JP2009255207A - Robot hand - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a robot hand continuously picking two workpieces stored in different component boxes. <P>SOLUTION: The robot hand 100 mounted on a robot arm and picking a workpiece has a first and second picking means 110a, 110b and a driving means 120. Each of the first and second picking means 110a, 110b picks a workpiece independently. The driving means 120 moves the first picking means 110a from a picking position to an evacuation position in order to prevent the first picking means that picks a workpiece from interfering with other members and moves the second picking means 110b to the picking position. <P>COPYRIGHT: (C)2010,JPO&amp;INPIT

Description

  The present invention relates to a robot hand that is attached to a robot arm and picks a workpiece.

  2. Description of the Related Art In recent years, lot picking has been performed in a vehicle assembly process in which parts supplied from a supplier are rearranged according to a production order and supplied in synchronization with an assembly line.

As a technique for picking a workpiece, a picking apparatus shown in Patent Document 1 below is known. The picking device disclosed in Patent Document 1 includes a hand mechanism that grips a work housed in a parts box in a parts shelf, and a moving mechanism that moves the hand mechanism along the parts shelf. A shipping box is arranged at the bottom of the shelf. According to such a configuration, since the moving distance of the moving mechanism that moves the hand mechanism from the parts shelf to the shipping box is minimized, the time required for the picking operation can be shortened.
JP-A-6-144507

  However, in the above picking device, when two workpieces housed in different parts boxes are taken out, the hand mechanism picks up the work picked from the first parts box once in the shipping box, and then the hand mechanism takes the next parts box. Therefore, there is a problem that the time required for the picking work becomes long.

  The present invention has been made to solve the above-described problems. Accordingly, an object of the present invention is to provide a robot hand capable of continuously picking two works housed in different parts boxes.

  The above object of the present invention is achieved by the following means.

  The robot hand of the present invention is a robot hand that is attached to a robot arm and picks a workpiece, and has first and second picking means and driving means. The first and second picking means pick the work independently of each other. The driving means moves the first picking means from the picking position to the retracted position in order to prevent the first picking means picking the workpiece from interfering with other members, and the second picking means Is moved to the picking position.

  According to the robot hand of the present invention, since the second picking means can pick the next work in a state where the first picking means picks the work, the two works housed in different parts boxes can be used. Can be picked continuously. Therefore, the cycle time required for the picking robot to take out two workpieces from different parts boxes is shortened.

  Hereinafter, an embodiment of the present invention will be described with reference to the drawings. In addition, the same code | symbol was used for the same member in the figure.

  First, a picking device to which a robot hand according to an embodiment of the present invention is applied will be described with reference to FIG. The picking apparatus according to the present embodiment continuously picks two works housed in different parts boxes.

  FIG. 1 is a diagram showing a schematic configuration of a picking apparatus according to an embodiment of the present invention.

  As shown in FIG. 1, the picking apparatus according to the present embodiment includes a robot hand 100, a robot 200, and a robot moving unit 300. Parts shelves 400 are arranged on both sides of the picking apparatus.

  The robot hand 100 picks a workpiece. The robot hand 100 includes first and second suction pad portions, and picks two workpieces continuously. A detailed description of the robot hand 100 will be described later.

  The robot 200 moves the robot hand 100. The robot 200 is an arm robot, and the robot hand 100 is attached to the tip of the arm. Since the robot 200 itself is a general articulated robot, detailed description thereof is omitted.

  The robot moving unit 300 moves the robot 200 along the parts shelf 400. The robot moving unit 300 includes a horizontal movement mechanism that moves the robot 200 in the horizontal direction and a vertical movement mechanism that moves in the vertical direction, and moves the robot 200 along the parts shelf 400 in the horizontal direction and the vertical direction.

  In the parts shelf 400 of the present embodiment, a plurality of parts boxes are arranged at each stage, and a workpiece is accommodated in each parts box. The interval between the upper and lower component boxes is about 200 mm, and the interval when the robot hand 100 enters the component shelf 400 is very small.

  Next, the robot hand 100 in the present embodiment will be described in detail with reference to FIG.

  FIG. 2 is a diagram for explaining a robot hand in the picking apparatus of the present embodiment. FIG. 2A is a top view of the robot hand, and FIG. 2B is a side view of the robot hand.

  As shown in FIG. 2, the robot hand 100 according to the present embodiment includes first and second suction pad portions 110 a and 110 b, a swing mechanism 120, and a reciprocating mechanism 130. The first and second suction pad portions 110 a and 110 b, the swing mechanism 120, and the reciprocating mechanism 130 are attached to the arm tip portion of the robot 200 via the aluminum frame 140.

  The first and second suction pad portions 110a and 110b serve as first and second picking means for picking workpieces independently of each other. The first and second suction pad portions 110a and 110b are arranged on the same plane in directions orthogonal to each other, and are swung around one swing axis perpendicular to the plane. Each of the first and second suction pad portions 110a and 110b includes two suction pads, and picks one workpiece with two suction pads. Each suction pad is attached to the swing mechanism 120 via a suction pad attachment block 111. The block 111 is provided with two air passages for suction pads.

  The swing mechanism 120 swings the first and second suction pad portions 110a and 110b as drive means. The swing mechanism 120 of the present embodiment is an air-driven rotary actuator, and swings the first and second suction pad portions 110a and 110b connected via the block 111.

  The reciprocating mechanism 130 reciprocates the first and second suction pad portions 110a and 110b as reciprocating means. The reciprocating mechanism 130 of the present embodiment is configured so that the first or second suction pad portion 110a, 110b at the picking position can take out the work housed in the component box. 110b is moved up and down. The reciprocating mechanism 130 includes a slider part 131 that is connected to the swing mechanism 120 and moves up and down, a guide part 132 that guides the moving direction of the slider part 131, and a vertical drive cylinder 133 that moves the slider part 131. . The vertical drive cylinder 133 is an air cylinder, for example, and is disposed sideways along the aluminum frame 140. The lateral movement of the vertical drive cylinder 133 is converted into vertical movement by the link mechanism 134, and the slider 131 moves up and down.

  According to the picking device of the present embodiment configured as described above, the first suction pad portion 110a and the second suction pad portion 110b, which are arranged in different directions, swing in conjunction with each other. Two workpieces can be picked continuously from different parts boxes. Hereinafter, the picking method by the picking apparatus of the present embodiment will be described in detail with reference to FIGS.

  3 to 8 are diagrams for explaining a picking process performed by the picking apparatus according to the present embodiment. In the picking process of the present embodiment, the first workpiece accommodated in the first component box is picked by the first suction pad portion 110a, and the first suction pad portion 110a holds the first workpiece. In this state, the second workpiece housed in the second component box is picked by the second suction pad portion 110b.

  In the picking process of the present embodiment, first, the robot hand 100 is moved onto the first component box 411. Specifically, as shown in FIG. 3, the hand 100 is moved by the robot 200, and the first suction pad portion 110 a of the robot hand 100 is positioned immediately above the first workpiece 421. The first suction pad portion 110a is positioned at a picking position where the pad surface faces the bottom surface of the component box 411, while the second suction pad portion 110b is horizontal with respect to the bottom surface of the component box 411. It is located in the standby position.

  Next, the first workpiece 421 is sucked by the first suction pad portion 110a. Specifically, as shown in FIG. 4, the reciprocating mechanism 130 moves the first suction pad portion 110 a in the picking position downward, so that the first suction pad portion 110 a sucks the work 421. More specifically, the two suction pads constituting the first suction pad portion 110a vacuum-suck the work 421, so that the first suction pad portion 110a sucks the work 421.

  Next, the first workpiece 421 is picked. Specifically, as shown in FIG. 5, the reciprocating mechanism 130 pulls up the first suction pad portion 110 a that has sucked the workpiece 421, so that the first workpiece 421 is picked.

  Next, in order to prevent the first workpiece 421 from interfering with other members (for example, the parts box and other workpieces), the first workpiece 421 is retracted to the front of the hand 100. Specifically, as shown in FIG. 6, the swing mechanism 120 moves the first suction pad portion 110a by 90 degrees to move the first suction pad portion 110a from the picking position to the front retracted position. First, the first workpiece is evacuated. At the same time, the second suction pad portion 110b is rotated 90 degrees and moved from the standby position to the picking position.

  Next, the hand 100 is moved onto the second component box 412. Specifically, as shown in FIG. 7, the hand 100 is moved by the robot 200, and the second suction pad portion 110 b of the robot hand 100 is positioned directly above the work 422 accommodated in the second component box 412. Is done. More specifically, the second suction pad portion 110 b is located at a picking position where the pad surface faces the bottom surface of the component box 412. On the other hand, the first suction pad portion 110 a is located at a retracted position that is horizontal with respect to the bottom surface of the component box 412. At this time, since the first workpiece 421 is released to the front of the hand 100 together with the first suction pad portion 110a, the first workpiece 421 is moved when the hand 100 moves to the upper part of the component box 412. Is prevented from interfering with the parts box.

  Next, the second workpiece 422 is sucked by the second suction pad portion 110b. Specifically, as shown in FIG. 8, the reciprocating mechanism 130 moves the second suction pad portion 110 b in the picking position downward, so that the second suction pad portion 110 b sucks the work 422. At this time, since the first workpiece 421 is released forward, the first workpiece 421 interferes with the second workpiece box 412 or another workpiece housed in the second component box. It is prevented.

  Next, the second workpiece 422 is picked. Specifically, as shown in FIG. 9, the reciprocating mechanism 130 picks up the workpiece by pulling up the second suction pad portion 110 b that sucks the workpiece 422.

  Then, the workpieces 421 and 422 taken out from the component shelves 411 and 412 are put into a kit box (not shown). Specifically, the robot 200 and the robot moving unit 300 are driven to move the robot hand 100 to the kit box as a work input destination. Thereafter, the hand 100 releases the workpieces 421 and 422 sequentially.

  More specifically, the suction of the second suction pad portion 110b at the picking position is released, and the second workpiece 422 is put into the kit box. Next, the second suction pad portion is moved from the picking position to the standby position, and the first suction pad portion 110a is moved from the retracted position in front of the hand 100 to the picking position. Then, the suction of the first suction pad portion 110a at the picking position is released, and the first workpiece 421 is put into the kit box.

  Note that the angles of the first and second suction pad portions 110a and 110b for releasing the workpieces 421 and 422 are appropriately changed by swinging the swing mechanism 120 according to the condition of the kit box.

  As described above, according to the picking process of the present embodiment, the robot hand 100 is first moved to the upper part of the first component box 411 inside the component shelf 400, and the first suction pad unit 110a performs the first operation. The workpiece 421 is picked. Then, in order to prevent the first workpiece 421 from interfering with another component box or another workpiece, the first suction pad portion 110 a that sucks the workpiece 421 is released to the front of the hand 100. At this time, the second suction pad portion 110b moves to the picking position in conjunction with the swinging motion of the first suction pad portion 110a. Next, the robot hand 100 is moved onto the second component box 412 in which the second work 422 is accommodated in a state where the second suction pad portion 110b is in the picking position, and the second suction pad portion. The second workpiece 422 is picked by 110b. At this time, since the first workpiece 421 is escaped forward, the first workpiece 421 is prevented from interfering with other parts boxes or other workpieces. Therefore, according to the robot hand 100 of the present invention, since the second suction pad portion 110b can pick the next workpiece while the first suction pad portion 110a picks the workpiece, it is accommodated in a different component box. The two workpieces being picked can be picked continuously. As a result, the cycle time required for the picking robot 200 to take out two workpieces from different parts boxes is shortened.

  As described above, the described embodiment has the following effects.

  (A) A robot hand according to the present invention is a robot hand that is attached to a robot arm and picks a workpiece, and includes first and second suction pad portions and a swing mechanism. The first and second suction pad portions pick a work independently of each other. The swing mechanism moves the first suction pad portion from the picking position to the retracted position and prevents the second suction pad portion from preventing the first suction pad portion picking the workpiece from interfering with other members. Move the pad to the picking position. Therefore, since the second suction pad portion can pick the next workpiece while the first suction pad portion picks the workpiece, the two workpieces housed in different parts boxes are picked continuously. be able to. Therefore, the cycle time required for the picking robot to take out two workpieces from different parts boxes can be shortened.

  Further, the loading angle of the workpiece taken out can be changed according to the state of the loading destination kit box.

  (B) Since the robot hand according to the present embodiment sucks the workpiece by the first and second suction pad portions, the workpiece can be picked with a simple configuration as compared with the case of gripping the workpiece.

  (C) Since the robot hand according to the present embodiment moves the first and second suction pad portions by the swing mechanism, the first suction pad portion can be moved to the retracted position by a simple motion mechanism. . In addition, the first suction pad portion and the second suction pad portion can be easily interlocked.

  (D) The robot hand according to the present invention includes the first or second suction pad at the picking position along a straight line connecting the first or second suction pad portion at the picking position and the work housed in the component box. A reciprocating mechanism for reciprocating the part is further included. Therefore, even when the space between the component boxes arranged vertically is small and the component box and the robot arm interfere with each other, the moving mechanism moves the suction pad portion up and down instead of the robot arm. Can be picked.

  As described above, the robot hand of the present invention has been described in one embodiment. However, it goes without saying that the present invention can be appropriately added, modified, and omitted by those skilled in the art within the scope of the technical idea.

  For example, in the above-described embodiment, the suction pad is used as the picking means. However, the picking means is not limited to the suction pad, and a gripping hand that grips the workpiece may be used.

  In the above-described embodiment, the first and second suction pad portions are rocked so as to be interlocked by the rocking mechanism. However, the first and second suction pad portions only need to operate in conjunction with each other. For example, the second suction pad portion swings in conjunction with the linear operation of the first suction pad portion. In addition, it may be dynamically connected via a gear or the like.

It is a figure which shows schematic structure of the picking apparatus in one embodiment of this invention. It is a figure for demonstrating the robot hand in the picking apparatus shown in FIG. It is a figure which shows the movement to the components box of the components shelf of the robot hand shown in FIG. FIG. 4 is a diagram subsequent to FIG. 3. FIG. 5 is a diagram subsequent to FIG. 4. FIG. 6 is a diagram subsequent to FIG. 5. FIG. 7 is a diagram subsequent to FIG. 6. FIG. 8 is a diagram subsequent to FIG. 7. FIG. 9 is a diagram subsequent to FIG. 8.

Explanation of symbols

100 robot hand,
110a, 110b suction pad,
120 swing mechanism,
130 reciprocating mechanism,
200 robots,
300 Robot moving part,
400 Parts shelf.

Claims (4)

A robot hand attached to a robot arm and picking a workpiece,
First and second picking means for picking workpieces independently of each other;
In order to prevent the first picking means picking a workpiece from interfering with other members, the first picking means is moved from the picking position to the retracted position, and the second picking means is moved to the picking position. Drive means for moving to a position;
A robot hand characterized by comprising:   The robot hand according to claim 1, wherein the first and second picking means each include a suction pad for sucking a workpiece. The first and second picking means are arranged in different directions on the same plane,
3. The robot hand according to claim 2, wherein the driving unit includes a swinging mechanism that swings the first and second picking units around one swinging axis perpendicular to the plane.   Reciprocating means for reciprocating the first or second picking means at the picking position along a straight line connecting the first or second picking means at the picking position and the work housed in the housing portion; The robot hand according to claim 3, further comprising:

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