JP2016144863A5 - End effector, attaching / detaching device, robot system, attaching / detaching method and control method - Google Patents
End effector, attaching / detaching device, robot system, attaching / detaching method and control method Download PDFInfo
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- JP2016144863A5 JP2016144863A5 JP2015252967A JP2015252967A JP2016144863A5 JP 2016144863 A5 JP2016144863 A5 JP 2016144863A5 JP 2015252967 A JP2015252967 A JP 2015252967A JP 2015252967 A JP2015252967 A JP 2015252967A JP 2016144863 A5 JP2016144863 A5 JP 2016144863A5
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Description
本発明はエンドエフェクタ、着脱装置、ロボットシステム、着脱方法および制御方法に関する。 The present invention relates to an end effector, an attachment / detachment device, a robot system , an attachment / detachment method, and a control method .
上記課題を解決するため、本発明においては、第１操作部または第２操作部を着脱可能に支持する装着部が設けられたエンドエフェクタにおいて、前記装着部は、前記第１操作部または前記第２操作部が、前記装着部内を通過できるように前記第１操作部または前記第２操作部を案内する案内部と、前記第１操作部または前記第２操作部を、拘束または非拘束の状態にするロック機構と、を備え、前記ロック機構は、前記第１操作部が前記ロック機構に拘束された状態で、前記案内部を介して前記第２操作部が前記ロック機構と接触しながら第１の方向に移動した際、前記第１操作部を非拘束とする構成を採用した。 To solve the above problems, the present invention, the end effector mounting portion for detachably supporting the first operation unit or the second operation portion is provided, wherein the mounting portion, prior Symbol first operating portion or said the second operation unit, and a guide portion for guiding the first operating portion or said second operating portion so as to pass through the said mounting portion, a pre-Symbol first operating portion or said second operating portion, restraining or unconstrained and a locking mechanism you to state, the lock mechanism is in a state where the first operation portion is constrained to said locking mechanism, said second operating portion via the guide portion is in contact with the locking mechanism However, when moving in the first direction, a configuration in which the first operation unit is not restrained is adopted.
Claims (19)
前記装着部は、
前記第１操作部または前記第２操作部が、前記装着部内を通過できるように前記第１操作部または前記第２操作部を案内する案内部と、
前記第１操作部または前記第２操作部を、拘束または非拘束の状態にするロック機構と、
を備え、
前記ロック機構は、
前記第１操作部が前記ロック機構に拘束された状態で、前記案内部を介して前記第２操作部が前記ロック機構と接触しながら第１の方向に移動した際、前記第１操作部を非拘束とすることを特徴とするエンドエフェクタ。 In the end effector provided with the mounting portion that detachably supports the first operating portion or the second operating portion ,
The mounting part is
A guide portion first operating portion or said second operating portion before SL is, for guiding the first operating portion or said second operating portion so as to pass through the said mounting portion,
The pre-Symbol first operating portion or said second operating portion, and a lock mechanism you to the state of restraint or unconstrained,
With
The locking mechanism is
When the second operation unit moves in the first direction while contacting the lock mechanism via the guide unit while the first operation unit is restrained by the lock mechanism, the first operation unit is An end effector characterized by being unconstrained .
前記ロック機構は、傾斜部を備え、弾性部材により第２の方向に付勢されており、 The lock mechanism includes an inclined portion and is biased in the second direction by an elastic member;
前記案内部を介して前記第２操作部が前記ロック機構と接触しながら前記第１の方向に移動した際、前記ロック機構が前記第２の方向とは反対の方向に移動し、前記第１操作部を非拘束とすることを特徴とするエンドエフェクタ。 When the second operating portion moves in the first direction while contacting the lock mechanism via the guide portion, the lock mechanism moves in a direction opposite to the second direction, and the first An end effector characterized in that the operation unit is unconstrained.
前記第１操作部が非拘束となった状態から、さらに前記第２操作部を前記第２の方向に移動させた際、前記第２操作部が前記ロック機構により拘束されることを特徴とするエンドエフェクタ。 The second operation unit is restrained by the lock mechanism when the second operation unit is further moved in the second direction from the state in which the first operation unit is not restrained. End effector.
前記ロック機構において、前記第１操作部または前記第２操作部を拘束する部位はラッチであり、 In the locking mechanism, the portion that restrains the first operation unit or the second operation unit is a latch,
前記ラッチには、前記第１操作部または前記第２操作部が嵌め込まれる溝部が備えられていることを特徴とするエンドエフェクタ。 The end effector according to claim 1, wherein the latch includes a groove portion into which the first operation portion or the second operation portion is fitted.
前記装着部は、
前記第１操作部または前記第２操作部が、前記装着部内を通過できるように前記第１操作部または前記第２操作部を案内する案内部と、
前記第１操作部または前記第２操作部を、拘束または非拘束の状態にするロック機構と、
を備え、
前記ロック機構は、
前記第１操作部が前記ロック機構に拘束された状態で、前記案内部を介して前記第２操作部が前記ロック機構と接触しながら第１の方向に移動した際、前記第１操作部を非拘束とすることを特徴とする着脱装置。 In the attachment / detachment device for attaching / detaching the first operation unit or the second operation unit to the attachment unit,
The mounting part is
A guide section for guiding the first operation section or the second operation section so that the first operation section or the second operation section can pass through the mounting section;
A locking mechanism for bringing the first operating portion or the second operating portion into a restrained or unconstrained state;
With
The locking mechanism is
When the second operation unit moves in the first direction while contacting the lock mechanism via the guide unit while the first operation unit is restrained by the lock mechanism, the first operation unit is A detachable device characterized by being unconstrained .
前記装着部は、 The mounting part is
前記第１操作部または前記第２操作部が、前記装着部内を通過できるように前記第１操作部または前記第２操作部を案内する案内部と、 A guide section for guiding the first operation section or the second operation section so that the first operation section or the second operation section can pass through the mounting section;
前記第１操作部または前記第２操作部を、拘束または非拘束の状態にするロック機構と、 A locking mechanism for bringing the first operating portion or the second operating portion into a restrained or unconstrained state;
を備え、 With
前記第１操作部が前記ロック機構に拘束された状態で、前記案内部を介して前記第２操作部が前記ロック機構と接触しながら第１の方向に移動した際、前記第１操作部を非拘束とすることを特徴とする着脱方法。 When the second operation unit moves in the first direction while contacting the lock mechanism via the guide unit while the first operation unit is restrained by the lock mechanism, the first operation unit is An attaching / detaching method characterized by being unconstrained.
前記エンドエフェクタを制御する制御部を備え、 A control unit for controlling the end effector;
前記装着部は、 The mounting part is
前記第１操作部または前記第２操作部が、前記装着部内を通過できるように前記第１操作部または前記第２操作部を案内する案内部と、 A guide section for guiding the first operation section or the second operation section so that the first operation section or the second operation section can pass through the mounting section;
前記第１操作部または前記第２操作部を、拘束または非拘束の状態にするロック機構と、 A locking mechanism for bringing the first operating portion or the second operating portion into a restrained or unconstrained state;
を備え、 With
前記制御部が、 The control unit is
前記第１操作部が前記ロック機構に拘束された状態で、前記案内部を介して前記第２操作部を前記ロック機構と接触させながら第１の方向に移動させることで、前記第１操作部を非拘束とすることを特徴とする制御方法。 The first operation unit is moved in the first direction while contacting the lock mechanism via the guide unit while the first operation unit is restrained by the lock mechanism. A control method characterized by unconstrained.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| US15/001,902 US9757863B2 (en) | 2015-01-30 | 2016-01-20 | Robot apparatus, exchanger apparatus and robot system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2015017010 | 2015-01-30 | ||
| JP2015017010 | 2015-01-30 |
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| Publication Number | Publication Date |
|---|---|
| JP2016144863A JP2016144863A (en) | 2016-08-12 |
| JP2016144863A5 true JP2016144863A5 (en) | 2019-11-21 |
| JP6771889B2 JP6771889B2 (en) | 2020-10-21 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JP6426673B2 (en) | 2016-09-08 | 2018-11-21 | ファナック株式会社 | Robot system |
| JP7289616B2 (en) * | 2017-06-30 | 2023-06-12 | キヤノン株式会社 | ROBOT HAND, ROBOT DEVICE, AND METHOD OF CONTROLLING ROBOT HAND |
| KR102451713B1 (en) | 2017-12-11 | 2022-10-05 | 삼성전자주식회사 | Gripper |
| JP7293102B2 (en) * | 2019-12-17 | 2023-06-19 | ミネベアミツミ株式会社 | gripping device |
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| JP2009125867A (en) * | 2007-11-26 | 2009-06-11 | Nachi Fujikoshi Corp | Hand device of industrial robot |
| JP5892765B2 (en) * | 2011-10-24 | 2016-03-23 | 川崎重工業株式会社 | Replacement claw module for robot hand |
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