Work system and connection structure

Abstract

To improve cleanliness at the time of work by a robot using an end effector.SOLUTION: A grip system 1 includes a hand unit 31 (end effector) and a drive mechanism 300. The hand unit 31 is used in work by a multi-joint robot 30. The drive mechanism 300 is held by the multi-joint robot 30 and drives the hand unit 31. The drive mechanism 300 and the hand unit 31 are arranged at positions deviated from each other in a horizontal direction.SELECTED DRAWING: Figure 3

Description

Technical Field

[0001] The present invention relates to a work system and a connection structure.

Background Art

[0002] In recent years, the introduction of robots has been promoted in various fields. In addition to the field of manufacturing industrial products where robots have been conventionally used, for example, the introduction of robots has also been promoted in fields such as food plating. Also, an example of technology related to such a plating robot is disclosed in Patent Document 1.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] In a system that performs an operation of gripping an object by a robot, since the hand performs an opening / closing operation or the like, the robot is provided with a mechanical structure for moving the hand. In such a mechanical structure, generally, a lubricant is used, or mechanical parts such as gears and rotating shafts are used. However, there is a possibility that the lubricant scatters or drips from the part where the lubricant is used, or foreign matters such as metal pieces fall from mechanical parts such as gears and rotating shafts. When such a situation occurs, foreign matters such as lubricants and metal pieces will be mixed into the object, resulting in problems in quality control. In particular, when the object gripped by the robot requires high hygiene management such as food, it is required to more reliably avoid the mixing of foreign matters. Note that such a situation is not limited to the case where the object is food, but is common to all fields where robots perform grasping, such as the industrial field, etc., and is common not only to hands but also to all end effectors installed on robots. That is, in the conventional technology, there is still room for improvement from the viewpoint of cleanliness when a robot performs work using an end effector.

[0005] An object of the present invention is to improve the cleanliness when a robot performs work using an end effector.

Means for Solving the Problems

[0006] To solve the above problems, a work system according to an embodiment of the present invention includes an end effector used for work by a robot, and a drive mechanism that is held by the robot and drives the end effector, and is characterized in that the drive mechanism and the end effector are arranged at positions shifted in the horizontal direction.

Effects of the Invention

[0007] According to the present invention, it is possible to improve the cleanliness when a robot performs work using an end effector.

Brief Description of the Drawings

[0008]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Figure 8

Figure 9

Mode for Carrying Out the Invention

[0009] Hereinafter, embodiments of the present invention will be described with reference to the drawings. [Embodiment] [Configuration] FIG. 1 and FIG. 2 are schematic diagrams showing the overall configuration of the gripping system 1 according to the present invention. FIG. 1 is a perspective view showing a state in which a plurality of gripping systems 1 are arranged side by side, and FIG. 2 is an enlarged perspective view of the main part of the gripping system 1. The gripping system 1 in the present embodiment represents an embodiment of the work system according to the present invention, and assumes that the present invention is applied to a system for loading materials. In the following description, a case where the gripping system 1 grips ingredients such as vegetables as an object and loads this ingredient into an individual vegetable container will be described as an example. Note that the loading into this individual vegetable container is merely an example, and the present embodiment can also be applied to other uses, for example, individually loading each of a plurality of vegetables into corresponding regions of a lunch box container. Further, in the following description, the weight of the ingredient to be loaded will be described as an example, but the present invention can be applied to various physical quantities such as volume, bulk, mass, etc., other than weight.

[0010] As shown in FIGS. 1 and 2, the gripping system 1 includes an ingredient storage unit 10, a container supply unit 20, an articulated robot 30, a control device 40, and a shielding unit 50. A belt conveyor 2 for automatically transporting the vegetable containers is installed adjacent to the gripping system 1.

[0011] The ingredient storage unit 10 has a storage space for storing ingredients such as vegetables to be served in the gripping system 1. This storage space may be constituted by, for example, the ingredient storage unit 10 itself, or may be constituted by a general-purpose container such as a large vat or tray that can be installed in the ingredient storage unit 10. And in this storage space, for example, mashed salads such as potato salad (salads containing viscous or sticky ingredients), okara, shredded daikon radish, namasu, hijiki, boiled beans, butter corn and other vegetables are stored. In the present embodiment, it is assumed that the ingredient storage unit 10 stores a plurality of servings (for example, dozens to hundreds of servings) of one type of ingredient. And by a plurality of gripping systems 1 serving the ingredients such as vegetables into the corresponding vegetable containers, the serving work of the vegetables can be completed. The storage space of the ingredient storage unit 10 can be manually replaced by an operator or automatically replaced by the articulated robot 30.

[0012] The container supply unit 20 supplies a vegetable container to a predetermined position (the serving position P1 in FIG. 2) where the ingredients are served in the gripping system 1. The container supply unit 20 stores a plurality of vegetable containers, and when the gripping system 1 starts operating, the containers are supplied to the serving position P1 one by one. Also, a weight sensor 21 for measuring the weight of the vegetable container is installed at the serving position P1, and when the ingredients are served at the serving position P1, the weight of the served ingredients (that is, the increased weight due to serving) is measured. The weight data measured at this time is output to the control device 40. And when the weight measurement is completed, the vegetable container is carried out to the belt conveyor 2 by the extrusion mechanism provided in the container supply unit 20.

[0013] The multi-joint robot 30 is composed of, for example, a horizontal multi-joint robot or a vertical multi-joint robot, etc., and includes a hand unit 31 (end effector) capable of gripping the ingredients to be installed, and a robot arm 32 that moves the hand unit 31 to an arbitrary position within the movable range. In addition, in the joint that holds the hand unit 31 of the multi-joint robot 30, as an example of means for acquiring the physical quantity of the ingredient gripped by the hand unit 31 by the gripping member 31A, a weight sensor for measuring the weight of the gripped ingredient is installed. Also, in the joint that holds the hand unit 31 of the multi-joint robot 30, as an example of means for detecting that the hand unit 31 has come into contact with the ingredient, a force sensor for measuring the reaction force from the contacted ingredient (including the force sense obtained by contacting the surface) is installed. The data of the weight of the ingredient measured by the weight sensor (that is, the weight of the gripped ingredient) and the data of the reaction force from the ingredient measured by the force sensor (that is, the detection result of the contact with the ingredient) are output to the control device 40.

[0014] Furthermore, the joint that holds the hand unit 31 is provided with an axis for rotating the hand unit 31 in the twisting direction with respect to the robot arm 32. Therefore, when the hand unit 31 grips the ingredient, by changing the orientation of the hand unit 31, the direction in which the hand unit 31 opens and closes can be adjusted. As a result, when the hand unit 31 reaches near the inner wall surface of the container, it is possible to change the orientation of the hand unit 31 so that the hand unit 31 opens and closes in a direction parallel to the inner wall surface of the accommodation space, making it easier to grip the ingredient near the inner wall surface of the container.

[0015] Figure 3 is a schematic diagram (perspective view) showing the drive mechanism 300 of the hand unit 31. Also, Figure 4 is a schematic diagram of the drive mechanism 300 of the hand unit 31 viewed from the side. As shown in FIGS. 3 and 4, the drive mechanism 300 of the hand unit 31 includes a housing 301, a slide rail 302, sliders 303 and 304, an actuator 305, a front cover member 306, and a lower cover member 307. In FIGS. 3 and 4, for the sake of convenience of explanation, the front cover member 306 is shown in a transparent manner and indicated by a dashed line. Further, FIG. 3 shows a state in which a cover 100 (described later) that is optionally provided is attached to the gripping member 31A. The housing 301 houses the slide rail 302 and the sliders 303 and 304. An opening 301a extending over substantially the entire longitudinal direction is formed in the surface (front surface in FIG. 3) of the housing 301 where the hand unit 31 is installed. As will be described later, the hand unit 31 and the sliders 303 and 304 connected through the opening 301a are movable in the longitudinal direction of the housing 301. Since the opening 301a is formed not on the lower surface but on the front surface (one side surface), it is easy to visually check the inside of the housing 301 during maintenance or the like, and the work efficiency can be improved.

[0016] The slide rail 302 is a guide member installed in the housing 301 along the longitudinal direction of the housing 301. The sliders 303 and 304 are slidably engaged with the slide rail 302, and the sliders 303 and 304 are guided by the slide rail 302 and move in the longitudinal direction (horizontal direction) of the housing 301. A lubricant (such as grease) for reducing friction is applied between the slide rail 302 and the sliders 303 and 304.

[0017] Sliders 303 and 304 are engaged with the slide rail 302 and are moved along the slide rail 302 by the actuator 305. Further, the upper end portions of the gripping members 31A (the upper end portions of the plate-like portions b1 of the base material portion B1 described later) are fixed to the sliders 303 and 304, respectively. In the present embodiment, the slider 303 and the slider 304 are moved in opposite directions by the actuator 305. When the actuator 305 moves the sliders 303 and 304 in the approaching direction, the pair of gripping members 31A connected to the slider 303 and the slider 304 closes, and an operation of gripping an object is performed. Further, when the actuator 305 moves the sliders 303 and 304 in the separating direction, the pair of gripping members 31A connected to the slider 303 and the slider 304 opens, and an operation of releasing the object is performed.

[0018] Further, as will be described later, the gripping members 31A fixed to the sliders 303 and 304 are arranged at positions offset forward with respect to the housing 301 of the drive mechanism 300. Therefore, as shown in FIG. 4, the region vertically below the drive mechanism 300 (the first region) and the region vertically below the gripping member 31A (the second region) do not overlap.

[0019] The actuator 305 is constituted by a drive device such as a pneumatic actuator, for example, and moves the sliders 303 and 304 along the slide rail 302. The front cover member 306 is installed on the front side of the housing 301 and covers the entire opening 301a of the housing 301 without interfering with the opening and closing operation of the gripping member 31A. That is, the front cover member 306 is installed so as to face the opening 301a on the front side (the side opposite to the sliders 303 and 304 across the upper end portion of the gripping member 31A) from the portion of the gripping member 31A fixed to the sliders 303 and 304. In the present embodiment, the front cover member 306 is configured to surround the front, upper, and side surfaces with a plate-like member. Since the front cover member 306 covers the front surface of the housing 301, foreign matters such as lubricant applied to the slide rail 302 or metal pieces generated by a part of the sliders 303 and 304 being chipped off and discharged forward from the inside of the housing 301 can be received by the front cover member 306. Therefore, when the hand unit 31 performs an operation involving a gripping motion, the possibility of foreign matters such as lubricant and metal pieces being mixed into the object can be reduced. Further, by installing the front cover member 306, when the hand unit 31 performs a gripping or releasing operation, it is possible to prevent the situation where the bounced food ingredients or the like enter and adhere to the area of the movable parts of the drive mechanism 300 (for example, the slide rail 302 and the sliders 303 and 304).

[0020] The lower cover member 307 is a member that closes the lower part of the space between the opening 301a and the upper end portion of the gripping member 31A (the upper end portion of the plate-like portion b1 of the base material portion B1 described later), and is configured in a box shape with an open upper surface. The lower cover member 307 receives foreign matter that falls from the opening 301a below the drive mechanism 300. Note that the lower cover member 307 is installed along the operation path of the gripping member 31A, and since it does not enter the operation path of the gripping member 31A, it is configured not to interfere with the opening and closing operation of the hand unit 31. In addition to the front cover member 306, by installing the lower cover member 307, the possibility of foreign matter falling from the drive mechanism 300 being mixed into the object can be further reduced. Further, by installing the lower cover member 307, when the hand unit 31 performs a gripping or releasing operation, it is possible to prevent the situation where the bounced food ingredients or the like enter and adhere to the area of the movable parts of the drive mechanism 300 (for example, the slide rails 302 and the sliders 303, 304).

[0021] FIG. 5 is a schematic diagram showing an example of the shape of the gripping member 31A installed in the hand unit 31. FIG. 6 is a partially enlarged view of the detaching mechanism 32a of the robot arm 32 and the detaching mechanism 31a of the hand unit 31, and FIG. 7 is an exploded view of the detaching mechanism 32a of the robot arm 32 and the hand unit 31. In FIGS. 5 to 7, only one of the pair of gripping members 31A used is shown. In FIG. 5, for convenience of explanation, the movable piece 401 (described later) of the lock mechanism 400 is shown in perspective and indicated by a broken line.

[0022] As shown in FIGS. 5 to 7, the gripping member 31A according to the present invention includes a base material portion 310 made of a plate-like member with a flat tip (that is, a flat plate having a linear edge at the tip), side plates 320L and 320R provided on the left and right side portions of the base material portion 310, and a top surface portion 330 provided at the upper end of the base material portion 310. Also, as shown by the dashed line in FIG. 5, a flexible cover 100 made of a resin such as high impact polystyrene or polyvinyl chloride is attached to the gripping member 31A in the present embodiment. The cover 100 is attached so as to cover the entire gripping member 31A of the hand unit 31 from a hygienic perspective when handling food or the like, and prevents the gripping member 31A from coming into contact with an object such as food. However, it is also possible not to attach the cover 100 to the gripping member 31A. Whether or not to attach the cover 100 to the gripping member 31A can be appropriately determined according to the characteristics of the object and the like.

[0023] The top surface portion 330 of the gripping member 31A is provided with a fixing portion 331 for fixing a cover 100 that covers the gripping member 31A. By covering the gripping member 31A with the cover 100 and fixing the cover 100 to the fixing portion 331 with a fixing member (a stopper 316a described later), the gripping member 31A can be protected from being soiled by an object or the like, and the gripping member 31A can be kept clean by replacing the cover 100. In addition, by attaching the cover 100, it is possible to prevent a situation where a part of the gripping member 31A (for example, chipped resin or the like) is mixed into the object.

[0024] Also, a structure (detaching and attaching mechanism 31a) for the robot arm 32 to support the gripping member 31A is formed on the top surface portion 330 of the gripping member 31A. The detaching and attaching mechanism 31a is connected to a detaching and attaching mechanism 32a installed at the tip of the robot arm 32, thereby fixing the hand unit 31 to the robot arm 32. In the present embodiment, when the hand unit 31 is fixed to the robot arm 32, a locking mechanism 400 (described later) for fixing the detaching and attaching mechanism 31a and the detaching and attaching mechanism 32a in a connected state is locked.

[0025] The detaching mechanism 31a of the hand unit 31 includes a base member 313a having two insertion holes 311a and 312a installed according to the interval between the rods 321a and 322a, a protrusion 314a with which the cover 100 is engaged, a pedestal portion 315a where the protrusion 314a is installed, and a stopper 316a fitted into the protrusion 314a. The protrusion 314a, the pedestal portion 315a, and the stopper 316a constitute a fixing portion 331 for fixing the cover 100. The pedestal portion 315a is made of a molded resin or the like. In the present embodiment, the stopper 316a is made of a molded resin or the like. Note that a metal member is used for any part of the stopper 316a. Therefore, even if the stopper 316a drops into food or the like, it can be detected by the metal detector inspection performed before shipment.

[0026] The detaching mechanism 32a of the robot arm 32 includes two rods 321a and 322a arranged at a predetermined interval, a base member 323a on which these rods 321a and 322a are installed and which moves in the gripping direction and the opening direction during the gripping operation, and a locking mechanism 400 for fixing the detaching mechanism 31a and the detaching mechanism 32a in a connected state.

[0027] The rods 321a and 322a are made to have a length approximately equal to the insertion holes 311a and 312a formed in the detachment mechanism 31a of the hand unit 31. When the detachment mechanisms 31a and 32a are connected, the rods 321a and 322a are respectively inserted into the insertion holes 311a and 312a, and the relative movement between the robot arm 32 and the hand unit 31 is restricted in the direction intersecting the axes of the rods 321a and 322a. Also, since one end of each of the rods 321a and 322a is fixed to the base member 323a, when the detachment mechanisms 31a and 32a are connected, in the direction of the end fixed to the base member 323a in the axial direction of the rods 321a and 322a, the detachment mechanisms 31a and 32a abut against each other, resulting in a structure where the hand unit 31 does not detach from the robot arm 32. Further, in the direction of the tips of the rods 321a and 322a, a locking mechanism 400 that can be fixed in a state where the detachment mechanism 31a and the detachment mechanism 32a are connected is installed. In the state where the locking mechanism 400 is locked, the detachment mechanism 31a and the detachment mechanism 32a (locking mechanism 400) abut against each other, resulting in a structure where the hand unit 31 does not detach from the robot arm 32. On the other hand, in the state where the locking mechanism 400 is not locked (unlocked state), the detachment mechanism 31a and the detachment mechanism 32a (locking mechanism 400) do not abut against each other, and the rods 321a and 322a can freely come out of the insertion holes 311a and 312a, resulting in a structure where the hand unit 31 can be detached from the robot arm 32.

[0028] The base member 323a includes a base material B1 for connecting the hand unit 31 to the robot arm 32, and a bracket B2 that is fixed to the base material B1 and supports the rods 321a and 322a.

[0029] The base material B1 includes a plate-shaped portion b1 disposed along the vertical direction and a plate-shaped portion b2 disposed along the horizontal direction from the lower end of the plate-shaped portion b1. The upper end portion of the plate-shaped portion b1 (base material B1) is connected to a drive mechanism 300 for opening and closing a pair of hand units 31. In response to the drive mechanism 300 being opened and closed by an actuator, the hand unit 31 connected to the base member 323a moves in a direction approaching and separating from the opposing hand unit 31. The plate-shaped portion b2 has a bracket B2 installed on the lower surface side and a locking mechanism 400 at the tip. When the detachment mechanism 32a of the robot arm 32 and the detachment mechanism 31a of the hand unit 31 are connected, at the tip of the plate-shaped portion b2, the locking mechanism 400 restricts the detachment of the detachment mechanism 31a and enters a locked state.

[0030] The bracket B2 includes a plate-shaped portion b3 disposed along the horizontal direction and a plate-shaped portion b4 disposed along the vertical direction from one end of the plate-shaped portion b3. The plate-shaped portion b3 is fixed to the lower surface of the plate-shaped portion b2 of the base material B1, and the end portion of the plate-shaped portion b3 opposite to the end where the plate-shaped portion b4 is located is arranged at the same position (the position where the end faces coincide) as the end portion of the plate-shaped portion b2 of the base material B1. Rods 321a and 322a are installed side by side at a predetermined interval in the horizontal direction on the plate-shaped portion b4. By inserting the rods 321a and 322a into the insertion holes 311a and 312a of the detachment mechanism 31a, the hand unit 31 is installed on the bracket B2 (base member 323a).

[0031] The locking mechanism 400 is installed at the tip of the base material B1 (plate-shaped part b2) in the base member 323a. The locking mechanism 400 fixes (locks) the detaching mechanism 31a of the hand unit 31 and the detaching mechanism 32a of the robot arm 32 in a connected state. Further, when the locking mechanism 400 releases the lock, the detaching mechanism 31a of the hand unit 31 can be detached from the detaching mechanism 32a of the robot arm 32. In the present embodiment, when the connection between the detaching mechanism 31a of the hand unit 31 and the detaching mechanism 32a of the robot arm 32 is locked, the stopper 316a of the hand unit 31 can also be locked (the stopper 316a is fixed to the hand unit 31).

[0032] Thereby, the operator can fix the hand unit 31 in a state of being connected to the robot arm 32 by the operation of locking the locking mechanism 400, and can also fix the stopper 316a of the hand unit 31 in a state of not being detached from the hand unit 31. Further, by the operation of releasing the lock of the locking mechanism 400, the hand unit 31 can be detached from the robot arm 32, and the stopper 316a can be switched to a state of being detachable from the hand unit 31. Therefore, the efficiency of the work of replacing the hand unit 31 and the work of replacing the cover 100 of the hand unit 31 by the operator can be improved. That is, the efficiency of the work of gripping an object by the robot can be improved. Further, when replacing the hand unit 31, since the hand unit 31 can be replaced by a detaching / attaching operation to the front side without passing below the drive mechanism 300, it is possible to prevent a situation where foreign matters such as lubricant dropped from the drive mechanism 300 adhere to the hand unit 31 during the replacement work.

[0033] FIG. 8 is a schematic diagram showing the configuration of the locking mechanism 400. As shown in FIG. 8, the locking mechanism 400 includes a movable piece 401, a rotating shaft 402, and stoppers 403 and 404. The movable piece 401 is configured to be rotatable about the rotation axis 402, and by being rotated by an operator, it can switch between a locked state (fixed state) and an unlocked state (released state). In the locked state, when the movable piece 401 abuts against the base member 313a, the movement of the rods 321a and 322a in the direction of coming out of the insertion holes 311a and 312a is restricted, and the detachment mechanism 31a of the hand unit 31 and the detachment mechanism 32a of the robot arm 32 are fixed (locked) in a connected state. In the unlocked state, the movable piece 401 is retracted to a position where it does not abut against the base member 313a, the rods 321a and 322a can be freely inserted into the insertion holes 311a and 312a, or the rods 321a and 322a can be freely removed from the insertion holes 311a and 312a.

[0034] As described above, when the locking mechanism 400 locks the connection between the detachment mechanism 31a of the hand unit 31 and the detachment mechanism 32a of the robot arm 32, the stopper 316a of the hand unit 31 can also be locked (the stopper 316a is fixed to the hand unit 31). That is, the locking mechanism 400 can fix the stopper 316a of the hand unit 31 in the posture in the locked state and release the fixing of the stopper 316a of the hand unit 31 in the posture in the unlocked state by changing the posture of the movable piece 401 in the locked state and the unlocked state.

[0035] Also, in the locked state, the movable piece 401 is restricted from rotating (rotating clockwise in FIG. 8) more than the position in the locked state by abutting against the stopper 403. Similarly, in the unlocked state, the movable piece 401 is restricted from rotating (rotating counterclockwise in FIG. 8) more than the position in the unlocked state by abutting against the stopper 404. Note that a protrusion is provided on the sliding surface of the movable piece 401 with the end face of the plate-like portion b2. By forming a concave portion in the portion of the plate-like portion b2 where the protrusion is located in the locked state and the portion of the plate-like portion b2 where the protrusion is located in the unlocked state, etc., when the operator rotates the movable piece 401, a click feeling can be formed in which the movable piece 401 stops at a predetermined position (hereinafter referred to as a "tactile structure").

[0036] The rotation shaft 402 is a member that serves as a rotation shaft installed at the tip of the base material B1 (plate-like portion b2) in the base member 323a, and supports the movable piece 401 so as to be rotatable in a vertical plane at the tip of the plate-like portion b2. The stopper 403 abuts on a predetermined portion of the movable piece 401 in the locked state and restricts the rotational movement of the movable piece 401 (for example, the right rotational movement about the rotation shaft 402). The stopper 404 abuts on another predetermined portion of the movable piece 401 in the unlocked state and restricts the rotational movement of the movable piece 401 (for example, the left rotational movement about the rotation shaft 402).

[0037] Returning to FIGS. 1 and 2, the control device 40 is constituted by an information processing device such as a PC (Personal Computer) or a programmable controller, and controls the entire gripping system 1 by executing various programs. For example, the control device 40 controls operations such as the operation of the container supply unit 20 to supply a container, and the operation of the articulated robot 30 to grip ingredients from the ingredient storage unit 10 and release them into the vegetable container to serve the ingredients. More specifically, for example, the control device 40 controls the driving of the robot arm 32 to move the hand unit 31 to a preset predetermined position at a predetermined route and speed, and controls the driving of the actuator of the hand unit 31 to realize operations such as gripping and releasing the ingredients by the gripping member 31A.

[0038] In the gripping system 1, the shielding portion 50 is composed of a plate-like member that surrounds the areas where the ingredient storage section 10, the container supply section 20, and the articulated robot 30 are installed and encloses information. The plate-like member that constitutes the shielding portion 50 is made of a transparent material such as glass or resin, enabling the operating status of the gripping system 1 to be visually recognized from the outside. Also, a door that can be opened and closed is installed in a part of the side wall formed by the shielding portion 50. When replacing the storage space of the ingredient storage section 10, adding vegetable containers to the container supply section 20, or performing maintenance on the gripping system 1, etc., the operator can open the door of the shielding portion 50 to perform various operations.

[0039] [Function] With the above configuration, the gripping system 1 to which the present invention is applied can prevent the entry of foreign substances such as lubricants or metal pieces when the articulated robot 30 performs operations using the hand unit 31 (end effector). Specifically, as shown in FIGS. 3 to 7, the upper ends of the base materials B1 (plate-like parts b1) of the gripping members 31A are fixed to the sliders 303 and 304 of the drive mechanism 300. The plate-like part b1 of the base material B1 is fixed to the sliders 303 and 304 on one surface (the back surface in FIG. 3), and holds the gripping member 31A at the plate-like part b2 that extends forward from the opposite surface (the front surface in FIG. 3) and the bracket B2 installed on the lower surface of the plate-like part b2.

[0040] Therefore, the position of the gripping member 31A is offset to the front side from the position of the drive mechanism 300. That is, as shown in FIG. 4, the first region vertically below the drive mechanism 300 and the second region vertically below the gripping member 31A do not overlap. Therefore, even if foreign substances such as lubricants or metal pieces fall from the drive mechanism 300, the possibility of foreign substances entering the object located vertically below the gripping member 31A can be reduced.

[0041] FIG. 9 is a schematic diagram for explaining the action of preventing foreign substances from scattering or falling in the drive mechanism 300. As shown in FIG. 9, a front cover member 306 is provided at the opening 301a in the housing 301 of the drive mechanism 300, and can receive foreign matter discharged forward from the opening 301a. Also, a lower cover member 307 is installed below the space between the opening 301a of the drive mechanism 300 and the gripping member 31A (plate-like portion b1), and can receive foreign matter falling downward from the opening 301a below the drive mechanism 300. Therefore, it is possible to more reliably reduce the possibility of foreign matter such as lubricant and metal pieces from mixing into the object. Note that, by installing the front cover member 306 and the cover member 307, when the hand unit 31 performs a gripping or releasing operation, it is also possible to prevent the situation where the bounced food ingredients or the like enter and adhere to the area of the movable parts (for example, the slide rail 302 and the sliders 303, 304) of the drive mechanism 300.

[0042] Also, since the area directly below the drive mechanism 300 and the area directly below the gripping member 31A are offset, it is also possible to utilize such a feature to control the gripping operation. For example, it is possible to perform the operation while moving the ingredient storage unit 10 forward (performing the operation while sequentially switching the working area forward), performing the operation while moving the ingredient storage unit 10 laterally (performing the operation while sequentially switching the working area laterally), or performing a combination of these. That is, according to the gripping system 1 according to the present embodiment, it is possible to perform the target operation while restricting the opening and closing operation of the hand unit 31 from being performed above the unworked area where the operation of the object has not been completed.

[0043] [Modification 1] In the above-described embodiment, as a configuration for operating the hand unit 31, a configuration including the slide rail 302 and the sliders 303, 304 has been described as an example, but it is not limited thereto. For example, inside the housing 301, it can be configured to include a gear rotated by an actuator and a chain or toothed belt wound around the gear, and a gripping member 31A is connected to the toothed belt to perform an opening / closing operation. Alternatively, it can also be configured to include a pinion gear rotated by an actuator and a rack gear meshing with the pinion gear, and a gripping member 31A is connected to the rack gear to perform an opening / closing operation. That is, as a configuration for operating the hand unit 31, various methods can be adopted. Even when these methods are used, by applying the present invention, it is possible to improve the cleanliness when the robot performs work using the end effector.

[0044] [Configuration Example] As described above, the gripping system 1 in the present embodiment includes a hand unit 31 (end effector) and a drive mechanism 300. The hand unit 31 is used for the work by the multi-joint robot 30. The drive mechanism 300 is held by the multi-joint robot 30 and drives the hand unit 31. The drive mechanism 300 and the hand unit 31 are arranged at positions shifted in the horizontal direction. As a result, the hand unit 31 is in a state shifted in the horizontal direction without being located vertically below the position of the drive mechanism 300. Therefore, even if foreign matters such as lubricant or metal pieces drop from the drive mechanism 300, the possibility of foreign matters mixing into the work object located vertically below the hand unit 31 can be reduced. Therefore, the cleanliness when the robot performs work using the end effector can be improved.

[0045] The base member 323a of the hand unit 31 is interposed between the drive mechanism 300 and the hand unit 31 (gripping member 31A), and the hand unit 31 is arranged at a position shifted in the horizontal direction with respect to the drive mechanism 300. As a result, the position of the gripping member 31A of the hand unit 31 can be offset horizontally with respect to the drive mechanism 300.

[0046] The hand unit 31 moves with respect to the drive mechanism 300 while maintaining a state where its position is shifted horizontally with respect to the drive mechanism 300. As a result, operations such as gripping can be performed while the hand unit 31 maintains a state of being offset horizontally with respect to the drive mechanism 300.

[0047] The hand unit 31 performs an operation of approaching and separating a pair of gripping members 31A (working members), and the working area where the pair of gripping members 31A perform the operation of approaching and separating does not overlap with the lower area of the drive mechanism 300. As a result, operations can be performed without positioning the working area where gripping and releasing are performed in the gripping operation below the drive mechanism 300.

[0048] The drive mechanism 300 includes an opening 301a that communicates between the inside and the outside of the housing 301 of the drive mechanism 300. The base member 323a connects the hand unit 31 to the members inside the housing 301 through the opening 301a. As a result, the hand unit 31 outside the housing 301 can be driven by the actuator 305 installed inside the housing 301. Therefore, components that use lubricants and the like can be installed inside the housing 301 of the drive mechanism 300, and the possibility of foreign matter mixing into the work object can be reduced.

[0049] The drive mechanism 300 includes a slide rail 302 and sliders 303, 304. The slide rail 302 is arranged along the longitudinal direction inside the housing 301. The sliders 303, 304 are movable along the slide rail 302. The base member 323a is installed on the sliders 303, 304 through the opening 301a. As a result, the hand unit 31 disposed outside the housing 301 is connected to the slide rail 302 inside the housing 301, and can be moved along the slide rail 302.

[0050] The housing 301 is held by the articulated robot 30 on one side surface. The opening 301a is formed on the side surface opposite to the one side surface. As a result, in the drive mechanism 300, work can be performed on the work object on the side opposite to the side where the articulated robot 30 (robot arm 32) is located.

[0051] A lower cover member 307 (first cover member) is provided, which is disposed below the space between the opening 301a and the base member 323a and receives foreign matter falling from the opening 301a. As a result, when the operation of moving the gripping member 31A with respect to the housing 301 of the drive mechanism 300 is performed, the possibility of foreign matter such as lubricant and metal pieces being mixed into the work object can be reduced.

[0052] A front cover member 306 (second cover member) is provided, which is disposed opposite to the opening 301a with the base member 323a interposed therebetween. As a result, when the operation of moving the gripping member 31A with respect to the housing 301 of the drive mechanism 300 is performed, the possibility of foreign matter such as lubricant and metal pieces being mixed into the work object can be reduced.

[0053] The object in the work performed by the gripping system 1 is food. As a result, in the work of handling an object for which hygiene management is important, a cleaner state can be maintained.

[0054] Note that the above-described embodiments and modifications are examples of embodiments of the present invention, and various embodiments for realizing the functions of the present invention are included in the scope of the present invention. For example, in the above-described embodiments and modifications, the case where the present invention is applied to a gripping system for plating side dishes has been described as an example. However, the present invention can be applied to systems for gripping various objects. For example, the present invention can be applied to a system for gripping materials with high viscosity or adhesiveness, such as kneaded mortar, concrete, plaster, and clay. The present invention is suitable for gripping an object having a viscosity of medium viscosity or higher (5000 mPa·s) or higher at the working temperature or room temperature. Also, in the above-described embodiments and modifications, the case where the present invention is applied to a system for performing a gripping operation has been described as an example. However, the operations to which the present invention can be applied are not limited to the gripping operation. For example, when a robot executes operations such as scooping up an object, leveling an object, pushing an object, and processing an object using an end effector, the present invention can be applied. In addition, the present invention can be implemented by appropriately combining the forms described in the above-described embodiments and modifications.

[0055] The above embodiments show an example to which the present invention is applied and do not limit the technical scope of the present invention. That is, the present invention can be variously modified, such as omission and substitution, without departing from the gist of the present invention, and various embodiments other than the above embodiments can be adopted. Various embodiments and their modifications that the present invention can adopt are included in the invention described in the claims and its equivalent scope.

Description of Reference Numerals

[0056] 1 Gripping system, 2 Belt conveyor, 10 Material storage section, 20 Container supply section, 30 Articulated robot, 31 Hand unit, 31A Gripping member, 31a, 32a Detaching / attaching mechanism, 32 Robot arm, 40 Control device, 50 Shielding section, 100 Cover, 231a, 232a Rod, 300 Driving mechanism, 301 Housing, 301a Opening, 302 Slide rail, 303, 304 Slider, 305 Actuator, 306 Front cover member, 307 Lower cover member, 310 Base section, 311a, 312a Insertion hole, 313a Base member, 314a Protrusion, 315a Pedestal section, 316a, 403, 404 Stopper, 320L, 320R Side plate, 321a, 322a Rod, 323a Base member, 330 Top surface section, 331 Fixing section, 331a Protrusion, 400 Locking mechanism, 401 Movable piece, 402 Rotation shaft, B1, B2 Bracket, b1~b4 Plate-like section

Claims

1. An end effector used for work by a robot, a drive mechanism held by the robot and driving the end effector, comprising: The work system is characterized in that the drive mechanism and the end effector are arranged at positions shifted in the horizontal direction.

2. The work system according to claim 1, further comprising a connecting member interposed between the drive mechanism and the end effector and arranging the end effector at a position horizontally shifted with respect to the drive mechanism.

3. The work system according to claim 1 or 2, wherein the end effector maintains a state where the position is horizontally shifted with respect to the drive mechanism and moves with respect to the drive mechanism.

4. The end effector performs an operation in which a pair of working members approach and an operation in which they separate, and a work area where the pair of working members perform the approach and separation operations does not overlap with a lower area of the drive mechanism. The work system according to claim 1 or 2, characterized in that

5. The drive mechanism includes an opening that communicates between the inside and the outside of the housing of the drive mechanism, The work system according to claim 1 or 2, wherein the connecting member connects the end effector to a member inside the housing through the opening.

6. The drive mechanism is a slide rail arranged along the longitudinal direction inside the housing, a moving member movable along the slide rail, comprising: The work system according to claim 5, wherein the connecting member is installed on the moving member through the opening.

7. The housing is held by the robot on one side surface, The work system according to claim 5, wherein the opening is formed on a side surface opposite to the one side surface.

8. The work system according to claim 5, further comprising a first cover member arranged below a space between the opening and the connecting member and receiving foreign matter falling from the opening.

9. The work system according to claim 5, further comprising a second cover member arranged opposite to the opening with the connecting member interposed therebetween.

10. The work system according to claim 1 or 2, wherein the object in the work is food.

11. A connecting structure, characterized in that an end effector used for work by a robot and a drive mechanism that is held by the robot and drives the end effector are arranged and connected at positions shifted in the horizontal direction.

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