End effectors and end effector kits

Abstract

The end effector includes: one or more orifice plates having a plurality of holes; a buffer for use with the one or more orifice plates; a plurality of pins including a plurality of inner pins and a plurality of outer pins disposed outside the plurality of inner pins; and a force-applying portion that applies an inward force to the plurality of outer pins. The plurality of inner pins pass through the plurality of holes and the buffer in such a way that they can move a first distance relative to the one or more orifice plates in the direction of penetration of the plurality of holes.

Description

Technical Field

[0001] This invention relates to end effectors and end effector kits. Background Technology

[0002] Patent Document 1 describes a robotic arm that includes an attraction part such as an electromagnet for attracting workpieces and a shape-following part with six or more pins that descend due to their own weight for shape-following the workpieces. The robotic arm fixes the lifting and lowering of the pins as needed. In addition, depending on the need for a large weight, a support hook that supports the workpiece from below is used to fix the workpiece.

[0003] Existing technical documents

[0004] Patent documents

[0005] Patent Document 1: Japanese Patent Application Publication No. 10-264068 Summary of the Invention

[0006] The present invention is made in view of the above-mentioned existing situation, and its object is to provide an end effector capable of supporting an object (e.g., a workpiece).

[0007] An end effector according to one aspect of the present invention comprises: one or more orifice plates having a plurality of holes; a buffer member used with the one or more orifice plates; a plurality of pins including a plurality of inner pins and a plurality of outer pins disposed outside the plurality of inner pins; and a force-applying portion applying an inward force to the plurality of outer pins. The plurality of inner pins pass through the plurality of holes and the buffer member in such a way that they can move a first distance relative to the one or more orifice plates in the penetration direction of the plurality of holes.

[0008] According to the present invention, an end effector capable of supporting objects such as workpieces can be provided. Attached Figure Description

[0009] Figure 1 This is a longitudinal sectional view showing an example of the state of the end effector during the standby phase.

[0010] Figure 2 This is a longitudinal sectional view showing an example of the state of the end effector during the model taking stage.

[0011] Figure 3 This is a longitudinal sectional view showing an example of the state of the end effector during the support phase.

[0012] Figure 4 This is an enlarged view of a portion including the protrusion in an example of the structure of an end effector.

[0013] Figure 5 This is a longitudinal sectional view showing an example of the state of the end effector during the push-out phase.

[0014] Figure 6 This is a conceptual diagram illustrating the case where the end effector supports an object along the direction of gravity.

[0015] Figure 7 This is a longitudinal sectional view showing an example of the state of the end effector during the support phase.

[0016] Figure 8 It means and Figure 7 A conceptual diagram of the corresponding end effector supporting the object in the horizontal direction.

[0017] Figure 9 This is a perspective view showing an example of the structure of the end effector according to the second embodiment of the present invention.

[0018] Figure 10 This is a top view showing an example of the structure of the end effector according to the second embodiment of the present invention.

[0019] Figure 11 This is a front view showing an example of the structure of the end effector according to the second embodiment of the present invention.

[0020] Figure 12 This is a side view showing an example of the structure of the end effector according to the second embodiment of the present invention.

[0021] Figure 13 This is a bottom view showing an example of the structure of the end effector according to the second embodiment of the present invention.

[0022] Figure 14 This is a perspective view showing the internal structure of the end effector according to the second embodiment of the present invention.

[0023] Figure 15 This is an exploded perspective view showing the internal structure of the end effector according to the second embodiment of the present invention.

[0024] Figure 16 This is a cross-sectional view showing the internal structure of the end effector according to the second embodiment of the present invention.

[0025] Figure 17 This is a conceptual diagram illustrating an example of orifice plate installation.

[0026] Figure 18 This is a comparison diagram of the external and internal pins and the sleeve according to the second embodiment of the present invention.

[0027] Figure 19 This is a conceptual diagram illustrating the flow from the end effector supporting the object in the second embodiment of the present invention.

[0028] Figure 20This is a conceptual diagram illustrating the process by which the end effector of the second embodiment of the present invention releases the supported object and returns to its initial state.

[0029] Figure 21 This is a longitudinal sectional view showing an example of an end effector in a supported state.

[0030] Figure 22 It means and Figure 21 A conceptual diagram of the corresponding end effector supporting the object in the horizontal direction.

[0031] Figure 23 This is a conceptual diagram illustrating the shape near the first end of the domestic sales.

[0032] Figure 24 Viewed from the first end towards the second end Figure 23 The conceptual diagram shown is for domestic sales.

[0033] Figure 25 This diagram illustrates an example of anti-slip processing implemented in the second region for domestic sales.

[0034] Figure 26 This is a block diagram illustrating an example of the hardware structure of a control system used with the end effector of various embodiments of the present invention.

[0035] Figure 27 This is a longitudinal sectional view showing an example of the structure of a modified end effector.

[0036] Figure 28 This is a longitudinal sectional view showing an example of the molding stage of the switching adapter of a modified end effector.

[0037] Figure 29 This is a longitudinal sectional view showing an example of the support stage of the switching adapter of a modified end effector. Detailed Implementation

[0038] Hereinafter, embodiments of the present invention will be described in detail with appropriate reference to the accompanying drawings. However, sometimes necessary detailed descriptions are omitted. For example, detailed descriptions of well-known matters and repetitive descriptions of substantially the same structures are sometimes omitted. This is to avoid making the following description unnecessarily lengthy and to facilitate understanding by those skilled in the art. It should be noted that the accompanying drawings and the following description are provided to enable those skilled in the art to fully understand the present invention and are not intended to limit the subject matter described herein.

[0039] (Implementation Method 1)

[0040] In this invention, the direction in the same direction as gravity is described as "down," and the direction opposite to gravity is described as "up." Furthermore, in this invention, the cross-section parallel to the direction of gravity is described as the longitudinal section, and the cross-section perpendicular to the direction of gravity is described as the cross-section.

[0041] Robotic devices used in factories and other similar settings are capable of performing various tasks by mounting an end effector 2 to a robotic arm (not shown in the diagram). For example, the robotic arm performs the following task: using the end effector to pick up objects such as workpieces Wk flowing on the factory production line and transport them to their destination. The object Wk can be a small object such as a screw, nut, or washer, or a larger object with ribs or bosses (e.g., a housing).

[0042] Figure 1 This is a longitudinal sectional view showing an example of the state of the end effector 2 during the standby phase. Figure 1 This indicates the state of the end effector 2 connected to the robotic arm during the standby phase (before the initial object Wk is picked up).

[0043] The end effector 2 includes a perforated plate 11, multiple pins 12, a base 13, a retainer 14, a movable plate 15, and an actuator 16.

[0044] The perforated plate 11 is a plate with multiple through holes. The thickness of the perforated plate 11 can be, for example, 0.1 mm to 2 mm, but is not limited to this. In addition, the perforated plate 11 can be integral with the base 13.

[0045] Pin 12 is a slender rod-shaped component inserted into each hole of the perforated plate 11. The cross-sectional shape of pin 12 and the shape of the hole can be circular, but are not limited to this. The diameter of pin 12 can be, for example, 0.1 mm to 2 mm, slightly smaller than the diameter of the hole. The raw material of pin 12 can be metal. However, the raw material of pin 12 is not limited to metal; for example, it can also be resin.

[0046] Pin 12 has a head at its upper end with a diameter larger than the diameter of the hole provided in the perforated plate 11. This head acts as a stop, and pin 12 is suspended from the perforated plate 11 by its own weight. Furthermore, since the diameter of pin 12 is smaller than the diameter of the hole, pin 12 can move upwards when pushed from below. Here, the thickness of the perforated plate 11 is sufficiently short relative to the length of pin 12.

[0047] The front end of pin 12 is tapered, tapering towards the front. That is, the front end of pin 12 is needle-like. Thus, as will be described later, it can support objects Wk of various shapes.

[0048] Regarding pin 12, the maximum movable radius formed by the wobbling of pin 12 (e.g., the radius of the base of a cone formed by the movable range with the aforementioned hole as its apex) can be within the distance from the center of pin 12 to the center of the adjacent pin 12. This is because if pin 12 is movable beyond the center of the adjacent pin 12, the efficiency of force transmission is reduced. Pin 12 includes an outer pin 12A and an inner pin 12B.

[0049] Outer pin 12A can be shorter than inner pin 12B. As such, as will be described later, the force applied inward relative to outer pin 12A (in other words, the force toward object Wk) is not transmitted to the front end of inner pin 12B, but to the side of inner pin 12B, thus increasing the force supporting object Wk.

[0050] The base 13 is cylindrical in shape. The base 13 is connected to the robotic arm. In addition, a perforated plate 11 is fixed to the base 13. A plurality of pins 12 suspended from the perforated plate 11 protrude from the end face of the base 13 downward as shown in the figure.

[0051] The retainer 14 is cylindrical and surrounds the outer side of the outer pin 12A. The retainer 14 has a side portion 14A forming a surface that is generally parallel to the pin 12 and a protrusion 14B protruding inward toward the cylinder. The protrusion 14B is an example of a force-applying portion.

[0052] The movable plate 15 is disposed opposite to the perforated plate 11 and can move towards or away from the perforated plate 11. This direction of movement is the up-down direction shown in the figure. The movable plate 15 is connected to a slot 14C provided on the side portion 14A of the retainer 14. If the movable plate 15 moves away from the perforated plate 11, the movable plate 15 contacts the end of the slot 14C. If the movable plate 15 moves further, the movable plate 15 causes the retainer 14 to move from the front end of the pin 12 toward the perforated plate 11 (upward in the figure). In addition, when the movable plate 15 moves towards the perforated plate 11, it presses the inner pin 12B protruding from the perforated plate 11 toward the front end of the inner pin 12B, causing it to move.

[0053] Actuator 16 is a device that moves movable plate 15 toward or away from orifice plate 11, or stops the movement. Actuator 16 may be, for example, an air actuator that moves movable plate 15 by the intake and exhaust of air.

[0054] Figure 2 This is a longitudinal sectional view showing an example of the state of the end effector 2 during the model taking stage.

[0055] If the process transitions from the standby phase to the molding phase, the robotic arm moves the end effector 2 downwards toward the object Wk, pressing the front end of the pin 12 against the object Wk. That is, molding is performed based on the shape of the object Wk using the multiple pins 12. During this molding process, the pin 12 in contact with the surface of the object Wk cannot descend further, causing the upper part of the pin 12 to protrude above the perforated plate 11. The robotic arm, for example, lowers the end effector 2 until at least a portion of the multiple inner pins 12B contact the mounting surface of the object Wk. That is, by sliding the inner pins 12B along the holes in the perforated plate 11, the end effector 2 can mold the shape of the object Wk using the multiple inner pins 12B. It should be noted that the descent of the end effector 2 can be performed manually or automatically.

[0056] The end effector 2 can also vibrate during the mold-taking stage. Pins 12 that are stuck and have not fully descended can be lowered by this vibration, thus enabling more accurate mold taking. Therefore, during the support stage described later, the efficiency of force transmission between adjacent pins 12 and the efficiency of force transmission relative to the object Wk can be improved.

[0057] Figure 3 This is a longitudinal sectional view showing an example of the state of the end effector 2 in the support stage.

[0058] If the process transitions from the molding stage to the supporting stage, the actuator 16 moves the movable plate 15 away from the perforated plate 11 (refer to the upward arrow from the movable plate 15). Consequently, the retainer 14, connected to the movable plate 15, also moves accordingly, and the protrusion 14B of the retainer 14 contacts the side of the outer pin 12A, applying an inward force (in other words, a force toward the object Wk) to the outer pin 12A. This inward force causes the outer pin 12A to tilt inward, and subsequently, the inner pins 12B also tilt inward sequentially (refer to the left-right arrows in the inner pins 12B), ultimately pressing the inner pin 12B that contacts the object Wk against its side. The object Wk is supported by the lateral pressure exerted on it by the multiple inner pins 12B in contact with it. It should be noted that the protrusion 14B, which applies an inward force (in other words, a force toward the object Wk) to the outer pin 12A, is an example of a force-applying part. It should be noted that the force-applying part can also be formed by a mechanism other than the protrusion 14B.

[0059] With the end effector 2 supporting the object Wk, the robotic arm moves the object Wk to its destination.

[0060] Figure 4 This is an enlarged view of a portion including the protrusion 14B in an example of the structure of the end effector 2. (See attached image.) Figure 4As shown, when the retainer 14 moves, the protrusion 14B contacts the outer pin 12A and tilts inward. The inner pin 12B tilts inward by being pressed by the outer pin 12A, and the side portion of the inner pin 12B contacts the object Wk laterally as shown in the figure. That is, a lateral force is applied to the object Wk. By applying this lateral force from the opposite side in a relatively opposite manner, it is possible to support the object Wk by gripping it.

[0061] As described above, the front end of pin 12 can be tapered, narrowing towards the front. Therefore, compared to the case where the end of pin 12 is simply rod-shaped, the side portion of the inwardly tilting inner pin 12B contacts the object Wk more smoothly. Consequently, it is easier to apply a lateral force to the object Wk, and the support of the object Wk is stable.

[0062] Figure 5 This is a longitudinal sectional view showing an example of the state of the end effector 2 during the push-out phase.

[0063] If the operation transitions from the support phase to the ejection phase, the actuator 16 moves the movable plate 15 to the position closest to the perforated plate 11 (lowered in the figure). Consequently, the retainer 14, connected to the movable plate 15, also moves accordingly, and the protrusion 14B of the retainer 14 no longer contacts the outer pin 12A. Thus, the inward force applied to the outer pin 12A is released. Therefore, the inward force on the inner pin 12B, which contacts the object Wk, is also released, and the object Wk is thus in a state where it is not supported and no lateral force is applied.

[0064] Furthermore, by moving the movable plate 15, the inner pin 12B protruding into the perforated plate 11 is pushed forward towards its front end. The object Wk is also pushed out by the pushed-out inner pin 12B. The pushed-out object Wk falls, for example, towards a container or the like located in the next process of the production line.

[0065] Figure 6 This is a conceptual diagram showing the end effector 2 supporting the object Wk in the direction of gravity. Figure 6 The end effector 2 is viewed from the object Wk toward the end effector 2 under the support stage (refer to...). Figure 3 The diagram obtained is shown below. In the case where the end effector 2 supports an object Wk placed on a horizontal worktable from above, based on... Figure 3 As described above, the object Wk can be properly supported by the lateral pressure of the inner pin 12B.

[0066] Figure 7 This is a longitudinal sectional view showing an example of the state of the end effector 2 in the support stage. Figure 8 It means and Figure 7 A conceptual diagram of the corresponding end effector 2 supporting the object Wk in the horizontal direction.

[0067] Figure 8 It is observed along the direction from the object Wk toward the end effector 2. Figure 7 The diagram shows the end effector 2. The direction of the weight applied to the outer pin 12A and inner pin 12B is different from the direction of pin 12 extension; therefore, the inner pin 12B retracts due to forces other than contact with the object Wk (see reference). Figure 7 (The arrow pointing to the upper right in the middle). Therefore, as... Figure 8 As shown by the dashed circle, the number of inner pins 12B supporting the object Wk is reduced. Therefore, the pins no longer have the function of transferring the shape of the object Wk, and the supporting force is reduced. That is, when the end effector 2 is to be used laterally or upwards, it is difficult to maintain the supporting force on the object. In the second embodiment described below, an end effector 1 that can maintain the supporting force on the object even when used laterally or upwards will be described.

[0068] Figure 9 This is a perspective view showing an example of the structure of the end effector 1 according to the second embodiment of the present invention. Figure 10 This is a top view showing an example of the structure of the end effector 1 according to the second embodiment of the present invention. Figure 11 This is a front view showing an example of the structure of the end effector 1 according to the second embodiment of the present invention. Figure 12 This is a side view showing an example of the structure of the end effector 1 according to the second embodiment of the present invention. Figure 13 This is a bottom view showing an example of the structure of the end effector 1 according to the second embodiment of the present invention. Hereinafter, based on... Figures 9 to 13 Here, a structural example of the end effector 1 according to the second embodiment of the present invention will be described.

[0069] The end effector 1 of the second embodiment of the present invention includes a catch base 120 and a catch holder 130. The catch base 120 and the catch holder 130 are cylindrical in shape. In this embodiment, the catch base 120 and the catch holder 130 are formed as a cylindrical shape with a generally hexagonal cross-sectional shape. However, the cross-sectional shape is not limited to a generally hexagonal shape; for example, it may be a generally quadrilateral shape. The catch base 120 is inserted into the recess of the catch holder 130. A catch bracket 110, described later, is inserted inside the catch base 120.

[0070] The gripping retainer 130 is provided with a threaded hole 131 through which the screw 113 passes. The gripping base 120 is provided with a sliding groove 121 through which the screw 113 passes. The screw 113 passes through the threaded hole 131 and the sliding groove 121, and is threadedly fastened to the threaded hole provided in the gripping bracket 110.

[0071] A constricted portion 132 is provided at the end of the gripping and holding member 130 near the front ends of the outer pin 105 and inner pin 106. The constricted portion 132, like the gripping and holding member 130, has a generally hexagonal cross-sectional shape. The constricted portion 132 is tapered. That is, the diameter of the generally hexagonal cross-section of the constricted portion 132 gradually decreases from the side farther from the front ends of the outer pin 105 and inner pin 106 toward the side closer to them. This tapered portion can be interpreted as an inclined portion.

[0072] Multiple outboard pins 105 and multiple inboard pins 106 disposed on the inner side of the constricted portion 132 protrude from the inner side of the constricted portion 132.

[0073] The end effector 1 is connected to the motor 200. The motor 200 has a feed screw 201. The feed screw 201 is inserted into the gripper bracket 110.

[0074] Figure 14 This is a perspective view showing the internal structure of the end effector 1 according to the second embodiment of the present invention. Figure 15 This is an exploded perspective view showing the internal structure of the end effector 1 according to the second embodiment of the present invention. Figure 16 This is a cross-sectional view showing the internal structure of the end effector 1 according to the second embodiment of the present invention. Figure 17 This is a conceptual diagram illustrating an example of orifice plate mounting. Based on Figures 14 to 17 The internal structure of the end effector 1 according to the second embodiment of the present invention will be described.

[0075] A pin module 100 and a gripping bracket 110 are inserted inside the gripping base 120 and gripping retainer 130 of the end effector 1.

[0076] The gripping bracket 110 is inserted into the gripping base 120 in a manner that allows it to slide along the cylindrical direction of the gripping base 120. A spring mechanism (not shown) is assembled in the gripping base 120. Therefore, without external force, the gripping bracket 110 is positioned within the gripping base 120 at a reference position. Figure 19 and Figure 20 The initial state will be described later.

[0077] The gripping bracket 110 includes a feed screw receiving member 111, a pin ejector plate 112, and a threaded hole 114. A feed screw 201 of the motor 200 is inserted into the feed screw receiving member 111. The pin ejector plate 112, depending on the position of the gripping bracket 110 inside the gripping base 120, abuts against the inner pin 106 of the pin module 100 (described later), ejecting the inner pin 106. A screw 113, which passes through the threaded hole 131 and the sliding groove 121, is screwed into the threaded hole 114.

[0078] Motor 200 rotates feed screw 201. Therefore, motor 200 adjusts the depth to which feed screw 201 is inserted into feed screw receiver 111. Thus, motor 200 adjusts the relative position of gripping bracket 110 with respect to gripping base 120 (position along the direction of the cylinder formed by gripping base 120).

[0079] Furthermore, the relative position between the gripping bracket 110 and the gripping retainer 130 is fixed by screws 113. On the other hand, since screws 113 pass through the sliding groove 121 of the gripping base 120, the relative position of the gripping bracket 110 relative to the gripping base 120 is not fixed. Therefore, the motor 200 also serves to adjust the position of the gripping retainer 130 relative to the gripping base 120.

[0080] The pin module 100 includes a sleeve 101, a perforated plate 102, a cushioning element 103, a perforated plate 104, multiple external pins 105, and multiple internal pins 106.

[0081] The perforated plates 102 and 104 and the buffer 103 will be described. A perforated plate is a plate with multiple holes and is also called a perforated plate. Figure 17 This illustrates an example of a perforated plate. The arrangement of the multiple holes in the perforated plates 102 and 104 can be staggered. However, other arrangements are not excluded. A buffer 103 is inserted between the perforated plates 102 and 104. By using the two perforated plates 102 and 104 to insert the buffer 103, the buffer 103 will not detach from the perforated plates during the operation of the end effector 1. Therefore, the end effector 1 can stably hold the buffer 103.

[0082] Next, the outer pins 105 and inner pins 106 will be described. Multiple outer pins 105 are disposed near the outer periphery of the orifice plates 102 and 104. The outer pins 105 may be disposed near the outer periphery of the orifice plates 102 and 104 in a manner that depicts the same cross-sectional shape as the gripping base 120. In the illustrated second embodiment, the multiple outer pins 105 are disposed in a manner depicting hexagons. Multiple inner pins 106 are disposed inside the outer pins 105.

[0083] Multiple pins 105 penetrate the holes in the orifice plate 102, the buffer 103, and the holes in the orifice plate 104. It should be noted that the orifice plate 102, the buffer 103, and the orifice plate 104 are collectively referred to as an orifice plate unit. Each pin 105 has a first end and a second end opposite to the first end. The first end of the pin 105 protrudes from the orifice plate unit in a direction that allows it to contact the object Wk, while the pin 105 penetrates the orifice plate unit. The second end of the pin 105 protrudes from the orifice plate unit in a direction opposite to the direction that allows it to contact the object Wk, while the pin 105 penetrates the orifice plate unit. A sleeve 101 is fitted to the second end of the pin 105. In other words, a sleeve 101 is fitted to the end opposite to the end that contacts the object Wk supported by the end effector 1.

[0084] Multiple inner pins 106 penetrate the holes in the orifice plate 102, the buffer member 103, and the holes in the orifice plate 104. Each inner pin 106 has a first end and a second end opposite to the first end. The first end of the inner pin 106 protrudes from the orifice plate unit in a direction that allows it to contact the object Wk, while the inner pin 106 is penetrating the orifice plate unit. The second end of the inner pin 106 protrudes from the orifice plate unit in a direction opposite to the direction that allows it to contact the object Wk, while the inner pin 106 is penetrating the orifice plate unit. A sleeve 101 is fitted to the second end of the inner pin 106. In other words, a sleeve 101 is fitted to the end opposite to the end that contacts the object Wk supported by the end effector 1.

[0085] Figure 18 This is a comparative diagram of the outer pin 105, inner pin 106, and sleeve 101 of the second embodiment of the present invention.

[0086] exist Figure 18 In this example, the dimensions of the outer pin 105, inner pin 106, and sleeve 101 are described in millimeters. Of course, those skilled in the art can also construct the outer pin 105, inner pin 106, and sleeve 101 with dimensions different from those described. Figure 18 The text describes the portion of the export 105 located at its first end, namely the first part S1, and the portion located at its second end, namely the second part S2. Figure 18 The document also records the portion on the side where the first end of the internal pin 106 is located, namely the first part T1, and the portion on the side where the second end is located, namely the second part T2.

[0087] The diameter of the second part S2 of export 105 (in) Figure 18 In the example, it is 1 mm) which is larger than the diameter near the first part S1 (in Figure 18 In the example, it is 1.5 mm (small). Additionally, Figure 17The aperture D of the perforated plates 102 and 104 shown is greater than or equal to the diameter of the second portion S2, but smaller than the diameter of the first portion S1. Therefore, the second portion S2 of the outer pin 105 can penetrate the perforated plate unit. A step is provided between the second portion S2 and the first portion S1 at the point where the diameter increases. The step abuts against the portion of the perforated plate 104 other than the hole. This restricts further movement of the outer pin 105 relative to the perforated plate.

[0088] The diameter of the second part T2 of the inner pin 106 (in) Figure 18 In the example, it is 1 mm) smaller than the diameter near the first part T1 (in Figure 18 In the example, it is 1.5 mm. Additionally, Figure 17 The aperture D of the perforated plates 102 and 104 shown is greater than or equal to the diameter of the second portion T2, but smaller than the diameter of the first portion T1. Therefore, the second portion T2 of the inner pin 106 can penetrate the perforated plate unit. A step is provided between the second portion T2 and the first portion T1 at the point where the diameter increases. The step abuts against the portion of the perforated plate 104 other than the hole. This restricts further movement of the inner pin 106 relative to the perforated plate 104.

[0089] The sleeve 101 is formed as a hollow cylinder. The inner diameter of the sleeve 101 corresponds to the diameter of the second part S2 and T2. The outer diameter of the sleeve 101 can be equivalent to the diameter of the first part S1 and T1. The diameter of the sleeve 101 can be larger than the aperture of the orifice plate 102. It should be noted that the sleeve 101 is installed on the second part T2 of the inner pin 106. Thus, the sleeve 101 can also function as a stop to prevent the inner pin 106 from falling off the orifice plate unit. In this case, the distance obtained by subtracting the thickness of the orifice plate unit from the distance between the step of the inner pin 106 and the sleeve 101 is the distance that the inner pin 106 can move, i.e., the first distance.

[0090] Figure 19 This is a conceptual diagram illustrating the flow of the end effector 1 supporting the object Wk in the second embodiment of the present invention. Figure 20 This is a conceptual diagram illustrating the flow from which the end effector 1 of the second embodiment of the present invention releases the supported object Wk and returns to its initial state. It should be noted that... Figure 19 and Figure 20 The constituent elements and Figures 9 to 18 Since the constituent elements shown are identical, only a portion of the constituent elements are labeled with the same reference numerals to indicate their identity; the reference numerals for other constituent elements are omitted. Furthermore, it is assumed that the tips of the multiple pins of the end effector 1 are facing the direction of gravity.

[0091] exist Figure 19In the neatly arranged state shown, the gripping bracket 110 slides downward relative to the gripping base 120 under the control of the motor 200. As a result, the pin ejector plate 112 pushes the second end of the inner pin 106 so that the second ends of the inner pins are aligned at the same height, thus arranging the inner pins 106 neatly.

[0092] Next, via a spring mechanism (not shown) provided on the gripping bracket 110, the gripping bracket 110 returns to a predetermined position (height) relative to the gripping base 120. The inner pins 106 remain in a neatly aligned state. This state of the end effector 1 is called the initial state.

[0093] In the transfer state, the end effector 1 is pressed against the object Wk. This pressing can be performed by a person or by a robotic arm equipped with the end effector 1. The inner pin 106 that is in contact with the object Wk slides upward relative to the perforated plate unit.

[0094] In the supported state, controlled by the motor 200, the gripping bracket 110 moves relative to the gripping base 120. Figure 19 The gripping holder 130, fixed relative to the gripping bracket 110, also slides upward relative to the gripping base 120. As a result, the inclined portion in the inner wall of the constricted portion 132 contacts the outer pin 105 and applies an inward force (in other words, a force toward the object Wk) to the outer pin 105. Due to this inward force, the outer pin 105 tilts inward, and subsequently, the inner pin 106 on the inner side also tilts inward in sequence, and finally the inner pin 106 that contacts the object Wk is pressed against the side of the object Wk. The object Wk is supported by the lateral pressure applied to it by the multiple inner pins 106 that are in contact with it.

[0095] Next, based on Figure 20 Please provide an explanation. Figure 20 The support state shown is the same as Figure 19 The support conditions shown are the same, so detailed descriptions are omitted.

[0096] In the released state, the motor 200 shuts off the force applied to the feed screw 201 in the rotational direction. That is, the feed screw 201 can rotate freely. Then, by the force of the spring return from the spring mechanism provided in the gripping bracket 110, the feed screw 201 rotates, and the gripping bracket 110 moves relative to the gripping base 120. Figure 20The gripping holder 130, fixed relative to the gripping bracket 110, also slides downward relative to the gripping base 120. As a result, the outer pin 105 is released from the inward force applied by the constriction portion 132. Subsequently, the inner pin 106, further inward, is also released from the inward force. As the lateral pressure applied to the object Wk by the multiple inner pins 106 in contact with the object Wk disappears, the object Wk is released from the inner pins 106.

[0097] In the extended state, the gripping bracket 110 is further pushed relative to the gripping base 120 by the reaction action of the spring mechanism provided on the gripping bracket 110. Figure 20 The pin slides downwards. As a result, the pin ejector plate 112 pushes the second end of the inner pin 106 so that the second ends of the inner pin 106 are aligned at the same height, thus neatly arranging the inner pins 106. That is, Figure 20 Launch status and Figure 19 The neat arrangement of the inner pins 106 also makes them neatly arranged. At this time, the object Wk is pushed out by the inner pins 106.

[0098] By means of a spring mechanism provided on the gripping bracket 110, the gripping bracket 110 returns to a predetermined position (height) relative to the gripping base 120. The inner pins 106 maintain a neatly aligned state. That is, the state of the end effector 1 returns to its initial state.

[0099] Figure 21 This is a longitudinal sectional view showing an example of an end effector 1 in a supported state. Figure 22 It means and Figure 21 A conceptual diagram of the corresponding end effector 1 supporting the object Wk in the horizontal direction.

[0100] Figure 22 This is a diagram obtained by observing the end effector 1 in its supported state along the direction from the object Wk toward the end effector 1. (Compared to...) Figure 7 and Figure 8 Similarly, in Figure 21 and Figure 22 In this case, the direction of the weight applied to the outer pin 105 and the inner pin 106 is different from the direction of pin extension. Therefore, a force other than contact with the object Wk is applied to the inner pin 106. However, in the case of the end effector 1 of the second embodiment, the inner pin 106 passes through the buffer 103 as described above. Therefore, the buffer 103 acts as a resistance, preventing the inner pin 106 from sliding accidentally. Therefore, as Figure 22As shown, the number of inner pins 106 supporting the object Wk does not decrease. Therefore, the transfer function of the pins transferring the shape of the object Wk is not impaired, and the supporting force is not reduced. This is also true when the end effector 1 supports the object Wk in other directions, such as the upward direction. The buffer 103, which passes through the inner pins 106, provides resistance to the sliding movement of the inner pins 106 and also prevents the inner pins 106 from falling off accidentally. That is, an end effector 1 can be obtained that does not reduce the supporting force in any direction, such as the lateral or upward direction. With such an end effector 1 according to the second embodiment of the present invention, a wide range of operations can be performed. For example, the end effector 1 can grasp a switch installed on the wall to perform opening and closing control. The end effector 1 can grasp a door handle and rotate it to open the door. In addition, the end effector 1 can rotate a bare light bulb installed on the ceiling of a room to remove it.

[0101] Furthermore, at least the inner pin 106 of the outer pin 105 and the inner pin 106 is fitted with a sleeve 101 of appropriate thickness. By installing the sleeve 101, the inner pins 106 are neatly arranged without gaps at the location where the sleeve 101 is installed. Additionally, the inner pins 106 will not tilt relative to the holes of the orifice plates 102 and 104 and hook onto other pins. Therefore, even if the end effector 1 is used in any direction (e.g., laterally or upward), the inner pins 106 can accurately transfer the shape of the object Wk. Thus, the end effector 1 can firmly support the object Wk.

[0102] Here, the buffer 103, the outer pin 105, the constricted part 132, and the inner pin 106 are described in more detail.

[0103] (Buffer)

[0104] The buffer 103 prevents the inner pin 106 from sliding due to unexpected forces other than those from the object Wk. From this perspective, the buffer 103 is formed of a material capable of imparting friction to the penetrating inner pin 106. The buffer 103 can be formed, for example, of polyurethane foam, but the material is not limited to this. The buffer 103 is elastic. Preferably, the aperture of the buffer 103 through which the inner pin 106 passes is smaller than the diameter of the inner pin 106.

[0105] (Export and shrink-wrapped parts)

[0106] The outer pin 105 is fixed to the orifice plate 104 in a manner that it does not slide in the direction of the hole in the orifice plate 104. The outer pin 105 is shorter than the inner pin 106. If the movable range (stroke) of the inner pin 106 along the direction of the hole in the orifice plate 104 is set as a first distance, then the outer pin 105 has a length less than or equal to the value obtained by subtracting the first distance from the length of the inner pin 106.

[0107] The first end of the outer pin 105, that is, the end near the object Wk supported by the end effector 1, has a rounded corner. By providing this rounded corner, mutual wear is prevented when the inner wall (inclined portion) of the constricted portion 132, which slides together with the gripping bracket 110, comes into contact with the first end of the outer pin 105. For example, the first end of the outer pin 105 can be spherical. From the viewpoint of preventing wear, a rounded corner can also be provided on the inner wall (inclined portion) of the constricted portion 132. It should be noted that the constricted portion 132 is one type of force-applying part.

[0108] By providing a rounded corner at the first end of the outer pin 105 or on the inner wall (inclined portion) of the constricted portion 132, the gripping retainer 130 slides along the direction of the hole in the perforated plate 104. Figure 19 When transitioning from the transfer state to the support state, the inner wall (inclined portion) of the constricted portion 132 smoothly transmits an inward force relative to the outer pin 105. The outer pin 105 tilts smoothly inward, and the inner pin 106 on its inner side smoothly presses against the object Wk. As a result, the end effector 1 is able to smoothly support the object Wk.

[0109] (Domestic sales)

[0110] Figure 23 This is a conceptual diagram illustrating the shape near the first end of the internal sales 106. Figure 24 Looking from the first end to the second end Figure 23 The conceptual diagram of the domestic sales 106 shown. The first part T1 of the domestic sales 106 (refer to...) Figure 18 The first region REG1, including the first end, in the area of ​​the inner pin 106 that contacts the object Wk is machined in a conical shape. Therefore, compared to the case where the end of the inner pin 106 is simply rod-shaped, the side portion of the inwardly inclined inner pin 106 contacts the object Wk more smoothly. This makes it easier to apply a lateral force to the object Wk, resulting in stable support of the object Wk. Furthermore, even when the object Wk is small, it can be gripped by surrounding it with the conical portions of multiple inner pins 106. Figure 24 The diagram shows an example of the degree of inclination of the cone shape of the first region REG1.

[0111] It can be found in the first part T1 of domestic sales 106 (refer to...) Figure 18The second region REG2 of the end effector in the area that contacts the object Wk is processed to prevent slippage. For example, if the object Wk is a slippery object such as a halibut or sea cucumber, the end effector would have difficulty supporting such an object. The end effector 1 of the second embodiment of the present invention can reliably support slippery objects by performing a hook-like anti-slip processing in the second region REG2. This anti-slip processing is performed, for example, by leaving a core 1061 as the central part of the second region REG2 and processing the peripheral part of the core 1061 into a shape that increases friction.

[0112] Figure 25 This diagram illustrates an example of anti-slip processing performed on the second region REG2 of the inner pin 106. When the hook-shaped portion (hook shape) is, for example, a cylinder, the core 1061 is left intact while its peripheral portion is cut, thereby forming the surface shape of the second region REG2. When the hook shape is set to a shape with edges, the inner pin 106 itself is formed, for example, using a 3D printer, thereby forming the surface shape of the second region REG2.

[0113] Alternatively, a portion of the second region REG2 of the inner pin 106 can be left in the core 1061, and a rubber anti-slip component can be fitted around the core 1061.

[0114] It should be noted that the constituent elements described in the end effector 1 of the second embodiment of the present invention can also be applied to the end effector 2 of the first embodiment of the present invention, and the same effects as described above can be obtained.

[0115] Figure 26 This is a block diagram illustrating an example of the hardware structure of a control system 500 used with the end effectors of various embodiments of the present invention. The control system 500 controls the operation of the end effector 1 or end effector 2 described above. It should be noted that the control system 500 can also further control a robotic arm (not shown in the diagram). The control system 500 can be located inside or outside the robotic arm.

[0116] The control system 500 includes a processor 501, a memory 502, an input device 503, an end effector connection unit 505, a communication device 506, and an input / output interface 507. The memory 502, input device 503, end effector connection unit 505, communication device 506, and input / output interface 507 are connected to the processor 501 via an internal bus or the like, respectively, in a manner that enables the input and output of data or information.

[0117] The processor 501 functions as the control unit of the control system 500. For example, the processor 501 performs overall control processing to integrate the actions of each part of the control system 500, input / output processing of data or information with each part of the control system 500, data calculation processing, and data or information storage processing. Furthermore, the processor 501 also functions as a control unit for controlling the end effector 1, end effector 2, and the robotic arm. For example, the processor 501 can control the operation of the actuator 16 of the end effector 2 or the motor 200 of the end effector 1. The processor 501 can be a CPU (Central Processing Unit), MPU (Micro Processing Unit), DSP (Digital Signal Processor), or FPGA (Field Programmable Gate Array), etc.

[0118] The memory 502 stores various programs (OS, application software, etc.) and various data executed by the processor 501. The memory 502 may be composed of, for example, HDD (Hard Disk Drive), flash memory, ROM (Read Only Memory) and / or RAM (Random Access Memory).

[0119] Input device 503 functions as a human-machine interface with the user and receives user input. In other words, input device 503 is used for input or instructions in various processes performed by control system 500. Examples of input device 503 are keyboards or mice. Alternatively, input device 503 may be a programmer connected to the controller (not shown) of a robotic arm.

[0120] The end effector connection unit 505 is a device for connecting the end effector 1 or the end effector 2 to the control system 500. The end effector connection unit 505 is connected to the end effector 1 or the end effector 2 via a wired connection such as a connector and cable. However, the end effector connection unit 505 can also be connected to the end effector 1 or the end effector 2 wirelessly.

[0121] Communication device 506 is a means for communicating with the outside world via network 508. The communication can be either wired or wireless.

[0122] The input / output interface 507 functions as an interface for inputting and outputting data or information between the various devices constituting the control system 500.

[0123] It should be noted that, Figure 26The structure of the control system 500 shown is an example; the control system 500 may not have these features. Figure 26 Some of the constituent elements shown may also also have the following: Figure 26 Additional constituent elements not shown in the diagram.

[0124] (A variation of the first embodiment)

[0125] The structure of the end effector 2 according to the first embodiment of the present invention is not limited to the structure described above. For example, the protrusion 4B of the retainer 14 can be made of an air pipe, which can be positioned above the lower end of the outer pin 12A. In this case, the end effector 2 injects air into the air pipe during the support phase. As a result, the air pipe, which expands due to the air injection, presses against the outer pin 12A from the side, applying an inward force (in other words, a force toward the object Wk) to the outer pin 12A. With this inward force, the outer pin 12A tilts inward, and the inner pin 12B tilts inward in sequence, and the inner pin 12B that finally contacts the object Wk is pressed against the side of the object Wk. Even with this structure, the end effector 2 can support the object Wk. The air pipe is one way to apply force.

[0126] Alternatively, the end effector 2 may also lack the retainer 14 but instead have a shape memory alloy outer pin 12A that deforms inward (in other words, toward the object Wk) when energized. In this case, the end effector 2 energizes the outer pin 12A during the support phase. As a result, the outer pin 12A deforms inward, and the inner pin 12B subsequently tilts inward, ultimately pressing the inner pin 12B, which contacts the object Wk, against its side. Even with this structure, the end effector 2 can support the object Wk. The device for energizing the outer pin 12A is one form of force application.

[0127] Next, the end effector 2 supporting the switching adapter will be described. In the above-described embodiment 1, the object Wk supported by the end effector 2 is, for example, a workpiece in a factory or the like that is to be picked up. On the other hand, the end effector 2 may also support other end effectors. As an example of such other end effectors, there is a switching adapter 33, which will be described later.

[0128] The following describes the end effector 2, which supports and utilizes a switching adapter 33 equipped with an adsorption pad 32 capable of adsorbing an object Wk.

[0129] Figure 27 This is a longitudinal sectional view showing an example of the structure of the modified end effector 2.

[0130] The end effector 2 also includes a main body adsorption unit 31. The main body adsorption unit 31 can be coupled with a based on... Figure 28The adsorption pad 32 is connected and forms a path for air to be drawn in and discharged relative to the connected adsorption pad 32.

[0131] It should be noted that when the actuator 16 is drawing in and expelling air, the main adsorption unit 31 can also be connected to an air conveying system shared with the actuator 16.

[0132] Figure 28 This is a longitudinal sectional view showing an example of the molding stage of the end effector 2 on the switching adapter 33 in a modified example. Figure 29 This is a longitudinal sectional view showing an example of the support stage of the end effector 2 on the switching adapter 33 in a modified example.

[0133] First, such as Figure 28 As shown, the switching adapter 33 includes an adsorption pad 32. A pipe 34 for drawing in and expelling air relative to the adsorption pad is connected to the main adsorption unit 31. Thus, a passage for the intake and exhaust of air from the adsorption pad 32 to the main adsorption unit 31 is formed.

[0134] Next, as Figure 28 As shown, the end effector 2 performs the pattern taking of the switching adapter 33 during the pattern taking stage. Furthermore, as... Figure 29 As shown, the end effector 2 supports the switching adapter 33 during the support phase.

[0135] Thus, the end effector 2 can utilize the suction pad 32 via the supported switching adapter 33. That is, the robotic arm can utilize other types of end effectors such as the suction pad 32 via the switching adapter 33 without replacing the pin-type end effector 2 of the present invention.

[0136] It should be noted that other types of end effectors fitted to the switching adapter 33 are not limited to the aforementioned suction pad 32. For example, finger-type, electromagnetic, or interference-type end effectors may also be fitted to the switching adapter 33.

[0137] It should be noted that the constituent elements described in the modified examples of the first embodiment can also be used in the end effector 1 of the second embodiment of the present invention, and the same effects as described above can be obtained.

[0138] As described above, one aspect of the end effector of the present invention includes: one or more orifice plates having a plurality of holes; a buffer member used with the orifice plates; and a plurality of pins. The plurality of pins includes a plurality of inner pins and a plurality of outer pins disposed outside the inner pins. The inner pins pass through the holes in the orifice plate and the buffer member in such a way that they can move a first distance relative to the orifice plate in the direction of hole penetration. The end effector further includes a force-applying portion that applies an inward force to the outer pins. Thus, even when used laterally or upward, an end effector capable of maintaining a supporting force on an object can be provided.

[0139] The outer pin is fixed to the orifice plate in a manner that does not move in the direction of the hole's penetration. Thus, by tilting the fixed outer pin inward, an inward force can be applied to the inner pin.

[0140] The outer pin has a length less than or equal to the length of the inner pin minus the first distance. This ensures a certain range of motion (stroke) for the inner pin to move along the direction of the hole in the orifice plate.

[0141] A sleeve is fitted onto the opposite end of one of the multiple pins, on the side that contacts the object supported by the end effector. This ensures that the inner pins are neatly arranged without gaps at the location where the sleeve is installed. Furthermore, the inner pins will not tilt relative to the holes in the orifice plate and hook onto other pins. Therefore, even if the end effector is used in any direction (e.g., laterally, upward), the inner pins can accurately transfer the shape of the object. Thus, the end effector can firmly support the object.

[0142] The end of the inner pin that contacts the object supported by the end effector is tapered. Therefore, compared to a simple rod-shaped end, the inwardly tilted side of the inner pin contacts the object more smoothly. This makes it easier to apply lateral forces to the object, resulting in stable support. Furthermore, even with small objects, the object can be gripped by surrounding it with the tapered portions of multiple inner pins.

[0143] The area in the inner pin that contacts the object supported by the end effector has been treated with an anti-slip coating. This allows for reliable support of easily sliding objects.

[0144] The end of the outer pin that contacts the object supported by the end effector has a rounded corner. This prevents wear caused by contact between this end and the force-applying part.

[0145] The force-applying part has an inclined portion that can move along the through direction of the hole in the orifice plate, and the inclined portion has rounded corners. This prevents wear caused by contact between the end of the outer pin that contacts the object supported by the end effector and the force-applying part (inclined portion).

[0146] The buffer can also be configured to be held between two perforated plates. In this way, the buffer is stably held between the two perforated plates.

[0147] The end effector kit includes the aforementioned end effector and other end effectors that can be supported by the aforementioned end effector. Therefore, it is possible to perform operations by supporting other end effectors without replacing the aforementioned end effector.

[0148] The embodiments have been described above with reference to the accompanying drawings, but the present invention is not limited to this example. Those skilled in the art should understand that various modifications, alterations, substitutions, additions, omissions, and equivalent examples can be conceived within the scope of the technical solutions described, and these also fall within the scope of the present invention. Furthermore, the constituent elements of the above embodiments can be arbitrarily combined without departing from the spirit of the invention.

[0149] Industrial applicability

[0150] The end effector of the present invention can be used in a device for supporting an object.

[0151] Explanation of reference numerals in the attached figures:

[0152] 1: End effector, 2: End effector, 11: Orifice plate, 12: Pin, 12A: Outer pin, 12B: Inner pin, 13: Base, 14: Retainer, 14A: Side part, 14B: Protrusion, 14C: Slot, 15: Movable plate, 16: Actuator, 31: Main body adsorption unit, 32: Adsorption pad, 33: Switching adapter, 34: Tube, 100: Pin module, 101: Sleeve, 102: Orifice plate, 103: Buffer, 104: Orifice plate, 105: Outer pin, 106: Domestic sales, 1061: core, 110: gripping bracket, 112: plate, 113: screw, 114: threaded hole, 120: gripping base, 121: sliding groove, 130: gripping retainer, 131: threaded hole, 200: motor, 201: screw, 500: control system, 501: processor, 502: memory, 503: input device, 505: end effector connection, 506: communication device, 507: input / output interface, 508: network, Wk: object.

Claims

1. An end effector, wherein, The end effector includes: A perforated plate or more, which has multiple holes; A buffer element used in conjunction with one or more perforated plates; Multiple pins, including multiple inner pins and multiple outer pins disposed on the outside of the multiple inner pins; as well as The force-applying part applies an inward force to the plurality of outer pins. The inward force is applied to the side of the object from the plurality of outer pins via the plurality of inner pins, thereby supporting the object. The plurality of inner pins pass through the plurality of holes and the buffer member in such a manner that they can move a first distance relative to the more than one perforated plate in the through direction of the plurality of holes. The plurality of outer pins are fixed to one or more perforated plates in a manner that prevents them from moving in the through direction of the plurality of holes.

2. The end effector according to claim 1, wherein, The plurality of outer pins have a length less than the value obtained by subtracting the first distance from the length of the plurality of inner pins.

3. The end effector according to claim 1 or 2, wherein, A sleeve is fitted to the opposite end of the end of one of the plurality of pins that contacts the object.

4. The end effector according to claim 1 or 2, wherein, The end of one of the plurality of inner pins that contacts the object is tapered.

5. The end effector according to claim 1 or 2, wherein, The areas of the plurality of inner pins that come into contact with the object have been treated with an anti-slip process.

6. The end effector according to claim 1 or 2, wherein, The end of the plurality of outer pins closest to the object has a rounded corner.

7. The end effector according to claim 1 or 2, wherein, The force-applying part has an inclined portion that can move along the through direction of the plurality of holes, and the inclined portion has rounded corners.

8. The end effector according to claim 1 or 2, wherein, The more than one perforated plate refers to two perforated plates. The buffer is configured to be held between the two perforated plates.

9. A kit of end effectors, wherein, The end effector kit includes: The end effector according to any one of claims 1 to 8; and Other end effectors that can be supported by the said end effector.

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