Operation device

Abstract

The purpose of the present invention is to achieve an operation close to a manual operation performed by an operator. The operation device includes: a robot hand; a gripping assembly that is attached to a robot hand and that has a pair of openable and closable fingers and a first actuator that opens and closes the pair of fingers, the pair of fingers including: a base pulley and a tip pulley disposed at a base portion and a tip portion of the fingers; and an endless belt erected on the base end pulley and the front end pulley, the outer surface of the endless belt constituting a contact surface with the cloth, and the gripping assembly has a second actuator for driving the endless belt to rotate.

Description

Technical Field

[0001] The technology disclosed in this specification relates to an operating device. Background Art

[0002] Patent Document 1 proposes a system in which a robot conveys a cloth as a sewing object to a sewing position or folds the cloth to form a seam allowance.

[0003] Prior art literature

[0004] Patent Literature

[0005] Patent Document 1: Japanese Patent Application Publication No. 2021-147721 Summary of the invention

[0006] 1. Technical issues to be resolved

[0007] Sewing workers can perform operations such as folding the soft cloth appropriately or aligning the ends of the cloth by feel, but such operations are difficult for robot manipulators. It is desirable to realize operations that are close to manual operations performed by workers.

[0008] An object of the aspect of the present invention is to realize an operation that is close to a manual operation performed by an operator.

[0009] (II) Technical solution

[0010] According to the present invention, there is provided an operating device for operating a sewn fabric, comprising: a robot manipulator; and a holding assembly, which is mounted on the robot manipulator and has a pair of fingers that can be opened and closed and a first actuator that causes the pair of fingers to perform opening and closing actions, the pair of fingers respectively comprising: a base end pulley and a front end pulley, which are arranged at the base end portion and the front end portion of the fingers; and an endless belt, which is mounted on the base end pulley and the front end pulley, and the outer surface of which constitutes a contact surface with the fabric, and the holding assembly has a second actuator that drives the endless belt to rotate.

[0011] (III) Beneficial effects

[0012] According to the technology disclosed in this specification, it is possible to realize an operation work close to the manual work performed by an operator. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 It is a perspective view showing the sewing device according to the embodiment.

[0014] Figure 2 It is a top view which shows the sewing device of embodiment.

[0015] Figure 3It is a perspective view showing the operating device according to the embodiment.

[0016] Figure 4 It is a perspective view showing a feed unit mounted on the front end portion of the second robot manipulator according to the embodiment.

[0017] Figure 5 It is a perspective view showing a sewing machine assembly mounted on the front end portion of the third robot manipulator according to the embodiment.

[0018] Figure 6 It is a block diagram showing a control device of the sewing device according to the embodiment.

[0019] Figure 7 It is a perspective view showing a grip assembly according to the embodiment.

[0020] Figure 8 This is a perspective cross-sectional view illustrating the interior of the grip assembly.

[0021] Fig. 9 is a schematic cross-sectional view showing a pair of fingers.

[0022] Fig.10 This is an explanatory diagram for explaining the opening and closing of the movable finger by the first actuator.

[0023] Fig.11 It is an explanatory diagram showing a pair of fingers in a state of sandwiching cloth.

[0024] Fig.12 It is an explanatory diagram showing a state where the end portion ED of the cloth is arranged between a pair of fingers.

[0025] Fig.13 1 is a flowchart showing control of the operating device according to the embodiment.

[0026] Fig.14 This is a diagram for explaining the flow of operations of the operating device.

[0027] Fig.15 It is a perspective explanatory diagram showing a grip assembly of an operating device according to a second embodiment.

[0028] Fig.16 It is a perspective explanatory diagram showing the third actuator and the movable holding portion.

[0029] Fig.17 This is a schematic diagram of a state where a pair of fingers clamp a cloth as viewed in the -X direction.

[0030] Fig.18 Schematic cross-sectional view showing a fixed finger and a movable finger of an operation device according to a second embodiment.

[0031] Description of reference numerals:

[0032] 1: Sewing device; 2: Stand; 3: Top plate; 4: Robot manipulator; 4A: First robot manipulator; 4B: Second robot manipulator; 4C: Third robot manipulator; 5: Holding assembly; 5A: Joint; 5B: A pair of fingers; 5C: Cover; 6: Feed assembly; 6A: Joint; 6L: First belt; 6R: Second belt; 7: Sewing machine assembly; 7A: Joint; 7C: Sewing machine motor; 7D: Thread take-up lever; 7E: Needle bar; 7F: Sewing machine needle; 8, 9, 10: Suspension parts; 11: Needle plate; 12: Opening; 13: Shuttle Guide mechanism; 14: camera; 14A: main body; 14L: first lens; 14R: second lens; 15: connecting member; 16: force sensor; 17: control device; 17A: image data acquisition unit; 17B: image processing unit; 17C: robot control unit; 17D: gripping component control unit; 17E: feeding component control unit; 17F: sewing machine component control unit; 51: first actuator; 52, 52A, 52B: second actuator; 53: transmission mechanism; 53A: first transmission unit; 53B: second transmission unit; 54: frame; 55: fixed finger; 55A: base end pulley; 55B: front end pulley; 55C: annular belt; 55D: support shaft; 56: movable finger; 56A: base end pulley; 56B: front end pulley; 56C: annular belt; 56D: support shaft; 57: holding member; 58: holding member; 81: driving gear; 82A, 82B: intermediate gear; 83: sector gear; 83A: bearing; 83B: connecting member; 84: intermediate shaft; 85, 86: rotating shaft; 91A, 91B: driving gear; 92A, 92B, 93A, 93B: Intermediate gear; 94A, 94B: output gear; 95A, 95B: intermediate shaft; 100: cloth; 101, 102: part; 110: third actuator; 120: movable holding part; 121: guide shaft; 122: slider; 123: pinion; 124: rack; 131: drive pulley; 132: transmission belt; 133, 134: drive pulley; 135: transmission belt; 136: drive pulley; 137: transmission belt; ED: end; HA: operating device; LP: ring; P1, P2A, P2B: position; θ: angle. DETAILED DESCRIPTION

[0033] [First embodiment]

[0034] Hereinafter, the embodiment will be described with reference to the accompanying drawings. In the embodiment, the terms left, right, front, back, top, and bottom are used to describe the positional relationship of each part. These terms represent relative positions or directions based on the center of the sewing device 1.

[0035] [Sewing device]

[0036] Figure 1 It is a perspective view showing the sewing device 1 according to the embodiment. Figure 2 1 is a top view showing a sewing device 1 according to an embodiment. In this embodiment, an example in which an operating device HA including a robot manipulator 4 and a gripping assembly 5 is applied to the sewing device 1 is shown. Figure 1 as well as Figure 2 As shown, the sewing device 1 includes a frame 2 , a top plate 3 , a robot hand 4 , a gripping unit 5 , a feeding unit 6 , and a sewing machine unit 7 .

[0037] The frame 2 supports the top plate 3 and the robot manipulator 4. The top plate 3 has an upper surface that supports the cloth 100. The base end of the robot manipulator 4 is fixed to the frame 2 around the top plate 3. The gripping assembly 5, the feeding assembly 6, and the sewing machine assembly 7 are respectively attached to and detached from the front end of the robot manipulator 4. When the gripping assembly 5, the feeding assembly 6, and the sewing machine assembly 7 are respectively attached to the front end of the robot manipulator 4, the predetermined operation can be performed on the cloth 100.

[0038] The robot manipulator 4 includes a multi-joint robot. In the embodiment, the robot manipulator 4 is a vertical multi-joint robot. In addition, the robot manipulator 4 can also be a horizontal multi-joint robot. The robot manipulator 4 has: a base member, a rotating member, a first arm, a second arm, a third arm, a rotating actuator, a first rotating actuator, a second rotating actuator, and a third rotating actuator. The base member is fixed to the frame 2. The rotating member is rotatably supported on the base member. The rotating member is rotatably supported on the base member with a rotating axis extending in the up-down direction as the center. The first arm is rotatably connected to the rotating member. The first arm is rotatably connected to the rotating member with the first rotating axis as the center. The first rotating axis is orthogonal to an axis parallel to the rotating axis. The second arm is rotatably connected to the front end of the first arm. The second arm is rotatably connected to the first arm with the second rotating axis as the center. The second rotating axis is parallel to the first rotating axis. The third arm is rotatably connected to the front end of the second arm. The third arm is rotatably connected to the second arm with the third rotating axis as the center. The third rotating axis is parallel to the second rotating axis. Any one of the holding assembly 5, the feeding assembly 6 and the sewing machine assembly 7 is assembled to the front end of the third arm. The rotary actuator generates power to rotate the rotary member. The first rotary actuator generates power to rotate the first arm. The second rotary actuator generates power to rotate the second arm. The third rotary actuator generates power to rotate the third arm.

[0039] A plurality of robot manipulators 4 are provided. In the embodiment, three robot manipulators 4 are provided. The robot manipulators 4 include a first robot manipulator 4A, a second robot manipulator 4B, and a third robot manipulator 4C. The structure of the first robot manipulator 4A, the structure of the second robot manipulator 4B, and the structure of the third robot manipulator 4C are substantially the same. The sewing device 1 may also be a robot having a plurality of robot manipulators 4 mounted on one body portion, such as a so-called dual-arm robot.

[0040] The gripping unit 5 is detachable from each of the front end of the first robot manipulator 4A, the front end of the second robot manipulator 4B, and the front end of the third robot manipulator 4C. The feeding unit 6 is detachable from each of the front end of the first robot manipulator 4A, the front end of the second robot manipulator 4B, and the front end of the third robot manipulator 4C. The sewing machine unit 7 is detachable from each of the front end of the first robot manipulator 4A, the front end of the second robot manipulator 4B, and the front end of the third robot manipulator 4C.

[0041] The gripping unit 5 performs an operation of manipulating the cloth. The gripping unit 5 grips the cloth in accordance with the operation. The feeding unit 6 performs a feeding operation of conveying the cloth 100 in a predetermined direction when applying a stitch to the cloth 100. The sewing machine unit 7 performs a sewing operation of applying a stitch to the cloth 100.

[0042] The frame 2 is fixed with a hanging member 8, a hanging member 9, and a hanging member 10 around the upper surface of the top plate 3. The holding assembly 5 is supported by the hanging member 8 when it is not mounted on the robot manipulator 4. The feeding assembly 6 is hung on the hanging member 9 when it is not mounted on the robot manipulator 4. The sewing machine assembly 7 is hung on the hanging member 10 when it is not mounted on the robot manipulator 4.

[0043] The top plate 3 includes a needle plate 11. The needle plate 11 is fixed to the central part of the top plate 3. An opening 12 is provided in the needle plate 11. A shuttle is arranged directly below the needle plate 11. A bobbin case is housed in the shuttle. The bobbin case holds the bobbin on which the lower thread is wound. The shuttle supplies the lower thread. A shuttle guide mechanism 13 is arranged below the top plate 3. The shuttle can move between a sewing position directly below the needle plate 11 and a replacement position on the front side of the stand 2 while being guided by the shuttle guide mechanism 13. The shuttle can move between a sewing position and a replacement position while being guided by the shuttle guide mechanism 13 using the power generated by the shuttle movement actuator. For example, when the bobbin is replaced, the shuttle moves to the replacement position.

[0044] [Handling components]

[0045] Figure 31 is a perspective view showing the operating device HA (the gripping unit 5 mounted on the front end of the first robot manipulator 4A) according to the embodiment. Figure 3 As shown, the gripping assembly 5 is mounted on the front end of the first robot manipulator 4A. The operating device HA is composed of the robot manipulator 4 and the gripping assembly 5 mounted on the robot manipulator 4. The gripping assembly 5 has a joint portion 5A connected to the front end of the first robot manipulator 4A. The gripping assembly 5 is mounted on the front end of the first robot manipulator 4A via the joint portion 5A. In addition, the gripping assembly 5 can be mounted on the front end of the second robot manipulator 4B, and can also be mounted on the front end of the third robot manipulator 4C.

[0046] The gripping assembly 5 grips the cloth 100 by clamping the cloth 100. The gripping assembly 5 has a pair of fingers 5B that can be opened and closed (see Figure 7 ) and a first actuator 51 (see Figure 7 ). The gripping assembly 5 is covered by a cover 5C. The cover 5C exposes the joint 5A and the pair of fingers 5B of the gripping assembly 5 to the outside and covers the portion other than the joint 5A and the pair of fingers 5B of the gripping assembly 5. Figure 3 In the posture, a pair of fingers 5B protrude downward from the lower end of the cover 5C. The details of the gripping assembly 5 will be described later.

[0047] A camera 14 is mounted on the front end of the first robot manipulator 4A. The camera 14 can photograph the cloth 100. The camera 14 photographs the cloth 100 supported by the top plate 3 from above. The camera 14 includes a main body 14A, a first lens 14L, and a second lens 14R. The main body 14A includes an image sensor that receives light incident through the first lens 14L and the second lens 14R. The image sensor includes a CCD (Couple Charged Device) image sensor or a CMOS (Complementary Metal Oxide Semiconductor) image sensor. The main body 14A is fixed to the front end of the first robot manipulator 4A via a connecting member 15. The first lens 14L and the second lens 14R are respectively arranged at the lower part of the main body 14A. The second lens 14R is arranged next to the first lens 14L. Since the camera 14 includes the first lens 14L and the second lens 14R, the imaging range of the camera 14 becomes larger. Furthermore, the camera 14 including the first lens 14L and the second lens 14R may also be a stereo camera.

[0048] The first robot manipulator 4A is provided with a force sensor 16 at the front end. The force sensor 16 detects the strength and direction of the force applied to the front end of the first robot manipulator 4A. The force sensor 16 is, for example, a six-axis sensor, and detects forces in six axial directions, namely, three orthogonal axial directions set on the force sensor 16 and the rotation direction around each axis. The detection method of the force sensor 16 is not particularly limited. The force sensor 16 can adopt, for example, a resistance type (strain gauge type), an electrostatic capacitance type, a piezoelectric type, or other detection method. The force sensor 16 detects the external force applied to the front end via the gripping unit 5 mounted on the front end of the first robot manipulator 4A. Based on the detection result of the force sensor 16, it is possible to detect the contact between the pair of fingers 5B of the gripping unit 5 and the object. Based on the detection result of the force sensor 16, it is possible to control the gripping unit 5 to move while pressing the cloth 100 with a certain pressing force by the pair of fingers 5B of the gripping unit 5. Based on the magnitude and direction of the force detected by the force sensor 16 , it can be determined whether only one of the pair of fingers 5B of the gripping unit 5 is pressing the cloth 100 or both of the pair of fingers 5B are pressing the cloth 100 .

[0049] [Feeding unit]

[0050] Figure 4 2 is a perspective view showing a feed assembly 6 mounted on the front end portion of the second robot manipulator 4B of the embodiment. Figure 4 As shown, the feed assembly 6 is mounted on the front end of the second robot manipulator 4B. The feed assembly 6 has a joint portion 6A connected to the front end of the second robot manipulator 4B. The feed assembly 6 is mounted on the front end of the second robot manipulator 4B via the joint portion 6A. In addition, the feed assembly 6 can also be mounted on the front end of the first robot manipulator 4A, and can also be mounted on the front end of the third robot manipulator 4C.

[0051] The feeding unit 6 includes a first presser foot 61 and a second presser foot 62 for pressing the cloth 100 from above; a first belt 6L supported by the first presser foot 61; and a second belt 6R supported by the second presser foot 62. The first belt 6L and the second belt 6R are each annular. The first belt 6L and the second belt 6R are each annular belts. A portion of the first belt 6L is arranged between the first presser foot 61 and the cloth 100. A portion of the second belt 6R is arranged between the second presser foot 62 and the cloth 100. The first belt 6L and the second belt 6R are rotated by a feeding motor (not shown). The first presser foot 61 presses the first belt 6L against the cloth 100. The second presser foot 62 presses the second belt 6R against the cloth 100. The first belt 6L and the second belt 6R pressed against the cloth 100 are each rotated, whereby the cloth 100 is fed in a predetermined direction.

[0052] [Sewing machine components]

[0053] Figure 5 1 is a perspective view showing a sewing machine assembly 7 mounted on the front end portion of the third robot manipulator 4C of the embodiment. Figure 5 As shown, the sewing machine assembly 7 is mounted on the front end of the third robot manipulator 4C. The sewing machine assembly 7 has a joint portion 7A connected to the front end of the third robot manipulator 4C. The sewing machine assembly 7 is mounted on the front end of the third robot manipulator 4C via the joint portion 7A. In addition, the sewing machine assembly 7 can also be mounted on the front end of the first robot manipulator 4A, and can also be mounted on the front end of the second robot manipulator 4B.

[0054] The sewing machine assembly 7 includes a sewing machine motor 7C, a thread take-up lever 7D, and a needle bar 7E. The needle bar 7E holds the sewing machine needle 7F. The sewing machine motor 7C generates power to reciprocate the needle bar 7E in the vertical direction. The thread take-up lever 7D supplies the upper thread to the sewing machine needle 7F. The power generated by the sewing machine motor 7C is transmitted to the needle bar 7E and the thread take-up lever 7D via a power transmission mechanism. The needle bar 7E and the thread take-up lever 7D are linked to the shuttle. The power generated by the sewing machine motor 7C is transmitted to the needle bar 7E, whereby the needle bar 7E and the sewing machine needle 7F held by the needle bar 7E reciprocate in the vertical direction. The power generated by the sewing machine motor 7C is transmitted to the thread take-up lever 7D, whereby the thread take-up lever 7D is linked to the needle bar 7E and reciprocates in the vertical direction. The shuttle rotates in conjunction with the needle bar 7E and the thread take-up lever 7D. The sewing machine needle 7F can pass through the opening 12 of the needle plate 11. The shuttle is arranged just below the needle plate 11. The shuttle cooperates with the sewing machine needle 7F by supplying the lower thread to form a stitch on the cloth 100. When a stitch is formed on the cloth 100, the sewing machine assembly 7 is arranged just above the needle plate 11 in such a manner that the sewing machine needle 7F passes through the opening 12 of the needle plate 11. When a stitch is formed on the cloth 100, the third robot manipulator 4C arranges the sewing machine assembly 7 just above the needle plate 11. When a stitch is formed on the cloth 100, the feed assembly 6 is arranged near the sewing machine assembly 7. When a stitch is formed on the cloth 100, the second robot manipulator 4B arranges the feed assembly 6 near the sewing machine assembly 7. While the cloth 100 is fed in a predetermined direction by the feed assembly 6, the needle bar 7E of the sewing machine assembly 7 is reciprocated in the vertical direction. The sewing machine unit 7 forms a stitch on the cloth 100 by the cooperation of the sewing machine needle 7F held by the needle bar 7E and the shuttle.

[0055] In addition, as referenced Figure 3 As described above, the camera 14 is attached to the front end of the first robot hand 4A. The camera 14 may be attached to the front end of the second robot hand 4B. The camera 14 may be attached to the front end of the third robot hand 4C.

[0056] [Control device]

[0057] Figure 6 1 is a block diagram showing a control device 17 of a sewing device 1 according to an embodiment. The control device 17 controls a robot manipulator 4, a gripping assembly 5 mounted on the robot manipulator 4, a feeding assembly 6 mounted on the robot manipulator 4, and a sewing machine assembly 7 mounted on the robot manipulator 4. The control device 17 includes a computer system. The control device 17 includes a processor such as a CPU (Central Processing Unit), a memory such as a ROM (Read Only Memory) or a RAM (Random Access Memory), and an input / output interface including an input / output circuit capable of inputting and outputting signals and data.

[0058] The control device 17 includes an image data acquisition unit 17A, an image processing unit 17B, a robot control unit 17C, a gripping unit control unit 17D, a feeding unit control unit 17E, and a sewing machine unit control unit 17F.

[0059] The image data acquisition unit 17A acquires the image data of the cloth 100 captured by the camera 14. The image processing unit 17B calculates the position of the cloth 100 based on the image data of the cloth 100 acquired by the image data acquisition unit 17A. In the embodiment, the image processing unit 17B calculates the position, orientation, position of each part, etc. of the cloth 100 based on the image data of the cloth 100 acquired by the camera 14. In the case where the cloth 100 is provided with a mark for alignment, the image processing unit 17B may calculate the position of the target part of the cloth 100 based on the image data of the mark. In the case where the cloth 100 is provided with a pattern (pattern), the image processing unit 17B may calculate the position of the target part of the cloth 100 based on the image data of the pattern (pattern).

[0060] The robot control unit 17C controls the robot manipulator 4 .

[0061] When the gripping assembly 5 is mounted on the front end of the robot manipulator 4, the robot control unit 17C controls the robot manipulator 4 so that the front end of the robot manipulator 4 approaches the gripping assembly 5 supported by the suspension member 8. The joint 5A of the gripping assembly 5 supported by the suspension member 8 and the front end of the robot manipulator 4 are connected, and the gripping assembly 5 is mounted on the robot manipulator 4. When the gripping assembly 5 is removed from the front end of the robot manipulator 4, the robot control unit 17C controls the robot manipulator 4 so that the gripping assembly 5 mounted on the front end of the robot manipulator 4 approaches the suspension member 8. After the gripping assembly 5 is supported by the suspension member 8, the connection between the front end of the robot manipulator 4 and the joint 5A of the gripping assembly 5 is released.

[0062] When the feed assembly 6 is mounted on the front end of the robot manipulator 4, the robot control unit 17C controls the robot manipulator 4 so that the front end of the robot manipulator 4 approaches the feed assembly 6 suspended from the suspension member 9. The joint 6A of the feed assembly 6 suspended from the suspension member 9 and the front end of the robot manipulator 4 are connected, and the feed assembly 6 is mounted on the robot manipulator 4. When the feed assembly 6 is removed from the front end of the robot manipulator 4, the robot control unit 17C controls the robot manipulator 4 so that the feed assembly 6 mounted on the front end of the robot manipulator 4 approaches the suspension member 9. After the feed assembly 6 is suspended from the suspension member 9, the connection between the front end of the robot manipulator 4 and the joint 6A of the feed assembly 6 is released.

[0063] When the sewing machine assembly 7 is mounted on the front end of the robot manipulator 4, the robot control unit 17C controls the robot manipulator 4 so that the front end of the robot manipulator 4 approaches the sewing machine assembly 7 suspended from the hanging member 10. The joint 7A of the sewing machine assembly 7 suspended from the hanging member 10 is connected to the front end of the robot manipulator 4, whereby the sewing machine assembly 7 is mounted on the robot manipulator 4. When the sewing machine assembly 7 is removed from the front end of the robot manipulator 4, the robot control unit 17C controls the robot manipulator 4 so that the sewing machine assembly 7 mounted on the front end of the robot manipulator 4 approaches the hanging member 10. After the sewing machine assembly 7 is suspended from the hanging member 10, the connection between the front end of the robot manipulator 4 and the joint 7A of the sewing machine assembly 7 is released.

[0064] The robot control unit 17C controls the first robot manipulator 4A, for example, in the following manner: the pair of fingers 5B of the gripping unit 5 are brought into contact with the target portion of the cloth 100 calculated by the image processing unit 17B, or the cloth 100 gripped by the gripping unit 5 is lifted and transported to the working position, or the cloth 100 is folded.

[0065] The gripping unit control unit 17D controls the gripping unit 5. The gripping unit control unit 17D controls the gripping unit 5 so that the pair of fingers 5B clamp the target portion of the cloth 100 after the target portion of the cloth 100 contacts the pair of fingers 5B of the gripping unit 5. In addition, as described later, the gripping unit control unit 17D controls the gripping unit 5 so that the cloth 100 is fed in a state where the cloth 100 is clamped (held) by the pair of fingers 5B.

[0066] The feed unit control unit 17E controls the feed unit 6. The sewing machine unit control unit 17F controls the sewing machine unit 7. The feed unit 6 feeds the cloth 100 disposed at the sewing position, and the sewing machine unit 7 forms a stitch, thereby sewing the cloth 100.

[0067] [Handling components]

[0068] Figure 7 It is a perspective view showing the gripping unit 5 according to the embodiment. Figure 8 It is a perspective cross-sectional view for explaining the inside of the grip unit 5 . Figure 7 The holding assembly 5 is shown with the cover 5C removed. Figure 7 as well as Figure 8 As shown, the gripping assembly 5 includes a pair of fingers 5B, a first actuator 51, a second actuator 52, a transmission mechanism 53, a joint 5A, and a frame 54. The pair of fingers 5B, the first actuator 51, the second actuator 52, the transmission mechanism 53, and the joint 5A are assembled to the frame 54.

[0069] In the following description, an orthogonal coordinate system (XYZ coordinate system) set for the holding component 5 is used for description. Three mutually orthogonal coordinate axes are set as the X-axis, the Y-axis, and the Z-axis. Here, the joint portion 5A and the pair of finger portions 5B are arranged along the Z-axis, and the Z-axis is the up-down direction (longitudinal direction) of the holding component 5. The pair of finger portions 5B are opposite to each other along the X-axis. The X-axis is the left-right direction (width direction) of the holding component 5. The Y-axis is the thickness direction (depth direction) of the holding component 5. These terms represent relative positions or directions based on the center of the holding component 5.

[0070] The joint portion 5A is connected to the front end portion of the first robot hand 4A. The joint portion 5A is provided at the +Z direction end portion of the frame 54.

[0071] The frame 54 extends in the Z-axis direction. The frame 54 has a box shape surrounding the first actuator 51, the second actuator 52, and the transmission mechanism 53. The -Z direction end of the frame 54 has a tapered shape in which the width dimension in the X direction decreases toward the -Z direction.

[0072] A pair of fingers 5B are disposed at the -Z direction end of the frame 54. The pair of fingers 5B are provided in a manner protruding from the frame 54 toward the -Z direction. The ends of the pair of fingers 5B in the +Z direction are set as the base end, and the ends of the pair of fingers 5B in the -Z direction are set as the front end. The pair of fingers 5B are mounted on the frame 54 at the base end. The pair of fingers 5B can be opened and closed. In other words, the pair of fingers 5B can move relative to each other in a manner of approaching and separating in the X-axis direction. The pair of fingers 5B can expand and reduce the interval between the pair of fingers 5B as they move relative to each other. In addition, only one of the pair of fingers 5B can be opened and closed, or both can be opened and closed.

[0073] In this embodiment, the pair of fingers 5B includes a fixed finger 55 whose position is fixed and a movable finger 56 that approaches and separates from the fixed finger 55 by the first actuator 51. The pair of fingers 5B is composed of one fixed finger 55 and one movable finger 56. In addition, the pair of fingers 5B refers to a pair (pair) of fingers (fixed fingers 55) on one side and fingers (fixed fingers 55) on the other side for clamping the cloth 100. A plurality of fingers on one side may be provided, and a plurality of fingers on the other side may be provided. In addition, the gripping assembly 5 may also include a plurality of pairs of fingers 5B.

[0074] (a pair of fingers)

[0075] Fig. 9 5B is a schematic cross-sectional view showing a pair of fingers 5B. Fig. 9 As shown, the pair of fingers 5B respectively include a base pulley, a front pulley and an endless belt. That is, the fixed finger 55 includes a base pulley 55A, a front pulley 55B and an endless belt 55C. The movable finger 56 includes a base pulley 56A, a front pulley 56B and an endless belt 56C.

[0076] The base end pulleys 55A and 56A are arranged at the base end of the finger. The base end pulleys 55A and 56A are arranged on the frame 54 side (+Z direction) relative to the front end pulleys 55B and 56B. The front end pulleys 55B and 56B are arranged at the front end (-Z side end) of the pair of fingers 5B. The front end pulleys 55B and 56B are arranged at a position protruding in the -Z direction relative to the frame 54.

[0077] The base end pulley 55A of the fixed finger 55 is provided on the rotating shaft 85 extending in the Y-axis direction. Both ends of the rotating shaft 85 are rotatably supported on the frame 54 via bearings. The base end pulley 55A rotates integrally with the rotating shaft 85. The front end pulley 55B is rotatably mounted on a support shaft 55D extending in the Y-axis direction. Figure 8 As shown, both ends of the support shaft 55D are supported by a holding member 57. The holding member 57 is fixed to the frame 54.

[0078] The endless belt 55C is mounted on the base pulley 55A and the front pulley 55B. The base pulley 55A and the front pulley 55B are toothed pulleys, and the endless belt 55C is a toothed belt meshed with the toothed pulleys. The endless belt 55C circulates and rotates between the base pulley 55A and the front pulley 55B as the base pulley 55A and the front pulley 55B rotate.

[0079] like Fig. 9As shown, the base end pulley 56A of the movable finger 56 is provided on the rotating shaft 86 extending in the Y-axis direction. Both ends of the rotating shaft 86 are rotatably supported on the frame 54 via bearings. The base end pulley 56A rotates integrally with the rotating shaft 86. The front end pulley 56B is rotatably mounted on a support shaft 56D extending in the Y-axis direction. Figure 8 As shown, both ends of the support shaft 56D are supported by the holding member 58. The holding member 58 is fixed to the sector gear 83 described later. The holding member 58 rotates around the rotation axis 86 as the sector gear 83 rotates.

[0080] like Fig. 9 As shown, the endless belt 56C is mounted on the base end pulley 56A and the front end pulley 56B. The base end pulley 56A and the front end pulley 56B are toothed pulleys, and the endless belt 56C is a toothed belt meshed with the toothed pulleys. The endless belt 56C circulates and rotates between the base end pulley 56A and the front end pulley 56B as the base end pulley 56A and the front end pulley 56B rotate.

[0081] The outer surface of the endless belts 55C and 56C is the outermost peripheral part of each finger (fixed finger 55 and movable finger 56), and constitutes a contact surface with the cloth 100. It is preferable that the outer surface of the endless belts 55C and 56C generates sufficient frictional force with the cloth 100. It is preferable that the endless belts 55C and 56C are formed entirely of a material with a high friction coefficient, or a covering material with a high friction coefficient is attached to the outer peripheral surface. The endless belts 55C and 56C are made of, for example, a resin, such as a polyurethane resin, and a rubber-like covering material is provided on the outer surface.

[0082] (First actuator, second actuator)

[0083] like Figure 7 As shown, the first actuator 51 and the second actuator 52 are arranged between the joint portion 5A and the pair of fingers 5B in the Z direction. The first actuator 51 and the second actuator 52 are controlled by the control device 17 (grip unit control unit 17D).

[0084] The first actuator 51 causes the pair of fingers 5B to open and close. A first actuator 51 is provided. The first actuator 51 is composed of an electric motor that generates power to cause the pair of fingers 5B to open and close, and is arranged with the output shaft facing the -Z direction (transmission mechanism 53 side). The first actuator 51 is, for example, a servo motor. The first actuator 51 imparts power to cause the pair of fingers 5B (movable fingers 56) to open and close to the pair of fingers 5B via the transmission mechanism 53.

[0085] The second actuator 52 drives the annular belt (55C, 56C) of a pair of fingers 5B to rotate. The second actuator 52 is respectively provided on a pair of fingers 5B. That is, the second actuator 52 includes a second actuator 52A provided with respect to the fixed finger 55 and a second actuator 52B provided with respect to the movable finger 56. The first actuator 51 and the second actuator 52 (52A, 52B) are arranged in the X-axis direction. The second actuators 52A and 52B are composed of electric motors that generate power to drive the annular belt (55C, 56C) to rotate, and the output shaft is arranged toward the -Z direction (transmission mechanism 53 side). The second actuators 52A and 52B are, for example, servo motors. The second actuators 52A and 52B impart power to drive the annular belt (55C, 56C) to rotate to the fixed finger 55 and the movable finger 56 via the transmission mechanism 53.

[0086] (Transferring Agency)

[0087] The transmission mechanism 53 is disposed between the first actuator 51 and the second actuator 52 and the pair of fingers 5B. The transmission mechanism 53 connects the first actuator 51 and the second actuator 52 and the pair of fingers 5B in a manner capable of transmitting power. Figure 8 As shown, the transmission mechanism 53 is composed of a gear transmission mechanism, which is composed of a combination of multiple gears (gears). The transmission mechanism 53 includes: a first transmission part 53A that transmits the driving force of the first actuator 51 to a pair of fingers 5B (movable fingers 56) and a second transmission part 53B that transmits the driving force of the second actuator 52 to a pair of fingers 5B (annular belts (55C, 56C)).

[0088] The first transmission part 53A includes a driving gear 81, an intermediate gear 82A, an intermediate gear 82B, and a sector gear 83. The driving gear 81 is mounted on the output shaft of the first actuator 51 and rotates integrally with the output shaft. The driving gear 81 meshes with the intermediate gear 82A. The driving gear 81 and the intermediate gear 82A are bevel gears. The intermediate gear 82A and the intermediate gear 82B are fixed to one end side (+Y side) and the other end side (-Y side) of an intermediate shaft 84 extending in the Y-axis direction, and rotate integrally with the intermediate shaft 84. Both ends of the intermediate shaft 84 are rotatably supported on the frame 54 via bearings. The intermediate gear 82B is a spur gear and meshes with the sector gear 83. The sector gear 83 is rotatably mounted on the rotating shaft 86 via a bearing 83A. The sector gear 83 can rotate around the rotating shaft 86 regardless of the rotation of the rotating shaft 86 (that is, the rotation of the base end pulley 56A). The sector gear 83 is a gear having teeth formed only in a portion of the circumference, and meshes with the intermediate gear 82B only in the range where the teeth are formed. Figure 8In the embodiment, teeth are formed on the outer peripheral surface of the sector gear 83 from the +Z side to the -X side, and no teeth are formed on the +X side and -Z side. The movable finger 56 (holding member 58) is fixed to the sector gear 83 via a connecting member 83B.

[0089] Fig.10 1 is an explanatory diagram for explaining the opening and closing of the movable finger 56 by the first actuator 51. When the output shaft of the first actuator 51 rotates, the drive gear 81 rotates, and the intermediate gear 82A (see FIG. 1 ) meshing with the drive gear 81 rotates. Figure 8 ) rotates. Through the rotation of the intermediate gear 82A, the intermediate gear 82A, the intermediate shaft 84 and the intermediate gear 82B rotate as a whole. When the intermediate gear 82B rotates counterclockwise, the fan gear 83 meshing with the intermediate gear 82B rotates clockwise. The connecting component 83B and the retaining component 58 rotate clockwise with the fan gear 83 around the rotating shaft 86. As a result, the front end pulley 56B of the movable finger 56 moves in a circular arc orbit in the -X direction separated from the fixed finger 55, and the pair of fingers 5B are in an open state. In the open state, the front end pulley 56B of the movable finger 56 is separated from the front end pulley 55B of the fixed finger 55.

[0090] When the first actuator 51 is rotated in the opposite direction and the intermediate gear 82B rotates in the clockwise direction, the sector gear 83 rotates in the counterclockwise direction. As a result, the connecting component 83B and the movable finger 56 rotate in the counterclockwise direction with the sector gear 83 around the rotating shaft 86. As a result, the front end of the movable finger 56 moves in an arc track toward the +X direction close to the fixed finger 55, and the pair of fingers 5B is in a closed state. In the closed state of the pair of fingers 5B, the front end pulleys 55B and 56B of the pair of fingers 5B are close to each other. That is, in the closed state, the front end pulley 56B is in contact with the front end pulley 55B, or is non-contacted and arranged at a position separated by a small gap.

[0091] like Figure 8 As shown, the second transmission unit 53B has a drive gear 91A, an intermediate gear 92A, an intermediate gear 93A, and an output gear 94A corresponding to the second actuator 52A. In addition, the second transmission unit 53B has a drive gear 91B, an intermediate gear 92B, an intermediate gear 93B, and an output gear 94B corresponding to the second actuator 52B (see Fig. 9 ).

[0092] The driving gear 91A is mounted on the output shaft of the second actuator 52A and rotates integrally with the output shaft. The driving gear 91A meshes with the intermediate gear 92A. The driving gear 91A and the intermediate gear 92A are bevel gears. The intermediate gear 92A and the intermediate gear 93A are fixed to the other end side (-Y side) and one end side (+Y side) of the intermediate shaft 95A extending in the Y-axis direction, and rotate integrally with the intermediate shaft 95A. Both ends of the intermediate shaft 95A are rotatably supported on the frame 54 via bearings. The intermediate gear 93A is a spur gear and meshes with the output gear 94A which is a spur gear. The output gear 94A is mounted on the rotating shaft 85. The output gear 94A rotates integrally with the rotating shaft 85. Therefore, the output gear 94A rotates together with the rotating shaft 85 and the base end pulley 55A.

[0093] like Fig. 9 As shown, when the output shaft of the second actuator 52A rotates, the drive gear 91A rotates, and the intermediate gear 92A (refer to Figure 8 ) rotates. By the rotation of the intermediate gear 92A, the intermediate gear 92A, the intermediate shaft 95A and the intermediate gear 93A rotate together. When the intermediate gear 93A rotates, the output gear 94A meshing with the intermediate gear 93A rotates. When the output gear 94A rotates, the output gear 94A, the rotating shaft 85 and the base end pulley 55A rotate together. The base end pulley 55A rotates, thereby the endless belt 55C rotates in a circular manner. The front end pulley 55B rotates following the rotation of the endless belt 55C. Fig. 9 When the intermediate gear 93A rotates clockwise, the output gear 94A and the base end pulley 55A rotate counterclockwise, and the endless belt 55C also rotates counterclockwise. When the second actuator 52 is rotated in the opposite direction and the intermediate gear 93A rotates counterclockwise, the output gear 94A and the base end pulley 55A rotate clockwise, and the endless belt 55C also rotates clockwise.

[0094] The structure of the second actuator 52B side of the second transmission part 53B is the same as the structure of the second actuator 52A side. The drive gear 91B is mounted on the output shaft of the second actuator 52B and rotates integrally with the output shaft. The drive gear 91B meshes with the intermediate gear 92B. The drive gear 91B and the intermediate gear 92B are bevel gears. The intermediate gear 92B and the intermediate gear 93B are fixed to the other end side (-Y side) and one end side (+Y side) of the intermediate shaft 95B extending in the Y-axis direction. Both ends of the intermediate shaft 95B are rotatably supported on the frame 54 via bearings. The intermediate gear 93B is a spur gear and meshes with the output gear 94B which is a spur gear. The output gear 94B is mounted on the rotating shaft 86. The output gear 94B rotates integrally with the rotating shaft 86. Therefore, the output gear 94B rotates together with the rotating shaft 86 and the base end pulley 56A.

[0095] like Fig. 9 As shown, when the rotating shaft of the second actuator 52B rotates, the driving gear 91B rotates, and the intermediate gear 92B meshing with the driving gear 91B rotates. Through the rotation of the intermediate gear 92B, the intermediate gear 92B, the intermediate shaft 95B and the intermediate gear 93B rotate together. When the intermediate gear 93B rotates, the output gear 94B meshing with the intermediate gear 93B rotates. When the output gear 94B rotates, the output gear 94B, the rotating shaft 86 and the base end pulley 56A rotate together. The base end pulley 56A rotates, thereby causing the endless belt 56C to rotate in a circular motion. The front end pulley 56B rotates following the rotation of the endless belt 56C. Fig. 9 When the intermediate gear 93B rotates clockwise, the output gear 94B and the base end pulley 56A rotate counterclockwise, and the endless belt 56C also rotates counterclockwise. When the second actuator 52 is rotated in the opposite direction and the intermediate gear 93B rotates counterclockwise, the output gear 94B and the base end pulley 56A rotate clockwise, and the endless belt 56C also rotates clockwise.

[0096] The gripping unit 5 brings the pair of fingers 5B in the open state into contact with the cloth 100 from above, and brings the pair of fingers 5B into the closed state while in contact with the cloth 100, so that the cloth 100 can be sandwiched between the pair of fingers 5B. Fig.11 1 is an explanatory diagram showing a pair of fingers 5B in a state of sandwiching the cloth 100. The fixed fingers 55 and the movable fingers 56 in the open state come close to each other in the X direction in the closed state, so that the cloth 100 is bent into a convex shape between the fixed fingers 55 and the movable fingers 56. The cloth 100 bent into a convex shape is sandwiched between the endless belt 55C of the fixed fingers 55 and the endless belt 56C of the movable fingers 56.

[0097] like Fig.11 As shown, the endless belts 55C and 56C are in contact with the fabric 100 in the range from the position on the circumference of the front end pulleys (55B and 56B) to the position between the front end pulleys (55B and 56B) and the base end pulleys (55A and 56A). That is, the endless belts 55C and 56C in the closed state are closest to each other at the position P1 on the circumference of the front end pulleys (55B and 56B), and sandwich the fabric 100 bent into a convex shape. A loop LP of the fabric 100 is formed on the base end side (+Z side) relative to the position P1. In the present embodiment, the endless belts 55C and 56C are in contact with the fabric 100 not only at the position P1, but also at a portion of the loop LP of the fabric 100. As a result, at Fig.11In the example, the endless belt 55C contacts the cloth 100 in the range from the position P1 to the position P2A between the front pulley 55B and the base pulley 55A. In addition, the endless belt 56C contacts the cloth 100 in the range from the position P1 to the position P2B between the front pulley 56B and the base pulley 56A. In this way, the pair of fingers 5B can contact the cloth 100 not only at the position P1 on the circumference of the front pulleys (55B, 56B) but also at a position away from the front pulleys (55B, 56B), so the contact area with the cloth 100 becomes larger. By increasing the contact area with the cloth 100, it is possible to suppress the displacement of the cloth 100 in the gripping state and the falling due to the weight of the cloth 100.

[0098] From the viewpoint of increasing the contact area with the cloth 100, it is preferred that the gap between the ring belt 55C and the ring belt 56C of the ring LP portion of the cloth 100 is small. This is because the smaller the gap, the easier it is for the ring LP to contact the ring belts 55C and 56C, and the larger the contact area. Therefore, in the present embodiment, it is preferred that the angle θ (refer to Fig. 9 ) is an acute angle. It can be considered that the angle θ formed by the pair of fingers 5B is the angle formed by the -X side surface of the annular belt 55C and the +X side surface of the annular belt 56C. The angle θ formed by the pair of fingers 5B is more preferably less than 60 degrees, and further preferably less than 45 degrees. Fig. 9 In the example of , the angle θ formed by the pair of fingers 5B is approximately 30 degrees.

[0099] In addition, in this embodiment, the holding component 5 is Fig.11 In the state where the cloth 100 is held in this manner, the endless belts 55C and 56C can be driven to perform a feeding operation of the cloth 100. Thus, the end portion ED of the cloth 100 can be positioned.

[0100] exist Fig.11 In the state of , the endless belts 55C and 56C are cyclically rotated, for example, in the clockwise direction by the second actuators 52A and 52B. The portion of the cloth 100 in contact with the endless belt 55C of the fixed finger 55 is fed to between the pair of fingers 5B (the portion of the loop LP). The portion of the cloth 100 in contact with the endless belt 56C of the movable finger 56 is fed out from between the pair of fingers 5B. By continuing the cyclic rotation of the endless belts 55C and 56C, the end ED of the cloth 100 in the +X direction passes through the position P1. Fig.12 The diagram shows a state where the end ED of the cloth 100 is disposed between the pair of fingers 5B. If the rotation direction of the endless belts 55C and 56C is reversed (counterclockwise), the end (not shown) of the cloth 100 in the -X direction can be moved between the pair of fingers 5B.

[0101] In this embodiment, the control device 17 can detect the end ED of the cloth 100 in a state of being clamped by the pair of fingers 5B. Fig.11 In this way, while the cloth 100 having the loop LP formed thereon is held, two pieces of cloth 100 are sandwiched between the pair of fingers 5B (position P1). Fig.12 In this way, when the loop LP is removed and the end ED is held, only one piece of cloth 100 is sandwiched between the pair of fingers 5B. Fig.11 , the thickness of the clamped object (cloth 100) is halved during the rotational drive of the endless belts 55C and 56C. Therefore, at the moment when the end ED of the cloth 100 reaches the position P1 (that is, the moment when the loop LP is eliminated), the torque of the second actuators 52A and 52B is reduced in a stepwise manner. Based on the change in this torque, the end ED of the cloth 100 can be detected.

[0102] Therefore, the control device 17 (gripping unit control unit 17D) drives the second actuator 52 while the cloth 100 is clamped between the pair of fingers 5B that are set to the closed state by the first actuator 51, and detects the end ED of the cloth 100 in the state of being clamped by the pair of fingers 5B based on the torque generated by the second actuator 52. By detecting the end ED, it is possible to accurately perform an operation such as positioning the end ED of the cloth 100 without the camera 14 or in cooperation with the camera 14.

[0103] [Operation example]

[0104] Fig.13 This is a flowchart showing control of the operating device HA according to the embodiment. Fig.14 This is a diagram for explaining the flow of the operation of the operating device HA. Here, as an example of the operation, the operation of gripping the cloth 100 placed on the top plate 3, detecting the end ED of the cloth 100, and conveying it to the working position on the top plate 3 is explained. The control device 17 controls the robot manipulator 4 (4A) in the operating device HA through the robot control unit 17C. The control device 17 controls the gripping unit 5 in the operating device HA through the gripping unit control unit 17D.

[0105] like Fig.13 , Fig.14As shown, the robot control unit 17C controls the first robot manipulator 4A so that the gripping unit 5 is arranged at a position above the cloth 100 on the top plate 3 (step S1). At this time, the gripping unit control unit 17D sets the pair of fingers 5B to the open state through the first actuator 51 (step S21). The gripping unit control unit 17D sets the pair of fingers 5B to the open state by rotating the movable finger 56 to a predetermined angle set in advance. The robot control unit 17C controls the posture of the gripping unit 5 through the first robot manipulator 4A so that the tip positions of the pair of fingers 5B in the open state are parallel to the top plate 3 (cloth 100). The angle at which the tip positions of the pair of fingers 5B are parallel to the top plate 3 (cloth 100) varies depending on the rotation angle of the movable finger 56. The gripping unit 5 is in a posture with the Z axis slightly tilted from the up-down direction so that the tip positions of the pair of fingers 5B are parallel to the top plate 3 (cloth 100).

[0106] The robot control unit 17C controls the first robot manipulator 4A so that the gripping unit 5 is lowered from the position above the cloth 100 (step S2). The robot control unit 17C detects the contact between the pair of fingers 5B of the gripping unit 5 and the cloth 100 based on the detection signal of the force sensor 16. When the robot control unit 17C detects the contact between the pair of fingers 5B and the cloth 100, it controls the first robot manipulator 4A so that the cloth 100 is pressed with a preset pressing force and the pressing force is maintained. As a result, the tips of the pair of fingers 5B contact the cloth 100, respectively, and the pressing force required to generate sufficient frictional force is applied to the cloth 100.

[0107] Next, the robot control unit 17C outputs a closing command to the gripping component control unit 17D (step S3). The gripping component control unit 17D controls the first actuator 51 in a manner that sets the pair of fingers 5B to a closed state in accordance with the closing command (step S22). In addition, the robot control unit 17C performs the following control: as the movable finger 56 rotates, the inclination angle of the gripping component 5 is corrected by the first robot manipulator 4A (step S4). Specifically, the robot control unit 17C corrects the inclination angle of the gripping component 5 in accordance with the rotation angle of the movable finger 56 based on the detection signal of the force sensor 16, so as to maintain the pressing force of the fixed finger 55 and the movable finger 56. The movable finger 56 rotates to the closed position, so that the gripping component 5 is closed. Fig.11 As shown, a loop LP is formed in this way and the cloth 100 is sandwiched between the pair of fingers 5B.

[0108] When the pair of fingers 5B is in the closed state, the gripping unit control unit 17D outputs the completion information of the closing operation to the robot control unit 17C (step S23). In addition, the gripping unit control unit 17D controls the first actuator 51 so as to maintain the torque of the first actuator 51 constant while the pair of fingers 5B is in the closed state. In other words, the force (clamping force) of sandwiching the cloth 100 by the pair of fingers 5B is maintained at a predetermined value.

[0109] When the robot control unit 17C receives the completion information, it controls the first robot manipulator 4A so that the gripping unit 5 is raised to a position away from the top plate 3 (step S5). Thus, the gripping unit 5 gripping the cloth 100 lifts the gripping portion of the cloth 100. When the gripping unit 5 is raised to a predetermined position, the robot control unit 17C outputs a belt rotation instruction to the gripping unit control unit 17D (step S6).

[0110] The gripping unit control unit 17D controls the second actuators 52A and 52B in a manner that drives the endless belts 55C and 56C to cyclically rotate while clamping the cloth 100 according to the belt rotation command (step S24). The rotation direction of the endless belts 55C and 56C is preset, for example, according to the gripping position of the cloth 100. Fig.12 As shown, the gripping assembly control unit 17D drives the second actuators 52A and 52B until the end ED of the cloth 100 reaches the position P1 between the endless belts 55C and 56C in the closed state (see Fig.14 Then, the gripping unit control unit 17D detects the end ED of the cloth 100 in a state of being clamped by the pair of fingers 5B based on the torque generated by the second actuators 52A and 52B.

[0111] When the end ED of the cloth 100 is detected, the gripping unit control unit 17D outputs belt rotation completion information to the robot control unit 17C (step S25 ). Then, the gripping unit control unit 17D stops the rotation of the endless belts 55C and 56C by the second actuators 52A and 52B.

[0112] When receiving the completion information, the robot control unit 17C controls the first robot manipulator 4A in such a manner that the holding unit 5 moves from above the holding position (the placement position of the cloth 100) to the conveying position (for example, the sewing operation position) (step S7). As a result, the cloth 100 is conveyed to the next operation position. When the robot control unit 17C moves the holding unit 5 to above the conveying position, the holding unit 5 is lowered until the reaction force caused by the contact between the fixed finger 55 and the top plate 3 is detected by the force sensor 16 (step S8). In addition, the movement to the conveying position and the lowering action can be performed simultaneously. As a result, the end portion on the opposite side to the end portion ED held by the holding unit 5 can be arranged at the placement start position on the top plate 3, and the cloth 100 can be placed flat at the conveying position. In addition, by moving the holding unit 5 in the horizontal direction while lowering, the cloth 100 can be placed on the top plate 3 while being folded. The position where the contact between the fixing finger 55 and the top plate 3 is finally detected is the position where the end ED of the cloth 100 is arranged.

[0113] When the robot control unit 17C detects the reaction force caused by the contact between the pair of fingers 5B and the top plate 3 through the force sensor 16, it outputs an opening command to the gripping unit control unit 17D (step S9). The gripping unit control unit 17D controls the first actuator 51 in a manner to set the pair of fingers 5B to the open state according to the opening command (step S26). At this time, the gripping unit control unit 17D may also rotate the endless belt 56C so that the cloth 100 does not shift with the rotation of the movable fingers 56. The pair of fingers 5B are switched from the closed state to the open state, so that the grip of the cloth 100 is released and the cloth 100 is arranged at the conveying position on the top plate 3.

[0114] When the gripping unit control unit 17D sets the pair of fingers 5B to the open state, it sends the completion information of the opening action to the robot control unit 17C and ends the control (step S27). When the robot control unit 17C receives the completion information, it ends the control. Although detailed description is omitted, for example, the robot control unit 17C and the gripping unit control unit 17D return the first robot manipulator 4A and the gripping unit 5 to the initial position and initial state for the next operation, respectively.

[0115] As described above, an example of the operation of the operating device HA (the first robot manipulator 4A, the gripping unit 5) is completed. In the sewing device 1, the control device 17 controls the second robot manipulator 4B and the feeding unit 6 and the third robot manipulator 4C and the sewing machine unit 7, for example, so that the cloth 100 prepared by the previous process of the operating device HA is sewn.

[0116] [Effect]

[0117] As described above, in the embodiment, the operating device HA comprises: a robot manipulator 4; and a holding assembly 5, which is mounted on the robot manipulator 4 and has a pair of fingers 5B that can be opened and closed and a first actuator 51 that causes the pair of fingers 5B to perform opening and closing actions, the pair of fingers 5B respectively include: a base end pulley (55A, 56A) and a front end pulley (55B, 56B), which are arranged at the base end and the front end of the finger; and an annular belt (55C, 56C), which is mounted on the base end pulley (55A, 56A) and the front end pulley (55B, 56B), and the outer surface of which constitutes a contact surface with the cloth 100, and the holding assembly 5 has a second actuator 52 that drives the annular belt (55C, 56C) to rotate.

[0118] According to the embodiment, the cloth 100 can be fed by driving the respective endless belts (55C, 56C) of the pair of fingers 5B while the cloth 100 is clamped by the pair of fingers 5B. Thus, a fine movement close to a manual operation in which an operator slides his fingertips to finely adjust the position of the cloth 100 while the operator is clamping the cloth 100 with his fingers can be performed. Thus, an operation close to a manual operation performed by an operator can be realized using the robot manipulator 4.

[0119] The pair of fingers 5B of the operating device HA includes a fixed finger 55 whose position is fixed and a movable finger 56 that moves toward and away from the fixed finger 55 by the first actuator 51. Thus, the fixed finger 55 (equivalent to the first finger) and the movable finger 56 (equivalent to the second finger) enable the operator to pinch the cloth 100 by pressing the cloth 100 with the first finger (thumb) and bringing the cloth 100 closer to the first finger with the second finger (index finger).

[0120] The second actuators 52 are provided on the pair of fingers 5B, respectively. Thus, the endless belt 55C and the endless belt 56C can be driven independently. Various feeding operations can be performed while the cloth 100 is clamped.

[0121] When the pair of fingers 5B are in the closed state, the front pulleys 55B and 56B of the pair of fingers 5B approach each other, and the endless belts 55C and 56C contact the cloth 100 in the range from the position P1 on the circumference of the front pulleys 55B and 56B to the positions P2A and P2B between the front pulleys 55B and 56B and the base pulleys 55A and 56A. Thus, the cloth 100 can be contacted even at a position away from the outer circumference of the front pulleys (55B and 56B). For example, in the case where the contact surface with the cloth 100 is formed by a rotating roller, the surface that can contact the cloth 100 is limited to the outer circumference of the rotating roller, so it is necessary to increase the diameter of the rotating roller in order to increase the contact area. In this case, the size of the front end of the finger becomes large, and the operator cannot perform delicate work with his fingers. However, in this embodiment, the contact area can be ensured as described above, so the diameter of the front pulleys 55B and 56B can be reduced accordingly. As a result, the tip portions of the pair of fingers 5B can be made thinner, and delicate work such as that performed by the operator can be performed.

[0122] When the pair of fingers 5B are closed, the angle θ formed by the pair of fingers 5B is an acute angle. As a result, the gap between the endless belt 55C and the endless belt 56C in the closed state becomes smaller, thereby increasing the contact area between the loop LP formed when clamping the cloth 100 and the endless belts 55C and 56C.

[0123] The operating device HA further includes a control device 17 for controlling the first actuator 51 and the second actuator 52. The control device 17 drives the second actuator 52 in a state where the cloth 100 is clamped between the pair of fingers 5B set to a closed state by the first actuator 51, and detects the end ED of the cloth 100 in a state clamped by the pair of fingers 5B based on the torque generated by the second actuator 52. Thus, the position of the end ED of the cloth 100 can be controlled in a state where the cloth 100 is clamped by the pair of fingers 5B. Therefore, more various operation operations such as positioning of the end ED can be performed.

[0124] [Second embodiment]

[0125] In the following description, the same reference numerals are given to the same or equivalent components as those of the first embodiment, and the description of the components is simplified or omitted.

[0126] Fig.15 1 is a perspective view showing a grip assembly 5 of an operating device HA according to a second embodiment. Fig.15In the figure, for convenience, a part of the frame 54 (the -Y direction side) is indicated by a two-dot chain line. In the second embodiment, in addition to the first actuator 51 and the second actuators 52A and 52B, the operating device HA further includes a third actuator 110 that moves at least one of the pair of fingers 5B in the Y-axis direction along the rotation axis of the front pulleys (55B and 56B).

[0127] exist Fig.15 In the example of , the fixed finger 55 as one of the pair of fingers 5B is movable in the Y-axis direction. The gripping assembly 5 has a movable holding portion 120 mounted on the frame 54 in a manner that allows it to move in the Y-axis direction. The third actuator 110 generates a driving force that moves the movable holding portion 120 in the Y-axis direction. The fixed finger 55 is provided on the movable holding portion 120, and the movable finger 56 is provided on the frame 54. Thus, when the third actuator 110 moves the movable holding portion 120 in the Y-axis direction, the fixed finger 55 moves in the Y-axis direction along with the movement of the movable holding portion 120 in the Y-axis direction. The movable finger 56 is provided on the frame 54 and therefore cannot move in the Y-axis direction.

[0128] Fig.16 1 is a perspective view showing the third actuator 110 and the movable holding part 120. A guide shaft 121 extending in the Y-axis direction is provided on the frame 54. The movable holding part 120 has a slider 122 slidably mounted on the guide shaft 121. The movable holding part 120 can move only in the Y-axis direction through a plurality of guide shafts 121, and the movement in other axial directions and the rotational direction is restricted. The third actuator 110 is fixed to the upper part of the frame 54 with the output shaft facing the X-axis direction. A pinion 123 is mounted on the output shaft of the third actuator 110. In addition, a rack 124 meshing with the pinion 123 of the third actuator 110 is provided on the movable holding part 120. The third actuator 110 rotates the pinion 123, so that the movable holding part 120 is fed and moved in the Y-axis direction via the rack 124.

[0129] like Fig.15 As shown, the fixed finger 55 (the front end pulley 55B, the base end pulley 55A, the endless belt 55C) and the second actuator 52A are mounted on the movable holding portion 120. The fixed finger 55 and the second actuator 52A move along the Y-axis direction together with the movable holding portion 120. Thus, the gripping assembly 5 can move the fixed finger 55 relative to the movable finger 56 in the Y-axis direction while the cloth 100 is held in the closed state of the pair of fingers 5B.

[0130] Fig.17 1 is a schematic diagram of a state where a pair of fingers 5B clamp the cloth 100 as viewed from the +X direction side toward the -X direction. Fig.17As shown in the figure, when the cloth 100 is pinched and clamped by the pair of fingers 5B, the portion 101 of the clamped cloth 100 that contacts the endless belt 55C of the fixed finger 55 and the portion 102 that contacts the endless belt 56C of the movable finger 56 may be misaligned in the Y-axis direction. In this case, the fixed finger 55 is moved in the Y-axis direction by the third actuator 110, so that the portion 101 and the portion 102 of the clamped cloth 100 can be slid and aligned.

[0131] Fig.18 2 is a schematic cross-sectional view showing a fixed finger 55 and a movable finger 56 of the operating device HA of the second embodiment. Fig.18 As shown, in the second embodiment, when the pair of fingers 5B are in the closed state, the front end pulleys (55B, 56B) of the pair of fingers 5B approach each other in the opening and closing direction, and the base end pulleys (55A, 56A) of the pair of fingers 5B approach each other in the opening and closing direction. The opening and closing direction of the pair of fingers 5B can be regarded as the X-axis direction.

[0132] exist Fig.18 In the example shown, the fixed finger 55 has a front pulley 55B, a base pulley 55A and a driving pulley 131. The base pulley 55A is arranged at a position close to the +Z direction relative to the front pulley 55B. The surface of the movable finger 56 side (-X direction side) of the endless belt 55C mounted on the base pulley 55A and the front pulley 55B extends linearly in the Z-axis direction. A transmission belt 132 is mounted on the base pulley 55A and the driving pulley 131. The driving pulley 131 is driven to rotate by the second actuator 52A. The base pulley 55A is rotated via the transmission belt 132 by the rotation of the driving pulley 131, and the endless belt 55C and the front pulley 55B rotate along with the rotation of the base pulley 55A.

[0133] The movable finger 56 has a front end pulley 56B, a base end pulley 56A, and drive pulleys 133 and 134. The base end pulley 56A is arranged in the +Z direction relative to the front end pulley 56B. The endless belt 56C is mounted on the base end pulley 56A, the front end pulley 56B, and the drive pulley 134. The surface of the endless belt 56C on the fixed finger 55 side (+X direction side) extends linearly in the Z-axis direction between the base end pulley 56A and the front end pulley 56B. A transmission belt 135 is mounted on the drive pulley 133 and the drive pulley 134. The second actuator 52B drives the drive pulley 133 to rotate. The drive pulley 134 is rotated via the transmission belt 135 by the rotation of the drive pulley 133. With the rotation of the drive pulley 134, the base end pulley 56A, the front end pulley 56B, and the endless belt 56C rotate.

[0134] exist Fig.18In the (closed state), the interval between the base pulley 55A and the base pulley 56A in the opening and closing direction (X-axis direction) and the interval between the front pulley 55B and the front pulley 56B in the opening and closing direction (X-axis direction) are substantially equal in size CL. Therefore, the opposing surfaces of the endless belt 55C and the endless belt 56C are close to each other and are substantially parallel. As a result, when the cloth 100 is clamped by the pair of fingers 5B, the loop LP of the cloth 100 can be reliably clamped between the endless belt 55C and the endless belt 56C at a position closer to the +Z direction than the front pulleys 55B and 56B.

[0135] In addition, Fig.18 In the example shown, the first actuator 51 drives the driving pulley 136 to rotate via the driving gear 81 and the intermediate gear 82A mounted on the output shaft. The driving pulley 136 is connected to a pulley (not shown) provided on the rotating shaft 86 via a transmission belt 137. The rotating shaft 86 is connected to the holding member 58 (see Fig.15 ) rotates as a whole. A front end pulley 56B and a base end pulley 56A are rotatably mounted on the holding member 58. The first actuator 51 rotates the rotating shaft 86 via the transmission belt 137, whereby the holding member 58 rotates around the rotating shaft 86. By the rotation of the holding member 58, the front end pulley 56B and the base end pulley 56A move in the +X direction and the -X direction along an arc track with the rotating shaft 86 as the center. Thus, the first actuator 51 opens and closes the movable finger 56.

[0136] [Effect]

[0137] As described above, in the second embodiment, when the pair of fingers 5B are in the closed state, the front end pulleys (55B, 56B) of the pair of fingers 5B are close to each other in the opening and closing direction, and the base end pulleys (55A, 56A) of the pair of fingers 5B are close to each other in the opening and closing direction. Thus, when the pair of fingers 5B are in the closed state, the opposing surfaces of the base end pulley 55A and the base end pulley 56A are made substantially parallel and close to each other. Thus, the contact area between the cloth 100 clamped by the pair of fingers 5B and the endless belts 55C and 56C can be effectively increased.

[0138] The operating device HA further includes a third actuator 110 that moves at least one of the pair of fingers 5B (fixed finger 55) in the direction (Y-axis direction) along the rotation axis of the front pulleys (55B, 56B). Thus, one finger (fixed finger 55) can be moved relative to the other finger (movable finger 56) in the Y-axis direction while the cloth 100 is held in the closed state of the pair of fingers 5B. Thus, the pair of fingers 5B can be used to perform an operation in which the operator slides the fingertips to correct the misalignment of the cloth 100 in the Y-axis direction. Therefore, the operation that can be performed by the operating device HA can be closer to manual operation.

[0139] [Other embodiments]

[0140] In the above-mentioned embodiment, an example is shown in which the fixed finger 55 and the movable finger 56 are provided, but both of the pair of fingers 5B may be movable fingers. In addition, when the fixed finger 55 and the movable finger 56 are provided, the finger in the +X direction may be the movable finger 56, and the finger in the -X direction may be the fixed finger 55. An example is shown in which the movable finger 56 is opened and closed by rotating the holding member 58, but the movable finger 56 may be translated in the opening and closing direction (X direction).

[0141] In the above-described embodiment, an example is shown in which two second actuators 52A and 52B are provided to rotate the endless belts 55C and 56C. However, one second actuator 52 may rotate both the endless belts 55C and 56C.

[0142] In the above-mentioned embodiment, an example is shown in which the first actuator 51 and the second actuator 52 (52A, 52B) are arranged on the frame 54 in a manner such that the output shaft faces the -Z direction, but the first actuator 51 and the second actuator 52 (52A, 52B) may also be arranged in a manner such that the output shaft faces the Y-axis direction.

Claims

1. An operating device for operating a cloth, wherein: The operating device comprises: Robotic manipulator; as well as a gripping assembly mounted on the robot manipulator and comprising a pair of fingers capable of opening and closing and a first actuator for causing the pair of fingers to perform an opening and closing action, The pair of fingers respectively include: a base end pulley and a front end pulley, which are arranged at the base end and the front end of the finger; and an endless belt, which is mounted on the base end pulley and the front end pulley, and the outer surface of which constitutes a contact surface with the cloth. The holding assembly has a second actuator for driving the endless belt to rotate.

2. The operating device according to claim 1, characterized in that: The pair of fingers includes a fixed finger whose position is fixed and a movable finger that approaches and separates from the fixed finger by the first actuator.

3. The operating device according to claim 1, characterized in that: The second actuators are respectively disposed on the pair of fingers.

4. The operating device according to any one of claims 1 to 3, characterized in that: In the closed state of the pair of fingers, the front end pulleys of the pair of fingers are close to each other, The endless belt contacts the cloth in a range from a position on the circumference of the front end pulley to a position between the front end pulley and the base end pulley.

5. The operating device according to claim 4, characterized in that: When the pair of fingers are in a closed state, the angle formed by the annular bands of each of the pair of fingers is an acute angle.

6. The operating device according to any one of claims 1 to 3, characterized in that: further comprising a control device for controlling the first actuator and the second actuator, The control device driving the second actuator in a state where the cloth is sandwiched between the pair of fingers that are set to a closed state by the first actuator, Based on the torque generated by the second actuator, the end portion of the cloth is detected in a state of being clamped by the pair of fingers.

7. The operating device according to claim 4, characterized in that: In the closed state of the pair of fingers, the front end pulleys of the pair of fingers approach each other in the opening and closing direction, and the base end pulleys of the pair of fingers approach each other in the opening and closing direction.

8. The operating device according to any one of claims 1 to 3, characterized in that: A third actuator is further provided for moving at least one of the pair of fingers in a direction along the rotation axis of the front end pulley.

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