly robot by a rotary index, where parts are supplied and assembled.
特開２０１２－１９７１７５号公報JP 2012-197175 A
　上記特許文献１の搬送装置および組立装置では、ワークの搬送にロータリーインデックスおよびスカラロボットが設けられている上、これ以外に部品の供給に作業者または自動組立ロボットが用いられている。このため、装置が大型化する。 In the conveying device and the assembling device of Patent Document 1, a rotary index and a SCARA robot are provided for conveying a workpiece, and an operator or an automatic assembling robot is used for supplying parts in addition to this. For this reason, an apparatus enlarges.
　これに対し、ワークの搬送および部品の供給を１つのロボットで行うことが考えられる。このワークおよび部品をその形状および大きさに関わらず速やか搬送するためには、ワークおよび部品のそれぞれに保持するハンドを予め取り付けておく方法が採られうる。 On the other hand, it is conceivable to carry a workpiece and supply parts with a single robot. In order to quickly transport the workpiece and the component regardless of the shape and size thereof, a method in which a hand for holding the workpiece and the component is attached in advance may be employed.
　この場合、アームにワークのハンドを取り付けて、ワークを作業者の前に搬送する。そして、アームはワークのハンドから部品のハンドに取り替えて、部品をワークに供給する。この部品をワークの組み付けた後、アームは部品のハンドからワークのハンドに取り替えて、部品が組み付けられたワークを搬送する。 In this case, the work hand is attached to the arm and the work is transported to the operator. The arm then replaces the workpiece hand with the component hand, and supplies the component to the workpiece. After the parts are assembled to the work, the arm is changed from the parts hand to the work hand, and the work with the parts assembled is conveyed.
　このように、ワークのハンドから部品のハンドに取り替えた際、ハンドをワークから取り外さない場合、部品の供給後にワークのハンドを取り外した位置にアームを戻す必要がある。ただし、部品をワークの組み付けた際、ワークが動いて、それに伴いハンドの位置が変わってしまうことがある。この場合、取り外した位置からハンドの位置がずれているため、取り外した位置にアームを戻しても、ハンドをアームに装着することができなくなる。 As described above, when the work hand is replaced with the part hand, if the hand is not removed from the work, it is necessary to return the arm to the position where the work hand is removed after the parts are supplied. However, when the work is assembled with parts, the work may move, and the position of the hand may change accordingly. In this case, since the position of the hand is shifted from the removed position, the hand cannot be attached to the arm even if the arm is returned to the removed position.
　一方、ワークのハンドから部品のハンドに取り替えた際、ハンドをワークから取り外して所定の場所に載置すると、所定の場所にハンドを戻せば、ハンドをアームに装着することができる。しかし、ハンドの載置場所が必要になり、装置が大型化する。 On the other hand, when the work hand is replaced with the part hand, if the hand is removed from the work and placed in a predetermined place, the hand can be attached to the arm if the hand is returned to the predetermined place. However, a place for placing the hand is required, and the apparatus becomes large.
　本発明は以上の事情に鑑みてされたものであり、その目的は、ロボットにおいて、小型化および作業効率の向上が図られる。 The present invention has been made in view of the above circumstances, and an object of the present invention is to reduce the size and improve the working efficiency of a robot.
　本発明の一態様に係るロボットは、第１ハンドと、第２ハンドと、先端に前記第１ハンドおよび前記第２ハンドを交換可能に装着するアームと、を備え、前記第１ハンドは、床の所定位置との位置関係を規定する位置決め部を有し、前記アームは、前記第１ハンドを装着し、前記位置決め部を前記床の所定位置に固定し、前記第１ハンドに代えて前記第２ハンドを装着し、前記第２ハンドに代えて前記第１ハンドを装着する。 A robot according to an aspect of the present invention includes a first hand, a second hand, and an arm that replaceably attaches the first hand and the second hand to a tip, and the first hand includes a floor A positioning portion that defines a positional relationship with a predetermined position of the first position, the arm is attached to the first hand, the positioning portion is fixed to a predetermined position on the floor, and the first hand is replaced with the first hand. Two hands are mounted, and the first hand is mounted instead of the second hand.
　上記構成によれば、特定の作業にアームを制御すればよいため、小型化が図られる。また、第１ハンドから第２ハンドに取り替えた際、たとえば、第１ハンドをワークに取り付けたままにすると、第１ハンドの載置場所が不要であり、小型化が図られる。さらに、位置決め部を床の所定位置に固定することにより、所定位置との位置関係が規定されるため、取り外した位置にアームを戻して第１ハンドをアームに装着することができるため、作業効率の向上がはかられる。 According to the above configuration, the arm can be controlled for a specific operation, so that the size can be reduced. Further, when the first hand is replaced with the second hand, for example, if the first hand is left attached to the work, the place for placing the first hand is unnecessary, and the size can be reduced. Furthermore, since the positional relationship with the predetermined position is defined by fixing the positioning portion at a predetermined position on the floor, the arm can be returned to the removed position and the first hand can be attached to the arm, so that work efficiency can be improved. Can be improved.
　ロボットでは、前記床の所定位置に設けられた被位置決め部は前記床に設けられた突部であり、前記位置決め部は前記第１ハンドの下面に設けられかつ前記突部に嵌められる窪み部であってもよい。上記構成によれば、第１ハンドを被位置決め部上に配置することにより、第１ハンドの窪み部が被位置決め部の突部に嵌り、位置決め部を所定位置に簡単に固定することができる。 In the robot, the positioned portion provided at a predetermined position of the floor is a protrusion provided on the floor, and the positioning portion is a recess provided on the lower surface of the first hand and fitted into the protrusion. There may be. According to the above configuration, by disposing the first hand on the positioned portion, the recessed portion of the first hand fits into the protruding portion of the positioned portion, and the positioning portion can be easily fixed at a predetermined position.
　ロボットでは、前記第１ハンドは、ワークの取付部内に挿入されかつ互いの間隔を変更可能な一対の支持部材を有し、前記取付部内において一対の前記支持部材の互いの間隔を広げて前記第１ハンドが前記ワークを保持してもよい。上記構成によれば、一対の支持部材を取付部内に挿入して間隔を広げることにより、ワークと第１ハンドを固定することができると共に、その位置関係を規定することができる。よって、床の所定位置に固定された第１ハンドを介して、ワークと床との位置関係が固定される。 In the robot, the first hand has a pair of support members that can be inserted into a workpiece attachment portion and can change a distance between each other. One hand may hold the workpiece. According to the above configuration, the workpiece and the first hand can be fixed and the positional relationship can be defined by inserting the pair of support members into the mounting portion and widening the interval. Therefore, the positional relationship between the workpiece and the floor is fixed via the first hand fixed at a predetermined position on the floor.
　本発明によれば、ロボットにおいて、小型化および作業効率の向上が図られる。 According to the present invention, the robot can be reduced in size and improved in work efficiency.
本発明の第１実施形態に係るロボットの概略構成を示す模式図である。It is a mimetic diagram showing a schematic structure of a robot concerning a 1st embodiment of the present invention. 図２Ａは第１ハンドによりワークを保持した状態を下方から視た図である。図２Ｂは、図２Ａを側方から視た図である。FIG. 2A is a view of the state in which the workpiece is held by the first hand as viewed from below. FIG. 2B is a side view of FIG. 2A. 制御装置の構成を概略的に示す機能ブロック図である。It is a functional block diagram which shows the structure of a control apparatus schematically. アームに第２ハンドを装着した状態を示す図である。It is a figure which shows the state which mounted | wore the 2nd hand to the arm. アームにより部品を供給している状態を示す図である。It is a figure which shows the state which is supplying components with an arm. アームを第１ハンドに装着した状態を示す図である。It is a figure which shows the state which mounted | wore the 1st hand with the arm.
　〔第１実施形態〕
　以下、本発明の実施形態を、図面を参照しながら具体的に説明する。なお、以下では全ての図面を通じて同一または相当する要素には同一の参照符号を付して、その重複する説明を省略する。 [First Embodiment]
Hereinafter, embodiments of the present invention will be specifically described with reference to the drawings. In the following description, the same or corresponding elements are denoted by the same reference symbols throughout the drawings, and redundant description thereof is omitted.
　本実施形態１に係るロボット２０は、特定の作業を行うことが可能な装置である。特に、ロボット２０は、ワーク１１の搬送および別の作業を行うことが可能な装置である。別の作業として、以下では、部品１２を保持してワーク１１に供給する作業について説明するが、これ以外の作業でもよい。たとえば、ノズルを保持してワーク１１にノズルから液体をワーク１１に噴霧する作業でもよい。 The robot 20 according to the first embodiment is a device capable of performing a specific work. In particular, the robot 20 is a device capable of transporting the workpiece 11 and performing another work. As another operation, the operation of holding the component 12 and supplying it to the workpiece 11 will be described below, but other operations may be performed. For example, the operation | work which sprays a liquid on the workpiece | work 11 from the nozzle to the workpiece | work 11 holding a nozzle may be sufficient.
　本実施形態に係るロボット２０は、６軸の垂直多関節型ロボットである。ただし、本発明は上記に限定されず、水平多関節型・垂直多関節型を問わず、また、軸数を問わず、多関節アームを備えるロボットに広く適用することができる。 The robot 20 according to the present embodiment is a 6-axis vertical articulated robot. However, the present invention is not limited to the above, and can be widely applied to robots having multi-joint arms regardless of the number of axes, regardless of whether they are horizontal multi-joint type or vertical multi-joint type.
　ロボット２０は、ベース２１と、ベース２１に支持された多関節アーム（以下、単に「アーム」という）２２と、アーム２２の先端部に装着された第１ハンド２３または第２ハンド２４と、アーム２２および第１ハンド２３、第２ハンド２４の動作を制御する制御装置２５とを備えている。 The robot 20 includes a base 21, an articulated arm (hereinafter simply referred to as “arm”) 22 supported by the base 21, a first hand 23 or a second hand 24 attached to the tip of the arm 22, an arm 22, a first hand 23, and a control device 25 that controls the operation of the second hand 24.
　アーム２２は、複数のリンクが直列的に連接されて成る。具体的には、アーム２２は、第１リンク２２１、第２リンク２２２、第３リンク２２３、第４リンク２２４、第５リンク２２５、第６リンク２２６の各リンクが、基端部から先端部へ向けてこの順に連接されて成る。 The arm 22 is formed by connecting a plurality of links in series. Specifically, the arm 22 includes the first link 221, the second link 222, the third link 223, the fourth link 224, the fifth link 225, and the sixth link 226 from the proximal end portion to the distal end portion. Concatenated in this order.
　第１リンク２２１は、ベース２１に対し、旋回関節ＪＴ１を介して垂直軸回りを旋回可能に連結されている。第２リンク２２２の基端部は、第１リンク２２１に回転関節ＪＴ２を介して連結されている。第２リンク２２２の先端部と第３リンク２２３の基端部とは回転関節ＪＴ３を介して連結されている。回転関節ＪＴ２、ＪＴ３は、リンク同士を水平軸回りに垂直に回転するように連結する関節である。第３リンク２２３の先端部と第４リンク２２４の基端部とは捻れ関節ＪＴ４を介して連結されている。 The first link 221 is connected to the base 21 so as to be able to turn around a vertical axis via a turning joint JT1. The base end portion of the second link 222 is connected to the first link 221 via the rotary joint JT2. The distal end portion of the second link 222 and the proximal end portion of the third link 223 are connected via a rotary joint JT3. The rotary joints JT2 and JT3 are joints that link the links so as to rotate vertically around the horizontal axis. The distal end portion of the third link 223 and the proximal end portion of the fourth link 224 are connected via a twisted joint JT4.
　第４リンク２２４の先端部と第５リンク２２５の基端部とは回転関節ＪＴ５を介して連結されている。第５リンク２２５の先端部と第６リンク２２６の基端部とは捻れ関節ＪＴ６を介して連結されている。回転関節ＪＴ５および捻れ関節ＪＴ６を含む第４リンク２２４、第５リンク２２５および第６リンク２２６の連接体は、アーム２２の手首部を構成している。 The distal end portion of the fourth link 224 and the proximal end portion of the fifth link 225 are connected via a rotary joint JT5. The distal end portion of the fifth link 225 and the proximal end portion of the sixth link 226 are connected via a twisted joint JT6. A connecting body of the fourth link 224, the fifth link 225, and the sixth link 226 including the rotary joint JT 5 and the twist joint JT 6 constitutes the wrist portion of the arm 22.
　第６リンク２２６の先端部にはメカニカルインターフェース２２７が設けられている。このメカニカルインターフェース２２７に第１ハンド２３および第２ハンド２４が互いに交換可能に装着される。 A mechanical interface 227 is provided at the tip of the sixth link 226. The first hand 23 and the second hand 24 are attached to the mechanical interface 227 so as to be interchangeable.
　第１ハンド２３は、第１装着面２３１、第１保持部２３２および位置決め部２３３を有している。第１装着面２３１は、メカニカルインターフェース２２７が取り付けられる面であって、たとえば、第１ハンド２３の上面において水平に設けられている。第１保持部２３２は、ワーク１１を保持する保持部であって、ワーク１１に予め取り付けられていてもよいし、ワーク１１を最初に搬送する前に取り付けられてもよい。 The first hand 23 has a first mounting surface 231, a first holding part 232, and a positioning part 233. The first mounting surface 231 is a surface to which the mechanical interface 227 is attached, and is provided horizontally on the upper surface of the first hand 23, for example. The 1st holding | maintenance part 232 is a holding | maintenance part holding the workpiece | work 11, Comprising: It may be previously attached to the workpiece | work 11 and may be attached before conveying the workpiece | work 11 for the first time.
　位置決め部２３３は、床１３と第１ハンド２３との位置関係を規定し、床１３の所定位置（第１所定位置）に第１ハンド２３を脱着可能に取り付けるための部分である。位置決め部２３３は、たとえば、第１ハンド２３において被位置決め部１３ａに取り付けられ、第１ハンド２３の下面に設けられた窪みにより形成される。被位置決め部１３ａは、第１ハンド２３の目標位置を定めるものであって、たとえば、床１３から突き出すピンなどの突起で形成される。 The positioning part 233 is a part for defining the positional relationship between the floor 13 and the first hand 23 and detachably attaching the first hand 23 to a predetermined position (first predetermined position) of the floor 13. The positioning part 233 is attached to the positioned part 13 a in the first hand 23 and is formed by a recess provided on the lower surface of the first hand 23, for example. The positioned portion 13a determines the target position of the first hand 23, and is formed by a protrusion such as a pin protruding from the floor 13, for example.
　第２ハンド２４は、第２装着面２４１および第２保持部２４２を有している。第２装着面２４１は、メカニカルインターフェース２２７が取り付けられる面であって、たとえば、第２ハンド２４の上面において水平に設けられている。第２保持部２４２は、ワーク１１に取り付けられる部品１２を保持する保持部であって、部品１２に予め取り付けられている。 The second hand 24 has a second mounting surface 241 and a second holding part 242. The second mounting surface 241 is a surface to which the mechanical interface 227 is attached, and is provided horizontally on the upper surface of the second hand 24, for example. The second holding unit 242 is a holding unit that holds the component 12 attached to the workpiece 11 and is attached to the component 12 in advance.
　アーム２２は、各関節ＪＴ１～ＪＴ６（軸）に対応した関節駆動部を備えている。各関節駆動部は、サーボドライバ、サーボモータ、回転角検出器および減速機などを含んでいる。サーボモータの回転は制御装置２５によってサーボ制御される。 The arm 22 includes a joint drive unit corresponding to each joint JT1 to JT6 (axis). Each joint drive unit includes a servo driver, a servo motor, a rotation angle detector, a speed reducer, and the like. The rotation of the servo motor is servo controlled by the control device 25.
　制御装置２５は、図３に示すように、ＣＰＵ等の演算部２５ａと、ＲＯＭ、ＲＡＭ等の記憶部２５ｂと、サーボ制御部２５ｃと、を備える。制御装置２５は、例えばマイクロコントローラ等のコンピュータを備えたロボットコントローラである。なお、制御装置２５は、集中制御する単独の制御装置２５によって構成されていてもよいし、互いに協働して分散制御する複数の制御装置２５によって構成されていてもよい。 As shown in FIG. 3, the control device 25 includes a calculation unit 25a such as a CPU, a storage unit 25b such as a ROM and a RAM, and a servo control unit 25c. The control device 25 is a robot controller including a computer such as a microcontroller. The control device 25 may be configured by a single control device 25 that performs centralized control, or may be configured by a plurality of control devices 25 that perform distributed control in cooperation with each other.
　記憶部２５ｂには、ロボットコントローラとしての基本プログラム、各種固定データ等の情報が記憶されている。演算部２５ａは、記憶部２５ｂに記憶された基本プログラム等のソフトウェアを読み出して実行することにより、ロボット２０の各種動作を制御する。たとえば、制御装置２５は、記憶部２５ｂに予め記憶されたプログラム、または、作業者により入力された操作に基づいてアーム２２の動作およびメカニカルインターフェース２２７の脱着を制御する。 The storage unit 25b stores information such as a basic program as a robot controller and various fixed data. The calculation unit 25a controls various operations of the robot 20 by reading and executing software such as a basic program stored in the storage unit 25b. For example, the control device 25 controls the operation of the arm 22 and the attachment / detachment of the mechanical interface 227 based on a program stored in advance in the storage unit 25b or an operation input by an operator.
　すなわち、演算部２５ａは、ロボット２０の制御指令を生成し、これをサーボ制御部２５ｃに出力する。サーボ制御部２５ｃは、演算部２５ａにより生成された制御指令に基づいて、アーム２２の各関節ＪＴ１～ＪＴ６に対応するサーボモータの駆動を制御するように構成されている。 That is, the arithmetic unit 25a generates a control command for the robot 20 and outputs it to the servo control unit 25c. The servo control unit 25c is configured to control the driving of the servo motors corresponding to the joints JT1 to JT6 of the arm 22 based on the control command generated by the calculation unit 25a.
　次に、第１ハンド２３の第１保持部２３２について図２Ａおよび図２Ｂを参照して説明する。第１保持部２３２は、たとえば、一対の支持部材２３ａ、２３ｂにより構成されており、これによりワーク１１を保持する。たとえば、支持部材２３ａ、２３ｂは、板状部材であり、第１装着面２３１の中心の下方から側方へ突き出し長く延びている。一対の支持部材２３ａ、２３ｂは、互いに平行に並べられている。一対の支持部材２３ａ、２３ｂの側面のうち、互いに対向する側面を内側面と称し、この内側面に対向する側面を外側面と称する。 Next, the first holding unit 232 of the first hand 23 will be described with reference to FIGS. 2A and 2B. The first holding part 232 is constituted by a pair of support members 23a and 23b, for example, and holds the work 11 thereby. For example, the support members 23a and 23b are plate-like members, projecting from the lower side of the center of the first mounting surface 231 to the side, and extending long. The pair of support members 23a and 23b are arranged in parallel to each other. Of the side surfaces of the pair of support members 23a and 23b, the side surfaces facing each other are referred to as inner side surfaces, and the side surfaces facing the inner side surfaces are referred to as outer side surfaces.
　一対の支持部材２３ａ、２３ｂには、直動式アクチュエータなどの直動装置が取り付けられている。これにより、一対の支持部材２３ａ、２３ｂは、その並び方向に移動し、互いの間隔を変化させる。 A linear motion device such as a linear motion actuator is attached to the pair of support members 23a and 23b. Thereby, a pair of support members 23a and 23b move to the arrangement direction, and change a mutual gap.
　次に、上記構成のロボット２０の動作について、図１～図６を参照して説明する。この動作は制御装置２５により制御される。たとえば、ワーク１１は、コントローラなどの構成部材がカート内に予め組み込まれたカートアッシである。部品１２は、たとえば、リンクとジョイントとを予め組み合わせたアームアッシである。ただし、ワーク１１はカートアッシに限定されず、また、部品１２はアームアッシに限定されない。 Next, the operation of the robot 20 configured as described above will be described with reference to FIGS. This operation is controlled by the control device 25. For example, the workpiece 11 is a cart assembly in which components such as a controller are incorporated in advance in the cart. The component 12 is, for example, an arm assembly in which a link and a joint are combined in advance. However, the workpiece 11 is not limited to the cart assembly, and the component 12 is not limited to the arm assembly.
　まず、図１に示すように、アーム２２の先端部のメカニカルインターフェース２２７を第１ハンド２３の第１装着面２３１に取り付け、第１ハンド２３をアーム２２の先端に装着する。これにより、アーム２２の動きに応じて第１ハンド２３が移動および動作する。 First, as shown in FIG. 1, the mechanical interface 227 at the tip of the arm 22 is attached to the first mounting surface 231 of the first hand 23, and the first hand 23 is attached to the tip of the arm 22. Accordingly, the first hand 23 moves and operates according to the movement of the arm 22.
　第１ハンド２３は第１保持部２３２によりワーク１１を保持する。この際、図２Ａおよび図２Ｂに示すように、第１保持部２３２の一対の支持部材２３ａ、２３ｂを、その並び方向がワーク１１の下面に対して平行になるように、ワーク１１の下部に設けられた取付部１１ａ内に挿入する。この取付部１１ａは、ワーク１１の下面に取り付けられた筒状形状である。たとえば、取付部１１ａは、長方形の断面を有する角筒形状であり、直方体形状の内部空間を有し、この内部空間は取付口を介して外部に通じている。取付部１１ａは、ワーク１１の一方側辺から、これに対向する他方側辺の近傍まで直線状に長く延びる。取付口は、ワーク１１の一方側辺に設けられている。 The first hand 23 holds the workpiece 11 by the first holding unit 232. At this time, as shown in FIGS. 2A and 2B, the pair of support members 23 a and 23 b of the first holding portion 232 are placed below the work 11 so that the alignment direction is parallel to the lower surface of the work 11. It inserts in the provided attachment part 11a. The attachment portion 11 a has a cylindrical shape attached to the lower surface of the work 11. For example, the attachment portion 11a has a rectangular tube shape having a rectangular cross section, and has a rectangular parallelepiped internal space, and the internal space communicates with the outside through an attachment opening. The attaching portion 11a extends linearly from one side of the workpiece 11 to the vicinity of the other side facing the workpiece 11. The attachment port is provided on one side of the workpiece 11.
　一対の支持部材２３ａ、２３ｂは、取付口から取付部１１ａ内に挿入される。支持部材２３ａ、２３ｂは、その長手方向における位置がセンサ（図示せず）により検出されて、取付部１１ａの所定位置に配置される。そして、一対の支持部材２３ａ、２３ｂは、その並び方向に間隔が拡がるように移動される。これにより、支持部材２３ａの外側面はこれに対向する取付部１１ａの内面に接し、支持部材２３ｂの外側面はこれに対向する取付部１１ａの内面に接する。このように、一対の支持部材２３ａ、２３ｂが取付部１１ａの内面に対して突っ張り、一対の支持部材２３ａ、２３ｂはその並び方向において取付部１１ａに固定される。また、支持部材２３ａ、２３ｂの外側面と取付部１１ａの内面との摩擦力により、一対の支持部材２３ａ、２３ｂはその長手方向において取付部１１ａに固定される。 The pair of support members 23a and 23b are inserted into the attachment portion 11a from the attachment opening. The support members 23a and 23b are arranged at predetermined positions on the mounting portion 11a, as their positions in the longitudinal direction are detected by a sensor (not shown). Then, the pair of support members 23a and 23b are moved so that the interval is widened in the arrangement direction. As a result, the outer surface of the support member 23a is in contact with the inner surface of the mounting portion 11a facing this, and the outer surface of the support member 23b is in contact with the inner surface of the mounting portion 11a facing this. In this manner, the pair of support members 23a and 23b are stretched against the inner surface of the attachment portion 11a, and the pair of support members 23a and 23b are fixed to the attachment portion 11a in the arrangement direction. The pair of support members 23a and 23b are fixed to the attachment portion 11a in the longitudinal direction by the frictional force between the outer side surfaces of the support members 23a and 23b and the inner surface of the attachment portion 11a.
　さらに、上下方向における支持部材２３ａ、２３ｂの高さは取付部１１ａの内面における高さと等しい。このため、上下方向においても、支持部材２３ａ、２３ｂは取付部１１ａに固定される。このようにして、一対の支持部材２３ａ、２３ｂは、その並び方向、長手方向および上下方向のいずれにおいても取付部１１ａに固定され、第１ハンド２３とワーク１１との位置関係が固定される。 Furthermore, the height of the support members 23a and 23b in the vertical direction is equal to the height of the inner surface of the attachment portion 11a. Therefore, the support members 23a and 23b are fixed to the attachment portion 11a also in the vertical direction. In this way, the pair of support members 23a and 23b are fixed to the attachment portion 11a in any of the arrangement direction, the longitudinal direction, and the vertical direction, and the positional relationship between the first hand 23 and the workpiece 11 is fixed.
　図１に示すように、アーム２２の各駆動部を駆動し、第１ハンド２３に保持されているワーク１１を作業員の前に搬送する。作業員の前には被位置決め部１３ａが床１３に設けられている。このため、被位置決め部１３ａ上に位置決め部２３３が位置するように第１ハンド２３を床１３に配置する。これにより、被位置決め部１３ａが位置決め部２３３に嵌り、第１ハンド２３を床１３の第１所定位置に固定される。 As shown in FIG. 1, each drive part of the arm 22 is driven, and the workpiece | work 11 currently hold | maintained at the 1st hand 23 is conveyed in front of a worker. A positioned portion 13a is provided on the floor 13 in front of the worker. For this reason, the 1st hand 23 is arrange | positioned on the floor | bed 13 so that the positioning part 233 may be located on the to-be-positioned part 13a. Thereby, the to-be-positioned part 13a fits into the positioning part 233, and the 1st hand 23 is fixed to the 1st predetermined position of the floor | bed 13.
　図４に示すように、アーム２２の先端部から第１ハンド２３を取り外す。ただし、第１ハンド２３をワーク１１から取り外さずに、ワーク１１に取り付けられたまま維持する。そして、所定位置（第２所定位置）に配置されている第２ハンド２４へアーム２２を移動する。そして、アーム２２のメカニカルインターフェース２２７を第２ハンド２４の第２装着面２４１に取り付け、第２ハンド２４をアーム２２に装着する。これにより、アーム２２の動きに応じて第２ハンド２４、および、これに予め保持されている部品１２が移動する。 As shown in FIG. 4, the first hand 23 is removed from the tip of the arm 22. However, the first hand 23 is kept attached to the workpiece 11 without being removed from the workpiece 11. Then, the arm 22 is moved to the second hand 24 arranged at a predetermined position (second predetermined position). Then, the mechanical interface 227 of the arm 22 is attached to the second attachment surface 241 of the second hand 24, and the second hand 24 is attached to the arm 22. Thereby, according to the movement of the arm 22, the second hand 24 and the component 12 held in advance by the second hand 24 move.
　図５に示すように、アーム２２の駆動により第２ハンド２４に保持されている部品１２をワーク１１上に搬送する。ここで、ワーク１１は床１３に対して直接的に位置決めされていない。ただし、位置決め部２３３および被位置決め部１３ａにより第１ハンド２３と床１３の第１所定位置との位置関係は固定され、かつ、第１保持部２３２および取付部１１ａによりワーク１１と第１ハンド２３との位置関係は固定されている。このため、これらにより、ワーク１１は床１３に位置決めされ、所定位置（第３所定位置）に配される。よって、この第３所定位置に第２ハンド２４を移動することにより、第２ハンド２４に保持された部品１２はワーク１１上に配される。 As shown in FIG. 5, the part 12 held by the second hand 24 is conveyed onto the work 11 by driving the arm 22. Here, the workpiece 11 is not directly positioned with respect to the floor 13. However, the positional relationship between the first hand 23 and the first predetermined position of the floor 13 is fixed by the positioning portion 233 and the positioned portion 13a, and the workpiece 11 and the first hand 23 are fixed by the first holding portion 232 and the mounting portion 11a. The positional relationship with is fixed. For this reason, the work 11 is positioned on the floor 13 by these, and is arranged at a predetermined position (third predetermined position). Therefore, by moving the second hand 24 to the third predetermined position, the component 12 held by the second hand 24 is disposed on the workpiece 11.
　そして、作業員が部品１２をワーク１１に組み付ける作業を行う。このような作業員の組み付け作業によりワーク１１が第３所定位置から動くことがある。ただし、位置決め部２３３および被位置決め部１３ａにより第１ハンド２３は第１所定位置に固定されているため、第１ハンド２３は第１所定位置から動かない。 Then, the worker performs the work of assembling the part 12 to the work 11. The workpiece 11 may move from the third predetermined position by such an assembling operation of the worker. However, since the first hand 23 is fixed at the first predetermined position by the positioning portion 233 and the positioned portion 13a, the first hand 23 does not move from the first predetermined position.
　図６に示すように、アーム２２の先端部から第２ハンド２４を取り外す。そして、第１ハンド２３へアーム２２を移動させる。この際、部品１２の組み付け作業などによりワーク１１が搬送した位置からずれていることがあるが、第１ハンド２３はその位置決め部２３３により第１所定位置に配置される被位置決め部１３ａに固定されている。よって、第１所定位置に基づいてアーム２２の先端部を移動すると、アーム２２のメカニカルインターフェース２２７が第１ハンド２３の第１装着面２３１の対向位置に配される。よって、メカニカルインターフェース２２７を第１装着面２３１に取り付け、第１ハンド２３をアーム２２に装着する。これにより、アーム２２を駆動して、ワーク１１を搬送する。 As shown in FIG. 6, the second hand 24 is removed from the tip of the arm 22. Then, the arm 22 is moved to the first hand 23. At this time, the work 11 may be displaced from the position where the work 11 is conveyed due to the assembly work of the parts 12, but the first hand 23 is fixed to the positioned part 13 a arranged at the first predetermined position by the positioning part 233. ing. Therefore, when the distal end portion of the arm 22 is moved based on the first predetermined position, the mechanical interface 227 of the arm 22 is disposed at a position facing the first mounting surface 231 of the first hand 23. Therefore, the mechanical interface 227 is attached to the first attachment surface 231 and the first hand 23 is attached to the arm 22. Thereby, the arm 22 is driven and the workpiece 11 is conveyed.
　上記構成によれば、アーム２２は、第１ハンド２３を装着してワーク１１を搬送し、位置決め部２３３を所定位置に固定し、第１ハンド２３に代えて第２ハンド２４を装着して部品１２をワーク１１に供給し、第２ハンド２４に代えて第１ハンド２３を装着してワーク１１を搬送する。 According to the above configuration, the arm 22 mounts the first hand 23 and transports the workpiece 11, fixes the positioning unit 233 at a predetermined position, and mounts the second hand 24 instead of the first hand 23 to provide a component. 12 is supplied to the work 11, the first hand 23 is attached instead of the second hand 24, and the work 11 is transported.
　このように、床１３の第１所定位置との位置関係を規定する位置決め部２３３により、第１ハンド２３は第１所定位置に固定されている。このため、たとえ、ワーク１１に部品１２を組み付ける作業によりワーク１１が移動しても、アーム２２から第１ハンド２３を取り外した後、再び、第１ハンド２３に取り付ける際、第１所定位置に基づいて第１ハンド２３を取り外した位置にアーム２２の先端を配置することにより、第１ハンド２３をアーム２２に確実に装着することができ、作業効率の向上が図られる。 Thus, the first hand 23 is fixed at the first predetermined position by the positioning portion 233 that defines the positional relationship with the first predetermined position of the floor 13. For this reason, even if the workpiece 11 is moved by the work of assembling the component 12 to the workpiece 11, the first hand 23 is removed from the arm 22 and then attached to the first hand 23 again based on the first predetermined position. By disposing the tip of the arm 22 at the position where the first hand 23 is removed, the first hand 23 can be securely attached to the arm 22 and the working efficiency can be improved.
　また、ロボット１０によりワーク１１の搬送および部品１２の供給が行えるため、装置の小型化が図られる。さらに、第２ハンド２４にアーム２２を装着している間、第１ハンド２３をワーク１１に取り付けたままであるため、第１ハンド２３を載置する場所が必要なく、装置の小型化が図られる。 Further, since the work 11 can be transported and the parts 12 can be supplied by the robot 10, the apparatus can be miniaturized. Further, while the arm 22 is mounted on the second hand 24, the first hand 23 remains attached to the workpiece 11, so that a place for placing the first hand 23 is not required, and the apparatus can be downsized. .
　また、被位置決め部１３ａは床１３に設けられた突部であり、位置決め部２３３は第１ハンド２３の下面に設けられかつ突部に嵌められる窪み部である。このため、被位置決め部１３ａ上に位置決め部２３３が位置するように第１ハンド２３を床１３に降ろすだけで、位置決め部２３３に被位置決め部１３ａが嵌り、第１ハンド２３が第１所定位置に固定される。 The positioned portion 13a is a protrusion provided on the floor 13, and the positioning portion 233 is a recess provided on the lower surface of the first hand 23 and fitted into the protrusion. For this reason, just by lowering the first hand 23 onto the floor 13 so that the positioning part 233 is positioned on the positioned part 13a, the positioned part 13a is fitted into the positioning part 233, and the first hand 23 is brought to the first predetermined position. Fixed.
　さらに、第１ハンド２３は、ワーク１１の取付部１１ａ内に挿入されかつ互いの間隔を変更可能な一対の支持部材２３ａ、２３ｂを有し、取付部１１ａ内において一対の支持部材２３ａ、２３ｂの互いの間隔を広げて第１ハンド２３がワーク１１を保持する。このように、第１ハンド２３とワーク１１との位置関係を固定することにより、位置決め部２３３および被位置決め部１３ａにより固定された第１ハンド２３と床１３の第１所定位置とを介して、ワーク１１は床１３の第３所定値に固定される。 Further, the first hand 23 has a pair of support members 23a and 23b that are inserted into the attachment portion 11a of the workpiece 11 and can change the distance between each other, and the pair of support members 23a and 23b is included in the attachment portion 11a. The first hand 23 holds the workpiece 11 with the mutual interval widened. In this way, by fixing the positional relationship between the first hand 23 and the workpiece 11, the first hand 23 fixed by the positioning portion 233 and the positioned portion 13a and the first predetermined position of the floor 13 are used. The workpiece 11 is fixed to the third predetermined value of the floor 13.
　上記説明から、当業者にとっては、本発明の多くの改良や他の実施形態が明らかである。従って、上記説明は、例示としてのみ解釈されるべきであり、本発明を実行する最良の態様を当業者に教示する目的で提供されたものである。本発明の精神を逸脱することなく、その構造および／または機能の詳細を実質的に変更できる。 From the above description, many modifications and other embodiments of the present invention are apparent to persons skilled in the art. Accordingly, the foregoing description should be construed as illustrative only and is provided for the purpose of teaching those skilled in the art the best mode of carrying out the invention. The details of the structure and / or function may be substantially changed without departing from the spirit of the invention.
　本発明は、小型化および作業効率の向上が図られるロボットとして有用である。 The present invention is useful as a robot that can be reduced in size and improved in work efficiency.
１１　　：ワーク
１１ａ　：取付部
１３　　：床
１３ａ　：被位置決め部
２０　　：ロボット
２２　　：アーム
２３　　：第１ハンド
２３ａ　：支持部材
２３ｂ　：支持部材
２４　　：第２ハンド
２２７　：メカニカルインターフェース
２３３　：位置決め部 11: Work 11a: Mounting portion 13: Floor 13a: Positioned portion 20: Robot 22: Arm 23: First hand 23a: Support member 23b: Support member 24: Second hand 227: Mechanical interface 233: Positioning portion

Claims (3)

  1. 　第１ハンドと、
    　第２ハンドと、
    　先端に前記第１ハンドおよび前記第２ハンドを交換可能に装着するアームと、を備え、
    　前記第１ハンドは、床の所定位置との位置関係を規定する位置決め部を有し、
    　前記アームは、前記第１ハンドを装着し、前記位置決め部を前記床の所定位置に固定し、前記第１ハンドに代えて前記第２ハンドを装着し、前記第２ハンドに代えて前記第１ハンドを装着する、ロボット。     The first hand;
    A second hand;
    An arm that replaceably attaches the first hand and the second hand to the tip;
    The first hand has a positioning portion that defines a positional relationship with a predetermined position on the floor,
    The arm attaches the first hand, fixes the positioning portion at a predetermined position on the floor, attaches the second hand instead of the first hand, and replaces the first hand with the first hand. A robot that wears hands.
  2. 　前記床の所定位置に設けられた被位置決め部は前記床に設けられた突部であり、
    　前記位置決め部は前記第１ハンドの下面に設けられかつ前記突部に嵌められる窪み部である、請求項１に記載のロボット。     The positioned portion provided at a predetermined position of the floor is a protrusion provided on the floor,
    The robot according to claim 1, wherein the positioning part is a hollow part provided on a lower surface of the first hand and fitted into the protrusion.
  3. 　前記第１ハンドは、ワークの取付部内に挿入されかつ互いの間隔を変更可能な一対の支持部材を有し、
    　前記取付部内において一対の前記支持部材の互いの間隔を広げて前記第１ハンドが前記ワークを保持する、請求項１または２に記載のロボット。     The first hand has a pair of support members that can be inserted into the work mounting portion and can change the distance between each other.
    3. The robot according to claim 1, wherein the first hand holds the workpiece while increasing a distance between the pair of support members in the attachment portion.
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JPH0560122A (en) * 1991-08-26 1993-03-09 Toyota Motor Corp Drive shaft made of composite material
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JPH0560122B2 (en) * 1985-08-27 1993-09-01 Toyoda Automatic Loom Works
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JP2010094768A (en) * 2008-10-15 2010-04-30 Ihi Corp Manipulator system

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