End effector and set of end effectors

Abstract

This end effector comprises: one or more hole plates provided with a plurality of holes; a cushion material used together with the one or more plates; a plurality of pins including a plurality of inner pins and a plurality of outer pins disposed outside the plurality of inner pins; and a force application part which applies a force directed inward with respect to the plurality of outer pins. The plurality of inner pins pass through the plurality of holes and the cushion material so as to be movable by a first distance in the passing-through direction of the plurality of holes with respect to the one or more hole plates.

Description

Technical Field

[0001] The present disclosure relates to an end effector and a set of end effectors.

Background Art

[0002] Patent Document 1 describes a robot hand including a suction part such as an electromagnet for sucking a workpiece, and a conforming part having six or more pins that descend by their own weight for conforming to the workpiece. The lifting and lowering of the pins can be fixed as necessary, and a support hook for supporting the workpiece from below can be used as necessary when the weight is large, etc., to fix the workpiece.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

[0004] The present disclosure has been devised in view of the above-described conventional situation, and an object thereof is to provide an end effector that can support an object (for example, a workpiece).

[0005] An end effector according to one aspect of the present disclosure includes one or more hole plates provided with a plurality of holes, a cushioning material used together with the one or more hole plates, a plurality of inner pins, and a plurality of pins including a plurality of outer pins disposed outside the plurality of inner pins, and a biasing portion that applies a force inwardly to the plurality of outer pins. The plurality of inner pins penetrate through the plurality of holes and the cushioning material so as to be movable by a first distance in a penetrating direction of the plurality of holes with respect to the one or more hole plates.

[0006] According to the present disclosure, an end effector that can support an object such as a workpiece can be provided.

Brief Description of the Drawings

[0007]

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Mode for Carrying Out the Invention

[0008] Hereinafter, embodiments of the present disclosure will be described in detail with appropriate reference to the drawings. However, detailed descriptions that are more than necessary may be omitted. For example, detailed descriptions of well-known matters and redundant descriptions of substantially the same configurations may be omitted. This is to avoid making the following description unnecessarily redundant and to facilitate the understanding of those skilled in the art. Note that the attached drawings and the following description are provided for those skilled in the art to fully understand the present disclosure, and are not intended to limit the subject matter of the claims.

[0009] (Embodiment 1) In the present disclosure, the direction same as the direction of gravity is described as downward, and the direction opposite to the direction of gravity is described as upward. Also, in the present disclosure, a cross-section parallel to the direction of gravity is described as a longitudinal section, and a cross-section perpendicular to the direction of gravity is described as a transverse section.

[0010] A robot device used in a factory or the like can perform various operations by attaching an end effector 2 to a robot arm (not shown). For example, the robot arm performs an operation of picking up an object Wk such as a workpiece flowing on a production line in the factory using the end effector and transporting it to a destination. The object Wk may be a relatively small object such as a screw, nut, or washer, or may be a relatively large object (for example, a housing) having ribs and bosses.

[0011] FIG. 1 is a longitudinal sectional view showing an example of the state of the end effector 2 in the standby stage. FIG. 1 shows the state of the end effector 2 connected to the robot arm in the stage before starting the picking of the object Wk (standby stage).

[0012] The end effector 2 includes a hole plate 11, a plurality of pins 12, a base 13, a holder 14, a movable plate 15, and an actuator 16.

[0013] The hole plate 11 is a plate provided with a plurality of through holes. The thickness of the hole plate 11 may be, for example, 0.1 mm to 2 mm. However, it is not limited thereto. Also, the hole plate 11 may be integral with the base 13.

[0014] The pin 12 is slender and rod-shaped and is inserted into each hole of the hole plate 11. The cross-sectional shape of the pin 12 and the shape of the hole may be circular, but it is not limited thereto. The diameter of the pin 12 may be, for example, 0.1 mm to 2 mm and is slightly smaller than the diameter of the hole. The material of the pin 12 may be metal. However, the material of the pin 12 is not limited to metal and may be, for example, resin.

[0015] The pin 12 may have a head at its upper end with a diameter larger than the diameter of the hole provided in the hole plate 11. This head serves as a stopper, and the pin 12 hangs from the hole plate 11 by its own weight. Also, since the diameter of the pin 12 is slightly smaller than the diameter of the hole, the pin 12 can move upward when pushed up from below. Here, the thickness of the hole plate 11 is sufficiently short with respect to the length of the pin 12.

[0016] The tip of the pin 12 is tapered so as to become narrower toward the tip. That is, the tip of the pin 12 has a sharp shape like a needle. Thereby, as will be described later, objects Wk of various shapes can be supported.

[0017] The maximum movable radius due to the play of the pin 12 (for example, the radius of the bottom surface of the cone formed by the movable range having the above-described hole as the apex) may be within the distance from the center of the pin 12 to the center of the adjacent pin 12. This is because if the pin 12 moves beyond the center of the adjacent pin 12, the force transmission efficiency decreases. The pin 12 includes an outer pin 12A and an inner pin 12B.

[0018] The outer pin 12A may be shorter than the inner pin 12B. As a result, as will be described later, the force applied inwardly to the outer pin 12A (i.e., the force directed toward the object Wk) is transmitted to the side surface of the inner pin 12B rather than the tip of the inner pin 12B, so the force supporting the object Wk is improved.

[0019] The base 13 has a cylindrical shape. The base 13 is connected to a robot arm. Further, a hole plate 11 is fixed to the base 13. A plurality of pins 12 hanging from the hole plate 11 protrude downward in the drawing from the end face of the base 13.

[0020] The holder 14 has a cylindrical shape and surrounds the outside of the outer pin 12A. The holder 14 has a side surface portion 14A that forms a plane substantially parallel to the pin 12, and a protruding portion 14B that protrudes into the inside of the cylinder. The protruding portion 14B is an example of a force applying portion.

[0021] The movable plate 15 is provided to face the hole plate 11 and is movable in a direction approaching or separating from the hole plate 11. This moving direction is the vertical direction in the drawing. The movable plate 15 is connected to a slit 14C provided in the side surface portion 14A of the holder 14. When the movable plate 15 moves in a direction away from the hole plate 11, the movable plate 15 contacts the end of the slit 14C. When the movable plate 15 moves further, the movable plate 15 moves the holder 14 in a direction from the tip of the pin 12 toward the hole plate 11 (upward in the drawing). Further, the movable plate 15 moves in a direction approaching the hole plate 11 and pushes and moves the inner pin 12B protruding from the hole plate 11 in the direction of the tip of the inner pin 12B.

[0022] The actuator 16 is a device that moves the movable plate 15 in a direction approaching the hole plate 11 or away from the hole plate 11, or stops the movement. The actuator 16 may be, for example, a pneumatic actuator, and moves the movable plate 15 by inhaling and discharging air.

[0023] FIG. 2 is a longitudinal sectional view showing an example of the state of the end effector 2 in the mold-taking step.

[0024] When shifting from the standby step to the mold-taking step, the robot arm lowers the end effector 2 toward the placed object Wk and presses the tip of the pin 12 against the object Wk. That is, the shape of the object Wk is taken by a plurality of pins 12. In this mold-taking, the pins 12 that have touched the surface of the object Wk can no longer descend, so the upper part of the pins 12 protrudes above the hole plate 11. The robot arm lowers the end effector 2 until at least some of the plurality of inner pins 12B touch the placement surface of the object Wk, for example. That is, as the inner pins 12B slide along the holes of the hole plate 11, the end effector 2 can take the shape of the object Wk by the plurality of inner pins 12B. Note that the lowering of the end effector 2 may be performed manually or automatically.

[0025] The end effector 2 may generate vibration in the mold-taking step. Since the pins 12 that are caught and have not fully descended can descend due to this vibration, more accurate mold-taking can be performed. Therefore, in the support step described later, the force transmission efficiency between adjacent pins 12 and the force transmission efficiency to the object Wk can be improved.

[0026] FIG. 3 is a longitudinal sectional view showing an example of the state of the end effector 2 in the support step.

[0027] When shifting from the mold-taking stage to the support stage, the actuator 16 moves the movable plate 15 in a direction away from the hole plate 11 (refer to the upward arrow from the movable plate 15). As a result, the holder 14 connected to the movable plate 15 also moves accordingly, and the protrusion 14B of the holder 14 contacts the side surface of the outer pin 12A and applies an inward force (i.e., a force directed towards the object Wk) to the outer pin 12A. Due to this inward force, the outer pin 12A tilts inward, and along with it, the inner pin 12B also sequentially tilts inward (refer to the left-right arrows in the inner pin 12B), and finally, the inner pin 12B that contacts the object Wk is pressed against the side surface of the object Wk. The object Wk is supported by applying a side pressure to the object Wk by a plurality of inner pins 12B that contact the object Wk. The above-described mechanism and the protrusion 14B that apply an inward force (i.e., a force directed towards the object Wk) to the outer pin 12A are examples of the force-applying part. Note that the force-applying part may be configured by means other than the protrusion 14B.

[0028] In this way, with the end effector 2 supporting the object Wk, the robot arm transports the object Wk to the destination.

[0029] FIG. 4 is an enlarged view of a portion including the protrusion 14B in an example of the configuration of the end effector 2. As shown in FIG. 4, when the holder 14 moves, the protrusion 14B contacts the outer pin 12A and tilts inward. The inner pin 12B tilts inward so as to be pushed by the outer pin 12A, and the side surface portion of the inner pin 12B contacts the object Wk from the lateral direction shown in the figure. That is, a lateral force is applied to the object Wk. By applying this lateral force from the opposite side so as to face each other, it becomes possible to support the object Wk as if gripping it.

[0030] As described above, the tip of the pin 12 may be tapered so as to become narrower toward the tip. As a result, compared with the case where the end of the pin 12 is simply rod-shaped, the side portion of the inner pin 12B that has fallen inward comes into smooth contact with the object Wk. Therefore, it becomes easier to apply a lateral force to the object Wk, and the support of the object Wk becomes stable.

[0031] FIG. 5 is a longitudinal sectional view showing an example of the state of the end effector 2 in the extrusion stage.

[0032] When shifting from the support stage to the extrusion stage, the actuator 16 moves (descends in the figure) the movable plate 15 to the position closest to the hole plate 11. As a result, the holder 14 connected to the movable plate 15 also moves accordingly, and the protrusion 14B of the holder 14 no longer contacts the outer pin 12A. Thereby, the inward force applied to the outer pin 12A is released. Therefore, the inward force of the inner pin 12B that has been in contact with the object Wk is also released, so that the object Wk is not subjected to a lateral force and is in a state of not being supported.

[0033] Further, due to the movement of the movable plate 15, the inner pin 12B protruding from the hole plate 11 is pushed out in the tip direction. The object Wk is also pushed out by the pushed-out inner pin 12B. The pushed-out object Wk falls, for example, into a container or the like provided in the next process of the production line.

[0034] FIG. 6 is a conceptual diagram showing the case where the end effector 2 supports the object Wk in the direction of gravity. FIG. 6 is a view of the end effector 2 (see FIG. 3) in the support stage as seen in the direction from the object Wk toward the end effector 2. When the end effector 2 supports the object Wk placed on, for example, a horizontal workbench from above, as described above based on FIG. 3, the object Wk can be appropriately supported by the side pressure of the inner pin 12B.

[0035] FIG. 7 is a longitudinal sectional view showing an example of the state of the end effector 2 in the support stage. FIG. 8 is a conceptual diagram corresponding to FIG. 7, showing a case where the end effector 2 supports the object Wk in the horizontal direction.

[0036] FIG. 8 is a view of the end effector 2 in FIG. 7 as seen in the direction from the object Wk to the end effector 2. Since the direction of the self-weight acting on the outer pin 12A and the inner pin 12B is different from the direction in which the pin 12 extends, the inner pin 12B is retracted by a force other than the contact with the object Wk (see the arrow in the upper right direction in FIG. 7). Then, as shown by the broken-line circle in FIG. 8, the number of inner pins 12B supporting the object Wk decreases. Therefore, the transfer function of the pins to transfer the shape of the object Wk is lost, and the supporting force decreases. That is, when the end effector 2 is used in a horizontal or upward orientation, it is difficult to maintain the supporting force of the object. In the following second embodiment, an end effector 1 capable of maintaining the supporting force of the object even when used in a horizontal or upward orientation will be described.

[0037] FIG. 9 is a perspective view showing an example of the configuration of the end effector 1 according to the second embodiment of the present disclosure. FIG. 10 is a top view showing an example of the configuration of the end effector 1 according to the second embodiment of the present disclosure. FIG. 11 is a front view showing an example of the configuration of the end effector 1 according to the second embodiment of the present disclosure. FIG. 12 is a side view showing an example of the configuration of the end effector 1 according to the second embodiment of the present disclosure. FIG. 13 is a bottom view showing an example of the configuration of the end effector 1 according to the second embodiment of the present disclosure. Hereinafter, based on FIGS. 9 to 13, a configuration example of the end effector 1 according to the second embodiment of the present disclosure will be described.

[0038] The end effector 1 according to the second embodiment of the present disclosure includes a catch base 120 and a catch holder 130. The catch base 120 and the catch holder 130 have a cylindrical shape. In the present embodiment, the catch base 120 and the catch holder 130 are formed in a cylindrical shape having a substantially hexagonal cross-sectional shape. However, the cross-sectional shape is not limited to a substantially hexagonal shape, and may be, for example, a substantially square shape or the like. The catch base 120 is inserted into the recess of the catch holder 130. Inside the catch base 120, a catch bracket 110, which will be described later, is inserted.

[0039] The catch holder 130 is provided with a screw hole 131 through which a screw 113 passes. The catch base 120 is provided with a slide groove 121 through which the screw 113 passes. The screw 113 passes through the screw hole 131 and the slide groove 121 and is screwed into a screw hole provided in the catch bracket 110.

[0040] At an end portion of the catch holder 130 near the tips of the outer pins 105 and the inner pins 106, a throttle 132 is provided. The throttle 132 has a substantially hexagonal cross-sectional shape similar to that of the catch holder 130. The throttle 132 is tapered. That is, the diameter of the cross-section of the throttle 132 presenting a substantially hexagonal shape gradually decreases from the side far from the tips of the outer pins 105 and the inner pins 106 toward the side close to them. This tapered portion can be interpreted as an inclined portion.

[0041] From the inside of the throttle 132, a plurality of outer pins 105 and a plurality of inner pins 106 arranged inside the outer pins 105 protrude.

[0042] A motor 200 is connected to the end effector 1. The motor 200 includes a feed screw 201. The feed screw 201 is inserted into the catch bracket 110.

[0043] FIG. 14 is a perspective view showing the internal structure of the end effector 1 according to the second embodiment of the present disclosure. FIG. 15 is an exploded perspective view showing the internal structure of the end effector 1 according to the second embodiment of the present disclosure. FIG. 16 is a cross-sectional view showing the internal structure of the end effector 1 according to the second embodiment of the present disclosure. FIG. 17 is a conceptual diagram showing an example of mounting of the hole plate. Based on FIGS. 14 to 17, the internal structure of the end effector 1 according to the second embodiment of the present disclosure will be described.

[0044] Inside the catch base 120 and the catch holder 130 of the end effector 1, a pin module 100 and a catch bracket 110 are inserted.

[0045] The catch bracket 110 is slidably inserted into the catch base 120 in the direction of the cylinder presented by the catch base 120. A spring mechanism (not shown) is incorporated in the catch base 120. Therefore, when no external force is applied, the catch bracket 110 is positioned inside the catch base 120 in an initial state, which will be described later with reference to FIGS. 19 and 20.

[0046] The catch bracket 110 includes a feed screw receiver 111, a pin extrusion plate 112, and a screw hole 114. The feed screw 201 of the motor 200 is inserted into the feed screw receiver 111. The pin extrusion plate 112 abuts against an inner pin 106 provided in the pin module 100 described later and extrudes the inner pin 106 according to the position of the catch bracket 110 inside the catch base 120 of the catch bracket 110. A screw 113 that penetrates the screw hole 131 and the slide groove 121 is screwed into the screw hole 114.

[0047] The motor 200 rotates the feed screw 201. Therefore, the motor 200 adjusts the depth to which the feed screw 201 is inserted into the feed screw receiver 111. Thus, the motor 200 serves to adjust the relative position of the catch bracket 110 with respect to the catch base 120 (the position along the direction of the cylinder presented by the catch base 120).

[0048] Also, the relative position between the catch bracket 110 and the catch holder 130 is fixed by the screw 113. On the other hand, since the screw 113 passes through the slide groove 121 of the catch base 120, the relative position of the catch bracket 110 with respect to the catch base 120 is not fixed. Therefore, the motor 200 also serves to adjust the position of the catch holder 130 with respect to the catch base 120.

[0049] The pin module 100 includes a sleeve 101, a hole plate 102, a cushioning material 103, a hole plate 104, a plurality of outer pins 105, and a plurality of inner pins 106.

[0050] The hole plates 102 and 104 and the cushioning material 103 will be described. The hole plate is a plate provided with a plurality of holes and is also called a punch plate. An example of the punch plate is shown in FIG. 17. The arrangement of the plurality of holes provided in the hole plates 102 and 104 may be a staggered arrangement. However, there is no intention to exclude other arrangement modes. A cushioning material 103 is sandwiched between the hole plate 102 and the hole plate 104. By sandwiching the cushioning material 103 between the two hole plates 102 and 104, the cushioning material 103 is prevented from peeling off from the hole plate during the operation of the end effector 1. Therefore, the end effector 1 can stably hold the cushioning material 103.

[0051] Next, the outer pins 105 and the inner pins 106 will be described. A plurality of outer pins 105 are arranged near the outer periphery of the hole plates 102 and 104. The outer pins 105 may be arranged near the outer periphery of the hole plates 102 and 104 so as to draw a cross-sectional shape similar to the cross-sectional shape of the catch base 120. In the illustrated second embodiment, the plurality of outer pins 105 are arranged so as to draw a hexagon. A large number of inner pins 106 are arranged inside the outer pins 105.

[0052] The plurality of outer pins 105 penetrate through the holes provided in the hole plate 102, the cushioning material 103, and the holes provided in the hole plate 104. Note that the hole plate 102, the cushioning material 103, and the hole plate 104 are collectively referred to as a hole plate unit. The outer pin 105 has a first end and a second end on the side opposite to the first end. The first end of the outer pin 105 is the end on the protruding side in a direction in which the outer pin 105 can contact the object Wk from the hole plate unit in a state where the outer pin 105 penetrates the hole plate unit. The second end of the outer pin 105 is the end on the protruding side in a direction opposite to the direction in which the outer pin 105 can contact the object Wk from the hole plate unit in a state where the outer pin 105 penetrates the hole plate unit. At this time, the sleeve 101 is attached to the second end side of the outer pin 105. In other words, the sleeve 101 is attached to the end side opposite to the end side that contacts the object Wk supported by the end effector 1.

[0053] The plurality of inner pins 106 penetrate through the holes provided in the hole plate 102, the cushioning material 103, and the holes provided in the hole plate 104. The inner pin 106 has a first end and a second end on the side opposite to the first end. The first end of the inner pin 106 is the end on the protruding side in a direction in which the inner pin 106 can contact the object Wk from the hole plate unit in a state where the inner pin 106 penetrates the hole plate unit. The second end of the inner pin 106 is the end on the protruding side in a direction opposite to the direction in which the inner pin 106 can contact the object Wk from the hole plate unit in a state where the inner pin 106 penetrates the hole plate unit. At this time, the sleeve 101 is attached to the second end side of the inner pin 106. In other words, the sleeve 101 is attached to the end side opposite to the end side that contacts the object Wk supported by the end effector 1.

[0054] FIG. 18 is a comparison diagram of the outer pin 105, the inner pin 106, and the sleeve 101 according to the second embodiment of the present disclosure.

[0055] In FIG. 18, by way of example only, the dimensions of the outer pin 105, the inner pin 106, and the sleeve 101 are described in millimeters. Of course, those skilled in the art may configure the outer pin 105, the inner pin 106, and the sleeve 101 with dimensions different from those described. FIG. 18 describes a first portion S1, which is a portion on the side where the first end of the outer pin 105 is located, and a second portion S2, which is a portion on the side where the second end is located. FIG. 18 also describes a first portion T1, which is a portion on the side where the first end of the inner pin 106 is located, and a second portion T2, which is a portion on the side where the second end is located, together.

[0056] The diameter of the second portion S2 of the outer pin 105 (1 millimeter in the example of FIG. 18) is smaller than the diameter near the first portion S1 (1.5 millimeters in the example of FIG. 18). Also, the hole diameters D of the hole plates 102 and 104 shown in FIG. 17 are equal to or larger than the diameter of the second portion S2 and smaller than the diameter of the first portion S1. Therefore, the second portion S2 of the outer pin 105 can penetrate the hole plate unit. A step is provided at the location where the diameter increases between the second portion S2 and the first portion S1. The step abuts on a portion other than the hole of the hole plate 104. Thereby, further movement of the outer pin 105 relative to the hole plate is restricted.

[0057] The diameter of the second portion T2 of the inner pin 106 (1 millimeter in the example of FIG. 18) is smaller than the diameter near the first portion T1 (1.5 millimeters in the example of FIG. 18). Also, the hole diameters D of the hole plates 102 and 104 shown in FIG. 17 are equal to or larger than the diameter of the second portion T2 and smaller than the diameter of the first portion T1. Therefore, the second portion T2 of the inner pin 106 can penetrate the hole plate unit. A step is provided at the location where the diameter increases between the second portion T2 and the first portion T1. The step abuts on a portion other than the hole of the hole plate 104. Thereby, further movement of the inner pin 106 relative to the hole plate 104 is restricted.

[0058] The sleeve 101 is formed in a hollow cylindrical shape. The inner diameter of the sleeve 101 corresponds to the diameters of the second parts S2 and T2. The outer diameter of the sleeve 101 may correspond to the diameters of the first parts S1 and T1. The diameter of the sleeve 101 may be larger than the hole diameter of the hole plate 102. Note that the sleeve 101 is attached to the second part T2 of the inner pin 106. Therefore, the sleeve 101 can also function as a stopper to prevent the inner pin 106 from falling off from the hole plate unit. In this case, the distance obtained by subtracting the thickness of the hole plate unit from the distance between the step of the inner pin 106 and the sleeve 101 is the distance that the inner pin 106 can move, that is, the first distance.

[0059] FIG. 19 is a conceptual diagram showing the flow until the end effector 1 according to the second embodiment of the present disclosure supports the object Wk. FIG. 20 is a conceptual diagram showing the flow until the end effector 1 according to the second embodiment of the present disclosure releases the supported object Wk and returns to the initial state. Note that since the components in FIGS. 19 and 20 are the same as those shown in FIGS. 9 to 18, only some components are explicitly given the same reference numerals, and the notations of the reference numerals for the other components are omitted. Also, the description will be made assuming that the tips of the plurality of pins included in the end effector 1 are facing in the direction of gravity.

[0060] In the aligned state shown in FIG. 19, by the control of the motor 200, the catch bracket 110 slides downward in the drawing with respect to the catch base 120. As a result, the pin extrusion plate 112 pushes the second end of the inner pin 106, and the inner pin 106 is aligned so that the second ends of the inner pins are aligned at the same height.

[0061] Next, by a spring mechanism (not shown) provided in the catch bracket 110, the catch bracket 110 returns to a predetermined position (height) with respect to the catch base 120. The inner pin 106 maintains the aligned state. Such a state of the end effector 1 is the initial state.

[0062] In the transfer state, the end effector 1 is pressed against the object Wk. This pressing may be performed by a human or by a robotic arm equipped with the end effector 1. Among the plurality of inner pins 106, those that come into contact with the object Wk slide upward with respect to the hole plate unit.

[0063] In the support state, under the control of the motor 200, the catch bracket 110 slides upward in FIG. 19 with respect to the catch base 120. The catch holder 130 fixed to the catch bracket 110 also slides upward with respect to the catch base 120. As a result, the inclined portion on the inner wall of the throttle 132 contacts the outer pin 105 and applies an inward force (i.e., a force directed toward the object Wk) to the outer pin 105. Due to this inward force, the outer pin 105 falls inward, and accordingly, the more inner inner pins 106 also sequentially fall inward, and finally, the inner pin 106 that contacts the object Wk is pressed against the side surface of the object Wk. By applying side pressure to the object Wk by the plurality of inner pins 106 that contact the object Wk, the object Wk is supported.

[0064] Next, an explanation will be given based on FIG. 20. Since the support state shown in FIG. 20 is the same as the support state shown in FIG. 19, a detailed explanation will be omitted.

[0065] In the released state, the urging force in the rotational direction applied by the motor 200 to the feed screw 201 is turned off. That is, the feed screw 201 can rotate freely. Then, the feed screw 201 rotates by the force of the spring returning in the spring mechanism provided in the catch bracket 110, and the catch bracket 110 slides downward in FIG. 20 with respect to the catch base 120. The catch holder 130 fixed to the catch bracket 110 also slides downward with respect to the catch base 120. As a result, the outer pin 105 is released from the inward force applied by the throttle 132. Accordingly, the more inner inner pin 106 is also released from the inward force. The object Wk is released from the inner pin 106 because the side pressure applied to the object Wk by the plurality of inner pins 106 in contact with the object Wk disappears.

[0066] In the extrusion state, due to the reaction of the spring by the spring mechanism provided in the catch bracket 110, the catch bracket 110 slides further downward in FIG. 20 with respect to the catch base 120. As a result, the pin extrusion plate 112 pushes the second end of the inner pin 106, and the inner pins 106 are aligned so that the second ends of the inner pins 106 are aligned at the same height. That is, in the extrusion state of FIG. 20, the inner pins 106 are aligned in the same manner as in the alignment state of FIG. 19. At this time, the object Wk is pushed out by the inner pin 106.

[0067] By the spring mechanism provided in the catch bracket 110, the catch bracket 110 returns to a predetermined position (height) with respect to the catch base 120. The inner pins 106 maintain the aligned state. That is, the state of the end effector 1 returns to the initial state.

[0068] FIG. 21 is a longitudinal sectional view showing an example of the end effector 1 in the supported state. FIG. 22 is a conceptual diagram corresponding to FIG. 21 and showing a case where the end effector 1 supports the object Wk in the horizontal direction.

[0069] FIG. 22 is a view of the end effector 1 in the supported state, as seen in the direction from the object Wk toward the end effector 1. Similar to the examples of FIGS. 7 and 8, also in FIGS. 21 and 22, the direction of the self-weight acting on the outer pin 105 and the inner pin 106 is different from the direction in which the pins extend. Therefore, a force other than the contact with the object Wk acts on the inner pin 106. However, in the case of the end effector 1 according to the second embodiment, the inner pin 106 penetrates the cushioning material 103 as described above. Therefore, the cushioning material 103 serves as a resistance to prevent the inner pin 106 from sliding unintentionally. Accordingly, as shown in FIG. 22, the number of inner pins 106 supporting the object Wk does not decrease. Therefore, the transfer function in which the pins transfer the shape of the object Wk is not impaired, and the supporting force does not decrease. This is the same even when the end effector 1 supports the object Wk in another direction, for example, upward. The cushioning material 103 through which the inner pin 106 penetrates can also prevent the inner pin 106 from falling unintentionally by exerting a resistance force against the sliding movement of the inner pin 106. That is, an end effector 1 can be obtained in which the supporting force does not decrease in any direction such as the lateral direction or the upward direction. With such an end effector 1 according to the second embodiment of the present disclosure, a wide range of operations can be performed. For example, the end effector 1 can pinch and perform on / off control of a switch provided on a wall. The end effector 1 can grip and rotate a doorknob to open a door. Further, the end effector 1 can rotate and remove a bare light bulb disposed on the ceiling of a room.

[0070] Further, among the outer pins 105 and the inner pins 106, at least for the inner pins 106, a sleeve 101 having an appropriate thickness is attached. By attaching the sleeve 101, the inner pins 106 are aligned without gaps at the location where the sleeve 101 is attached. Also, the inner pins 106 are prevented from being obliquely displaced with respect to the holes of the hole plates 102 and 104 and getting caught on another pin. Therefore, no matter in which direction (for example, the horizontal direction or the upward direction) the end effector 1 is used, the inner pins 106 can correctly transfer the shape of the object Wk. Accordingly, the end effector 1 can firmly support the object Wk.

[0071] Here, the cushion material 103, the outer pins 105, the throttle 132, and the inner pins 106 will be described in more detail.

[0072] (Cushion material) The cushion material 103 prevents the inner pins 106 from sliding by receiving an unintended force other than the force received from the object Wk. From this perspective, the cushion material 103 is formed of a material capable of applying a frictional force to the penetrating inner pins 106. The cushion material 103 may be formed of, for example, urethane foam, but the material is not limited to this. The cushion material 103 has elasticity. The hole diameter of the cushion material 103 through which the inner pins 106 penetrate is preferably smaller than the diameter of the inner pins 106.

[0073] (Outer pins and throttle) The outer pins 105 are fixed to the hole plate 104 so as not to slide in the direction of the holes of the hole plate 104. The outer pins 105 are shorter than the inner pins 106. If the movable range (stroke) of the inner pins 106 along the direction of the holes of the hole plate 104 is taken as the first distance, the outer pins 105 have a length equal to or less than the value obtained by subtracting the first distance from the length of the inner pins 106.

[0074] The first end of the outer pin 105, i.e., the end closer to the object Wk supported by the end effector 1, has a rounded shape. By providing this rounding, when the inner wall (inclined portion) of the aperture 132 that slides together with the catch bracket 110 comes into contact with the first end of the outer pin 105, it prevents them from wearing against each other. For example, the first end of the outer pin 105 may be spherical. From the perspective of preventing wear, the inner wall (inclined portion) of the aperture 132 may also be provided with rounding. Note that the aperture 132 is an aspect of the biasing portion.

[0075] By providing rounding on the first end of the outer pin 105 or the inner wall (inclined portion) of the aperture 132, when the aperture 132 of the catch holder 130 slides along the direction of the hole in the hole plate 104 and transitions from the transfer state shown in FIG. 19 to the support state, the inner wall (inclined portion) of the aperture 132 smoothly transmits an inward force to the outer pin 105. The outer pin 105 smoothly falls inward, and the inner pin 106 further inside smoothly applies a lateral pressure to the object Wk. As a result, the end effector 1 can smoothly support the object Wk.

[0076] (Inner pin) FIG. 23 is a conceptual diagram illustrating the shape near the first end of the inner pin 106. FIG. 24 is a conceptual diagram of the inner pin 106 shown in FIG. 23 viewed from the first end to the second end. Among the regions in the first portion T1 (see FIG. 18) of the inner pin 106 that contact the object Wk, the first region REG1 including the first end is processed to be tapered. Thereby, compared with the case where the end of the inner pin 106 is simply rod-shaped, the side surface portion of the inwardly fallen inner pin 106 comes into smoother contact with the object Wk. Therefore, it becomes easier to apply a lateral force to the object Wk, and the support of the object Wk becomes stable. Also, even when the object Wk is small, it can be grasped so as to surround the object Wk with the tapered portions of the plurality of inner pins 106. FIG. 24 shows an example indicating the degree of the inclination of the taper of the first region REG1.

[0077] In the first part T1 of the inner pin 106 (see FIG. 18), among the regions in contact with the object Wk, the second region REG2 may be subjected to anti-slip processing. For example, when the object Wk is a slippery object such as a flounder or a sea cucumber, it is difficult for the end effector to support such an object in the first place. The end effector 1 according to the second embodiment of the present disclosure can reliably support a slippery object by performing anti-slip processing that allows it to catch on in the second region REG2. This anti-slip processing is performed, for example, by leaving the core 1061, which is the central part of the second region REG2, and processing the peripheral part of the core 1061 into a shape that increases the frictional force.

[0078] FIG. 25 is a diagram showing an example of the anti-slip processing applied to the second region REG2 of the inner pin 106. When the shape with a catch (catch shape) is a cylinder, for example, the surface shape of the second region REG2 is formed by leaving the core 1061 and cutting the peripheral part thereof. When the catch shape is a shape with an edge, for example, the surface shape of the second region REG2 is formed by forming the inner pin 106 itself using a 3D printer.

[0079] Alternatively, the portion of the second region REG2 of the inner pin 106 may be shaved leaving the core 1061, and an anti-slip member made of rubber may be attached around the core 1061.

[0080] Note that each component described for the end effector 1 according to the second embodiment of the present disclosure may be applied to the end effector 2 according to the first embodiment of the present disclosure, and the same operational effects as described above can be obtained.

[0081] FIG. 26 is a block diagram showing an example of the hardware configuration of a control system 500 used with an end effector according to each embodiment of the present disclosure. The control system 500 controls the operations of the above-described end effector 1 or end effector 2. Note that the control system 500 may further control a robot arm (not shown). The control system 500 may be provided inside the robot arm or outside the robot arm.

[0082] The control system 500 includes a processor 501, a memory 502, an input device 503, an end effector connection unit 505, a communication device 506, and an input / output interface 507. The memory 502, the input device 503, the end effector connection unit 505, the communication device 506, and the input / output interface 507 are each connected to the processor 501 via an internal bus or the like so that data or information can be input and output.

[0083] The processor 501 functions as a control unit of the control system 500. For example, the processor 501 performs control processing for overall control of the operations of each part of the control system 500, input / output processing of data or information between each part of the control system 500, calculation processing of data, and storage processing of data or information. Further, the processor 501 also functions as a control unit that controls the end effector 1, the end effector 2, and the robot arm. The processor 501 may control, for example, the operation of the actuator 16 for the end effector 2 or the motor 200 for the end effector 1. The processor 501 may be a CPU (Central Processing Unit), an MPU (Micro Processing Unit), a DSP (Digital Signal Processor), an FPGA (Field Programmable Gate Array), or the like.

[0084] The memory 502 stores various programs (such as the OS, application software, etc.) and various data executed by the processor 501. The memory 502 is constituted by, for example, an HDD (Hard Disk Drive), a flash memory, a ROM (Read Only Memory), and / or a RAM (Random Access Memory), etc.

[0085] The input device 503 has a function as a human interface with the user and inputs the user's operations. In other words, the input device 503 is used for input or instruction in various processes executed by the control system 500. Examples of the input device 503 are a keyboard or a mouse. Alternatively, the input device 503 is a programming pendant connected to a controller (not shown) of a robotic arm.

[0086] The end effector connection part 505 is a device for connecting the end effector 1 or the end effector 2 to the control system 500. A wired connection such as a connector and a cable is used between the end effector connection part 505 and the end effector 1 or the end effector 2. However, a wireless connection may be used between the end effector connection part 505 and the end effector 1 or the end effector 2.

[0087] The communication device 506 is a device for communicating with the outside via the network 508. This communication may be either wired communication or wireless communication.

[0088] The input / output interface 507 has a function as an interface for inputting and outputting data or information among the devices constituting the control system 500.

[0089] Note that the configuration of the control system 500 shown in FIG. 26 is an example, and the control system 500 may not include some of the components shown in FIG. 26, or may further include additional components not shown in FIG. 26.

[0090] (Modification of the First Embodiment) The configuration of the end effector 2 according to the first embodiment of the present disclosure is not limited to the above-described configuration. For example, the protrusion 14B of the holder 14 may be constituted by an air tube, and the air tube may be disposed above the lower end of the outer pin 12A. In this case, in the support stage, the end effector 2 injects air into the air tube. As a result, the air tube inflated by the injection of air presses the outer pin 12A from the side and applies an inward force (that is, a force directed toward the object Wk) to the outer pin 12A. Due to this inward force, the outer pin 12A falls inward, and accordingly, the inner pin 12B also sequentially falls inward, and finally, the inner pin 12B that contacts the object Wk is pressed against the side surface of the object Wk. Even with such a configuration, the end effector 2 can support the object Wk. The air tube is one aspect of the force applying portion.

[0091] Alternatively, the end effector 2 may be configured to include an outer pin 12A made of a shape memory alloy that deforms inward (that is, in the direction toward the object Wk) when energized, without including the holder 14. In this case, in the support stage, the end effector 2 energizes the outer pin 12A. As a result, the outer pin 12A deforms inward, and accordingly, the inner pin 12B also sequentially falls inward, and finally, the inner pin 12B that contacts the object Wk is pressed against the side surface of the object Wk. Even with such a configuration, the end effector 2 can support the object Wk. The device for energizing the outer pin 12A is one aspect of the force applying portion.

[0092] Next, the end effector 2 that supports the switching adapter will be described. In the above-described first embodiment, the object Wk supported by the end effector 2 was a workpiece that was the target of picking in a factory or the like. On the other hand, the end effector 2 may support another end effector. An example of such another end effector is the switching adapter 33 described later.

[0093] Hereinafter, the end effector 2 that supports and uses the switching adapter 33 having the suction pad 32 capable of adsorbing the object Wk will be described.

[0094] FIG. 27 is a longitudinal sectional view showing an example of the configuration of the end effector 2 according to the modified example.

[0095] The end effector 2 further includes a main body suction unit 31. The main body suction unit 31 can be connected to the suction pad 32 described with reference to FIG. 28 and constitutes a path for suction and discharge of air to and from the connected suction pad 32.

[0096] When the actuator 16 performs suction and discharge of air, the main body suction unit 31 may be connected to the same air conveyance system as the actuator 16.

[0097] FIG. 28 is a longitudinal sectional view showing an example of the mold-taking stage of the switching adapter 33 by the end effector 2 according to the modified example. FIG. 29 is a longitudinal sectional view showing an example of the support stage of the switching adapter 33 by the end effector 2 according to the modified example.

[0098] First, as shown in FIG. 28, the switching adapter 33 is provided with the suction pad 32. A pipe 34 for sucking and discharging air to and from this suction pad is connected to the main body suction unit 31. Thereby, a passage for suction and discharge of air from the suction pad 32 to the main body suction unit 31 is formed.

[0099] Next, as shown in FIG. 28, the end effector 2 performs mold-taking of the switching adapter 33 in the mold-taking stage. Then, as shown in FIG. 29, the end effector 2 supports the switching adapter 33 in the support stage.

[0100] As a result, the end effector 2 can utilize the suction pad 32 through the supported switching adapter 33. That is, the robot arm can utilize another type of end effector such as the suction pad 32 through the switching adapter 33 without replacing the pin-type end effector 2 according to the present disclosure.

[0101] Note that another type of end effector attached to the switching adapter 33 is not limited to the suction pad 32 described above. For example, a finger type, electromagnetic type, or jamming type end effector may be attached to the switching adapter 33.

[0102] Note that each component described in the modification of the first embodiment may be applied to the end effector 1 according to the second embodiment of the present disclosure, and the same operational effects as described above can be obtained.

[0103] As described above, the end effector according to one aspect of the present disclosure includes one or more hole plates provided with a plurality of holes, a cushioning material used together with the hole plates, and a plurality of pins. The plurality of pins includes a plurality of inner pins and a plurality of outer pins arranged outside the inner pins. The inner pins penetrate through the holes of the hole plate and the cushioning material so as to be movable by a first distance in the penetrating direction of the holes with respect to the hole plate. The end effector further includes a biasing portion that applies a force inwardly to the outer pins. Thereby, an end effector capable of maintaining the supporting force of the object can be provided even when used in a lateral direction, an upward direction, or the like.

[0104] The outer pins are fixed to the hole plate so as not to move in the penetrating direction of the holes of the hole plate. As a result, when the fixed outer pins fall inward, an inward force can be applied to the inner pins.

[0105] The outer pin has a length that is less than or equal to a value obtained by subtracting a first distance from the length of the inner pin. Thereby, it is possible to secure a movable range (stroke) in which the inner pin moves along the direction of the hole in the hole plate.

[0106] A sleeve is attached to the end of the plurality of pins on the side opposite to the end in contact with the object supported by the end effector. Thereby, the inner pins are aligned without gaps at the location where the sleeve is attached. Also, the inner pin will not be misaligned obliquely with respect to the hole in the hole plate and caught by another pin. Therefore, no matter in which direction (for example, horizontal direction or upward direction) the end effector is used, the inner pin can correctly transfer the shape of the object. Accordingly, the end effector can firmly support the object.

[0107] The end of the inner pin on the side in contact with the object supported by the end effector is tapered. Thereby, compared with the case where the end of the inner pin is simply rod-shaped, the side surface portion of the inner pin that has fallen inward will contact the object more smoothly. Therefore, it becomes easier to apply a lateral force to the object, and the support of the object is stabilized. Also, even when the object is small, it can be grasped so as to surround the object at the tapered portions of the plurality of inner pins.

[0108] The area of the inner pin in contact with the object supported by the end effector is provided with an anti-slip process. Thereby, it is possible to securely support an object that is prone to slipping.

[0109] The end of the outer pin on the side in contact with the object supported by the end effector has a rounded shape. Thereby, it is possible to prevent wear due to contact between the end and the force application portion.

[0110] The boosting part is provided with an inclined part that is movable along the penetrating direction of the holes in the hole plate, and the inclined part has a round shape. Thereby, it is possible to prevent wear caused by contact between the end of the outer pin on the side in contact with the object supported by the end effector and the boosting part (inclined part).

[0111] The cushioning material may be disposed sandwiched between two hole plates. Thereby, the cushioning material is stably held by the two hole plates.

[0112] The set of end effectors includes the above-described end effector and another end effector that can be supported by the above-described end effector. Thereby, it is possible to perform work by supporting another end effector without replacing the above-described end effector.

[0113] As described above, the embodiments have been described with reference to the accompanying drawings, but the present disclosure is not limited to such examples. It is obvious that those skilled in the art can conceive of various modification examples, correction examples, replacement examples, addition examples, deletion examples, and equivalent examples within the scope described in the claims, and it is understood that they also belong to the technical scope of the present disclosure. Further, within the scope not departing from the gist of the invention, the components in the above-described embodiments may be arbitrarily combined.

Industrial Applicability

[0114] The end effector of the present disclosure can be used in a device for supporting an object.

Explanation of Reference Numerals

[0115] 1 End effector 2 End effector 11 Hole plate 12 Pin 12A Outer pin 12B Inner pin 13 Base 14 Holder 14A Side surface part 14B Protrusion 14C Slit 15 Movable plate 16 Actuator 31 Body suction unit 32 Suction pad 33 Switching adapter 34 Pipe 100 Pin module 101 Sleeve 102 Hole plate 103 Cushion material 104 Hole plate 105 Outer pin 106 Inner pin 1061 Core 110 Catch bracket 112 Plate 113 Screw 114 Screw hole 120 Catch base 121 Slide groove 130 Catch holder 131 Screw hole 200 Motor 201 Screw 500 Control system 501 Processor 502 Memory 503 Input device 505 End effector connection part 506 Communication device 507 Input / output interface 508 Network Wk Object

Claims

1. One or more hole plates provided with a plurality of holes, A cushioning material used together with the one or more hole plates, A plurality of inner pins, and a plurality of outer pins disposed outside the plurality of inner pins, including a plurality of pins for supporting an object, A biasing portion that applies a force inwardly to the plurality of outer pins, The plurality of inner pins penetrate through the plurality of holes and the cushioning material so as to be movable by a first distance in the penetrating direction of the plurality of holes with respect to the one or more hole plates, The plurality of outer pins are fixed to the one or more hole plates so as not to move in the penetrating direction of the plurality of holes, An end effector.

2. The plurality of outer pins have a length that is equal to or less than a value obtained by subtracting the first distance from the length of the plurality of inner pins, The end effector according to Claim 1.

3. One or more hole plates provided with a plurality of holes, A cushioning material used together with the one or more hole plates, A plurality of inner pins, and a plurality of outer pins disposed outside the plurality of inner pins, including a plurality of pins for supporting an object, A biasing portion that applies a force inwardly to the plurality of outer pins, The plurality of inner pins penetrate through the plurality of holes and the cushioning material so as to be movable by a first distance in the penetrating direction of the plurality of holes with respect to the one or more hole plates, A sleeve is attached to an end portion opposite to the end portion on the side where the plurality of pins contact the object, An end effector.

4. End portions of the plurality of inner pins on the side that contacts the object are tapered, The end effector according to any one of Claims 1 to 3.

5. An anti-slip process is performed on a region of the plurality of inner pins that contacts the object, The end effector according to any one of Claims 1 to 4.

6. End portions of the plurality of outer pins on the side close to the object have rounded edges, The end effector according to any one of Claims 1 to 5.

7. The biasing portion includes an inclined portion movable along the penetrating direction of the plurality of holes, and the inclined portion has rounded edges, The end effector according to any one of Claims 1 to 6.

8. The one or more hole plates are two hole plates, The cushioning material is disposed sandwiched between the two hole plates. The end effector according to any one of claims 1 to 7. **Claim 9** An end effector according to any one of claims 1 to 8, comprising another end effector that can be supported by the end effector. A set of end effectors.

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