WO2022045300A1 - Robot system - Google Patents
Robot system Download PDFInfo
- Publication number
- WO2022045300A1 WO2022045300A1 PCT/JP2021/031557 JP2021031557W WO2022045300A1 WO 2022045300 A1 WO2022045300 A1 WO 2022045300A1 JP 2021031557 W JP2021031557 W JP 2021031557W WO 2022045300 A1 WO2022045300 A1 WO 2022045300A1
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- WO
- WIPO (PCT)
- Prior art keywords
- claw
- finger
- members
- pair
- tip
- Prior art date
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/04—Gripping heads and other end effectors with provision for the remote detachment or exchange of the head or parts thereof
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
Definitions
- This disclosure relates to robot systems.
- Patent Document 1 A chuck that holds a cylindrical work from the inner peripheral surface side is known (see, for example, Patent Document 1).
- the chuck disclosed in Patent Document 1 is used for a robot hand, has a wedge member attached to the tip of a cylinder rod, and has a plurality of chuck claws that swing due to the advancement and retreat of the wedge member.
- the present inventor has conceived a robot system that has a new structure different from the chuck disclosed in Patent Document 1 and can hold a cylindrical work from the inner peripheral surface side. It is an object of the present disclosure to provide a robot system having a novel structure.
- the robot system has a pair of fingernails and a first direction which is a direction from the tip of one fingernail to the tip of the other fingernail.
- Each of the pair of claw members includes an actuator that operates the pair of finger members so as to be close to or separated from each other, and a pair of claw members that are detachably configured with respect to the corresponding finger member. Is provided with a proximal end portion and a distal end portion, and when the respective proximal end portions move in a direction close to each other, the tips of the respective distal end portions of the claw member are configured to be separated from each other.
- the cylindrical work can be held from the inner peripheral surface side.
- FIG. 1 is a schematic diagram showing a schematic configuration of a robot system according to the first embodiment.
- FIG. 2 is a schematic diagram showing a schematic configuration of the robot system according to the first embodiment.
- FIG. 3 is a schematic diagram showing a schematic configuration of the robot system according to the first embodiment.
- FIG. 4 is a cross-sectional view showing a schematic configuration of a support member and a claw member of the robot system shown in FIG.
- FIG. 5 is a schematic diagram showing a schematic configuration of a hand and a claw member of the robot system shown in FIG. 1.
- FIG. 6 is a schematic view of the claw member of FIG. 5 as viewed from different directions.
- 7A and 7B are schematic views showing how the hand and the claw member of FIG. 5 hold the work.
- FIG. 1 is a schematic diagram showing a schematic configuration of a robot system according to the first embodiment.
- FIG. 2 is a schematic diagram showing a schematic configuration of the robot system according to the first embodiment.
- FIG. 3 is a schematic
- FIG. 8 is a schematic diagram showing a schematic configuration of a tip portion of a finger member and a claw member of the robot system shown in FIG. 9A and 9B are schematic views showing how the claw member shown in FIG. 4 is attached to the finger member.
- FIG. 10 is a schematic diagram showing a schematic configuration of a hand to which the claw member of FIG. 8 is attached.
- FIG. 11 is a schematic diagram showing a schematic configuration of a hand to which another claw member is attached.
- FIG. 12 is a schematic diagram showing a schematic configuration of a hand to which another claw member is attached.
- FIG. 13 is a schematic diagram showing a schematic configuration of a hand to which another claw member is attached.
- FIG. 14 is a flowchart showing an example of the operation of the robot system according to the first embodiment.
- FIG. 14 is a flowchart showing an example of the operation of the robot system according to the first embodiment.
- FIG. 15 is a schematic diagram showing a schematic configuration of a hand and a claw member of the robot system of the modified example 1 in the first embodiment.
- FIG. 16 is a schematic diagram showing a schematic configuration of a finger member and a claw member of the robot system according to the second embodiment.
- FIG. 1 to 3 are schematic views showing a schematic configuration of the robot system 100 according to the first embodiment.
- FIG. 1 shows a state in which the claw member is attached to the finger member
- FIG. 2 shows a state in which the claw member is removed from the finger member.
- FIG. 3 shows a state viewed from a direction different from that of FIG. 1, and shows a state in which a claw member different from the claw member shown in FIG. 1 is attached.
- FIGS. 1 to 3 the front-back direction, the up-down direction, and the left-right direction in the robot system are shown in the front-back direction, the up-down direction, and the left-right direction in the figure.
- the robot system 100 includes a robot 101, a hand 20, a control device 50, and a support member 200.
- the robot 101 is mounted on the moving body 60.
- the moving body 60 is arranged on the rail members 301A and 301B extending in the left-right direction, and is configured to move in the left-right direction by an appropriate actuator.
- the robot system 100 may further include a photographing device (for example, a camera), and image information / video information photographed by the photographing device may be input to the control device 50. Further, the control device 50 may be configured to grasp the shape of the work based on the acquired image information / video information and select a claw member suitable for the shape of the work.
- a photographing device for example, a camera
- image information / video information photographed by the photographing device may be input to the control device 50.
- the control device 50 may be configured to grasp the shape of the work based on the acquired image information / video information and select a claw member suitable for the shape of the work.
- a support member 200 is arranged in front of the robot 101.
- a pair of claw members 41 to 45 of a plurality of types are housed in the support member 200.
- the configuration of the support member 200 will be described with reference to FIGS. 1 and 4.
- the configuration of the claw members 41 to 45 will be described later.
- FIG. 4 is a cross-sectional view showing a schematic configuration of a support member 200 and a claw member 42 of the robot system 100 shown in FIG.
- the vertical direction and the horizontal direction in the robot system 100 are shown in the vertical direction and the horizontal direction in the figure.
- the support member 200 includes a first support member 201 and a second support member 202 extending in the left-right direction, and a space between the first support member 201 and the second support member 202. Consists of the recess 203.
- the recess 203 is configured such that the tip portions 71 of the claw members 41 to 45 are inserted therein. Specifically, the tip portions 71 of the claw members 41 to 45 are inserted into the recess 203, respectively, with the stretching direction of the claw members 41 to 45 facing in the vertical direction.
- the support member 200 adopts a form composed of two members, but the present invention is not limited to this, and the support member 200 may be composed of one member.
- the recess 203 may be formed on the upper surface of one box-shaped member.
- various works W1 to W5 are arranged in front of the support member 200.
- the robot system 100 selects various claw members 41 to 45 suitable for the shapes of the various works W1 to W5 and attaches them to the finger member 30.
- the robot 101 includes an articulated body of a plurality of links (here, the first link 11a to the sixth link 11f), a plurality of joints (here, the first joint JT1 to the sixth joint JT6), and a group supporting these.
- a vertical articulated robot arm comprising a pedestal 15.
- a vertical articulated robot is adopted as the robot 101, but the robot is not limited to this, and a horizontal articulated robot may be adopted.
- the base 15 and the base end portion of the first link 11a are rotatably connected around an axis extending in the vertical direction.
- the tip end portion of the first link 11a and the base end portion of the second link 11b are rotatably connected around an axis extending in the horizontal direction.
- the tip end portion of the second link 11b and the base end portion of the third link 11c are rotatably connected around an axis extending in the horizontal direction.
- the tip end portion of the 3rd link 11c and the base end portion of the 4th link 11d are rotatably connected around an axis extending in the longitudinal direction of the 4th link 11d.
- the tip end portion of the fourth link 11d and the base end portion of the fifth link 11e are rotatably connected around an axis orthogonal to the longitudinal direction of the fourth link 11d.
- the tip end portion of the fifth link 11e and the base end portion of the sixth link 11f are rotatably connected to each other.
- a mechanical interface 12 is provided at the tip of the sixth link 11f.
- a hand 20 is detachably attached to the mechanical interface 12. The configuration of the hand 20 will be described later.
- each of the first joint JT1 to the sixth joint JT6 is provided with a drive motor as an example of an actuator that relatively rotates two members to which each joint is connected (not shown).
- the drive motor may be, for example, a servomotor controlled by the control device 50.
- each of the first joint JT1 to the sixth joint JT6 is provided with a rotation sensor for detecting the rotation position of the drive motor and a current sensor for detecting the current for controlling the rotation of the drive motor (respectively). , Not shown).
- the rotation sensor may be, for example, an encoder.
- the control device 50 includes an arithmetic processor such as a microprocessor and a CPU, and a storage device such as a ROM and a RAM (none of which is shown). Information such as basic programs and various fixed data is stored in the storage device.
- the arithmetic processing unit is configured to execute various operations of the robot system 100 by reading and executing software such as a basic program stored in the storage device.
- the control device 50 may be configured by a single control device that centrally controls, or may be configured by a plurality of control devices that cooperate with each other to perform distributed control. Further, the control device 50 may be composed of a microcomputer, an MPU, a PLC (Programmable Logic Controller), a logic circuit, or the like.
- FIG. 5 is a schematic diagram showing a schematic configuration of the hand 20 and the claw member 41 of the robot system 100 shown in FIG.
- the hand 20 has a pair of finger members 30A and 30B, a main body 21, and an actuator 22.
- the actuator 22 is arranged at the rear of the main body 21 and is configured to operate the pair of finger members 30A and 30B so as to be close to each other / separated from each other.
- the actuator 22 may be composed of a servo-motor.
- the hand 20 may have various members (for example, gears, cam mechanism, etc.) for bringing the pair of finger members 30A and 30B closer to each other / separated from each other.
- the direction from the tip of one finger member 30A to the tip of the other finger member 30B is referred to as the first direction.
- the direction indicated by the arrow X is the first direction.
- the first direction will be described as the left-right direction.
- the stretching direction of the finger members 30A and 30B is the vertical direction (vertical direction).
- Claw members 41A and 41B are connected to the pair of finger members 30A and 30B, respectively. Further, the pair of finger members 30A and 30b each have four link members 3A to 3D and a connecting member 3E in the first embodiment.
- the finger member 30 When the pair of finger members 30A and 30B are not distinguished, they may be referred to as the finger member 30. Similarly, when the claw members 41A and 41B are not distinguished, they may be referred to as a claw member 41.
- the finger member 30 adopts a form having four link members 3A to 3D, but the present invention is not limited to this.
- the finger member 30 may adopt a form having one link member, or may adopt a form having two link members.
- the base ends of the link members 3A and 3B are rotatably connected to the main body 21, respectively. Further, the tip end portion of the link member 3A is rotatably connected to the base end portion of the link member 3C. Similarly, the tip end portion of the link member 3B is rotatably connected to the base end portion of the link member 3D. The tip portions of the link members 3C and 3D are rotatably connected to the connecting member 3E, respectively.
- the base end portion 72 of the claw member 41 is connected to the connecting member 3E provided at the tip end portion of the finger member 30.
- the configuration of the connecting member 3E of the finger member 30 and the base end portion 72 of the claw member 42 will be described with reference to FIG.
- the claw member 42 is shown in FIG. 8, since the base end portion 72 of the claw member 41 and the base end portion 72 of the claw member 42 are configured in the same manner, the claw member 42 will be described below. The base end portion 72 of the above will be described.
- FIG. 8 is a schematic diagram showing a schematic configuration of a tip portion of a finger member 30 and a claw member 41 of the robot system 100 shown in FIG.
- the front-back direction, the up-down direction, and the left-right direction in the robot system 100 are shown in the front-back direction, the up-down direction, and the left-right direction in the figure.
- the connecting member 3E of the finger member 30 is formed in a rectangular parallelepiped shape.
- Flange-shaped engaged portions 61 and 61 extending in the left-right direction are formed at the lower end portion of the front surface and the lower end portion of the rear surface of the connecting member 3E, respectively.
- the engaged portion 61 is formed in a tapered shape. Specifically, the engaged portion 61 on the finger member 30A side is formed in a tapered shape so that the area on the right side is smaller than that on the left side. Further, the engaged portion 61 on the finger member 30B side is formed in a tapered shape so that the area on the left surface is smaller than that on the right surface.
- a first lock mechanism 80 is provided on the right surface (inner surface; the tip portion 62 of the engaged portion 61) of the connecting member 3E on the finger member 30A side.
- the first lock mechanism 80 is provided on the left surface (inner surface; the tip portion 62 of the engaged portion 61) of the connecting member 3E on the finger member 30B side.
- a first lock mechanism 90 is provided on the first stopper portion 91 of the claw member 42, which will be described later.
- the first lock mechanisms 80 and 90 can lock the claw member 42 so that the claw member 42 does not fall under its own weight when the tip end portion of the engaged portion 61 faces downward? It may be any aspect.
- the first lock mechanisms 80 and 90 may be composed of, for example, a magnet or a ball plunger.
- the claw member 42 is formed in an inverted L shape when viewed from the front-rear direction, and has a base end portion 72 extending in the left-right direction and a tip portion 71 extending in the vertical direction.
- the base end portion 72 of the claw member 42A is formed with a concave engaging portion 81 extending in the left-right direction (first direction) with the left side open.
- the base end portion 72 of the claw member 42B is formed with a concave engaging portion 81 extending in the left-right direction, which is open on the right side.
- the claw member 42 is attached to the finger member 30 by engaging the engaging portion 81 with the engaged portion 61.
- the inner peripheral surface of the engaging portion 81 may be formed in a tapered shape so as to fit with the engaged portion 61.
- the bottom surface of the concave portion constituting the engaging portion 81 constitutes the first stopper portion 91.
- the movement of the finger member 30 is restricted by the contact of the tip portion 62 of the engaged portion 61 with the first stopper portion 91. This makes it possible to facilitate the positioning of the finger member 30 and the claw member 42.
- first stopper portion 91 is provided with a first lock mechanism 90.
- the first lock mechanism 90 can fix the claw member 42 to the finger member 30 in cooperation with the first lock mechanism 80.
- FIG. 9A and 9B show how the claw member 42 stored in the support member 200 is attached to the finger member 30.
- the control device 50 operates the robot 101 to move the finger members 30A and 30B so that the pair of claw members 42 are located between the pair of finger members 30A and 30B (FIG. 9A).
- the control device 50 operates the actuator 22 to bring the pair of finger members 30A and 30B close to each other.
- each engaging portion 81 engages with the corresponding engaged portion 61 (FIG. 9B).
- each claw member 42 is attached to the corresponding finger member 30.
- FIGS. 5 to 7 and 10 to 13 show a hand 20 to which the claw member 41 is attached.
- 10 to 13 are schematic views showing a schematic configuration of a hand 20 to which another claw member is attached.
- claw members 42A, 42B to 45A, 45B when each of the pair of claw members is distinguished, they are referred to as claw members 42A, 42B to 45A, 45B.
- the base end portion 72 of the claw member 41 and the claw members 43 to 45 is configured in the same manner as the base end portion 72 of the above-mentioned claw member 42, detailed description thereof will be omitted.
- FIG. 5 shows a hand 20 to which the claw member 41 is attached.
- FIG. 6 is a view of the claw member 41 viewed from a direction different from that of FIG.
- each of the tip end portion 71 of the claw member 41 has a first portion 85 connected from the base end portion 72 and a second portion 86 extending at an angle with respect to the first portion 85. It is equipped with.
- the first part 85A of one claw member 41A and the first part 85B of the other claw member 41B extend in parallel.
- the second part 86A of one claw member 41A and the second part 86B of the other claw member 41B are crossed. As shown in FIG.
- the second portion 86A of one of the claw members 41A is located at the center in the thickness direction (the width direction of the facing surfaces of the pair of tip portions 71) from the tip to the root side. It has a notch 88 that extends towards it.
- the second portion 86B of the other claw member 41B penetrates the notch 88, so that the second portion 86A of the one claw member 41A and the second portion 86B of the other claw member 41B cross each other.
- Each tip 71 has a contact surface 87 perpendicular to the first direction X.
- FIGS. 7A and 7B show how the robot system 100 holds the cylindrical work W1.
- the control device 50 operates the robot 101 to insert the tip portion 71 of each claw member 41 into the inside of the cylindrical work W1.
- FIG. 7A shows a state in which the tip end portion 71 is inserted inside the work W1.
- the control device 50 operates the actuator 22 to operate the finger members 30 so that the tips of the pair of finger members 30 are close to each other in the first direction X.
- the arrow Y1 and the arrow Y2 indicate the moving direction of the tip end portion of the finger member 30, respectively.
- the directions Y1 and Y2 are also the moving directions of the base end portion 72 of each claw member 41.
- the moving directions Y1 and Y2 of the tip of the finger member 30 are parallel to the first direction X.
- the moving direction of the tip portion of the finger member 30 does not include components other than the first direction X.
- the moving direction of the finger member 30 does not include a component in the vertical direction.
- the arrows Z1 and Z2 each represent the moving direction of the tip of the tip 71 of the claw member 41.
- the second portion 86A of one claw member 41A and the second portion 86B of the other claw member 41B cross each other, when the base end portion 72 of the claw member 41 moves in a direction close to each other, The tip of the tip 71 of the claw member 41 moves in a direction away from each other. The tip of the tip 71 of the claw member 41 moves in parallel with the first direction X.
- the contact surface 87 of each tip portion 71 comes into contact with the inner peripheral surface of the work W1.
- FIG. 7B shows a state in which the contact surface 87 is in contact with the inner peripheral surface of the work W1.
- the robot system 100 holds the cylindrical work W1 from the inner peripheral surface side.
- the robot system 100 can hold the annular work W2 from the inner peripheral surface side.
- the control device 50 When the robot system 100 releases the cylindrical work W1, the control device 50 operates the actuator 22 so that the tips of the pair of finger members 30 are separated from each other in the first direction X. 30 is operated. The tips of the tips 71 of the claw member 41 move in directions close to each other. The contact surface 87 of each tip portion 71 is separated from the inner peripheral surface of the work W1. As a result, the cylindrical work W1 is released from the robot system 100.
- the claw member 42 has a recess 73 formed on the inner surface 71B of the tip portion 71 so as to extend in the vertical direction.
- a plurality of grooves 74 are formed in the recess 73.
- the claw member 43 has a V-shaped (or U-shaped) notch 75 formed on the inner surface 71B of the tip portion 71.
- the rod-shaped work W3 such as a spanner can be easily held by abutting with the notch 75 (see FIGS. 1 and 2).
- the tip portion 71 of the claw member 44 is formed in an inverted L shape.
- the box-shaped work W4 such as a cardboard box can be easily held (see FIGS. 1 and 2).
- the tip portion 71 of the claw member 45A is formed in a U shape.
- the tip portion 71 of the claw member 45A has a pair of foot portions 76A and 76B.
- the upper surface of the foot portion 76B located below is inclined in a plurality of stages (here, two stages), and the inclination angle of the tip portion 77 is configured to be larger than the inclination angle of the base end portion 78.
- the tip portion 71 of the claw member 45B is formed in an inverted L shape. As a result, the plate-shaped work W5 such as a notebook can be easily held (see FIGS. 1 and 2).
- the tip portion 77 of the foot portion 76B of the claw member 45A is larger than the inclination angle of the base end portion 78, the tip portion 77 easily enters between the lower surface of the work W5 and the floor surface. Can be done. Further, when the held work W5 is placed on the floor surface or the like, since the inclination angle of the tip portion 77 is large, the work W5 can be dropped directly below, and the work W5 can be placed accurately. Can be done.
- FIG. 14 is a flowchart showing an example of the operation of the robot system 100 according to the first embodiment.
- the robot system 100 is configured to perform a transfer operation of transporting the work W4 and then transporting the works W1 to W3 and W5 arranged in the work W4 to the outside of the work W4. ing. Further, the robot system 100 is configured to carry out a transfer operation in which the works W1 to W3 and W5 arranged outside the work W4 are conveyed into the work W4 and the work W4 is conveyed.
- the operator operates an operation device (not shown) to input an instruction signal for executing the transport work for transporting the works W1 to W5 to the control device 50.
- the operator may instruct the control device 50 which work is to be held and conveyed by the actuator.
- the control device 50 may grasp the shape of the work based on the image information / video information acquired from the imaging device (not shown) and select the (optimal) claw member that adapts to the shape of the work.
- control device 50 operates the robot 101 so that the pair of finger members 30A and 30B are located above the claw member 41 (step S101).
- control device 50 operates the actuator 22 so that the pair of finger members 30A and 30B are separated from each other (step S102).
- the control device 50 operates the robot 101 so that the claw member 41 is located between the pair of finger members 30A and 30B (step S103). More specifically, the control device 50 operates the robot 101 so that the tip portion 62 of the engaged portion 61 of the finger member 30 faces the opening of the engaging portion 81 of the claw member 41.
- the state of the finger member 30 and the claw member 41 at this time corresponds to the state of FIG. 9A described above described using the claw member 42.
- control device 50 operates the actuator 22 so that the pair of finger members 30A and 30B are close to each other (step S104).
- the engaged portion 61 of the finger member 30 and the engaging portion 81 of the claw member 41 are engaged with each other, and the claw member 41 is attached to the finger member 30.
- the state of the finger member 30 and the claw member 41 at this time corresponds to the state of FIG. 9B described above described using the claw member 42.
- the tip portion 62 of the engaged portion 61 comes into contact with the first stopper portion 91, so that the movement of the finger member 30 is restricted. This makes it possible to facilitate the positioning of the finger member 30 and the claw member 41. Further, the claw member 41 is fixed to the finger member 30 by the contact between the first lock mechanism 90 and the first lock mechanism 80.
- control device 50 operates the actuator 22 and / or the robot 101 so as to hold and convey the work (for example, the work W1) (step S105).
- control device 50 causes the robot system 100 to perform an operation of detaching the claw member 42 so that the work (for example, the work W2) different from the work W1 can be held and conveyed.
- the control device 50 operates the robot 101 so that the pair of claw members 41A and 41B are located above the support member 200 (step S106).
- control device 50 operates the actuator 22 so that the pair of finger members 30A and 30B are close to each other (step S107).
- the pair of claw members 41A and 41B can be brought close to each other, and the tip end portion 71 of the claw member 41 can be positioned in the opening in the recess 203 of the support member 200.
- control device 50 operates the robot 101 so that the tip portion 71 of the claw member 41 is located in the recess 203 of the support member 200 (step S108). Specifically, the control device 50 operates the robot 101 so as to move the claw member 41 downward and insert it into the recess 203.
- control device 50 operates the actuator 22 so that the pair of finger members 30A and 30B are separated from each other (step S109), and ends this program.
- the pair of claw members 41A and 41B move so as to be separated from each other according to the pair of finger members 30A and 30B, but the outer side surfaces 79 of the tip portions 71 of the claw members 41A and 41B respectively support the first.
- the pair of claw members 41A and 41B cannot move in the direction in which they are separated from each other. Therefore, the pair of finger members 30A and 30B can each be separated from the claw member 41, and the claw member 41 is housed in the support member 200.
- control device 50 holds and conveys a work (for example, work W2) different from the work W1, the process of steps S101 to S109 is executed again.
- a work for example, work W2
- a concave engaging portion 81 extending in the left-right direction (first direction) is formed at the base end portions 72 of the claw members 41 to 45.
- a flange-shaped engaged portion 61 extending in the left-right direction (first direction) is formed at the tip portion of the finger member 30.
- the control device 50 operates the robot 101 so that the claw member 41 is positioned between the pair of finger members 30A and 30B, and then the pair of finger members 30A and 30B are brought close to each other.
- the claw member 41 can be easily attached to the finger member 30.
- the bottom surface of the concave portion constituting the engaging portion 81 constitutes the first stopper portion 91.
- the first stopper portion 91 of the claw member (for example, the claw member 41) 41 is provided with the first lock mechanism 90, and the finger member 30 is engaged.
- a first lock mechanism 80 is provided at the tip portion 62 of the portion 61.
- the first lock mechanism 90 and the first lock mechanism 80 can jointly fix the claw member 41 to the finger member 30.
- the first lock mechanism 80 and the first lock mechanism 90 are used. , The claw member 41 is prevented from falling off from the finger member 30.
- the claw member 41 is prevented from coming off from the finger member 30 for the following reasons.
- the pair of claw members 41A and 41B are positioned so as to be lined up and down. Therefore, even if one of the claw members 41A located above moves downward due to its own weight, it will come into contact with the other claw member 41B located below. Therefore, the movement of one of the claw members 41A to the lower side can be suppressed, and the claw member 41A is prevented from falling off from the finger member 30A.
- the tips of the pair of finger members 30A and 30B are moved in parallel in the first direction so as to be close to each other, the tips 71 and 71 of the respective claw members 41 are moved in parallel.
- the tips of the robots are configured to be separated from each other.
- the tip portion 71 of the claw member 41A and the tip portion 71 of the claw member 41B are configured to cross each other in the middle.
- the actuator 22 is configured to operate at least one finger member 30 of the pair of finger members 30.
- the other finger member 30 of the pair of finger members 30 may be fixed to the main body 21 of the hand 20.
- the actuator 22 is configured to operate at least one finger member 30 of the pair of finger members 30.
- the other finger member 30 of the pair of finger members 30 may be fixed to the main body 21 of the hand 20.
- FIG. 15 is a schematic diagram showing a schematic configuration of a hand 20 and a claw member 41 of the robot system 100 of the modification 1 of the first embodiment.
- the robot system 100 of the modification 1 in the first embodiment has the same basic configuration as the robot system 100 according to the first embodiment, but has the same basic configuration as the pair of finger members 30A and 30B. The difference is that at least one finger member 30 operates.
- the actuator 22 is configured to operate at least one finger member 30 of the pair of finger members 30A and 30B.
- the actuator 22 may be configured to operate only the finger member 30A.
- the finger member 30B may be fixed to the main body 21 of the hand 20.
- the actuator 22 may be configured to operate only the finger member 30B.
- the finger member 30A may be fixed to the main body 21 of the hand 20.
- the actuator 22 may be configured to operate both the pair of finger members 30A and 30B.
- the robot system according to the second embodiment has an engaging portion formed at a base end portion of the claw member and a first direction at the tip end portion of the finger member.
- a concave engaged portion extending along the is formed, the robot system further comprises a control device, which operates the robot so that the claw member is located between the pair of finger members. After that, the pair of finger members are operated so as to be close to each other to engage the engaged portion with the engaged portion.
- the engaging portion may be formed in a tapered shape.
- the finger member may be provided with a second stopper portion so as to face the tip of the engaging portion of the claw member.
- a second lock mechanism may be provided at the tip of the second stopper portion of the finger member and the engaging portion of the claw member, respectively.
- a support member for supporting the claw member is further provided in a state where the extension direction of the claw member is oriented in the vertical direction, and the support member is provided with a recess.
- the pair of claw members may be housed in the support member so that the respective tip portions thereof are inserted into the recesses.
- a pair of claw members of a plurality of types may be housed in a support member so as to be lined up.
- FIG. 16 is a schematic diagram showing a schematic configuration of a main part of the robot system 100 according to the second embodiment.
- the robot system 100 according to the second embodiment has the same basic configuration as the robot system 100 according to the first embodiment, but has a tip portion (connecting member 3E) of the finger member 30. , The point where the concave engaged portion 181 extending along the first direction is formed and the point where the engaging portion 161 is formed at the base end portion 72 of the claw member 42 are different.
- the base end portion 72 of the claw member 42 is formed in a rectangular parallelepiped shape.
- Flange-shaped engaging portions 161 and 161 extending in the left-right direction are formed at the upper end portion of the front surface and the upper end portion of the rear surface of the base end portion 72, respectively.
- the engaging portion 161 is formed in a tapered shape. Specifically, the engaging portion 161 on the claw member 42A side is formed in a tapered shape so that the area on the left surface is smaller than that on the right surface. Further, the engaging portion 161 on the claw member 42B side is formed in a tapered shape so that the area on the right side is smaller than that on the left side.
- a first lock mechanism 180 is provided on the left surface (outer surface; tip portion 162 of the engaging portion 161) of the base end portion 72 on the claw member 42A side. Similarly, a first lock mechanism 180 is provided on the right surface (outer surface; tip portion 162 of the engaging portion 161) of the base end portion 72 on the claw member 42B side. Further, as will be described later, the first stopper portion 191 of the finger member 30 is provided with the first lock mechanism 190.
- the first locking mechanisms 180 and 190 can lock the claw member 42 so that the claw member 42 does not fall under its own weight when the tip portion 162 of the engaged portion 161 faces downward. It may be in such an aspect.
- the first lock mechanisms 180 and 190 may be composed of, for example, a magnet or a ball plunger.
- the connecting member 3E of the finger member 30 is formed in an inverted T shape when viewed from the left-right direction, and has a lower end portion 31.
- the lower end portion 31 of the finger member 30A is formed with a concave engaged portion 181 extending in the left-right direction (first direction) and having an opening on the right side.
- the lower end portion 31 of the finger member 30B is formed with a concave engaged portion 181 extending in the left-right direction, which is open on the left side.
- the claw member 42 is attached to the finger member 30 by engaging the engaged portion 181 with the engaging portion 161.
- the inner peripheral surface of the engaged portion 181 may be formed in a tapered shape so as to fit with the engaging portion 161.
- the bottom surface of the concave portion constituting the engaged portion 181 constitutes the first stopper portion 191.
- the movement of the finger member 30 is restricted by the contact of the tip portion 162 of the engaging portion 161 with the first stopper portion 191. This makes it possible to facilitate the positioning of the finger member 30 and the claw member 42.
- first stopper portion 91 is provided with a first lock mechanism 90.
- the first lock mechanism 190 can fix the claw member 42 to the finger member 30 in cooperation with the first lock mechanism 180.
- the pair includes a pair of claw members that are detachably configured with respect to the corresponding finger member, each of the pair of claw members has a proximal end portion and a distal end portion, and the respective proximal end portions thereof.
- a robot system configured such that when the claw members move in a direction close to each other, the tips of the tips of the claw members are separated from each other.
- the pair of claw members are crossed in the middle, and The robot system according to item 1, wherein the pair of finger members are configured to move in parallel with the first direction.
- the tip portion includes a first portion extending from the base end portion and a second portion extending inclined with respect to the first portion, and the first portion of one claw member.
- the robot system according to item 2 wherein the first part of the other claw member extends in parallel, and the second part of the one claw member and the second part of the other claw member cross each other.
- the second part of one claw member has a notch extending from the tip toward the root side in the center in the thickness direction, and the second part of the other claw member penetrates the notch.
- the robot system according to item 3 wherein one of the second parts and the other of the second parts are crossed.
- a control device is further provided, an engaging portion is formed at the base end portion of the claw member, and a concave engaged portion extending in the first direction is formed at the tip end portion of the finger member.
- the control device operates the finger member so that the claw member is located between the pair of finger members, and then operates the finger member so that the pair of finger members are close to each other, and engages with the engaged portion.
- the robot system according to any one of items 1 to 5, which engages with a joint.
- the cylindrical work can be held from the inner peripheral surface side, which is useful in the field of robots.
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Abstract
An objective of the present invention is to provide a robot that can hold a tubular workpiece from an inner peripheral surface side. A robot system 100 according to the present invention comprises: a pair of finger members 30; an actuator 22 that operates the pair of finger members 30 so as to come close to or separate from each other in a first direction, which is a direction from the tip end part of one finger member 30 toward the tip end part of the other finger member 30; and a pair of claw members 41 that are each detachably configured with respect to the corresponding finger members 30. The pair of claw members 41 comprise base end parts 72 and tip end parts 71, respectively, and when the base end parts 72 each move in a direction of coming close to each other, the tip ends of the respective tip end parts 71 of the claw members 42 are configured to be separated from each other.
Description
本開示は、ロボットシステムに関する。
This disclosure relates to robot systems.
筒状のワークを内周面側から保持するチャックが知られている(例えば、特許文献1参照)。特許文献1に開示されているチャックは、ロボットハンドに用いられ、シリンダロッドの先端にクサビ部材が装着されていて、当該クサビ部材の進退により、揺動する複数のチャック爪を有している。
A chuck that holds a cylindrical work from the inner peripheral surface side is known (see, for example, Patent Document 1). The chuck disclosed in Patent Document 1 is used for a robot hand, has a wedge member attached to the tip of a cylinder rod, and has a plurality of chuck claws that swing due to the advancement and retreat of the wedge member.
特許文献1に開示されているチャックでは、シリンダにより、ロッドが進行すると、2つのチャック爪の先端が互いに離間するように揺動することで、筒状のワークを内周面側から保持している。
In the chuck disclosed in Patent Document 1, when the rod advances by the cylinder, the tips of the two chuck claws swing so as to be separated from each other, thereby holding the tubular work from the inner peripheral surface side. There is.
本発明者は、上記特許文献1に開示されているチャックとは異なる、新たな構造を有し、筒状のワークを内周面側から保持することができる、ロボットシステムを想到した。本開示は、新規な構造を備えるロボットシステムを提供することを目的とする。
The present inventor has conceived a robot system that has a new structure different from the chuck disclosed in Patent Document 1 and can hold a cylindrical work from the inner peripheral surface side. It is an object of the present disclosure to provide a robot system having a novel structure.
上記従来の課題を解決するために、本開示に係るロボットシステムは、一対の指部材と、一方の前記指部材の先端部から他方の前記指部材の先端部へ向かう方向である第1方向において前記一対の指部材を近接又は離間するように動作させるアクチュエータと、それぞれが対応する前記指部材に対して着脱可能に構成されている一対の爪部材と、を備え、前記一対の爪部材のそれぞれが基端部と先端部とを備え、それぞれの前記基端部が互いに近接する方向に移動すると、前記爪部材のそれぞれの前記先端部の先端が互いに離間するように構成されている。
In order to solve the above-mentioned conventional problems, the robot system according to the present disclosure has a pair of fingernails and a first direction which is a direction from the tip of one fingernail to the tip of the other fingernail. Each of the pair of claw members includes an actuator that operates the pair of finger members so as to be close to or separated from each other, and a pair of claw members that are detachably configured with respect to the corresponding finger member. Is provided with a proximal end portion and a distal end portion, and when the respective proximal end portions move in a direction close to each other, the tips of the respective distal end portions of the claw member are configured to be separated from each other.
これにより、筒状のワークを内周面側から保持することができる。
This makes it possible to hold the cylindrical work from the inner peripheral surface side.
本開示の上記目的、他の目的、特徴、及び利点は、添付図面参照の下、以下の好適な実施形態の詳細な説明から明らかにされる。
The above objectives, other objectives, features, and advantages of the present disclosure will be apparent from the following detailed description of preferred embodiments with reference to the accompanying drawings.
本ロボットシステムによれば、筒状のワークを内周面側から保持することができる。
According to this robot system, the cylindrical work can be held from the inner peripheral surface side.
以下、実施の形態を、図面を参照しながら説明する。なお、全ての図面において、同一又は相当部分には同一符号を付し、重複する説明は省略する。また、全ての図面において、本開示を説明するための構成要素を抜粋して図示しており、その他の構成要素については図示を省略している場合がある。さらに、本発明は以下の実施の形態に限定されない。
Hereinafter, embodiments will be described with reference to the drawings. In all drawings, the same or corresponding parts are designated by the same reference numerals, and duplicate description will be omitted. Further, in all the drawings, the components for explaining the present disclosure are excerpted and illustrated, and the illustration of other components may be omitted. Furthermore, the invention is not limited to the following embodiments.
(実施の形態1)
以下、本実施の形態1に係るロボットシステムの一例について、図1~図14を参照しながら説明する。 (Embodiment 1)
Hereinafter, an example of the robot system according to the first embodiment will be described with reference to FIGS. 1 to 14.
以下、本実施の形態1に係るロボットシステムの一例について、図1~図14を参照しながら説明する。 (Embodiment 1)
Hereinafter, an example of the robot system according to the first embodiment will be described with reference to FIGS. 1 to 14.
[ロボットシステムの構成]
図1~図3は、本実施の形態1に係るロボットシステム100の概略構成を示す模式図である。図1は、指部材に爪部材が装着された状態を示し、図2は、指部材から爪部材が取り外された状態を示す。また、図3は、図1とは異なる方向から見た状態を示し、図1に示す爪部材とは異なる爪部材が装着された状態を示している。 [Robot system configuration]
1 to 3 are schematic views showing a schematic configuration of therobot system 100 according to the first embodiment. FIG. 1 shows a state in which the claw member is attached to the finger member, and FIG. 2 shows a state in which the claw member is removed from the finger member. Further, FIG. 3 shows a state viewed from a direction different from that of FIG. 1, and shows a state in which a claw member different from the claw member shown in FIG. 1 is attached.
図1~図3は、本実施の形態1に係るロボットシステム100の概略構成を示す模式図である。図1は、指部材に爪部材が装着された状態を示し、図2は、指部材から爪部材が取り外された状態を示す。また、図3は、図1とは異なる方向から見た状態を示し、図1に示す爪部材とは異なる爪部材が装着された状態を示している。 [Robot system configuration]
1 to 3 are schematic views showing a schematic configuration of the
なお、図1~3においては、ロボットシステムにおける前後方向、上下方向、及び左右方向を、図における前後方向、上下方向、及び左右方向で表わしている。
Note that, in FIGS. 1 to 3, the front-back direction, the up-down direction, and the left-right direction in the robot system are shown in the front-back direction, the up-down direction, and the left-right direction in the figure.
図1~図3に示すように、本実施の形態1に係るロボットシステム100は、ロボット101、ハンド20、制御装置50、及び支持部材200を備えている。ロボット101は、移動体60上に載置されている。移動体60は、左右方向に延びるレール部材301A、301B上に配置されていて、適宜なアクチュエータにより、左右方向に移動するように構成されている。
As shown in FIGS. 1 to 3, the robot system 100 according to the first embodiment includes a robot 101, a hand 20, a control device 50, and a support member 200. The robot 101 is mounted on the moving body 60. The moving body 60 is arranged on the rail members 301A and 301B extending in the left-right direction, and is configured to move in the left-right direction by an appropriate actuator.
なお、ロボットシステム100は、撮影装置(例えば、カメラ)をさらに備えていて、当該撮影装置が撮影した画像情報/映像情報が制御装置50に入力されてもよい。また、制御装置50は、取得した画像情報/映像情報を基に、ワークの形状を把握して、ワークの形状に適応する爪部材を選択するように構成されていてもよい。
The robot system 100 may further include a photographing device (for example, a camera), and image information / video information photographed by the photographing device may be input to the control device 50. Further, the control device 50 may be configured to grasp the shape of the work based on the acquired image information / video information and select a claw member suitable for the shape of the work.
ロボット101の前方には、支持部材200が配置されている。支持部材200には、複数の種類の一対の爪部材41~45が収納されている。ここで、支持部材200の構成について、図1及び図4を参照しながら、説明する。なお、爪部材41~45の構成については、後述する。
A support member 200 is arranged in front of the robot 101. A pair of claw members 41 to 45 of a plurality of types are housed in the support member 200. Here, the configuration of the support member 200 will be described with reference to FIGS. 1 and 4. The configuration of the claw members 41 to 45 will be described later.
図4は、図3に示すロボットシステム100の支持部材200及び爪部材42の概略構成を示す断面図である。なお、図4においては、ロボットシステム100における上下方向及び左右方向を、図における上下方向及び左右方向で表わしている。
FIG. 4 is a cross-sectional view showing a schematic configuration of a support member 200 and a claw member 42 of the robot system 100 shown in FIG. In FIG. 4, the vertical direction and the horizontal direction in the robot system 100 are shown in the vertical direction and the horizontal direction in the figure.
図1及び図4に示すように、支持部材200は、左右方向に延びる第1支持部材201と第2支持部材202を備えていて、第1支持部材201と第2支持部材202の間の空間が、凹部203を構成する。凹部203は、爪部材41~45の先端部71が、それぞれ、挿通されるように構成されている。具体的には、爪部材41~45の延伸方向が鉛直方向に向いた状態で、爪部材41~45の先端部71が、それぞれ、凹部203に挿通される。
As shown in FIGS. 1 and 4, the support member 200 includes a first support member 201 and a second support member 202 extending in the left-right direction, and a space between the first support member 201 and the second support member 202. Consists of the recess 203. The recess 203 is configured such that the tip portions 71 of the claw members 41 to 45 are inserted therein. Specifically, the tip portions 71 of the claw members 41 to 45 are inserted into the recess 203, respectively, with the stretching direction of the claw members 41 to 45 facing in the vertical direction.
なお、支持部材200は、本実施の形態1においては、2つの部材で構成されている形態を採用したが、これに限定されず、1つの部材で構成されていてもよい。この場合、1つの箱状の部材の上面に凹部203が形成されていればよい。
In the first embodiment, the support member 200 adopts a form composed of two members, but the present invention is not limited to this, and the support member 200 may be composed of one member. In this case, the recess 203 may be formed on the upper surface of one box-shaped member.
また、図1に示すように、支持部材200の前方には、各種ワークW1~W5が配置されている。ロボットシステム100は、各種ワークW1~W5の形状に適応する各種の爪部材41~45を選択して、指部材30に装着させる。
Further, as shown in FIG. 1, various works W1 to W5 are arranged in front of the support member 200. The robot system 100 selects various claw members 41 to 45 suitable for the shapes of the various works W1 to W5 and attaches them to the finger member 30.
ロボット101は、複数のリンク(ここでは、第1リンク11a~第6リンク11f)の連接体と、複数の関節(ここでは、第1関節JT1~第6関節JT6)と、これらを支持する基台15と、を備える、垂直多関節ロボットアームである。なお、本実施の形態1においては、ロボット101として、垂直多関節型ロボットを採用したが、これに限定されず、水平多関節型ロボットを採用してもよい。
The robot 101 includes an articulated body of a plurality of links (here, the first link 11a to the sixth link 11f), a plurality of joints (here, the first joint JT1 to the sixth joint JT6), and a group supporting these. A vertical articulated robot arm comprising a pedestal 15. In the first embodiment, a vertical articulated robot is adopted as the robot 101, but the robot is not limited to this, and a horizontal articulated robot may be adopted.
第1関節JT1では、基台15と、第1リンク11aの基端部とが、鉛直方向に延びる軸回りに回転可能に連結されている。第2関節JT2では、第1リンク11aの先端部と、第2リンク11bの基端部とが、水平方向に延びる軸回りに回転可能に連結されている。第3関節JT3では、第2リンク11bの先端部と、第3リンク11cの基端部とが、水平方向に延びる軸回りに回転可能に連結されている。
In the first joint JT1, the base 15 and the base end portion of the first link 11a are rotatably connected around an axis extending in the vertical direction. In the second joint JT2, the tip end portion of the first link 11a and the base end portion of the second link 11b are rotatably connected around an axis extending in the horizontal direction. In the third joint JT3, the tip end portion of the second link 11b and the base end portion of the third link 11c are rotatably connected around an axis extending in the horizontal direction.
また、第4関節JT4では、第3リンク11cの先端部と、第4リンク11dの基端部とが、第4リンク11dの長手方向に延びる軸回りに回転可能に連結されている。第5関節JT5では、第4リンク11dの先端部と、第5リンク11eの基端部とが、第4リンク11dの長手方向と直交する軸回りに回転可能に連結されている。第6関節JT6では、第5リンク11eの先端部と第6リンク11fの基端部とが、捻れ回転可能に連結されている。
Further, in the 4th joint JT4, the tip end portion of the 3rd link 11c and the base end portion of the 4th link 11d are rotatably connected around an axis extending in the longitudinal direction of the 4th link 11d. In the fifth joint JT5, the tip end portion of the fourth link 11d and the base end portion of the fifth link 11e are rotatably connected around an axis orthogonal to the longitudinal direction of the fourth link 11d. In the sixth joint JT6, the tip end portion of the fifth link 11e and the base end portion of the sixth link 11f are rotatably connected to each other.
そして、第6リンク11fの先端部には、メカニカルインターフェース12が設けられている。このメカニカルインターフェース12には、ハンド20が着脱可能に装着される。なお、ハンド20の構成については、後述する。
A mechanical interface 12 is provided at the tip of the sixth link 11f. A hand 20 is detachably attached to the mechanical interface 12. The configuration of the hand 20 will be described later.
また、第1関節JT1~第6関節JT6には、それぞれ、各関節が連結する2つの部材を相対的に回転させるアクチュエータの一例としての駆動モータが設けられている(図示せず)。駆動モータは、例えば、制御装置50によってサーボ制御されるサーボモータであってもよい。また、第1関節JT1~第6関節JT6には、それぞれ、駆動モータの回転位置を検出する回転センサと、駆動モータの回転を制御する電流を検出する電流センサと、が設けられている(それぞれ、図示せず)。回転センサは、例えば、エンコーダであってもよい。
Further, each of the first joint JT1 to the sixth joint JT6 is provided with a drive motor as an example of an actuator that relatively rotates two members to which each joint is connected (not shown). The drive motor may be, for example, a servomotor controlled by the control device 50. Further, each of the first joint JT1 to the sixth joint JT6 is provided with a rotation sensor for detecting the rotation position of the drive motor and a current sensor for detecting the current for controlling the rotation of the drive motor (respectively). , Not shown). The rotation sensor may be, for example, an encoder.
制御装置50は、マイクロプロセッサ、CPU等の演算処理器と、ROM、RAM等の記憶器と、を備えている(いずれも図示せず)。記憶器には、基本プログラム、各種固定データ等の情報が記憶されている。演算処理器は、記憶器に記憶された基本プログラム等のソフトウェアを読み出して実行することにより、ロボットシステム100の各種の動作を実行するように構成されている。
The control device 50 includes an arithmetic processor such as a microprocessor and a CPU, and a storage device such as a ROM and a RAM (none of which is shown). Information such as basic programs and various fixed data is stored in the storage device. The arithmetic processing unit is configured to execute various operations of the robot system 100 by reading and executing software such as a basic program stored in the storage device.
なお、制御装置50は、集中制御する単独の制御装置によって構成されていてもよいし、互いに協働して分散制御する複数の制御装置によって構成されていてもよい。また、制御装置50は、マイクロコンピュータで構成されていてもよく、MPU、PLC(Programmable Logic Controller)、論理回路等によって構成されていてもよい。
The control device 50 may be configured by a single control device that centrally controls, or may be configured by a plurality of control devices that cooperate with each other to perform distributed control. Further, the control device 50 may be composed of a microcomputer, an MPU, a PLC (Programmable Logic Controller), a logic circuit, or the like.
次に、図1~図13を参照しながら、ハンド20、指部材30、及び各種爪部材41~45の構成について説明する。
Next, the configurations of the hand 20, the finger member 30, and the various claw members 41 to 45 will be described with reference to FIGS. 1 to 13.
図5は、図1に示すロボットシステム100の、ハンド20及び爪部材41の概略構成を示す模式図である。
FIG. 5 is a schematic diagram showing a schematic configuration of the hand 20 and the claw member 41 of the robot system 100 shown in FIG.
図1及び図5に示すように、ハンド20は、一対の指部材30A、30B、本体21、及びアクチュエータ22を有している。アクチュエータ22は、本体21の後部に配置されていて、一対の指部材30A、30Bを近接/離間するように動作させるように構成されている。アクチュエータ22は、サーボ-モータで構成されていてもよい。また、ハンド20は、一対の指部材30A、30Bを近接/離間させるための各種の部材(例えば、歯車、カム機構等)を有していてもよい。
As shown in FIGS. 1 and 5, the hand 20 has a pair of finger members 30A and 30B, a main body 21, and an actuator 22. The actuator 22 is arranged at the rear of the main body 21 and is configured to operate the pair of finger members 30A and 30B so as to be close to each other / separated from each other. The actuator 22 may be composed of a servo-motor. Further, the hand 20 may have various members (for example, gears, cam mechanism, etc.) for bringing the pair of finger members 30A and 30B closer to each other / separated from each other.
一方の指部材30Aの先端部から、他方の指部材30Bの先端部に向かう方向は、第1方向と称される。図5、図7A及び7Bにおいて、矢印Xで示される方向が、第1方向である。以下においては、第1方向は左右方向として説明する。このとき、指部材30A、30Bの延伸方向は、鉛直方向(上下方向)である。
The direction from the tip of one finger member 30A to the tip of the other finger member 30B is referred to as the first direction. In FIGS. 5, 7A and 7B, the direction indicated by the arrow X is the first direction. In the following, the first direction will be described as the left-right direction. At this time, the stretching direction of the finger members 30A and 30B is the vertical direction (vertical direction).
一対の指部材30A、30Bには、それぞれ、爪部材41A、41Bが接続されている。また、一対の指部材30A、30bは、本実施の形態1においては、それぞれ、4本のリンク部材3A~3Dと接続部材3Eを有している。
Claw members 41A and 41B are connected to the pair of finger members 30A and 30B, respectively. Further, the pair of finger members 30A and 30b each have four link members 3A to 3D and a connecting member 3E in the first embodiment.
なお、一対の指部材30A、30Bを区別しない場合には、指部材30と称する場合がある。同様に、爪部材41A、41Bを区別しない場合には、爪部材41と称する場合がある。
When the pair of finger members 30A and 30B are not distinguished, they may be referred to as the finger member 30. Similarly, when the claw members 41A and 41B are not distinguished, they may be referred to as a claw member 41.
また、本実施の形態1においては、指部材30は、4本のリンク部材3A~3Dを有する形態を採用したが、これに限定されない。指部材30は、1本のリンク部材を有する形態を採用してもよく、2本のリンク部材を有する形態を採用してもよい。
Further, in the first embodiment, the finger member 30 adopts a form having four link members 3A to 3D, but the present invention is not limited to this. The finger member 30 may adopt a form having one link member, or may adopt a form having two link members.
リンク部材3A、3Bの基端部は、それぞれ、本体21と回動自在に接続されている。また、リンク部材3Aの先端部は、リンク部材3Cの基端部と回動自在に接続されている。同様に、リンク部材3Bの先端部は、リンク部材3Dの基端部と回動自在に接続されている。リンク部材3C、3Dの先端部は、それぞれ、接続部材3Eと回動自在に接続されている。
The base ends of the link members 3A and 3B are rotatably connected to the main body 21, respectively. Further, the tip end portion of the link member 3A is rotatably connected to the base end portion of the link member 3C. Similarly, the tip end portion of the link member 3B is rotatably connected to the base end portion of the link member 3D. The tip portions of the link members 3C and 3D are rotatably connected to the connecting member 3E, respectively.
指部材30の先端部に設けられた接続部材3Eには、爪部材41の基端部72が接続されている。ここで、図8を参照しながら、指部材30の接続部材3Eと爪部材42の基端部72の構成について説明する。
The base end portion 72 of the claw member 41 is connected to the connecting member 3E provided at the tip end portion of the finger member 30. Here, the configuration of the connecting member 3E of the finger member 30 and the base end portion 72 of the claw member 42 will be described with reference to FIG.
なお、図8では、爪部材42が記載されているが、爪部材41の基端部72と爪部材42の基端部72は、同様に構成されているため、以下においては、爪部材42の基端部72について、説明する。
Although the claw member 42 is shown in FIG. 8, since the base end portion 72 of the claw member 41 and the base end portion 72 of the claw member 42 are configured in the same manner, the claw member 42 will be described below. The base end portion 72 of the above will be described.
図8は、図3に示すロボットシステム100の指部材30の先端部分及び爪部材41の概略構成を示す模式図である。なお、図8においては、ロボットシステム100における前後方向、上下方向、及び左右方向を、図における前後方向、上下方向、及び左右方向で表わしている。
FIG. 8 is a schematic diagram showing a schematic configuration of a tip portion of a finger member 30 and a claw member 41 of the robot system 100 shown in FIG. In FIG. 8, the front-back direction, the up-down direction, and the left-right direction in the robot system 100 are shown in the front-back direction, the up-down direction, and the left-right direction in the figure.
図8に示すように、指部材30の接続部材3Eは、直方体状に形成されている。接続部材3Eにおける前面の下端部と後面の下端部には、それぞれ、左右方向に延びるフランジ状の被係合部61、61が形成されている。
As shown in FIG. 8, the connecting member 3E of the finger member 30 is formed in a rectangular parallelepiped shape. Flange-shaped engaged portions 61 and 61 extending in the left-right direction are formed at the lower end portion of the front surface and the lower end portion of the rear surface of the connecting member 3E, respectively.
被係合部61は、テーパー状に形成されている。具体的には、指部材30A側の被係合部61は、左面よりも右面の方が、面積が小さくなるように、テーパー状に形成されている。また、指部材30B側の被係合部61は、右面よりも左面の方が、面積が小さくなるように、テーパー状に形成されている。
The engaged portion 61 is formed in a tapered shape. Specifically, the engaged portion 61 on the finger member 30A side is formed in a tapered shape so that the area on the right side is smaller than that on the left side. Further, the engaged portion 61 on the finger member 30B side is formed in a tapered shape so that the area on the left surface is smaller than that on the right surface.
また、指部材30A側の接続部材3Eの右面(内面;被係合部61の先端部62)には、第1ロック機構80が設けられている。同様に、指部材30B側の接続部材3Eの左面(内面;被係合部61の先端部62)には、第1ロック機構80が設けられている。また、後述する爪部材42の第1ストッパ部91には、第1ロック機構90が設けられている。
Further, a first lock mechanism 80 is provided on the right surface (inner surface; the tip portion 62 of the engaged portion 61) of the connecting member 3E on the finger member 30A side. Similarly, the first lock mechanism 80 is provided on the left surface (inner surface; the tip portion 62 of the engaged portion 61) of the connecting member 3E on the finger member 30B side. Further, a first lock mechanism 90 is provided on the first stopper portion 91 of the claw member 42, which will be described later.
第1ロック機構80、90は、被係合部61の先端部が、下方に向いたときに、爪部材42が自重で落下しないように、爪部材42を係止することができれば、どのような態様であってもよい。第1ロック機構80、90としては、例えば、磁石で構成されていてもよく、ボールプランジャで構成されていてもよい。
What if the first locking mechanisms 80 and 90 can lock the claw member 42 so that the claw member 42 does not fall under its own weight when the tip end portion of the engaged portion 61 faces downward? It may be any aspect. The first lock mechanisms 80 and 90 may be composed of, for example, a magnet or a ball plunger.
爪部材42は、前後方向から見て、逆L字状に形成されていて、左右方向に延びる基端部72と、上下方向に延びる先端部71と、を有する。爪部材42Aの基端部72には、左面側が開口している、左右方向(第1方向)に延びる凹状の係合部81が形成されている。同様に、爪部材42Bの基端部72には、右面側が開口している、左右方向に延びる凹状の係合部81が形成されている。
The claw member 42 is formed in an inverted L shape when viewed from the front-rear direction, and has a base end portion 72 extending in the left-right direction and a tip portion 71 extending in the vertical direction. The base end portion 72 of the claw member 42A is formed with a concave engaging portion 81 extending in the left-right direction (first direction) with the left side open. Similarly, the base end portion 72 of the claw member 42B is formed with a concave engaging portion 81 extending in the left-right direction, which is open on the right side.
係合部81は、被係合部61と係合することで、指部材30に爪部材42が装着される。なお、係合部81は、被係合部61と嵌合するように、内周面がテーパー状に形成されていてもよい。
The claw member 42 is attached to the finger member 30 by engaging the engaging portion 81 with the engaged portion 61. The inner peripheral surface of the engaging portion 81 may be formed in a tapered shape so as to fit with the engaged portion 61.
また、係合部81を構成する凹部の底面が、第1ストッパ部91を構成する。第1ストッパ部91は、被係合部61の先端部62が当接することで、指部材30の移動が制限される。これにより、指部材30と爪部材42の位置決めを容易にすることができる。
Further, the bottom surface of the concave portion constituting the engaging portion 81 constitutes the first stopper portion 91. The movement of the finger member 30 is restricted by the contact of the tip portion 62 of the engaged portion 61 with the first stopper portion 91. This makes it possible to facilitate the positioning of the finger member 30 and the claw member 42.
また、第1ストッパ部91には、第1ロック機構90が設けられている。第1ロック機構90は、第1ロック機構80と共同して、爪部材42を指部材30に固定することができる。
Further, the first stopper portion 91 is provided with a first lock mechanism 90. The first lock mechanism 90 can fix the claw member 42 to the finger member 30 in cooperation with the first lock mechanism 80.
図9A及び9Bには、支持部材200に格納された爪部材42を、指部材30に装着する様子が示されている。まず、制御装置50がロボット101を動作させて、一対の指部材30A、30Bの間に一対の爪部材42が位置するように、指部材30A、30Bを移動させる(図9A)。次に制御装置50が、アクチュエータ22を動作させて、一対の指部材30A、30Bを近接させる。これにより、それぞれの係合部81が、対応する被係合部61と係合する(図9B)。これにより、それぞれの爪部材42が、対応する指部材30に装着される。
9A and 9B show how the claw member 42 stored in the support member 200 is attached to the finger member 30. First, the control device 50 operates the robot 101 to move the finger members 30A and 30B so that the pair of claw members 42 are located between the pair of finger members 30A and 30B (FIG. 9A). Next, the control device 50 operates the actuator 22 to bring the pair of finger members 30A and 30B close to each other. As a result, each engaging portion 81 engages with the corresponding engaged portion 61 (FIG. 9B). As a result, each claw member 42 is attached to the corresponding finger member 30.
次に、図5~7及び図10~図13を参照しながら、各種爪部材41~45の構成について説明する。図5~7には、爪部材41が装着されたハンド20が示されている。図10~図13は、他の爪部材が装着されたハンド20の概略構成を示す模式図である。なお、爪部材42~45において、一対の爪部材のそれぞれを区別する場合には、爪部材42A、42B~45A、45Bと称する。また、以下においては、爪部材41及び爪部材43~45の基端部72は、前述の爪部材42の基端部72と同様に構成されているので、その詳細な説明は省略する。
Next, the configurations of the various claw members 41 to 45 will be described with reference to FIGS. 5 to 7 and 10 to 13. 5 to 7 show a hand 20 to which the claw member 41 is attached. 10 to 13 are schematic views showing a schematic configuration of a hand 20 to which another claw member is attached. In the claw members 42 to 45, when each of the pair of claw members is distinguished, they are referred to as claw members 42A, 42B to 45A, 45B. Further, in the following, since the base end portion 72 of the claw member 41 and the claw members 43 to 45 is configured in the same manner as the base end portion 72 of the above-mentioned claw member 42, detailed description thereof will be omitted.
図5には、爪部材41が装着されたハンド20が、示されている。図6は、爪部材41を、図5とは異なった方向から見た図である。図5及び図6に示されるように、爪部材41の先端部71のそれぞれは、基端部72から繋がる第一部85と、第一部85に対して傾斜して延びる第二部86とを備えている。一方の爪部材41Aの第一部85Aと他方の爪部材41Bの第一部85Bとは、平行に延びている。一方の爪部材41Aの第二部86Aと他方の爪部材41Bの第二部86Bとはクロスしている。図6に示されるように、一方の爪部材41Aの第二部86Aは、厚み方向(一対の先端部71の、互い対向している面の、幅方向)の中央に、先端から根元側に向けて延びる切り込み88を有している。他方の爪部材41Bの第二部86Bが、この切り込み88を貫通することで、一方の爪部材41Aの第二部86Aと他方の爪部材41Bの第二部86Bとがクロスしている。それぞれの先端部71は、第1方向Xに垂直な当接面87を備えている。
FIG. 5 shows a hand 20 to which the claw member 41 is attached. FIG. 6 is a view of the claw member 41 viewed from a direction different from that of FIG. As shown in FIGS. 5 and 6, each of the tip end portion 71 of the claw member 41 has a first portion 85 connected from the base end portion 72 and a second portion 86 extending at an angle with respect to the first portion 85. It is equipped with. The first part 85A of one claw member 41A and the first part 85B of the other claw member 41B extend in parallel. The second part 86A of one claw member 41A and the second part 86B of the other claw member 41B are crossed. As shown in FIG. 6, the second portion 86A of one of the claw members 41A is located at the center in the thickness direction (the width direction of the facing surfaces of the pair of tip portions 71) from the tip to the root side. It has a notch 88 that extends towards it. The second portion 86B of the other claw member 41B penetrates the notch 88, so that the second portion 86A of the one claw member 41A and the second portion 86B of the other claw member 41B cross each other. Each tip 71 has a contact surface 87 perpendicular to the first direction X.
図7A及び7Bには、このロボットシステム100が、円筒状のワークW1を保持する様子が示されている。円筒状のワークW1を保持する際には、まず、制御装置50がロボット101を動作させて、それぞれの爪部材41の先端部71を、円筒状のワークW1の内側に挿入する。図7Aは、先端部71がワークW1の内側に挿入された状態を示している。
FIGS. 7A and 7B show how the robot system 100 holds the cylindrical work W1. When holding the cylindrical work W1, first, the control device 50 operates the robot 101 to insert the tip portion 71 of each claw member 41 into the inside of the cylindrical work W1. FIG. 7A shows a state in which the tip end portion 71 is inserted inside the work W1.
次に制御装置50は、アクチュエータ22を動作させて、第1方向Xにおいて一対の指部材30の先端部が近接するように、指部材30を動作させる。図7Aにおいて、矢印Y1及び矢印Y2は、それぞれ指部材30の先端部の移動方向を表す。方向Y1及びY2は、それぞれの爪部材41の基端部72の移動方向でもある。この実施形態では、指部材30の先端部の移動方向Y1、Y2は、第1方向Xに平行である。指部材30の先端部の移動方向は、第1方向X以外の成分を含まない。指部材30の移動方向は、上下方向の成分を含まない。リンク部材3A、3B、3C及び3Dの傾斜角度を調整することで、それぞれの指部材30の先端部は、上下動することなく、第1方向Xに平行に移動する。
Next, the control device 50 operates the actuator 22 to operate the finger members 30 so that the tips of the pair of finger members 30 are close to each other in the first direction X. In FIG. 7A, the arrow Y1 and the arrow Y2 indicate the moving direction of the tip end portion of the finger member 30, respectively. The directions Y1 and Y2 are also the moving directions of the base end portion 72 of each claw member 41. In this embodiment, the moving directions Y1 and Y2 of the tip of the finger member 30 are parallel to the first direction X. The moving direction of the tip portion of the finger member 30 does not include components other than the first direction X. The moving direction of the finger member 30 does not include a component in the vertical direction. By adjusting the inclination angles of the link members 3A, 3B, 3C and 3D, the tip portions of the respective finger members 30 move in parallel to the first direction X without moving up and down.
図7Aにおいて、矢印Z1及び矢印Z2は、それぞれ爪部材41の先端部71の先端の移動方向を表す。上記のとおり、一方の爪部材41Aの第二部86Aと他方の爪部材41Bの第二部86Bとがクロスしているため、爪部材41の基端部72が互いに近接する方向に移動すると、爪部材41の先端部71の先端は互いに離間する方向に移動する。爪部材41の先端部71の先端は、第1方向Xに平行に移動する。これにより、それぞれの先端部71の当接面87が、ワークW1の内周面に当接する。図7Bには、当接面87がワークW1の内周面に当接した状態が示されている。これにより、このロボットシステム100は、円筒状のワークW1を、内周面側から保持する。同様にして、このロボットシステム100は、円環状のワークW2を、内周面側から保持することができる。
In FIG. 7A, the arrows Z1 and Z2 each represent the moving direction of the tip of the tip 71 of the claw member 41. As described above, since the second portion 86A of one claw member 41A and the second portion 86B of the other claw member 41B cross each other, when the base end portion 72 of the claw member 41 moves in a direction close to each other, The tip of the tip 71 of the claw member 41 moves in a direction away from each other. The tip of the tip 71 of the claw member 41 moves in parallel with the first direction X. As a result, the contact surface 87 of each tip portion 71 comes into contact with the inner peripheral surface of the work W1. FIG. 7B shows a state in which the contact surface 87 is in contact with the inner peripheral surface of the work W1. As a result, the robot system 100 holds the cylindrical work W1 from the inner peripheral surface side. Similarly, the robot system 100 can hold the annular work W2 from the inner peripheral surface side.
このロボットシステム100が、円筒状のワークW1を放す際には、制御装置50は、アクチュエータ22を動作させて、第1方向Xにおいて一対の指部材30の先端部が離間するように、指部材30を動作させる。爪部材41の先端部71の先端は、互いに近接する方向に移動する。それぞれの先端部71の当接面87が、ワークW1の内周面から離れる。これにより、円筒状のワークW1は、ロボットシステム100から放される。
When the robot system 100 releases the cylindrical work W1, the control device 50 operates the actuator 22 so that the tips of the pair of finger members 30 are separated from each other in the first direction X. 30 is operated. The tips of the tips 71 of the claw member 41 move in directions close to each other. The contact surface 87 of each tip portion 71 is separated from the inner peripheral surface of the work W1. As a result, the cylindrical work W1 is released from the robot system 100.
爪部材42は、図10に示すように、先端部71の内面71Bには、上下方向に延びるように凹部73が形成されている。凹部73には、複数の溝74が形成されている。これにより、外周面が多角形状に形成されている、環状のワークW2を凹部73により滑ることなく、容易に保持することができる(図1、図2参照)。
As shown in FIG. 10, the claw member 42 has a recess 73 formed on the inner surface 71B of the tip portion 71 so as to extend in the vertical direction. A plurality of grooves 74 are formed in the recess 73. As a result, the annular work W2 whose outer peripheral surface is formed in a polygonal shape can be easily held by the recess 73 without slipping (see FIGS. 1 and 2).
爪部材43は、図11に示すように、先端部71の内面71Bには、V字状(又はU字状)の切り欠き75が形成されている。これにより、スパナ等の棒状のワークW3を切り欠き75で当接することで、容易に保持することができる(図1、図2参照)。
As shown in FIG. 11, the claw member 43 has a V-shaped (or U-shaped) notch 75 formed on the inner surface 71B of the tip portion 71. As a result, the rod-shaped work W3 such as a spanner can be easily held by abutting with the notch 75 (see FIGS. 1 and 2).
爪部材44は、図12に示すように、先端部71が逆L字状に形成されている。これにより、段ボール箱等の箱状のワークW4を容易に保持することができる(図1、図2参照)。
As shown in FIG. 12, the tip portion 71 of the claw member 44 is formed in an inverted L shape. As a result, the box-shaped work W4 such as a cardboard box can be easily held (see FIGS. 1 and 2).
爪部材45Aは、図13に示すように、先端部71がU字状に形成されている。具体的には、爪部材45Aの先端部71は、一対の足部76A、76Bを有している。下方に位置している足部76Bは、上面が複数段階(ここでは、2段階)に傾斜していて、先端部分77の傾斜角度が、基端部分78の傾斜角度よりも大きくなるように構成されている。爪部材45Bは、先端部71が逆L字状に形成されている。これにより、ノート等の板状のワークW5を容易に保持することができる(図1、図2参照)。特に、爪部材45Aの足部76Bの先端部分77の傾斜角度が、基端部分78の傾斜角度よりも大きいため、先端部分77が、ワークW5の下面と床面との間に容易に入り込むことができる。また、保持しているワークW5を床面等に載置するときに、先端部分77の傾斜角度が大きいため、ワークW5を真下側に落下させることができ、ワークW5を正確に載置させることができる。
As shown in FIG. 13, the tip portion 71 of the claw member 45A is formed in a U shape. Specifically, the tip portion 71 of the claw member 45A has a pair of foot portions 76A and 76B. The upper surface of the foot portion 76B located below is inclined in a plurality of stages (here, two stages), and the inclination angle of the tip portion 77 is configured to be larger than the inclination angle of the base end portion 78. Has been done. The tip portion 71 of the claw member 45B is formed in an inverted L shape. As a result, the plate-shaped work W5 such as a notebook can be easily held (see FIGS. 1 and 2). In particular, since the inclination angle of the tip portion 77 of the foot portion 76B of the claw member 45A is larger than the inclination angle of the base end portion 78, the tip portion 77 easily enters between the lower surface of the work W5 and the floor surface. Can be done. Further, when the held work W5 is placed on the floor surface or the like, since the inclination angle of the tip portion 77 is large, the work W5 can be dropped directly below, and the work W5 can be placed accurately. Can be done.
[ロボットシステムの動作及び作用効果]
次に、本実施の形態1に係るロボットシステム100の動作及び作用効果について、図1~図14を参照しながら、詳細に説明する。なお、以下の動作は、制御装置50の演算処理器が、記憶器に格納されているプログラムを読み出すことにより実行される。 [Operations and effects of robot systems]
Next, the operation and the effect of therobot system 100 according to the first embodiment will be described in detail with reference to FIGS. 1 to 14. The following operations are executed by the arithmetic processing unit of the control device 50 reading the program stored in the storage device.
次に、本実施の形態1に係るロボットシステム100の動作及び作用効果について、図1~図14を参照しながら、詳細に説明する。なお、以下の動作は、制御装置50の演算処理器が、記憶器に格納されているプログラムを読み出すことにより実行される。 [Operations and effects of robot systems]
Next, the operation and the effect of the
図14は、本実施の形態1に係るロボットシステム100の動作の一例を示すフローチャートである。
FIG. 14 is a flowchart showing an example of the operation of the robot system 100 according to the first embodiment.
まず、図2に示すように、一対の指部材30A、30Bに各種爪部材41~45が装着されていないとする。また、ロボットシステム100は、ワークW4を搬送して、その後、ワークW4内に配置されている、ワークW1~W3、W5をワークW4外に搬送させる動作を行う搬送作業を実行するように構成されている。さらに、ロボットシステム100は、ワークW4外に配置されているワークW1~W3、W5をワークW4内に搬送させて、ワークW4を搬送させる動作を行う搬送作業を実行するように構成されている。
First, as shown in FIG. 2, it is assumed that various claw members 41 to 45 are not attached to the pair of finger members 30A and 30B. Further, the robot system 100 is configured to perform a transfer operation of transporting the work W4 and then transporting the works W1 to W3 and W5 arranged in the work W4 to the outside of the work W4. ing. Further, the robot system 100 is configured to carry out a transfer operation in which the works W1 to W3 and W5 arranged outside the work W4 are conveyed into the work W4 and the work W4 is conveyed.
そして、作業者(操作者)が、図示されない操作器を操作することで、ワークW1~W5を搬送する搬送作業を実行する指示信号が制御装置50に入力されたとする。なお、作業者が、操作器により、どのワークを保持して搬送するかについて、制御装置50に指示してもよい。また、制御装置50が、図示されない撮影装置から取得した画像情報/映像情報を基に、ワークの形状を把握して、ワークの形状に適応する(最適な)爪部材を選択してもよい。
Then, it is assumed that the operator (operator) operates an operation device (not shown) to input an instruction signal for executing the transport work for transporting the works W1 to W5 to the control device 50. The operator may instruct the control device 50 which work is to be held and conveyed by the actuator. Further, the control device 50 may grasp the shape of the work based on the image information / video information acquired from the imaging device (not shown) and select the (optimal) claw member that adapts to the shape of the work.
すると、図14に示すように、制御装置50は、一対の指部材30A、30Bが、爪部材41の上方に位置するように、ロボット101を動作させる(ステップS101)。ついで、制御装置50は、一対の指部材30A、30Bが、離間するように、アクチュエータ22を動作させる(ステップS102)。
Then, as shown in FIG. 14, the control device 50 operates the robot 101 so that the pair of finger members 30A and 30B are located above the claw member 41 (step S101). Next, the control device 50 operates the actuator 22 so that the pair of finger members 30A and 30B are separated from each other (step S102).
次に、制御装置50は、一対の指部材30A、30Bの間に爪部材41が位置するように、ロボット101を動作させる(ステップS103)。より詳細には、制御装置50は、指部材30の被係合部61の先端部62が、爪部材41の係合部81の開口と対向するように、ロボット101を動作させる。このときの指部材30及び爪部材41の状態は、爪部材42を使用して説明された、前述の図9Aの状態に対応する。
Next, the control device 50 operates the robot 101 so that the claw member 41 is located between the pair of finger members 30A and 30B (step S103). More specifically, the control device 50 operates the robot 101 so that the tip portion 62 of the engaged portion 61 of the finger member 30 faces the opening of the engaging portion 81 of the claw member 41. The state of the finger member 30 and the claw member 41 at this time corresponds to the state of FIG. 9A described above described using the claw member 42.
次に、制御装置50は、一対の指部材30A、30Bが、近接するように、アクチュエータ22を動作させる(ステップS104)。これにより、指部材30の被係合部61と、爪部材41の係合部81と、が係合して、指部材30に爪部材41が装着される。このときの指部材30及び爪部材41の状態は、爪部材42を使用して説明された、前述の図9Bの状態に対応する。
Next, the control device 50 operates the actuator 22 so that the pair of finger members 30A and 30B are close to each other (step S104). As a result, the engaged portion 61 of the finger member 30 and the engaging portion 81 of the claw member 41 are engaged with each other, and the claw member 41 is attached to the finger member 30. The state of the finger member 30 and the claw member 41 at this time corresponds to the state of FIG. 9B described above described using the claw member 42.
このとき、被係合部61の先端部62が、第1ストッパ部91と当接することで、指部材30の移動が制限される。これにより、指部材30と爪部材41の位置決めを容易にすることができる。また、第1ロック機構90と第1ロック機構80が当接することにより、爪部材41を指部材30に固定される。
At this time, the tip portion 62 of the engaged portion 61 comes into contact with the first stopper portion 91, so that the movement of the finger member 30 is restricted. This makes it possible to facilitate the positioning of the finger member 30 and the claw member 41. Further, the claw member 41 is fixed to the finger member 30 by the contact between the first lock mechanism 90 and the first lock mechanism 80.
次に、制御装置50は、ワーク(例えば、ワークW1)を保持して搬送するように、アクチュエータ22及び/又はロボット101を動作させる(ステップS105)。ついで、制御装置50は、ワークW1とは異なるワーク(例えば、ワークW2)を保持して、搬送できるように、爪部材42を脱離させる動作をロボットシステム100に実行させる。具体的には、制御装置50は、一対の爪部材41A、41Bが、支持部材200の上方に位置するように、ロボット101を動作させる(ステップS106)。
Next, the control device 50 operates the actuator 22 and / or the robot 101 so as to hold and convey the work (for example, the work W1) (step S105). Next, the control device 50 causes the robot system 100 to perform an operation of detaching the claw member 42 so that the work (for example, the work W2) different from the work W1 can be held and conveyed. Specifically, the control device 50 operates the robot 101 so that the pair of claw members 41A and 41B are located above the support member 200 (step S106).
次に、制御装置50は、一対の指部材30A、30Bが、近接するように、アクチュエータ22を動作させる(ステップS107)。これにより、一対の爪部材41A、41Bが、近接して、爪部材41の先端部71が、支持部材200の凹部203に開口内に位置させることができる。
Next, the control device 50 operates the actuator 22 so that the pair of finger members 30A and 30B are close to each other (step S107). As a result, the pair of claw members 41A and 41B can be brought close to each other, and the tip end portion 71 of the claw member 41 can be positioned in the opening in the recess 203 of the support member 200.
次に、制御装置50は、爪部材41の先端部71が、支持部材200の凹部203内に位置するように、ロボット101を動作させる(ステップS108)。具体的には、制御装置50は、爪部材41を下方に移動させて、凹部203内に挿入させるように、ロボット101を動作させる。
Next, the control device 50 operates the robot 101 so that the tip portion 71 of the claw member 41 is located in the recess 203 of the support member 200 (step S108). Specifically, the control device 50 operates the robot 101 so as to move the claw member 41 downward and insert it into the recess 203.
次に、制御装置50は、一対の指部材30A、30Bが、離間するように、アクチュエータ22を動作させ(ステップS109)、本プログラムを終了する。
Next, the control device 50 operates the actuator 22 so that the pair of finger members 30A and 30B are separated from each other (step S109), and ends this program.
これにより、一対の爪部材41A、41Bは、一対の指部材30A、30Bに従って、離間するように移動するが、爪部材41A、41Bの先端部71の外側の側面79が、それぞれ、第1支持部材201の内面204、又は第2支持部材202の内面204と当接することで、一対の爪部材41A、41Bは、離間する方向へ移動することができなくなる。このため、一対の指部材30A、30Bは、それぞれ、爪部材41を離脱することができ、爪部材41は、支持部材200に収納される。
As a result, the pair of claw members 41A and 41B move so as to be separated from each other according to the pair of finger members 30A and 30B, but the outer side surfaces 79 of the tip portions 71 of the claw members 41A and 41B respectively support the first. By abutting on the inner surface 204 of the member 201 or the inner surface 204 of the second support member 202, the pair of claw members 41A and 41B cannot move in the direction in which they are separated from each other. Therefore, the pair of finger members 30A and 30B can each be separated from the claw member 41, and the claw member 41 is housed in the support member 200.
なお、制御装置50は、ワークW1とは異なるワーク(例えば、ワークW2)を保持して、搬送する場合には、再び、ステップS101~ステップS109の処理を実行する。
When the control device 50 holds and conveys a work (for example, work W2) different from the work W1, the process of steps S101 to S109 is executed again.
このように構成された、本実施の形態1に係るロボットシステム100では、爪部材41~45の基端部72に、左右方向(第1方向)に延びる凹状の係合部81が形成されている。また、指部材30の先端部には、左右方向(第1方向)に延びるフランジ状の被係合部61が形成されている。
In the robot system 100 according to the first embodiment configured in this way, a concave engaging portion 81 extending in the left-right direction (first direction) is formed at the base end portions 72 of the claw members 41 to 45. There is. Further, a flange-shaped engaged portion 61 extending in the left-right direction (first direction) is formed at the tip portion of the finger member 30.
これにより、制御装置50が、一対の指部材30A、30Bの間に、爪部材41が位置するように、ロボット101を動作させ、その後、一対の指部材30A、30Bが、近接するように、アクチュエータ22を動作させることで、容易に指部材30に爪部材41を装着することができる。
As a result, the control device 50 operates the robot 101 so that the claw member 41 is positioned between the pair of finger members 30A and 30B, and then the pair of finger members 30A and 30B are brought close to each other. By operating the actuator 22, the claw member 41 can be easily attached to the finger member 30.
また、本実施の形態1に係るロボットシステム100では、係合部81を構成する凹部の底面が、第1ストッパ部91を構成している。これにより、指部材30に爪部材41~45のいずれかの爪部材を装着するときに、第1ストッパ部91が、被係合部61の先端部62が当接することで、指部材30の移動が制限される。これにより、指部材30と爪部材の位置決めを容易にすることができる。
Further, in the robot system 100 according to the first embodiment, the bottom surface of the concave portion constituting the engaging portion 81 constitutes the first stopper portion 91. As a result, when any of the claw members 41 to 45 is attached to the finger member 30, the first stopper portion 91 comes into contact with the tip portion 62 of the engaged portion 61, so that the finger member 30 is in contact with the finger member 30. Movement is restricted. This makes it possible to facilitate the positioning of the finger member 30 and the claw member.
また、本実施の形態1に係るロボットシステム100では、爪部材(例えば爪部材41)41の第1ストッパ部91には、第1ロック機構90が設けられていて、指部材30の被係合部61の先端部62には、第1ロック機構80が設けられている。
Further, in the robot system 100 according to the first embodiment, the first stopper portion 91 of the claw member (for example, the claw member 41) 41 is provided with the first lock mechanism 90, and the finger member 30 is engaged. A first lock mechanism 80 is provided at the tip portion 62 of the portion 61.
これにより、第1ロック機構90と第1ロック機構80が共同して、爪部材41を指部材30に固定することができる。
Thereby, the first lock mechanism 90 and the first lock mechanism 80 can jointly fix the claw member 41 to the finger member 30.
また、ロボットシステム100が動作して、一対の指部材30A、30Bが、鉛直方向に並ぶようにハンド20の向きを変更した場合であっても、第1ロック機構80と第1ロック機構90により、爪部材41が指部材30から抜け落ちることが防止される。
Further, even when the robot system 100 operates and the direction of the hand 20 is changed so that the pair of finger members 30A and 30B are aligned in the vertical direction, the first lock mechanism 80 and the first lock mechanism 90 are used. , The claw member 41 is prevented from falling off from the finger member 30.
さらに、第1ロック機構80と第1ロック機構90による固定が外れた場合であっても、以下の理由により、爪部材41が指部材30から抜け落ちることが防止される。
Further, even when the fixing by the first lock mechanism 80 and the first lock mechanism 90 is released, the claw member 41 is prevented from coming off from the finger member 30 for the following reasons.
一対の指部材30A、30Bが、鉛直方向に並ぶようにハンド20の向きを変更すると、上下に並ぶように、一対の爪部材41A、41Bが位置する。このため、上方に位置する、一方の爪部材41Aが、その自重により、下側に移動したとしても、下方に位置する、他方の爪部材41Bと当接することになる。したがって、一方の爪部材41Aの下側への移動を抑制することができ、爪部材41Aが指部材30Aから抜け落ちることが防止される。
When the direction of the hand 20 is changed so that the pair of finger members 30A and 30B are lined up in the vertical direction, the pair of claw members 41A and 41B are positioned so as to be lined up and down. Therefore, even if one of the claw members 41A located above moves downward due to its own weight, it will come into contact with the other claw member 41B located below. Therefore, the movement of one of the claw members 41A to the lower side can be suppressed, and the claw member 41A is prevented from falling off from the finger member 30A.
さらに、本実施の形態1に係るロボットシステム100では、一対の指部材30A、30Bの先端部が近接するように、第1方向に平行に移動すると、それぞれの爪部材41の先端部71、71の先端が、互いに離間するように構成されている。具体的には、爪部材41Aの先端部71と、爪部材41Bの先端部71と、が、途中でクロスするように構成されている。
Further, in the robot system 100 according to the first embodiment, when the tips of the pair of finger members 30A and 30B are moved in parallel in the first direction so as to be close to each other, the tips 71 and 71 of the respective claw members 41 are moved in parallel. The tips of the robots are configured to be separated from each other. Specifically, the tip portion 71 of the claw member 41A and the tip portion 71 of the claw member 41B are configured to cross each other in the middle.
これにより、円筒状、円環状のワークW1の内周面側から保持することができる。
This makes it possible to hold the work W1 in a cylindrical or annular shape from the inner peripheral surface side.
本実施の形態1における変形例1のロボットシステム100では、アクチュエータ22が、一対の指部材30のうち、少なくとも一方の指部材30を動作させるように構成されている。
In the robot system 100 of the first modification of the first embodiment, the actuator 22 is configured to operate at least one finger member 30 of the pair of finger members 30.
また、本実施の形態1における変形例1のロボットシステム100では、一対の指部材30のうち、他方の指部材30が、ハンド20の本体21に固定されていてもよい。
Further, in the robot system 100 of the first modification of the first embodiment, the other finger member 30 of the pair of finger members 30 may be fixed to the main body 21 of the hand 20.
本実施の形態1における変形例1のロボットシステム100の運転方法では、アクチュエータ22が、一対の指部材30のうち、少なくとも一方の指部材30を動作させるように構成されている。
In the operation method of the robot system 100 of the modification 1 in the first embodiment, the actuator 22 is configured to operate at least one finger member 30 of the pair of finger members 30.
また、本実施の形態1における変形例1のロボットシステム100の運転方法では、一対の指部材30のうち、他方の指部材30が、ハンド20の本体21に固定されていてもよい。
Further, in the operation method of the robot system 100 of the modification 1 in the first embodiment, the other finger member 30 of the pair of finger members 30 may be fixed to the main body 21 of the hand 20.
以下、本実施の形態1における変形例1のロボットシステム100の一例について、図15を参照しながら説明する。
Hereinafter, an example of the robot system 100 of the modified example 1 in the first embodiment will be described with reference to FIG.
図15は、本実施の形態1における変形例1のロボットシステム100の、ハンド20及び爪部材41の概略構成を示す模式図である。
FIG. 15 is a schematic diagram showing a schematic configuration of a hand 20 and a claw member 41 of the robot system 100 of the modification 1 of the first embodiment.
図15に示すように、本実施の形態1における変形例1のロボットシステム100は、実施の形態1に係るロボットシステム100と基本的構成は同じであるが、一対の指部材30A、30Bのうち、少なくとも一方の指部材30が動作する点が異なる。
As shown in FIG. 15, the robot system 100 of the modification 1 in the first embodiment has the same basic configuration as the robot system 100 according to the first embodiment, but has the same basic configuration as the pair of finger members 30A and 30B. The difference is that at least one finger member 30 operates.
具体的には、アクチュエータ22が、一対の指部材30A、30Bのうち、少なくとも一方の指部材30を動作させるように構成されている。例えば、アクチュエータ22は、指部材30Aのみを動作させるように構成されていてもよい。この場合、指部材30Bは、ハンド20の本体21に固定されていてもよい。また、アクチュエータ22は、指部材30Bのみを動作させるように構成されていてもよい。この場合、指部材30Aは、ハンド20の本体21に固定されていてもよい。さらに、アクチュエータ22は、一対の指部材30A、30Bの両方を動作させるように構成されていてもよい。
Specifically, the actuator 22 is configured to operate at least one finger member 30 of the pair of finger members 30A and 30B. For example, the actuator 22 may be configured to operate only the finger member 30A. In this case, the finger member 30B may be fixed to the main body 21 of the hand 20. Further, the actuator 22 may be configured to operate only the finger member 30B. In this case, the finger member 30A may be fixed to the main body 21 of the hand 20. Further, the actuator 22 may be configured to operate both the pair of finger members 30A and 30B.
このように構成されている、本変形例1のロボットシステム100であっても、実施の形態1に係るロボットシステム100と同様の作用効果を奏する。
Even the robot system 100 of the present modification 1 configured in this way has the same operation and effect as the robot system 100 according to the first embodiment.
(実施の形態2)
本実施の形態2に係るロボットシステムは、実施の形態1に係るロボットシステム100において、爪部材は、基端部に係合部が形成されていて、指部材の先端部には、第1方向に沿って延びる、凹状の被係合部が形成されていて、ロボットシステムは、制御装置をさらに備え、制御装置は、一対の指部材の間に爪部材が位置するように、ロボットを動作させ、その後、一対の指部材が近接するように動作させて、被係合部と係合部を係合させる。 (Embodiment 2)
In the robot system according to the first embodiment, the robot system according to the second embodiment has an engaging portion formed at a base end portion of the claw member and a first direction at the tip end portion of the finger member. A concave engaged portion extending along the is formed, the robot system further comprises a control device, which operates the robot so that the claw member is located between the pair of finger members. After that, the pair of finger members are operated so as to be close to each other to engage the engaged portion with the engaged portion.
本実施の形態2に係るロボットシステムは、実施の形態1に係るロボットシステム100において、爪部材は、基端部に係合部が形成されていて、指部材の先端部には、第1方向に沿って延びる、凹状の被係合部が形成されていて、ロボットシステムは、制御装置をさらに備え、制御装置は、一対の指部材の間に爪部材が位置するように、ロボットを動作させ、その後、一対の指部材が近接するように動作させて、被係合部と係合部を係合させる。 (Embodiment 2)
In the robot system according to the first embodiment, the robot system according to the second embodiment has an engaging portion formed at a base end portion of the claw member and a first direction at the tip end portion of the finger member. A concave engaged portion extending along the is formed, the robot system further comprises a control device, which operates the robot so that the claw member is located between the pair of finger members. After that, the pair of finger members are operated so as to be close to each other to engage the engaged portion with the engaged portion.
また、本実施の形態2に係るロボットシステムでは、係合部は、テーパー状に形成されていてもよい。
Further, in the robot system according to the second embodiment, the engaging portion may be formed in a tapered shape.
また、本実施の形態2に係るロボットシステムでは、指部材には、爪部材の係合部の先端と対向するように第2ストッパ部が設けられていてもよい。
Further, in the robot system according to the second embodiment, the finger member may be provided with a second stopper portion so as to face the tip of the engaging portion of the claw member.
また、本実施の形態2に係るロボットシステムでは、指部材の第2ストッパ部と爪部材の係合部の先端部には、それぞれ、第2ロック機構が設けられていてもよい。
Further, in the robot system according to the second embodiment, a second lock mechanism may be provided at the tip of the second stopper portion of the finger member and the engaging portion of the claw member, respectively.
また、本実施の形態2に係るロボットシステムでは、爪部材の延伸方向が、鉛直方向に向いた状態で、爪部材を支持する支持部材をさらに備え、支持部材には、凹部が設けられていて、一対の爪部材は、それぞれの先端部が凹部に挿通するように、支持部材に収納されていてもよい。
Further, in the robot system according to the second embodiment, a support member for supporting the claw member is further provided in a state where the extension direction of the claw member is oriented in the vertical direction, and the support member is provided with a recess. , The pair of claw members may be housed in the support member so that the respective tip portions thereof are inserted into the recesses.
さらに、本実施の形態2に係るロボットシステムでは、複数の種類の一対の爪部材が並ぶように、支持部材に収納されていてもよい。
Further, in the robot system according to the second embodiment, a pair of claw members of a plurality of types may be housed in a support member so as to be lined up.
以下、本実施の形態2に係るロボットシステムの一例について、図16を参照しながら説明する。
Hereinafter, an example of the robot system according to the second embodiment will be described with reference to FIG.
[ロボットシステムの構成]
図16は、本実施の形態2に係るロボットシステム100の要部の概略構成を示す模式図である。 [Robot system configuration]
FIG. 16 is a schematic diagram showing a schematic configuration of a main part of therobot system 100 according to the second embodiment.
図16は、本実施の形態2に係るロボットシステム100の要部の概略構成を示す模式図である。 [Robot system configuration]
FIG. 16 is a schematic diagram showing a schematic configuration of a main part of the
図16に示すように、本実施の形態2に係るロボットシステム100は、実施の形態1に係るロボットシステム100と基本的構成は同じであるが、指部材30の先端部(接続部材3E)に、第1方向に沿って延びる、凹状の被係合部181が形成されている点と、爪部材42の基端部72に係合部161が形成されている点と、が異なる。
As shown in FIG. 16, the robot system 100 according to the second embodiment has the same basic configuration as the robot system 100 according to the first embodiment, but has a tip portion (connecting member 3E) of the finger member 30. , The point where the concave engaged portion 181 extending along the first direction is formed and the point where the engaging portion 161 is formed at the base end portion 72 of the claw member 42 are different.
具体的には、爪部材42の基端部72は、直方体状に形成されている。基端部72における前面の上端部と後面の上端部には、それぞれ、左右方向に延びるフランジ状の係合部161、161が形成されている。
Specifically, the base end portion 72 of the claw member 42 is formed in a rectangular parallelepiped shape. Flange-shaped engaging portions 161 and 161 extending in the left-right direction are formed at the upper end portion of the front surface and the upper end portion of the rear surface of the base end portion 72, respectively.
係合部161は、テーパー状に形成されている。具体的には、爪部材42A側の係合部161は、右面よりも左面の方が、面積が小さくなるように、テーパー状に形成されている。また、爪部材42B側の係合部161は、左面よりも右面の方が、面積が小さくなるように、テーパー状に形成されている。
The engaging portion 161 is formed in a tapered shape. Specifically, the engaging portion 161 on the claw member 42A side is formed in a tapered shape so that the area on the left surface is smaller than that on the right surface. Further, the engaging portion 161 on the claw member 42B side is formed in a tapered shape so that the area on the right side is smaller than that on the left side.
また、爪部材42A側の基端部72の左面(外面;係合部161の先端部162)には、第1ロック機構180が設けられている。同様に、爪部材42B側の基端部72の右面(外面;係合部161の先端部162)には、第1ロック機構180が設けられている。また、後述するように、指部材30の第1ストッパ部191には、第1ロック機構190が設けられている。
Further, a first lock mechanism 180 is provided on the left surface (outer surface; tip portion 162 of the engaging portion 161) of the base end portion 72 on the claw member 42A side. Similarly, a first lock mechanism 180 is provided on the right surface (outer surface; tip portion 162 of the engaging portion 161) of the base end portion 72 on the claw member 42B side. Further, as will be described later, the first stopper portion 191 of the finger member 30 is provided with the first lock mechanism 190.
第1ロック機構180、190は、被係合部161の先端部162が、下方に向いたときに、爪部材42が自重で落下しないように、爪部材42を係止することができれば、どのような態様であってもよい。第1ロック機構180、190としては、例えば、磁石で構成されていてもよく、ボールプランジャで構成されていてもよい。
The first locking mechanisms 180 and 190 can lock the claw member 42 so that the claw member 42 does not fall under its own weight when the tip portion 162 of the engaged portion 161 faces downward. It may be in such an aspect. The first lock mechanisms 180 and 190 may be composed of, for example, a magnet or a ball plunger.
指部材30の接続部材3Eは、左右方向から見て、逆T字状に形成されていて、下端部31を有する。指部材30Aの下端部31には、右面側が開口している、左右方向(第1方向)に延びる凹状の被係合部181が形成されている。同様に、指部材30Bの下端部31には、左面側が開口している、左右方向に延びる凹状の被係合部181が形成されている。
The connecting member 3E of the finger member 30 is formed in an inverted T shape when viewed from the left-right direction, and has a lower end portion 31. The lower end portion 31 of the finger member 30A is formed with a concave engaged portion 181 extending in the left-right direction (first direction) and having an opening on the right side. Similarly, the lower end portion 31 of the finger member 30B is formed with a concave engaged portion 181 extending in the left-right direction, which is open on the left side.
被係合部181は、係合部161と係合することで、指部材30に爪部材42が装着される。なお、被係合部181は、係合部161と嵌合するように、内周面がテーパー状に形成されていてもよい。
The claw member 42 is attached to the finger member 30 by engaging the engaged portion 181 with the engaging portion 161. The inner peripheral surface of the engaged portion 181 may be formed in a tapered shape so as to fit with the engaging portion 161.
また、被係合部181を構成する凹部の底面が、第1ストッパ部191を構成する。第1ストッパ部191は、係合部161の先端部162が当接することで、指部材30の移動が制限される。これにより、指部材30と爪部材42の位置決めを容易にすることができる。
Further, the bottom surface of the concave portion constituting the engaged portion 181 constitutes the first stopper portion 191. The movement of the finger member 30 is restricted by the contact of the tip portion 162 of the engaging portion 161 with the first stopper portion 191. This makes it possible to facilitate the positioning of the finger member 30 and the claw member 42.
また、第1ストッパ部91には、第1ロック機構90が設けられている。第1ロック機構190は、第1ロック機構180と共同して、爪部材42を指部材30に固定することができる。
Further, the first stopper portion 91 is provided with a first lock mechanism 90. The first lock mechanism 190 can fix the claw member 42 to the finger member 30 in cooperation with the first lock mechanism 180.
このように構成されている、本実施の形態2に係るロボットシステム100であっても、実施の形態1に係るロボットシステム100と同様の作用効果を奏する。
Even the robot system 100 according to the second embodiment, which is configured in this way, has the same effect as the robot system 100 according to the first embodiment.
上記説明から、当業者にとっては、本開示の多くの改良又は他の実施形態が明らかである。従って、上記説明は、例示としてのみ解釈されるべきであり、本開示を実行する最良の態様を当業者に教示する目的で提供されたものである。本開示を逸脱することなく、その構造及び/又は機能の詳細を実質的に変更できる。
[開示項目]
以下は、好ましい実施形態の開示である。
[項目1]
一対の指部材と、一方の前記指部材の先端部から他方の前記指部材の先端部へ向かう方向である第1方向において前記一対の指部材を近接又は離間するように動作させるアクチュエータと、それぞれが対応する前記指部材に対して着脱可能に構成されている一対の爪部材と、を備え、前記一対の爪部材のそれぞれが基端部と先端部とを備え、それぞれの前記基端部が互いに近接する方向に移動すると、前記爪部材のそれぞれの前記先端部の先端が互いに離間するように構成されている、ロボットシステム。
[項目2]
前記一対の爪部材は、途中でクロスしており、
前記一対の指部材は、前記第1方向に平行に移動するように構成されている、項目1に記載のロボットシステム。
[項目3]
前記爪部材のそれぞれにおいて、前記先端部が、前記基端部から延びる第一部と、前記第一部に対して傾斜して延びる第二部とを備え、一方の爪部材の前記第一部と他方の爪部材の前記第一部とが平行に延び、一方の爪部材の前記第二部と他方の爪部材の前記第二部とがクロスしている、項目2に記載のロボットシステム。
[項目4]
一方の爪部材の前記第二部が、厚み方向の中央に、先端から根元側に向けて延びる切り込み有しており、他方の爪部材の前記第二部が、前記切り込みを貫通することで、一方の前記第二部と他方の前記第二部とがクロスしている、項目3に記載のロボットシステム。
[項目5]
それぞれ先端部が、前記第1方向に垂直な当接面を備える、項目1から4に記載のロボットシステム。
[項目6]
制御装置をさらに備え、前記爪部材の前記基端部に係合部が形成されていて、前記指部材の先端部に前記第1方向に延びる凹状の被係合部が形成されていて、前記制御装置は、一対の前記指部材の間に前記爪部材が位置するように前記指部材を動作させ、その後、前記一対の指部材が近接するように動作させて前記被係合部と前記係合部とを係合させる、項目1から5のいずれかに記載のロボットシステム。 From the above description, many improvements or other embodiments of the present disclosure will be apparent to those of skill in the art. Accordingly, the above description should be construed as an example only and is provided for the purpose of teaching those skilled in the art the best aspects of carrying out the present disclosure. The details of its structure and / or function may be substantially modified without departing from the present disclosure.
[Disclosure items]
The following is a disclosure of preferred embodiments.
[Item 1]
A pair of fingernails and an actuator that operates the pair of fingernails so as to be close to or separated from each other in the first direction, which is the direction from the tip of one fingernail to the tip of the other fingernail, respectively. The pair includes a pair of claw members that are detachably configured with respect to the corresponding finger member, each of the pair of claw members has a proximal end portion and a distal end portion, and the respective proximal end portions thereof. A robot system configured such that when the claw members move in a direction close to each other, the tips of the tips of the claw members are separated from each other.
[Item 2]
The pair of claw members are crossed in the middle, and
The robot system according to item 1, wherein the pair of finger members are configured to move in parallel with the first direction.
[Item 3]
In each of the claw members, the tip portion includes a first portion extending from the base end portion and a second portion extending inclined with respect to the first portion, and the first portion of one claw member. The robot system according to item 2, wherein the first part of the other claw member extends in parallel, and the second part of the one claw member and the second part of the other claw member cross each other.
[Item 4]
The second part of one claw member has a notch extending from the tip toward the root side in the center in the thickness direction, and the second part of the other claw member penetrates the notch. The robot system according to item 3, wherein one of the second parts and the other of the second parts are crossed.
[Item 5]
The robot system according to items 1 to 4, wherein each tip thereof has a contact surface perpendicular to the first direction.
[Item 6]
A control device is further provided, an engaging portion is formed at the base end portion of the claw member, and a concave engaged portion extending in the first direction is formed at the tip end portion of the finger member. The control device operates the finger member so that the claw member is located between the pair of finger members, and then operates the finger member so that the pair of finger members are close to each other, and engages with the engaged portion. The robot system according to any one of items 1 to 5, which engages with a joint.
[開示項目]
以下は、好ましい実施形態の開示である。
[項目1]
一対の指部材と、一方の前記指部材の先端部から他方の前記指部材の先端部へ向かう方向である第1方向において前記一対の指部材を近接又は離間するように動作させるアクチュエータと、それぞれが対応する前記指部材に対して着脱可能に構成されている一対の爪部材と、を備え、前記一対の爪部材のそれぞれが基端部と先端部とを備え、それぞれの前記基端部が互いに近接する方向に移動すると、前記爪部材のそれぞれの前記先端部の先端が互いに離間するように構成されている、ロボットシステム。
[項目2]
前記一対の爪部材は、途中でクロスしており、
前記一対の指部材は、前記第1方向に平行に移動するように構成されている、項目1に記載のロボットシステム。
[項目3]
前記爪部材のそれぞれにおいて、前記先端部が、前記基端部から延びる第一部と、前記第一部に対して傾斜して延びる第二部とを備え、一方の爪部材の前記第一部と他方の爪部材の前記第一部とが平行に延び、一方の爪部材の前記第二部と他方の爪部材の前記第二部とがクロスしている、項目2に記載のロボットシステム。
[項目4]
一方の爪部材の前記第二部が、厚み方向の中央に、先端から根元側に向けて延びる切り込み有しており、他方の爪部材の前記第二部が、前記切り込みを貫通することで、一方の前記第二部と他方の前記第二部とがクロスしている、項目3に記載のロボットシステム。
[項目5]
それぞれ先端部が、前記第1方向に垂直な当接面を備える、項目1から4に記載のロボットシステム。
[項目6]
制御装置をさらに備え、前記爪部材の前記基端部に係合部が形成されていて、前記指部材の先端部に前記第1方向に延びる凹状の被係合部が形成されていて、前記制御装置は、一対の前記指部材の間に前記爪部材が位置するように前記指部材を動作させ、その後、前記一対の指部材が近接するように動作させて前記被係合部と前記係合部とを係合させる、項目1から5のいずれかに記載のロボットシステム。 From the above description, many improvements or other embodiments of the present disclosure will be apparent to those of skill in the art. Accordingly, the above description should be construed as an example only and is provided for the purpose of teaching those skilled in the art the best aspects of carrying out the present disclosure. The details of its structure and / or function may be substantially modified without departing from the present disclosure.
[Disclosure items]
The following is a disclosure of preferred embodiments.
[Item 1]
A pair of fingernails and an actuator that operates the pair of fingernails so as to be close to or separated from each other in the first direction, which is the direction from the tip of one fingernail to the tip of the other fingernail, respectively. The pair includes a pair of claw members that are detachably configured with respect to the corresponding finger member, each of the pair of claw members has a proximal end portion and a distal end portion, and the respective proximal end portions thereof. A robot system configured such that when the claw members move in a direction close to each other, the tips of the tips of the claw members are separated from each other.
[Item 2]
The pair of claw members are crossed in the middle, and
The robot system according to item 1, wherein the pair of finger members are configured to move in parallel with the first direction.
[Item 3]
In each of the claw members, the tip portion includes a first portion extending from the base end portion and a second portion extending inclined with respect to the first portion, and the first portion of one claw member. The robot system according to item 2, wherein the first part of the other claw member extends in parallel, and the second part of the one claw member and the second part of the other claw member cross each other.
[Item 4]
The second part of one claw member has a notch extending from the tip toward the root side in the center in the thickness direction, and the second part of the other claw member penetrates the notch. The robot system according to item 3, wherein one of the second parts and the other of the second parts are crossed.
[Item 5]
The robot system according to items 1 to 4, wherein each tip thereof has a contact surface perpendicular to the first direction.
[Item 6]
A control device is further provided, an engaging portion is formed at the base end portion of the claw member, and a concave engaged portion extending in the first direction is formed at the tip end portion of the finger member. The control device operates the finger member so that the claw member is located between the pair of finger members, and then operates the finger member so that the pair of finger members are close to each other, and engages with the engaged portion. The robot system according to any one of items 1 to 5, which engages with a joint.
本開示のロボットシステムによれば、筒状のワークを内周面側から保持することができるため、ロボットの分野において有用である。
According to the robot system of the present disclosure, the cylindrical work can be held from the inner peripheral surface side, which is useful in the field of robots.
3A リンク部材
3B リンク部材
3C リンク部材
3D リンク部材
3E 接続部材
11a 第1リンク
11b 第2リンク
11c 第3リンク
11d 第4リンク
11e 第5リンク
11f 第6リンク
12 メカニカルインターフェース
15 基台
20 ハンド
21 本体
22 アクチュエータ
30 指部材
30A 指部材
30B 指部材
31 下端部
41 爪部材
41A 爪部材
41B 爪部材
42 爪部材
42A 爪部材
42B 爪部材
43 爪部材
43A 爪部材
43B 爪部材
44 爪部材
44A 爪部材
44B 爪部材
45 爪部材
45A 爪部材
45B 爪部材
50 制御装置
60 移動体
61 被係合部
62 先端部
71 先端部
72 基端部
73 凹部
74 溝
75 切り欠き
76A 足部
76B 足部
77 先端部分
78 基端部分
79 側面
80 第1ロック機構
81 係合部
85 第一部
86 第二部
87 当接面
88 切り込み
90 第1ロック機構
91 第1ストッパ部
100 ロボット
101 ロボット本体
161 係合部
162 先端部
180 第1ロック機構
181 被係合部
190 第1ロック機構
191 第1ストッパ部
200 支持部材
201 第1支持部材
202 第2支持部材
203 凹部
204 内面
301A レール部材
301B レール部材
JT1 第1関節
JT2 第2関節
JT3 第3関節
JT4 第4関節
JT5 第5関節
JT6 第6関節
W1 ワーク
W2 ワーク
W3 ワーク
W4 ワーク
W5 ワーク3A link member 3B link member 3C link member 3D link member 3E connection member 11a 1st link 11b 2nd link 11c 3rd link 11d 4th link 11e 5th link 11f 6th link 12 Mechanical interface 15 Base 20 Hand 21 Main body 22 Actuator 30 Finger member 30A Finger member 30B Finger member 31 Lower end 41 Claw member 41A Claw member 41B Claw member 42 Claw member 42A Claw member 42B Claw member 43 Claw member 43A Claw member 43B Claw member 44 Claw member 44A Claw member 44B Claw member 45A Claw member 45B Claw member 50 Control device 60 Moving body 61 Engagement part 62 Tip part 71 Tip part 72 Base end part 73 Recessed part 74 Groove 75 Notch 76A Foot part 76B Foot part 77 Tip part 78 Base end part 79 Side surface 80 1st lock mechanism 81 Engagement part 85 1st part 86 2nd part 87 Contact surface 88 Notch 90 1st lock mechanism 91 1st stopper part 100 Robot 101 Robot body 161 Engagement part 162 Tip part 180 1st lock Mechanism 181 Engagement part 190 1st lock mechanism 191 1st stopper part 200 Support member 201 1st support member 202 2nd support member 203 Recessed 204 Inner surface 301A Rail member 301B Rail member JT1 1st joint JT2 2nd joint JT3 3rd Joint JT4 4th joint JT5 5th joint JT6 6th joint W1 work W2 work W3 work W4 work W5 work
3B リンク部材
3C リンク部材
3D リンク部材
3E 接続部材
11a 第1リンク
11b 第2リンク
11c 第3リンク
11d 第4リンク
11e 第5リンク
11f 第6リンク
12 メカニカルインターフェース
15 基台
20 ハンド
21 本体
22 アクチュエータ
30 指部材
30A 指部材
30B 指部材
31 下端部
41 爪部材
41A 爪部材
41B 爪部材
42 爪部材
42A 爪部材
42B 爪部材
43 爪部材
43A 爪部材
43B 爪部材
44 爪部材
44A 爪部材
44B 爪部材
45 爪部材
45A 爪部材
45B 爪部材
50 制御装置
60 移動体
61 被係合部
62 先端部
71 先端部
72 基端部
73 凹部
74 溝
75 切り欠き
76A 足部
76B 足部
77 先端部分
78 基端部分
79 側面
80 第1ロック機構
81 係合部
85 第一部
86 第二部
87 当接面
88 切り込み
90 第1ロック機構
91 第1ストッパ部
100 ロボット
101 ロボット本体
161 係合部
162 先端部
180 第1ロック機構
181 被係合部
190 第1ロック機構
191 第1ストッパ部
200 支持部材
201 第1支持部材
202 第2支持部材
203 凹部
204 内面
301A レール部材
301B レール部材
JT1 第1関節
JT2 第2関節
JT3 第3関節
JT4 第4関節
JT5 第5関節
JT6 第6関節
W1 ワーク
W2 ワーク
W3 ワーク
W4 ワーク
W5 ワーク
Claims (6)
- 一対の指部材と、一方の前記指部材の先端部から他方の前記指部材の先端部へ向かう方向である第1方向において前記一対の指部材を近接又は離間するように動作させるアクチュエータと、それぞれが対応する前記指部材に対して着脱可能に構成されている一対の爪部材と、を備え、
前記一対の爪部材のそれぞれが基端部と先端部とを備え、
それぞれの前記基端部が互いに近接する方向に移動すると、前記爪部材のそれぞれの前記先端部の先端が互いに離間するように構成されている、ロボットシステム。 A pair of finger members and an actuator that operates the pair of finger members so as to be close to or separated from each other in the first direction, which is the direction from the tip of one finger member to the tip of the other finger member, respectively. A pair of claw members that are detachably configured with respect to the corresponding finger member.
Each of the pair of claw members has a base end portion and a tip end portion, and each of the pair of claw members has a base end portion and a tip end portion.
A robot system configured such that when the respective base ends move in a direction close to each other, the tips of the respective tips of the claw member are separated from each other. - 前記一対の爪部材は、途中でクロスしており、
前記一対の指部材の先端部の移動方向が前記第1方向と平行である、請求項1に記載のロボットシステム。 The pair of claw members are crossed in the middle, and
The robot system according to claim 1, wherein the moving direction of the tips of the pair of finger members is parallel to the first direction. - 前記爪部材のそれぞれにおいて、前記先端部が、前記基端部から延びる第一部と、前記第一部に対して傾斜して延びる第二部とを備え、
一方の爪部材の前記第一部と他方の爪部材の前記第一部とが平行に延び、
一方の爪部材の前記第二部と他方の爪部材の前記第二部とがクロスしている、請求項2に記載のロボットシステム。 In each of the claw members, the tip portion includes a first portion extending from the base end portion and a second portion extending inclined with respect to the first portion.
The first part of one claw member and the first part of the other claw member extend in parallel,
The robot system according to claim 2, wherein the second part of one claw member and the second part of the other claw member are crossed. - 一方の爪部材の前記第二部が、厚み方向の中央に、先端から根元側に向けて延びる切り込み有しており、
他方の爪部材の前記第二部が、前記切り込みを貫通することで、一方の前記第二部と他方の前記第二部とがクロスしている、請求項3に記載のロボットシステム。 The second portion of one of the claw members has a notch extending from the tip toward the root side in the center in the thickness direction.
The robot system according to claim 3, wherein the second part of the other claw member crosses the second part of one and the second part of the other by penetrating the notch. - それぞれ先端部が、前記第1方向に垂直な当接面を備える、請求項1から4のいずれかに記載のロボットシステム。 The robot system according to any one of claims 1 to 4, wherein each tip thereof has a contact surface perpendicular to the first direction.
- 制御装置をさらに備え、
前記爪部材の前記基端部が係合部を備えており、
前記指部材の先端部が、前記第1方向に延びる凹状の被係合部を備えており、
前記制御装置は、一対の前記指部材の間に前記爪部材が位置するように前記指部材を動作させ、その後、前記一対の指部材が近接するように動作させて前記被係合部と前記係合部とを係合させる、請求項1から5のいずれかに記載のロボットシステム。 With more controls
The base end portion of the claw member includes an engaging portion.
The tip portion of the finger member includes a concave engaged portion extending in the first direction.
The control device operates the finger member so that the claw member is located between the pair of finger members, and then operates the finger member so that the pair of finger members are close to each other so that the engaged portion and the engaged portion are located. The robot system according to any one of claims 1 to 5, which engages with an engaging portion.
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Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
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JPS6039089A (en) * | 1983-08-12 | 1985-02-28 | 株式会社日立製作所 | Gripper device |
US4518187A (en) * | 1983-06-06 | 1985-05-21 | Leland F. Blatt | Parallel movement gripper head |
JPH01317989A (en) * | 1988-06-17 | 1989-12-22 | Murata Kogyo Kk | Transport apparatus |
DE102016111893A1 (en) * | 2016-06-29 | 2018-02-22 | Schunk Gmbh & Co. Kg Spann- Und Greiftechnik | Clamping or gripping device |
JP2018144213A (en) * | 2017-03-09 | 2018-09-20 | 住友電装株式会社 | robot |
-
2021
- 2021-08-27 WO PCT/JP2021/031557 patent/WO2022045300A1/en active Application Filing
Patent Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
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US4518187A (en) * | 1983-06-06 | 1985-05-21 | Leland F. Blatt | Parallel movement gripper head |
JPS6039089A (en) * | 1983-08-12 | 1985-02-28 | 株式会社日立製作所 | Gripper device |
JPH01317989A (en) * | 1988-06-17 | 1989-12-22 | Murata Kogyo Kk | Transport apparatus |
DE102016111893A1 (en) * | 2016-06-29 | 2018-02-22 | Schunk Gmbh & Co. Kg Spann- Und Greiftechnik | Clamping or gripping device |
JP2018144213A (en) * | 2017-03-09 | 2018-09-20 | 住友電装株式会社 | robot |
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