Holding device

Abstract

We provide technology that allows for a firm grip on the workpiece. [Solution] The gripping device comprises a gripping unit for gripping a workpiece, a power supply, and a control unit. The gripping unit is equipped with an electromagnet that becomes magnetized when power is supplied from the power supply. The control unit turns on the power supply from the power supply to the electromagnet when the gripping unit grips a workpiece.

Description

Technical Field

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[0001] The technology disclosed in this specification relates to a gripping device.

Background Art

[0002] Patent Document 1 discloses a gripping device including a gripping portion for gripping a workpiece.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] In the gripping device of Patent Document 1, when the gripping force of the gripping portion is weak, the workpiece may fall off from the gripping portion when the workpiece is gripped. Therefore, this specification provides a technology capable of firmly gripping a workpiece.

Means for Solving the Problems

[0005] In a first aspect of this technology, the gripping device includes a gripping portion for gripping a workpiece, a power source, and a control portion. The gripping portion includes an electromagnet that magnetizes when energization from the power source is turned on. The control portion turns on the energization from the power source to the electromagnet when the gripping portion grips the workpiece.

[0006] According to this configuration, when the gripping portion grips the workpiece, the workpiece can be firmly gripped by the magnetic force of the electromagnet.

[0007] In a second embodiment, the gripping device may further include a magnetic sensor for measuring the magnetic force of the workpiece to be gripped. The control unit may control the amount of current supplied from the power supply to the electromagnet according to the magnitude of the magnetic force measured by the magnetic sensor. With this configuration, the workpiece can be gripped with appropriate strength according to the magnetic force of the workpiece.

[0008] In a third embodiment, in the first or second embodiment described above, the control unit may reduce the amount of current supplied from the power supply to the electromagnet when the gripping unit reaches a predetermined position. With this configuration, the workpiece can be easily released when the gripping unit releases the workpiece it is gripping.

[0009] In the fourth embodiment, in any one of the first to third embodiments described above, the power source may be a solar power generation device. [Brief explanation of the drawing]

[0010] [Figure 1] A schematic perspective view showing the robot system of the embodiment. [Figure 2] A schematic top view showing the robot system of the embodiment. [Figure 3] A schematic side view showing a part of the robot system of the embodiment. [Figure 4] A schematic side view showing a part of the robot system of the modified example 1. [Figure 5] A schematic side view showing a part of the robot system of the modified example 2. [Modes for carrying out the invention]

[0011] The robot system 2 of the embodiment will be described with reference to the drawings. As shown in Figure 1, the robot system 2 of the embodiment comprises a mobile platform 30, a work robot 10 mounted on the mobile platform 30, and a solar power generation device 90 mounted on the mobile platform 30 at a different position from the work robot 10. Furthermore, as shown in Figure 2, the robot system 2 also comprises a first housing box 4 and a second housing box 6 located at a distance from the mobile platform 30.

[0012] As shown in Figure 1, the mobile platform 30 comprises a main body 32 and a plurality of wheels 34 attached to the main body 32. The mobile platform 30 is configured to be movable in multiple directions by having a plurality of wheels 34. The plurality of wheels 34 are attached to the lower part of the main body 32. The mobile platform 30 is movable in multiple directions, for example, on a floor. In a modified example, the mobile platform 30 may be movable on rails along rails. The mobile platform 30 can be moved manually or automatically.

[0013] The main body 32 of the mobile platform 30 is configured, for example, in a box shape. The main body 32 has an upper surface 36 on which the work robot 10 and the solar power generation device 90 are mounted. The main body 32 supports the work robot 10 and the solar power generation device 90. The main body 32 is made of, for example, an aluminum alloy.

[0014] The work robot 10 is fixed to the upper surface 36 of the mobile platform 30. The mounting position of the work robot 10 on the upper surface 36 of the mobile platform 30 can be set as appropriate. The work robot 10 is, for example, a multi-joint robot equipped with a movable arm 18. The work robot 10 can grasp a workpiece W with the movable arm 18. The work robot 10 can also move the workpiece W while grasping it. For example, the work robot 10 can grasp a workpiece W housed in a first storage box 4 and move it to a second storage box 6. The workpiece W is made of magnetic material, at least in part.

[0015] The work robot 10 operates using power supplied from, for example, a solar power generation device 90. In a modified example, the work robot 10 may also operate using power supplied from a power source other than the solar power generation device 90. The power source for the work robot 10 is not particularly limited.

[0016] The configuration of the work robot 10 is not particularly limited. For example, the work robot 10 includes a base end 12, a movable arm 18, a camera 80 (see Figure 3), and a control unit 100.

[0017] The base end 12 of the work robot 10 is fixed to the upper surface 36 of the mobile platform 30. The movable arm 18 of the work robot 10 comprises a first part 13, a second part 14, a tip 15, and a gripping part 16.

[0018] The first portion 13 of the movable arm 18 is connected to the base end 12. The first portion 13 is configured to be rotatable relative to the base end 12. The first portion 13 rotates, for example, around one or more axes. The second portion 14 is connected to the first portion 13. The second portion 14 is configured to be rotatable relative to the first portion 13. The second portion 14 rotates, for example, around one or more axes. The tip portion 15 is connected to the second portion 14. The tip portion 15 is configured to be rotatable relative to the second portion 14. The tip portion 15 rotates, for example, around one or more axes.

[0019] As shown in Figure 3, the tip 15 of the movable arm 18 is equipped with a power supply 20 that supplies power to an electromagnet 62, which will be described later. The gripping portion 16 of the movable arm 18 is connected to the tip 15. The gripping portion 16 is configured to grip the workpiece W to be worked on. The gripping portion 16 is equipped with, for example, a plurality of claw members, and the workpiece W is gripped by the plurality of claw members moving closer together or further apart. The gripping portion 16 is sometimes called a chuck.

[0020] The holding part 16 includes a main body 60 and an electromagnet 62 disposed inside the main body 60. The main body 60 is made of a magnetic material. The main body 60 is made of a material containing iron, for example. When the electromagnet 62 disposed inside the main body 60 is magnetized, the main body 60 is magnetized accordingly. In a modified example, the main body 60 may be made of a non-magnetic material.

[0021] The electromagnet 62 is magnetized by energization. The electromagnet 62 is electrically connected to the power source 20 and is magnetized by the power supply from the power source 20. The electromagnet 62 is magnetized when the power source 20 is turned on and demagnetized when the power source 20 is turned off. The electromagnet 62 includes, for example, a coil and a core. The arrangement position of the power source 20 is not particularly limited. In a modified example, the power source for supplying power to the electromagnet 62 may be a solar power generation device 90. The power source of the electromagnet 62 is not particularly limited.

[0022] A camera 80 is attached to the tip 15 of the movable arm 18. The camera 80 can image the workpiece W held by the holding part 16. The camera 80 acquires an image of the workpiece W by imaging the workpiece W. The camera 80 acquires a still image and / or a moving image of the workpiece W.

[0023] The control unit 100 of the work robot 10 includes, for example, a CPU or the like, and executes various controls and processes related to the work robot 10 based on a predetermined program. The control unit 100 is disposed, for example, inside the main body 32 of the moving base 30.

[0024] The control unit 100 can switch the power supply to the electromagnet 62 from the power supply 20 on and off. For example, the control unit 100 switches the power supply to the electromagnet 62 on and off by switching the power supply 20 on and off. The timing of switching the power supply to the electromagnet 62 on and off can be changed as appropriate. For example, the control unit 100 turns on the power supply to the electromagnet 62 when the work robot 10 grips the workpiece W with the gripping unit 16. The control unit 100 turns on the power supply to the electromagnet 62 when the gripping unit 16 approaches the workpiece W. The control unit 100 also turns off the power supply to the electromagnet 62 when the work robot 10 releases the workpiece W that it is gripping with the gripping unit 16.

[0025] Next, the first storage box 4 and the second storage box 6 in which the workpieces W are housed will be described. As shown in Figure 2, the first storage box 4 and the second storage box 6 are each capable of housing multiple workpieces W. The first storage box 4 and the second storage box 6 are each positioned at a distance from the mobile table 30. The first storage box 4 and the second storage box 6 are positioned on opposite sides of the mobile table 30. In a modified example, the first storage box 4 and the second storage box 6 may be positioned on the same side with respect to the mobile table 30. In another modified example, the first storage box 4 and the second storage box 6 may be mounted on the mobile table 30. For example, the first storage box 4 and the second storage box 6 may be fixed to the upper surface 36 of the mobile table 30.

[0026] Next, the operation of the robot system 2 of the embodiment will be described. In robot system 2, the working robot 10 grasps the workpiece W housed in the first storage box 4 (see Figure 3). The working robot 10 grasps the workpiece W by appropriately moving the parts 13, 14, 15, and 16 of the movable arm 18. At this time, the control unit 100 turns on the power supply from the power supply 20 to the electromagnet 62, thereby magnetizing the electromagnet 62. As a result, the workpiece W is attracted to the gripping part 16.

[0027] Next, the camera 80 of the work robot 10 images the workpiece W being held by the gripping unit 16. The camera 80 acquires an image of the workpiece W by imaging it. The image information of the workpiece W acquired by the camera 80 is transmitted to the control unit 100, for example, by wireless communication or wired communication.

[0028] Next, the work robot 10 moves the workpiece W, which is being held by the gripping part 16, from the first storage box 4 to the second storage box 6. Then, the work robot 10 places the workpiece W into the second storage box 6 by releasing it from the gripping part 16. The work robot 10 places the workpiece W into the second storage box 6 by appropriately moving the parts 13, 14, 15, and 16 of the movable arm 18. At this time, the control unit 100 turns off the power supply from the power supply 20 to the electromagnet 62, causing the electromagnet 62 to become unmagnetized. As a result, the workpiece W is no longer attracted to the gripping part 16.

[0029] (effect) The robot system 2 of the embodiment has been described above. As is clear from the above description, the working robot 10 of the embodiment (an example of a gripping device) comprises a gripping unit 16 for gripping a workpiece W, a power supply 20, and a control unit 100. The gripping unit 16 is equipped with an electromagnet 62 that becomes magnetized when power is supplied from the power supply 20. The control unit 100 turns on the power supply from the power supply 20 to the electromagnet 62 when the gripping unit 16 grips the workpiece W. As a result, the electromagnet 62 becomes magnetized, and the workpiece W is attracted to the gripping unit 16. With this configuration, when the gripping unit 16 grips the workpiece W, the workpiece W can be firmly gripped by the magnetic force of the electromagnet 62.

[0030] (Variation 1) The mounting position of the electromagnet 62 on the gripping portion 16 is not particularly limited. In a modified example, as shown in Figure 4, the electromagnet 62 may be mounted on the side of the main body 60 of the gripping portion 16.

[0031] (Modification 2) As shown in Figure 5, the gripping portion 16 may be equipped with a magnetic sensor 64. The magnetic sensor 64 is attached, for example, to the lower end of the main body 60 of the gripping portion 16. In a modified example, the magnetic sensor 64 may be located inside the main body 60 of the gripping portion 16. The position of the magnetic sensor 64 is not particularly limited. The magnetic sensor 64 measures the magnetic force of the workpiece W to be gripped. The magnetic sensor 64 may include, for example, a coil, a Hall element, a magnetoresistive element, a magnetoimpedance element, a GSR sensor, a Wiegant wire, a fluxgate sensor, an optical pumping atomic magnetic sensor, a magneto-optical element, a Tesla meter, or a Gauss meter. The configuration of the magnetic sensor 64 is not particularly limited.

[0032] The control unit 100 of the work robot 10 may control the amount of current supplied from the power supply 20 to the electromagnet 62 according to the magnitude of the magnetic force measured by the magnetic sensor 64. The control unit 100 may set the amount of current supplied to the electromagnet 62 to be relatively small when the magnetic force of the workpiece W measured by the magnetic sensor 64 is relatively large, and set the amount of current supplied to the electromagnet 62 to be relatively large when the magnetic force of the workpiece W measured by the magnetic sensor 64 is relatively small. With this configuration, the workpiece W can be gripped with appropriate strength according to the magnetic force of the workpiece W. In other modifications, the magnetic sensor 64 may be attached to the tip 15 of the movable arm 18.

[0033] (Variation 3) The control unit 100 may reduce the amount of current supplied from the power supply 20 to the electromagnet 62 when the gripping portion 16 of the movable arm 18 reaches a predetermined position. For example, the control unit 100 may reduce the amount of current supplied from the power supply 20 to the electromagnet 62 to a predetermined amount when the gripping portion 16 of the movable arm 18 reaches the second housing box 6. The predetermined amount is, for example, an amount of current supplied that does not cause the workpiece W to be gripped to be attracted to the gripping portion 16. With this configuration, the workpiece W can be easily released when the gripping portion 16 releases it.

[0034] Although specific examples of the present invention have been described in detail above, these are merely illustrative and do not limit the scope of the claims. The technologies described in the claims include various modifications and changes to the specific examples illustrated above. The technical elements described in this specification or drawings exhibit technical usefulness individually or in various combinations, and are not limited to the combinations described in the claims at the time of filing. Furthermore, the technologies illustrated in this specification or drawings can achieve multiple objectives simultaneously, and achieving even one of these objectives itself constitutes technical usefulness. [Explanation of symbols]

[0035] 2: Robot system, 4: First housing box, 6: Second housing box, 10: Working robot, 15: Tip section, 16: Gripping section, 18: Movable arm, 20: Power supply, 30: Mobile platform, 60: Main body, 62: Electromagnet, 64: Magnetic sensor, 80: Camera, 90: Solar power generation device, 100: Control unit, W: Workpiece

Claims

1. A gripping part that holds the workpiece, Power supply and A gripping device comprising a control unit, The gripping portion is equipped with an electromagnet that becomes magnetized when power is supplied from the power source. The gripping device comprises a control unit that turns on the power supply from the power source to the electromagnet when the gripping unit grips a workpiece.

2. A gripping device according to claim 1, It is further equipped with a magnetic sensor that measures the magnetic force of the workpiece to be gripped, The gripping device, wherein the control unit controls the amount of current supplied from the power supply to the electromagnet according to the magnitude of the magnetic force measured by the magnetic sensor.

3. A gripping device according to claim 1 or 2, The control unit reduces the amount of current supplied from the power source to the electromagnet when the gripping portion reaches a predetermined position, providing a gripping device.

4. A gripping device according to claim 1 or 2, The aforementioned power source is a solar power generation device, which is a gripping device.

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