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
Authority
WO
WIPO (PCT)
Prior art keywords
hand
arm
workpiece
work
robot
Prior art date
Application number
PCT/JP2017/036147
Other languages
English (en)
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.)
Filing date
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/zh
Publication of WO2018066603A1 publication Critical patent/WO2018066603A1/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
    • B25J15/04—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

La présente invention concerne un robot (20) comprenant une première main (23), une seconde main (24), et un bras (22) ayant une extrémité sur laquelle la première main (23) ou la seconde main (24) peut être fixée de manière interchangeable. La première main (23) présente une partie de positionnement (233) permettant de définir la relation de position avec une position prédéfinie sur le sol (13). La première main (23) est fixée au bras (22), la partie de positionnement (233) est fixée à la position prédéfinie, la seconde main (24) est fixée à la place de la première main (23), et la première main (23) est fixée à la place de la seconde main (24).
PCT/JP2017/036147 2016-10-06 2017-10-04 Robot WO2018066603A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201780061584.5A CN109803797B (zh) 2016-10-06 2017-10-04 机器人

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2016198053A JP6741544B2 (ja) 2016-10-06 2016-10-06 ロボット
JP2016-198053 2016-10-06

Publications (1)

Publication Number Publication Date
WO2018066603A1 true WO2018066603A1 (fr) 2018-04-12

Family

ID=61832142

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2017/036147 WO2018066603A1 (fr) 2016-10-06 2017-10-04 Robot

Country Status (3)

Country Link
JP (1) JP6741544B2 (fr)
CN (1) CN109803797B (fr)
WO (1) WO2018066603A1 (fr)

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0560122B2 (fr) * 1985-08-27 1993-09-01 Toyoda Automatic Loom Works
JPH071297A (ja) * 1993-06-11 1995-01-06 Yamaha Motor Co Ltd ユニット式工作機械
JP2009214262A (ja) * 2008-03-12 2009-09-24 Yaskawa Electric Corp 双腕ロボット
JP2010094768A (ja) * 2008-10-15 2010-04-30 Ihi Corp マニピュレータシステム

Family Cites Families (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS6094486U (ja) * 1983-12-02 1985-06-27 三菱重工業株式会社 ハンド自動交換装置
JPH0560122A (ja) * 1991-08-26 1993-03-09 Toyota Motor Corp 複合材製の駆動軸
JPH0825267A (ja) * 1994-07-14 1996-01-30 Olympus Optical Co Ltd ツールアダプタ支持装置
JP2008025267A (ja) * 2006-07-24 2008-02-07 Calsonic Kansei Corp ドア開閉アシスト装置
DE202011052430U1 (de) * 2011-12-22 2013-03-25 Kuka Systems Gmbh Werkzeugwechselsystem
CN104149102B (zh) * 2014-07-04 2015-09-09 哈尔滨博强机器人技术有限公司 机器人工具自锁式快速换装盘

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0560122B2 (fr) * 1985-08-27 1993-09-01 Toyoda Automatic Loom Works
JPH071297A (ja) * 1993-06-11 1995-01-06 Yamaha Motor Co Ltd ユニット式工作機械
JP2009214262A (ja) * 2008-03-12 2009-09-24 Yaskawa Electric Corp 双腕ロボット
JP2010094768A (ja) * 2008-10-15 2010-04-30 Ihi Corp マニピュレータシステム

Also Published As

Publication number Publication date
CN109803797A (zh) 2019-05-24
JP6741544B2 (ja) 2020-08-19
CN109803797B (zh) 2022-02-11
JP2018058170A (ja) 2018-04-12

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