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US 9,757,863 B2Granted
Robot apparatus, exchanger apparatus and robot system
AssigneeCanon Kabushiki Kaisha
InventorMasataka Suzuki
Life of this patent
Estimating the term…
Abstract
A hand at a robot arm leading end is provided with a mounting portion for a finger. The mounting portion includes a guiding unit that guides a supported portion of the finger so as to enable the supported portion to pass through from one end part of the guiding unit 31 to another end part thereof. The mounting portion further includes a lock mechanism. The lock mechanism moves the supported portion from any of end parts of the guiding unit 31 toward a mount position between the end parts, to thereby bring the supported portion of the finger into a restricting state at the mount position. Moreover, the lock mechanism moves the supported portion toward any of the end parts from the restricting state, to thereby bring the supported portion from the restricting state into a releasing state.
Claims16
A robot apparatus comprising a mounting portion that detachably supports a supported portion of an operating unit that operates an operating object, wherein
- the mounting portion includes:
- a guiding unit that guides the supported portion so as to enable the supported portion to pass through from one end part of the guiding unit to another end part thereof;
- and
- a lock mechanism that moves the supported portion from the one end part of the guiding unit toward a mount position between the one end part and the another end part, to thereby bring the supported portion into a restricting state at the mount position, and moves the supported portion toward the another end part from the restricting state, to thereby bring the supported portion from the restricting state into a releasing state.
1 more element
An exchanger apparatus adaptable to a robot apparatus comprising a mounting portion that detachably supports a supported portion of an operating unit that operates an operating object, wherein
- the mounting portion includes:
- a guiding unit that guides the supported portion so as to enable the supported portion to pass through from one end part of the guiding unit to another end part thereof;
- and
- a lock mechanism that moves the supported portion from any of end parts of the guiding unit toward a mount position between the end parts, to thereby bring the supported portion into a restricting state at the mount position, and moves the supported portion toward any of the end parts from the restricting state, to thereby bring the supported portion from the restricting state into a releasing state,
- in a state where the supported portion is guided by the guiding unit, the robot apparatus moves the supported portion and the guiding unit relative to each other, and controls the supported portion into the restricting state via the lock mechanism, to thereby mount the operating unit on the mounting portion, and
- in the state where the supported portion is guided by the guiding unit, the robot apparatus moves the supported portion and the guiding unit relative to each other, and controls the supported portion into the releasing state via the lock mechanism, to thereby remove the operating unit from the mounting portion, wherein
- the exchanger apparatus comprises a holding unit that holds a second operating unit different from a first operating unit mounted on the mounting portion of the robot apparatus and wherein
- through a relative movement between the holding unit and the mounting portion, the exchanger apparatus causes the second operating unit to:
- enter the guiding unit from one end part thereof;
- abut against the first operating unit;
- and push the first operating unit, to thereby cancel a restricting state of the first operating unit by the lock mechanism, and
- through the relative movement between the holding unit and the mounting portion, the exchanger apparatus feeds the second operating unit toward the mount position, brings the second operating unit into a restricting state by the lock mechanism, mounts the second operating unit on the mounting portion, and ejects the first operating unit from another end part of the guiding unit.
9 more elements
A robot system comprising:
- a robot apparatus comprising a mounting portion that detachably supports a supported portion of an operating unit that operates an operating object, wherein
- the mounting portion includes:
- a guiding unit that guides the supported portion so as to enable the supported portion to pass through from one end part of the guiding unit to another end part thereof;
- and
- a lock mechanism that moves the supported portion from any of end parts of the guiding unit toward a mount position between the end parts, to thereby bring the supported portion into a restricting state at the mount position, and moves the supported portion toward any of the end parts from the restricting state, to thereby bring the supported portion from the restricting state into a releasing state,
- in a state where the supported portion is guided by the guiding unit, the robot apparatus moves the supported portion and the guiding unit relative to each other, and controls the supported portion into the restricting state via the lock mechanism, to thereby mount the operating unit on the mounting portion, and
- in the state where the supported portion is guided by the guiding unit, the robot apparatus moves the supported portion and the guiding unit relative to each other, and controls the supported portion into the releasing state via the lock mechanism, to thereby remove the operating unit from the mounting portion;
- an exchanger apparatus adaptable to the robot apparatus, and comprising a holding unit that holds a second operating unit different from a first operating unit mounted on the mounting portion of the robot apparatus, and wherein
- through a relative movement between the holding unit and the mounting portion, the exchanger apparatus causes the second operating unit to:
- enter the guiding unit from one end part thereof;
- abut against the first operating unit;
- and push the first operating unit, to thereby cancel a restricting state of the first operating unit by the lock mechanism, and
- through the relative movement between the holding unit and the mounting portion, the exchanger apparatus feeds the second operating unit toward the mount position, brings the second operating unit into a restricting state by the lock mechanism, mounts the second operating unit on the mounting portion, and ejects the first operating unit from another end part of the guiding unit;
- and
- a controlling unit configured to control the robot apparatus and the exchanger apparatus.
12 more elements
Dependencies are inferred from the claim text.