Working system and connection structure

Abstract

Improve cleanliness when the robot uses the end effector to perform tasks. [Solution] The gripping system 1 includes a hand unit 31 (end effector) and a drive mechanism 300. The hand unit 31 is used for work by the articulated robot 30. The drive mechanism 300 is held by the articulated robot 30 and drives the hand unit 31. The drive mechanism 300 and the hand unit 31 are disposed at positions offset from each other in the horizontal direction.

Description

[Technical field]

[0001] The present invention relates to a working system and a connecting structure. [Background technology]

[0002] In recent years, robots have been increasingly being introduced into various fields, including not only the field of industrial product manufacturing where robots have traditionally been used, but also fields such as plating food. Moreover, an example of technology relating to a robot that performs such plating is disclosed in Patent Document 1. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent Publication No. 2021-024026 Summary of the Invention [Problem to be solved by the invention]

[0004] In a system in which a robot performs a task of gripping an object, the hand performs opening and closing operations, and so on, so the robot is provided with a mechanical structure for moving the hand. Such mechanical structures generally include lubricants and mechanical components such as gears and rotating shafts. However, there is a possibility that the lubricant may scatter or drip from the parts where the lubricant is used, and that foreign matter such as metal pieces may fall from machine parts such as gears and rotating shafts. When such a situation occurs, foreign matter such as lubricants or metal pieces may become mixed into the target object, causing problems in terms of quality control. In particular, when the target object to be grasped by the robot is something that requires a high level of sanitation control, such as food, it is necessary to more reliably prevent the mixing of foreign matter. Furthermore, this situation is not limited to cases where the object is food, but is common to a wide variety of fields, such as industrial fields, where grasping is performed by robots, and is common to all end effectors installed on robots, not just hands. That is, in the conventional technology, there is still room for improvement in terms of cleanliness when a robot performs work using an end effector.

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

[0006] In order to solve the above problems, a work system according to an embodiment of the present invention comprises: an end effector used for performing work by the robot; a drive mechanism held by the robot and configured to drive the end effector; Equipped with The drive mechanism and the end effector are arranged at positions offset from each other in the horizontal direction. Effect of the Invention

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

[0008] [Figure 1] FIG. 1 is a perspective view showing a state in which a plurality of gripping systems 1 according to the present invention are arranged. [Diagram 2] 1 is an enlarged perspective view of a main part of a gripping system 1 according to the present invention. [Diagram 3] 2 is a schematic diagram (perspective view) showing a drive mechanism 300 of the hand unit 31. FIG. [Figure 4] 2 is a schematic diagram of a drive mechanism 300 of a hand unit 31 viewed from the side. FIG. [Diagram 5]3A to 3C are schematic diagrams showing examples of the shape of a gripping member 31A installed in a hand unit 31. [Figure 6] 3 is a partial enlarged view of a detachment mechanism 32a of the robot arm 32 and a detachment mechanism 31a of the hand unit 31. FIG. [Figure 7] 2 is an exploded view of the attachment / detachment mechanism 32a of the robot arm 32 and the hand unit 31. FIG. [Figure 8] 2 is a schematic diagram showing the configuration of a lock mechanism 400. FIG. [Figure 9] 13A and 13B are schematic diagrams illustrating the function of preventing foreign matter from scattering or falling in the driving mechanism 300. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0009] Hereinafter, an embodiment of the present invention will be described with reference to the drawings. [Embodiment] [composition] Figures 1 and 2 are schematic diagrams showing the overall configuration of a gripping system 1 according to the present invention, where Figure 1 is an oblique view showing multiple gripping systems 1 arranged in a row, and Figure 2 is an enlarged oblique view of the main parts of the gripping system 1. The gripping system 1 in this embodiment represents one embodiment of the working system according to the present invention, and is intended to be applied to a system for plating ingredients. In the following description, an example will be given in which the gripping system 1 grips ingredients such as side dishes as objects and plates the ingredients in individual side dish containers. Note that plating individual side dishes in containers is merely an example, and this embodiment can also be applied to other uses, such as plating multiple side dishes individually in corresponding areas of a lunch box container. In the following description, weight will be used as an example of the amount of ingredients to be plated, but the present invention can be applied to physical quantities other than weight, such as volume, bulk, mass, and other various names.

[0010] 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. Adjacent to the gripping system 1, a belt conveyor 2 is installed to automatically transport containers of side dishes.

[0011] The ingredient storage unit 10 has a storage space for storing ingredients such as side dishes to be served by the gripping system 1. This storage space may be formed by the ingredient storage unit 10 itself, or may be formed by a general-purpose container such as a large tray or tray that can be installed in the ingredient storage unit 10. In addition, this storage space stores, for example, paste salads such as potato salad (salads containing ingredients with viscosity or stickiness), unohana (soybean pulp), kiriboshi daikon, namasu (pickled vegetables), hijiki (simmered beans), and buttered corn. In this embodiment, the ingredient storage unit 10 stores multiple servings (for example, tens to hundreds of servings) of one type of ingredient. Then, the multiple gripping systems 1 serve ingredients such as any of the side dishes in the corresponding containers of the side dishes, thereby completing the task of serving the side dishes. The storage space of the ingredient storage section 10 can be replaced manually by an operator or automatically by the articulated robot 30.

[0012] The container supply unit 20 supplies containers of side dishes to a predetermined position in the gripping system 1 where ingredients are to be plated (plating position P1 in FIG. 2). The container supply unit 20 stores multiple containers of side dishes, and when the gripping system 1 starts operating, it supplies the containers one by one to the plating position P1. A weight sensor 21 that measures the weight of the side dish container is also provided at the plating position P1, and when ingredients are plated at the plating position P1, the weight of the plated ingredients (i.e., the weight increased by plating) is measured. The weight data measured at this time is output to the control device 40. Then, when the weight measurement is completed, the containers of side dishes are carried out to the belt conveyor 2 by a push-out mechanism provided in the container supply unit 20.

[0013] The articulated robot 30 is, for example, a horizontal articulated robot or a vertical articulated robot, and is equipped with a hand unit 31 (end effector) capable of grasping the ingredients to be plated, and a robot arm 32 that moves the hand unit 31 to any position within its movable range. A weight sensor that measures the weight of the ingredient held by the hand unit 31 of the articulated robot 30 is installed in the joint that holds the hand unit 31 of the articulated robot 30 as an example of a means for acquiring the physical quantity of the ingredient held by the hand unit 31 with the gripping member 31A. A force sensor that measures the reaction force (including the force sense obtained by touching the surface) from the ingredient that has come into contact is installed in the joint that holds the hand unit 31 of the articulated robot 30 as an example of a means for detecting that the hand unit 31 has come into contact with the ingredient. Data on the weight of the ingredient measured by the weight sensor (i.e., the weight of the gripped ingredient) and data on the reaction force from the ingredient measured by the force sensor (i.e., the detection result of contact with the ingredient) are output to the control device 40.

[0014] Furthermore, the joint that holds the hand unit 31 has an axis that rotates the hand unit 31 in a torsional direction relative to the robot arm 32. Therefore, when the hand unit 31 grasps an ingredient, the direction in which the hand unit 31 opens and closes can be adjusted by changing the orientation of the hand unit 31. This makes it 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 storage space when the hand unit 31 reaches the vicinity of the inner wall surface of the container, making it easier to grasp ingredients near the inner wall surface of the container.

[0015] Fig. 3 is a schematic diagram (perspective view) showing the drive mechanism 300 of the hand unit 31. Also, Fig. 4 is a schematic diagram of the drive mechanism 300 of the hand unit 31 viewed from the side. 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. For ease of explanation, the front cover member 306 is shown in perspective and by a broken line in Fig. 3 and Fig. 4. Fig. 3 also shows a state in which an optional cover 100 (described later) is attached to the grip member 31A. The housing 301 incorporates a slide rail 302 and sliders 303, 304, and an opening 301a is formed over almost the entire length of the housing 301 on the surface on which the hand unit 31 is installed (the front surface in FIG. 3). As described below, the hand unit 31 and the sliders 303, 304 connected through the opening 301a are movable in the length of the housing 301. Since the opening 301a is formed on the front surface (one side surface) rather than the bottom surface, the inside of the housing 301 can be easily viewed during maintenance, improving work efficiency.

[0016] The slide rail 302 is a guide member installed in the housing 301 along the longitudinal direction of the housing 301. 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 to move in the longitudinal direction (horizontal direction) of the housing 301. Note that a lubricant (such as grease) is applied between the slide rail 302 and the sliders 303 and 304 to reduce friction.

[0017] The sliders 303 and 304 are engaged with the slide rail 302 and moved along the slide rail 302 by the actuator 305. The sliders 303 and 304 are fixed at their upper end portions (upper end portions of the plate-shaped portion b1 of the base member B1 described later). In this embodiment, the sliders 303 and 304 are moved in opposite directions by the actuator 305. When the actuator 305 moves the sliders 303 and 304 in a direction toward each other, the pair of gripping members 31A connected to the sliders 303 and 304 closes, and an operation of gripping the object is performed. When the actuator 305 moves the sliders 303 and 304 in a direction away from each other, the pair of gripping members 31A connected to the sliders 303 and 304 opens, and an operation of releasing the object is performed.

[0018] As described later, the gripping member 31A fixed to the sliders 303 and 304 is disposed at a position offset forward with respect to the housing 301 of the driving mechanism 300. Therefore, as shown in Fig. 4, the region (first region) vertically below the driving mechanism 300 and the region (second region) vertically below the gripping member 31A do not overlap each other.

[0019] The actuator 305 is constituted by a driving device such as a pneumatic actuator, 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 of the part of the gripping member 31A fixed to the sliders 303 and 304 (opposite the sliders 303 and 304 across the upper end part of the gripping member 31A). In this embodiment, the front cover member 306 is configured to be surrounded on three sides, the front surface, the top surface, and the side surfaces, by plate-shaped members. Since the front cover member 306 covers the front surface of the housing 301, the front cover member 306 can receive foreign matter discharged forward from within the housing 301, such as lubricant applied to the slide rail 302 or metal pieces generated by chipping of parts of the sliders 303 and 304. Therefore, it is possible to reduce the possibility that foreign matter such as lubricants and metal pieces will get mixed into the target object when the hand unit 31 performs a task involving a gripping operation. Also, by providing the front cover member 306, it is possible to prevent food ingredients and the like that are splashed off from entering and adhering to the movable parts (e.g., the slide rail 302 and the sliders 303, 304) of the drive mechanism 300 when the hand unit 31 performs a gripping or releasing operation.

[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 part of the gripping member 31A (the upper end part of the plate-shaped part b1 of the base material part B1 described later), and is configured in a box shape with an open top. The lower cover member 307 receives foreign matter that falls from the opening 301a to the lower side of the driving mechanism 300. The lower cover member 307 is installed along the movement path of the gripping member 31A, but does not enter the movement path of the gripping member 31A, so that it does not interfere with the opening and closing operation of the hand unit 31. By installing the lower cover member 307 in addition to the front cover member 306, the possibility that foreign matter that falls from the driving mechanism 300 will get mixed into the target object can be further reduced. In addition, by installing the lower cover member 307, it is possible to prevent flying food ingredients, etc. from entering and adhering to the area of ​​the moving parts of the drive mechanism 300 (e.g., the slide rail 302 and the sliders 303, 304) when the hand unit 31 performs a gripping or releasing operation.

[0021] Fig. 5 is a schematic diagram showing an example of the shape of a gripping member 31A installed in the hand unit 31. Fig. 6 is a partially enlarged view of the detachment mechanism 32a of the robot arm 32 and the detachment mechanism 31a of the hand unit 31, and Fig. 7 is an exploded view of the detachment mechanism 32a of the robot arm 32 and the hand unit 31. Note that Figs. 5 to 7 show only one of the pair of gripping members 31A. For ease of explanation, Fig. 5 shows a movable piece 401 (described later) of a locking mechanism 400 in a see-through manner and with a broken line.

[0022] As shown in Figures 5 to 7, the gripping member 31A of the present invention has a base portion 310 made of a plate-like member with a flat tip (i.e., a flat plate having a straight edge at the tip), side plates 320L, 320R provided on the left and right sides of the base portion 310, and a top surface portion 330 provided at the upper end of the base portion 310. 5, a flexible cover 100 made of resin such as reinforced polystyrene or polyvinyl chloride is attached to the gripping member 31A in this embodiment. The cover 100 is attached to cover the entire gripping member 31A of the hand unit 31 from the viewpoint of hygiene when handling food or the like, and prevents the gripping member 31A from coming into contact with an object such as food. However, the cover 100 may not be attached to the gripping member 31A. Whether or not to attach the cover 100 to the gripping member 31A can be appropriately determined depending on the characteristics of the object, etc.

[0023] A top surface 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 contamination by the object, etc., and by replacing the cover 100, the gripping member 31A can be kept clean. Furthermore, by attaching the cover 100, it is possible to prevent a part of the gripping member 31A (for example, chipped resin, etc.) from being mixed into the object.

[0024] Furthermore, a structure (attachment / detachment mechanism 31a) for the robot arm 32 to support the gripping member 31A is formed on the top surface 330 of the gripping member 31A. The attachment / detachment mechanism 31a is coupled to a attachment / detachment mechanism 32a provided at the tip of the robot arm 32, thereby fixing the hand unit 31 to the robot arm 32. In this embodiment, when the hand unit 31 is fixed to the robot arm 32, a locking mechanism 400 (described later) for fixing the attachment / detachment mechanism 31a and the attachment / detachment mechanism 32a in a coupled state is locked.

[0025] The attachment / detachment mechanism 31a of the hand unit 31 includes a base member 313a having two insertion holes 311a, 312a arranged in accordance with the interval between the rods 321a, 322a, a protrusion 314a with which the cover 100 is engaged, a base portion 315a on which the protrusion 314a is arranged, and a stopper 316a fitted into the protrusion 314a. The protrusion 314a, the base portion 315a, and the stopper 316a form a fixing portion 331 for fixing the cover 100. The base portion 315a is made of molded resin or the like. In this embodiment, the stopper 316a is made of 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 falls into food or the like, it can be found by inspection using a metal detector performed before shipping.

[0026] The attachment / detachment mechanism 32a of the robot arm 32 comprises two rods 321a, 322a arranged side by side at a predetermined interval, a base member 323a on which the rods 321a, 322a are arranged and which is moved in the gripping direction and the release direction during the gripping operation, and a locking mechanism 400 for fixing the attachment / detachment mechanism 31a and the attachment / detachment mechanism 32a in a connected state.

[0027] The rods 321a, 322a have a length substantially equal to that of the insertion holes 311a, 312a formed in the detachment mechanism 31a of the hand unit 31, and when the detachment mechanisms 31a, 32a are coupled, the rods 321a, 322a are inserted into the insertion holes 311a, 312a, respectively, and the relative movement between the robot arm 32 and the hand unit 31 is restricted in a direction intersecting with the axes of the rods 321a, 322a. In addition, since one end of the rods 321a, 322a is fixed to the base member 323a, when the detachment mechanisms 31a, 32a are coupled, the detachment mechanisms 31a, 32a abut against each other in the direction of the ends fixed to the base member 323a in the axial direction of the rods 321a, 322a, so that the hand unit 31 is not detached from the robot arm 32. Further, a locking mechanism 400 capable of fixing the detachment mechanism 31a and the detachment mechanism 32a in a connected state is provided in the direction of the tips of the rods 321a and 322a, and when the locking mechanism 400 is in a locked state, the detachment mechanism 31a and the detachment mechanism 32a (locking mechanism 400) come into contact with each other, thereby preventing the hand unit 31 from being detached from the robot arm 32. On the other hand, when the locking mechanism 400 is not locked (unlocked state), the rods 321a and 322a can freely come out of the insertion holes 311a and 312a without coming into contact with each other, thereby allowing the hand unit 31 to 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 fixed to the base material B1 and supporting the rods 321a and 322a.

[0029] The substrate B1 includes a plate-shaped portion b1 arranged vertically and a plate-shaped portion b2 arranged horizontally from the lower end of the plate-shaped portion b1. The upper end portion of the plate-shaped portion b1 (substrate B1) is connected to a drive mechanism 300 for opening and closing a pair of hand units 31, and the hand unit 31 connected to the base member 323a moves in a direction approaching or moving away from the opposing hand unit 31 in response to the drive mechanism 300 being opened and closed by an actuator. The plate-shaped portion b2 has a bracket B2 installed on its lower surface side and a lock mechanism 400 at its tip. When the attachment / detachment mechanism 32a of the robot arm 32 and the attachment / detachment mechanism 31a of the hand unit 31 are connected to each other, the lock mechanism 400 at the tip of the plate-shaped portion b2 restricts the detachment of the attachment / detachment mechanism 31a and is in a locked state.

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

[0031] The locking mechanism 400 is installed at the tip of the substrate B1 (plate-shaped portion b2) of the base member 323a. The locking mechanism 400 fixes (locks) the detachment mechanism 31a of the hand unit 31 and the detachment mechanism 32a of the robot arm 32 in a connected state. The locking mechanism 400 also makes the detachment mechanism 31a of the hand unit 31 detachable from the detachment mechanism 32a of the robot arm 32 by releasing the lock. In this embodiment, the locking mechanism 400 can also lock the stopper 316a of the hand unit 31 (fix the stopper 316a to the hand unit 31) in a state in which the connection between the detachment mechanism 31a of the hand unit 31 and the detachment mechanism 32a of the robot arm 32 is locked.

[0032] Thereby, by performing an action of locking the locking mechanism 400, the operator can fix the hand unit 31 in a connected state to the robot arm 32 and fix the stopper 316a of the hand unit 31 in a state in which it cannot be detached from the hand unit 31. Furthermore, by performing an action of unlocking the locking mechanism 400, the hand unit 31 can be switched to a state in which it can be detached from the robot arm 32 and the stopper 316a can be detached 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 worker can be improved. In other words, the efficiency of the task of gripping an object by the robot can be improved. Furthermore, when replacing the hand unit 31, the hand unit 31 can be replaced by a detaching and attaching operation to the front side without passing underneath the drive mechanism 300, which prevents foreign matter such as lubricant that has fallen from the drive mechanism 300 during the replacement work from adhering to the hand unit 31.

[0033] FIG. 8 is a schematic diagram showing the configuration of the lock mechanism 400. As shown in FIG. As shown in FIG. 8, the lock 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 around a rotation shaft 402, and can be switched between a locked state (fixed state) and an unlocked state (released state) by being rotated by an operator. In the locked state, the movable piece 401 abuts against the base member 313a, thereby restricting the movement of the rods 321a and 322a in a direction to come out of the insertion holes 311a and 312a, and the attachment / detachment mechanism 31a of the hand unit 31 and the attachment / detachment mechanism 32a of the robot arm 32 are fixed (locked) in a connected state. In the unlocked state, the movable piece 401 is retreated to a position where it does not abut against the base member 313a, and 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, the locking mechanism 400 can also lock the stopper 316a of the hand unit 31 (fix the stopper 316a to the hand unit 31) in a state in which the connection between the attachment / detachment mechanism 31a of the hand unit 31 and the attachment / detachment mechanism 32a of the robot arm 32 is locked. That is, the locking mechanism 400 can fix the stopper 316a of the hand unit 31 in the locked state posture and release the fixation of the stopper 316a of the hand unit 31 in the unlocked state posture by changing the posture of the movable piece 401 between the locked state and the unlocked state.

[0035] In addition, in the locked state, the movable piece 401 is restricted from rotating (rotating to the right in FIG. 8) beyond the position in the locked state by abutting against a stopper 403. Similarly, in the unlocked state, the movable piece 401 is restricted from rotating (rotating to the left in FIG. 8) beyond the position in the unlocked state by abutting against a stopper 404. In addition, by providing a protrusion on the sliding surface between the end face of the plate-shaped portion b2 of the movable piece 401 and forming a recess in the portion of the plate-shaped portion b2 where the protrusion is located in the locked state and in the portion of the plate-shaped portion b2 where the protrusion is located in the unlocked state, a structure can be created that creates a clicking sensation when the movable piece 401 stops at a predetermined position when the operator rotates the movable piece 401 (hereinafter referred to as a "tactile structure").

[0036] The rotating shaft 402 is a member that serves as a rotating shaft and is installed at the tip of the substrate B1 (plate-shaped portion b2) of the base member 323a, and supports the movable piece 401 at the tip of the plate-shaped portion b2 so that the movable piece 401 is rotatable within a vertical plane. In the locked state, the stopper 403 comes into contact with a predetermined portion of the movable piece 401 and restricts the rotational movement of the movable piece 401 (for example, clockwise rotational movement about the rotation shaft 402). In the unlocked state, the stopper 404 comes into contact with another predetermined portion of the movable piece 401, and restricts the rotational movement of the movable piece 401 (for example, the left rotational movement about the rotation shaft 402).

[0037] 1 and 2, the control device 40 is configured with 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 the operation of the container supply unit 20 to supply containers, and the operation of the articulated robot 30 to grasp ingredients from the ingredient storage unit 10 and release them into a prepared food container to arrange the ingredients. More specifically, for example, the control device 40 realizes the operation of moving the hand unit 31 to a predetermined position set in advance by a predetermined route and at a predetermined speed by controlling the drive of the robot arm 32, and the operation of gripping and releasing ingredients by the gripping member 31A by controlling the drive of the actuator of the hand unit 31.

[0038] The shielding unit 50 is composed of a plate-like member that surrounds and encloses the area in which the ingredient storage unit 10, the container supply unit 20, and the articulated robot 30 are installed in the gripping system 1. The plate-like member that constitutes the shielding unit 50 is made of a transparent material such as glass or resin, and it is possible to visually check the operating status of the gripping system 1 from the outside. In addition, an openable and closable door is installed on a part of the side wall that constitutes the shielding unit 50. When replacing the storage space of the ingredient storage unit 10, adding containers of side dishes to the container supply unit 20, or performing maintenance of the gripping system 1, an operator can open the door of the shielding unit 50 and perform various operations.

[0039] [Effect] With the above-described configuration, the gripping system 1 to which the present invention is applied can prevent foreign matter such as lubricants or metal pieces from being mixed in when the articulated robot 30 performs work using the hand unit 31 (end effector). Specifically, the upper end of the base material B1 (plate-shaped portion b1) of the gripping member 31A is fixed to sliders 303 and 304 of the driving mechanism 300 as shown in FIGS. The plate-shaped portion b1 of the base material B1 is fixed to the sliders 303, 304 on one side (the back side in Figure 3), and the gripping member 31A is held by the plate-shaped portion b2 extending forward from the opposite side (the front side in Figure 3) and by the bracket B2 installed on the underside of the plate-shaped portion b2.

[0040] Therefore, the position of the gripping member 31A is offset forward from the position of the driving mechanism 300. That is, as shown in FIG. 4, a first region vertically below the driving mechanism 300 and a second region vertically below the gripping member 31A do not overlap each other. Therefore, even if a foreign object such as a lubricant or a metal piece falls from the driving mechanism 300, the possibility of the foreign object getting into an object positioned vertically below the gripping member 31A can be reduced.

[0041] FIG. 9 is a schematic diagram illustrating the action of preventing foreign matter from scattering or falling in the driving mechanism 300. As shown in FIG. As shown in FIG. 9, an opening 301a in a housing 301 of a driving mechanism 300 is provided with a front cover member 306, which can receive foreign matter that is thrown forward from the opening 301a. In addition, 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-shaped portion b1), and is capable of receiving foreign matter that falls below the drive mechanism 300 from the opening 301a. Therefore, the possibility of foreign matter such as lubricant or metal pieces being mixed into the target object can be more reliably reduced. Furthermore, by installing the front cover member 306 and the cover member 307, it is also possible to prevent flying food ingredients, etc. from entering and adhering to the area of ​​the moving parts of the drive mechanism 300 (e.g., the slide rail 302 and the sliders 303, 304) when the hand unit 31 performs a gripping or releasing operation.

[0042] Furthermore, since the area vertically below the drive mechanism 300 and the area vertically below the gripping member 31A are offset, such a feature may be utilized to control the gripping operation. For example, it is possible to work while moving forward through the ingredient storage section 10 (working while switching the work area forward in sequence), or to work while moving sideways through the ingredient storage section 10 (working while switching the work area sideways in sequence), or to perform a combination of these tasks. In other words, according to the gripping system 1 of this embodiment, it is possible to perform the desired work while restricting the opening and closing operation of the hand unit 31 above an unworked area where work on the target object has not been completed.

[0043] [Variation 1] In the above embodiment, the configuration for operating the hand unit 31 has been described with reference to an example in which the slide rail 302 and the sliders 303 and 304 are provided, but the present invention is not limited to this. For example, a gear rotated by an actuator and a chain or a toothed belt stretched around the gear may be provided inside the housing 301, and the grip member 31A may be connected to the toothed belt to perform the opening and closing operation. Also, a pinion gear rotated by an actuator and a rack gear meshing with the pinion gear may be provided, and the gripping member 31A may be connected to the rack gear to perform the opening and closing operations. In other words, various methods can be adopted as a configuration for operating the hand unit 31, and even when these methods are used, by applying the present invention, it is possible to improve cleanliness when the robot performs work using the end effector.

[0044] [Configuration example] As described above, the gripping system 1 in this embodiment includes the hand unit 31 (end effector) and the drive mechanism 300. The hand unit 31 is used for operations performed by the articulated robot 30 . The drive mechanism 300 is held by the articulated robot 30 and drives the hand unit 31 . The driving mechanism 300 and the hand unit 31 are disposed at positions offset from each other in the horizontal direction. As a result, the hand unit 31 is not positioned vertically below the position of the drive mechanism 300, but is shifted horizontally. Therefore, even if a foreign object such as a lubricant or a metal piece falls from the driving mechanism 300, the possibility of the foreign object getting into a work object located vertically below the hand unit 31 can be reduced. Therefore, it is possible to improve cleanliness when the robot performs work using the end effector.

[0045] The base member 323a of the hand unit 31 is interposed between the driving mechanism 300 and the hand unit 31 (the gripping member 31A), and disposes the hand unit 31 at a position shifted from the driving mechanism 300 in the horizontal direction. This allows the position of the grip member 31A of the hand unit 31 to be offset in the horizontal direction relative to the drive mechanism 300.

[0046] The hand unit 31 moves relative to the drive mechanism 300 while maintaining a state in which the hand unit 31 is horizontally shifted from the drive mechanism 300 . This allows the hand unit 31 to perform operations such as gripping while maintaining a state in which it is horizontally offset from the drive mechanism 300.

[0047] The hand unit 31 performs movements of a pair of gripping members 31A (working members) approaching and moving away from each other, and the working area in which the pair of gripping members 31A perform movements of approaching and moving away from each other does not overlap with the area below the drive mechanism 300. This allows the operation to be performed without positioning the working area where gripping and releasing in the gripping operation are performed below the drive mechanism 300.

[0048] The driving mechanism 300 has an opening 301a that connects the inside of a housing 301 of the driving mechanism 300 with the outside. The base member 323a connects the hand unit 31 to the members inside the housing 301 through the opening 301a. This allows the actuator 305 installed inside the housing 301 to drive the hand unit 31 outside the housing 301 . Therefore, parts that use lubricants or the like can be placed inside the housing 301 of the drive mechanism 300, reducing the possibility of foreign matter being mixed into the work target.

[0049] The drive mechanism 300 includes a slide rail 302 and sliders 303 and 304 . The slide rail 302 is disposed inside the housing 301 along the longitudinal direction. The sliders 303 and 304 are movable along the slide rail 302 . The base member 323a is mounted on the sliders 303 and 304 through the opening 301a. This makes it possible to couple the hand unit 31 arranged outside the housing 301 to the slide rail 302 inside the housing 301 and move it along the slide rail 302 .

[0050] The housing 301 is held by the articulated robot 30 at one side. The opening 301a is formed on the side opposite to the one side. This allows the driving mechanism 300 to perform work on the work object on the side opposite to the side on which the articulated robot 30 (robot arm 32) is positioned.

[0051] The lower cover member 307 (first cover member) is disposed below the space between the opening 301a and the base member 323a and serves to catch foreign objects that fall from the opening 301a. This makes it possible to reduce the possibility that foreign matter such as lubricant or metal pieces will get mixed into the work object when the gripping member 31A is moved relative to the housing 301 of the driving mechanism 300.

[0052] It includes a front cover member 306 (second cover member) disposed opposite the opening 301a with the base member 323a interposed therebetween. This makes it possible to reduce the possibility that foreign matter such as lubricant or metal pieces will get mixed into the work object when the gripping member 31A is moved relative to the housing 301 of the driving mechanism 300.

[0053] The object in the operation performed by the gripping system 1 is food. This makes it possible to maintain a cleaner state when working with objects for which hygiene control is important.

[0054] The above-described embodiment and modifications are merely examples of the present invention, and various embodiments that realize the functions of the present invention are included in the scope of the present invention. For example, in the above-mentioned embodiment and modified example, the present invention has been described as being applied to a gripping system for serving prepared foods, but 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 highly viscous or adhesive materials such as kneaded mortar, concrete, plaster, clay, etc. The present invention is suitable for gripping objects having a viscosity of medium or higher (5000 mPa s) at working temperature or room temperature. In the above-mentioned embodiment and modified example, the present invention is applied to a system that performs a gripping operation, but the operations to which the present invention can be applied are not limited to gripping operations. For example, the present invention can be applied to cases in which a robot uses an end effector to perform operations such as scooping an object, leveling an object, pushing an object, and processing an object. Furthermore, the present invention can be implemented by appropriately combining the embodiments and modifications described above.

[0055] The above embodiment shows an example of application of the present invention, and does not limit the technical scope of the present invention. In other words, the present invention can be modified in various ways, such as omissions and substitutions, without departing from the gist of the present invention, and various embodiments other than the above embodiment can be adopted. The various embodiments and modifications that the present invention can adopt are included in the scope of the invention described in the claims and their equivalents. [Explanation of symbols]

[0056] 1 gripping system, 2 belt conveyor, 10 ingredient storage section, 20 container supply section, 30 articulated robot, 31 hand unit, 31A gripping member, 31a, 32a detachment mechanism, 32 robot arm, 40 control device, 50 shielding section, 100 cover, 231a, 232a rod, 300 drive mechanism, 301 housing, 301a opening, 302 slide rail, 303, 304 slider, 305 actuator, 306 front cover member, 307 lower cover member, 310 base material portion, 311a, 312a insertion hole, 313a base member, 314a protrusion portion, 315a pedestal portion, 316a, 403, 404 stopper, 320L, 320R side plate, 321a, 322a Rod, 323a base member, 330 top surface portion, 331 fixed portion, 331a protrusion portion, 400 lock mechanism, 401 movable piece, 402 rotating shaft, B1, B2 bracket, b1 to b4 plate-shaped portion

Claims

1. an end effector used for performing work by the robot; a drive mechanism held by the robot and configured to drive the end effector; Equipped with the drive mechanism and the end effector are disposed at positions offset in a horizontal direction, the drive mechanism includes an opening that communicates between an inside and an outside of a housing of the drive mechanism, and the end effector is coupled to a slide mechanism provided inside the housing of the drive mechanism through the opening; The end effector performs an operation while maintaining a horizontally displaced position relative to the drive mechanism, and a working area in which the end effector performs the operation does not overlap with a lower area of ​​the opening in the drive mechanism; and A working system, characterized in that the opening is provided on a side surface of the housing of the drive mechanism.

2. 2. The working system according to claim 1, further comprising a connecting member interposed between the drive mechanism and the end effector for disposing the end effector at a position horizontally offset from the drive mechanism.

3. The drive mechanism includes: A slide rail disposed along a longitudinal direction inside the housing; A moving member movable along the slide rail; Equipped with The working system according to claim 2 , wherein the connecting member is attached to the moving member through the opening.

4. The housing is held by the robot at one side, The work system according to claim 1 , wherein the opening is formed on a side surface opposite to the one side surface.

5. 2. The working system according to claim 1, wherein the slide mechanism is coated with a lubricant.

6. 3. The work system according to claim 2, further comprising a first cover member disposed below the space between the opening and the connecting member, for receiving foreign objects that fall through the opening.

7. The working system according to claim 2 , further comprising a second cover member disposed opposite the opening with the connecting member interposed therebetween.

8. The work system according to claim 1 , wherein the object in the work is food.

9. an end effector used in a task performed by a robot and a drive mechanism held by the robot and driving the end effector are disposed at horizontally offset positions and connected to each other; the drive mechanism includes an opening that communicates between an inside and an outside of a housing of the drive mechanism, and the end effector is coupled to a slide mechanism provided inside the housing of the drive mechanism through the opening; The end effector performs an operation while maintaining a horizontally displaced position relative to the drive mechanism, and a working area in which the end effector performs the operation does not overlap with a lower area of ​​the opening in the drive mechanism; and A coupling structure characterized in that the opening is provided on a side surface of the housing of the drive mechanism.

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