WO2022045300A1 - Robot system - Google Patents

Robot system Download PDF

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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
Application number
PCT/JP2021/031557
Other languages
French (fr)
Japanese (ja)
Inventor
雅幸 掃部
朋暉 岡
Original Assignee
川崎重工業株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 川崎重工業株式会社 filed Critical 川崎重工業株式会社
Priority to JP2022545737A priority Critical patent/JP7525620B2/en
Publication of WO2022045300A1 publication Critical patent/WO2022045300A1/en

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/04—Gripping heads and other end effectors with provision for the remote detachment or exchange of the head or parts thereof
    • 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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  • Mechanical Engineering (AREA)
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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

ロボットシステムRobot system
　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.
実公昭６３－３８９９０号公報Jitsukosho 63-38990 Gazette
　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.
図１は、本実施の形態１に係るロボットシステムの概略構成を示す模式図である。FIG. 1 is a schematic diagram showing a schematic configuration of a robot system according to the first embodiment. 図２は、本実施の形態１に係るロボットシステムの概略構成を示す模式図である。FIG. 2 is a schematic diagram showing a schematic configuration of the robot system according to the first embodiment. 図３は、本実施の形態１に係るロボットシステムの概略構成を示す模式図である。FIG. 3 is a schematic diagram showing a schematic configuration of the robot system according to the first embodiment. 図４は、図３に示すロボットシステムの支持部材及び爪部材の概略構成を示す断面図である。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. 図５は、図１に示すロボットシステムの、ハンド及び爪部材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 a hand and a claw member of the robot system shown in FIG. 1. 図６は、図５の爪部材を異なる方向から見た模式図である。FIG. 6 is a schematic view of the claw member of FIG. 5 as viewed from different directions. 図７Ａ及びＢは、図５のハンド及び爪部材がワークを保持する様子が示された模式図である。7A and 7B are schematic views showing how the hand and the claw member of FIG. 5 hold the work. 図８は、図３に示すロボットシステムの指部材の先端部及び爪部材の概略構成を示す模式図である。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. 図９Ａ及びＢは、図４に示す爪部材を指部材に装着させる様子が示された模式図である。9A and 9B are schematic views showing how the claw member shown in FIG. 4 is attached to the finger member. 図１０は、図８の爪部材が装着されたハンドの概略構成を示す模式図である。FIG. 10 is a schematic diagram showing a schematic configuration of a hand to which the claw member of FIG. 8 is attached. 図１１は、他の爪部材が装着されたハンドの概略構成を示す模式図である。FIG. 11 is a schematic diagram showing a schematic configuration of a hand to which another claw member is attached. 図１２は、さらに他の爪部材が装着されたハンドの概略構成を示す模式図である。FIG. 12 is a schematic diagram showing a schematic configuration of a hand to which another claw member is attached. 図１３は、さらに他の爪部材が装着されたハンドの概略構成を示す模式図である。FIG. 13 is a schematic diagram showing a schematic configuration of a hand to which another claw member is attached. 図１４は、本実施の形態１に係るロボットシステム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 according to the first embodiment. 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の、ハンド及び爪部材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 and a claw member of the robot system of the modified example 1 in the first embodiment. 図１６は、本実施の形態２に係るロボットシステムの、指部材及び爪部材の概略構成を示す模式図である。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.
　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.
　［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 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, 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.
　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 the robot 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.
　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.
　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 the robot system 100 according to the second embodiment.
　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.
　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

Claims (6)

  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。     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.
  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.
  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、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.
  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、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.
  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、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.
  6. 　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.
PCT/JP2021/031557 2020-08-31 2021-08-27 Robot system WO2022045300A1 (en)

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Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
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

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
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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