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KR-20260065910-A - Robot system

KR20260065910AKR 20260065910 AKR20260065910 AKR 20260065910AKR-20260065910-A

Abstract

A robot system (1000) comprises a hand (2), a robot arm (10) connected to the hand (2), and a control device (100) for controlling the hand (2) and the robot arm (10). The hand (2) has a hand body (3) and a plurality of fingers (4) installed on the hand body (3) and capable of opening and closing. Each finger (4) of the plurality of fingers (4) has an infinite belt (5) that is wrapped around at least the tip of the finger (4), rotated, and in contact with a work (W). The control device (100) performs a search operation to change the relative position between the tip of the plurality of fingers (4) and the work (W) by means of the infinite belt (5) when the tip of the plurality of fingers (4) is brought into contact with the work (W) and the work (W) is pulled between the plurality of fingers (4) by the infinite belt (5), while spreading the plurality of fingers (4) apart at a predetermined interval and rotating the infinite belt (5), thereby changing the relative position between the tip of the plurality of fingers (4) and the work (W) using the hand (2) and the robot. It is executed on the arm (10).

Inventors

  • 오류 타마미
  • 후쿠다 히로아키
  • 무라세 요헤이
  • 사토 에이지

Assignees

  • 카와사키 주코교 카부시키 카이샤

Dates

Publication Date
20260511
Application Date
20240513
Priority Date
20230907

Claims (11)

  1. Hand and, The robot arm connected to the above hand, and It is equipped with a control device that controls the hand and the robot arm, The above hand has a hand body and a plurality of fingers installed on the hand body that open and close. Each of the above multiple fingers has an endless belt that is wrapped around at least the tip of the finger, is rotationally driven, and contacts a workpiece, and A robot system in which the above control device performs a search operation on the hand and the robot arm to change the relative position between the tips of the multiple fingers and the work when the tips of the multiple fingers are brought into contact with the work and the work is pulled between the multiple fingers by the endless belt, while the multiple fingers are opened at a predetermined interval and the endless belt is rotated.
  2. In paragraph 1, A robot system in which the above control device reciprocates the hand so that the tips of the plurality of fingers repeatedly approach and move away from the work as the search operation.
  3. In paragraph 1, The above control device is a robot system that moves the hand so that the tips of the plurality of fingers move within a plane intersecting the inlet direction of pulling a work between the plurality of fingers as a search operation.
  4. In paragraph 3, A robot system in which the control device moves the hand so that the plurality of fingers rotate around an axis parallel to the insertion direction within a plane intersecting the insertion direction as the search operation.
  5. In paragraph 1, A robot system in which the above control device moves the hand and the robot arm to a predetermined position to execute the search operation without executing the detection of the workpiece.
  6. In paragraph 1, A robot system in which the above control device executes the search operation by moving the hand and the robot arm along a predetermined target path without performing path planning for the search operation.
  7. In any one of paragraphs 1 through 6, The hand further comprises a sensor that detects the entry of a work between the plurality of fingers, and The above control device is a robot system that terminates the search operation by detecting the entry of a workpiece by the sensor.
  8. In any one of paragraphs 1 through 6, The above finger is a robot system capable of elastically displaceable in a first direction in which the plurality of fingers are opened and closed.
  9. In paragraph 8, A robot system in which the predetermined spacing of the multiple fingers in the above search operation is smaller than the size of the workpiece to be fed.
  10. In any one of paragraphs 1 through 6, The above finger is a robot system capable of elastically displaceable in a second direction intersecting the opening and closing direction of the above finger.
  11. In any one of paragraphs 1 through 6, The above control device is a robot system that, in the search operation, brings the tips of multiple fingers to a bulk-loaded set of multiple workpieces and brings the tips of the multiple fingers to contact one of the multiple workpieces.

Description

Robot system The technology disclosed herein relates to a robot system. Conventionally, a robot system is known for grasping a workpiece with fingers by pulling the workpiece between the fingers of a hand. For example, the hand of the robot system described in Patent Document 1 is equipped with fingers having a rotary-driven belt. This robot system moves the hand to a position to hold the workpiece with two fingers, and pulls the workpiece between the two fingers by means of the belt. When a workpiece is drawn between multiple fingers by a belt, the workpiece is drawn in by being properly jammed between the tips of the multiple fingers. If the positional precision of the tips of the multiple fingers relative to the workpiece is low, there is a risk that the workpiece may not be drawn between the multiple fingers. Proper drawing of the workpiece can be achieved by improving the positional precision of the multiple fingers. However, increasing the positional precision of the multiple fingers raises the difficulty of control and causes the control operation to become slower. The technology disclosed herein has been developed in consideration of these points, and its purpose is to facilitate the control of work input. The robot system disclosed herein comprises a hand, a robot arm connected to the hand, and a control device for controlling the hand and the robot arm. The hand comprises a hand body and a plurality of fingers installed on the hand body and capable of opening and closing. Each of the plurality of fingers has an infinite belt that is wrapped around at least the tip of the finger, is rotatably driven, and contacts a workpiece. The control device performs a search operation on the hand and the robot arm to change the relative position between the tip of the plurality of fingers and the workpiece while the infinite belt is rotated and the plurality of fingers are opened at a predetermined interval when the tip of the plurality of fingers contacts the workpiece and the workpiece is pulled between the plurality of fingers by the infinite belt. The above robot system can facilitate control for the input of a workpiece. Figure 1 is a schematic diagram showing the configuration of a robot system. Figure 2 is a front view of the hand. Figure 3 is a bottom view of the hand. Figure 4 is a cross-sectional view of the hand along the line IV-IV of Figure 3. Figure 5 is a cross-sectional view of the hand along the VV line of Figure 3. Figure 6 is a cross-sectional view of the hand along the line VI-VI of Figure 4. Fig. 7 is a perspective view of a finger. Figure 8 is a side view of the finger. Figure 9 is a cross-sectional view of a finger along the line IX-IX of Figure 8. Fig. 10 is a front view of the finger body and the support. Figure 11 is a cross-sectional view of a finger along the line XI-XI of Figure 8. Fig. 12 is a perspective view of a finger at a different angle from Fig. 7. Fig. 13 is a front view of the finger. FIG. 14 is a front view of a finger in a state where the finger body is displaced toward the second direction of retraction. Figure 15 is a diagram showing the schematic hardware configuration of the control device. Figure 16 is a block diagram showing the control system configuration of the processor. Figure 17 is a flowchart of the pick and place process. FIG. 18 is a schematic diagram illustrating an example of a search operation of a hand. Figure 19 is a schematic diagram of the case where the work is successfully inserted. Figure 20 is a schematic diagram illustrating the state of the finger when the work is inserted. Figure 21 is a schematic diagram illustrating another example of a hand's search operation. Figure 22 is a schematic diagram illustrating another example of a hand's search operation. Hereinafter, exemplary embodiments will be described in detail based on the drawings. FIG. 1 is a schematic diagram showing the configuration of a robot system (1000). In the present disclosure, parallel, orthogonal, identical, coincident, simultaneous, or central includes not only strictly parallel, orthogonal, identical, coincident, simultaneous, or central but also substantially parallel, orthogonal, identical, coincident, simultaneous, or central. A robot system (1000) comprises a hand (2), a robot arm (10) connected to the hand (2), and a control device (100) that controls the hand (2) and the robot arm (10). The hand (2) and the robot arm (10) are included in a robot (1). That is, the robot system (1000) comprises a robot (1) including the hand (2) and the robot arm (10). The robot system (1000) picks a work (W) by the hand (2). In this example, the robot system (1000) picks one work (W) from a plurality of work (W) bulk loaded in a container (19). However, the robot system (1000) may pick a specific work (W) that is placed alone. The robot (1) is, for example, an industrial robot. The robot (1) operates the hand (2) by means of a robot arm (10). The hand (2) is one of the so-called end