WO2019244262A1 - Robot and robot hand - Google Patents

Robot and robot hand Download PDF

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Publication number
WO2019244262A1
WO2019244262A1 PCT/JP2018/023370 JP2018023370W WO2019244262A1 WO 2019244262 A1 WO2019244262 A1 WO 2019244262A1 JP 2018023370 W JP2018023370 W JP 2018023370W WO 2019244262 A1 WO2019244262 A1 WO 2019244262A1
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WO
WIPO (PCT)
Prior art keywords
linear guide
slider
gripping member
robot
actuator
Prior art date
Application number
PCT/JP2018/023370
Other languages
French (fr)
Japanese (ja)
Inventor
恵次郎 見須
諒宏 古川
崇允 齊藤
Original Assignee
株式会社安川電機
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 株式会社安川電機 filed Critical 株式会社安川電機
Priority to JP2019540678A priority Critical patent/JP6601650B1/en
Priority to CN201880094731.3A priority patent/CN112313048B/en
Priority to PCT/JP2018/023370 priority patent/WO2019244262A1/en
Publication of WO2019244262A1 publication Critical patent/WO2019244262A1/en

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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
    • B25J15/08—Gripping heads and other end effectors having finger members

Definitions

  • the disclosed embodiments relate to a robot and a robot hand.
  • Patent Literature 1 discloses a pair of pawls movable in directions of coming and coming from each other, an air cylinder connected to one pawl to stop and fix this pawl at an arbitrary predetermined position, and a pawl connected to the other pawl.
  • a gripping device including a servomotor capable of freely setting the gripping force of the claw is described.
  • the present invention has been made in view of such a problem, and an object of the present invention is to provide a small-sized robot hand having a high gripping force and a robot having the same.
  • a robot having a robot arm and a robot hand attached to a tip of the robot arm, wherein the robot hand has a first grip.
  • a first linear guide including a member, a first slider to which the first gripping member is connected, and a first rail for guiding the first slider in a moving direction; and attaching the first slider to the first rail.
  • a second actuator having a first actuator for moving the second slider along the second gripper, a second slider to which the second gripper is connected, and a second rail for guiding the second slider in the moving direction.
  • a base member for fixing the second linear guide wherein the robot hand is configured such that a thrust of the second gripping member is larger than a thrust of the first gripping member, As the linear guide, a robot having a larger allowable moment than the allowable moment of the first linear guide is applied.
  • a robot hand attached to a distal end of a robot arm, comprising: a first gripping member, a first slider to which the first gripping member is connected, and the first slider.
  • a first linear guide having a first rail that guides in a movement direction, a first actuator that moves the first slider along the first rail, a second gripping member, and the second gripping member connected
  • a second linear guide having a second slider, a second rail that guides the second slider in the moving direction, and a second power source driven by a power source different from the first actuator.
  • a second actuator that moves along two rails; and a base member that fixes the first linear guide and the second linear guide.
  • a small-sized robot hand having a high gripping force and a robot having the same can be realized.
  • FIG. 2 is an explanatory diagram illustrating an example of a configuration of a robot system.
  • FIG. 3 is an explanatory diagram illustrating an example of a configuration of a front side of a robot hand.
  • FIG. 4 is an explanatory diagram illustrating an example of a configuration of a rear side of the robot hand. It is explanatory drawing showing an example of a structure of the base end part of a 2nd holding member.
  • FIG. 3 is an explanatory diagram illustrating an example of a configuration of a lower side of a robot hand.
  • FIG. 9 is an explanatory diagram illustrating an example of a gripping operation of the robot hand.
  • FIG. 9 is an explanatory diagram illustrating an example of a gripping operation of the robot hand.
  • FIG. 3 is a block diagram illustrating an example of a hardware configuration of a controller.
  • the robot system 1 of the present embodiment includes a robot 10, a container 20, and a conveyor 30.
  • the robot system 1 is a system in which a work W stored in a container 20 is taken out by a robot 10 and transferred to a conveyor 30.
  • a workpiece is moved from a container to a conveyor is described as an example.
  • a workpiece may be moved from a conveyor to a container, from a conveyor to a conveyor, or from a container to a container.
  • the container 20 is a container capable of accommodating a plurality of works W, and for example, a cardboard box, a container, a cargo, a weight, and the like are used.
  • the work W is not particularly limited as long as it can be gripped by the robot 10, but is, for example, a mechanical component or an electrical component (a substrate or the like) constituting the apparatus, a product, a product, a food, or the like in distribution.
  • the robot 10 sequentially takes out the works W from the container 20 and transfers them to the conveyor 30.
  • the container 20 is mounted on, for example, a cart 21 and is replaced with a new container 20 when the transfer of the work W is completed.
  • the container 20 may be placed on the floor without using the cart 21.
  • the conveyor 30 transports the workpiece W sequentially to a predetermined place.
  • the type of the conveyor is not particularly limited, such as a belt, a roller, and a chain. Further, a transfer device (robot or the like) other than the conveyor may be used.
  • the robot 10 has a robot arm 40, a robot hand 100, and a controller 50.
  • the robot arm 40 is an example of an actuator that can move the robot hand 100 in XYZ directions and ⁇ directions orthogonal to each other, and is, for example, a vertical multi-joint type six-axis robot having six joints.
  • the X direction is the transport direction of the conveyor 30
  • the Z direction is the vertical direction
  • the Y direction is a direction orthogonal to both the X and Y directions
  • the ⁇ direction is a rotation direction around the Z axis.
  • a robot hand 100 is attached to the tip of the robot arm 40.
  • the robot arm 40 moves the robot hand 100 to the position where the work W is received (in this example, the container 20), grips the work W, and moves the robot hand 100 to the position where the work W is placed (in this example, the conveyor 30).
  • the workpiece W is transferred by releasing the grip.
  • the robot arm 40 may be a robot other than six axes (for example, five axes or seven axes), or may be a robot other than a vertical articulated robot such as a horizontal articulated robot. Also, instead of a robot having a plurality of joints, an actuator that can move in at least one of the XYZ ⁇ directions may be used.
  • the robot arm 40 has a base 41, a turning part 42, and an arm part 43.
  • the base 41 is fixed to the floor F.
  • the robot 10 may be configured to be movable, for example, by providing an automatic guided vehicle (AGV).
  • AGV automatic guided vehicle
  • the turning part 42 is supported by the upper end of the base 41 so as to be able to turn around a rotation axis Ax1 substantially parallel to the vertical direction.
  • the turning portion 42 is turned around the rotation axis Ax1 with respect to the upper end of the base 41 by driving an actuator Ac1 provided at a joint between the turning portion 42 and the base 41.
  • the arm 43 is supported on one side of the turning part 42.
  • the arm 43 includes a lower arm 44, an upper arm 45, a wrist 46, and a flange 47.
  • the lower arm portion 44 is supported on one side of the turning portion 42 so as to be rotatable around a rotation axis Ax2 substantially perpendicular to the rotation axis Ax1.
  • the lower arm portion 44 is driven to rotate about the rotation axis Ax2 with respect to one side of the turning portion 42 by driving an actuator Ac2 provided at a joint portion between the lower arm portion 44 and the turning portion 42.
  • the upper arm portion 45 is supported on the distal end side of the lower arm portion 44 so as to be rotatable around a rotation axis Ax3 substantially parallel to the rotation axis Ax2 and rotatable around a rotation axis Ax4 substantially perpendicular to the rotation axis Ax3.
  • the upper arm 45 is driven to rotate around the rotation axis Ax3 with respect to the distal end side of the lower arm 44 by driving an actuator Ac3 provided at a joint between the upper arm 45 and the lower arm 44.
  • the upper arm 45 is driven to rotate around the rotation axis Ax4 with respect to the distal end side of the lower arm 44 by the driving of the actuator Ac4 provided between the upper arm 45 and the actuator Ac3.
  • the wrist portion 46 is supported on the tip side of the upper arm portion 45 so as to be rotatable around a rotation axis Ax5 substantially perpendicular to the rotation axis Ax4.
  • the wrist 46 is turned around the rotation axis Ax5 with respect to the distal end side of the upper arm 45 by driving an actuator Ac5 provided at a joint between the wrist 46 and the upper arm 45.
  • the flange portion 47 is rotatably supported on the distal end side of the wrist portion 46 about a rotation axis Ax6 substantially perpendicular to the rotation axis Ax5.
  • the flange portion 47 is driven to rotate about the rotation axis Ax6 with respect to the tip end of the wrist portion 46 by driving an actuator Ac6 provided at a joint between the flange portion 47 and the wrist portion 46.
  • the robot hand 100 is attached to the tip of the flange portion 47, and rotates around the rotation axis Ax6 with the rotation of the flange portion 47 around the rotation axis Ax6.
  • the robot hand 100 has an attachment member 101, a base member 102, and grip members 103 and 104. The detailed structure of the robot hand 100 will be described later.
  • the actuators Ac1 to Ac6 for driving the joints are composed of, for example, a servomotor, a speed reducer, a brake, and the like. Note that the servomotor, the speed reducer, the brake, and the like do not necessarily need to be arranged on the rotation axes Ax1 to Ax6, and may be arranged at positions away from these rotation axes Ax1 to Ax6.
  • rotation about the rotation axis along the longitudinal direction (or the extending direction of the arm) of the arm 43 is referred to as “rotation” and is substantially perpendicular to the longitudinal direction (or the extending direction of the arm) of the arm 43.
  • the rotation about the rotation axis is called “turning” and is distinguished.
  • the controller 50 is attached to, for example, the base 41 of the robot arm 40.
  • the controller 50 is composed of, for example, one or more computers having a computing unit (CPU), a recording device, an input device, and the like (see FIG. 8 described later).
  • the controller 50 controls the driving of the actuators Ac1 to Ac6 provided on the robot arm 40 and the servo motor 105 and the air cylinder 106, which will be described later, provided on the robot hand 100. Control the operation of.
  • the controller 50 may be arranged separately from the robot arm 40. In the controller 50, a part that controls the robot arm 40 and a part that controls the robot hand 100 may be separated. In this case, a part that controls the robot hand 100 may be attached to the robot hand 100. Further, the controller 50 may be configured by one or a combination of a programmable logic controller (PLC) and a robot controller (RC).
  • PLC programmable logic controller
  • RC robot controller
  • FIGS. 2 does not show the attachment member 101
  • FIG. 3 shows the attachment member 101 in a transparent manner.
  • directions such as up, down, left, right, front, and back are appropriately used for convenience of description of the configuration of the robot hand 100.
  • the extending direction of the grip members 103 and 104 is referred to as the front-rear direction
  • the moving direction of the grip members 103 and 104 is referred to as the left-right direction
  • the direction orthogonal to the front-rear direction and the left-right direction is referred to as the up-down direction.
  • each direction of the robot hand 100 changes depending on the posture of the robot arm 40, and does not limit the positional relationship of each component of the robot hand 100.
  • the robot hand 100 includes a mounting member 101, a base member 102, a first gripping member 103, a second gripping member 104, a first actuator 105, and a second actuator 106. , A servo motor 105, an air cylinder 106, a first linear guide 107, and a second linear guide 108.
  • the first actuator 105 and the second actuator 106 are driven by different power sources.
  • a servomotor also referred to as “servomotor 105”
  • an air cylinder also referred to as “air cylinder 106”
  • the base member 102 fixes the first linear guide 107 and the second linear guide 108 and the like.
  • the base member 102 is, for example, a substantially rectangular parallelepiped member, and has a front surface 102f, a rear surface 102b, an upper surface 102u, a lower surface 102d, a left surface 102l, and a right surface 102r.
  • the front surface 102f and the rear surface 102b are parallel to each other with the base member 102 interposed therebetween.
  • the upper surface 102u, the lower surface 102d, the left surface 102l, and the right surface 102r are orthogonal to the front surface 102f and the rear surface 102b, respectively.
  • the space near the front of the base member 102 including the front surface 102f is the front side (an example of the first side)
  • the space near the rear of the base member 102 including the rear surface 102b is the rear side
  • the base including the upper surface 102u is the upper side
  • the lower neighboring space of the base member 102 including the lower surface 102d is the lower side (an example of the second side)
  • the left neighboring space of the base member 102 including the left surface 102l is the left side, the right side.
  • the space near the right side of the base member 102 including the base member 102r is also referred to as the right side.
  • the first linear guide 107 is disposed along the left-right direction on the front side of the base member 102 (which may be on the front surface 102f or may be separated).
  • the first linear guide 107 has a first slider 110 to which the first gripping member 103 is connected, and a first rail 109 that guides the first slider 110 in a moving direction (in this example, a left-right direction).
  • the first rail 109 includes a pair of rail members arranged in parallel with each other.
  • the first slider 110 is connected to the first holding member 103 via the first movable plate 111.
  • the first slider 110 is composed of two sliders arranged at a predetermined distance in the moving direction.
  • the first guide length GL1 which is the distance from one end to the other end in the moving direction of the entire slider, can be increased.
  • the moment allowable by the first linear guide 107 (moment generated in the first linear guide 107 due to the reaction force acting on the first gripping member 103 when the workpiece W is gripped) can be increased.
  • the number of the first sliders 110 is not limited to two. If the first linear guide 107 can tolerate a moment due to the reaction force of the first holding member 103, for example, the first slider may be one. Or three or more.
  • the first movable plate 111 has a shape that is bent in a substantially L-shape when viewed from above and below.
  • the first movable plate 111 has a plate main body 112 connected to the two first sliders 110 and a connecting part 113 bent forward from the plate main body 112 and projected.
  • the first gripping member 103 is detachably connected to the connecting portion 113 of the first movable plate 111 by, for example, a screw (not shown).
  • the first linear guide 107 has a transmission mechanism 114 and a ball screw 115.
  • the transmission mechanism 114 is disposed on the left side of the base member 102 (may be on the left surface 102l or may be separated therefrom).
  • the transmission mechanism 114 has, for example, a pulley and a timing belt (not shown) inside, and transmits the rotational drive of the servo motor 105 to the ball screw 115.
  • the ball screw 115 is engaged with the first slider 110 via a ball (not shown), and the rotational movement of the ball screw 115 is converted into a linear movement of the first slider 110.
  • the servo motor 105 moves the first slider 110 along the first rail 109, the first gripping member 103 can move in a relatively long stroke S1 in the left-right direction.
  • the servomotor 105 is disposed on the rear side of the base member 102 so that the rotation axis extends in the left-right direction.
  • the servomotor 105 is supported at a predetermined distance from the rear surface 102b using the support member 116 because the transmission mechanism 114 requires a predetermined length in the front-rear direction due to its structure.
  • the servomotor 105 may be disposed on the rear surface 102b by reducing the length of the transmission mechanism 114 or increasing the thickness of the base member 102 in the front-rear direction.
  • the second linear guide 108 is disposed below the base member 102 (which may be on the lower surface 102d or may be separated) along the left-right direction.
  • the second linear guide 108 has a second slider 118 to which the second gripping member 104 is connected, and a second rail 117 that guides the second slider 118 in the moving direction (left and right direction in this example).
  • the second slider 118 is connected to the second gripping member 104 via the second movable plate 119.
  • the second linear guide 108 has a larger allowable moment than the allowable moment of the first linear guide 107. That is, when the robot hand 100 grips the workpiece W, an allowable moment generated in the second linear guide 108 due to the reaction force acting on the second gripping member 104 is reduced by the reaction force acting on the first gripping member 103. It is larger than the allowable moment generated in one linear guide 107.
  • such a structure is realized by the following means.
  • the second slider 118 is constituted by two sliders which are arranged at a predetermined distance (a distance larger than the first slider 110) in the moving direction.
  • the second guide length GL2 which is the distance from one end to the other end in the moving direction of the entire slider, can be increased.
  • the second guide length GL2 is configured to be longer than the first guide length GL1, and has a wide distance close to, for example, the left-right dimension of the base member 102.
  • the allowable moment in the second linear guide 108 can be made larger than the allowable moment in the first linear guide 107.
  • the number of the second sliders 118 is not limited to two, and may be one or three or more as long as the second guide length GL2 can be secured by a predetermined distance. Further, the second rail 117 may be divided into a plurality of parts and installed at positions corresponding to the arrangement of the second slider 118.
  • the second movable plate 119 has a shape that is bent substantially in an L-shape when viewed from above and below.
  • the second movable plate 119 has a plate main body 120 connected to the two second sliders 118, and a connecting part 121 bent forward from the plate main body 120 and projected.
  • the connecting portion 121 is formed such that the width in the left-right direction is larger than that of the second gripping member 104.
  • the second holding member 104 is detachably connected to the connection portion 121 of the second movable plate 119 by, for example, a screw (not shown).
  • the air cylinder 106 is positioned on the rear side of the base member 102 (on the surface of the rear surface 102 b or may be separated) so that the moving direction of the rod 106 a is along the left-right direction.
  • the thrust of the air cylinder 106 is increased and transmitted to the second movable plate 119 and the second slider 118.
  • a mechanism 122 is provided.
  • the booster mechanism 122 is a mechanism using a so-called lever.
  • the booster mechanism 122 includes a shaft member 123, a plate member 124 rotatable around the shaft member 123, a connecting member 125 rotatably connecting one end of the plate member 124 and a tip of the rod 106 a, and a plate member 124.
  • a connection member 126 that rotatably connects the end and the side surface of the second movable plate 119;
  • the shaft member 123, the connecting member 125, and the connecting member 126 respectively function as a fulcrum, a power point, and an action point of the lever. That is, the force increasing mechanism 122 increases the thrust of the air cylinder 106 according to the ratio of the distance between the shaft member 123 and the connecting member 125 to the distance between the shaft member 123 and the connecting member 126.
  • the thrust of the second gripping member 104 increased by the force intensifying mechanism 122 by the air cylinder 106 is configured to be larger than the thrust of the first gripping member 103 by the servomotor 105.
  • the robot hand 100 is configured such that the thrust of the second gripping member 104 is larger than the thrust of the first gripping member 103.
  • the boosting mechanism 122 may be a mechanism other than the lever, as long as the mechanism can increase the thrust of the air cylinder 106, such as a mechanism using a rack and a pinion and a plurality of gears.
  • the air cylinder 106 and the second linear guide 108 are spaced apart in the vertical direction (an example of a first direction) via a booster mechanism 122.
  • the servo motor 105 and the first linear guide 107 are disposed on the rear side and the front side of the base member 102, respectively, so as to be located between the air cylinder 106 and the second linear guide 108 in the vertical direction. I have.
  • the first linear guide 107 and the second linear guide 108 are provided on the base member 102 so as to cover substantially all of the extended areas of the first rail 109 and the second rail 117 (of the base member 102).
  • the dimension in the left-right direction overlaps (wraps) in the movement direction (left-right direction), and is fixed at a position shifted from each other in a direction (vertical direction) orthogonal to the movement direction.
  • the first rail 109 and the second rail 117 are arranged so that substantially all of them overlap in the moving direction. However, only a part of the extension area of the first rail 109 and the second rail 117 is moved in the moving direction. May be arranged so as to overlap.
  • the robot hand 100 has a camera 127 (an example of a sensor) and a displacement sensor 128.
  • the camera 127 is attached above the front side of the base member 102 (which may be on the surface of the front surface 102f or may be separated), and is an object to be gripped by the first gripping member 103 and the second gripping member 104. Is imaged.
  • the controller 50 acquires the image information of the work W from the camera 127, thereby recognizing the type, size, shape, position, posture, and the like of the work W, and operating the robot arm 40 and the robot hand 100 according to the result. Control.
  • a camera cable 129 connected to the camera 127 is also disposed along the left-right direction via a fixture (not shown) on the front side of the base member 102.
  • the displacement sensor 128 is a laser sensor that detects a distance from the workpiece W. Since the displacement sensor 128 has a relatively large dimension in the front-rear direction, the displacement sensor 128 is attached to a sensor attachment member 130 provided by cutting out the upper left portion of the base member 102. That is, the displacement sensor 128 is disposed above the base member 102 via the sensor mounting member 130.
  • the controller 50 controls the operations of the robot arm 40 and the robot hand 100 according to the detection result from the displacement sensor 128.
  • the camera 127 and the displacement sensor 128 may be arranged in places other than the above.
  • the camera 127 may be arranged above or below the base member 102, or the displacement sensor 128 may be arranged above or below the base member 102.
  • another type of sensor may be provided in addition to or instead of the camera 127 and the displacement sensor 128.
  • one or both of the camera 127 and the displacement sensor 128 may not be installed on the robot hand 100 but may be installed on another location (for example, the robot arm 40 or the like).
  • the robot hand 100 has a mounting member 101.
  • the attachment member 101 is attached to the distal end (flange portion 47) of the robot arm 40 and supports the entire robot hand 100.
  • the mounting member 101 has a plate portion 101a fixed to the flange portion 47 and a plurality (for example, four) of leg portions 101b to 101e. As shown in FIG. 3, each of the legs 101b to 101e is connected to the rear surface 102b of the base member 102 while avoiding the disposed devices.
  • the plate portion 101a of the attachment member 101 is fixed to the base member 102 with a gap between the base member 102 and the opposite side (rear side) of the first holding member 103 and the second holding member 104 with respect to the base member 102, It is attached to the tip of the robot arm 40.
  • a space is provided between the distal end of the robot arm 40 and the base member 102, in which the servo motor 105, the air cylinder 106, the booster 122, and the like are installed.
  • the attachment member 101 is a member that attaches the base member 102 of the robot hand 100 to the robot arm 40 by offsetting the base member 102 by a predetermined distance from the tip of the robot arm 40.
  • servomotor 105 and the air cylinder 106 may be installed in the installation space formed by the mounting member 101, or another device may be installed in addition to or instead of these.
  • Robot hand gripping operation Next, an example of a gripping operation of the robot hand 100 under the control of the controller 50 will be described with reference to FIGS. 6 and 7.
  • the controller 50 drives the servo motor 105 and the air cylinder 106 to move the first gripping member 103 and the second gripping member 104 to the most distant positions in the respective stroke ranges or the workpiece W to be gripped. If the size is known, it is moved to a position farther apart by a predetermined value than the size, and the gripping members 103 and 104 are opened.
  • the controller 50 operates the robot arm 40 to move the robot hand 100 to the position for receiving the workpiece W. At this time, the controller 50 controls the position of the robot arm 40 using the innermost position in the range of the stroke S2 of the second gripping member 104 as a reference position.
  • the controller 50 drives the air cylinder 106 to move the second gripping member 104 to the innermost position (the end of the stroke S2) in the range of the stroke S2.
  • the holding member 104 is brought into contact with the work W.
  • the controller 50 drives the servomotor 105 to move the first gripping member 103 so as to approach the second gripping member 104, and to bring the first gripping member 103 into contact with the workpiece W. Hold.
  • the controller 50 may perform torque control of the servomotor 105 to control the gripping force to be constant.
  • the controller 50 operates the robot arm 40 to move the robot hand 100 to the position where the work W is placed. Then, the first holding member 103 and the second holding member 104 are moved in the opening direction, and the workpiece W is placed. At this time, the controller 50 may move only one of the first gripping member 103 and the second gripping member 104, or may move both.
  • the first gripping member 103 is moved after the second gripping member 104 is moved to the end of the stroke S2. However, the stroke end of the second gripping member 104 is not moved until the workpiece W is gripped. If the movement to the section is completed, the second gripping member 104 and the first gripping member 103 may be operated simultaneously.
  • the robot hand 100 of the present embodiment is configured such that the thrust of the second gripping member 104 is greater than the thrust of the first gripping member 103, and the second linear guide 108 is The allowable moment is larger than the allowable moment in the linear guide 107. If the allowable moments of the first linear guide 107 and the second linear guide 108 are substantially the same and the thrust is made to correspond to the first gripping member 103 having a small thrust, the allowable moment of the second linear guide 108 is restricted. The large thrust of the second gripping member 104 cannot be used, and a high gripping force cannot be realized.
  • the first linear guide 107 becomes unnecessarily large, and 100 is increased.
  • the robot 10 including the robot hand 100 having a small size and a high gripping force.
  • the second guide length GL2 of the second slider 118 is made larger than the first guide length GL1 of the first slider 110.
  • the reaction force acting on each gripping member 103, 104 causes the first linear guide 107 and the second linear guide 108 to have a moment.
  • the thrust of the second gripping member 104 by the air cylinder 106 is set to be larger than the thrust of the first gripping member 103 by the servomotor 105, the moment acting on the second linear guide 108 is equal to the first linear guide. It becomes larger than 107.
  • the moment allowable by the second linear guide 108 can be more reliably made than by the first linear guide 107. Can increase. Thereby, it is possible to improve the reliability of obtaining a high gripping force. Further, since the magnitude of the allowable moment is adjusted by the guide length of the slider, it is possible to use the same type of linear guide without using, for example, linear guides of different material strengths and types, thereby reducing costs.
  • the first actuator 105 is a servo motor and the second actuator 106 is an air cylinder
  • the thrust of an air cylinder is relatively large, but there is a problem that an increase in stroke causes an increase in size.
  • a servo motor can secure a large stroke, but has a relatively small thrust. For this reason, when the capacity of the motor is increased or the number of motors is increased in order to increase the gripping force, there is a problem that the size and weight are increased.
  • the first gripping member 103 is driven by the servo motor 105 and the second gripping member 104 is driven by the air cylinder 106.
  • the second gripping member 104 only needs to have a small stroke S2 that can grip and release the workpiece W. Therefore, the first gripping member 103 can control the large stroke S1 while suppressing the air cylinder 106 from increasing in size. Can be secured.
  • a gripping force can be secured without increasing the capacity or the number of motors. Therefore, a small and lightweight robot hand 100 having high gripping force and a large stroke and improved versatility can be realized.
  • the base member 102 overlaps the first linear guide 107 and the second linear guide 108 with at least a part of each of the first rail 109 and the second rail 117 in the moving direction,
  • the first linear guide 107 and the second linear guide 108 which are likely to be long in the moving direction of the first slider 110 and the second slider 118, can be arranged in parallel.
  • the first and second linear guides are connected in series.
  • the size in the moving direction (stroke direction) of the robot hand 100 can be significantly reduced as compared with the case where the robot hand 100 is arranged.
  • the robot 10 including the small and highly versatile robot hand 100 can be realized.
  • the robot hand 100 is fixed to the base member 102 with a gap between the base member 102 and the first gripping member 103 and the second gripping member 104 on the opposite side to the base member 102,
  • the servo motor 105 and the air cylinder 106 are further attached to the base member 102 in the above gap, the following effects are obtained when the robot further includes an attachment member 101 (plate portion 101a) attached to the tip of the robot arm 40.
  • the servo motor 105 and the air cylinder 106 are collectively arranged on the side (rear side) of the base member 102 to be attached to the robot arm 40 by the attaching member 101, and the installation space for other devices (such as sensor devices) is provided on the front side or the like.
  • the arrangement of the devices can be optimized by effectively utilizing the space on the rear side. Therefore, the size of the robot hand 100 can be reduced.
  • the base member 102 of the robot hand 100 can be offset by a predetermined distance from the tip of the robot arm 40 by the attachment member 101, the wrist portion is smaller than when the base member 102 is directly attached to the tip of the robot arm 40.
  • the movable range of 46 can be expanded, and the degree of freedom of the posture of the robot 10 can be improved.
  • the dimension in the parallel direction can be reduced as compared with the case where, for example, the first linear guide 107 and the second linear guide 108 are mounted side by side on the same direction side (for example, the front side) of the base member 102.
  • the total length of the robot 10 can be shortened as compared with the case where the first linear guide 107 and the second linear guide 108 are respectively attached to the opposite sides (for example, the front side and the rear side) of the base member 102.
  • the robot hand 100 can be reduced in size and weight.
  • the stroke S2 of the second gripping member 104 is reduced by the force increasing mechanism 122, there is no problem since the second gripping member 104 only needs to have a stroke small enough to grip and release the work W.
  • the air cylinder 106 and the second linear guide 108 are vertically separated from each other via a booster 122, and the servo motor 105 and the first linear guide 107 are When the base member 102 is disposed so as to be located between the first linear guide 108 and the second linear guide 108, the following effects are obtained.
  • the air cylinder 106 and the second linear guide 108 are disposed apart from each other due to the mechanism.
  • the dead space can be reduced and the robot hand 100 can be made compact by arranging and effectively utilizing the servomotor 105 in that space.
  • the robot hand 100 includes a first movable plate 111 that connects the first slider 110 and the first gripping member 103, and a second movable plate that connects the second slider 118 and the second gripping member 104.
  • first gripping member 103 is detachably connected to the first movable plate 111 and the second gripping member 104 is detachably connected to the second movable plate 119, the following is performed. Effect.
  • the first gripping member 103 and the second gripping member 104 can be changed (replaced) to corresponding gripping members according to the type, size, shape, and the like of the workpiece W to be gripped. Therefore, it is possible to cope with various works W, so that versatility can be further improved.
  • the second movable plate 119 is formed so as to bend in the extending direction of the second gripping member 104 and have a width dimension in the moving direction (left-right direction) larger than that of the second gripping member 104.
  • the rigidity of the base of the second gripping member 104 can be improved.
  • the deformation for example, deformation in the expanding direction
  • the positioning accuracy of the workpiece W while securing a high gripping force. Can be improved.
  • the robot hand 100 is attached to the front side of the base member 102 to which the first linear guide 107 is attached, and the workpiece W to be gripped by the first gripping member 103 and the second gripping member 104.
  • the following effects are obtained when the camera 127 for detecting is provided.
  • the controller 50 recognizes the type, size, shape, position, posture, and the like of the work W based on the detection result of the camera 127, and can control the operations of the robot arm 40 and the robot hand 100 according to the result. Therefore, the reliability of the gripping operation can be improved.
  • the second gripping member 104 may stop in the middle of the stroke S2.
  • the stop position cannot be grasped, and the positioning accuracy of the work W may be reduced.
  • the stop position of the second gripping member 104 can be grasped, and the position based on the position is determined. By performing the control, the positioning accuracy of the work W can be improved.
  • the second guide length GL2 of the second slider 118 is made longer than the first guide length GL1 of the first slider 110, so that the allowable moment of the second linear guide 108 is reduced. Larger than the moment.
  • the means for making the allowable moment of the second linear guide 108 larger than that of the first linear guide 107 is not limited to the length of the guide length, and other means such as increasing the holding strength of the slider may be used. May be. This modification is an example in which the holding strength of the second slider 118 is made stronger than that of the first slider 110.
  • two second sliders 118 are arranged close to each other, and the first guide length GL1 of the first slider 110 and the second guide length GL2 of the second slider 118 are substantially the same. It is configured to be length. Further, by disposing the second slider 118 close to the second rail 117, unnecessary portions of the second rail 117 are removed as long as the stroke S2 of the second gripping member 104 can be secured, and the rail length is shortened. Similarly, unnecessary portions of the second movable plate 119 are also removed as long as the connection with the second slider 118 can be ensured, and the length in the left-right direction is reduced.
  • the second slider 118 and the second rail 117 constituting the second linear guide 108 are formed to be thicker in the vertical direction than in the above-described embodiment, and the holding strength of the second slider 118 is lower than that of the first slider 110. It is configured to be larger than the holding strength. As a result, even if the first guide length GL1 and the second guide length GL2 are substantially the same length, the allowable moment of the second linear guide 108 is larger than the allowable moment of the first linear guide 107.
  • the following effects can be further obtained. That is, since the useless lengths of the second rail 117 and the second movable plate 119 are reduced, the number of mounting steps such as the number of screws can be reduced, the cost can be reduced, and the weight can be reduced. Further, the space occupied by the second rail 117 and the second movable plate 119 can be reduced, so that the degree of freedom in layout can be increased.
  • the second slider 118 is configured by a plurality of sliders, but the second slider 118 may be configured as a single slider.
  • the second slider 118 is configured as one slider that is long in the left-right direction.
  • the second guide length GL2 which is the distance from one end to the other end in the movement direction of the entire slider of the second slider 118, is configured to be longer than the first guide length GL1 of the first slider 110. ing.
  • the allowable moment of the second linear guide 108 is larger than the allowable moment of the first linear guide 107.
  • the second rail 117 is configured as one rail.
  • the second rail 117 may be configured to be divided into a plurality (for example, the same number as the number of the second sliders 118).
  • the second linear guide 108 has two second sliders 118 and two second rails 117 that guide each of the two second sliders 118.
  • the second rail 117 is divided into two at positions corresponding to the two second sliders 118.
  • Each of the second rails 117 is formed to have a length that can secure the stroke S2 of the second gripping member 104, and the second rail 117 is not provided at an intermediate portion in the left-right direction.
  • the second guide length GL2 of the second slider 118 is configured to be longer than the first guide length GL1 of the first slider 110.
  • the following effects can be further obtained. That is, since the useless rail length of the second rail 117 is reduced, the number of mounting steps such as the number of screws can be reduced, the cost can be reduced, and the weight can be reduced. Further, since the space occupied by the second rail 117 can be reduced, the degree of freedom in layout can be increased.
  • the first gripping member 103 driven by the servo motor 105 is arranged on the right side
  • the second gripping member 104 driven by the air cylinder 106 is arranged on the left side.
  • the left side and the second gripping member 104 may be arranged on the right side.
  • the servo motor 105, the air cylinder 106, the first linear guide 107, the second linear guide 108, and the like may be arranged to be left and right opposite.
  • a servo motor power source is electric
  • an air cylinder air is power source
  • an actuator using another power source oil pressure, steam, or the like
  • Example of controller hardware configuration> Next, an example of a hardware configuration of the controller 50 described above will be described with reference to FIG. In FIG. 8, the configuration related to the function of supplying the driving power of the controller 50 is omitted as appropriate.
  • the controller 50 includes, for example, a CPU 901, a ROM 903, a RAM 905, a dedicated integrated circuit 907 constructed for a specific use such as an ASIC or an FPGA, an input device 913, and an output device 915. , A recording device 917, a drive 919, a connection port 921, and a communication device 923. These components are connected so that signals can be transmitted to each other via a bus 909 and an input / output interface 911.
  • the program can be recorded in, for example, the ROM 903, the RAM 905, the recording device 917, or the like.
  • the program is temporarily or non-temporarily (permanently) recorded on a magnetic disk such as a flexible disk, an optical disk such as various CD / MO disks / DVDs, or a removable recording medium 925 such as a semiconductor memory. You can keep it.
  • a recording medium 925 can be provided as so-called package software.
  • the programs recorded on these recording media 925 may be read by the drive 919 and recorded on the recording device 917 via the input / output interface 911, the bus 909, and the like.
  • the program can also be recorded on, for example, a download site, another computer, another recording device, or the like (not shown).
  • the program is transferred via a network NW such as a LAN or the Internet, and the communication device 923 receives the program.
  • NW such as a LAN or the Internet
  • the program received by the communication device 923 may be recorded in the recording device 917 via the input / output interface 911, the bus 909, and the like.
  • the program can also be recorded on, for example, an appropriate externally connected device 927.
  • the program may be transferred through an appropriate connection port 921 and recorded in the recording device 917 via the input / output interface 911, the bus 909, or the like.
  • the CPU 901 performs various processes in accordance with the program recorded in the recording device 917, thereby realizing the control of the gripping operation of the robot hand 100 and the like.
  • the CPU 901 may, for example, directly read out the program from the recording device 917 and execute the program, or may execute the program once loaded in the RAM 905. Further, for example, when the CPU 901 receives a program via the communication device 923, the drive 919, and the connection port 921, the CPU 901 may directly execute the received program without recording it in the recording device 917.
  • the CPU 901 may perform various processes based on signals and information input from the input device 913 such as a mouse, a keyboard, and a microphone (not shown), as necessary.
  • the input device 913 such as a mouse, a keyboard, and a microphone (not shown), as necessary.
  • the CPU 901 may output the result of executing the above processing from an output device 915 such as a display device or an audio output device, and the CPU 901 may transmit the processing result to the communication device 923 and the connection device 923 as necessary.
  • the data may be transmitted via the port 921 or may be recorded on the recording device 917 or the recording medium 925.

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

Abstract

[Problem] To provide a compact and highly versatile robot hand and a robot which is provided with the same. [Solution] A robot hand (100) is provided with a first gripping member (103), a first linear guide (107) which is provided with a first slider (110) and a first rail (109), a servo motor (105) which moves the first slider (110) along the first rail (109), a second gripping member (104), a second linear guide (108) which is provided with a second slider (118) and a second rail (117), an air cylinder (106) which moves the second slider (118) along the second rail (117), and a base member (102) to which the first linear guide (107) and the second linear guide (108) are affixed. The robot hand (100) is configured so that the thrust of the second gripping member (104) is greater than the thrust of the first gripping member (103). The second linear guide (108) has higher allowable moment than the first linear guide (107).

Description

ロボット及びロボットハンドRobots and robot hands
　開示の実施形態は、ロボット及びロボットハンドに関する。 The disclosed embodiments relate to a robot and a robot hand.
　従来、複数の把持部を駆動させる駆動源としてサーボモータとエアシリンダを備えたロボットハンドが知られている。例えば特許文献１には、互いに接離する方向へ移動自在な一対の爪と、一方の爪に連結されてこの爪を予め設定した任意の位置に停止固定させるエアシリンダと、他方の爪に連結されてこの爪の把持力を任意に設定自在なサーボモータと、を備えた把持装置が記載されている。 Conventionally, a robot hand including a servomotor and an air cylinder as a drive source for driving a plurality of gripping portions is known. For example, Patent Literature 1 discloses a pair of pawls movable in directions of coming and coming from each other, an air cylinder connected to one pawl to stop and fix this pawl at an arbitrary predetermined position, and a pawl connected to the other pawl. In addition, a gripping device including a servomotor capable of freely setting the gripping force of the claw is described.
特開平１０－５９３２号公報JP-A-10-5932
　上記従来技術の把持装置において、大型化を抑えつつ把持力の向上を図る場合、装置構成の更なる最適化が要望される。 に お い て In the gripping device of the prior art described above, if the gripping force is to be improved while suppressing an increase in size, further optimization of the device configuration is required.
　本発明はこのような問題点に鑑みてなされたものであり、小型で把持力の高いロボットハンド及びこれを備えたロボットを提供することを目的とする。 The present invention has been made in view of such a problem, and an object of the present invention is to provide a small-sized robot hand having a high gripping force and a robot having the same.
　上記課題を解決するため、本発明の一の観点によれば、ロボットアームと、前記ロボットアームの先端に取り付けられたロボットハンドと、を備えたロボットであって、前記ロボットハンドは、第１把持部材と、前記第１把持部材が連結された第１スライダと、前記第１スライダを移動方向にガイドする第１レールとを備えた第１リニアガイドと、前記第１スライダを前記第１レールに沿って移動させる第１アクチュエータと、第２把持部材と、前記第２把持部材が連結された第２スライダと、前記第２スライダを前記移動方向にガイドする第２レールとを備えた第２リニアガイドと、前記第１アクチュエータと異なる動力源で駆動され、前記第２スライダを前記第２レールに沿って移動させる第２アクチュエータと、前記第１リニアガイドと前記第２リニアガイドを固定するベース部材と、を備え、前記ロボットハンドは、前記第２把持部材の推力が前記第１把持部材の推力よりも大きくなるように構成されており、前記第２リニアガイドは、前記第１リニアガイドにおける許容モーメントよりも大きな許容モーメントを有する、ロボットが適用される。 According to one embodiment of the present invention, there is provided a robot having a robot arm and a robot hand attached to a tip of the robot arm, wherein the robot hand has a first grip. A first linear guide including a member, a first slider to which the first gripping member is connected, and a first rail for guiding the first slider in a moving direction; and attaching the first slider to the first rail. A second actuator having a first actuator for moving the second slider along the second gripper, a second slider to which the second gripper is connected, and a second rail for guiding the second slider in the moving direction. A guide, a second actuator driven by a power source different from the first actuator, and configured to move the second slider along the second rail; and a first linear guide. And a base member for fixing the second linear guide, wherein the robot hand is configured such that a thrust of the second gripping member is larger than a thrust of the first gripping member, As the linear guide, a robot having a larger allowable moment than the allowable moment of the first linear guide is applied.
　また、本発明の別の観点によれば、ロボットアームの先端に取り付けられるロボットハンドであって、第１把持部材と、前記第１把持部材が連結された第１スライダと、前記第１スライダを移動方向にガイドする第１レールとを備えた第１リニアガイドと、前記第１スライダを前記第１レールに沿って移動させる第１アクチュエータと、第２把持部材と、前記第２把持部材が連結された第２スライダと、前記第２スライダを前記移動方向にガイドする第２レールとを備えた第２リニアガイドと、前記第１アクチュエータと異なる動力源で駆動され、前記第２スライダを前記第２レールに沿って移動させる第２アクチュエータと、前記第１リニアガイドと前記第２リニアガイドを固定するベース部材と、を備え、前記ロボットハンドは、前記第２把持部材の推力が前記第１把持部材の推力よりも大きくなるように構成されており、前記第２リニアガイドは、前記第１リニアガイドにおける許容モーメントよりも大きな許容モーメントを有する、ロボットハンドが適用される。 According to another aspect of the present invention, there is provided a robot hand attached to a distal end of a robot arm, comprising: a first gripping member, a first slider to which the first gripping member is connected, and the first slider. A first linear guide having a first rail that guides in a movement direction, a first actuator that moves the first slider along the first rail, a second gripping member, and the second gripping member connected A second linear guide having a second slider, a second rail that guides the second slider in the moving direction, and a second power source driven by a power source different from the first actuator. A second actuator that moves along two rails; and a base member that fixes the first linear guide and the second linear guide. (2) The robot hand is configured such that the thrust of the gripping member is larger than the thrust of the first gripping member, and the second linear guide has a larger allowable moment than the allowable moment of the first linear guide. Applied.
　本発明によれば、小型で把持力の高いロボットハンド及びこれを備えたロボットを実現できる。 According to the present invention, a small-sized robot hand having a high gripping force and a robot having the same can be realized.
ロボットシステムの構成の一例を表す説明図である。FIG. 2 is an explanatory diagram illustrating an example of a configuration of a robot system. ロボットハンドの前側の構成の一例を表す説明図である。FIG. 3 is an explanatory diagram illustrating an example of a configuration of a front side of a robot hand. ロボットハンドの後側の構成の一例を表す説明図である。FIG. 4 is an explanatory diagram illustrating an example of a configuration of a rear side of the robot hand. 第２把持部材の基端部の構成の一例を表す説明図である。It is explanatory drawing showing an example of a structure of the base end part of a 2nd holding member. ロボットハンドの下側の構成の一例を表す説明図である。FIG. 3 is an explanatory diagram illustrating an example of a configuration of a lower side of a robot hand. ロボットハンドの把持動作の一例を表す説明図である。FIG. 9 is an explanatory diagram illustrating an example of a gripping operation of the robot hand. ロボットハンドの把持動作の一例を表す説明図である。FIG. 9 is an explanatory diagram illustrating an example of a gripping operation of the robot hand. 第２スライダの保持強度を第１スライダよりも強くした変形例における、ロボットハンドの前側の構成の一例を表す説明図である。It is explanatory drawing showing an example of the structure of the front side of a robot hand in the modification which made the holding strength of the 2nd slider stronger than the 1st slider. 第２スライダが単体のスライダとして構成された変形例における、ロボットハンドの前側の構成の一例を表す説明図である。It is explanatory drawing showing an example of a structure of the front side of a robot hand in the modification which comprised the 2nd slider as a single slider. 第２レールを分割配置した変形例における、ロボットハンドの前側の構成の一例を表す説明図である。It is explanatory drawing showing an example of the structure of the front side of a robot hand in the modification which divided | segmented and arrange | positioned the 2nd rail. コントローラのハードウェア構成の一例を表すブロック図である。FIG. 3 is a block diagram illustrating an example of a hardware configuration of a controller.
　以下、一実施の形態について図面を参照しつつ説明する。 Hereinafter, an embodiment will be described with reference to the drawings.
　＜１．ロボットシステムの構成＞
　まず、図１を参照しつつ、本実施形態に係るロボットシステムの構成の一例について説明する。 <1. Configuration of Robot System>
First, an example of the configuration of the robot system according to the present embodiment will be described with reference to FIG.
　図１に示すように、本実施形態のロボットシステム１は、ロボット１０と、容器２０と、コンベア３０とを有する。ロボットシステム１は、ロボット１０により容器２０に収容されるワークＷを取り出してコンベア３０に移載するシステムである。なお、本実施形態では一例として容器からコンベアにワークを移動する場合を一例として説明するが、例えばコンベアから容器、コンベアからコンベア、容器から容器にワークを移動してもよい。 As shown in FIG. 1, the robot system 1 of the present embodiment includes a robot 10, a container 20, and a conveyor 30. The robot system 1 is a system in which a work W stored in a container 20 is taken out by a robot 10 and transferred to a conveyor 30. In the present embodiment, a case where a workpiece is moved from a container to a conveyor is described as an example. However, for example, a workpiece may be moved from a conveyor to a container, from a conveyor to a conveyor, or from a container to a container.
　容器２０は、複数のワークＷを収容可能な容器であり、例えば段ボール箱、コンテナ、カーゴ、番重等が使用される。ワークＷは、ロボット１０により把持可能なものであれば特に限定されるものではないが、例えば装置を構成する機械部品や電気部品（基板等）、物流における生産物や商品、食品等である。ロボット１０は、ワークＷを順次容器２０から取り出し、コンベア３０に移載する。容器２０は、例えば台車２１に搭載されており、ワークＷの移載が完了すると新たな容器２０に交換される。なお、台車２１を使用せず、容器２０を床置きしてもよい。 The container 20 is a container capable of accommodating a plurality of works W, and for example, a cardboard box, a container, a cargo, a weight, and the like are used. The work W is not particularly limited as long as it can be gripped by the robot 10, but is, for example, a mechanical component or an electrical component (a substrate or the like) constituting the apparatus, a product, a product, a food, or the like in distribution. The robot 10 sequentially takes out the works W from the container 20 and transfers them to the conveyor 30. The container 20 is mounted on, for example, a cart 21 and is replaced with a new container 20 when the transfer of the work W is completed. The container 20 may be placed on the floor without using the cart 21.
　コンベア３０は、ワークＷを順次、所定の場所に向けて搬送する。コンベアの種類はベルト、ローラ、チェーン等、特に限定されるものではない。また、コンベア以外の搬送装置（ロボット等）を使用してもよい。 (4) The conveyor 30 transports the workpiece W sequentially to a predetermined place. The type of the conveyor is not particularly limited, such as a belt, a roller, and a chain. Further, a transfer device (robot or the like) other than the conveyor may be used.
　ロボット１０は、ロボットアーム４０と、ロボットハンド１００と、コントローラ５０とを有する。 The robot 10 has a robot arm 40, a robot hand 100, and a controller 50.
　ロボットアーム４０は、ロボットハンド１００を互いに直交するＸＹＺ方向及びθ方向に移動可能なアクチュエータの一例であり、例えば６つの関節部を備えた垂直多関節型の６軸ロボットである。なお、図１に示す例では、Ｘ方向はコンベア３０の搬送方向、Ｚ方向は上下方向、Ｙ方向はＸ及びＹの両方向に直交する方向、θ方向はＺ軸周りの回転方向である。ロボットアーム４０の先端には、ロボットハンド１００が取り付けられている。ロボットアーム４０は、ロボットハンド１００をワークＷの受け取り位置（この例では容器２０）に移動させてワークＷを把持し、ロボットハンド１００をワークＷの置き位置（この例ではコンベア３０）に移動させて把持を解除することにより、ワークＷを移載する。 The robot arm 40 is an example of an actuator that can move the robot hand 100 in XYZ directions and θ directions orthogonal to each other, and is, for example, a vertical multi-joint type six-axis robot having six joints. In the example shown in FIG. 1, the X direction is the transport direction of the conveyor 30, the Z direction is the vertical direction, the Y direction is a direction orthogonal to both the X and Y directions, and the θ direction is a rotation direction around the Z axis. A robot hand 100 is attached to the tip of the robot arm 40. The robot arm 40 moves the robot hand 100 to the position where the work W is received (in this example, the container 20), grips the work W, and moves the robot hand 100 to the position where the work W is placed (in this example, the conveyor 30). The workpiece W is transferred by releasing the grip.
　なお、ロボットアーム４０は、６軸以外（例えば５軸や７軸等）のロボットとしてもよいし、例えば水平多関節型等、垂直多関節型以外のロボットとしてもよい。また、複数の関節部を備えたロボットではなく、ＸＹＺθ方向のうち少なくとも１方向に移動可能なアクチュエータとしてもよい。 Note that the robot arm 40 may be a robot other than six axes (for example, five axes or seven axes), or may be a robot other than a vertical articulated robot such as a horizontal articulated robot. Also, instead of a robot having a plurality of joints, an actuator that can move in at least one of the XYZθ directions may be used.
　ロボットアーム４０は、基台４１と、旋回部４２と、アーム部４３とを有する。基台４１は、床面Ｆに固定されている。なお、例えば無人搬送車（ＡＧＶ）を設ける等により、ロボット１０を移動可能な構成としてもよい。 The robot arm 40 has a base 41, a turning part 42, and an arm part 43. The base 41 is fixed to the floor F. The robot 10 may be configured to be movable, for example, by providing an automatic guided vehicle (AGV).
　旋回部４２は、基台４１の上端部に、上下方向に略平行な回転軸心Ａｘ１まわりに旋回可能に支持されている。この旋回部４２は、基台４１との間の関節部に設けられたアクチュエータＡｃ１の駆動により、基台４１の上端部に対し、回転軸心Ａｘ１まわりに旋回駆動される。 The turning part 42 is supported by the upper end of the base 41 so as to be able to turn around a rotation axis Ax1 substantially parallel to the vertical direction. The turning portion 42 is turned around the rotation axis Ax1 with respect to the upper end of the base 41 by driving an actuator Ac1 provided at a joint between the turning portion 42 and the base 41.
　アーム部４３は、旋回部４２の一方側の側部に支持されている。このアーム部４３は、下腕部４４と、上腕部４５と、手首部４６と、フランジ部４７とを備える。 The arm 43 is supported on one side of the turning part 42. The arm 43 includes a lower arm 44, an upper arm 45, a wrist 46, and a flange 47.
　下腕部４４は、旋回部４２の一方側の側部に、回転軸心Ａｘ１に略垂直な回転軸心Ａｘ２まわりに旋回可能に支持されている。この下腕部４４は、旋回部４２との間の関節部に設けられたアクチュエータＡｃ２の駆動により、旋回部４２の一方側の側部に対し、回転軸心Ａｘ２まわりに旋回駆動される。 The lower arm portion 44 is supported on one side of the turning portion 42 so as to be rotatable around a rotation axis Ax2 substantially perpendicular to the rotation axis Ax1. The lower arm portion 44 is driven to rotate about the rotation axis Ax2 with respect to one side of the turning portion 42 by driving an actuator Ac2 provided at a joint portion between the lower arm portion 44 and the turning portion 42.
　上腕部４５は、下腕部４４の先端側に、回転軸心Ａｘ２に略平行な回転軸心Ａｘ３まわりに旋回可能且つ回転軸心Ａｘ３に略垂直な回転軸心Ａｘ４回りに回動可能に支持されている。この上腕部４５は、下腕部４４との間の関節部に設けられたアクチュエータＡｃ３の駆動により、下腕部４４の先端側に対し、回転軸心Ａｘ３まわりに旋回駆動される。また上腕部４５は、アクチュエータＡｃ３との間に設けられたアクチュエータＡｃ４の駆動により、下腕部４４の先端側に対し、回転軸心Ａｘ４まわりに回動駆動される。 The upper arm portion 45 is supported on the distal end side of the lower arm portion 44 so as to be rotatable around a rotation axis Ax3 substantially parallel to the rotation axis Ax2 and rotatable around a rotation axis Ax4 substantially perpendicular to the rotation axis Ax3. Have been. The upper arm 45 is driven to rotate around the rotation axis Ax3 with respect to the distal end side of the lower arm 44 by driving an actuator Ac3 provided at a joint between the upper arm 45 and the lower arm 44. The upper arm 45 is driven to rotate around the rotation axis Ax4 with respect to the distal end side of the lower arm 44 by the driving of the actuator Ac4 provided between the upper arm 45 and the actuator Ac3.
　手首部４６は、上腕部４５の先端側に、回転軸心Ａｘ４に略垂直な回転軸心Ａｘ５まわりに旋回可能に支持されている。この手首部４６は、上腕部４５との間の関節部に設けられたアクチュエータＡｃ５の駆動により、上腕部４５の先端側に対し、回転軸心Ａｘ５まわりに旋回駆動される。 The wrist portion 46 is supported on the tip side of the upper arm portion 45 so as to be rotatable around a rotation axis Ax5 substantially perpendicular to the rotation axis Ax4. The wrist 46 is turned around the rotation axis Ax5 with respect to the distal end side of the upper arm 45 by driving an actuator Ac5 provided at a joint between the wrist 46 and the upper arm 45.
　フランジ部４７は、手首部４６の先端側に、回転軸心Ａｘ５に略垂直な回転軸心Ａｘ６まわりに回動可能に支持されている。このフランジ部４７は、手首部４６との間の関節部に設けられたアクチュエータＡｃ６の駆動により、手首部４６の先端側に対し、回転軸心Ａｘ６まわりに回動駆動される。 The flange portion 47 is rotatably supported on the distal end side of the wrist portion 46 about a rotation axis Ax6 substantially perpendicular to the rotation axis Ax5. The flange portion 47 is driven to rotate about the rotation axis Ax6 with respect to the tip end of the wrist portion 46 by driving an actuator Ac6 provided at a joint between the flange portion 47 and the wrist portion 46.
　ロボットハンド１００は、フランジ部４７の先端に取り付けられており、フランジ部４７の回転軸心Ａｘ６まわりの回動と共に、回転軸心Ａｘ６まわりに回動する。ロボットハンド１００は、取付部材１０１と、ベース部材１０２と、把持部材１０３，１０４とを有する。ロボットハンド１００の詳細構造については、後述する。 The robot hand 100 is attached to the tip of the flange portion 47, and rotates around the rotation axis Ax6 with the rotation of the flange portion 47 around the rotation axis Ax6. The robot hand 100 has an attachment member 101, a base member 102, and grip members 103 and 104. The detailed structure of the robot hand 100 will be described later.
　各関節部を駆動するアクチュエータＡｃ１～Ａｃ６は、例えばサーボモータ、減速機及びブレーキ等により構成されている。なお、サーボモータ、減速機及びブレーキ等は、必ずしも回転軸心Ａｘ１～Ａｘ６上に配置される必要はなく、これらの回転軸心Ａｘ１～Ａｘ６から離れた位置に配置されてもよい。 The actuators Ac1 to Ac6 for driving the joints are composed of, for example, a servomotor, a speed reducer, a brake, and the like. Note that the servomotor, the speed reducer, the brake, and the like do not necessarily need to be arranged on the rotation axes Ax1 to Ax6, and may be arranged at positions away from these rotation axes Ax1 to Ax6.
　なお、上記では、アーム部４３の長手方向（あるいは延材方向）に沿った回転軸心まわりの回転を「回動」と呼び、アーム部４３の長手方向（あるいは延材方向）に略垂直な回転軸心まわりの回転を「旋回」と呼んで区別している。 In the above description, the rotation about the rotation axis along the longitudinal direction (or the extending direction of the arm) of the arm 43 is referred to as “rotation” and is substantially perpendicular to the longitudinal direction (or the extending direction of the arm) of the arm 43. The rotation about the rotation axis is called "turning" and is distinguished.
　コントローラ５０は、ロボットアーム４０の例えば基台４１に取り付けられている。コントローラ５０は、例えば演算器（ＣＰＵ）、記録装置、入力装置等を有する１以上のコンピュータで構成されている（後述の図８参照）。コントローラ５０は、ロボットアーム４０に設けられた上記アクチュエータＡｃ１～Ａｃ６、及び、ロボットハンド１００に設けられた後述するサーボモータ１０５及びエアシリンダ１０６の駆動を制御することにより、ロボットアーム４０及びロボットハンド１００の動作を制御する。 The controller 50 is attached to, for example, the base 41 of the robot arm 40. The controller 50 is composed of, for example, one or more computers having a computing unit (CPU), a recording device, an input device, and the like (see FIG. 8 described later). The controller 50 controls the driving of the actuators Ac1 to Ac6 provided on the robot arm 40 and the servo motor 105 and the air cylinder 106, which will be described later, provided on the robot hand 100. Control the operation of.
　なお、コントローラ５０は、ロボットアーム４０と分離して配置されてもよい。また、コントローラ５０は、ロボットアーム４０を制御する部分とロボットハンド１００を制御する部分が分離されてもよい。この場合、ロボットハンド１００を制御する部分がロボットハンド１００に取り付けられてもよい。また、コントローラ５０は、プログラマブルロジックコントローラ（ＰＬＣ）とロボットコントローラ（ＲＣ）のいずれか一方または両方の組み合わせによって構成するようにしてもよい。 The controller 50 may be arranged separately from the robot arm 40. In the controller 50, a part that controls the robot arm 40 and a part that controls the robot hand 100 may be separated. In this case, a part that controls the robot hand 100 may be attached to the robot hand 100. Further, the controller 50 may be configured by one or a combination of a programmable logic controller (PLC) and a robot controller (RC).
　＜２．ロボットハンドの構成＞
　次に、図２～図５を参照しつつ、ロボットハンド１００の構成の一例について説明する。なお、図２では取付部材１０１の図示を省略しており、図３では取付部材１０１を透過して図示している。また以下において、ロボットハンド１００の構成の説明の便宜上、上下左右前後等の方向を適宜使用する。以下の例では、把持部材１０３，１０４の延設方向を前後方向、把持部材１０３，１０４の移動方向を左右方向、それら前後方向及び左右方向に直交する方向を上下方向とする。但し、ロボットハンド１００の各方向はロボットアーム４０の姿勢により変化するものであり、ロボットハンド１００の各構成の位置関係を限定するものではない。 <2. Configuration of Robot Hand>
Next, an example of the configuration of the robot hand 100 will be described with reference to FIGS. 2 does not show the attachment member 101, and FIG. 3 shows the attachment member 101 in a transparent manner. In the following, directions such as up, down, left, right, front, and back are appropriately used for convenience of description of the configuration of the robot hand 100. In the following example, the extending direction of the grip members 103 and 104 is referred to as the front-rear direction, the moving direction of the grip members 103 and 104 is referred to as the left-right direction, and the direction orthogonal to the front-rear direction and the left-right direction is referred to as the up-down direction. However, each direction of the robot hand 100 changes depending on the posture of the robot arm 40, and does not limit the positional relationship of each component of the robot hand 100.
　図２及び図３に示すように、ロボットハンド１００は、取付部材１０１と、ベース部材１０２と、第１把持部材１０３と、第２把持部材１０４と、第１アクチュエータ１０５と、第２アクチュエータ１０６と、サーボモータ１０５と、エアシリンダ１０６と、第１リニアガイド１０７と、第２リニアガイド１０８とを有する。 As shown in FIGS. 2 and 3, the robot hand 100 includes a mounting member 101, a base member 102, a first gripping member 103, a second gripping member 104, a first actuator 105, and a second actuator 106. , A servo motor 105, an air cylinder 106, a first linear guide 107, and a second linear guide 108.
　第１アクチュエータ１０５と第２アクチュエータ１０６は異なる動力源で駆動される。本実施形態では、第１アクチュエータ１０５としてサーボモータ（「サーボモータ１０５」ともいう）、第２アクチュエータ１０６としてエアシリンダ（「エアシリンダ１０６」ともいう）を使用する場合について説明する。 The first actuator 105 and the second actuator 106 are driven by different power sources. In the present embodiment, a case where a servomotor (also referred to as “servomotor 105”) is used as the first actuator 105 and an air cylinder (also referred to as “air cylinder 106”) is used as the second actuator 106 will be described.
　ベース部材１０２は、第１リニアガイド１０７と第２リニアガイド１０８等を固定する。ベース部材１０２は、例えば略直方体状の部材であり、前面１０２ｆと、後面１０２ｂと、上面１０２ｕと、下面１０２ｄと、左面１０２ｌと、右面１０２ｒとを有する。前面１０２ｆと後面１０２ｂはベース部材１０２を挟んで互いに平行である。上面１０２ｕ、下面１０２ｄ、左面１０２ｌ及び右面１０２ｒはそれぞれ、前面１０２ｆ及び後面１０２ｂと直交する。なお、本実施形態では、前面１０２ｆを含むベース部材１０２の前方の近傍空間を前側（第１サイドの一例）、後面１０２ｂを含むベース部材１０２の後方の近傍空間を後側、上面１０２ｕを含むベース部材１０２の上方の近傍空間を上側、下面１０２ｄを含むベース部材１０２の下方の近傍空間を下側（第２サイドの一例）、左面１０２ｌを含むベース部材１０２の左方の近傍空間を左側、右面１０２ｒを含むベース部材１０２の右方の近傍空間を右側ともいう。 The base member 102 fixes the first linear guide 107 and the second linear guide 108 and the like. The base member 102 is, for example, a substantially rectangular parallelepiped member, and has a front surface 102f, a rear surface 102b, an upper surface 102u, a lower surface 102d, a left surface 102l, and a right surface 102r. The front surface 102f and the rear surface 102b are parallel to each other with the base member 102 interposed therebetween. The upper surface 102u, the lower surface 102d, the left surface 102l, and the right surface 102r are orthogonal to the front surface 102f and the rear surface 102b, respectively. In this embodiment, the space near the front of the base member 102 including the front surface 102f is the front side (an example of the first side), the space near the rear of the base member 102 including the rear surface 102b is the rear side, and the base including the upper surface 102u. The upper neighboring space of the member 102 is the upper side, the lower neighboring space of the base member 102 including the lower surface 102d is the lower side (an example of the second side), the left neighboring space of the base member 102 including the left surface 102l is the left side, the right side. The space near the right side of the base member 102 including the base member 102r is also referred to as the right side.
　第１リニアガイド１０７は、ベース部材１０２の前側（前面１０２ｆの面上でもよいし離間しててもよい）に左右方向に沿って配置されている。第１リニアガイド１０７は、第１把持部材１０３が連結された第１スライダ１１０と、第１スライダ１１０を移動方向（この例では左右方向）にガイドする第１レール１０９とを有する。第１レール１０９は、互いに平行に配置された一対のレール部材で構成されている。第１スライダ１１０は、第１可動プレート１１１を介して第１把持部材１０３と連結されている。 １ The first linear guide 107 is disposed along the left-right direction on the front side of the base member 102 (which may be on the front surface 102f or may be separated). The first linear guide 107 has a first slider 110 to which the first gripping member 103 is connected, and a first rail 109 that guides the first slider 110 in a moving direction (in this example, a left-right direction). The first rail 109 includes a pair of rail members arranged in parallel with each other. The first slider 110 is connected to the first holding member 103 via the first movable plate 111.
　第１スライダ１１０は、移動方向に所定距離だけ離間して配置された２つのスライダで構成されている。２つの第１スライダ１１０を間隔を空けて配置することにより、スライダ全体の移動方向における一方側端部から他方側端部までの距離である第１ガイド長ＧＬ１を長くできる。その結果、第１リニアガイド１０７で許容可能なモーメント（ワークＷを把持した際に第１把持部材１０３に作用する反力により第１リニアガイド１０７に生じるモーメント）を増大できる。なお、第１スライダ１１０の数は２つに限定されるものではなく、第１リニアガイド１０７で第１把持部材１０３の反力によるモーメントを許容可能であれば、例えば第１スライダを１つとしてもよいし、３つ以上としてもよい。 The first slider 110 is composed of two sliders arranged at a predetermined distance in the moving direction. By arranging the two first sliders 110 at an interval, the first guide length GL1, which is the distance from one end to the other end in the moving direction of the entire slider, can be increased. As a result, the moment allowable by the first linear guide 107 (moment generated in the first linear guide 107 due to the reaction force acting on the first gripping member 103 when the workpiece W is gripped) can be increased. Note that the number of the first sliders 110 is not limited to two. If the first linear guide 107 can tolerate a moment due to the reaction force of the first holding member 103, for example, the first slider may be one. Or three or more.
　第１可動プレート１１１は、上下方向から見て略Ｌ字状に屈曲した形状を有する。第１可動プレート１１１は、２つの第１スライダ１１０に連結されるプレート本体部１１２と、このプレート本体部１１２から前方に屈曲して突出した連結部１１３とを有する。第１把持部材１０３は、第１可動プレート１１１の連結部１１３に例えばネジ（図示省略）により着脱可能に連結されている。 The first movable plate 111 has a shape that is bent in a substantially L-shape when viewed from above and below. The first movable plate 111 has a plate main body 112 connected to the two first sliders 110 and a connecting part 113 bent forward from the plate main body 112 and projected. The first gripping member 103 is detachably connected to the connecting portion 113 of the first movable plate 111 by, for example, a screw (not shown).
　また第１リニアガイド１０７は、伝達機構部１１４と、ボールネジ１１５とを有する。伝達機構部１１４は、ベース部材１０２の左側（左面１０２ｌの面上でもよいし離間しててもよい）に配置されている。伝達機構部１１４は、内部に例えばプーリ及びタイミングベルト（図示省略）を有しており、サーボモータ１０５の回転駆動をボールネジ１１５に伝達する。ボールネジ１１５はボール（図示省略）を介して第１スライダ１１０と係合しており、ボールネジ１１５の回転運動が第１スライダ１１０の直線運動に変換される。サーボモータ１０５が第１スライダ１１０を第１レール１０９に沿って移動させることにより、第１把持部材１０３は左右方向に比較的長いストロークＳ１の範囲で移動可能である。 The first linear guide 107 has a transmission mechanism 114 and a ball screw 115. The transmission mechanism 114 is disposed on the left side of the base member 102 (may be on the left surface 102l or may be separated therefrom). The transmission mechanism 114 has, for example, a pulley and a timing belt (not shown) inside, and transmits the rotational drive of the servo motor 105 to the ball screw 115. The ball screw 115 is engaged with the first slider 110 via a ball (not shown), and the rotational movement of the ball screw 115 is converted into a linear movement of the first slider 110. As the servo motor 105 moves the first slider 110 along the first rail 109, the first gripping member 103 can move in a relatively long stroke S1 in the left-right direction.
　図３及び図５に示すように、サーボモータ１０５は、ベース部材１０２の後側に、回転軸が左右方向に沿うように配置されている。サーボモータ１０５は、伝達機構部１１４が構造上前後方向に所定の長さを必要とすることにより、支持部材１１６を用いて後面１０２ｂから所定距離だけ離間した状態で支持されている。なお、伝達機構部１１４の長さを短くする、あるいは、ベース部材１０２の前後方向の厚みを厚くする等により、サーボモータ１０５を後面１０２ｂの面上に配置してもよい。 As shown in FIGS. 3 and 5, the servomotor 105 is disposed on the rear side of the base member 102 so that the rotation axis extends in the left-right direction. The servomotor 105 is supported at a predetermined distance from the rear surface 102b using the support member 116 because the transmission mechanism 114 requires a predetermined length in the front-rear direction due to its structure. Note that the servomotor 105 may be disposed on the rear surface 102b by reducing the length of the transmission mechanism 114 or increasing the thickness of the base member 102 in the front-rear direction.
　図２及び図３に示すように、第２リニアガイド１０８は、ベース部材１０２の下側（下面１０２ｄの面上でもよいし離間しててもよい）に左右方向に沿って配置されている。第２リニアガイド１０８は、第２把持部材１０４が連結された第２スライダ１１８と、第２スライダ１１８を移動方向（この例では左右方向）にガイドする第２レール１１７とを有する。第２スライダ１１８は、第２可動プレート１１９を介して第２把持部材１０４と連結されている。 2 and 3, the second linear guide 108 is disposed below the base member 102 (which may be on the lower surface 102d or may be separated) along the left-right direction. The second linear guide 108 has a second slider 118 to which the second gripping member 104 is connected, and a second rail 117 that guides the second slider 118 in the moving direction (left and right direction in this example). The second slider 118 is connected to the second gripping member 104 via the second movable plate 119.
　第２リニアガイド１０８は、第１リニアガイド１０７における許容モーメントよりも大きな許容モーメントを有する。すなわち、ロボットハンド１００でワークＷを把持した際に、第２把持部材１０４に作用する反力により第２リニアガイド１０８に生じる許容可能なモーメントが、第１把持部材１０３に作用する反力により第１リニアガイド１０７に生じる許容可能なモーメントよりも大きい。本実施形態では、このような構造を次のような手段で実現している。 ２The second linear guide 108 has a larger allowable moment than the allowable moment of the first linear guide 107. That is, when the robot hand 100 grips the workpiece W, an allowable moment generated in the second linear guide 108 due to the reaction force acting on the second gripping member 104 is reduced by the reaction force acting on the first gripping member 103. It is larger than the allowable moment generated in one linear guide 107. In the present embodiment, such a structure is realized by the following means.
　すなわち、第２スライダ１１８は、移動方向に所定距離（第１スライダ１１０よりも大きな距離）だけ離間して配置された２つのスライダで構成されている。２つの第２スライダ１１８を間隔を空けて配置することにより、スライダ全体の移動方向における一方側端部から他方側端部までの距離である第２ガイド長ＧＬ２を長くできる。本実施形態では、第２ガイド長ＧＬ２が第１ガイド長ＧＬ１よりも長くなるように構成されており、例えばベース部材１０２の左右方向の寸法に近い広めの距離となっている。その結果、第２リニアガイド１０８における許容モーメントを第１リニアガイド１０７における許容モーメントよりも増大できる。なお、第２スライダ１１８の数は２つに限定されるものではなく、第２ガイド長ＧＬ２を所定距離だけ確保可能であれば、例えば１つとしてもよいし、３つ以上としてもよい。また、第２レール１１７を複数に分割し、第２スライダ１１８の配置に応じた位置に設置してもよい。 That is, the second slider 118 is constituted by two sliders which are arranged at a predetermined distance (a distance larger than the first slider 110) in the moving direction. By arranging the two second sliders 118 at an interval, the second guide length GL2, which is the distance from one end to the other end in the moving direction of the entire slider, can be increased. In the present embodiment, the second guide length GL2 is configured to be longer than the first guide length GL1, and has a wide distance close to, for example, the left-right dimension of the base member 102. As a result, the allowable moment in the second linear guide 108 can be made larger than the allowable moment in the first linear guide 107. The number of the second sliders 118 is not limited to two, and may be one or three or more as long as the second guide length GL2 can be secured by a predetermined distance. Further, the second rail 117 may be divided into a plurality of parts and installed at positions corresponding to the arrangement of the second slider 118.
　図４及び図５に示すように、第２可動プレート１１９は、上下方向から見て略Ｌ字状に屈曲した形状を有する。第２可動プレート１１９は、２つの第２スライダ１１８に連結されるプレート本体部１２０と、このプレート本体部１２０から前方に屈曲して突出した連結部１２１とを有する。図４に示すように、連結部１２１は、左右方向の幅寸法が第２把持部材１０４よりも大きくなるように形成されている。第２把持部材１０４は、第２可動プレート１１９の連結部１２１に例えばネジ（図示省略）により着脱可能に連結されている。 As shown in FIGS. 4 and 5, the second movable plate 119 has a shape that is bent substantially in an L-shape when viewed from above and below. The second movable plate 119 has a plate main body 120 connected to the two second sliders 118, and a connecting part 121 bent forward from the plate main body 120 and projected. As shown in FIG. 4, the connecting portion 121 is formed such that the width in the left-right direction is larger than that of the second gripping member 104. The second holding member 104 is detachably connected to the connection portion 121 of the second movable plate 119 by, for example, a screw (not shown).
　図３及び図５に示すように、エアシリンダ１０６は、ベース部材１０２の後側（後面１０２ｂの面上でもよいし離間しててもよい）に、ロッド１０６ａの移動方向が左右方向に沿うように配置されている。また、ベース部材１０２の後側（後面１０２ｂの面上でもよいし離間しててもよい）には、エアシリンダ１０６の推力を増大して第２可動プレート１１９及び第２スライダ１１８に伝達する増力機構１２２が配置されている。増力機構１２２は、いわゆるてこを利用した機構である。増力機構１２２は、軸部材１２３と、軸部材１２３周りに回転可能な板部材１２４と、板部材１２４の一端とロッド１０６ａの先端とを回転可能に連結する連結部材１２５と、板部材１２４の他端と第２可動プレート１１９の側面とを回転可能に連結する連結部材１２６とを有する。軸部材１２３、連結部材１２５及び連結部材１２６は、てこの支点、力点、作用点としてそれぞれ機能する。すなわち、増力機構１２２は、軸部材１２３と連結部材１２５間の距離と、軸部材１２３と連結部材１２６間の距離との比に応じて、エアシリンダ１０６の推力を増大する。エアシリンダ１０６が増力機構１２２を介して第２可動プレート１１９及び第２スライダ１１８を第２レール１１７に沿って移動させることにより、第２把持部材１０４は左右方向に比較的短いストロークＳ２の範囲で移動可能である。 As shown in FIGS. 3 and 5, the air cylinder 106 is positioned on the rear side of the base member 102 (on the surface of the rear surface 102 b or may be separated) so that the moving direction of the rod 106 a is along the left-right direction. Are located in Further, on the rear side of the base member 102 (which may be on the surface of the rear surface 102b or may be separated), the thrust of the air cylinder 106 is increased and transmitted to the second movable plate 119 and the second slider 118. A mechanism 122 is provided. The booster mechanism 122 is a mechanism using a so-called lever. The booster mechanism 122 includes a shaft member 123, a plate member 124 rotatable around the shaft member 123, a connecting member 125 rotatably connecting one end of the plate member 124 and a tip of the rod 106 a, and a plate member 124. A connection member 126 that rotatably connects the end and the side surface of the second movable plate 119; The shaft member 123, the connecting member 125, and the connecting member 126 respectively function as a fulcrum, a power point, and an action point of the lever. That is, the force increasing mechanism 122 increases the thrust of the air cylinder 106 according to the ratio of the distance between the shaft member 123 and the connecting member 125 to the distance between the shaft member 123 and the connecting member 126. When the air cylinder 106 moves the second movable plate 119 and the second slider 118 along the second rail 117 via the force increasing mechanism 122, the second gripping member 104 moves in a relatively short stroke S2 in the left-right direction. Can be moved.
　なお、エアシリンダ１０６による増力機構１２２により増力された第２把持部材１０４の推力は、サーボモータ１０５による第１把持部材１０３の推力よりも大きくなるように構成される。この結果、ロボットハンド１００は、第２把持部材１０４の推力が第１把持部材１０３の推力よりも大きくなるように構成されている。また、増力機構１２２は、例えばラック及びピニオンと複数のギアを用いた機構等、エアシリンダ１０６の推力を増大可能な機構であれば、てこ以外の機構としてもよい。 The thrust of the second gripping member 104 increased by the force intensifying mechanism 122 by the air cylinder 106 is configured to be larger than the thrust of the first gripping member 103 by the servomotor 105. As a result, the robot hand 100 is configured such that the thrust of the second gripping member 104 is larger than the thrust of the first gripping member 103. Further, the boosting mechanism 122 may be a mechanism other than the lever, as long as the mechanism can increase the thrust of the air cylinder 106, such as a mechanism using a rack and a pinion and a plurality of gears.
　図３に示すように、エアシリンダ１０６と第２リニアガイド１０８は、増力機構１２２を介して上下方向（第１方向の一例）に離間して配置されている。この配置に対し、サーボモータ１０５及び第１リニアガイド１０７は、上下方向においてエアシリンダ１０６と第２リニアガイド１０８との間に位置するように、ベース部材１０２の後側と前側にそれぞれ配置されている。 エ ア As shown in FIG. 3, the air cylinder 106 and the second linear guide 108 are spaced apart in the vertical direction (an example of a first direction) via a booster mechanism 122. In contrast to this arrangement, the servo motor 105 and the first linear guide 107 are disposed on the rear side and the front side of the base member 102, respectively, so as to be located between the air cylinder 106 and the second linear guide 108 in the vertical direction. I have.
　また図２に示すように、第１リニアガイド１０７と第２リニアガイド１０８とは、ベース部材１０２において、第１レール１０９と第２レール１１７のそれぞれの延設領域の略全部（ベース部材１０２の左右方向の寸法分）が移動方向（左右方向）において相互に重複（ラップ）し、且つ移動方向に直交する方向（上下方向）において相互にずれた位置に固定されている。なお、本実施形態では、第１レール１０９と第２レール１１７の略全部が移動方向に重複するように配置したが、第１レール１０９と第２レール１１７の延設領域の一部分のみが移動方向に重複するように配置してもよい。 Further, as shown in FIG. 2, the first linear guide 107 and the second linear guide 108 are provided on the base member 102 so as to cover substantially all of the extended areas of the first rail 109 and the second rail 117 (of the base member 102). (The dimension in the left-right direction) overlaps (wraps) in the movement direction (left-right direction), and is fixed at a position shifted from each other in a direction (vertical direction) orthogonal to the movement direction. In the present embodiment, the first rail 109 and the second rail 117 are arranged so that substantially all of them overlap in the moving direction. However, only a part of the extension area of the first rail 109 and the second rail 117 is moved in the moving direction. May be arranged so as to overlap.
　図２に示すように、ロボットハンド１００は、カメラ１２７（センサの一例）と、変位センサ１２８とを有する。カメラ１２７は、ベース部材１０２の前側（前面１０２ｆの面上でもよいし離間しててもよい）の上方に取り付けられており、第１把持部材１０３と第２把持部材１０４とにより把持される対象であるワークＷを撮像する。コントローラ５０は、カメラ１２７からワークＷの画像情報を取得することにより、ワークＷの種類や大きさ、形状、位置や姿勢等を認識し、その結果に応じてロボットアーム４０及びロボットハンド１００の動作を制御する。なおカメラ１２７に接続されるカメラケーブル１２９も、ベース部材１０２の前側に取付具（図示省略）を介して左右方向に沿って配置されている。 ロ ボ ッ ト As shown in FIG. 2, the robot hand 100 has a camera 127 (an example of a sensor) and a displacement sensor 128. The camera 127 is attached above the front side of the base member 102 (which may be on the surface of the front surface 102f or may be separated), and is an object to be gripped by the first gripping member 103 and the second gripping member 104. Is imaged. The controller 50 acquires the image information of the work W from the camera 127, thereby recognizing the type, size, shape, position, posture, and the like of the work W, and operating the robot arm 40 and the robot hand 100 according to the result. Control. Note that a camera cable 129 connected to the camera 127 is also disposed along the left-right direction via a fixture (not shown) on the front side of the base member 102.
　変位センサ１２８は、ワークＷとの距離を検出するレーザセンサである。変位センサ１２８は、前後方向の寸法が比較的大きいため、ベース部材１０２の左上部を切り欠いて設けられたセンサ取付部材１３０に取り付けられている。すなわち、変位センサ１２８は、ベース部材１０２の上側にセンサ取付部材１３０を介して配置されている。コントローラ５０は、変位センサ１２８からの検出結果に応じてロボットアーム４０及びロボットハンド１００の動作を制御する。 The displacement sensor 128 is a laser sensor that detects a distance from the workpiece W. Since the displacement sensor 128 has a relatively large dimension in the front-rear direction, the displacement sensor 128 is attached to a sensor attachment member 130 provided by cutting out the upper left portion of the base member 102. That is, the displacement sensor 128 is disposed above the base member 102 via the sensor mounting member 130. The controller 50 controls the operations of the robot arm 40 and the robot hand 100 according to the detection result from the displacement sensor 128.
　なお、カメラ１２７や変位センサ１２８を上記以外の場所に配置してもよい。例えば、カメラ１２７をベース部材１０２の上側や下側に配置したり、変位センサ１２８を前側や下側に配置してもよい。また、カメラ１２７や変位センサ１２８に加えて又は代えて、別の種類のセンサを設けてもよい。また、カメラ１２７や変位センサ１２８の一方又は両方をロボットハンド１００に設置せずに、他の箇所（例えばロボットアーム４０等）に設置してもよい。 Note that the camera 127 and the displacement sensor 128 may be arranged in places other than the above. For example, the camera 127 may be arranged above or below the base member 102, or the displacement sensor 128 may be arranged above or below the base member 102. Further, another type of sensor may be provided in addition to or instead of the camera 127 and the displacement sensor 128. Further, one or both of the camera 127 and the displacement sensor 128 may not be installed on the robot hand 100 but may be installed on another location (for example, the robot arm 40 or the like).
　図３及び図５に示すように、ロボットハンド１００は、取付部材１０１を有する。図５に示すように、取付部材１０１は、ロボットアーム４０の先端（フランジ部４７）に取り付けられ、ロボットハンド１００全体を支持する。取付部材１０１は、フランジ部４７に固定される板部１０１ａと、複数（例えば４つ）の脚部１０１ｂ～１０１ｅとを有する。図３に示すように、各脚部１０１ｂ～１０１ｅは、配置された機器を避けてベース部材１０２の後面１０２ｂに連結されている。取付部材１０１の板部１０１ａは、ベース部材１０２における、第１把持部材１０３及び第２把持部材１０４に対して反対側（後側）にベース部材１０２と間隙をあけてベース部材１０２に固定され、ロボットアーム４０の先端に取り付けられる。取付部材１０１のこのような構造により、ロボットアーム４０の先端とベース部材１０２との間に、サーボモータ１０５、エアシリンダ１０６、増力機構１２２等が設置されるスペースが形成される。言い換えると、取付部材１０１は、ロボットハンド１００のベース部材１０２をロボットアーム４０の先端から所定距離だけオフセットさせてロボットアーム４０に取り付ける部材である。 ロ ボ ッ ト As shown in FIGS. 3 and 5, the robot hand 100 has a mounting member 101. As shown in FIG. 5, the attachment member 101 is attached to the distal end (flange portion 47) of the robot arm 40 and supports the entire robot hand 100. The mounting member 101 has a plate portion 101a fixed to the flange portion 47 and a plurality (for example, four) of leg portions 101b to 101e. As shown in FIG. 3, each of the legs 101b to 101e is connected to the rear surface 102b of the base member 102 while avoiding the disposed devices. The plate portion 101a of the attachment member 101 is fixed to the base member 102 with a gap between the base member 102 and the opposite side (rear side) of the first holding member 103 and the second holding member 104 with respect to the base member 102, It is attached to the tip of the robot arm 40. With such a structure of the mounting member 101, a space is provided between the distal end of the robot arm 40 and the base member 102, in which the servo motor 105, the air cylinder 106, the booster 122, and the like are installed. In other words, the attachment member 101 is a member that attaches the base member 102 of the robot hand 100 to the robot arm 40 by offsetting the base member 102 by a predetermined distance from the tip of the robot arm 40.
　なお、取付部材１０１により形成される設置スペースに、サーボモータ１０５又はエアシリンダ１０６のいずれか一方のみが設置されてもよいし、これらに加えて又は代えて別の機器が設置されてもよい。 Note that only one of the servomotor 105 and the air cylinder 106 may be installed in the installation space formed by the mounting member 101, or another device may be installed in addition to or instead of these.
　＜３．ロボットハンドの把持動作＞
　次に、図６及び図７を参照しつつ、コントローラ５０の制御によるロボットハンド１００の把持動作の一例について説明する。 <3. Robot hand gripping operation>
Next, an example of a gripping operation of the robot hand 100 under the control of the controller 50 will be described with reference to FIGS. 6 and 7.
　まず、コントローラ５０は、サーボモータ１０５及びエアシリンダ１０６を駆動して、第１把持部材１０３及び第２把持部材１０４を、それぞれのストローク範囲において最も離間する位置、あるいは、把持する対象であるワークＷの寸法が分かっている場合には当該寸法よりも所定値だけ大きく離間する位置に移動させ、把持部材１０３，１０４を開放する。 First, the controller 50 drives the servo motor 105 and the air cylinder 106 to move the first gripping member 103 and the second gripping member 104 to the most distant positions in the respective stroke ranges or the workpiece W to be gripped. If the size is known, it is moved to a position farther apart by a predetermined value than the size, and the gripping members 103 and 104 are opened.
　その状態で、コントローラ５０は、ロボットアーム４０を動作させてロボットハンド１００をワークＷの受け取り位置に移動させる。このとき、コントローラ５０は、第２把持部材１０４のストロークＳ２の範囲における最も内側の位置を基準位置として、ロボットアーム４０の位置制御を行う。 In this state, the controller 50 operates the robot arm 40 to move the robot hand 100 to the position for receiving the workpiece W. At this time, the controller 50 controls the position of the robot arm 40 using the innermost position in the range of the stroke S2 of the second gripping member 104 as a reference position.
　次に、図６に示すように、コントローラ５０はエアシリンダ１０６を駆動して、第２把持部材１０４を上記ストロークＳ２の範囲において最も内側の位置（ストロークＳ２の端部）に移動させ、第２把持部材１０４をワークＷに接触させる。 Next, as shown in FIG. 6, the controller 50 drives the air cylinder 106 to move the second gripping member 104 to the innermost position (the end of the stroke S2) in the range of the stroke S2. The holding member 104 is brought into contact with the work W.
　その後、図７に示すように、コントローラ５０はサーボモータ１０５を駆動して、第１把持部材１０３を第２把持部材１０４に近づくように移動させ、第１把持部材１０３をワークＷに接触させて把持する。このとき、コントローラ５０はサーボモータ１０５のトルク制御を行って把持力が一定となるように制御してもよい。 Thereafter, as shown in FIG. 7, the controller 50 drives the servomotor 105 to move the first gripping member 103 so as to approach the second gripping member 104, and to bring the first gripping member 103 into contact with the workpiece W. Hold. At this time, the controller 50 may perform torque control of the servomotor 105 to control the gripping force to be constant.
　ワークＷを把持した状態で、コントローラ５０は、ロボットアーム４０を動作させてロボットハンド１００をワークＷの置き位置に移動させる。そして、第１把持部材１０３及び第２把持部材１０４を開く方向に移動させ、ワークＷを置く。このとき、コントローラ５０は第１把持部材１０３又は第２把持部材１０４のいずれか一方のみを移動させてもよいし、両方を移動させてもよい。 コ ン ト ロ ー ラ With the work W held, the controller 50 operates the robot arm 40 to move the robot hand 100 to the position where the work W is placed. Then, the first holding member 103 and the second holding member 104 are moved in the opening direction, and the workpiece W is placed. At this time, the controller 50 may move only one of the first gripping member 103 and the second gripping member 104, or may move both.
　なお、以上では第２把持部材１０４をストロークＳ２の端部まで移動させた後に第１把持部材１０３を移動させるようにしたが、ワークＷを把持するまでの間に第２把持部材１０４のストローク端部への移動が完了するのであれば、第２把持部材１０４と第１把持部材１０３とを同時に動作させてもよい。 In the above description, the first gripping member 103 is moved after the second gripping member 104 is moved to the end of the stroke S2. However, the stroke end of the second gripping member 104 is not moved until the workpiece W is gripped. If the movement to the section is completed, the second gripping member 104 and the first gripping member 103 may be operated simultaneously.
　＜４．本実施形態による効果の例＞
　以上説明したように、本実施形態のロボットハンド１００は、第２把持部材１０４の推力が第１把持部材１０３の推力よりも大きくなるように構成されており、第２リニアガイド１０８は、第１リニアガイド１０７における許容モーメントよりも大きな許容モーメントを有する。仮に、第１リニアガイド１０７と第２リニアガイド１０８の許容モーメントを略同じとし、推力が小さな第１把持部材１０３に対応させた場合、第２リニアガイド１０８の許容モーメントの制約を受けるため、より大きな第２把持部材１０４の推力を活用することができず、高い把持力を実現できない。一方で、第１リニアガイド１０７と第２リニアガイド１０８の許容モーメントを略同じとし、推力が大きな第２把持部材１０４に対応させた場合、第１リニアガイド１０７が必要以上に大型化し、ロボットハンド１００の大型化を招く。本実施形態では、上述の構成とすることにより、ロボットハンド１００の大型化を抑えつつ高い把持力を得ることが可能となる。したがって、小型で把持力の高いロボットハンド１００を備えたロボット１０を実現できる。 <4. Example of Effect of Present Embodiment>
As described above, the robot hand 100 of the present embodiment is configured such that the thrust of the second gripping member 104 is greater than the thrust of the first gripping member 103, and the second linear guide 108 is The allowable moment is larger than the allowable moment in the linear guide 107. If the allowable moments of the first linear guide 107 and the second linear guide 108 are substantially the same and the thrust is made to correspond to the first gripping member 103 having a small thrust, the allowable moment of the second linear guide 108 is restricted. The large thrust of the second gripping member 104 cannot be used, and a high gripping force cannot be realized. On the other hand, when the allowable moments of the first linear guide 107 and the second linear guide 108 are substantially the same and the second linear guide 107 is adapted to the second gripping member 104 having a large thrust, the first linear guide 107 becomes unnecessarily large, and 100 is increased. In the present embodiment, with the above-described configuration, it is possible to obtain a high gripping force while suppressing an increase in the size of the robot hand 100. Therefore, it is possible to realize the robot 10 including the robot hand 100 having a small size and a high gripping force.
　また、本実施形態において、第２リニアガイド１０８の許容モーメントを第１リニアガイド１０７よりも大きくするために、第２スライダ１１８の第２ガイド長ＧＬ２が第１スライダ１１０の第１ガイド長ＧＬ１よりも長くなるように構成する場合には、次のような効果を得る。 Further, in the present embodiment, in order to make the allowable moment of the second linear guide 108 larger than that of the first linear guide 107, the second guide length GL2 of the second slider 118 is made larger than the first guide length GL1 of the first slider 110. The following effects can be obtained when the configuration is made to be longer.
　すなわち、第１把持部材１０３及び第２把持部材１０４によりワークＷを把持した際には、各把持部材１０３，１０４に作用する反力により、第１リニアガイド１０７及び第２リニアガイド１０８にそれぞれモーメントが作用する。本実施形態では、エアシリンダ１０６による第２把持部材１０４の推力はサーボモータ１０５による第１把持部材１０３の推力よりも大きく設定されるため、第２リニアガイド１０８に作用するモーメントは第１リニアガイド１０７よりも大きくなる。このため、第２スライダ１１８の第２ガイド長ＧＬ２を第１スライダ１１０の第１ガイド長ＧＬ１よりも長くすることにより、第２リニアガイド１０８で許容できるモーメントを第１リニアガイド１０７よりも確実に増大することができる。これにより、高い把持力を得る確実性を向上できる。また、許容モーメントの大小をスライダのガイド長によって調整しているので、例えば材料強度やタイプの異なるリニアガイドを使用することなく、同じタイプのリニアガイドを用いることが可能となり、コストを削減できる。 That is, when the work W is gripped by the first gripping member 103 and the second gripping member 104, the reaction force acting on each gripping member 103, 104 causes the first linear guide 107 and the second linear guide 108 to have a moment. Works. In the present embodiment, since the thrust of the second gripping member 104 by the air cylinder 106 is set to be larger than the thrust of the first gripping member 103 by the servomotor 105, the moment acting on the second linear guide 108 is equal to the first linear guide. It becomes larger than 107. Therefore, by making the second guide length GL2 of the second slider 118 longer than the first guide length GL1 of the first slider 110, the moment allowable by the second linear guide 108 can be more reliably made than by the first linear guide 107. Can increase. Thereby, it is possible to improve the reliability of obtaining a high gripping force. Further, since the magnitude of the allowable moment is adjusted by the guide length of the slider, it is possible to use the same type of linear guide without using, for example, linear guides of different material strengths and types, thereby reducing costs.
　また、本実施形態において、第１アクチュエータ１０５をサーボモータとし、第２アクチュエータ１０６をエアシリンダとする場合には、次のような効果を得る。すなわち、一般にエアシリンダは推力は比較的大きいが、ストロークを大きくすると大型化を招くという課題がある。一方、サーボモータは大きなストロークを確保できるが、推力が比較的小さい。このため、把持力を高くするためにモータの容量を大きくしたり台数を増加させると、大型化及び重量化を招くという課題がある。 In the present embodiment, when the first actuator 105 is a servo motor and the second actuator 106 is an air cylinder, the following effects are obtained. That is, in general, the thrust of an air cylinder is relatively large, but there is a problem that an increase in stroke causes an increase in size. On the other hand, a servo motor can secure a large stroke, but has a relatively small thrust. For this reason, when the capacity of the motor is increased or the number of motors is increased in order to increase the gripping force, there is a problem that the size and weight are increased.
　本実施形態では、第１把持部材１０３をサーボモータ１０５で駆動し、第２把持部材１０４をエアシリンダ１０６で駆動する。第２把持部材１０４を固定部材とせずに駆動させることにより、ロボットアーム４０によるロボットハンド１００をワークＷに寄せる動作が不要となり、タクトタイムを向上できる。また第２把持部材１０４はワークＷを把持・開放することが可能な程度の小さなストロークＳ２を有すればよいので、エアシリンダ１０６の大型化を抑制しつつ、第１把持部材１０３で大きなストロークＳ１を確保できる。また、サーボモータ１０５で駆動する把持部材が１つであるため、モータの容量や台数を増やすことなく把持力を確保できる。したがって、高い把持力と大きなストロークを備えることで汎用性を向上させた小型で軽量なロボットハンド１００を実現できる。 In the present embodiment, the first gripping member 103 is driven by the servo motor 105 and the second gripping member 104 is driven by the air cylinder 106. By driving the second gripping member 104 without using it as a fixed member, the operation of moving the robot hand 100 to the workpiece W by the robot arm 40 becomes unnecessary, and the tact time can be improved. Further, the second gripping member 104 only needs to have a small stroke S2 that can grip and release the workpiece W. Therefore, the first gripping member 103 can control the large stroke S1 while suppressing the air cylinder 106 from increasing in size. Can be secured. Further, since only one gripping member is driven by the servomotor 105, a gripping force can be secured without increasing the capacity or the number of motors. Therefore, a small and lightweight robot hand 100 having high gripping force and a large stroke and improved versatility can be realized.
　また、本実施形態において、ベース部材１０２が、第１リニアガイド１０７と第２リニアガイド１０８を、第１レール１０９と第２レール１１７とのそれぞれの少なくとも一部が移動方向において相互に重複し、且つ移動方向に直交する方向において相互にずれた位置に固定する場合には、次のような効果を得る。すなわち、第１スライダ１１０及び第２スライダ１１８の移動方向において長尺となりやすい第１リニアガイド１０７と第２リニアガイド１０８を並列に配置することができるので、例えば第１及び第２リニアガイドを直列に配置する場合に比べて、ロボットハンド１００の移動方向（ストローク方向）の寸法を大幅に小型化できる。また、２つのリニアガイドの並列配置により、ロボットハンド１００の大型化を抑えつつ把持部材１０３，１０４のストロークを大きく確保できるので、大小様々なワークＷに対応することが可能となり、汎用性を向上できる。したがって、小型で汎用性の高いロボットハンド１００を備えたロボット１０を実現できる。 Further, in the present embodiment, the base member 102 overlaps the first linear guide 107 and the second linear guide 108 with at least a part of each of the first rail 109 and the second rail 117 in the moving direction, In addition, in the case where it is fixed at a position shifted from each other in a direction perpendicular to the moving direction, the following effects are obtained. That is, the first linear guide 107 and the second linear guide 108, which are likely to be long in the moving direction of the first slider 110 and the second slider 118, can be arranged in parallel. For example, the first and second linear guides are connected in series. The size in the moving direction (stroke direction) of the robot hand 100 can be significantly reduced as compared with the case where the robot hand 100 is arranged. Further, by arranging the two linear guides in parallel, a large stroke of the gripping members 103 and 104 can be secured while suppressing an increase in the size of the robot hand 100, so that it is possible to cope with various sizes of workpieces W and improve versatility. it can. Therefore, the robot 10 including the small and highly versatile robot hand 100 can be realized.
　また、本実施形態において、ロボットハンド１００が、ベース部材１０２における、第１把持部材１０３及び第２把持部材１０４に対して反対側にベース部材１０２と間隙をあけて、ベース部材１０２に固定され、ロボットアーム４０の先端に取付けられる取付部材１０１（板部１０１ａ）を更に有し、サーボモータ１０５及びエアシリンダ１０６を、上記間隙においてベース部材１０２に取り付ける場合には、次のような効果を得る。 Further, in the present embodiment, the robot hand 100 is fixed to the base member 102 with a gap between the base member 102 and the first gripping member 103 and the second gripping member 104 on the opposite side to the base member 102, When the servo motor 105 and the air cylinder 106 are further attached to the base member 102 in the above gap, the following effects are obtained when the robot further includes an attachment member 101 (plate portion 101a) attached to the tip of the robot arm 40.
　すなわち取付部材１０１により、ベース部材１０２のロボットアーム４０に取り付けられる側（後側）にサーボモータ１０５とエアシリンダ１０６を集約配置して、前側等にその他の機器（センサ機器等）の設置スペースを確保するといったように、後側のスペースを有効活用して機器配置を最適化することができる。したがって、ロボットハンド１００を小型化できる。また、取付部材１０１によりロボットハンド１００のベース部材１０２をロボットアーム４０の先端から所定距離だけオフセットさせることができるので、ロボットアーム４０の先端にベース部材１０２が直接取り付けられる場合に比べて、手首部４６の可動範囲を拡大でき、ロボット１０の姿勢の自由度を向上できる。 That is, the servo motor 105 and the air cylinder 106 are collectively arranged on the side (rear side) of the base member 102 to be attached to the robot arm 40 by the attaching member 101, and the installation space for other devices (such as sensor devices) is provided on the front side or the like. For example, the arrangement of the devices can be optimized by effectively utilizing the space on the rear side. Therefore, the size of the robot hand 100 can be reduced. Further, since the base member 102 of the robot hand 100 can be offset by a predetermined distance from the tip of the robot arm 40 by the attachment member 101, the wrist portion is smaller than when the base member 102 is directly attached to the tip of the robot arm 40. The movable range of 46 can be expanded, and the degree of freedom of the posture of the robot 10 can be improved.
　また、本実施形態において、第１リニアガイド１０７をベース部材１０２の前側に取り付け、第２リニアガイド１０８をベース部材１０２の前側と直交する下側に取り付ける場合には、次のような効果を得る。 In this embodiment, when the first linear guide 107 is attached to the front side of the base member 102 and the second linear guide 108 is attached to the lower side orthogonal to the front side of the base member 102, the following effects are obtained. .
　すなわち、例えば第１リニアガイド１０７と第２リニアガイド１０８をベース部材１０２の同一方向側（例えば前側）に並列して取り付ける場合に比べて、並列方向（上下方向）の寸法を小型化できる。また、例えば第１リニアガイド１０７と第２リニアガイド１０８をそれぞれベース部材１０２の反対側（例えば前側と後側）に取り付ける場合に比べて、ロボット１０の全長を短くできる。 That is, the dimension in the parallel direction (vertical direction) can be reduced as compared with the case where, for example, the first linear guide 107 and the second linear guide 108 are mounted side by side on the same direction side (for example, the front side) of the base member 102. Further, for example, the total length of the robot 10 can be shortened as compared with the case where the first linear guide 107 and the second linear guide 108 are respectively attached to the opposite sides (for example, the front side and the rear side) of the base member 102.
　また、本実施形態において、ロボットハンド１００にエアシリンダ１０６の推力を増大して第２スライダ１１８に伝達する増力機構１２２を設ける場合には、次のような効果を得る。 In addition, in the present embodiment, when the boosting mechanism 122 that increases the thrust of the air cylinder 106 and transmits the thrust to the second slider 118 is provided in the robot hand 100, the following effects are obtained.
　すなわち、増力機構１２２により、第２把持部材１０４の推力（把持力）を確保しつつ小型のエアシリンダ１０６を使用できるので、ロボットハンド１００を小型化及び軽量化できる。なお、増力機構１２２により第２把持部材１０４のストロークＳ２は小さくなるが、第２把持部材１０４はワークＷを把持・開放することが可能な程度の小さいストロークを有すればよいので、問題ない。 That is, since the small air cylinder 106 can be used by the force increasing mechanism 122 while securing the thrust (gripping force) of the second gripping member 104, the robot hand 100 can be reduced in size and weight. Although the stroke S2 of the second gripping member 104 is reduced by the force increasing mechanism 122, there is no problem since the second gripping member 104 only needs to have a stroke small enough to grip and release the work W.
　また、本実施形態において、エアシリンダ１０６と第２リニアガイド１０８を、増力機構１２２を介して上下方向に離間して配置し、サーボモータ１０５及び第１リニアガイド１０７を、上下方向においてエアシリンダ１０６と第２リニアガイド１０８との間に位置するように、ベース部材１０２に配置する場合には、次のような効果を得る。 In the present embodiment, the air cylinder 106 and the second linear guide 108 are vertically separated from each other via a booster 122, and the servo motor 105 and the first linear guide 107 are When the base member 102 is disposed so as to be located between the first linear guide 108 and the second linear guide 108, the following effects are obtained.
　すなわち、増力機構１２２として例えばてこ機構を使用する場合、その機構上、エアシリンダ１０６と第２リニアガイド１０８とを離間して配置することとなる。本実施形態では、そのスペースにサーボモータ１０５を配置して有効活用することにより、デッドスペースを減らすことができ、ロボットハンド１００をコンパクト化できる。 That is, when, for example, a lever mechanism is used as the booster mechanism 122, the air cylinder 106 and the second linear guide 108 are disposed apart from each other due to the mechanism. In the present embodiment, the dead space can be reduced and the robot hand 100 can be made compact by arranging and effectively utilizing the servomotor 105 in that space.
　また、本実施形態において、ロボットハンド１００が、第１スライダ１１０と第１把持部材１０３とを連結する第１可動プレート１１１と、第２スライダ１１８と第２把持部材１０４とを連結する第２可動プレート１１９と、を有し、第１把持部材１０３を第１可動プレート１１１に着脱可能に連結し、第２把持部材１０４を第２可動プレート１１９に着脱可能に連結する場合には、次のような効果を得る。 Further, in the present embodiment, the robot hand 100 includes a first movable plate 111 that connects the first slider 110 and the first gripping member 103, and a second movable plate that connects the second slider 118 and the second gripping member 104. When the first gripping member 103 is detachably connected to the first movable plate 111 and the second gripping member 104 is detachably connected to the second movable plate 119, the following is performed. Effect.
　すなわち上記構成により、把持するワークＷの種類や大きさ、形状等に応じて第１把持部材１０３及び第２把持部材１０４を対応する把持部材に変更（交換）することができる。したがって、様々なワークＷに対応することが可能となるので、汎用性をさらに向上できる。 That is, with the above configuration, the first gripping member 103 and the second gripping member 104 can be changed (replaced) to corresponding gripping members according to the type, size, shape, and the like of the workpiece W to be gripped. Therefore, it is possible to cope with various works W, so that versatility can be further improved.
　また、本実施形態において、第２可動プレート１１９が、第２把持部材１０４の延設方向に屈曲し、移動方向（左右方向）の幅寸法が第２把持部材１０４よりも大きくなるように形成された、第２把持部材１０４が連結される連結部１２１を有する場合には、次のような効果を得る。 Further, in the present embodiment, the second movable plate 119 is formed so as to bend in the extending direction of the second gripping member 104 and have a width dimension in the moving direction (left-right direction) larger than that of the second gripping member 104. When the second gripping member 104 has the connecting portion 121 to which the second gripping member 104 is connected, the following effects are obtained.
　すなわち上記構成により、第２把持部材１０４の付け根部分の剛性を向上できる。その結果、第２把持部材１０４の推力（把持力）を高くした場合でも第２把持部材１０４の変形（例えば拡がる方向の変形）を抑制できるので、高い把持力を確保しつつワークＷの位置決め精度を向上できる。 That is, with the above configuration, the rigidity of the base of the second gripping member 104 can be improved. As a result, even when the thrust (gripping force) of the second gripping member 104 is increased, the deformation (for example, deformation in the expanding direction) of the second gripping member 104 can be suppressed, and thus the positioning accuracy of the workpiece W while securing a high gripping force. Can be improved.
　また、本実施形態において、ロボットハンド１００が、第１リニアガイド１０７が取り付けられるベース部材１０２の前側に取り付けられ、第１把持部材１０３と第２把持部材１０４とにより把持される対象であるワークＷを検出するカメラ１２７を有する場合には、次のような効果を得る。 In this embodiment, the robot hand 100 is attached to the front side of the base member 102 to which the first linear guide 107 is attached, and the workpiece W to be gripped by the first gripping member 103 and the second gripping member 104. The following effects are obtained when the camera 127 for detecting is provided.
　すなわち、カメラ１２７の検出結果により、コントローラ５０がワークＷの種類や大きさ、形状、位置や姿勢等を認識し、その結果に応じてロボットアーム４０及びロボットハンド１００の動作を制御することができるので、把持動作の信頼性を向上できる。 That is, the controller 50 recognizes the type, size, shape, position, posture, and the like of the work W based on the detection result of the camera 127, and can control the operations of the robot arm 40 and the robot hand 100 according to the result. Therefore, the reliability of the gripping operation can be improved.
　また、本実施形態において、第１把持部材１０３と第２把持部材１０４を近づけてワークＷを把持する際に、コントローラ５０により、第２把持部材１０４をストロークＳ２の内側端部まで移動させた後に第１把持部材１０３を移動させるようにサーボモータ１０５とエアシリンダ１０６を制御する場合には、次のような効果を得る。 Further, in the present embodiment, when the first gripping member 103 and the second gripping member 104 are brought close to each other to grip the workpiece W, after the controller 50 moves the second gripping member 104 to the inner end of the stroke S2. When the servo motor 105 and the air cylinder 106 are controlled to move the first gripping member 103, the following effects are obtained.
　すなわち、例えばワークＷを把持する際に第１把持部材１０３と第２把持部材１０４を同時に移動させる場合、第２把持部材１０４がストロークＳ２の途中で停止する可能性がある。その場合、エアシリンダ１０６の位置のフィードバック情報がないため停止位置が把握できず、ワークＷの位置決め精度の低下を招く可能性がある。本実施形態では、第２把持部材１０４をストロークＳ２の内側端部まで移動させた後に第１把持部材１０３を移動させるので、第２把持部材１０４の停止位置を把握でき、当該位置を基準として位置制御することにより、ワークＷの位置決め精度を向上できる。 In other words, for example, when the first gripping member 103 and the second gripping member 104 are simultaneously moved when gripping the workpiece W, the second gripping member 104 may stop in the middle of the stroke S2. In this case, since there is no feedback information on the position of the air cylinder 106, the stop position cannot be grasped, and the positioning accuracy of the work W may be reduced. In the present embodiment, since the first gripping member 103 is moved after the second gripping member 104 is moved to the inner end of the stroke S2, the stop position of the second gripping member 104 can be grasped, and the position based on the position is determined. By performing the control, the positioning accuracy of the work W can be improved.
　＜５．変形例＞
　以上、添付図面を参照しながら一実施の形態について詳細に説明した。しかしながら、特許請求の範囲に記載された技術的思想の範囲は、ここで説明した実施の形態に限定されるものではない。本実施形態の属する技術の分野における通常の知識を有する者であれば、技術的思想の範囲内において、様々な変更や修正、組み合わせなどを行うことに想到できることは明らかである。従って、これらの変更や修正、組み合わせなどが行われた後の技術も、当然に技術的思想の範囲に属するものである。 <5. Modification>
The embodiment has been described in detail with reference to the accompanying drawings. However, the scope of the technical idea described in the claims is not limited to the embodiments described herein. It is obvious that a person having ordinary knowledge in the technical field to which the present embodiment belongs can make various changes, modifications, combinations, and the like within the scope of the technical idea. Therefore, the technology after these changes, corrections, combinations, etc., naturally belong to the scope of the technical idea.
　　（５－１．第２スライダの保持強度を第１スライダよりも強くした場合）
　前述の実施形態では、第２スライダ１１８の第２ガイド長ＧＬ２を第１スライダ１１０の第１ガイド長ＧＬ１よりも長くすることにより、第２リニアガイド１０８の許容モーメントを第１リニアガイド１０７の許容モーメントよりも大きくしている。但し、第２リニアガイド１０８の許容モーメントを第１リニアガイド１０７よりも大きくする手段は、ガイド長の長さだけに限るものではなく、例えばスライダの保持強度を強くする等、他の手段を用いてもよい。本変形例は、第２スライダ１１８の保持強度を第１スライダ１１０よりも強くする場合の一例である。 (5-1. When the holding strength of the second slider is higher than that of the first slider)
In the above-described embodiment, the second guide length GL2 of the second slider 118 is made longer than the first guide length GL1 of the first slider 110, so that the allowable moment of the second linear guide 108 is reduced. Larger than the moment. However, the means for making the allowable moment of the second linear guide 108 larger than that of the first linear guide 107 is not limited to the length of the guide length, and other means such as increasing the holding strength of the slider may be used. May be. This modification is an example in which the holding strength of the second slider 118 is made stronger than that of the first slider 110.
　例えば図８に示す例では、２つの第２スライダ１１８が近接して配置されており、第１スライダ１１０の第１ガイド長ＧＬ１と、第２スライダ１１８の第２ガイド長ＧＬ２とが、略同じ長さとなるように構成されている。また、第２スライダ１１８を近接配置したことにより、第２レール１１７は第２把持部材１０４のストロークＳ２を確保できる範囲で不要な部分が削除され、レール長が短縮されている。同様に、第２可動プレート１１９についても第２スライダ１１８との連結を確保できる範囲で不要な部分が削除され、左右方向の長さ寸法が短縮されている。さらに、第２リニアガイド１０８を構成する第２スライダ１１８と第２レール１１７とが、前述の実施形態よりも上下方向に厚く形成されており、第２スライダ１１８の保持強度が第１スライダ１１０の保持強度よりも大きくなるように構成されている。その結果、第１ガイド長ＧＬ１と第２ガイド長ＧＬ２とが略同じ長さであっても、第２リニアガイド１０８の許容モーメントが第１リニアガイド１０７の許容モーメントよりも大きくなっている。 For example, in the example shown in FIG. 8, two second sliders 118 are arranged close to each other, and the first guide length GL1 of the first slider 110 and the second guide length GL2 of the second slider 118 are substantially the same. It is configured to be length. Further, by disposing the second slider 118 close to the second rail 117, unnecessary portions of the second rail 117 are removed as long as the stroke S2 of the second gripping member 104 can be secured, and the rail length is shortened. Similarly, unnecessary portions of the second movable plate 119 are also removed as long as the connection with the second slider 118 can be ensured, and the length in the left-right direction is reduced. Further, the second slider 118 and the second rail 117 constituting the second linear guide 108 are formed to be thicker in the vertical direction than in the above-described embodiment, and the holding strength of the second slider 118 is lower than that of the first slider 110. It is configured to be larger than the holding strength. As a result, even if the first guide length GL1 and the second guide length GL2 are substantially the same length, the allowable moment of the second linear guide 108 is larger than the allowable moment of the first linear guide 107.
　本変形例によれば、前述の実施形態と同様の効果に加えて、さらに次のような効果を得ることができる。すなわち、第２レール１１７や第２可動プレート１１９の無駄な長さが減るので、ネジの数を減らすなど取付工数を減らすことができると共に、コストを削減でき、重量も軽減できる。また、第２レール１１７や第２可動プレート１１９による占有スペースを小さくできるので、レイアウトの自由度を増すことができる。 According to the present modification, in addition to the same effects as those of the above-described embodiment, the following effects can be further obtained. That is, since the useless lengths of the second rail 117 and the second movable plate 119 are reduced, the number of mounting steps such as the number of screws can be reduced, the cost can be reduced, and the weight can be reduced. Further, the space occupied by the second rail 117 and the second movable plate 119 can be reduced, so that the degree of freedom in layout can be increased.
　　（５－２．第２スライダが単体のスライダとして構成された場合）
　前述の実施形態では、第２スライダ１１８を複数のスライダで構成したが、第２スライダ１１８を単体のスライダとして構成してもよい。例えば図９に示す例では、第２スライダ１１８が左右方向に長尺な１つのスライダとして構成されている。第２スライダ１１８のスライダ全体の移動方向における一方側端部から他方側端部までの距離である第２ガイド長ＧＬ２は、第１スライダ１１０の第１ガイド長ＧＬ１よりも長くなるように構成されている。これにより、第２リニアガイド１０８の許容モーメントは第１リニアガイド１０７の許容モーメントよりも大きくなっている。 (5-2. When the second slider is configured as a single slider)
In the above-described embodiment, the second slider 118 is configured by a plurality of sliders, but the second slider 118 may be configured as a single slider. For example, in the example shown in FIG. 9, the second slider 118 is configured as one slider that is long in the left-right direction. The second guide length GL2, which is the distance from one end to the other end in the movement direction of the entire slider of the second slider 118, is configured to be longer than the first guide length GL1 of the first slider 110. ing. Thus, the allowable moment of the second linear guide 108 is larger than the allowable moment of the first linear guide 107.
　本変形例においても、前述の実施形態と同様の効果を得ることができる。 に お い て In this modification as well, the same effects as in the above-described embodiment can be obtained.
　　（５－３．第２レールを分割配置した場合）
　前述の実施形態では、第２レール１１７を一本のレールとして構成したが、第２レール１１７を複数（例えば第２スライダ１１８の数と同数）に分割した構成としてもよい。例えば図１０に示す例では、第２リニアガイド１０８が、２つの第２スライダ１１８と、２つの第２スライダ１１８のそれぞれをガイドする２つの第２レール１１７とを有する。言い換えると、第２レール１１７が２つの第２スライダ１１８に対応する位置に２分割して配置されている。それぞれの第２レール１１７は第２把持部材１０４のストロークＳ２を確保できる長さに形成されており、左右方向における中間の部分には第２レール１１７は設置されていない。前述の実施形態と同様に、第２スライダ１１８の第２ガイド長ＧＬ２は第１スライダ１１０の第１ガイド長ＧＬ１よりも長くなるように構成されている。 (5-3. When the 2nd rail is divided and arranged)
In the above-described embodiment, the second rail 117 is configured as one rail. However, the second rail 117 may be configured to be divided into a plurality (for example, the same number as the number of the second sliders 118). For example, in the example shown in FIG. 10, the second linear guide 108 has two second sliders 118 and two second rails 117 that guide each of the two second sliders 118. In other words, the second rail 117 is divided into two at positions corresponding to the two second sliders 118. Each of the second rails 117 is formed to have a length that can secure the stroke S2 of the second gripping member 104, and the second rail 117 is not provided at an intermediate portion in the left-right direction. As in the above-described embodiment, the second guide length GL2 of the second slider 118 is configured to be longer than the first guide length GL1 of the first slider 110.
　本変形例によれば、前述の実施形態と同様の効果に加えて、さらに次のような効果を得ることができる。すなわち、第２レール１１７の無駄なレール長が減るので、ネジの数を減らすなど取付工数を減らすことができると共に、コストを削減でき、重量も軽減できる。また、第２レール１１７による占有スペースを小さくできるので、レイアウトの自由度を増すことができる。 According to the present modification, in addition to the same effects as those of the above-described embodiment, the following effects can be further obtained. That is, since the useless rail length of the second rail 117 is reduced, the number of mounting steps such as the number of screws can be reduced, the cost can be reduced, and the weight can be reduced. Further, since the space occupied by the second rail 117 can be reduced, the degree of freedom in layout can be increased.
　　（５－４．その他）
　例えば、以上ではサーボモータ１０５により駆動される第１把持部材１０３が右側、エアシリンダ１０６により駆動される第２把持部材１０４が左側に配置される構成としたが、反対に第１把持部材１０３が左側、第２把持部材１０４が右側に配置される構成としてもよい。この場合、サーボモータ１０５、エアシリンダ１０６、第１リニアガイド１０７及び第２リニアガイド１０８等についても左右反対の配置構成とすればよい。 (5-4. Others)
For example, in the above description, the first gripping member 103 driven by the servo motor 105 is arranged on the right side, and the second gripping member 104 driven by the air cylinder 106 is arranged on the left side. The left side and the second gripping member 104 may be arranged on the right side. In this case, the servo motor 105, the air cylinder 106, the first linear guide 107, the second linear guide 108, and the like may be arranged to be left and right opposite.
　また以上では、第１アクチュエータ１０５としてサーボモータ（動力源が電気）、第２アクチュエータ１０６としてエアシリンダ（動力源がエア）を使用する場合について説明したが、２つのアクチュエータが異なる動力源であれば、その他の動力源（油圧、蒸気等）を使用したアクチュエータであってもよい。 In the above description, the case where a servo motor (power source is electric) is used as the first actuator 105 and an air cylinder (air is power source) is used as the second actuator 106 has been described. Alternatively, an actuator using another power source (oil pressure, steam, or the like) may be used.
　＜６．コントローラのハードウェア構成例＞
　次に、図８を参照しつつ、上記で説明したコントローラ５０のハードウェア構成例について説明する。なお、図８中では、コントローラ５０の駆動電力を給電する機能に係る構成を適宜省略して図示している。 <6. Example of controller hardware configuration>
Next, an example of a hardware configuration of the controller 50 described above will be described with reference to FIG. In FIG. 8, the configuration related to the function of supplying the driving power of the controller 50 is omitted as appropriate.
　図８に示すように、コントローラ５０は、例えば、ＣＰＵ９０１と、ＲＯＭ９０３と、ＲＡＭ９０５と、ＡＳＩＣ又はＦＰＧＡ等の特定の用途向けに構築された専用集積回路９０７と、入力装置９１３と、出力装置９１５と、記録装置９１７と、ドライブ９１９と、接続ポート９２１と、通信装置９２３とを有する。これらの構成は、バス９０９や入出力インターフェース９１１を介し相互に信号を伝達可能に接続されている。 As shown in FIG. 8, the controller 50 includes, for example, a CPU 901, a ROM 903, a RAM 905, a dedicated integrated circuit 907 constructed for a specific use such as an ASIC or an FPGA, an input device 913, and an output device 915. , A recording device 917, a drive 919, a connection port 921, and a communication device 923. These components are connected so that signals can be transmitted to each other via a bus 909 and an input / output interface 911.
　プログラムは、例えば、ＲＯＭ９０３やＲＡＭ９０５、記録装置９１７等に記録しておくことができる。 The program can be recorded in, for example, the ROM 903, the RAM 905, the recording device 917, or the like.
　また、プログラムは、例えば、フレキシブルディスクなどの磁気ディスク、各種のＣＤ・ＭＯディスク・ＤＶＤ等の光ディスク、半導体メモリ等のリムーバブルな記録媒体９２５に、一時的又は非一時的（永続的）に記録しておくこともできる。このような記録媒体９２５は、いわゆるパッケージソフトウエアとして提供することもできる。この場合、これらの記録媒体９２５に記録されたプログラムは、ドライブ９１９により読み出されて、入出力インターフェース９１１やバス９０９等を介し上記記録装置９１７に記録されてもよい。 The program is temporarily or non-temporarily (permanently) recorded on a magnetic disk such as a flexible disk, an optical disk such as various CD / MO disks / DVDs, or a removable recording medium 925 such as a semiconductor memory. You can keep it. Such a recording medium 925 can be provided as so-called package software. In this case, the programs recorded on these recording media 925 may be read by the drive 919 and recorded on the recording device 917 via the input / output interface 911, the bus 909, and the like.
　また、プログラムは、例えば、ダウンロードサイト・他のコンピュータ・他の記録装置等（図示せず）に記録しておくこともできる。この場合、プログラムは、ＬＡＮやインターネット等のネットワークＮＷを介し転送され、通信装置９２３がこのプログラムを受信する。そして、通信装置９２３が受信したプログラムは、入出力インターフェース９１１やバス９０９等を介し上記記録装置９１７に記録されてもよい。 The program can also be recorded on, for example, a download site, another computer, another recording device, or the like (not shown). In this case, the program is transferred via a network NW such as a LAN or the Internet, and the communication device 923 receives the program. The program received by the communication device 923 may be recorded in the recording device 917 via the input / output interface 911, the bus 909, and the like.
　また、プログラムは、例えば、適宜の外部接続機器９２７に記録しておくこともできる。この場合、プログラムは、適宜の接続ポート９２１を介し転送され、入出力インターフェース９１１やバス９０９等を介し上記記録装置９１７に記録されてもよい。 The program can also be recorded on, for example, an appropriate externally connected device 927. In this case, the program may be transferred through an appropriate connection port 921 and recorded in the recording device 917 via the input / output interface 911, the bus 909, or the like.
　そして、ＣＰＵ９０１が、上記記録装置９１７に記録されたプログラムに従い各種の処理を実行することにより、上記のロボットハンド１００の把持動作等の制御が実現される。この際、ＣＰＵ９０１は、例えば、上記記録装置９１７からプログラムを直接読み出して実行してもよいし、ＲＡＭ９０５に一旦ロードした上で実行してもよい。更にＣＰＵ９０１は、例えば、プログラムを通信装置９２３やドライブ９１９、接続ポート９２１を介し受信する場合、受信したプログラムを記録装置９１７に記録せずに直接実行してもよい。 Then, the CPU 901 performs various processes in accordance with the program recorded in the recording device 917, thereby realizing the control of the gripping operation of the robot hand 100 and the like. At this time, the CPU 901 may, for example, directly read out the program from the recording device 917 and execute the program, or may execute the program once loaded in the RAM 905. Further, for example, when the CPU 901 receives a program via the communication device 923, the drive 919, and the connection port 921, the CPU 901 may directly execute the received program without recording it in the recording device 917.
　また、ＣＰＵ９０１は、必要に応じて、例えばマウス・キーボード・マイク（図示せず）等の入力装置９１３から入力する信号や情報に基づいて各種の処理を行ってもよい。 The CPU 901 may perform various processes based on signals and information input from the input device 913 such as a mouse, a keyboard, and a microphone (not shown), as necessary.
　そして、ＣＰＵ９０１は、上記の処理を実行した結果を、例えば表示装置や音声出力装置等の出力装置９１５から出力してもよく、さらにＣＰＵ９０１は、必要に応じてこの処理結果を通信装置９２３や接続ポート９２１を介し送信してもよく、上記記録装置９１７や記録媒体９２５に記録させてもよい。 Then, the CPU 901 may output the result of executing the above processing from an output device 915 such as a display device or an audio output device, and the CPU 901 may transmit the processing result to the communication device 923 and the connection device 923 as necessary. The data may be transmitted via the port 921 or may be recorded on the recording device 917 or the recording medium 925.
　なお、以上の説明において、「垂直」「平行」「平面」等の記載がある場合には、当該記載は厳密な意味ではない。すなわち、それら「垂直」「平行」「平面」とは、設計上、製造上の公差、誤差が許容され、「実質的に垂直」「実質的に平行」「実質的に平面」という意味である。 In the above description, if there is a description such as “vertical”, “parallel”, or “plane”, the description is not strictly meaningful. That is, the terms “vertical”, “parallel”, and “plane” mean tolerances and errors in design and manufacture, and mean “substantially vertical”, “substantially parallel”, and “substantially plane”. .
　また、以上の説明において、外観上の寸法や大きさ、形状、位置等が「同一（同じ）」「等しい」「異なる」等の記載がある場合は、当該記載は厳密な意味ではない。すなわち、それら「同一（同じ）」「等しい」「異なる」とは、設計上、製造上の公差、誤差が許容され、「実質的に同一（同じ）」「実質的に等しい」「実質的に異なる」という意味である。 In addition, in the above description, when there is a description such as “identical (same)”, “equal”, “different”, etc., in appearance, size, size, shape, position, etc., the description is not strictly meaning. That is, the terms “same (same)”, “equal”, and “different” mean that tolerances and errors in design and manufacture are allowed, and that “substantially the same (same)”, “substantially equal”, “substantially equal” Is different. "
　１０　　　　　ロボット
　４０　　　　　ロボットアーム
　５０　　　　　コントローラ
　１００　　　　ロボットハンド
　１０１　　　　取付部材
　１０２　　　　ベース部材
　１０２ｂ　　　後面
　１０２ｄ　　　下面（第２サイド）
　１０２ｆ　　　前面（第１サイド）
　１０３　　　　第１把持部材
　１０４　　　　第２把持部材
　１０５　　　　サーボモータ（第１アクチュエータの一例）
　１０６　　　　エアシリンダ（第２アクチュエータの一例）
　１０７　　　　第１リニアガイド
　１０８　　　　第２リニアガイド
　１０９　　　　第１レール
　１１０　　　　第１スライダ
　１１１　　　　第１可動プレート
　１１７　　　　第２レール
　１１８　　　　第２スライダ
　１１９　　　　第２可動プレート
　１２１　　　　連結部
　１２２　　　　増力機構
　１２７　　　　カメラ（センサ）
　Ｓ２　　　　　ストローク
　Ｗ　　　　　　ワーク Reference Signs List 10 robot 40 robot arm 50 controller 100 robot hand 101 mounting member 102 base member 102b rear surface 102d lower surface (second side)
102f Front (1st side)
103 First holding member 104 Second holding member 105 Servo motor (an example of a first actuator)
106 air cylinder (an example of the second actuator)
107 1st linear guide 108 2nd linear guide 109 1st rail 110 1st slider 111 1st movable plate 117 2nd rail 118 2nd slider 119 2nd movable plate 121 Connecting part 122 Booster mechanism 127 Camera (sensor)
S2 Stroke W Work

Claims (14)

  1. 　ロボットアームと、前記ロボットアームの先端に取り付けられたロボットハンドと、を備えたロボットであって、
    　前記ロボットハンドは、
    　第１把持部材と、
    　前記第１把持部材が連結された第１スライダと、前記第１スライダを移動方向にガイドする第１レールとを備えた第１リニアガイドと、
    　前記第１スライダを前記第１レールに沿って移動させる第１アクチュエータと、
    　第２把持部材と、
    　前記第２把持部材が連結された第２スライダと、前記第２スライダを前記移動方向にガイドする第２レールとを備えた第２リニアガイドと、
    　前記第１アクチュエータと異なる動力源で駆動され、前記第２スライダを前記第２レールに沿って移動させる第２アクチュエータと、
    　前記第１リニアガイドと前記第２リニアガイドを固定するベース部材と、
    を備え、
    　前記ロボットハンドは、前記第２把持部材の推力が前記第１把持部材の推力よりも大きくなるように構成されており、
    　前記第２リニアガイドは、前記第１リニアガイドにおける許容モーメントよりも大きな許容モーメントを有する、
    ロボット。     A robot comprising: a robot arm; and a robot hand attached to a tip of the robot arm,
    The robot hand is
    A first gripping member;
    A first linear guide including a first slider to which the first gripping member is connected, and a first rail for guiding the first slider in a moving direction;
    A first actuator for moving the first slider along the first rail;
    A second gripping member;
    A second linear guide including a second slider to which the second gripping member is connected, and a second rail for guiding the second slider in the moving direction;
    A second actuator driven by a power source different from the first actuator to move the second slider along the second rail;
    A base member for fixing the first linear guide and the second linear guide,
    With
    The robot hand is configured such that the thrust of the second gripping member is larger than the thrust of the first gripping member,
    The second linear guide has a larger allowable moment than the allowable moment of the first linear guide,
    robot.
  2. 　前記第２スライダは、
    　リニアガイドにおいて少なくとも１つのスライダ全体の前記移動方向における一方側端部から他方側端部までの距離であるガイド長が、前記第１スライダよりも長くなるように構成されている、請求項１に記載のロボット。     The second slider,
    2. The linear guide according to claim 1, wherein a guide length, which is a distance from one end to the other end in the moving direction of at least one slider as a whole, is longer than the first slider. 3. The described robot.
  3. 　前記第２リニアガイドは、
    　前記第２スライダとして、少なくとも２つのスライダと、
    　前記第２レールとして、前記少なくとも２つのスライダのそれぞれをガイドする２つのレールと、
    を備えることを特徴とする、請求項２に記載のロボット。     The second linear guide includes:
    At least two sliders as the second slider;
    Two rails for guiding each of the at least two sliders as the second rail;
    The robot according to claim 2, comprising:
  4. 　前記第１アクチュエータは、サーボモータであり、
    　前記第２アクチュエータは、エアシリンダである、
    請求項１～３のいずれか１項に記載のロボット。     The first actuator is a servomotor,
    The second actuator is an air cylinder;
    The robot according to any one of claims 1 to 3.
  5. 　前記ベース部材は、
    　前記第１リニアガイドと前記第２リニアガイドを、前記第１レールと前記第２レールとのそれぞれの少なくとも一部が前記移動方向において相互に重複し、且つ前記移動方向に直交する方向において相互にずれた位置に固定する、
    請求項１～４のいずれか１項に記載のロボット。     The base member,
    The first linear guide and the second linear guide are connected to each other in a direction in which at least a part of each of the first rail and the second rail overlap each other in the moving direction and are orthogonal to the moving direction. Fixed in a shifted position,
    The robot according to any one of claims 1 to 4.
  6. 　前記ベース部材における、前記第１把持部材及び前記第２把持部材に対して反対側に前記ベース部材と間隙をあけて、前記ベース部材に固定され、前記ロボットアームの先端に取付けられる取付部材を更に有し、
    　前記第１アクチュエータ及び前記第２アクチュエータは、前記間隙において前記ベース部材に取り付けられている、
    請求項１～５のいずれか１項に記載のロボット。     The base member further includes a mounting member fixed to the base member and spaced from the first gripping member and the second gripping member on a side opposite to the base member and attached to a tip of the robot arm. Have
    The first actuator and the second actuator are attached to the base member at the gap.
    The robot according to any one of claims 1 to 5.
  7. 　前記第１リニアガイドは、
    　前記ベース部材の第１サイドに取り付けられ、
    　前記第２リニアガイドは、
    　前記ベース部材の前記第１サイドと直交する第２サイドに取り付けられている、
    請求項１～６のいずれか１項に記載のロボット。     The first linear guide includes:
    Attached to a first side of the base member,
    The second linear guide includes:
    Attached to a second side of the base member orthogonal to the first side,
    The robot according to any one of claims 1 to 6.
  8. 　前記ロボットハンドは、
    　前記第２アクチュエータの推力を増大して前記第２スライダに伝達する増力機構を有する、
    請求項１～７のいずれか１項に記載のロボット。     The robot hand is
    A booster mechanism for increasing the thrust of the second actuator and transmitting the thrust to the second slider;
    The robot according to any one of claims 1 to 7.
  9. 　前記第２アクチュエータと前記第２リニアガイドは、
    　前記増力機構を介して第１方向に離間して配置されており、
    　前記第１アクチュエータ及び前記第１リニアガイドの少なくとも一方は、
    　前記第１方向において前記第２アクチュエータと前記第２リニアガイドとの間に位置するように、前記ベース部材に固定されている、
    請求項８に記載のロボット。     The second actuator and the second linear guide,
    It is arranged spaced apart in the first direction via the booster mechanism,
    At least one of the first actuator and the first linear guide,
    Fixed to the base member so as to be located between the second actuator and the second linear guide in the first direction;
    The robot according to claim 8.
  10. 　前記ロボットハンドは、
    　前記第１スライダと前記第１把持部材とを連結する第１可動プレートと、
    　前記第２スライダと前記第２把持部材とを連結する第２可動プレートと、を有し、
    　前記第１把持部材は、
    　前記第１可動プレートに着脱可能に連結されており、
    　前記第２把持部材は、
    　前記第２可動プレートに着脱可能に連結されている、
    請求項１～９のいずれか１項に記載のロボット。     The robot hand is
    A first movable plate connecting the first slider and the first holding member,
    A second movable plate connecting the second slider and the second gripping member,
    The first holding member includes:
    Being detachably connected to the first movable plate,
    The second gripping member,
    Being detachably connected to the second movable plate,
    The robot according to any one of claims 1 to 9.
  11. 　前記第２可動プレートは、
    　前記第２把持部材の延設方向に屈曲し、前記移動方向の幅寸法が前記第２把持部材よりも大きくなるように形成された、前記第２把持部材が連結される連結部を有している、
    請求項１０に記載のロボット。     The second movable plate includes:
    A connecting portion that is bent in the extending direction of the second gripping member and has a width dimension in the moving direction larger than that of the second gripping member, the connecting portion being connected to the second gripping member; Yes,
    The robot according to claim 10.
  12. 　前記ロボットハンドは、
    　前記第１リニアガイドが取り付けられる前記ベース部材の第１サイドに取り付けられ、前記第１把持部材と前記第２把持部材とにより把持される対象であるワークを検出する少なくとも１つのセンサを有する、
    請求項１～１１のいずれか１項に記載のロボット。     The robot hand is
    At least one sensor attached to a first side of the base member to which the first linear guide is attached, the sensor including at least one sensor for detecting a work to be held by the first holding member and the second holding member,
    The robot according to any one of claims 1 to 11.
  13. 　前記第１把持部材と前記第２把持部材を近づけてワークを把持する際に、前記第２把持部材をストロークの端部まで移動させた後に前記第１把持部材を移動させるように、前記第１アクチュエータと前記第２アクチュエータを制御するコントローラをさらに有する、
    請求項１～１２のいずれか１項に記載のロボット。     When the first gripping member and the second gripping member are brought close to each other to grip a workpiece, the first gripping member is moved after moving the second gripping member to an end of a stroke. Further comprising an actuator and a controller for controlling the second actuator;
    The robot according to any one of claims 1 to 12.
  14. 　ロボットアームの先端に取り付けられるロボットハンドであって、
    　第１把持部材と、
    　前記第１把持部材が連結された第１スライダと、前記第１スライダを移動方向にガイドする第１レールとを備えた第１リニアガイドと、
    　前記第１スライダを前記第１レールに沿って移動させる第１アクチュエータと、
    　第２把持部材と、
    　前記第２把持部材が連結された第２スライダと、前記第２スライダを前記移動方向にガイドする第２レールとを備えた第２リニアガイドと、
    　前記第１アクチュエータと異なる動力源で駆動され、前記第２スライダを前記第２レールに沿って移動させる第２アクチュエータと、
    　前記第１リニアガイドと前記第２リニアガイドを固定するベース部材と、
    を備え、
    　前記ロボットハンドは、前記第２把持部材の推力が前記第１把持部材の推力よりも大きくなるように構成されており、
    　前記第２リニアガイドは、前記第１リニアガイドにおける許容モーメントよりも大きな許容モーメントを有する、
    ロボットハンド。     A robot hand attached to the tip of the robot arm,
    A first gripping member;
    A first linear guide including a first slider to which the first gripping member is connected, and a first rail for guiding the first slider in a moving direction;
    A first actuator for moving the first slider along the first rail;
    A second gripping member;
    A second linear guide including a second slider to which the second gripping member is connected, and a second rail for guiding the second slider in the moving direction;
    A second actuator driven by a power source different from the first actuator to move the second slider along the second rail;
    A base member for fixing the first linear guide and the second linear guide,
    With
    The robot hand is configured such that the thrust of the second gripping member is larger than the thrust of the first gripping member,
    The second linear guide has a larger allowable moment than the allowable moment of the first linear guide,
    Robot hand.
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