JP2002361588A - Slide type chuck of robot hand, controlling method for chuck, and recording medium - Google Patents

Abstract

PROBLEM TO BE SOLVED: To grasp various objects having different shapes certainly without risk of damaging, lessen the dislocation likely at the time of assembling the object and a finger, and generate an appropriate grasping force and appropriate pressing force at the time of installation. SOLUTION: Grasping the object is made in such a way as moving fingers 1 in the closing direction until the sensing values of force measuring means installed at the base ends of the fingers become their respective appropriate values, and when the grasped work is to be installed, the sensing values will change due to touching other component as the party to which the installation is intended. If at the time of installation, the changing amount of any of the sensing values has exceeded the specified level, each finger 1 is moved in the direction of lessening the changing amount of sensing so that the sensing value in the finger 1 extending direction becomes appropriate value, and thus it is possible to execute proper locating and installing works.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a hand of a robot such as a manipulator, which is used for assembling or disassembling a product, and is applicable to positioning and transporting of an object, and more particularly to an object to be gripped having various shapes. The present invention relates to a slide chuck of a robot hand for gripping an object, a control method of the slide chuck, and a computer-readable recording medium on which a program for realizing the control is recorded.

[0002]

2. Description of the Related Art A sliding chuck is used as a hand for gripping an object in a robot such as a manipulator. In this type of robot hand, when gripping various objects having different shapes using a sliding chuck, a method of replacing at least one of the entire hand and the finger according to the shape of the component, or a different component shape is used. A method using a double hand or a turret hand having at least one of a corresponding hand and a finger has been generally adopted. However,
When such a method is adopted, a dedicated hand for each object,
Fingers or claws are required, and time for replacement is required. Furthermore, even when using a turret hand, there is a problem that a dedicated hand is required for each object, and the tip of the arm becomes large and heavy. On the other hand, there is a method disclosed in Japanese Patent Application Laid-Open No. 5-208391 as a robot hand of a method of gripping various kinds of objects having different shapes using one slide chuck. In the system disclosed in Japanese Patent Application Laid-Open No. 5-208391, a workpiece, that is, an object to be gripped, is gripped by a plurality of crank-shaped fingers sliding along sliding grooves formed in a base end face of the hand.
The finger is fixed to a rotation axis perpendicular to the base end face, has a gripping axis offset from the rotation axis, and has a gripping form by movement of the finger along a sliding groove and rotation about the rotation axis. Is changed according to the work.

[0003]

As described above, the system disclosed in Japanese Patent Application Laid-Open No. 5-208391 discloses a plurality of crank-shaped sliding members that slide along sliding grooves formed in the base end face of the hand. While gripping the workpiece, that is, the object to be gripped, by the fingers, the fingers are fixed to a rotation axis perpendicular to the base end face, have a gripping axis offset with respect to the rotation axis, and are provided in sliding grooves of the fingers. The gripping form is changed according to the workpiece by the movement along the axis and the rotation about the rotation axis. However, in this method, there are limitations on the positions and gripping directions of the fingers, and in the case of an irregularly shaped work, there is a problem that it is difficult to grip each finger from an appropriate direction with respect to the outer shape of the work. Therefore, the present applicant has developed an inexpensive, small and lightweight slide chuck capable of securely gripping various gripping objects having different shapes without damaging the same.
Patent Application 2001-86487, filed on March 26, 2001, entitled "Sliding Chuck, Control Method of Sliding Chuck and Recording Medium for Control Software of Sliding Chuck"
As already suggested.

According to this slide type chuck, various gripping objects having different shapes can be securely gripped without damaging the gripping objects. There is a risk of damage to the gripping object, such as gripping the gripping object with an appropriate gripping force with little displacement, and adjusting the pressing force when assembling the slide chuck itself gripping the gripping object. There is a demand for a more appropriate, safer and more reliable handling of the gripping object. The present invention has been made in view of the above-described circumstances, and can grip various gripping objects having different shapes reliably and without damaging them, and at the time of assembling the gripping object and the finger. The displacement is small, the gripping force for gripping the gripping object and the pressing force at the time of assembling are set appropriately, the risk of damage to the gripping object is further reduced, and the gripping object is handled more appropriately, safely and securely. It is an object of the present invention to provide a sliding chuck of a robot hand, a control method thereof, and a recording medium that enable the robot hand to perform the operation.

[0005] It is an object of the present invention to grip a gripping object with an appropriate gripping force without damaging the gripping object due to an excessive gripping force and without displacing the finger during assembly. It is an object of the present invention to provide a sliding chuck of a robot hand that can perform the above. The object of claim 2 of the present invention is to provide an appropriate gripping force that is not displaced from a finger during assembly without damaging the gripped object due to an excessive gripping force and a force applied to the gripped object during assembly. An object of the present invention is to provide a sliding chuck for a robot hand that can grip a target to be gripped and that can appropriately set a pressing force at the time of assembly. The object of claim 3 of the present invention is to perform positioning of the finger in the turning direction of the linear moving means based on position detection in the turning direction of the finger based on image information of the object to be gripped, and to set the position in the turning direction. Regardless, an object of the present invention is to provide a slide chuck of a robot hand that can appropriately grip a target to be gripped.

A fourth object of the present invention is to hold a gripping object with an appropriate gripping force that prevents damage to the gripping object due to an excessive gripping force and suppresses displacement of the gripping object during assembly. It is an object of the present invention to provide a method of controlling a sliding chuck of a robot hand which can perform the operation. The object of claim 5 of the present invention is that, in particular, when an assembling operation such as insertion in a state where a grasped object is sandwiched by two fingers facing each other at a position different by 180 °, unnecessary force is applied to the grasped object. To provide a control method of a slide-type chuck of a robot hand, which can prevent damage due to the addition of a gripper, eliminate the occurrence of displacement between the object to be grasped and the finger, and realize a reliable assembling operation. is there. The object of claim 6 of the present invention is to prevent damage caused by unnecessary force exerted by gripping and assembling on the object to be gripped, particularly when assembling the object to be gripped, and An object of the present invention is to provide a method of controlling a sliding chuck of a robot hand, which eliminates the occurrence of a displacement between a finger and a finger and enables a reliable assembling operation.

A seventh object of the present invention is to detect a position of the object to be grasped in the turning direction based on the detection by the image detecting means, and to move the linear moving means of the finger in the turning direction based on the position information. The present invention is to provide a method of controlling a slide chuck of a robot hand, which is capable of appropriately gripping the gripping object regardless of the position of the gripping object in the turning direction. An object of an eighth aspect of the present invention is to provide, in particular, an assembling operation such as insertion while gripping an object to be gripped, in two directions: a direction in which the fingers are opened and closed and a direction along the base and distal ends of the fingers. Until a force other than the gripping force is applied to the biaxial force measuring means for measuring the position, the position of the slide chuck itself is controlled based on the image information detected by the image detecting means provided near the center of the hand, and assembled. After shortening the operation time and applying a force other than the gripping force to the biaxial force measuring means, the position of the slide chuck itself is controlled based on the detection information of the biaxial force measuring means, An object of the present invention is to provide a control method of a sliding chuck of a robot hand which can apply an appropriate force required for assembly without damaging the object to be gripped.

[0010] It is an object of a ninth aspect of the present invention to hold a gripping object with an appropriate gripping force that prevents damage to the gripping object due to an excessive gripping force and suppresses displacement of the gripping object during assembly. It is an object of the present invention to provide a computer-readable recording medium on which a program for controlling the computer to perform the operation is recorded. Claim 10 of the present invention
The object of the present invention is to prevent damage caused by unnecessary force being applied to the gripping target object during an assembling operation such as insertion while holding the gripping target object by two fingers facing each other at 180 ° different positions. To provide a computer-readable recording medium which stores a program for preventing the occurrence of a positional shift between the object to be grasped and the finger and for realizing a reliable assembling operation. is there. The object of claim 11 of the present invention is, inter alia,
At the time of operation such as assembling of the gripping object, to prevent damage due to the application of unnecessary force by gripping and assembling the gripping object, and eliminate the occurrence of positional displacement between the gripping object and the finger, It is an object of the present invention to provide a computer-readable recording medium on which a program for controlling to realize a reliable assembling operation is recorded.

It is an object of a twelfth aspect of the present invention to detect, in particular, the position of the object to be grasped in the turning direction based on the detection by the image detecting means, and to move the linear moving means of the finger in the turning direction based on the position information. And a computer-readable recording medium on which a program for controlling the gripping object to be appropriately gripped regardless of the position of the gripping object in the turning direction is recorded. Is to do. The object of claim 13 of the present invention is to provide, in particular, a force in two directions of an opening / closing direction of each finger and a direction along a base end and a tip end direction of each finger when assembling operation such as insertion while gripping an object to be gripped. Until a force other than the gripping force is applied to the biaxial force measuring means for measuring
The position of the slide chuck itself is controlled based on the image information detected by the image detecting means provided near the center of the hand to shorten the assembling operation time, and
After a force other than the gripping force is applied to the shaft force measuring means,
The position of the slide chuck itself is controlled based on the detection information of the shaft force measuring means, and the position of the slide chuck itself is controlled so that an appropriate force required for assembly can be applied without damaging the object to be gripped. An object of the present invention is to provide a computer-readable recording medium on which a program is recorded.

[0010]

According to the first aspect of the present invention, there is provided a sliding chuck for a robot hand according to the present invention, wherein at least two fingers and each of the fingers are connected to achieve the first object. A moving means for supporting and linearly moving along a moving straight line intersecting at one point; and each of the moving means around an axis perpendicular to a plane including the moving straight lines of all the fingers around the intersection of the moving straight lines. Turning means for turning the moving means of the finger to change the moving direction by turning the finger, an actuator for driving the moving means and the turning means for each individual finger, a control means for controlling the actuator, Switching means for selectively switching and transmitting a driving force of an actuator to at least one of the moving means and the turning means; A force measuring means disposed at the base end of the finger, for measuring the force in the opening and closing direction of each of the fingers and providing control to the control means, wherein the movement of the fingers pinches the object to be grasped. Features.

According to a second aspect of the present invention, in the sliding chuck for a robot hand according to the present invention, in order to achieve the second object, the force measuring means is provided at a base end of each of the fingers. Further, the present invention is characterized in that it is a biaxial force measuring means for measuring a force in two directions, that is, an opening / closing direction of each finger and a direction along a base end / front end direction of each finger. According to a third aspect of the present invention, in order to attain the third object, the sliding chuck of the robot hand according to the present invention detects an image of the object to be grasped, and supports and linearly moves each of the fingers. It is characterized by further comprising image detecting means for detecting the position of the object to be gripped for positioning control of the moving means in the turning direction by the turning means.

According to a fourth aspect of the present invention, there is provided a control method of a slide chuck, wherein at least two fingers are provided to achieve the fourth object.
Moving means for supporting and linearly moving along a moving straight line intersecting at one point; and moving the moving means of each finger around an axis perpendicular to a plane including the moving straight lines of all fingers around the intersection of the moving straight lines. A turning means for changing the moving direction by making a turning motion, an actuator for driving the moving means and the turning means for each finger, a control means for controlling the actuator, and a driving means for controlling the driving force of the actuator. And a switching means for selectively switching and transmitting to at least one of the turning means. In the control by the control means in the sliding chuck of the robot hand for holding the object to be grasped by movement of the finger, Opening and closing of each finger by force measuring means disposed at the base end of And measuring the force in the opening and closing direction of each finger so that the force detected by the force measuring means becomes a desired value at the time of gripping the object to be gripped. I have.

According to a fifth aspect of the present invention, there is provided a method for controlling a sliding chuck according to the present invention, wherein the moving object supports two or more fingers and intersects at one point to achieve the fifth object. Moving means for linearly moving along a straight line, changing the moving direction by rotating the moving means of each finger around an axis perpendicular to a plane including the moving straight lines of all the fingers around the intersection of the moving straight lines; , An actuator for driving the moving unit and the turning unit for each finger, a control unit for controlling the actuator, and a driving force of the actuator to at least one of the moving unit and the turning unit. A switching means for selectively switching and transmitting, and a robot for holding the object to be gripped by moving the finger In the control by the control means in the sliding chuck of the finger, the force in the opening and closing direction of each finger is measured by force measuring means disposed at the base end of each finger, and the fingers face each other at a position different by 180 °. When an assembling operation such as insertion is performed in a state where the gripping object is held between the two fingers, the contact between the gripping object and the assembly destination member is maintained while the distance between the two fingers is kept constant. The positioning control is performed such that the two fingers are linearly moved by a predetermined distance via the moving means in a direction in which the amount of change in the detection value by the force measuring means caused by the force is reduced.

According to a sixth aspect of the present invention, there is provided a method for controlling a slide chuck according to the present invention, wherein at least two fingers are supported and intersect at one point to achieve the sixth object. Moving means for linearly moving along a straight line, changing the moving direction by rotating the moving means of each finger around an axis perpendicular to a plane including the moving straight lines of all the fingers around the intersection of the moving straight lines; , An actuator for driving the moving unit and the turning unit for each finger, a control unit for controlling the actuator, and a driving force of the actuator to at least one of the moving unit and the turning unit. A switching means for selectively switching and transmitting, and a robot for holding the object to be gripped by moving the finger In the control by the control means in the sliding chuck of the finger, biaxial force measuring means provided at the base end of each finger moves the opening / closing direction of each finger and the base end / tip direction of each finger. Along with measuring the two-directional forces along the direction, the opening / closing direction and the proximal / distal directions of the fingers so that the force detected by the force measuring means at the time of gripping the gripping object becomes a desired value. Is characterized in that positioning control is performed.

According to a seventh aspect of the present invention, there is provided a control method of a slide chuck according to the present invention, wherein at least two fingers are supported and intersecting at one point to achieve the seventh object. Moving means for linearly moving along a straight line, changing the moving direction by rotating the moving means of each finger around an axis perpendicular to a plane including the moving straight lines of all the fingers around the intersection of the moving straight lines; , An actuator for driving the moving unit and the turning unit for each finger, a control unit for controlling the actuator, and a driving force of the actuator to at least one of the moving unit and the turning unit. A switching means for selectively switching and transmitting, and a robot for holding the object to be gripped by moving the finger In the control by the control means in the sliding chuck of the hand, the position of the object to be grasped is detected based on image information detected by image detection means, and each finger is supported based on position information based on the image information. The present invention is characterized in that positioning control of the linear moving means in the turning direction is performed.

According to an eighth aspect of the present invention, there is provided a slide chuck control method according to the present invention, in order to achieve the above-mentioned eighth object, to move two or more fingers each supporting and intersecting at one point. Moving means for linearly moving along a straight line, changing the moving direction by rotating the moving means of each finger around an axis perpendicular to a plane including the moving straight lines of all the fingers around the intersection of the moving straight lines; , An actuator for driving the moving unit and the turning unit for each finger, a control unit for controlling the actuator, and a driving force of the actuator to at least one of the moving unit and the turning unit. A switching means for selectively switching and transmitting, and a robot for holding the object to be gripped by moving the finger In the control by the control means in the sliding chuck of the finger, biaxial force measuring means provided at the base end of each finger moves the opening / closing direction of each finger and the base end / tip direction of each finger. Measuring the force in two directions along the direction, detecting the position of the object to be gripped based on image information detected by image detecting means provided near the center of the hand,
In a case where an assembling operation such as insertion is performed in a state where the gripping target object is gripped by the fingers, the image is displayed in a state where a force other than a gripping force on the gripping target object is not detected by the biaxial force measuring unit. The position of the slide chuck itself is controlled based on the image information by the detecting means, and when a force other than the gripping force on the gripping target is detected by the biaxial force measuring means, the biaxial force is controlled. The position of the slide chuck itself is controlled based on information detected by the measuring means.

Further, a computer-readable recording medium according to the present invention described in claim 9 is a computer-readable recording medium according to
Moving means for supporting and moving two or more fingers in a straight line along a moving straight line intersecting at one point, and moving straight lines of all the fingers around the intersection of the moving straight lines. Turning means for turning the moving means of each finger about an axis perpendicular to a plane including the turning means to change the moving direction, an actuator for driving the moving means and the turning means for each individual finger, and the actuator. Control means for controlling,
And a switching unit for selectively switching and transmitting the driving force of the actuator to at least one of the moving unit and the turning unit. A function of measuring a force in the opening and closing direction of each finger by force measuring means disposed at a base end of each finger when causing a computer to perform control as the control means; A program for realizing a function of performing positioning control of the fingers in the opening / closing direction so that the force detected by the force measuring means has a desired value is recorded.

According to a tenth aspect of the present invention, there is provided a computer-readable recording medium according to the tenth aspect, wherein the moving medium supports two or more fingers and intersects at one point, respectively. Moving means for linearly moving along a straight line, changing the moving direction by rotating the moving means of each finger around an axis perpendicular to a plane including the moving straight lines of all the fingers around the intersection of the moving straight lines; Turning means for performing, the actuator for driving the moving means and the turning means for each individual finger,
Control means for controlling the actuator, and switching means for selectively switching and transmitting the driving force of the actuator to at least one of the moving means and the turning means, and a gripping target object by moving the finger When the computer controls the sliding chuck of the robot hand that holds the finger, the force in the opening and closing direction of each finger is measured by force measuring means disposed at the base end of each finger. When performing an assembling operation such as insertion in a state in which the object to be gripped is sandwiched by two fingers facing each other at a position different by 180 °,
While keeping the distance between the two fingers constant, the two fingers are moved by the moving means in the direction in which the amount of change in the value detected by the force measuring means due to the contact between the object to be gripped and the assembly destination member is reduced. And a program for realizing a function of performing positioning control for linearly moving through a predetermined distance via the computer.

According to an eleventh aspect of the present invention, there is provided a computer-readable recording medium according to the eleventh aspect of the present invention, wherein the moving object supports two or more fingers and intersects at one point. Moving means for linearly moving along a straight line, changing the moving direction by rotating the moving means of each finger around an axis perpendicular to a plane including the moving straight lines of all the fingers around the intersection of the moving straight lines; Turning means for performing, the actuator for driving the moving means and the turning means for each individual finger,
Control means for controlling the actuator, and switching means for selectively switching and transmitting the driving force of the actuator to at least one of the moving means and the turning means, and a gripping target object by moving the finger In causing the computer to perform the control as the control means in the sliding chuck of the robot hand that holds the robot hand, biaxial force measuring means disposed at the base end of each finger, the opening and closing direction of each finger and A function of measuring a bidirectional force in a direction along a base end and a tip end of each finger; and And a function of performing positioning control in the opening / closing direction and the base end / tip direction. It is characterized by recording the program.

According to a twelfth aspect of the present invention, there is provided a computer-readable recording medium according to the twelfth aspect, wherein each of the two or more fingers supports and intersects at one point in order to achieve the twelfth object. Moving means for linearly moving along a straight line, changing the moving direction by rotating the moving means of each finger around an axis perpendicular to a plane including the moving straight lines of all the fingers around the intersection of the moving straight lines; Turning means for performing, the actuator for driving the moving means and the turning means for each individual finger,
Control means for controlling the actuator, and switching means for selectively switching and transmitting the driving force of the actuator to at least one of the moving means and the turning means, and a gripping target object by moving the finger A function of detecting the position of the object to be gripped based on image information detected by image detecting means when causing a computer to perform the control as the control means in the sliding chuck of the robot hand holding the A program for realizing a function of performing positioning control in the turning direction of the linear moving means supporting each finger on the basis of the position information of the finger.

According to a thirteenth aspect of the present invention, there is provided a computer-readable recording medium according to the thirteenth object, wherein the two or more fingers respectively support two or more fingers and move at one point. Moving means for linearly moving along a straight line, changing the moving direction by rotating the moving means of each finger around an axis perpendicular to a plane including the moving straight lines of all the fingers around the intersection of the moving straight lines; Turning means for performing, the actuator for driving the moving means and the turning means for each individual finger,
Control means for controlling the actuator, and switching means for selectively switching and transmitting the driving force of the actuator to at least one of the moving means and the turning means, and a gripping target object by moving the finger In causing the computer to perform the control as the control means in the sliding chuck of the robot hand that holds the robot hand, biaxial force measuring means disposed at the base end of each finger, the opening and closing direction of each finger and A function of measuring forces in two directions along the base and distal directions of the fingers, and detecting the position of the object to be grasped based on image information detected by image detection means provided near the center of the hand; And an assembling operation such as insertion in a state where the grasped object is grasped by the respective fingers. When performing, in a state where the force other than the gripping force on the gripping object is not detected by the biaxial force measuring means, a function of controlling the position of the slide chuck itself based on the image information by the image detecting means. A function of controlling the position of the slide chuck itself based on information detected by the biaxial force measuring means when a force other than the gripping force on the object to be gripped is detected by the biaxial force measuring means. And a program for realizing the above.

[0022]

That is, in the sliding chuck of the robot hand according to the first aspect of the present invention, two or more fingers are respectively supported by the moving means and linearly moved along a moving straight line which intersects at one point, and turns. Means for rotating the moving means of each finger around an axis perpendicular to a plane including the moving straight lines of all the fingers around the intersection of the moving straight lines to change the moving direction. Controlling an actuator that drives the moving means and the turning means by a control means, and selectively switching and transmitting the driving force of the actuator to at least one of the moving means and the turning means by a switching means; The force measuring means disposed at the base end of each finger, the opening and closing direction of each finger It was subjected to the control of said control means to measure, to clamp the gripping target by the movement of the finger. With such a configuration, it is possible to grip various gripping objects having different shapes reliably and without damaging them, and furthermore, there is little displacement between the gripping objects and the fingers at the time of assembly, and the gripping objects can be gripped. By making the gripping force to grip and the pressing force at the time of assembly appropriate, the risk of damage to the gripping object is further reduced,
It is possible to handle the gripping object safely and securely, and in particular, grip the gripping object with an appropriate gripping force without damaging the gripping object due to excessive gripping force and without displacing the finger during assembly. It is possible to do.

According to a second aspect of the present invention, in the sliding chuck of the robot hand, the force measuring means is disposed at a base end of each finger, and the opening / closing direction of each finger and the base of each finger. It is composed of biaxial force measuring means for measuring forces in two directions along the end / tip direction. With such a configuration, in particular, the gripping target object is not damaged by the excessive gripping force and the force applied to the gripping target object during the assembly, and the gripping target object is appropriately displaced with the finger at the time of the assembly. It can be gripped, and the pressing force at the time of assembly can be made appropriate. The sliding chuck of the robot hand according to claim 3 of the present invention detects the image of the object to be grasped, and controls the positioning of the moving means for supporting and linearly moving the fingers in the turning direction by the turning means. Image detecting means for detecting the position of the object to be gripped. With such a configuration, in particular, the positioning of the finger in the turning direction of the linear moving means is performed based on the position detection in the turning direction of the finger based on the image information of the object to be held, regardless of the position state in the turning direction. It is possible to appropriately grasp an object.

According to a fourth aspect of the present invention, there is provided a method for controlling a slide chuck, comprising: moving means for supporting two or more fingers, respectively, and linearly moving along a moving straight line intersecting at one point; Centering on the intersection of
A turning means for turning the moving means of each finger around an axis perpendicular to a plane including the moving straight lines of all the fingers to change the moving direction, and driving the moving means and the turning means for each individual finger An actuator, a control unit for controlling the actuator, and a switching unit for selectively switching and transmitting the driving force of the actuator to at least one of the moving unit and the turning unit. On the control by the control means in the slide type chuck of the robot hand that holds the object to be gripped, while measuring the force in the opening and closing direction of each finger by force measuring means disposed at the base end of each finger, When the object to be gripped is gripped, the force detected by the force measuring means is a desired value. The so that the positioning control for the opening and closing direction of the finger. With this configuration, it is possible to particularly grip the object to be gripped with an appropriate gripping force that prevents damage to the object to be gripped due to excessive gripping force and that suppresses displacement with the finger during assembly. .

According to a fifth aspect of the present invention, there is provided a method for controlling a slide chuck, comprising:
Moving means for supporting and linearly moving along a moving straight line intersecting at one point; and moving the moving means of each finger around an axis perpendicular to a plane including the moving straight lines of all fingers around the intersection of the moving straight lines. A turning means for changing the moving direction by making a turning motion, an actuator for driving the moving means and the turning means for each finger, a control means for controlling the actuator, and a driving means for controlling the driving force of the actuator. And a switching means for selectively switching and transmitting to at least one of the turning means. In the control by the control means in the sliding chuck of the robot hand for holding the object to be grasped by movement of the finger, Opening and closing of each finger by force measuring means disposed at the base end of With measuring the force of the direction, 180
° In a state where the gripping object is sandwiched by two fingers facing different positions, when performing an assembling operation such as insertion, the distance between the two fingers is kept constant, and the gripping object and Positioning control is performed to move the two fingers linearly by a predetermined distance via the moving means in a direction in which the amount of change in the detection value by the force measuring means due to the contact of the assembly destination member decreases. By doing so, in particular, unnecessary force is applied to the gripping target object during an assembling operation such as insertion in a state where the gripping target object is sandwiched by two fingers facing each other at 180 ° different positions. In addition, the occurrence of positional displacement between the object to be grasped and the finger can be prevented, and a reliable assembling operation can be realized.

According to a sixth aspect of the present invention, there is provided a method for controlling a sliding chuck, comprising:
Moving means for supporting and linearly moving along a moving straight line intersecting at one point; and moving the moving means of each finger around an axis perpendicular to a plane including the moving straight lines of all fingers around the intersection of the moving straight lines. A turning means for changing the moving direction by making a turning motion, an actuator for driving the moving means and the turning means for each finger, a control means for controlling the actuator, and a driving means for controlling the driving force of the actuator. And a switching means for selectively switching and transmitting to at least one of the turning means. In the control by the control means in the sliding chuck of the robot hand for holding the object to be grasped by movement of the finger, In front of each finger by means of biaxial force measuring means arranged at the base end of With measuring the two directions force in a direction along the opening and closing direction proximal-distal direction of the fingers,
When the gripping target is gripped, positioning control of the fingers in the opening / closing direction and the proximal / distal directions is performed such that the force detected by the force measuring unit has a desired value. By doing in this way, in particular, at the time of an operation such as assembling of the grasping target object, it is possible to prevent damage due to the application of unnecessary force due to grasping and assembling to the grasping target object, and This eliminates the occurrence of positional deviation, and enables the realization of a reliable assembling operation.

[0027] According to a seventh aspect of the present invention, there is provided a method for controlling a sliding chuck, comprising:
Moving means for supporting and linearly moving along a moving straight line intersecting at one point; and moving the moving means of each finger around an axis perpendicular to a plane including the moving straight lines of all fingers around the intersection of the moving straight lines. A turning means for changing the moving direction by making a turning motion, an actuator for driving the moving means and the turning means for each finger, a control means for controlling the actuator, and a driving means for controlling the driving force of the actuator. And switching means for selectively switching and transmitting to at least one of the turning means, and for controlling by the control means in the slide type chuck of the robot hand for holding the object to be grasped by moving the finger, the image detecting means Detecting the position of the object to be grasped based on the image information detected by Moni, performs positioning control of the turning direction of the linear movement means for supporting the respective fingers on the basis of the position information by the image information. By doing so, in particular, the position of the object to be grasped in the turning direction is detected based on the detection by the image detecting means, and the linear moving means of the finger is positioned in the turning direction based on this position information, Regardless of the position of the object to be gripped in the turning direction, it is possible to appropriately grip the object to be gripped.

[0028] According to a method of controlling a sliding chuck according to claim 8 of the present invention, two or more fingers are respectively
Moving means for supporting and linearly moving along a moving straight line intersecting at one point; and moving the moving means of each finger around an axis perpendicular to a plane including the moving straight lines of all fingers around the intersection of the moving straight lines. A turning means for changing the moving direction by making a turning motion, an actuator for driving the moving means and the turning means for each finger, a control means for controlling the actuator, and a driving means for controlling the driving force of the actuator. And a switching means for selectively switching and transmitting to at least one of the turning means. In the control by the control means in the sliding chuck of the robot hand for holding the object to be grasped by movement of the finger, In front of each finger by means of biaxial force measuring means arranged at the base end of Measure the force in two directions, the opening and closing direction and the direction along the base end / tip direction of each finger, and determine the position of the object to be grasped based on image information detected by image detection means provided near the center of the hand. When detecting and performing an assembling operation such as insertion in a state where the gripping object is gripped by the fingers, a state in which no force other than the gripping force on the gripping object is detected by the biaxial force measuring means. The position of the slide chuck itself is controlled based on the image information by the image detecting means, and when a force other than the gripping force on the gripping object is detected by the biaxial force measuring means, The position of the slide chuck itself is controlled based on information detected by the biaxial force measuring means.

By doing so, particularly in an assembling operation such as insertion while holding the object to be gripped,
Image detection provided near the center of the hand until a force other than the gripping force is applied to a biaxial force measuring means for measuring a force in two directions, that is, an opening and closing direction of each finger and a direction along a base end and a tip direction of each finger. The position of the slide chuck itself is controlled based on the image information detected by the means to shorten the assembling operation time, and after a force other than the gripping force is applied to the biaxial force measuring means, The position of the slide chuck itself is controlled based on the detection information of the shaft force measuring means, so that an appropriate force required for assembly can be applied without damaging the object to be gripped.

Further, the computer-readable recording medium according to the ninth aspect of the present invention provides the computer-readable recording medium, wherein the moving means linearly moves two or more fingers along a moving straight line intersecting at one point. Turning means for turning the moving means of each finger around an axis perpendicular to a plane including the moving straight lines of all the fingers to change the moving direction, and the moving means for each individual finger. And an actuator for driving the turning means, a control means for controlling the actuator, and a switching means for selectively switching and transmitting the driving force of the actuator to at least one of the moving means and the turning means. And the sliding chuck of the robot hand that holds the object to be grasped by the movement of the finger. A function of measuring the force of each finger in the opening and closing direction by force measuring means disposed at a base end of each finger, when causing the computer to perform the control as the control means, A program for realizing a function of performing positioning control of the respective fingers in the opening and closing direction such that the force detected by the force measuring unit attains a desired value during gripping is recorded. By executing such a program, in particular, it is possible to prevent the damage to the gripping object due to an excessive gripping force, and to grip the gripping object with an appropriate gripping force that suppresses the displacement with the finger during assembly. It can be controlled to make it possible.

A computer-readable recording medium according to claim 10 of the present invention, wherein the moving means supports and moves two or more fingers, respectively, and linearly moves along a moving straight line intersecting at one point, and an intersection of the moving straight lines. Turning means for turning the moving means of each finger to change the moving direction around an axis perpendicular to a plane including the moving straight lines of all the fingers, the moving means for each finger, and An actuator for driving the turning means, a control means for controlling the actuator,
And a switching unit for selectively switching and transmitting the driving force of the actuator to at least one of the moving unit and the turning unit. In causing the computer to perform the control as the control unit, a function of measuring the force in the opening and closing direction of each finger by a force measurement unit disposed at a base end of each finger is opposed to a position different by 180 °. When performing an assembling operation such as insertion in a state where the gripping target object is sandwiched by the two fingers,
While keeping the distance between the two fingers constant, in the direction in which the amount of change in the value detected by the force measuring means due to the contact between the gripping object and the assembly destination member is reduced,
And a function of performing positioning control for linearly moving one finger through a predetermined distance via the moving means. By executing such a program, in particular, when an assembling operation such as insertion in a state where the grasped object is sandwiched by two fingers facing each other at 180 ° different positions, unnecessary force is applied to the grasped object. Can be controlled so as to prevent damage due to the addition of the target object, to prevent occurrence of positional displacement between the object to be grasped and the finger, and to realize a reliable assembling operation.

[0032] A computer-readable recording medium according to claim 11, wherein the moving means supports two or more fingers, respectively, and linearly moves along a moving straight line intersecting at one point, and an intersection of the moving straight lines. Around the axis perpendicular to the plane including the movement straight lines of all the fingers, the turning means for turning the moving means of each finger to change the moving direction, the moving means for each individual finger and the moving means, An actuator for driving the turning means, a control means for controlling the actuator,
A switching unit for selectively switching and transmitting the driving force of the actuator to at least one of the moving unit and the turning unit; and a sliding chuck of a robot hand for holding the object to be gripped by moving the finger. In causing the computer to perform the control as the control means, biaxial force measuring means disposed at the base end of each finger causes the opening and closing direction of each finger and the base end / tip direction of each finger to be controlled. A function of measuring a two-directional force along the direction, and the opening / closing direction of the fingers and the base / tip such that the force detected by the force measuring means at the time of gripping the object to be gripped becomes a desired value. A program for realizing a function of performing positioning control in the direction is recorded.
By executing such a program, in particular, at the time of an operation such as assembling of the gripping object, it is possible to prevent damage caused by applying unnecessary force due to gripping and assembling to the gripping object, and It can be controlled to eliminate the occurrence of a positional shift between the finger and the finger and to realize a reliable assembling operation.

A computer-readable recording medium according to claim 12 of the present invention, wherein a moving means for supporting two or more fingers, respectively, and linearly moving along a moving straight line intersecting at one point, an intersection of the moving straight lines Around the axis perpendicular to the plane including the movement straight lines of all the fingers, the turning means for turning the moving means of each finger to change the moving direction, the moving means for each individual finger and the moving means, An actuator for driving the turning means, a control means for controlling the actuator,
A switching unit for selectively switching and transmitting the driving force of the actuator to at least one of the moving unit and the turning unit; and a sliding chuck of a robot hand for holding the object to be gripped by moving the finger. In causing the computer to perform the control as the control means, a function of detecting the position of the object to be grasped based on image information detected by image detection means, and each of the fingers based on position information based on the image information. A program for realizing a function of performing positioning control of the supported linear moving means in the turning direction is recorded. By executing such a program, in particular, the position of the object to be grasped in the turning direction is detected based on the detection by the image detecting means, and the linear moving means of the finger is positioned in the turning direction based on the position information. Thus, regardless of the position of the object to be gripped in the turning direction, control can be performed so that the object to be gripped can be appropriately gripped.

A computer-readable recording medium according to claim 13 of the present invention, wherein: a moving means for supporting two or more fingers, respectively, and linearly moving along a moving line intersecting at one point; Around the axis perpendicular to the plane including the movement straight lines of all the fingers, the turning means for turning the moving means of each finger to change the moving direction, the moving means for each individual finger and the moving means, An actuator for driving the turning means, a control means for controlling the actuator,
A switching unit for selectively switching and transmitting the driving force of the actuator to at least one of the moving unit and the turning unit; and a sliding chuck of a robot hand for holding the object to be gripped by moving the finger. In causing the computer to perform the control as the control means, biaxial force measuring means disposed at the base end of each finger causes the opening and closing direction of each finger and the base end / tip direction of each finger to be controlled. A function of measuring forces in two directions along the direction, a function of detecting the position of the object to be gripped based on image information detected by image detecting means provided near the center of the hand, and When performing an assembling operation such as insertion while holding the object, the biaxial force measuring means When no force other than the gripping force on the holding object is detected, a function of controlling the position of the slide chuck itself based on the image information by the image detecting means, and the gripping object by the biaxial force measuring means. When a force other than a gripping force on an object is detected, a program for realizing a function of controlling the position of the slide chuck itself based on information detected by the biaxial force measuring means is recorded. .

By executing such a program, in particular, in an assembling operation such as insertion while holding the object to be grasped, two directions, ie, the opening / closing direction of each finger and the direction along the base end / tip direction of each finger. Until a force other than the gripping force is applied to the biaxial force measuring means for measuring the force in the direction, the position of the slide chuck itself is controlled based on the image information detected by the image detecting means provided near the center of the hand. After the assembling operation time is shortened and the force other than the gripping force is applied to the biaxial force measuring means, the position of the slide chuck itself is controlled based on the detection information of the biaxial force measuring means. Then, control can be performed so that an appropriate force required for assembly can be applied without damaging the gripping target object.

[0036]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A sliding chuck for a robot hand according to the present invention will be described below in detail based on an embodiment of the present invention with reference to the drawings. 1 to 4 show a configuration of a slide chuck of a robot hand according to a first embodiment of the present invention. FIGS. 1 and 2 are a front view and a side view schematically showing an external configuration of an example of a slide chuck of a robot hand to which the slide chuck of the robot hand according to the first embodiment of the present invention is applied. , FIG. 3 is a schematic cross-sectional view for explaining the configuration relating to the moving means and the turning means in the slide chuck of the robot hand shown in FIG. 1, and FIG.
FIG. 4 is a partial detailed view for explaining force measuring means of the finger of the sliding chuck of the robot hand according to the first embodiment of the present invention. First, referring to FIG. 1, a description will be given of the movement of the finger and the change of the movement direction in the sliding chuck of the robot hand according to the first embodiment of the present invention.

The sliding chuck of the robot hand shown in FIG. 1 and FIG. 1 and 2, the finger 1 is connected to the moving means 2,
It moves linearly along the moving linear direction indicated by the linear arrow in FIG. The moving means 2 is coupled to a turning means incorporated in the slide chuck body 3, and turns in a direction indicated by an arc-shaped arrow in the drawing. This turning motion changes the direction of the linear movement of the finger 1. Next, the mechanism of the moving means and the turning means in the sliding chuck of the robot hand shown in FIG. 1 will be described with reference to FIG. FIG. 3 showing the mechanism of the moving means and the turning means of the sliding chuck includes a finger 1, a motor 4, a transmission gear 5, a rotating shaft 6, a pinion gear 7, a first clutch 8, a turning gear 9, and a 2 clutch 10, linear guide 11, connecting member 12, rack 1
3, moving brake 14, first base 15, second base 16, first bearing 17, second bearing 1
8, fixed shaft 19, internal gear 20, turning brake 2
1, a third base 22, a main body case 23 and a third bearing 24 are shown.

In FIG. 3, the output torque of the motor 4 is transmitted to the rotating shaft 6 by the transmission gear 5. The rotating shaft 6 and the pinion gear 7 are not directly connected,
It is connected via a first clutch 8. That is,
The rotary shaft 6 and the pinion gear 7 are connected by the clutch 8 when the first clutch 8 is in a connected state,
If the first clutch 8 is in the disengaged state, the connection is released by the clutch 8. Similarly, the rotating shaft 6
The turning gear 9 and the turning gear 9 are not directly connected, but are connected via a second clutch 10. That is, the rotating shaft 6 and the turning gear 9 are connected or disconnected by the connection or disconnection of the second clutch 10, respectively. The moving means 2 shown in FIG. 2 includes a linear guide 11, a connecting member 12, a rack 13, a pinion gear 7,
It comprises a moving brake 14, a first base 15, and a second base 16. The block forming the linear guide 11 is connected to the rack 13 via the connecting member 12.
Is linked to The rotation of the pinion gear 7 causes the finger 1 to move linearly along the linear guide 11. When the connection between the rotary shaft 6 and the pinion gear 7 is released, the position of the finger 1 is held by the moving brake 14. First base 15 and second base 16
Are supported and guided by a first bearing 17, a second bearing 18, and a fixed shaft 19.

The turning means comprises a turning gear 9, an internal gear 20, a turning brake 21 and a third base 22. The internal gear 20 is fixed to the main body case 23. Further, the third base 22 is supported and guided by the third bearing 24 and the fixed shaft 19. The internal gear 20 and the turning gear 9 are engaged with each other, and the rotation of the turning gear 9 causes the third base 2 to rotate.
2 rotates around the fixed shaft 19. At this time, the first base 15
And the second base 16 also pivots similarly. When the connection between the rotating shaft 6 and the turning gear 9 is released, the turning motion of the third base 22 is prevented by the turning brake 21 and the third base 22 is held at the previous position. in this way,
By switching the first clutch 8 and the second clutch 10, the driving force of the motor 4 is switched and transmitted, so that the linear movement of the finger 1 and the turning operation of the moving means are performed. The motor 4 is controlled by a control device (not shown). The control device has a function of storing the accumulated value of the movement amount of the finger 1 after returning to the origin and the accumulated value of the turning amount of the moving means.

The configuration described above is described in 2001 (Heisei 1).
3) Patent application filed on March 26, "Sliding chuck, control method of the sliding chuck, and recording medium of control software for the sliding chuck" (Japanese Patent Application No. 2001-2001).
86487). Next, with reference to FIG. 4, the force measuring means provided on each finger 1 in the sliding chuck of the robot hand according to the first embodiment of the present invention shown in FIGS. (Claim 1, Claim 2, Claims 4 to 6, and Claims 9 to 11)
Corresponding to). As shown in FIG. 4, each finger 1 of the sliding chuck of the robot hand shown in FIGS.
The strain gauges 25 and 26 as force measuring means are arranged at the base end of the. 4 shows only one of the fingers 1 shown in FIG. 1 for ease of understanding, but each finger 1 shown in FIG. Strain gauges 25 and 26 as force measuring means are similarly arranged respectively.

That is, in FIG. 4, a narrow portion in a specific direction and a hollow portion are formed at the base end portion of the finger 1. A pair of first strain gauges 25 are attached to both sides of the narrow portion, that is, a thin portion (strain-induced portion) in a specific direction, that is, two locations. These first strain gauges 25 are arranged in parallel to the base and distal directions of the finger 1. The hollow portion is perpendicular to the base / tip directions of the finger 1, that is, one second direction is perpendicular to the first strain gauge 25.
Is mounted. When an object to be gripped, that is, a workpiece (not shown) is gripped, the finger 1 is bent in a range in which the thin portion (strain-induced portion) does not plastically deform, so that the finger 1 is brought into contact with the surface not in contact with the workpiece. Since the strain gauges on one side of the two first strain gauges 25 at the inclined and thin portions are elongated and the strain gauges on the other side are compressed, these strain gauges are connected to the other side of the bridge circuit. Connected to each other, and by applying a bridge voltage to the input side of the bridge circuit,
From the output side of the bridge circuit, a strain amount, that is, a strain signal corresponding to the force applied to the finger 1 can be detected.

The work is gripped by moving each finger 1 in the closing direction until the electric signal corresponding to the amount of distortion of each finger 1 becomes an appropriate value. When assembling the gripped work, the amount of distortion changes due to contact with another part (not shown) to which the gripped work is attached. Especially two 18
When the change of the detection signal value of the force measuring means using the strain gauge exceeds a certain value at the time of assembling the work held by the fingers 1 facing each other at 0 ° different positions, the work is gripped. The two fingers 1 are simultaneously moved by the same distance in the direction in which the detected change amount of the force measuring means of the two fingers 1 is reduced (the relative distance between the two fingers is not changed), and the workpiece is gripped. The assembling operation is performed by reducing or eliminating unnecessary force due to contact between the part and another part to be assembled.
In addition, due to the contact between the gripped part and another part to be assembled, a force is also applied to the direction between the base end and the tip of each finger 1, that is, the base end and the tip direction of the finger 1. The hollow portion at the end is distorted, and this is detected by the second strain gauge 26. In this case as well, a force in the proximal and distal directions acts on the finger 1 to bond one or two strain gauges respectively to the stretched portion and the compressed portion when the hollow portion (strain-generating portion) is deformed. I do.

The strain gauge adhered to the extension part and the strain gauge adhered to the compression part are inserted into adjacent bridge sides to form a bridge circuit.
The force obtains a corresponding electrical signal. Regarding the positioning of the slide chuck itself holding the work in the thrust direction, the slide chuck itself is moved until the amount of strain (strain signal) of the second strain gauge 26 in this hollow portion becomes an appropriate value. And perform the assembling operation. Such operation control is performed by the control device (not shown) mentioned above.

FIG. 5 schematically shows details of another configuration of the force measuring means provided for each finger in the sliding chuck of the robot hand shown in FIG. The second embodiment of the present invention uses the finger having the force measuring means shown in FIG. 5, and the entire configuration of the slide chuck is the same as that shown in FIGS. Is used. Next, with reference to FIG. 5, the force measuring means provided on each finger in the sliding chuck of the robot hand according to the second embodiment of the present invention will be described in detail. Claims 4 to 6, and claims 9 to 11). As shown in FIG. 5, each finger 1 of the sliding chuck of the robot hand similar to that shown in FIGS.
At the base end of A, a contact type sensor 27 as a force measuring means is provided.
Are arranged. In addition, in FIG. 5, as in the case of FIG. 4, only one finger 1A of each finger is shown for ease of understanding, but the other fingers are similarly configured. In addition, a contact sensor 27 as a force measuring means is similarly arranged on each finger.

In FIG. 5, four contact sensors 27 are sandwiched between the base ends of the fingers 1A. The contact-type sensor 27 is filled with conductive ink, and when pressed, the applied resistance changes its electric resistance.
When a force is applied to each finger 1A, a force is applied to each of the four contact sensors 27, and the force is applied in the opening / closing direction of each finger 1A and in the proximal and distal directions along the proximal and distal ends of the finger 1A. Force can be detected. The work is gripped by moving each finger 1A in the closing direction until the force applied to each finger 1A becomes an appropriate value. At the time of assembling the gripped work (part), the force detected by the contact sensor 27 changes due to contact with another part (not shown) of the assembling destination. In particular, finger 1A facing at 180 ° different position
When the change amount exceeds a certain value at the time of assembling the work gripped by the two fingers, the two fingers are moved in a direction in which the detected change amount of the force measuring means of the two fingers gripping the work becomes smaller. At the same time, move the same distance (2
The relative distance between the fingers is not changed), the workpiece being gripped and other parts to be assembled (not shown)
Reduce or eliminate unnecessary force due to contact with
Perform the required assembly operation.

Further, the contact between the gripped work and another part (not shown) to be assembled causes the finger 1A
A force is also applied in the direction between the base end and the front end, and the four contact sensors 27 detect this force. Regarding the positioning of the slide chuck itself in the thrust direction gripping the work, the slide chuck itself is moved and positioned appropriately until the force applied in the proximal-distal direction of the finger 1A becomes an appropriate value, and the assembling operation is performed. Do. Such operation control is performed by the control device. FIG. 6 schematically shows details of another configuration of the force measuring means provided for each finger in the sliding chuck of the robot hand. The third embodiment of the present invention uses the finger having the force measuring means shown in FIG. 6, and also in this case, the entire configuration of the slide chuck is the same as that shown in FIGS. A similar configuration is used. Next, with reference to FIG. 6, a detailed description will be given of a force measuring means provided on each finger of the sliding chuck of the robot hand according to the third embodiment of the present invention. Claims 4 to 6, and claims 9 to 11).

As shown in FIG. 6, a conductive rubber 28 as a force measuring means is provided at the base end of each finger 1B of the sliding chuck of the robot hand similar to that shown in FIGS. Have been. 6 shows only one finger 1B of each finger to facilitate understanding, as in the case of FIG. 4 or FIG. And a conductive rubber 2 as a force measuring means.
8 is similarly arranged on each finger. In FIG. 6, four conductive rubbers 28 are sandwiched between base portions of the fingers 1B. These conductive rubbers 28
Changes its electrical resistance according to the applied force. That is, when a force is applied to each finger 1B, a force is applied to each of the four conductive rubbers 28, and the force is applied in the opening and closing direction of each finger 1B and in the proximal and distal directions along the proximal and distal ends of the finger 1B. Such a force can be detected. The work is gripped by moving each finger 1B in the closing direction until the force applied to each finger 1B becomes an appropriate value. At the time of assembling the gripped work (part), the force detected by the contact sensor 27 changes due to contact with another part (not shown) of the assembling destination.

In particular, when assembling the work held by the fingers 1B facing each other at 180 ° different positions, if the change exceeds a certain value, the force measuring means of the two fingers holding the work is used. The two fingers are simultaneously moved by the same distance in the direction in which the detected change amount is reduced (the relative distance between the two fingers is not changed), and the gripped work and another part (not shown) to be assembled are moved. The unnecessary assembling operation is performed by reducing or eliminating an unnecessary force due to the contact of the member. Further, by the contact between the gripped work and another part (not shown) of the assembly destination, a force is also applied in the direction between the base end and the tip end of the finger 1B, and the four conductive rubbers 28 apply this force. Perform detection. Regarding the positioning of the slide chuck itself gripping the work in the thrust direction, the slide chuck itself is moved and properly positioned until the force applied in the proximal-distal direction of the finger 1B becomes an appropriate value, and the assembling operation is performed. Do. Such operation control is performed by the control device. .

Next, a slide chuck of a robot hand according to a fourth embodiment of the present invention will be described in detail with reference to FIG. 7 (corresponding to claims 3, 7 and 12). ing). The configuration of the entire slide chuck uses the same configuration as that shown in FIGS. 1 to 3, and FIG. 7 shows a configuration in which an image detection unit is provided in the same mechanism as in FIG. In this case, any of the configurations shown in FIGS. 4 to 6 can be used as the force measuring means provided for each finger. As shown in FIG.
A camera 2 as an image detecting means is attached to a fixed shaft 19 of a sliding chuck of a robot hand similar to that shown in FIG.
9 is fixed. In FIG. 7, only the configuration related to one finger 1 of the fingers is shown for easy understanding, but the other fingers are also configured in the same manner, and the camera 29 is also used. Each finger is similarly arranged. In the configuration shown in FIG.
After detecting the position in the turning direction of the work gripped by the slide chuck, and positioning the linear moving means 2 of the finger 1 in the turning direction by the above-described turning means based on the detection information of the position in the turning direction, Linear moving means 2
The finger 1 is moved in the closing direction to grip the work. Such operation control is performed by a control device (not shown).

Next, control of the slide chuck itself in the fourth embodiment will be described with reference to FIG. 7 (corresponding to claims 8 and 13). In FIG. 7, at the base end of each finger 1, biaxial force measuring means in the opening / closing direction of each finger 1 and in the base end / front end direction between the base end and the front end of the finger 1 are shown in FIGS. It is provided as one of the configurations in FIG.
A camera 29 as image detecting means is fixed to the tip of the fixed shaft 19, that is, the upper end. When performing a work of assembling a work such as insertion while holding the work, a slide chuck is used based on image information detected by the camera 29 until a force other than the gripping force is applied to the biaxial force measuring means. The assembling operation is performed by controlling its own position. After the force other than the gripping force is applied to the biaxial force measuring means, the position of the slide chuck itself is controlled so that a desired force is applied based on the detection information of the biaxial force measuring means. By doing so, the assembling operation is performed. Such operation control is performed by the control device.

In the present invention, the control system realized by a control device (not shown) can be realized by using an ordinary computer system instead of configuring as a dedicated system. For example, a control system that executes the above-described processing may be constructed by installing the program from a medium such as a flexible disk or a CD-ROM in which a program for executing the above-described operation is stored in a computer system. Good. By the installation, the program is stored in a medium such as a hard disk in the computer system, configures a control system, and is used for execution. Also,
The program may be registered in an FTP (File Transfer Protocol) server provided on a communication network such as the Internet, and distributed to an FTP client via the network. The program is transferred to an electronic bulletin board (BBS: Bulletin Board Syste
m) or the like, and this may be distributed via a network. And start this program,
The above-described processing can be achieved by executing the program under the control of an OS (Operating System). Further, the above-described processing can also be achieved by starting and executing the program while transferring the program via the communication network.

As described above, in the sliding chuck of the robot hand according to the present invention, two or more fingers are respectively supported by the moving means and linearly moved along the moving straight line intersecting at one point by the turning means. Thereby, the moving direction of each finger is changed by rotating the moving means of each finger around an axis perpendicular to a plane including the moving straight lines of all the fingers around the intersection of the moving straight lines, and for each individual finger. An actuator that drives the moving unit and the turning unit is controlled by a control unit, and a switching unit selectively switches and transmits the driving force of the actuator to at least one of the moving unit and the turning unit. The force measuring means disposed at the base end of each finger allows the finger to open and close in the opening and closing directions. Was subjected to the control of said control means to measure, it can be configured to clamp the gripping target by the movement of the finger (claim 1). If such a configuration is used, it is possible to reliably and without damaging various gripping objects having different shapes,
In addition, the displacement between the gripping target and the finger when assembling is small, the gripping force for gripping the gripping target and the pressing force at the time of assembly are appropriately set, and the risk of damage to the gripping target is further reduced. It is possible to handle the object to be gripped safely and securely, and particularly to grip the object with an appropriate gripping force without damaging the object to be gripped by an excessive gripping force and without displacing the finger during assembly. It becomes possible to grasp.

Further, in the sliding chuck of the robot hand according to the present invention, the force measuring means is disposed at a base end of each finger, and the opening / closing direction of each finger and the base end / tip direction of each finger. 2 in the direction along
It may be a biaxial force measuring means for measuring the force in the direction (claim 2). With such a configuration, an excessive grip force and a force applied to the object to be gripped during assembly do not damage the object to be gripped, and the object to be gripped with an appropriate grip force that does not deviate from the finger during assembly. It can be gripped, and the pressing force at the time of assembly can be made appropriate. The sliding chuck of the robot hand according to the present invention detects the image of the object to be gripped, and holds the fingers for linearly moving the holding means for controlling the positioning of the moving means in the turning direction by the turning means. An image detecting means for detecting the position of the object may be further provided.
With such a configuration, positioning of the finger in the turning direction of the linear moving means is performed based on position detection in the turning direction of the finger based on image information of the object to be held, regardless of the position state in the turning direction. It is also possible to properly grasp the object.

Further, according to the slide chuck control method of the present invention, there are provided moving means for supporting two or more fingers and moving linearly along a moving straight line intersecting at one point. Turning means for turning the moving means of each finger around an axis perpendicular to a plane including the moving straight lines of all the fingers to change the moving direction, the moving means and the turning means for each individual finger An actuator for driving the actuator, a control unit for controlling the actuator, and a switching unit for selectively switching and transmitting a driving force of the actuator to at least one of the moving unit and the turning unit; and The control means in the sliding chuck of the robot hand for holding the object to be gripped by the movement In the control, the force in the opening and closing direction of each finger is measured by force measuring means disposed at the base end of each finger, and the force is detected by the force measuring means at the time of gripping the object to be gripped. Position control of the fingers in the opening / closing direction is performed such that the force has a desired value (claim 4). In this way, it is possible to prevent the object to be gripped from being damaged by an excessive gripping force, and to grip the object to be gripped with an appropriate gripping force that suppresses displacement with the finger during assembly.

The sliding chuck control method according to the present invention includes a moving means for supporting and moving two or more fingers, respectively, in a straight line along a moving straight line intersecting at one point. Turning means for turning the moving means of each finger around an axis perpendicular to a plane including the moving straight lines of all fingers to change the moving direction, and driving the moving means and the turning means for each individual finger An actuator to be controlled, control means for controlling the actuator, and switching means for selectively switching and transmitting the driving force of the actuator to at least one of the moving means and the turning means,
In the control by the control means in the slide type chuck of the robot hand that holds the object to be gripped by the movement of the fingers, the force measurement means disposed at the base end of each finger, When performing an assembling operation such as insertion while measuring the force in the opening and closing direction and holding the object to be gripped by two fingers facing each other at 180 °, the distance between the two fingers is reduced. The two fingers are linearly moved by a predetermined distance via the moving means in a direction in which the amount of change in the value detected by the force measuring means due to the contact between the object to be gripped and the assembly destination member is kept constant. The positioning control may be performed (claim 5). With this configuration, when two fingers opposing each other at a position different from each other by 180 ° perform an assembling operation such as insertion while holding the object to be gripped, damage caused by unnecessary force applied to the object to be gripped can be prevented. Prevent,
In addition, it is possible to eliminate the occurrence of displacement between the gripping target object and the finger, and to realize a reliable assembling operation.

The sliding chuck control method according to the present invention is a moving means for supporting two or more fingers, respectively, and linearly moving along a moving straight line intersecting at one point. Turning means for turning the moving means of each finger around an axis perpendicular to a plane including the moving straight lines of all fingers to change the moving direction, and driving the moving means and the turning means for each individual finger An actuator to be controlled, control means for controlling the actuator, and switching means for selectively switching and transmitting the driving force of the actuator to at least one of the moving means and the turning means,
In the control by the control means in the sliding chuck of the robot hand that holds the object to be gripped by the movement of the finger, the two-axis force measurement means disposed at the base end of each finger, The two-directional force in the opening / closing direction of the finger and in the direction along the base end / tip direction of each finger is measured, and the force detected by the force measuring means at the time of gripping the object to be gripped becomes a desired value. As described above, the positioning control of the fingers in the opening / closing direction and the base / tip directions may be performed (claim 6). With this configuration, when the gripping target is assembled or the like, it is possible to prevent the gripping target from being damaged by unnecessary force due to gripping and assembling, and to displace the gripping target and the finger. Is eliminated, and a reliable assembling operation can be realized.

The sliding chuck control method according to the present invention is a moving means for supporting and moving two or more fingers, respectively, along a moving straight line intersecting at one point. Turning means for turning the moving means of each finger around an axis perpendicular to a plane including the moving straight lines of all fingers to change the moving direction, and driving the moving means and the turning means for each individual finger An actuator to be controlled, control means for controlling the actuator, and switching means for selectively switching and transmitting the driving force of the actuator to at least one of the moving means and the turning means,
The control by the control means in the sliding chuck of the robot hand which holds the object to be gripped by the movement of the finger, and detects the position of the object to be gripped based on image information detected by image detecting means. At the same time, it is possible to control the positioning of the linear moving means supporting each finger in the turning direction based on the position information based on the image information. With this configuration, the position of the object to be grasped in the turning direction is detected based on the detection by the image detecting means, and the linear moving means of the finger is positioned in the turning direction based on the position information, and the object to be grasped is detected. Irrespective of the position in the turning direction, the object to be gripped can be appropriately gripped.

The control method of the sliding chuck according to the present invention is a moving means for supporting two or more fingers, respectively, and linearly moving along a moving straight line intersecting at one point. Turning means for turning the moving means of each finger around an axis perpendicular to a plane including the moving straight lines of all fingers to change the moving direction, and driving the moving means and the turning means for each individual finger An actuator to be controlled, control means for controlling the actuator, and switching means for selectively switching and transmitting the driving force of the actuator to at least one of the moving means and the turning means,
In the control by the control means in the sliding chuck of the robot hand that holds the object to be gripped by the movement of the finger, the two-axis force measurement means disposed at the base end of each finger, The force of the finger is measured in two directions, ie, the opening / closing direction of the finger and the direction along the base end / tip direction of each finger, and the object to be gripped is determined based on image information detected by image detection means provided near the center of the hand. When performing an assembling operation such as insertion while holding the gripping object with each finger while detecting the position of the finger, forces other than the gripping force on the gripping object by the biaxial force measuring means In the non-detected state, the position of the slide chuck itself is controlled based on the image information by the image detection means, and the position of the two-axis slide chuck is controlled. When a force other than the gripping force on the object to be gripped is detected by the measuring means, the position of the slide chuck itself may be controlled based on information detected by the biaxial force measuring means ( Claim 8).

In this way, in assembling operations such as insertion while holding the object to be gripped, forces in two directions, ie, the opening / closing direction of each finger and the directions along the base and distal ends of each finger are measured. Until a force other than the gripping force is applied to the biaxial force measuring means, the position of the slide chuck itself is controlled based on the image information detected by the image detecting means provided near the center of the hand to reduce the assembling operation time. After the force is shortened and a force other than the gripping force is applied to the biaxial force measuring means, the position of the slide chuck itself is controlled based on the detection information of the biaxial force measuring means, and It is possible to apply an appropriate force required for assembly without damaging the object.

Further, the computer readable recording medium according to the present invention is a moving means for supporting two or more fingers, respectively, and linearly moving along a moving straight line intersecting at one point, and the center of the moving straight line at the intersection. A turning means for turning the moving means of each finger around an axis perpendicular to a plane including the moving straight lines of all the fingers to change the moving direction; the moving means and the turning means for each individual finger; Actuator to drive the
Control means for controlling the actuator, and switching means for selectively switching and transmitting the driving force of the actuator to at least one of the moving means and the turning means, and a gripping target object by moving the finger When the computer controls the sliding chuck of the robot hand that holds the finger, the force in the opening and closing direction of each finger is measured by force measuring means disposed at the base end of each finger. Function, and at the time of gripping the gripping object,
A program for realizing a function of performing positioning control of the fingers in the opening / closing direction such that the force detected by the force measuring unit has a desired value is recorded (claim 9). By executing such a program, it is possible to prevent damage to the object to be gripped due to excessive gripping force, and to grip the object to be gripped with an appropriate gripping force that suppresses displacement with the finger during assembly. Control can be realized.

A computer-readable recording medium according to the present invention provides a moving means for supporting and moving two or more fingers, respectively, in a straight line along a moving straight line intersecting at one point. A turning means for turning the moving means of each finger around an axis perpendicular to a plane including the moving straight lines of all the fingers to change the moving direction, and driving the moving means and the turning means for each individual finger An actuator, a control unit for controlling the actuator, and a switching unit for selectively switching and transmitting the driving force of the actuator to at least one of the moving unit and the turning unit. The control means in the sliding chuck of the robot hand for holding the object to be gripped; In order to cause the computer to perform all the controls, the function of measuring the force in the opening and closing direction of each finger by force measuring means disposed at the base end of each finger and the two When performing an assembling operation such as insertion in a state where the gripping target object is sandwiched by fingers, the distance between the two fingers is kept constant while the gripping target object and the mounting destination member contact each other. A program for realizing a function of performing positioning control of linearly moving the two fingers through the moving means in the direction in which the amount of change in the detection value by the force measuring means decreases. Item 10). By executing such a program, an unnecessary force is applied to the grasping target object during an assembling operation such as insertion in a state where the grasping target object is sandwiched by two fingers facing each other at 180 ° different positions. Thus, it is possible to realize a control that can prevent a damage due to the above-mentioned object and eliminate the occurrence of a positional shift between the object to be grasped and the finger, thereby realizing a reliable assembling operation.

[0062] A computer-readable recording medium according to the present invention is a moving means for supporting and moving two or more fingers, respectively, in a straight line along a moving straight line intersecting at one point. Turning means for turning the moving means of each finger around an axis perpendicular to a plane including the moving straight lines of all fingers to change the moving direction, and driving the moving means and the turning means for each individual finger An actuator, a control unit for controlling the actuator, and a switching unit for selectively switching and transmitting the driving force of the actuator to at least one of the moving unit and the turning unit. The control means in the sliding chuck of the robot hand for holding the object to be gripped; In causing the computer to perform all the controls, the biaxial force measuring means disposed at the base end of each finger measures the opening / closing direction of each finger and the direction along the base end / tip direction of each finger. A function of measuring a two-directional force; and a function of measuring the force in the opening / closing direction and the proximal / distal directions of the fingers so that the force detected by the force measuring means becomes a desired value when the object to be gripped is gripped. A program for realizing a function of performing positioning control is recorded (claim 11). By executing such a program, in the operation of assembling the object to be gripped, it is possible to prevent damage caused by the application of unnecessary force due to gripping and assembling to the object to be gripped, and to prevent the object to be gripped and the finger from being damaged. Eliminates the misalignment of
It is possible to realize control capable of realizing a reliable assembling operation.

A computer-readable recording medium according to the present invention is a moving means for supporting and moving two or more fingers, respectively, in a straight line along a moving straight line intersecting at one point. Turning means for turning the moving means of each finger around an axis perpendicular to a plane including the moving straight lines of all fingers to change the moving direction, and driving the moving means and the turning means for each individual finger An actuator, a control unit for controlling the actuator, and a switching unit for selectively switching and transmitting the driving force of the actuator to at least one of the moving unit and the turning unit. The control means in the sliding chuck of the robot hand for holding the object to be gripped; A function of detecting the position of the object to be grasped based on image information detected by image detection means, and a straight line supporting each finger based on position information based on the image information. A program for realizing a function of performing positioning control of the moving means in the turning direction is recorded (claim 12). If such a program is executed, the position of the object to be grasped in the turning direction is detected based on the detection by the image detecting means, and the linear moving means of the finger is positioned in the turning direction based on the position information, Regardless of the position of the object to be grasped in the turning direction, it is possible to realize control that enables the object to be grasped to be appropriately grasped.

A computer-readable recording medium according to the present invention provides a moving means for supporting and moving two or more fingers, respectively, in a straight line along a moving straight line intersecting at one point. Turning means for turning the moving means of each finger around an axis perpendicular to a plane including the moving straight lines of all fingers to change the moving direction, and driving the moving means and the turning means for each individual finger An actuator, a control unit for controlling the actuator, and a switching unit for selectively switching and transmitting the driving force of the actuator to at least one of the moving unit and the turning unit. The control means in the sliding chuck of the robot hand for holding the object to be gripped; In causing the computer to perform all the controls, the biaxial force measuring means disposed at the base end of each finger measures the opening / closing direction of each finger and the direction along the base end / tip direction of each finger. A function of measuring forces in two directions, a function of detecting the position of the object to be gripped based on image information detected by image detecting means provided near the center of the hand, and a method of detecting the object to be gripped by each finger. When an assembling operation such as insertion is performed in a gripped state, if no force other than the gripping force on the gripped object is detected by the two-axis force measuring means, based on the image information by the image detecting means, When a force other than the gripping force on the gripping object is detected by the function of controlling the position of the slide chuck itself and the biaxial force measuring means, Recording a program for realizing the function of controlling the position of the sliding chuck itself based on the information detected by the force measuring means of the two-axis (Claim 13). When such a program is executed, forces in two directions, that is, an opening and closing direction of each finger and a direction along a base end and a tip end of each finger are measured during an assembling operation such as insertion while holding the object to be held. Until a force other than the gripping force is applied to the biaxial force measuring means, the position of the slide chuck itself is controlled based on the image information detected by the image detecting means provided near the center of the hand to reduce the assembling operation time. After a force other than the gripping force is applied to the biaxial force measuring means,
Control that controls the position of the slide chuck itself based on the detection information of the two-axis force measuring means and enables the appropriate force required for assembly to be applied without damaging the gripped object is realized. can do.

[0065]

As described above, according to the present invention, various gripping objects having different shapes can be gripped reliably and without damage, and the assembling of the gripping object and the fingers can be performed. The displacement at the time is small, the gripping force for gripping the gripping object and the pressing force at the time of assembling are appropriately set, the risk of damage to the gripping object is further reduced, and the gripping object is more appropriately, safely and securely. The present invention can provide a sliding chuck for a robot hand, which can handle an object, a control method thereof, and a recording medium. That is, according to the sliding chuck of the robot hand of the first aspect of the present invention, the gripping target object is not damaged by an excessive gripping force, and the gripping target object has an appropriate gripping force without displacement with the finger during assembly. Can be gripped.

According to the sliding chuck of the robot hand of the second aspect of the present invention, the excessive grip force and the force applied to the object to be gripped at the time of assembly do not damage the object to be gripped, and the finger at the time of assembly is not damaged. The object to be gripped can be gripped with an appropriate gripping force without any positional deviation, and the pressing force at the time of assembly can be made appropriate. According to the slide chuck of the robot hand of the third aspect of the present invention, the turning of the finger in the turning direction of the linear moving means is performed based on the detection of the position of the finger in the turning direction based on the image information of the object to be grasped. Regardless of the position in the direction, it is possible to appropriately grip the gripping target object. Further, according to the control method of the slide chuck of claim 4 of the present invention,
In the control by the control means in the sliding chuck of the robot hand which holds the object to be grasped by the movement of the finger, the force in the opening and closing direction of each finger is measured by force measuring means arranged at the base end of each finger. And at the time of gripping the object to be gripped, by performing positioning control of the respective fingers in the opening and closing direction such that the force detected by the force measuring means has a desired value, The object to be gripped can be gripped with an appropriate gripping force that prevents damage to the object to be gripped due to the gripping force and suppresses positional displacement from the finger during assembly.

According to the slide chuck control method of the fifth aspect of the present invention, the control by the control means in the slide chuck of the robot hand that holds the object to be grasped by the movement of the finger is based on each finger. The force in the opening and closing direction of each finger is measured by force measuring means disposed at the end,
° In a state where the gripping object is sandwiched by two fingers facing different positions, when performing an assembling operation such as insertion, the distance between the two fingers is kept constant, and the gripping object and By performing positioning control for linearly moving the two fingers by a predetermined distance via the moving means in the direction in which the amount of change in the detection value by the force measuring means due to the contact of the assembly destination member is reduced, The two fingers facing each other at a position different from each other by 180 ° prevent damage caused by applying unnecessary force to the object to be gripped during an assembling operation such as insertion while holding the object to be gripped, and It is possible to eliminate the occurrence of a displacement between the object and the finger, and to realize a reliable assembling operation.

According to the slide chuck control method of the present invention, the control by the control means in the slide chuck of the robot hand that holds the object to be grasped by the movement of the finger is based on each of the fingers. With two-axis force measuring means disposed at the end, while measuring the two-directional force in the opening / closing direction of each finger and the direction along the base end / tip direction of each finger,
At the time of gripping the object to be gripped, by performing positioning control in the opening / closing direction and the proximal / distal direction of each finger so that the force detected by the force measuring means has a desired value, In the operation of assembling the gripping object, it is possible to prevent damage due to the application of unnecessary force due to gripping and assembling to the gripping object, and to eliminate the occurrence of displacement between the gripping object and the finger. Thus, a reliable assembling operation can be realized. According to the control method of the slide chuck of claim 7 of the present invention, in the control by the control means in the slide chuck of the robot hand which holds the object to be grasped by the movement of the finger, the image detected by the image detection means By detecting the position of the object to be grasped based on the information and performing positioning control in the turning direction of the linear moving means supporting each finger based on the position information based on the image information, particularly, image detection is performed. Detecting the position of the object to be gripped in the turning direction based on the detection by the means, and positioning the linear moving means of the finger in the direction of rotation based on this position information, regardless of the position of the object to be gripped in the turning direction. Instead, the object to be gripped can be properly gripped.

According to the slide chuck control method of the present invention, the control by the control means in the slide chuck of the robot hand which holds the object to be grasped by the movement of the finger is based on each finger. Biaxial force measuring means disposed at the end measures forces in two directions of the opening and closing direction of each finger and the directions along the base and distal ends of each finger, and is provided near the center of the hand. In the case where the position of the object to be grasped is detected based on image information detected by image detecting means and an assembling operation such as insertion is performed while the object to be grasped is being grasped by each finger, the two axes When no force other than the gripping force on the object to be gripped is detected by the force measuring means, Controlling the position of the slide chuck itself, and when a force other than the gripping force on the object to be gripped is detected by the biaxial force measuring means, based on information detected by the biaxial force measuring means. By controlling the position of the slide chuck itself,
When performing an assembling operation such as insertion while holding the gripping target object, the opening / closing direction of each finger and the base end /
Until a force other than the gripping force is applied to the biaxial force measuring means for measuring the force in two directions along the tip direction, the sliding type is used based on the image information detected by the image detecting means provided near the center of the hand. By controlling the position of the chuck itself,
After shortening the assembling operation time and applying a force other than the gripping force to the biaxial force measuring means, the position of the slide chuck itself is controlled based on the detection information of the biaxial force measuring means. Thus, it is possible to apply an appropriate force required for assembling without damaging the object to be grasped.

Further, according to the computer-readable recording medium of the ninth aspect of the present invention, the computer performs control as the control means in the slide type chuck of the robot hand which holds the object to be gripped by the movement of the finger. In doing so, the force measuring means disposed at the base end of each finger measures the force in the opening and closing direction of each finger, and is detected by the force measuring means when the object to be gripped is gripped. A program for realizing a function of performing positioning control of the fingers in the opening and closing directions so that the force has a desired value is recorded. By executing the program, particularly, an excessive grip force An appropriate grip that prevents damage to the gripping object due to It can be controlled to allow the gripping of the gripping target by force.

According to the computer-readable recording medium of the present invention, when the computer performs control as the control means in the slide type chuck of the robot hand that holds the object to be grasped by moving the finger, The function of measuring the force in the opening and closing direction of each finger by force measuring means disposed at the base end of each finger, and the object to be gripped held by two fingers facing 180 ° different positions. When performing an assembling operation such as insertion in the state, while keeping the distance between the two fingers constant, the detection value of the force measurement unit caused by the contact between the gripping target object and the assembling destination member is determined. A positioning system for linearly moving the two fingers by a predetermined distance via the moving means in a direction in which the amount of change is small; And a program for realizing the function of performing the function of performing the above-described operations. By executing the program, in particular, inserting the object to be grasped while holding the object to be grasped by two fingers facing each other at 180 ° different positions. In the assembling operation, it is possible to prevent damage due to the application of unnecessary force to the grasped object, eliminate the occurrence of displacement between the grasped object and the finger, and realize a reliable assembling operation. Control.

According to the computer-readable recording medium of claim 11 of the present invention, in causing the computer to perform the control as the control means in the sliding chuck of the robot hand that holds the object to be grasped by the movement of the finger. A function of measuring two-directional forces in the opening / closing direction of each finger and the directions along the proximal and distal ends of each finger by biaxial force measuring means provided at the proximal end of each finger; A function of performing positioning control of the fingers in the opening / closing direction and the proximal / distal directions so that the force detected by the force measuring unit becomes a desired value when the gripping target is gripped. Program, and by executing the program, it is particularly suitable And, to prevent damage due to unnecessary force is applied by the gripping and assembling the grasped object,
In addition, it is possible to perform control so as to eliminate the occurrence of a positional shift between the gripping object and the finger and to realize a reliable assembling operation.

According to a twelfth aspect of the present invention, there is provided a computer-readable recording medium in which a computer performs control as the control means in a sliding chuck of a robot hand for holding an object to be grasped by movement of the finger. A function of detecting the position of the object to be grasped based on image information detected by image detecting means, and positioning of the linear moving means supporting each finger in the turning direction based on position information based on the image information. A program for realizing a control function is recorded, and by executing the program, the position of the object to be gripped in the turning direction is detected based on the detection by the image detecting means. Positioning the linear moving means of the finger in the turning direction based on Regardless revolving position of the serial grasped object, the grasped object can be controlled to allow the proper grip.

According to the computer-readable recording medium of claim 13 of the present invention, in causing the computer to perform the control as the control means in the sliding chuck of the robot hand that holds the object to be grasped by the movement of the finger. A function of measuring forces in two directions, that is, the opening and closing direction of each finger and the directions along the base and distal ends of each finger, by biaxial force measuring means provided at the base end of each finger. A function of detecting the position of the object to be grasped based on image information detected by image detecting means provided near the center of the hand, and a set such as inserting the object while grasping the object by each finger. When performing the attaching operation, in a state where the force other than the gripping force on the gripping object is not detected by the biaxial force measuring means, A function of controlling the position of the slide chuck itself based on the image information by the image detection means, and a force other than a gripping force on the gripping target is detected by the biaxial force measuring means, A program for realizing a function of controlling the position of the slide chuck itself based on the detection information obtained by the two-axis force measuring means is recorded. When performing an assembling operation such as insertion while gripping the finger, a force other than the gripping force is applied to a biaxial force measuring means for measuring a force in two directions, ie, an opening and closing direction of each finger and a direction along a base end and a tip direction of each finger. Until is added, the position of the slide chuck itself is controlled based on the image information detected by the image detecting means provided near the center of the hand, and After reducing the time and applying a force other than the gripping force to the biaxial force measuring means, controlling the position of the slide chuck itself based on the detection information of the biaxial force measuring means, Control can be performed so that an appropriate force required for assembling can be applied without damaging the object to be gripped.

[Brief description of the drawings]

FIG. 1 is a front view schematically showing an external configuration of a main part of a sliding chuck of a robot hand according to a first embodiment of the present invention.

FIG. 2 is a side view schematically showing an external configuration of a slide chuck of the robot hand of FIG.

FIG. 3 is a schematic cross-sectional view for explaining a configuration related to a moving unit and a turning unit in the slide chuck of the robot hand of FIG. 1;

FIG. 4 is a partial detailed view for explaining a force measuring means of a finger of a sliding chuck of the robot hand of FIG. 1;

FIG. 5 is a partial detailed view illustrating a finger force measuring unit of a sliding chuck of a robot hand according to a second embodiment of the present invention.

FIG. 6 is a partial detailed view illustrating a force measuring means of a finger of a sliding chuck of a robot hand according to a third embodiment of the present invention.

FIG. 7 is a schematic cross-sectional view for explaining a finger image detecting means of a sliding chuck of a robot hand according to a fourth embodiment of the present invention.

[Explanation of symbols]

 1, 1A, 1B Finger 2 Moving means 3 Main body 4 Motor 5 Transmission gear 6 Rotating shaft 7 Pinion gear 8 First clutch 9 Turning gear 10 Second clutch 11 Linear guide 12 Connecting member 13 Rack 14 Moving brake 15 First Base 16 second base 17 first bearing 18 second bearing 19 fixed shaft 20 internal gear 21 turning brake 22 third base 23 body case 24 third bearing 25 first strain gauge 26 second strain Gauge 27 Contact sensor 28 Conductive rubber 29 Camera

Claims (13)

[Claims] 1. A moving means for supporting and moving each finger linearly along a moving straight line intersecting at one point, and at least two fingers, Turning means for turning the moving means of each finger around an axis perpendicular to a plane including the moving straight line of the finger to change the moving direction; and driving the moving means and the turning means for each individual finger. An actuator that controls the actuator; a switching unit that selectively switches and transmits a driving force of the actuator to at least one of the moving unit and the turning unit; and a base end of each of the fingers. And a force measuring means for measuring the force in the opening and closing direction of each finger and providing the control to the control means, A sliding chuck for a robot hand, wherein a gripping object is held by moving a finger. 2. The force measuring means is disposed at a base end of each finger, and measures forces in two directions, ie, a direction in which each finger is opened and closed and a direction along a base end and a tip direction of each finger. 2. The sliding chuck according to claim 1, wherein the chuck is a biaxial force measuring unit. 3. An image of the object to be grasped is detected, and the position of the object to be grasped is detected for controlling the positioning of the moving means for supporting and linearly moving each finger in the turning direction by the turning means. 3. The sliding chuck for a robot hand according to claim 1, further comprising an image detecting unit to be used. 4. A moving means for supporting and moving two or more fingers in a straight line along a moving straight line intersecting at one point, and a plane including the moving straight lines of all the fingers centering on the intersection of the moving straight lines. Turning means for turning the moving means of each finger around an axis perpendicular to the axis to change the moving direction, an actuator for driving the moving means and the turning means for each individual finger, and controlling the actuator Control means, and a switching means for selectively switching and transmitting the driving force of the actuator to at least one of the moving means and the turning means; and a robot hand for holding the object to be grasped by moving the finger. At the time of control by the control means in the slide chuck, the finger is provided at the base end of each finger. Force measuring means for measuring the force in the opening and closing direction of each finger, and at the time of gripping the object to be gripped, the force of each finger is adjusted so that the force detected by the force measuring means has a desired value. A method for controlling a slide-type chuck, comprising performing positioning control in an opening and closing direction. 5. A moving means for supporting and moving two or more fingers in a straight line along a moving straight line intersecting at one point, and a plane including the moving straight lines of all the fingers around the intersection of the moving straight lines. Turning means for turning the moving means of each finger around an axis perpendicular to the axis to change the moving direction, an actuator for driving the moving means and the turning means for each individual finger, and controlling the actuator Control means, and a switching means for selectively switching and transmitting the driving force of the actuator to at least one of the moving means and the turning means; and a robot hand for holding the object to be grasped by moving the finger. At the time of control by the control means in the slide chuck, the finger is provided at the base end of each finger. The force in the opening and closing direction of each finger is measured by a force measuring means, and an assembling operation such as insertion is performed in a state where the object to be grasped is sandwiched by two fingers facing each other at 180 ° different positions. In this case, with the distance between the two fingers kept constant, the two fingers are moved in a direction in which the amount of change in the value detected by the force measuring means due to the contact between the object to be gripped and the assembly member decreases. And performing a positioning control for linearly moving the slide chuck by a predetermined distance via the moving means. 6. A moving means for supporting and moving two or more fingers, respectively, in a straight line along a moving straight line intersecting at one point, and a plane including a moving straight line of all fingers centering on an intersection of the moving straight lines. Turning means for turning the moving means of each finger around an axis perpendicular to the axis to change the moving direction, an actuator for driving the moving means and the turning means for each individual finger, and controlling the actuator Control means, and switching means for selectively switching and transmitting the driving force of the actuator to at least one of the moving means and the turning means, and a robot hand for holding the object to be grasped by moving the finger. At the time of control by the control means in the slide chuck, the finger is provided at the base end of each finger. The two-axis force measuring means measures two-directional forces in the opening / closing direction of each finger and the directions along the base and distal ends of each finger, and at the time of gripping the object to be gripped, the force measuring means Controlling the positioning of the fingers in the opening / closing direction and the proximal / distal directions so that the force detected by the finger becomes a desired value. 7. A moving means for supporting and moving two or more fingers, respectively, in a straight line along a moving straight line intersecting at one point, a plane including the moving straight lines of all the fingers centering on the intersection of the moving straight lines. Turning means for turning the moving means of each finger around an axis perpendicular to the axis to change the moving direction, an actuator for driving the moving means and the turning means for each individual finger, and controlling the actuator Control means, and a switching means for selectively switching and transmitting the driving force of the actuator to at least one of the moving means and the turning means. In the control by the control means in the slide chuck, the image detected by the image detection means Detecting the position of the object to be grasped based on information, and performing positioning control in the turning direction of the linear moving means supporting each finger based on the position information based on the image information. How to control the chuck. 8. A moving means for supporting and moving two or more fingers in a straight line along a moving straight line intersecting at one point, and a plane including the moving straight lines of all the fingers around the intersection of the moving straight lines. Turning means for turning the moving means of each finger around an axis perpendicular to the axis to change the moving direction, an actuator for driving the moving means and the turning means for each individual finger, and controlling the actuator Control means, and a switching means for selectively switching and transmitting the driving force of the actuator to at least one of the moving means and the turning means; and a robot hand for holding the object to be grasped by moving the finger. At the time of control by the control means in the slide chuck, the finger is provided at the base end of each finger. Biaxial force measuring means measures the force in two directions, ie, the opening and closing direction of each finger and the direction along the base and distal ends of each finger, and detects the force by the image detecting means provided near the center of the hand. When the position of the object to be grasped is detected based on the image information to be obtained, and an assembling operation such as insertion is performed in a state where the object to be grasped is gripped by the fingers, the biaxial force measuring means In a state where a force other than the gripping force on the gripping object is not detected, the position of the slide chuck itself is controlled based on the image information by the image detecting means, and the gripping object is controlled by the biaxial force measuring means. When a force other than the gripping force is detected, the position of the slide chuck itself is controlled based on information detected by the biaxial force measuring means. The method of sliding the chuck characterized and. 9. A moving means for supporting and moving two or more fingers, respectively, in a straight line along a moving straight line intersecting at one point, a plane including the moving straight lines of all the fingers around the intersection of the moving straight lines. Turning means for turning the moving means of each finger around an axis perpendicular to the axis to change the moving direction, an actuator for driving the moving means and the turning means for each individual finger, and controlling the actuator Control means, and a switching means for selectively switching and transmitting the driving force of the actuator to at least one of the moving means and the turning means; and a robot hand for holding the object to be grasped by moving the finger. In causing the computer to perform the control as the control means in the slide chuck, A function of measuring the force in the opening and closing direction of each finger by force measuring means disposed at a base end of each finger; and a force detected by the force measuring means when the object to be grasped is grasped. A computer-readable recording medium storing a program for realizing a function of performing positioning control of the fingers in the opening and closing directions so as to obtain a value. 10. Each of two or more fingers,
Moving means for supporting and linearly moving along a moving straight line intersecting at one point; and moving the moving means of each finger around an axis perpendicular to a plane including the moving straight lines of all fingers around the intersection of the moving straight lines. A turning means for changing the moving direction by making a turning motion, an actuator for driving the moving means and the turning means for each finger, a control means for controlling the actuator, and a driving means for controlling the driving force of the actuator. And a switching means for selectively switching and transmitting to at least one of the turning means, and controls the computer as the control means in the sliding chuck of the robot hand which holds the object to be gripped by the movement of the finger. In doing so, the force measuring means disposed at the base end of each finger A function of measuring the force in the opening and closing direction of each finger, and an assembling operation such as insertion in a state where the gripping target object is sandwiched by two fingers facing each other at 180 °. With the distance between the two fingers kept constant, the two fingers are moved by the moving means in a direction in which the amount of change in the value detected by the force measuring means due to the contact between the object to be gripped and the assembly member decreases. A computer-readable recording medium on which a program for realizing a function of performing positioning control for linearly moving a predetermined distance via a computer is recorded. 11. Each of the two or more fingers
Moving means for supporting and linearly moving along a moving straight line intersecting at one point; and moving the moving means of each finger around an axis perpendicular to a plane including the moving straight lines of all fingers around the intersection of the moving straight lines. A turning means for changing the moving direction by making a turning motion, an actuator for driving the moving means and the turning means for each finger, a control means for controlling the actuator, and a driving means for controlling the driving force of the actuator. And a switching means for selectively switching and transmitting to at least one of the turning means, and controls the computer as the control means in the sliding chuck of the robot hand which holds the object to be gripped by the movement of the finger. Biaxial force measuring means disposed at the base end of each finger. With this, a function of measuring two-directional forces in the opening / closing direction of each finger and a direction along the base end / tip direction of each finger, and a force detected by the force measuring means when the object to be gripped is gripped A computer-readable recording medium storing a program for realizing a function of performing positioning control of the respective fingers in the opening / closing direction and the proximal / distal directions so as to have a desired value. 12. Each of two or more fingers,
Moving means for supporting and linearly moving along a moving straight line intersecting at one point; and moving the moving means of each finger around an axis perpendicular to a plane including the moving straight lines of all fingers around the intersection of the moving straight lines. A turning means for changing the moving direction by making a turning motion, an actuator for driving the moving means and the turning means for each individual finger, a control means for controlling the actuator, and a driving means for controlling the driving force of the actuator to the moving means And a switching means for selectively switching and transmitting to at least one of the turning means, and controls the computer as the control means in the sliding chuck of the robot hand which holds the object to be gripped by the movement of the finger. In doing so, based on the image information detected by the image detecting means, A program for recording a program for realizing a function of detecting a position of a grasped object and a function of performing positioning control in the turning direction of the linear moving unit supporting each finger based on the position information based on the image information is recorded. Computer readable recording medium. 13. The two or more fingers, respectively,
Moving means for supporting and linearly moving along a moving straight line intersecting at one point; and moving the moving means of each finger around an axis perpendicular to a plane including the moving straight lines of all fingers around the intersection of the moving straight lines. A turning means for changing the moving direction by making a turning motion, an actuator for driving the moving means and the turning means for each finger, a control means for controlling the actuator, and a driving means for controlling the driving force of the actuator. And a switching means for selectively switching and transmitting to at least one of the turning means, and controls the computer as the control means in the sliding chuck of the robot hand which holds the object to be gripped by the movement of the finger. Biaxial force measuring means disposed at the base end of each finger. With the function of measuring the force in two directions of the opening and closing direction of each finger and the direction along the base end / tip direction of each finger, the image information detected by the image detection means provided near the center of the hand A function of detecting the position of the object to be gripped based on the position of the object to be gripped, and performing an assembling operation such as insertion while holding the object to be gripped by the fingers; A function of controlling the position of the slide-type chuck itself based on the image information by the image detecting means when no force other than the gripping force on the object is detected, and gripping the gripping object by the biaxial force measuring means. When a force other than force is detected, a function of controlling the position of the slide chuck itself based on information detected by the two-axis force measuring means. A computer-readable recording medium on which a program for realizing the above is recorded.