CN107708941B - Article holder, transport robot, and article transport method - Google Patents
Article holder, transport robot, and article transport method Download PDFInfo
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- CN107708941B CN107708941B CN201680028987.5A CN201680028987A CN107708941B CN 107708941 B CN107708941 B CN 107708941B CN 201680028987 A CN201680028987 A CN 201680028987A CN 107708941 B CN107708941 B CN 107708941B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/04—Gripping heads and other end effectors with provision for the remote detachment or exchange of the head or parts thereof
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
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Abstract
本发明的这种物品保持具(7)具备：保持具本体部(8)，由机器人手部的可动爪部件能够释放地保持；保持具可动部(9)，能够移位地设置在保持具本体部(8)，且能够切换保持物品的物品保持位置与释放物品的物品释放位置；及保持状态维持器件(18、19、20)，在物品保持具(7)从机器人手部切离的状态下，用以将保持具可动部(9)维持在物品保持位置。不使用如工具转换器般的复杂且昂贵的装置，而通过机器人即可无障碍地搬送多种搬送对象物。
The article holder (7) of the present invention includes: a holder body part (8) releasably held by a movable claw member of a robot hand; and a holder movable part (9) provided in a displaceable manner on A holder body portion (8) capable of switching an article holding position for holding an article and an article releasing position for releasing the article; and holding state maintaining means (18, 19, 20), which are cut from the robot hand in the article holder (7) It is used to maintain the movable part (9) of the holder at the article holding position in the state of being separated. Various objects to be conveyed can be conveyed by the robot without any trouble without using a complicated and expensive device such as a tool changer.
Description
Technical Field
The present invention relates to an article holder detachably attached to a robot hand, a transfer robot having a robot hand to which the article holder is attached, and an article transfer method using the transfer robot.
Background
In recent years, a system in which a robot is used to automate a production process instead of various operations performed by a conventional worker has been widely put into practical use (patent document 1).
For example, in the related art, a relatively heavy machine is mounted at a specific position of a product under manufacture, and the machine is lifted by a crane or the like, and an operator moves the machine to the specific position and fixes the machine to the product under manufacture with bolts or the like.
In such a system, since the types of the conveying objects of the robot are various, it is sometimes difficult to cope with a plurality of types of conveying objects with 1 robot hand. In this case, a tool changer is used as a mechanism for automatically replacing and mounting a dedicated robot hand corresponding to a transport object at the tip of a robot arm (patent document 2).
[ Prior art documents ]
[ patent document ]
[ patent document 1] Japanese patent laid-open publication No. 2013-193155
[ patent document 1] Japanese patent laid-open publication No. 2013-94892
Disclosure of Invention
[ problems to be solved by the invention ]
However, in the method of appropriately replacing the plurality of types of dedicated hands with the tool changer, a mechanism for driving the tool changer is complicated, the tool changer itself is expensive, and therefore, equipment cost increases, and further, a place for placing the plurality of types of dedicated hands must be secured in the robot unit, so that there is a problem that it is difficult to miniaturize the robot unit.
In particular, when the object to be conveyed is a large heavy object, the dedicated hand is also heavy and large in size, which leads to further increase in cost and increase in size of the robot unit.
The present invention has been made in view of the problems of the conventional techniques, and an object thereof is to provide an article holder capable of conveying a plurality of types of conveying objects by a robot without any trouble without using a complicated and expensive device such as a tool changer, a conveying robot having a robot hand to which the article holder is attached, and an article conveying method using the conveying robot.
[ means for solving problems ]
In order to solve the above problem, a 1 st aspect of the present invention is an article holder detachably attached to a robot hand of a transport robot for transporting an article, the article holder including: a holder body portion releasably held by a movable claw member of the robot hand; a holder movable portion provided displaceably on the holder body portion and capable of switching between an article holding position for holding the article and an article releasing position for releasing the article; and a holding state maintaining device for maintaining the movable part of the holding tool at the article holding position in a state that the article holding tool is separated from the robot hand.
The 2 nd aspect of the present invention is the robot hand according to the 1 st aspect, characterized in that the article holding position and the article release position of the holder movable portion are configured to be switchable by the movable claw member of the robot hand.
The 3 rd aspect of the present invention is according to the 1 st or 2 nd aspect, characterized in that: the holding state maintaining device has a biasing mechanism for elastically biasing the holder movable portion to the article holding position.
The 4 th aspect of the present invention is the article release device according to the 3 rd aspect, wherein the movable claw member of the robot hand is configured to displace the holder movable portion to the article release position against the biasing force of the biasing mechanism when the article is released from the article holder.
The 5 th aspect of the present invention is according to any one of the 1 st to 4 th aspects, characterized in that the holder main body is held by the movable claw member of the robot hand in a state where the article holder separated from the robot hand holds the article, thereby fixing the holder movable part at the article holding position.
The 6 th aspect of the present invention is according to any one of the 1 st to 5 th aspects, characterized in that: the holder body portion has an abutting holding portion that abuts against the article and holds the article in cooperation with the holder movable portion.
A transfer robot according to claim 7 of the present invention is characterized by comprising: the article holder according to any one of aspects 1 to 6; and a robot hand for detachably mounting the article holder.
The 8 th aspect of the present invention is according to the 7 th aspect, characterized in that: the 1 st holding mode in which the holder main body is held by the movable claw members while the article holding state of the article holder is maintained and the 2 nd holding mode in which the holder main body is held by the movable claw members while the article holding state of the article holder is released can be switched.
A 9 th aspect of the present invention is an article conveying method for conveying an article by using the conveying robot according to the 7 th or 8 th aspect, including: a holder holding step of holding the holder main body of the article holder attached to the article by the movable claw member of the robot hand; an article conveying step of driving the conveying robot to convey the article to a specific conveying destination together with the article holder; a holding state releasing step of releasing a holding state of the article holder with respect to the article by operating the holder movable portion of the article holder with the movable claw member of the robot hand; and a holder removing step of driving the transfer robot to remove the article holder from the article in a state of being attached to the robot hand.
The 10 th aspect of the present invention is according to the 9 th aspect, characterized in that: in the holder holding step, the holder main body is held by the movable claw member, thereby fixing the holder movable portion at the article holding position.
The 11 th aspect of the present invention is according to the 9 th or 10 th aspect, characterized in that: in the holding state releasing step, the holder body portion is held by the movable claw member while the holding state of the article holder with respect to the article is released.
[ Effect of the invention ]
According to the present invention, it is possible to provide an article holder that can transport a plurality of types of transport objects by a robot without any trouble without using a complicated and expensive device such as a tool changer, a transport robot having a robot hand to which such an article holder is attached, and an article transport method using such a transport robot.
Drawings
Fig. 1 is a side view schematically showing a transfer robot according to an embodiment of the present invention.
Fig. 2A is a cross-sectional view schematically showing a robot hand of the transfer robot shown in fig. 1.
Fig. 2B is a vertical cross-sectional view taken along line B-B in fig. 2A schematically showing a robot hand of the transfer robot shown in fig. 1.
Fig. 3A is a plan view schematically showing an article holder attached to a robot hand of the transfer robot shown in fig. 1.
Fig. 3B is a front view schematically showing the article holder shown in fig. 3A, and is a view showing a state in which the movable portion of the holding portion is located at the article holding position.
Fig. 3C is a side view schematically showing the article holder shown in fig. 3A, and is a view showing a state in which the movable portion of the holding portion is located at the article holding position.
Fig. 3D is a front view schematically showing the article holder shown in fig. 3A, and is a view showing a state in which the movable portion of the holding portion is located at the article release position.
Fig. 3E is a front view schematically showing the article holder shown in fig. 3A, and is a view showing another state in which the movable portion of the holding portion is located at the article release position.
Fig. 4A is a plan view schematically showing a state in which the article holder shown in fig. 3A is attached to an article.
Fig. 4B is a front view schematically showing a state in which the article holder shown in fig. 3A is attached to an article.
Fig. 5A is a plan view for explaining an operation when the article holder shown in fig. 3A is held by the robot hand.
Fig. 5B is a front view for explaining an operation when the article holder shown in fig. 3A is held by a robot hand.
Fig. 6A is a plan view schematically showing a state where the article holder shown in fig. 3A is held by a robot hand.
Fig. 6B is a front view schematically showing a state where the article holder shown in fig. 3A is held by a robot hand.
Fig. 7A is a plan view for explaining an operation when the article holder shown in fig. 3A is detached from the article.
Fig. 7B is a front view for explaining the operation of removing the article holder shown in fig. 3A from the article.
Fig. 8A is another plan view for explaining the operation when the article holder shown in fig. 3A is detached from the article.
Fig. 8B is another front view for explaining the operation when the article holder shown in fig. 3A is detached from the article.
Fig. 9A is another plan view for explaining the operation when the article holder shown in fig. 3A is detached from the article.
Fig. 9B is another front view for explaining the operation when the article holder shown in fig. 3A is detached from the article.
Fig. 10 is another front view for explaining the operation of removing the article holder shown in fig. 3A from the article.
Fig. 11A is another plan view for explaining the operation when the article holder shown in fig. 3A is detached from the article.
Fig. 11B is another front view for explaining the operation when the article holder shown in fig. 3A is detached from the article.
Fig. 12 is another front view for explaining the operation when the article holder shown in fig. 3A is removed from the article.
Fig. 13 is another front view for explaining the operation when the article holder shown in fig. 3A is removed from the article.
Fig. 14A is a plan view schematically showing another article holder that can be attached to the robot hand of the transfer robot shown in fig. 1.
Fig. 14B is a sectional view taken along line B-B of fig. 14A.
FIG. 14C is a C-C line arrow view of FIG. 14A.
Fig. 15 is a vertical cross-sectional view for explaining an operation of attaching the article holder shown in fig. 14A to an article.
Fig. 16 is a longitudinal sectional view showing a state in which the article holder shown in fig. 14A is attached to an article.
Fig. 17 is a vertical cross-sectional view for explaining an operation when the article holder shown in fig. 14A is held by a robot hand.
Fig. 18A is a vertical cross-sectional view schematically showing a state where the article holder shown in fig. 14A is held by a robot hand.
Fig. 18B is a plan view schematically showing a state where the article holder shown in fig. 14A is held by a robot hand.
Fig. 19 is a vertical cross-sectional view for explaining an operation when the article holder shown in fig. 14A is removed from the article.
Fig. 20 is another vertical cross-sectional view for explaining an operation when the article holder shown in fig. 14A is removed from the article.
Fig. 21 is a longitudinal sectional view schematically showing a state where the article holder shown in fig. 14A is removed from the article.
Detailed Description
Hereinafter, a transfer robot, an article holder used with the transfer robot, and an article transfer method using the transfer robot according to an embodiment of the present invention will be described with reference to the drawings.
The transfer robot 1 of the present embodiment shown in fig. 1 includes an articulated robot arm 2, a robot hand 3 attached to the tip of the robot arm 2, and a robot controller 4 that drives and controls the robot arm 2 and the robot hand 3. In this example, a 6-axis articulated robot is used, but the robot to which the present invention is applied is not limited to this, and the present invention can be applied to various robots.
As shown in fig. 2A, the robot hand 3 is generally cylindrical in shape as a whole, and has 3 movable claw members 5 arranged at equal angular intervals around the wrist axis L on its front end surface (lower surface in fig. 2B). In this example, the number of the movable claw members 5 is 3, but it may be 2 or 4 or more.
Each movable claw member 5 is movable in the radial direction by a driving force from a power source such as a servo motor, and is capable of performing a closing operation close to the wrist axis L and an opening operation distant from the wrist axis L. By closing the movable claw member 5, the object can be held on the inner surface 5a of the movable claw member 5. When the annular object is held on the inner peripheral surface, the movable claw member 5 is opened, whereby the object can be held on the outer surface 5b of the movable claw member 5.
As shown in fig. 2B, a holding recess 6 recessed outward in the radial direction is formed in the inner surface 5a of the movable claw member 5, and the dimension in the radial direction of the upper surface 6a of the holding recess 6 is set larger than that of the lower surface 6B. The object can be held by the movable claw member 5 by fitting a convex portion (for example, a flange-like portion) of the object into the holding recess 6 of the movable claw member 5.
As shown in fig. 3A to 3C, the article holder 7 of the present embodiment includes a holder main body 8 and a holder movable portion 9 provided displaceably on the holder main body 8.
The holder body 8 has an inner cylindrical member 10 held by the closing operation of the movable claw member 5 of the robot hand 3, and a beam member 11 is provided on the lower surface of the inner cylindrical member 10. A flange-like projection 10a that fits into the holding recess 6 of the movable claw member 5 of the robot hand 3 is formed on the upper end outer peripheral surface of the inner cylindrical member 10.
L-shaped members 12 are provided on the lower surfaces of both ends of the beam member 11, respectively, and an abutment holding member 13 that abuts on the lower surface of the article (workpiece) is provided on the upper surface of the front end of the L-shaped member 12.
The holder movable part 9 has an outer cylindrical member 14 having a larger diameter and a shorter length than the inner cylindrical member 10, and a through hole 14a through which the inner cylindrical member 10 is inserted is formed in the center of the outer cylindrical member 14. The outer cylindrical member 14 is relatively displaceable with respect to the inner cylindrical member 10 in the direction of the central axis thereof without interfering with the inner cylindrical member 10. As shown in fig. 3A and 3C, 3 block members 15 are provided inside the outer cylindrical member 14 at equal angular intervals around the center axis thereof.
A lifter plate 16, which is shorter than the beam member 11, is provided below the beam member 11 with a width substantially the same as that of the beam member 11, and the lifter plate 16 has a distal end portion of a lifter plate support bolt 17 screwed to a longitudinal center portion thereof. The lifter plate support bolt 17 is inserted with a margin into a through hole formed in the center of the inner cylindrical member 10. Guide rods 18 are erected on the upper surfaces of both ends of the lifter plate 16, and the guide rods 18 are supported by tubular linear guides 19 provided on the beam member 11 so as to be movable in the vertical direction.
A helical compression spring (urging mechanism) 20 is provided to the guide bar 18, an upper end of the compression spring 20 abuts against a flange portion formed at a lower end of the linear guide 19, and a lower end of the compression spring 20 abuts against an upper surface of the elevating plate 16. As shown in fig. 3D, when the rising/lowering plate 16 is raised against the urging force of the compression spring 20, the outer cylindrical member 14 is raised integrally therewith.
Further, by tightening the lifting plate support bolts 17 to pull the lifting plate 16 toward the inner cylindrical member 10 as shown in fig. 3E, the lifting plate 16 can be maintained at the upper position (article release position).
As shown in fig. 3A, a pair of horizontal connecting rods 21 extending in a direction in which the elevating plate 16 is linearly moved are provided at the longitudinal center portion of the elevating plate 16. The horizontal connecting rod 21 is connected to the lower surface of the outer cylindrical member 14 by a vertical connecting rod 22. The 1 horizontal connecting rod 21 is supported by 2 vertical connecting rods 22 disposed on both sides with the beam member 11 therebetween.
A pair of article holding plates 23 are provided at the end portions of the horizontal connecting rod 21, and the pair of holding plates 23 are disposed on both sides with the beam member 11 interposed therebetween. The article presser 23 is movable up and down integrally with the outer cylindrical member 14 relative to the holder main body 8 (the inner cylindrical member 10, the beam member 11, and the like). Thus, the article platen 23 can switch between an article holding position (lower position) for holding an article (workpiece) and an article release position (upper position) for releasing the article (workpiece).
The guide rod 18, the linear guide 19, and the compression spring 20 in the present embodiment constitute a holding state maintaining means of the present invention, that is, a holding state maintaining means for maintaining the holder movable portion at the article holding position in a state where the article holder is detached from the robot hand. In addition, in the case where the article can be sufficiently held by the article pressing plate 23 by the gravity acting on the article pressing plate 23 or the guide bar 18, the holding state maintaining means may be constituted by omitting the compression spring 20.
Next, a method of conveying an article (workpiece) by using the conveying robot 1 of the present embodiment will be described with reference to the drawings.
First, as a preparatory stage, as shown in fig. 4A and 4B, the worker attaches a workpiece (article) W having a complicated shape to the article holder 7. That is, the work W is inserted between the article pressing plate 23 and the contact holding member 13 in a state where the lifting plate support bolt 17 is fastened to lift the article pressing plate 23 against the biasing force of the compression spring 20 and the vertical interval between the article pressing plate 23 and the contact holding member 13 is widened. Then, the lifting plate support bolts 17 are loosened to release the article pressing plate 23, and the article pressing plate 23 is lowered by the urging force of the compression spring 20 and the gravity, so that the upper surface of the workpiece W is pressed by the article pressing plate 23. Thereby, the workpiece W is sandwiched and held between the article holding plate 23 and the contact holding member 13.
Further, since the article holder 7 of this embodiment is a holding target of the workpiece W having a shape in which the center portion of the upper portion is open or a shape in which only the edge exists on the outer peripheral portion of the upper portion, the article pressing plate 23 is not provided directly below the beam member 11 but provided as a pair on both sides with the beam member 11 interposed therebetween in order to press the upper edge or the outer peripheral portion of the workpiece W. In the case of a workpiece having a different shape from the above, for example, in the case where the upper central portion is not opened and can be directly pressed, 1 article pressing plate may be provided directly below the beam member.
When the article holder 7 is attached to the workpiece W as shown in fig. 4A and 4B, the robot arm 2 is driven by the robot controller 4, and the robot hand 3 is moved to a position directly above the workpiece W as shown in fig. 5A and 5B. At this time, as shown in fig. 5A, the 3 movable claw members 5 of the robot hand 3 are positioned directly above the 3 block members 15 provided on the outer cylinder member 14 of the article holder 7. In addition, 3 movable claw members 5 are in an open state.
From the state shown in fig. 5A and 5B, the robot hand 3 is lowered until the inner upper surface 6a of the holding recess 6 of the movable claw member 5 abuts against the upper surface of the inner cylindrical member 10, and the lower end of the movable claw member 5 abuts against the upper surface of the block member 15, and stops there. From this state, as shown in fig. 6A and 6B, the 3 movable claw members 5 are closed, and the holding recesses 6 of the movable claw members 5 are fitted into the flange-like protrusions 10a of the inner cylindrical member 10. Thereby, the article holder 7 is held by the robot hand 3 (holder holding step).
In this state, as shown in fig. 6B, the lower end of the movable claw member 5 abuts on the upper surface of the block member 15, so that the outer cylindrical member 14 cannot be relatively raised with respect to the inner cylindrical member 10. Since the outer cylindrical member 14 is integrated with the article presser 23 and the inner cylindrical member 10 is integrated with the contact holding member 13, the workpiece W is held between the article presser 23 and the contact holding member 13.
Next, the robot controller 4 drives the robot arm 2 to convey the workpiece W to a specific conveyance destination together with the article holder 7 (article conveyance step). In this article conveying step, as described above, the article holding plate 23 and the contact holding member 13 are held in a sandwiched state, and therefore the workpiece W is not separated and dropped during conveyance.
When the workpiece W is conveyed to a specific conveyance destination and placed, the robot hand 3 is driven by the robot controller 4, and the 3 movable claw members 5 are opened to switch from the closed state to the open state as shown in fig. 7A and 7B. Thereby, the holding state of the article holder 7 by the robot hand 3 is released.
Next, the robot controller 4 drives the robot hand 3 to rotate the robot hand 3 about the wrist axis L, and as shown in fig. 8A and 8B, the movable claw member 5 is moved from the position directly above the block member 15 to the non-directly-above position. From this state, the movable claw member 5 is closed, and as shown in fig. 9A and 9B, the inner cylindrical member 10 is held again by the movable claw member 5.
Then, the robot controller 4 drives the robot arm 2 to slightly lower the robot hand 3. At this time, since the movable claw member 5 moves from the position directly above the block member 15 to the position not directly above, the lowering operation of the movable claw member 5 is not prevented by the block member 15.
When the robot hand 3 is slightly lowered with the movable claw member 5 holding the inner cylindrical member 10, the workpiece W is placed on a specific destination and cannot be moved, and thus, as shown in fig. 10, the beam member 11 and the contact holding member 13 are integrally lowered with the inner cylindrical member 10. Thereby, the holding state in which the workpiece W is held between the article holding plate 23 and the contact holding member 13 is released (holding state releasing step). In addition, in this holding state releasing step, the compression spring 20 is further contracted in accordance with the lowering operation of the beam member 11.
From the state shown in fig. 10, the robot controller 4 drives the robot hand 3, and as shown in fig. 11A and 11B, the movable claw member is opened to switch from the closed state to the open state. Thereby, the radially outer side surface (outer surface 5B in fig. 2B) of the movable claw member 5 is pressed against the inner peripheral surface 14B of the outer cylindrical member 14. As a result, the outer cylindrical member 14 is held by the movable claw member 5.
In this state, the inner upper surface 6a of the holding recess 6 of the movable claw member 5 is maintained in contact with the upper surface of the inner cylindrical member 10. That is, the upper surface of the inner cylindrical member 10 is pressed against the inner upper surface 6a of the holding recess 6 of the movable claw member 5 by the urging force of the compression spring 20.
From the state shown in fig. 11B, the robot arm 2 is slightly raised by driving the robot arm 2 by the robot controller 4. In this way, since the outer cylindrical member 14 of the article holder 7 is held by the movable claw member 5 of the robot hand 3, the article holder 7 slightly rises integrally with the robot hand 3. As a result, the article presser 23 of the article holder 7 is separated from the upper surface of the workpiece, and as shown in fig. 12, the workpiece W and the article holder 7 are not in contact with each other.
From the state shown in fig. 12, the robot controller 4 drives the robot arm 2 to move the article holder 7 in the horizontal direction orthogonal to the longitudinal direction of the beam member 11, and as shown in fig. 13, the article holder 7 is unloaded from the workpiece W (holder unloading step).
By the above operations, the work of conveying the workpiece W by using the conveying robot 1 and the article holder 7 of the present embodiment is completed.
Next, another article holder that can be attached to the robot hand 3 of the transfer robot 1 shown in fig. 1 will be described with reference to the drawings.
As shown in fig. 14A to 14C, the article holder 30 includes a holder body portion 31 and a holder movable portion 32 provided displaceably on the holder body portion 31. The holder body 31 has a cylindrical member 33 held by the opening operation of the movable claw member 5 of the robot hand 3, and a flange-like member 34 is provided on the lower surface of the cylindrical member 33.
The holder movable portion 32 has 3 movable locking members 35 arranged at equal angular intervals around the central axis of the cylindrical member 33, and the movable locking members 35 are supported so as to be movable in the radial direction by a linear guide mechanism 36 provided on the upper surface of the flange-like member 34 of the holder main body portion 31. A protrusion 35a extending radially inward is formed at the lower end of the movable locking member 35. A movable horizontal plate 37 is fixed to the radially inner upper end of the movable locking member 35.
On the upper surface of the flange-like member 34 of the holder body 31, 3 swing levers 38 are provided corresponding to the respective movable locking members 35, and each swing lever 38 is fixed at an intermediate position thereof to a rotating shaft 39 extending in the vertical direction. Thereby, the swing lever 38 can rotate integrally with the rotation shaft 39. A torsion spring 40 is provided on the rotation shaft 39, and the swing lever 38 is biased clockwise in fig. 14A by the biasing force of the torsion spring 40.
The swing lever 38 has an adjustment screw 41 provided at one end thereof, and a long hole 42 is formed on the opposite side of the rotation shaft 39 from the adjustment screw 41. A short support shaft 44 is movably inserted into the elongated hole 42, and the short support shaft 44 is provided at the upper end of a movable vertical plate 43 fixed to the upper surface of the movable horizontal plate 37.
The movable locking member 35, the movable horizontal plate 37, and the movable vertical plate 43 move integrally. When the movable vertical plate 43 moves in the radial direction, the edge of the long hole 42 of the swing lever 38 is pressed by the short support shaft 44 of the movable vertical plate 43, and the swing lever 38 swings.
As described above, since the swing lever 38 is biased by the torsion spring 40, such a biasing force is transmitted to the movable vertical plate 43 and the movable horizontal plate 37 via the short support shaft 44, and the movable horizontal plate 37 is biased radially inward. Thereby, the movable locking member 35 integrated with the movable horizontal plate 37 is also biased radially inward.
When the above-described article holder 30 is used to convey an annular workpiece (article) W shown in fig. 15, first, as a preparatory stage, the operator positions the workpiece W inside the movable locking member 35 in a state where the movable locking member 35 is pushed radially outward against the biasing force of the torsion spring 40. In this state, the movable locking member 35 is released, and the movable locking member 35 is locked to the workpiece W by the biasing force of the torsion spring 40 as shown in fig. 16.
When the article holder 30 is attached to the workpiece W as shown in fig. 16, the robot arm 2 is driven by the robot controller 4, and the robot hand 3 is moved to a position directly above the workpiece W as shown in fig. 17. At this time, the 3 movable claw members 5 of the robot hand 3 are in the closed state.
From the state shown in fig. 17, the robot hand 3 is lowered to position the movable claw member 5 inside the cylindrical member 33 of the holder body portion 31. From this state, the movable claw member 5 of the robot hand 3 is opened, and as shown in fig. 18A and 18B, the radially outer side surface (the outer surface 5B in fig. 2B) of the movable claw member 5 is pressed against the inner peripheral surface of the cylindrical member 33. Thereby, the cylindrical member 33 of the holder main body 31 is held by the 3 movable claw members 5 (holder holding step in the 1 st holding mode).
In the holder holding step, the movable claw member 5 of the robot hand 3 is held at a position where the cylindrical member 33 of the holder body portion 31 is held, as shown in fig. 18B, where the outer end in the radial direction of the movable claw member 5 abuts on the head of the adjustment screw 41 of the swing lever 38. That is, when the cylindrical member 33 of the holder body portion 31 is held by the movable claw member 5 of the robot hand 3, the radially outer end of the movable claw member 5 comes into contact with the head of the adjustment screw 41 of the rocker lever 38.
As a result, in fig. 18B, the counterclockwise rotation operation of the swing lever 38 is restricted, and the movement of the movable locking member 35 outward in the radial direction is restricted. That is, in the holder holding step, the holding state of the workpiece W by the article holder 30 is maintained.
Next, the robot controller 4 drives the robot arm 2 to convey the workpiece W to a specific conveyance destination together with the article holder 30 (article conveyance step). In this article conveying step, as described above, the workpiece W is not detached and dropped during conveyance because the holding state of the article holder 30 with respect to the workpiece is maintained.
When the workpiece W is conveyed to a specific conveyance destination and placed thereon, the robot controller 4 drives the robot hand 3 to close the 3 movable claw members 5, thereby switching from the open state to the closed state. Thereby, the holding state of the article holder 30 by the robot hand 3 is released.
Next, the robot controller 4 drives the robot hand 3 to rotate the robot hand 3 about the wrist axis L, and the movable claw member 5 of the robot hand 3 is moved to a position corresponding to the movable locking member 35 of the article holder 30 as shown in fig. 19. From this state, the movable claw member 5 of the robot hand 3 is opened, and the movable vertical plate 43 is displaced radially outward by the radially outer end of the movable claw member 5 as shown in fig. 20. Thereby, the movable locking member 35 is displaced outward in the radial direction to release the holding state of the workpiece W.
At this time, the outer peripheral surface in the radial direction (the outer surface 5B in fig. 2B) of the movable claw member 5 is pressed against the inner peripheral surface 33a of the cylindrical member 33 of the article holder 30, whereby the article holder 30 is held by the movable claw member 5. That is, in this example, the article holder 30 is held by the movable claw member 5 while the holding state of the workpiece W by the article holder 30 is released (2 nd holding mode).
From the state shown in fig. 20, the robot controller 4 drives the robot arm 2 to raise the robot hand 3 as shown in fig. 21, thereby unloading the article holder 30 from the workpiece W (holder unloading step).
As described above, according to the present embodiment, the article holders 7 and 30 are prepared only according to the shape of the workpiece W to be conveyed, and a plurality of kinds of workpieces W having different shapes can be conveyed by using the common robot hand 3 without using a complicated and expensive apparatus such as a tool changer.
In the above embodiment, since the holding state of the workpiece W by the article holders 7 and 30 is maintained by holding the article holders 7 and 30 by the robot hand 3, the workpiece W can be reliably prevented from dropping during conveyance.
In the article holder 30 shown in fig. 14A to 14C, since the operation of releasing the holding state of the workpiece W by the article holder 30 by the movable claw members 5 of the robot hand 3 is also the operation of holding the article holder 30 by the movable claw members 5, the operation steps can be simplified and the operation time can be shortened.
[ description of symbols ]
1 transfer robot
2 robot arm
3 robot hand
4 robot controller
5 Movable claw Member
5a movable claw member inner surface
5b outer surface of movable claw member
6 holding recess of movable claw Member
6a Upper surface of the holding recess
6b lower surface of holding recess
7 article holder
8 holder body part
9 holder moving part
10 inner cylinder part
10a flange-like projection of inner cylindrical member
11 Beam Member
12L-shaped component
13 contact holding member
14 outer cylinder part
14a through hole of outer cylindrical member
14b inner peripheral surface of outer cylindrical member
15 block parts
16 lifting plate
17 lifting plate supporting bolt
18 guide bar
19 Linear guide
20 compression spring (forcing mechanism)
21 horizontal connecting rod
22 vertical connecting rod
23 article pressing plate
30 article holder
31 holder body
32 holder movable part
33 cylindrical member with body
33a inner peripheral surface of the cylindrical member
34 flange-like member for holding body part
35 Movable stop part
35a projection of the movable stop member
36 linear guide mechanism
37 Movable horizontal plate
38 teeter lever
39 rotating shaft of rocking lever
40 torsion spring
41 adjusting screw
42 long hole
43 Movable vertical plate
44 short support shaft
L wrist axis
W workpiece (article)
Claims (10)
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2015103000A JP6734023B2 (en) | 2015-05-20 | 2015-05-20 | Article holder, conveyance robot, and article conveyance method |
| JP2015-103000 | 2015-05-20 | ||
| PCT/JP2016/064199 WO2016186008A1 (en) | 2015-05-20 | 2016-05-12 | Article holder, conveyance robot, and article conveyance method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107708941A CN107708941A (en) | 2018-02-16 |
| CN107708941B true CN107708941B (en) | 2021-08-17 |
Family
ID=57320237
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201680028987.5A Active CN107708941B (en) | 2015-05-20 | 2016-05-12 | Article holder, transport robot, and article transport method |
Country Status (4)
| Country | Link |
|---|---|
| JP (1) | JP6734023B2 (en) |
| CN (1) | CN107708941B (en) |
| TW (1) | TWI617404B (en) |
| WO (1) | WO2016186008A1 (en) |
Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP7134621B2 (en) * | 2017-11-30 | 2022-09-12 | キヤノン株式会社 | Tool stocker system, robot system, exchange tool, robot system control method, article control method, control program and recording medium |
| CN114474031A (en) * | 2020-11-13 | 2022-05-13 | 沈阳新松机器人自动化股份有限公司 | Feeding and discharging mechanical arm |
| CN112908561B (en) * | 2021-02-04 | 2022-08-02 | 珠海格力智能装备有限公司 | Transfer mechanism, transfer equipment and plug cord production line |
| CN113478524A (en) * | 2021-08-17 | 2021-10-08 | 北京建筑机械化研究院有限公司 | Snatch mechanism and manipulator |
| CN113957408B (en) * | 2021-09-03 | 2024-11-26 | 广东汇成真空科技股份有限公司 | A large vacuum coating machine equipped with a workpiece hanging plate transfer cabin synchronous transport manipulator |
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- 2016-05-12 WO PCT/JP2016/064199 patent/WO2016186008A1/en active Application Filing
- 2016-05-19 TW TW105115580A patent/TWI617404B/en active
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Also Published As
| Publication number | Publication date |
|---|---|
| CN107708941A (en) | 2018-02-16 |
| JP6734023B2 (en) | 2020-08-05 |
| TW201702032A (en) | 2017-01-16 |
| WO2016186008A1 (en) | 2016-11-24 |
| JP2016215320A (en) | 2016-12-22 |
| TWI617404B (en) | 2018-03-11 |
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