CA3139173C - Robotic hand - Google Patents
Robotic hand Download PDFInfo
- Publication number
- CA3139173C CA3139173C CA3139173A CA3139173A CA3139173C CA 3139173 C CA3139173 C CA 3139173C CA 3139173 A CA3139173 A CA 3139173A CA 3139173 A CA3139173 A CA 3139173A CA 3139173 C CA3139173 C CA 3139173C
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- CA
- Canada
- Prior art keywords
- finger
- robot hand
- tip
- fixed
- bill
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 230000007246 mechanism Effects 0.000 claims abstract description 38
- 230000005057 finger movement Effects 0.000 abstract description 2
- 210000000078 claw Anatomy 0.000 description 44
- 230000004048 modification Effects 0.000 description 15
- 238000012986 modification Methods 0.000 description 15
- 238000003384 imaging method Methods 0.000 description 6
- 230000002708 enhancing effect Effects 0.000 description 5
- 230000003014 reinforcing effect Effects 0.000 description 4
- 230000001965 increasing effect Effects 0.000 description 3
- 238000012790 confirmation Methods 0.000 description 2
- 239000000284 extract Substances 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 230000002265 prevention Effects 0.000 description 2
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 238000007788 roughening Methods 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H31/00—Pile receivers
- B65H31/30—Arrangements for removing completed piles
- B65H31/3036—Arrangements for removing completed piles by gripping the pile
- B65H31/3045—Arrangements for removing completed piles by gripping the pile on the outermost articles of the pile for clamping the pile
-
- G—PHYSICS
- G07—CHECKING-DEVICES
- G07D—HANDLING OF COINS OR VALUABLE PAPERS, e.g. TESTING, SORTING BY DENOMINATIONS, COUNTING, DISPENSING, CHANGING OR DEPOSITING
- G07D11/00—Devices accepting coins; Devices accepting, dispensing, sorting or counting valuable papers
- G07D11/009—Depositing devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0019—End effectors other than grippers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
-
- G—PHYSICS
- G07—CHECKING-DEVICES
- G07D—HANDLING OF COINS OR VALUABLE PAPERS, e.g. TESTING, SORTING BY DENOMINATIONS, COUNTING, DISPENSING, CHANGING OR DEPOSITING
- G07D11/00—Devices accepting coins; Devices accepting, dispensing, sorting or counting valuable papers
- G07D11/10—Mechanical details
- G07D11/16—Handling of valuable papers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H2701/00—Handled material; Storage means
- B65H2701/10—Handled articles or webs
- B65H2701/19—Specific article or web
- B65H2701/1912—Banknotes, bills and cheques or the like
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Manipulator (AREA)
Abstract
It is an object of the present invention to provide a robot hand capable of pulling out a paper sheet from a bill storage container, in which an exposed area on the upper side of the paper sheet is considerably small, with a high probability.
The robot hand 300 according to the present invention includes a first finger 310, a second finger 320, and a finger moving mechanism 330. The first finger and the second finger extend in a first direction Dy. The second finger is disposed so as to face the first finger. The finger movement mechanism moves at least one of the first finger and the second finger along a direction where the first finger and the second finger face each other. In the first direction, the tip position Tm of the first finger differ from the tip position Ts of the second finger.
Selected figure: Fig. 3
The robot hand 300 according to the present invention includes a first finger 310, a second finger 320, and a finger moving mechanism 330. The first finger and the second finger extend in a first direction Dy. The second finger is disposed so as to face the first finger. The finger movement mechanism moves at least one of the first finger and the second finger along a direction where the first finger and the second finger face each other. In the first direction, the tip position Tm of the first finger differ from the tip position Ts of the second finger.
Selected figure: Fig. 3
Description
TITLE OF INVENTION
ROBOTIC HAND
TECHNICAL FIELD
[0001]
The present invention relates to robotic hands.
BACKGROUND ART
ROBOTIC HAND
TECHNICAL FIELD
[0001]
The present invention relates to robotic hands.
BACKGROUND ART
[0002]
In the past, a "bill processing apparatus using an articulated robot arm with a robot hand (hereinafter, sometimes referred to as a "hand-attached arm ") has been proposed (for example, JP-A-62-92095 and the like). In such a bill processing apparatus, a bundle of bills collected by a bill collection unit is grasped by a robot hand of a hand-attached arm, and is conveyed to a bill count bill confirmation unit by an articulated robot arm; then, the number of bills per denomination is counted while the bundle of bills is being sorted by denomination in the bill count bill confirmation unit. The bundle of bills that has been sorted for each denomination is conveyed to a prescribed position by another hand-attached arm for each denomination.
Prior Art Document Patent document
In the past, a "bill processing apparatus using an articulated robot arm with a robot hand (hereinafter, sometimes referred to as a "hand-attached arm ") has been proposed (for example, JP-A-62-92095 and the like). In such a bill processing apparatus, a bundle of bills collected by a bill collection unit is grasped by a robot hand of a hand-attached arm, and is conveyed to a bill count bill confirmation unit by an articulated robot arm; then, the number of bills per denomination is counted while the bundle of bills is being sorted by denomination in the bill count bill confirmation unit. The bundle of bills that has been sorted for each denomination is conveyed to a prescribed position by another hand-attached arm for each denomination.
Prior Art Document Patent document
[0003]
Patent Document 1: JP-A-62-92095 BRIEF DESCRIPTION OF THE DRAWINGS
Patent Document 1: JP-A-62-92095 BRIEF DESCRIPTION OF THE DRAWINGS
[0004]
Fig. 1 is a right side view of an articulated robot arm with a robot hand according to an embodiment of the present invention.
Fig. 2 is a perspective view of the robot hand according to an embodiment of the present invention.
Fig. 3 is a right side view of the robot hand according to an embodiment of the present invention.
Fig. 4 is a perspective view of a bill storage container storing bills to be grasped by a robot hand according to an embodiment of the present invention.
Fig. 5 is a plan view of a holding plate constituting the bill storage container shown in Fig. 4.
Fig. 6 is a plan view of a support base constituting the bill storage container shown in Fig.
4.
Fig. 7 is a perspective view showing a state in which the robot hand according to an embodiment of the present invention is moved to the front side of the bill storage container.
Fig. 8 is a perspective view showing a state in which the robot hand according to an embodiment of the present invention grasps a bill bundle in the bill storage container.
Fig. 9 is a vertical cross-sectional view showing a state in which the robot hand according to an embodiment of the present invention grasps a bill bundle of bills in the bill storage container.
Fig. 10 is a left side view of a robot hand according to a modified example (I).
Fig. 11 is a left side view of a robot hand according to a modified example (J).
Fig. 12 is a left side view of a robot hand according to a modified example (K).
Fig. 13 is a left side view of a robot hand according to a modified example (L).
Fig. 14 is a left side view of a robot hand according to a modified example (M).
Date Recue/Date Received 2023-08-23 Fig. 15 is a left side view of a robot hand according to a modified example (N).
Fig. 16 is a plan view of a robot hand according to a modified example (0).
Fig. 17 is a plan view of a robot hand according to a modified example (P).
Fig. 18 is a plan view of a robot hand according to a modified example (Q).
Fig. 19 is a plan view of a robot hand according to a modified example (R).
Fig. 20 is a plan view of a robot hand according to a modified example (S).
SUMMARY OF THE INVENTION
Problem to be solved by invention
Fig. 1 is a right side view of an articulated robot arm with a robot hand according to an embodiment of the present invention.
Fig. 2 is a perspective view of the robot hand according to an embodiment of the present invention.
Fig. 3 is a right side view of the robot hand according to an embodiment of the present invention.
Fig. 4 is a perspective view of a bill storage container storing bills to be grasped by a robot hand according to an embodiment of the present invention.
Fig. 5 is a plan view of a holding plate constituting the bill storage container shown in Fig. 4.
Fig. 6 is a plan view of a support base constituting the bill storage container shown in Fig.
4.
Fig. 7 is a perspective view showing a state in which the robot hand according to an embodiment of the present invention is moved to the front side of the bill storage container.
Fig. 8 is a perspective view showing a state in which the robot hand according to an embodiment of the present invention grasps a bill bundle in the bill storage container.
Fig. 9 is a vertical cross-sectional view showing a state in which the robot hand according to an embodiment of the present invention grasps a bill bundle of bills in the bill storage container.
Fig. 10 is a left side view of a robot hand according to a modified example (I).
Fig. 11 is a left side view of a robot hand according to a modified example (J).
Fig. 12 is a left side view of a robot hand according to a modified example (K).
Fig. 13 is a left side view of a robot hand according to a modified example (L).
Fig. 14 is a left side view of a robot hand according to a modified example (M).
Date Recue/Date Received 2023-08-23 Fig. 15 is a left side view of a robot hand according to a modified example (N).
Fig. 16 is a plan view of a robot hand according to a modified example (0).
Fig. 17 is a plan view of a robot hand according to a modified example (P).
Fig. 18 is a plan view of a robot hand according to a modified example (Q).
Fig. 19 is a plan view of a robot hand according to a modified example (R).
Fig. 20 is a plan view of a robot hand according to a modified example (S).
SUMMARY OF THE INVENTION
Problem to be solved by invention
[0005]
Incidentally, there are cases in which a bill bundle MT to be conveyed is accommodated in a bill storage container 400 as shown in Fig. 4. In such a case, the hand-attached arm needs to extract the bill bundle MT from the bill storage container 400. However, in the bill storage container 400 as described above, as shown in Fig. 4, an exposed area on the upper side of the bill bundle MT in the bill storage container 400 is considerably small. Thus, even if the robot hand grasps the bill bundle MT at the tip portions of the upper and lower fingers and pulls out the bill bundle MT from the bill storage container 400 while maintaining its grasping state, the bill bundle MT cannot be pulled out successfully in many cases.
Incidentally, there are cases in which a bill bundle MT to be conveyed is accommodated in a bill storage container 400 as shown in Fig. 4. In such a case, the hand-attached arm needs to extract the bill bundle MT from the bill storage container 400. However, in the bill storage container 400 as described above, as shown in Fig. 4, an exposed area on the upper side of the bill bundle MT in the bill storage container 400 is considerably small. Thus, even if the robot hand grasps the bill bundle MT at the tip portions of the upper and lower fingers and pulls out the bill bundle MT from the bill storage container 400 while maintaining its grasping state, the bill bundle MT cannot be pulled out successfully in many cases.
[0006]
It is an object of the present invention to provide a robot hand capable of pulling out an object such as a paper sheet or the like from a bill storage container as described above with a high probability.
Means of solving the problem
It is an object of the present invention to provide a robot hand capable of pulling out an object such as a paper sheet or the like from a bill storage container as described above with a high probability.
Means of solving the problem
[0007]
A robot hand according to a first aspect of the present invention includes a first finger, a second finger, and a finger moving mechanism. The first finger extends in a first direction. The second finger extends in the first direction in the same manner as the first finger. The second finger is disposed so as to face the first finger. Note that here, the first finger and the second finger need not to face each other in a plan view, and it is sufficient that they face each other in a side view; however, it is preferable that they also face each other in a plan view as well as in a side view. The finger movement mechanism moves at least one of the first finger and the second finger along a direction where the first finger and the second finger face each other. In the first direction, the tip position of the first finger differs from the tip position of the second finger.
A robot hand according to a first aspect of the present invention includes a first finger, a second finger, and a finger moving mechanism. The first finger extends in a first direction. The second finger extends in the first direction in the same manner as the first finger. The second finger is disposed so as to face the first finger. Note that here, the first finger and the second finger need not to face each other in a plan view, and it is sufficient that they face each other in a side view; however, it is preferable that they also face each other in a plan view as well as in a side view. The finger movement mechanism moves at least one of the first finger and the second finger along a direction where the first finger and the second finger face each other. In the first direction, the tip position of the first finger differs from the tip position of the second finger.
[0008]
Incidentally, in the bill storage container 400 shown in Fig. 4, as shown in Fig. 6, separate support bases 412a and 412b are disposed on the left and right sides, and slits (gaps) Rt are formed therebetween. Here, for example, if the first finger and the second finger are formed such that the tip of the second finger is inserted to the depth of the slit Rt when the tip of the first finger enters the notch Rs on the front side of the holding plate 411, the contact area of the second finger with respect to an object such as a paper sheet can be widened, and the lower side of the object can be well supported by the second finger, thereby allowing for stably grasping the object such as a paper sheet. This allows the robot hand to pull out an object such as a paper sheet from the bill storage container with a high probability.
Incidentally, in the bill storage container 400 shown in Fig. 4, as shown in Fig. 6, separate support bases 412a and 412b are disposed on the left and right sides, and slits (gaps) Rt are formed therebetween. Here, for example, if the first finger and the second finger are formed such that the tip of the second finger is inserted to the depth of the slit Rt when the tip of the first finger enters the notch Rs on the front side of the holding plate 411, the contact area of the second finger with respect to an object such as a paper sheet can be widened, and the lower side of the object can be well supported by the second finger, thereby allowing for stably grasping the object such as a paper sheet. This allows the robot hand to pull out an object such as a paper sheet from the bill storage container with a high probability.
[0009]
A robot hand according to a second aspect of the present invention is the robot hand according to the first aspect, wherein at least one of the first finger and the second finger has a Date Recue/Date Received 2023-08-23 non-slip treated portion disposed on a side where the first finger and the second finger face each other.
A robot hand according to a second aspect of the present invention is the robot hand according to the first aspect, wherein at least one of the first finger and the second finger has a Date Recue/Date Received 2023-08-23 non-slip treated portion disposed on a side where the first finger and the second finger face each other.
[0010]
This allows the robot hand to pull out an object such as a paper sheet from the bill storage container with a higher probability.
REFERENCE SIGNS LIST
This allows the robot hand to pull out an object such as a paper sheet from the bill storage container with a higher probability.
REFERENCE SIGNS LIST
[0011]
300 robot hand 310 movable finger (first finger, second finger) 320 fixed finger (first finger, second finger) 330 movable finger lifting mechanism (finger moving mechanism) Dy front (first direction) Tm the position of the tip of the movable finger (the position of the tip of the first finger, the position of the tip of the second finger) Ts the position of the tip of the fixed finger (the position of the tip of the first finger, the position of the tip of the second finger) DESCRIPTION OF THE PREFERRED EMBODIMENTS
300 robot hand 310 movable finger (first finger, second finger) 320 fixed finger (first finger, second finger) 330 movable finger lifting mechanism (finger moving mechanism) Dy front (first direction) Tm the position of the tip of the movable finger (the position of the tip of the first finger, the position of the tip of the second finger) Ts the position of the tip of the fixed finger (the position of the tip of the first finger, the position of the tip of the second finger) DESCRIPTION OF THE PREFERRED EMBODIMENTS
[0012]
As shown in Fig. 1, an articulated robot arm 100 with a robot hand according to an embodiment of the present invention mainly includes an articulated robot arm 200 and a robot hand 300. Hereinafter, these components will be described in detail.
As shown in Fig. 1, an articulated robot arm 100 with a robot hand according to an embodiment of the present invention mainly includes an articulated robot arm 200 and a robot hand 300. Hereinafter, these components will be described in detail.
[0013]
(1) Articulated robot arm The articulated robot arm 200 according to an embodiment of the present invention is an existing articulated robot arm as shown in Fig. 1.
(1) Articulated robot arm The articulated robot arm 200 according to an embodiment of the present invention is an existing articulated robot arm as shown in Fig. 1.
[0014]
(2) Robot hand The robot hand 300 according to an embodiment of the present invention is a two-finger type robot hand as shown in Figs. 2 and 3, and is attached to the tip of the articulated robot arm 200 as shown in Fig. 1. As shown in Figs. 2 and 3, the robot hand 300 mainly includes a movable finger 310, a fixed finger 320, a movable finger lifting mechanism 330, a connecting portion 340, and an imaging unit 350. Hereinafter, these components will be described in detail.
(2) Robot hand The robot hand 300 according to an embodiment of the present invention is a two-finger type robot hand as shown in Figs. 2 and 3, and is attached to the tip of the articulated robot arm 200 as shown in Fig. 1. As shown in Figs. 2 and 3, the robot hand 300 mainly includes a movable finger 310, a fixed finger 320, a movable finger lifting mechanism 330, a connecting portion 340, and an imaging unit 350. Hereinafter, these components will be described in detail.
[0015]
<Components of Robot Hand>
(1) Movable finger The movable finger 310 is formed with a base portion 311, an intermediate portion 312 and a claw portion 313 as shown in Figs. 2 and 3. The base portion 311 is a thick plate portion having a substantially rectangular shape as shown in Fig. 2. The intermediate portion 312 is a substantially trapezoidal thick plate portion as shown in Fig. 2, and extends from the tip of the base portion 311 toward the front Dy. Note that the width of the intermediate portion 312 narrows toward the front Dy. The claw portion 313 is an elongated substantially rectangular thick plate portion as shown in Fig. 2, and extends from the tip of the intermediate portion 312 toward the front Dy. Here, the tip portion of the claw portion 313 has a shape protruding downward as shown in Fig. 3. In the movable finger 310, as shown in Fig. 3, the upper surface of the movable Date Recue/Date Received 2023-08-23 finger 310 is inclined downward from the base end of the intermediate portion 312 toward the tip of the claw portion 313 in a region from the base end of the intermediate portion 312 to the tip of the claw portion 313. As shown in Fig. 3, a rubber sheet Sr is attached to the lower surface of the claw portion 313. The movable finger 310 is fixed to a front lifting plate 332f (described later) of the movable finger lifting mechanism 330 on the base end side of the base portion 311. Further, a reinforcing plate 315 is provided to enhance the coupling strength between the movable finger 310 and the front lifting plate 332f (see Figs. 2 and 3). The reinforcing plate 315 is fixed to both the movable finger 310 and the front lifting plate 332f.
<Components of Robot Hand>
(1) Movable finger The movable finger 310 is formed with a base portion 311, an intermediate portion 312 and a claw portion 313 as shown in Figs. 2 and 3. The base portion 311 is a thick plate portion having a substantially rectangular shape as shown in Fig. 2. The intermediate portion 312 is a substantially trapezoidal thick plate portion as shown in Fig. 2, and extends from the tip of the base portion 311 toward the front Dy. Note that the width of the intermediate portion 312 narrows toward the front Dy. The claw portion 313 is an elongated substantially rectangular thick plate portion as shown in Fig. 2, and extends from the tip of the intermediate portion 312 toward the front Dy. Here, the tip portion of the claw portion 313 has a shape protruding downward as shown in Fig. 3. In the movable finger 310, as shown in Fig. 3, the upper surface of the movable Date Recue/Date Received 2023-08-23 finger 310 is inclined downward from the base end of the intermediate portion 312 toward the tip of the claw portion 313 in a region from the base end of the intermediate portion 312 to the tip of the claw portion 313. As shown in Fig. 3, a rubber sheet Sr is attached to the lower surface of the claw portion 313. The movable finger 310 is fixed to a front lifting plate 332f (described later) of the movable finger lifting mechanism 330 on the base end side of the base portion 311. Further, a reinforcing plate 315 is provided to enhance the coupling strength between the movable finger 310 and the front lifting plate 332f (see Figs. 2 and 3). The reinforcing plate 315 is fixed to both the movable finger 310 and the front lifting plate 332f.
[0016]
(2) Fixed finger As shown in Figs. 2 and 3, the fixed finger 320 is formed with a base portion 321, an intermediate portion 322, a claw portion 323, and a protruding portion 324.
The base portion 321 is a thick plate portion having a substantially rectangular shape as shown in Fig. 2. The intermediate portion 322 is a substantially trapezoidal thick plate portion as shown in Fig. 2, and extends from the tip of the base portion 321 toward the front Dy. Note that the width of the intermediate portion 322 narrows toward the front Dy. The claw portion 323 is an elongated substantially rectangular thick plate portion as shown in Fig. 2, and extends from the center in the width direction of the side surface on the tip side of the intermediate portion 322 toward the front Dy. As shown in Fig. 3, a notch Cv is provided on the upper side of the claw portion 323. As a result, the tip portion of the claw portion 323 has a shape protruding upward as shown in Fig. 2.
Further, in the fixed finger 320, as shown in Fig. 3, the lower surface of the fixed finger is inclined upward from the intermediate position toward the tip in a region from the intermediate position to the tip of the claw portion 323. As shown in Fig. 2, the protruding portion 324 is a substantially rectangular thick plate portion having the same width as that of the claw portion 323, and extends from the tip of the claw portion 323 toward the front Dy. As shown in Fig. 3, the tip position Ts of the protruding portion 324 is located in front of the tip position Tm of the claw portion 313 of the movable finger 310. In other words, the protruding portion 324 of the fixed finger 320 protrudes forward in a direction of Dy compared with a position of the claw portion 313 of the movable finger 310. Further, a rubber sheet Sr as a slip prevention material is attached to the protruding portion 324. As shown in Fig. 3, a portion to which the rubber sheet Sr has been attached does not face a region where the rubber sheet Sr of the movable finger 310 has been attached. The fixed finger 320 is fixed to a support plate 331 (described later) of the movable finger lifting mechanism 330. Further, a pair of reinforcing plates 325 are disposed on the left and right sides in order to enhance the bonding strength between the fixed finger 320 and the support plate 331 (see Figs. 2 and 3). The reinforcing plates 325 are fixed to both the fixed finger 320 and the support plate 331. As shown in Figs. 2 and 3, the fixed finger 320 faces the movable finger 310 in the lifting direction of the movable finger 310.
(2) Fixed finger As shown in Figs. 2 and 3, the fixed finger 320 is formed with a base portion 321, an intermediate portion 322, a claw portion 323, and a protruding portion 324.
The base portion 321 is a thick plate portion having a substantially rectangular shape as shown in Fig. 2. The intermediate portion 322 is a substantially trapezoidal thick plate portion as shown in Fig. 2, and extends from the tip of the base portion 321 toward the front Dy. Note that the width of the intermediate portion 322 narrows toward the front Dy. The claw portion 323 is an elongated substantially rectangular thick plate portion as shown in Fig. 2, and extends from the center in the width direction of the side surface on the tip side of the intermediate portion 322 toward the front Dy. As shown in Fig. 3, a notch Cv is provided on the upper side of the claw portion 323. As a result, the tip portion of the claw portion 323 has a shape protruding upward as shown in Fig. 2.
Further, in the fixed finger 320, as shown in Fig. 3, the lower surface of the fixed finger is inclined upward from the intermediate position toward the tip in a region from the intermediate position to the tip of the claw portion 323. As shown in Fig. 2, the protruding portion 324 is a substantially rectangular thick plate portion having the same width as that of the claw portion 323, and extends from the tip of the claw portion 323 toward the front Dy. As shown in Fig. 3, the tip position Ts of the protruding portion 324 is located in front of the tip position Tm of the claw portion 313 of the movable finger 310. In other words, the protruding portion 324 of the fixed finger 320 protrudes forward in a direction of Dy compared with a position of the claw portion 313 of the movable finger 310. Further, a rubber sheet Sr as a slip prevention material is attached to the protruding portion 324. As shown in Fig. 3, a portion to which the rubber sheet Sr has been attached does not face a region where the rubber sheet Sr of the movable finger 310 has been attached. The fixed finger 320 is fixed to a support plate 331 (described later) of the movable finger lifting mechanism 330. Further, a pair of reinforcing plates 325 are disposed on the left and right sides in order to enhance the bonding strength between the fixed finger 320 and the support plate 331 (see Figs. 2 and 3). The reinforcing plates 325 are fixed to both the fixed finger 320 and the support plate 331. As shown in Figs. 2 and 3, the fixed finger 320 faces the movable finger 310 in the lifting direction of the movable finger 310.
[0017]
(3) Movable finger lifting mechanism As shown in Figs. 2 and 3, the movable finger lifting mechanism 330 is a two-stage stroke type lifting mechanism, and mainly includes a support plate 331, a front lifting plate 332f, a rear lifting plate 332r, a front air cylinder mechanism 333f, and a rear air cylinder mechanism 333r.
The support plate 331 supports the rear air cylinder mechanism 333r. The rear air cylinder mechanism 333r operates in a double-acting manner, and is a driving source for raising and lowering the rear lifting plate 332r. The rear air cylinder mechanism 333r is attached to the support plate 331 as described above. A front air cylinder mechanism 333f is attached to the rear lifting plate 332r. The front air cylinder mechanism 333f operates in a double-acting manner and Date recue / Date received 2021-11-03 is a driving source for raising and lowering the front lifting plate 332f. As described above, the movable finger 310 is attached to the front lifting plate 332f. In other words, the rear air cylinder mechanism 333r raises and/or lowers the rear lifting plate 332r, thereby raising and/or lowering the front air cylinder mechanism 333f, the front lifting plate 332f, and the movable finger 310. In contrast, the front air cylinder mechanism 333f raises and/or lowers the front lift plate 332f, thereby raising and/or lowering the movable finger 310. Also, as shown in Figs. 2 and 3, the air supply/exhaust ports 335 and 336 are provided in the front air cylinder mechanism 333f and the rear air cylinder mechanism 333r, respectively. The air supply/exhaust ports 335 and 336 are each connected to an air supply/exhaust pipe (not shown).
(3) Movable finger lifting mechanism As shown in Figs. 2 and 3, the movable finger lifting mechanism 330 is a two-stage stroke type lifting mechanism, and mainly includes a support plate 331, a front lifting plate 332f, a rear lifting plate 332r, a front air cylinder mechanism 333f, and a rear air cylinder mechanism 333r.
The support plate 331 supports the rear air cylinder mechanism 333r. The rear air cylinder mechanism 333r operates in a double-acting manner, and is a driving source for raising and lowering the rear lifting plate 332r. The rear air cylinder mechanism 333r is attached to the support plate 331 as described above. A front air cylinder mechanism 333f is attached to the rear lifting plate 332r. The front air cylinder mechanism 333f operates in a double-acting manner and Date recue / Date received 2021-11-03 is a driving source for raising and lowering the front lifting plate 332f. As described above, the movable finger 310 is attached to the front lifting plate 332f. In other words, the rear air cylinder mechanism 333r raises and/or lowers the rear lifting plate 332r, thereby raising and/or lowering the front air cylinder mechanism 333f, the front lifting plate 332f, and the movable finger 310. In contrast, the front air cylinder mechanism 333f raises and/or lowers the front lift plate 332f, thereby raising and/or lowering the movable finger 310. Also, as shown in Figs. 2 and 3, the air supply/exhaust ports 335 and 336 are provided in the front air cylinder mechanism 333f and the rear air cylinder mechanism 333r, respectively. The air supply/exhaust ports 335 and 336 are each connected to an air supply/exhaust pipe (not shown).
[0018]
(4) Connecting portion The connecting portion 340 is a portion for connecting the robot hand 300 to the articulated robot arm 200, and is, for example, a flange or the like.
(4) Connecting portion The connecting portion 340 is a portion for connecting the robot hand 300 to the articulated robot arm 200, and is, for example, a flange or the like.
[0019]
(5) Imaging unit The imaging unit 350 is, for example, a small camera such as a CCD camera, and is fixed to the right side of the movable finger lifting mechanism 330 with a support arm SA extending from a support plate 331 of the movable finger lifting mechanism 330 as shown in Figs. 2 and 3.
The imaging unit 350 transmits, to a control device (not shown), electronic data of an image captured while intermittently capturing images.
(5) Imaging unit The imaging unit 350 is, for example, a small camera such as a CCD camera, and is fixed to the right side of the movable finger lifting mechanism 330 with a support arm SA extending from a support plate 331 of the movable finger lifting mechanism 330 as shown in Figs. 2 and 3.
The imaging unit 350 transmits, to a control device (not shown), electronic data of an image captured while intermittently capturing images.
[0020]
<Usage example of an articulated robot arm with a robot hand according to an embodiment of the present invention>
Here, as an example, a case in which the articulated robot arm 100 with a robot hand according to the present embodiment extracts a bundle of bills from a bill storage container will be described later. Here, as an example of the bill storage container, the bill storage container 400 shown in Fig. 4 is employed. Note that this example does not limit the invention.
<Usage example of an articulated robot arm with a robot hand according to an embodiment of the present invention>
Here, as an example, a case in which the articulated robot arm 100 with a robot hand according to the present embodiment extracts a bundle of bills from a bill storage container will be described later. Here, as an example of the bill storage container, the bill storage container 400 shown in Fig. 4 is employed. Note that this example does not limit the invention.
[0021]
Prior to the description of the articulated robot arm 100 with a robot hand, the bill storage container 400 will be briefly described.
Prior to the description of the articulated robot arm 100 with a robot hand, the bill storage container 400 will be briefly described.
[0022]
As shown in Fig. 4, the bill storage container 400 mainly includes a housing 410, a front lid 420, a holding plate 411, and support bases 412a and 412b. As shown in Fig. 4, the housing 410 is a rectangular parallelepiped box having an open front side. The depth dimension of the housing 410 is sufficiently longer than the length of the fixed finger 320.
The front lid 420 is a plate member having a substantially rectangular shape, and is rotatably supported on the upper side of the opening edge of the housing 410 via an opening/closing mechanism such as a hinge. The holding plate 411 is a member for holding the bill bundle MT in cooperation with the support bases 412a and 412b, and is disposed so as to be movable up and down slightly above the center in the height direction of the housing 410, as shown in Fig. 4. As shown in Figs.
4 and 5, a semicircular notch Rs is provided at the center of the front side of the holding plate 411. The support bases 412a and 412b are left and right separation type support members that hold the bill bundle MT in cooperation with the holding plate 411, and are fixed to the left and right of the lower side of the housing 410 as shown in Fig. 4. A slit Rt is formed between the support bases 412a and 412b. The slit Rt extends in the depth direction as shown in Fig. 6.
In the bill storage container 400, the holding plate 411 is pushed downward by an urging member (a helical spring or the like) placed on the upper side. In other words, the bill bundle MT
accommodated in the bill Date recue / Date received 2021-11-03 storage container 400 is pressed toward the support bases 412a and 412b by the holding plate 411.
As shown in Fig. 4, the bill storage container 400 stores the bill bundle MT
between the support bases 412a and 412b and the holding plate 411 such that the longitudinal direction of the bill is along the depth direction.
As shown in Fig. 4, the bill storage container 400 mainly includes a housing 410, a front lid 420, a holding plate 411, and support bases 412a and 412b. As shown in Fig. 4, the housing 410 is a rectangular parallelepiped box having an open front side. The depth dimension of the housing 410 is sufficiently longer than the length of the fixed finger 320.
The front lid 420 is a plate member having a substantially rectangular shape, and is rotatably supported on the upper side of the opening edge of the housing 410 via an opening/closing mechanism such as a hinge. The holding plate 411 is a member for holding the bill bundle MT in cooperation with the support bases 412a and 412b, and is disposed so as to be movable up and down slightly above the center in the height direction of the housing 410, as shown in Fig. 4. As shown in Figs.
4 and 5, a semicircular notch Rs is provided at the center of the front side of the holding plate 411. The support bases 412a and 412b are left and right separation type support members that hold the bill bundle MT in cooperation with the holding plate 411, and are fixed to the left and right of the lower side of the housing 410 as shown in Fig. 4. A slit Rt is formed between the support bases 412a and 412b. The slit Rt extends in the depth direction as shown in Fig. 6.
In the bill storage container 400, the holding plate 411 is pushed downward by an urging member (a helical spring or the like) placed on the upper side. In other words, the bill bundle MT
accommodated in the bill Date recue / Date received 2021-11-03 storage container 400 is pressed toward the support bases 412a and 412b by the holding plate 411.
As shown in Fig. 4, the bill storage container 400 stores the bill bundle MT
between the support bases 412a and 412b and the holding plate 411 such that the longitudinal direction of the bill is along the depth direction.
[0023]
When the articulated robot arm 100 with a robot hand extracts the bill bundle MT in the bill storage container 400, the articulated robot arm 100 with a robot hand is operated by the control device as follows.
When the articulated robot arm 100 with a robot hand extracts the bill bundle MT in the bill storage container 400, the articulated robot arm 100 with a robot hand is operated by the control device as follows.
[0024]
First, the control device controls the operation of the articulated robot arm 200 to move the robot hand 300 to a prescribed position and move it in a prescribed direction (see Fig. 7).
Here, the prescribed position is a position on the front side of the bill storage container 400, and the prescribed direction is a direction in which the imaging unit 350 can image the front side of the bill storage container 400.
First, the control device controls the operation of the articulated robot arm 200 to move the robot hand 300 to a prescribed position and move it in a prescribed direction (see Fig. 7).
Here, the prescribed position is a position on the front side of the bill storage container 400, and the prescribed direction is a direction in which the imaging unit 350 can image the front side of the bill storage container 400.
[0025]
Next, the control device controls the articulated robot arm 200 and the robot hand 300 to raise the movable finger 310 to the highest position, and then inserts the tip portion of the fixed finger 320 into the slit Rt of the support bases 412a and 412b (see Figs. 8 and 9). At this time, the movable finger 310 is positioned above the notch Rs of the holding plate 411, and the fixed finger 320 is positioned directly below the bill bundle MT, as shown in Fig.
9. Further, at this time, the fixed finger 320 is inserted to an intermediate position of the slit Rt, whereas the movable finger 310 is inserted only to a position above the notch Rs of the holding plate 411, as shown in Fig. 9. In other words, the fixed finger 320 contacts the lower surface of the bill bundle MT over a length of about half of the bill bundle MT in the longitudinal direction, whereas the movable finger 310 contacts only the upper surface of the bill bundle MT on the near side of the bill bundle MT, as shown in Fig. 9.
Next, the control device controls the articulated robot arm 200 and the robot hand 300 to raise the movable finger 310 to the highest position, and then inserts the tip portion of the fixed finger 320 into the slit Rt of the support bases 412a and 412b (see Figs. 8 and 9). At this time, the movable finger 310 is positioned above the notch Rs of the holding plate 411, and the fixed finger 320 is positioned directly below the bill bundle MT, as shown in Fig.
9. Further, at this time, the fixed finger 320 is inserted to an intermediate position of the slit Rt, whereas the movable finger 310 is inserted only to a position above the notch Rs of the holding plate 411, as shown in Fig. 9. In other words, the fixed finger 320 contacts the lower surface of the bill bundle MT over a length of about half of the bill bundle MT in the longitudinal direction, whereas the movable finger 310 contacts only the upper surface of the bill bundle MT on the near side of the bill bundle MT, as shown in Fig. 9.
[0026]
Subsequently, the control device moves the movable finger 310 downward to grasp the bill bundle MT together with the fixed finger 320. The control device controls the operation of the articulated robot arm 200 to retract the robot hand 300, thereby extracting the bill bundle MT
from the bill storage container 400.
Subsequently, the control device moves the movable finger 310 downward to grasp the bill bundle MT together with the fixed finger 320. The control device controls the operation of the articulated robot arm 200 to retract the robot hand 300, thereby extracting the bill bundle MT
from the bill storage container 400.
[0027]
<Features of robot hand according to the present embodiment>
(1) In the robot hand 300 according to the present embodiment, the tip of the fixed finger 320 is positioned, in a forward direction Dy, in front of the tip of the movable finger 310, and the rubber sheet Sr is attached to the tip portion of the fixed finger 320. Thus, in the robot hand 300, when the bill bundle MT is extracted from the bill storage container 400 shown in Fig. 4, the contact area of the fixed finger 320 with respect to the bill bundle MT can be increased, and the lower side of the bill bundle MT can be supported in a good condition by the fixed finger 320, therefore allowing the robot hand 300 to stably grasp the bill bundle MT. This allows the robot hand 300 to pull out the bill bundle MT from the bill storage container 400 with a high probability.
<Features of robot hand according to the present embodiment>
(1) In the robot hand 300 according to the present embodiment, the tip of the fixed finger 320 is positioned, in a forward direction Dy, in front of the tip of the movable finger 310, and the rubber sheet Sr is attached to the tip portion of the fixed finger 320. Thus, in the robot hand 300, when the bill bundle MT is extracted from the bill storage container 400 shown in Fig. 4, the contact area of the fixed finger 320 with respect to the bill bundle MT can be increased, and the lower side of the bill bundle MT can be supported in a good condition by the fixed finger 320, therefore allowing the robot hand 300 to stably grasp the bill bundle MT. This allows the robot hand 300 to pull out the bill bundle MT from the bill storage container 400 with a high probability.
[0028]
(2) In the movable finger 310 of the robot hand 300 according to the present embodiment, the upper surface of the portion from the base end of the intermediate portion 312 to the tip of the claw portion 313 is inclined downward from the base end of the intermediate portion 312 toward Date recue / Date received 2021-11-03 the tip of the claw portion 313. Thus, the movable finger 310 with such configuration allows for reducing the stress applied to the root portion of the movable finger 310 when grasping the bill bundle.
(2) In the movable finger 310 of the robot hand 300 according to the present embodiment, the upper surface of the portion from the base end of the intermediate portion 312 to the tip of the claw portion 313 is inclined downward from the base end of the intermediate portion 312 toward Date recue / Date received 2021-11-03 the tip of the claw portion 313. Thus, the movable finger 310 with such configuration allows for reducing the stress applied to the root portion of the movable finger 310 when grasping the bill bundle.
[0029]
(3) In the fixed finger 320 of the robot hand 300 according to the present embodiment, the lower surface of the portion from the intermediate position to the tip of the claw portion 323 is inclined upward from the intermediate position toward the tip. Thus, the fixed finger 320 with such configuration allows for reducing the stress applied to the root portion of the fixed finger 320 when grasping the bill bundle.
(3) In the fixed finger 320 of the robot hand 300 according to the present embodiment, the lower surface of the portion from the intermediate position to the tip of the claw portion 323 is inclined upward from the intermediate position toward the tip. Thus, the fixed finger 320 with such configuration allows for reducing the stress applied to the root portion of the fixed finger 320 when grasping the bill bundle.
[0030]
(4) The protruding portion 324 of the fixed finger 320 of the robot hand 300 according to the present embodiment an elongated substantially rectangular thick plate portion having the same width as the width of the claw portion 323; that is, the protruding portion is a taperless shape in a side view. This causes the protruding portion 324 to be easily inserted into the bill storage container 400, thus allowing the area contacting the bill bundle MT to be large.
(4) The protruding portion 324 of the fixed finger 320 of the robot hand 300 according to the present embodiment an elongated substantially rectangular thick plate portion having the same width as the width of the claw portion 323; that is, the protruding portion is a taperless shape in a side view. This causes the protruding portion 324 to be easily inserted into the bill storage container 400, thus allowing the area contacting the bill bundle MT to be large.
[0031]
(5) A notch Cv is provided on the upper side of the claw portion 323 of the fixed finger 320 of the robot hand 300 according to the present embodiment. This allows the claw portion 323 of the fixed finger 320 to accommodates the tip portion of the bill bundle MT in a state where the tip portion of the bill bundle MT is sandwiched in cooperation with the movable finger 310, thus allowing for eliminating the affection caused due to the variation of the tip portion of the bill bundle MT.
(5) A notch Cv is provided on the upper side of the claw portion 323 of the fixed finger 320 of the robot hand 300 according to the present embodiment. This allows the claw portion 323 of the fixed finger 320 to accommodates the tip portion of the bill bundle MT in a state where the tip portion of the bill bundle MT is sandwiched in cooperation with the movable finger 310, thus allowing for eliminating the affection caused due to the variation of the tip portion of the bill bundle MT.
[0032]
(6) In the robot hand 300 according to the present embodiment, the tip of the claw portion 313 of the movable finger 310 protrudes downward, and the tip of the claw portion 323 of the fixed finger 320 protrudes upward. Thus, in this robotic hand 300, even if the central parts of the claw portions 313 and 323 come into contact with the bill bundle MT and droop, the tip portions of those claw portions 313 and 323 come into contact with the bill bundle MT, thereby allowing for firmly holding the bill bundle MT.
(6) In the robot hand 300 according to the present embodiment, the tip of the claw portion 313 of the movable finger 310 protrudes downward, and the tip of the claw portion 323 of the fixed finger 320 protrudes upward. Thus, in this robotic hand 300, even if the central parts of the claw portions 313 and 323 come into contact with the bill bundle MT and droop, the tip portions of those claw portions 313 and 323 come into contact with the bill bundle MT, thereby allowing for firmly holding the bill bundle MT.
[0033]
Modifications (A) In the robot hand 300 according to the above embodiment, the tip of the fixed finger 320 is positioned, in the forward direction of Dy, in front of the tip of the movable finger 310, but this relationship may be reversed; that is, the tip end of the movable finger 310 may be positioned, in the forward direction of Dy, in front of the tip end of the fixed finger 320.
In this case, the robot hand 300 is inverted by the articulated robot arm 200 when grasping the bill bundle MT.
Modifications (A) In the robot hand 300 according to the above embodiment, the tip of the fixed finger 320 is positioned, in the forward direction of Dy, in front of the tip of the movable finger 310, but this relationship may be reversed; that is, the tip end of the movable finger 310 may be positioned, in the forward direction of Dy, in front of the tip end of the fixed finger 320.
In this case, the robot hand 300 is inverted by the articulated robot arm 200 when grasping the bill bundle MT.
[0034]
(B) In the robot hand 300 according to the above embodiment, the rubber sheet Sr of the movable finger 310 does not face the rubber sheet Sr of the fixed finger 320;
alternatively, the rubber sheet Sr may be attached to the inside of the claw portion 313 of the movable finger 310 and the inside of the protruding portion 324 of the fixed finger 320 such that the rubber sheet Sr of Date recue / Date received 2021-11-03 the movable finger 310 faces the rubber sheet Sr of the fixed finger 320. In this case, it is preferable that the portion to which the rubber sheet Sr has been attached in the fixed finger 320 is extended to the rear of the tip position Tm of the movable finger 310.
(C) In the robot hand 300 according to the above embodiment, the rubber sheet Sr is attached to both the claw portion 313 of the movable finger 310 and the protruding portion 324 of the fixed finger 320; alternatively, the rubber sheet Sr may be attached to either one of the movable finger 310 and the fixed finger 320.
(B) In the robot hand 300 according to the above embodiment, the rubber sheet Sr of the movable finger 310 does not face the rubber sheet Sr of the fixed finger 320;
alternatively, the rubber sheet Sr may be attached to the inside of the claw portion 313 of the movable finger 310 and the inside of the protruding portion 324 of the fixed finger 320 such that the rubber sheet Sr of Date recue / Date received 2021-11-03 the movable finger 310 faces the rubber sheet Sr of the fixed finger 320. In this case, it is preferable that the portion to which the rubber sheet Sr has been attached in the fixed finger 320 is extended to the rear of the tip position Tm of the movable finger 310.
(C) In the robot hand 300 according to the above embodiment, the rubber sheet Sr is attached to both the claw portion 313 of the movable finger 310 and the protruding portion 324 of the fixed finger 320; alternatively, the rubber sheet Sr may be attached to either one of the movable finger 310 and the fixed finger 320.
[0035]
(D) In the robot hand 300 according to the above embodiment, the rubber sheet Sr is attached to the inside of the claw portion 313 of the movable finger 310 and the inside of the protruding portion 324 of the fixed finger 320 as a slip prevention material, but instead of this, the inside surface of the same portion may be subjected to roughening treatment or the like. Note that the present modification may be applied to the modifications (B) and (C).
(D) In the robot hand 300 according to the above embodiment, the rubber sheet Sr is attached to the inside of the claw portion 313 of the movable finger 310 and the inside of the protruding portion 324 of the fixed finger 320 as a slip prevention material, but instead of this, the inside surface of the same portion may be subjected to roughening treatment or the like. Note that the present modification may be applied to the modifications (B) and (C).
[0036]
(E) In the robot hand 300 according to the above embodiment, the fixed finger 320 is fixed and only the movable finger 310 is movable; alternatively, the fixed finger 320 may also be movable in the same manner as the movable finger 310.
(E) In the robot hand 300 according to the above embodiment, the fixed finger 320 is fixed and only the movable finger 310 is movable; alternatively, the fixed finger 320 may also be movable in the same manner as the movable finger 310.
[0037]
(F) In the robot hand 300 according to the above embodiment, the air cylinder mechanism is employed as the movable finger lifting mechanism 330; alternatively, other known lifting mechanisms such as a rack and pinion mechanism, a ball screw mechanism, a motor cylinder mechanism, an electric slider mechanism, a belt slider mechanism, and a linear slider mechanism may be employed as the movable finger lifting mechanism 330. In such a case, an electric motor may be employed as a driving source.
(F) In the robot hand 300 according to the above embodiment, the air cylinder mechanism is employed as the movable finger lifting mechanism 330; alternatively, other known lifting mechanisms such as a rack and pinion mechanism, a ball screw mechanism, a motor cylinder mechanism, an electric slider mechanism, a belt slider mechanism, and a linear slider mechanism may be employed as the movable finger lifting mechanism 330. In such a case, an electric motor may be employed as a driving source.
[0038]
(G) Although not specifically mentioned in the above embodiment, the control device may analyze the front image of the bill storage container 400 captured by the imaging unit 350 to determine the position of the notch Rs of the holding plate 411 and the position of the slit Rt between the support bases 412a and 412b, control the articulated robot arm 200 and the robot hand 300 to adjust the position of the movable finger 310, insert the tip portion of the movable finger 310 into the notch Rs of the holding plate 411, and insert the tip portion of the fixed finger 320 into the slit Rt between the support bases 412a and 412b.
(G) Although not specifically mentioned in the above embodiment, the control device may analyze the front image of the bill storage container 400 captured by the imaging unit 350 to determine the position of the notch Rs of the holding plate 411 and the position of the slit Rt between the support bases 412a and 412b, control the articulated robot arm 200 and the robot hand 300 to adjust the position of the movable finger 310, insert the tip portion of the movable finger 310 into the notch Rs of the holding plate 411, and insert the tip portion of the fixed finger 320 into the slit Rt between the support bases 412a and 412b.
[0039]
(H) Although the bill bundle MT is shown as the object to be grasped by the robot hand 300 in the above embodiment, the object to be grasped by the robot hand 300 may be another paper sheet, an object, or the like.
(H) Although the bill bundle MT is shown as the object to be grasped by the robot hand 300 in the above embodiment, the object to be grasped by the robot hand 300 may be another paper sheet, an object, or the like.
[0040]
(I) Though not specifically mentioned in the above embodiment, as shown in Fig.
10, a protruding portion 326 protruding upward may be provided at the tip portion of the protruding portion 324 of the fixed finger 320. The protruding portion 326 provided in such a manner Date recue / Date received 2021-11-03 allows the bill bundle MT to be hooked by the protruding portion 326 and to be efficiently pulled out the bill bundle MT in front of the bill storage container 400.
(I) Though not specifically mentioned in the above embodiment, as shown in Fig.
10, a protruding portion 326 protruding upward may be provided at the tip portion of the protruding portion 324 of the fixed finger 320. The protruding portion 326 provided in such a manner Date recue / Date received 2021-11-03 allows the bill bundle MT to be hooked by the protruding portion 326 and to be efficiently pulled out the bill bundle MT in front of the bill storage container 400.
[0041]
(J) In the robot hand 300 according to the above embodiment, in the movable finger 310, the upper surface is inclined downward from the base end of the intermediate portion 312 to the tip of the claw portion 313 in the region from the base end of the intermediate portion 312 to the tip of the claw portion 313; alternatively, as shown in Fig. 11, the upper surface of this portion may be a horizontal surface on the same plane as the upper surface of the base portion 311. Forming the claw portion 313 of the movable finger 310 in such a shape allows for increasing the rigidity of the claw portion 313 of the movable finger 310.
(J) In the robot hand 300 according to the above embodiment, in the movable finger 310, the upper surface is inclined downward from the base end of the intermediate portion 312 to the tip of the claw portion 313 in the region from the base end of the intermediate portion 312 to the tip of the claw portion 313; alternatively, as shown in Fig. 11, the upper surface of this portion may be a horizontal surface on the same plane as the upper surface of the base portion 311. Forming the claw portion 313 of the movable finger 310 in such a shape allows for increasing the rigidity of the claw portion 313 of the movable finger 310.
[0042]
(K) In the robot hand 300 according to the above embodiment, the lower surface of the fixed finger 320 is inclined upward from the intermediate position of the claw portion 323 toward the tip of the claw portion 323 in the region from the intermediate position of the claw portion 323 to the tip of the claw portion; alternatively, as shown in Fig. 12, the lower surface of this portion may be a horizontal surface on the same plane as the lower surface of the base portion 321. Forming the claw portion 323 of the fixed finger 320 in such a shape allows for increasing the rigidity of the claw portion 323 of the fixed finger 320. The present modification may be applied together with the modification (J).
(K) In the robot hand 300 according to the above embodiment, the lower surface of the fixed finger 320 is inclined upward from the intermediate position of the claw portion 323 toward the tip of the claw portion 323 in the region from the intermediate position of the claw portion 323 to the tip of the claw portion; alternatively, as shown in Fig. 12, the lower surface of this portion may be a horizontal surface on the same plane as the lower surface of the base portion 321. Forming the claw portion 323 of the fixed finger 320 in such a shape allows for increasing the rigidity of the claw portion 323 of the fixed finger 320. The present modification may be applied together with the modification (J).
[0043]
(L) In the robot hand 300 according to the above embodiment, the protruding portion 324 of the fixed finger 320 is an elongated substantially rectangular thick plate portion having the same width as the width of the claw portion 323; alternatively, the protruding portion 324 may have a shape in which the lower surface of the protruding portion is inclined upward from the base end of the protruding portion toward the tip of the protruding portion in a side view as shown in Fig. 13.
Forming the protruding portion 324 of the fixed finger 320 in such a shape allows for inserting the fixed finger 320 into the bill storage container 400 easily.
(L) In the robot hand 300 according to the above embodiment, the protruding portion 324 of the fixed finger 320 is an elongated substantially rectangular thick plate portion having the same width as the width of the claw portion 323; alternatively, the protruding portion 324 may have a shape in which the lower surface of the protruding portion is inclined upward from the base end of the protruding portion toward the tip of the protruding portion in a side view as shown in Fig. 13.
Forming the protruding portion 324 of the fixed finger 320 in such a shape allows for inserting the fixed finger 320 into the bill storage container 400 easily.
[0044]
(M) In the robot hand 300 according to the above embodiment, the notch Cv is provided in the claw portion 323 of the fixed finger 320; alternatively, the notch Cv may extend to the base end of the base portion 321 as shown in Fig. 14. Extending the notch Cv in this manner enhances the rigidity of the fixed finger 320 and furthermore widens the contact area with respect to the bill bundle MT.
(M) In the robot hand 300 according to the above embodiment, the notch Cv is provided in the claw portion 323 of the fixed finger 320; alternatively, the notch Cv may extend to the base end of the base portion 321 as shown in Fig. 14. Extending the notch Cv in this manner enhances the rigidity of the fixed finger 320 and furthermore widens the contact area with respect to the bill bundle MT.
[0045]
(N) In the robot hand 300 according to the above embodiment, the tip portion of the claw portion 313 of the movable finger 310 protrudes downward, and the tip portion of the claw portion 323 of the fixed finger 320 protrudes upward; alternatively, as shown in Fig.
15, the lower surface of the claw portion 313 of the movable finger 310 may be a flat surface, and the upper surface of the tip portion of the claw portion 323 of the fixed finger 320 may be a flat surface.
(N) In the robot hand 300 according to the above embodiment, the tip portion of the claw portion 313 of the movable finger 310 protrudes downward, and the tip portion of the claw portion 323 of the fixed finger 320 protrudes upward; alternatively, as shown in Fig.
15, the lower surface of the claw portion 313 of the movable finger 310 may be a flat surface, and the upper surface of the tip portion of the claw portion 323 of the fixed finger 320 may be a flat surface.
[0046]
(0) In the robot hand 300 according to the above embodiment, each of the movable finger Date recue / Date received 2021-11-03 310 and the fixed finger 320 is composed of one rod-shaped member;
alternatively, as shown in Fig. 16, each of the movable finger and the fixed finger may be composed of two rod-shaped members. In this case, the contact area of the movable finger and the fixed finger with respect to the bill bundle MT can be widened, thereby enhancing a probability of firmly grasping the bill bundle MT by the movable finger and the fixed finger. Note that in Fig. 16, the hatched portion indicates the movable finger, and the portion of the hatched portion plus the non-hatched portion indicates the fixed finger; alternatively, the portion of the hatched portion plus the non-hatched portion may be the movable finger and the hatched portion may be the fixed finger. However, in the latter case, the above-described modified example (A) is applied.
(0) In the robot hand 300 according to the above embodiment, each of the movable finger Date recue / Date received 2021-11-03 310 and the fixed finger 320 is composed of one rod-shaped member;
alternatively, as shown in Fig. 16, each of the movable finger and the fixed finger may be composed of two rod-shaped members. In this case, the contact area of the movable finger and the fixed finger with respect to the bill bundle MT can be widened, thereby enhancing a probability of firmly grasping the bill bundle MT by the movable finger and the fixed finger. Note that in Fig. 16, the hatched portion indicates the movable finger, and the portion of the hatched portion plus the non-hatched portion indicates the fixed finger; alternatively, the portion of the hatched portion plus the non-hatched portion may be the movable finger and the hatched portion may be the fixed finger. However, in the latter case, the above-described modified example (A) is applied.
[0047]
(P) In the robot hand 300 according to the above embodiment, the movable finger 310 and the fixed finger 320 are each composed of one rod-shaped member;
alternatively, as shown in Fig.
17, the movable finger (hatched portion in Fig. 17) may be composed of one rod-shaped member, and the fixed finger (non-hatched portion in Fig. 17) may be composed of two rod-shaped members. In this case, the contact area of the movable finger and the fixed finger with respect to the bill bundle MT can be widened, thereby enhancing a probability of firmly grasping the bill bundle MT by the movable finger and the fixed finger. Note that in the present modification, the movable finger is disposed at the center in the width direction of the fixed finger as shown in Fig.
17. Here, the hatched portion may be a fixed finger, and the non-hatched portion may be a movable finger. However, in this case, the above-mentioned modification (A) is applied.
(P) In the robot hand 300 according to the above embodiment, the movable finger 310 and the fixed finger 320 are each composed of one rod-shaped member;
alternatively, as shown in Fig.
17, the movable finger (hatched portion in Fig. 17) may be composed of one rod-shaped member, and the fixed finger (non-hatched portion in Fig. 17) may be composed of two rod-shaped members. In this case, the contact area of the movable finger and the fixed finger with respect to the bill bundle MT can be widened, thereby enhancing a probability of firmly grasping the bill bundle MT by the movable finger and the fixed finger. Note that in the present modification, the movable finger is disposed at the center in the width direction of the fixed finger as shown in Fig.
17. Here, the hatched portion may be a fixed finger, and the non-hatched portion may be a movable finger. However, in this case, the above-mentioned modification (A) is applied.
[0048]
(Q) In the robot hand 300 according to the above embodiment, the movable finger 310 and the fixed finger 320 are each composed of one rod-shaped member;
alternatively, as shown in Fig.
18, the movable finger (hatched portion in Fig. 18) and the fixed finger (non-hatched portion in Fig. 18) may be each composed of two rod-shaped members. In this case, the contact area of the movable finger and the fixed finger with respect to the bill bundle MT can be widened, thereby enhancing a probability of firmly grasping the bill bundle MT by the movable finger and the fixed finger can. Note that in the present modification, the movable finger is disposed at the center in the width direction of the fixed finger as shown in Fig. 18. Here, the hatched portion may be a fixed finger, and the non-hatched portion may be a movable finger. However, in this case, the above-mentioned modification (A) is applied.
(Q) In the robot hand 300 according to the above embodiment, the movable finger 310 and the fixed finger 320 are each composed of one rod-shaped member;
alternatively, as shown in Fig.
18, the movable finger (hatched portion in Fig. 18) and the fixed finger (non-hatched portion in Fig. 18) may be each composed of two rod-shaped members. In this case, the contact area of the movable finger and the fixed finger with respect to the bill bundle MT can be widened, thereby enhancing a probability of firmly grasping the bill bundle MT by the movable finger and the fixed finger can. Note that in the present modification, the movable finger is disposed at the center in the width direction of the fixed finger as shown in Fig. 18. Here, the hatched portion may be a fixed finger, and the non-hatched portion may be a movable finger. However, in this case, the above-mentioned modification (A) is applied.
[0049]
(R) In the robot hand 300 according to the above embodiment, the movable finger 310 and the fixed finger 320 are each composed of one rod-shaped member;
alternatively, as shown in Fig.
19, the movable finger (hatched portion in Fig. 19) may be composed of four rod-shaped members, and the fixed finger (portions each composed of hatched portion and non-hatched portion, the potions being disposed in both ends in Fig. 19) may be composed of two rod-shaped members. In this case, the contact area of the movable finger and the fixed finger with respect to the bill bundle MT can be widened, thereby enhancing a probability of firmly grasping the bill bundle MT by the movable finger and the fixed finger. In the present modification, as shown in Fig. 19, the fixed fingers are disposed so as to overlap the fixed fingers at both ends of the four fixed fingers in a plan view. Here, the hatched portion may be a fixed finger, and the portions that are each composed of the hatched portion and the non-hatched portion and are disposed at both ends may be a movable finger. However, in this case, the above-mentioned modification (A) is applied.
Date recue / Date received 2021-11-03
(R) In the robot hand 300 according to the above embodiment, the movable finger 310 and the fixed finger 320 are each composed of one rod-shaped member;
alternatively, as shown in Fig.
19, the movable finger (hatched portion in Fig. 19) may be composed of four rod-shaped members, and the fixed finger (portions each composed of hatched portion and non-hatched portion, the potions being disposed in both ends in Fig. 19) may be composed of two rod-shaped members. In this case, the contact area of the movable finger and the fixed finger with respect to the bill bundle MT can be widened, thereby enhancing a probability of firmly grasping the bill bundle MT by the movable finger and the fixed finger. In the present modification, as shown in Fig. 19, the fixed fingers are disposed so as to overlap the fixed fingers at both ends of the four fixed fingers in a plan view. Here, the hatched portion may be a fixed finger, and the portions that are each composed of the hatched portion and the non-hatched portion and are disposed at both ends may be a movable finger. However, in this case, the above-mentioned modification (A) is applied.
Date recue / Date received 2021-11-03
[0050]
(S) In the robot hand 300 according to the above embodiment, the movable finger 310 and the fixed finger 320 are each composed of one rod-shaped member;
alternatively, as shown in Fig.
20, the movable finger (hatched portion in Fig. 20) and the fixed finger (non-hatched portion in Fig. 20) may be each composed of two rod-shaped members. In this case, the contact area of the movable finger and the fixed finger with respect to the bill bundle MT can be widened, thereby enhancing a probability of firmly grasping the bill bundle MT by the movable finger and the fixed finger. In the present modification, the movable finger is disposed at the center in the width direction of the fixed finger as shown in Fig. 20. Note that in the present modification, the movable finger is longer than the fixed finger, and thus the modification (A) described above is applied.
(S) In the robot hand 300 according to the above embodiment, the movable finger 310 and the fixed finger 320 are each composed of one rod-shaped member;
alternatively, as shown in Fig.
20, the movable finger (hatched portion in Fig. 20) and the fixed finger (non-hatched portion in Fig. 20) may be each composed of two rod-shaped members. In this case, the contact area of the movable finger and the fixed finger with respect to the bill bundle MT can be widened, thereby enhancing a probability of firmly grasping the bill bundle MT by the movable finger and the fixed finger. In the present modification, the movable finger is disposed at the center in the width direction of the fixed finger as shown in Fig. 20. Note that in the present modification, the movable finger is longer than the fixed finger, and thus the modification (A) described above is applied.
[0051]
Note that the above modifications may be applied in combination as appropriate.
Date recue / Date received 2021-11-03
Note that the above modifications may be applied in combination as appropriate.
Date recue / Date received 2021-11-03
Claims (2)
1. A robot hand comprising:
a first finger extending in a first direction, and entering a recess when pulling out a paper sheet held by a holding plate and a support base from a bill storage container having the holding plate with the recess and the support base with a slit;
a second finger extending in the first direction, disposed so as to face the first finger, and entering the slit when pulling out the paper sheet from the bill storage container; and a finger moving mechanism configured to move at least one of the first finger and the second finger along a second direction in which the first finger faces the second finger, wherein in the first direction, a tip position of the first finger is located behind a tip position of the second finger, and the second finger has a notch at least at a portion excluding an end portion in the first direction of a portion on a side facing the first finger.
a first finger extending in a first direction, and entering a recess when pulling out a paper sheet held by a holding plate and a support base from a bill storage container having the holding plate with the recess and the support base with a slit;
a second finger extending in the first direction, disposed so as to face the first finger, and entering the slit when pulling out the paper sheet from the bill storage container; and a finger moving mechanism configured to move at least one of the first finger and the second finger along a second direction in which the first finger faces the second finger, wherein in the first direction, a tip position of the first finger is located behind a tip position of the second finger, and the second finger has a notch at least at a portion excluding an end portion in the first direction of a portion on a side facing the first finger.
2. The robotic hand according to claim 1, wherein at least one of the first finger and the second finger has a non-slip treated portion disposed on a side where the first finger and the second finger face each other.
Date Recue/Date Received 2023-02-03
Date Recue/Date Received 2023-02-03
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2019135154A JP6870040B2 (en) | 2019-07-23 | 2019-07-23 | Robot hand |
| JP2019-135154 | 2019-07-23 | ||
| PCT/JP2020/023524 WO2021014828A1 (en) | 2019-07-23 | 2020-06-16 | Robot hand |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CA3139173A1 CA3139173A1 (en) | 2021-01-28 |
| CA3139173C true CA3139173C (en) | 2024-02-20 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CA3139173A Active CA3139173C (en) | 2019-07-23 | 2020-06-16 | Robotic hand |
Country Status (4)
| Country | Link |
|---|---|
| JP (1) | JP6870040B2 (en) |
| CN (1) | CN114008695B (en) |
| CA (1) | CA3139173C (en) |
| WO (1) | WO2021014828A1 (en) |
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| KR920005627B1 (en) * | 1988-07-08 | 1992-07-10 | 가부시기가이샤 히다찌세이사꾸쇼 | Sheet transfer device and cash handling device incorporating the device |
| JPH07112389A (en) * | 1993-10-15 | 1995-05-02 | Kubota Corp | Structure of robot hand |
| JP2005335025A (en) * | 2004-05-28 | 2005-12-08 | Toyota Motor Corp | Finger structure for robot hand |
| JP4489641B2 (en) * | 2005-06-10 | 2010-06-23 | アクテス株式会社 | Gripping device |
| JP4261533B2 (en) * | 2005-09-21 | 2009-04-30 | 株式会社東芝 | Robot hand mechanism |
| JP2010058978A (en) * | 2008-08-08 | 2010-03-18 | Panasonic Electric Works Co Ltd | Palletizing device |
| CN101981595B (en) * | 2008-09-22 | 2013-03-27 | 富士通先端科技株式会社 | Banknote dispensing device |
| JP2011131341A (en) * | 2009-12-25 | 2011-07-07 | Sony Corp | Gripping device |
| JP6035892B2 (en) * | 2012-06-18 | 2016-11-30 | セイコーエプソン株式会社 | Robot hand and robot apparatus |
| CN104063946B (en) * | 2013-03-18 | 2020-02-04 | 光荣株式会社 | Paper money processing device and paper money processing method |
| JP2014226759A (en) * | 2013-05-24 | 2014-12-08 | 株式会社ランズワーク | Tofu product conveying device |
| CN103273488A (en) * | 2013-06-21 | 2013-09-04 | 苏州速腾电子科技有限公司 | Clamping manipulator |
| CN103448070B (en) * | 2013-08-30 | 2015-10-28 | 华南理工大学 | A kind of end structure of multipurpose manipulator |
| JP6532232B2 (en) * | 2014-12-26 | 2019-06-19 | オークラ輸送機株式会社 | Article transfer apparatus and article transfer method |
| CN105347026A (en) * | 2015-11-30 | 2016-02-24 | 苏州博众精工科技有限公司 | Grabbing and lifting device |
| JP6661473B2 (en) * | 2016-05-26 | 2020-03-11 | 大同特殊鋼株式会社 | Transfer device gripping mechanism |
| CN106313014B (en) * | 2016-11-03 | 2018-08-17 | 北京信息科技大学 | A kind of storage picking robot and its application method carrying clamping type manipulator |
| JP6426685B2 (en) * | 2016-12-16 | 2018-11-21 | ファナック株式会社 | Grasping device attached to robot |
| JP2018144143A (en) * | 2017-03-03 | 2018-09-20 | 本田技研工業株式会社 | Gripping device |
| CN107381028A (en) * | 2017-08-15 | 2017-11-24 | 广东紫晶信息存储技术股份有限公司 | A kind of standard optical disc clamping-type upending device and its method |
-
2019
- 2019-07-23 JP JP2019135154A patent/JP6870040B2/en active Active
-
2020
- 2020-06-16 CA CA3139173A patent/CA3139173C/en active Active
- 2020-06-16 CN CN202080046139.3A patent/CN114008695B/en active Active
- 2020-06-16 WO PCT/JP2020/023524 patent/WO2021014828A1/en active Application Filing
Also Published As
| Publication number | Publication date |
|---|---|
| CA3139173A1 (en) | 2021-01-28 |
| WO2021014828A1 (en) | 2021-01-28 |
| JP6870040B2 (en) | 2021-05-12 |
| CN114008695A (en) | 2022-02-01 |
| CN114008695B (en) | 2024-01-30 |
| JP2021016927A (en) | 2021-02-15 |
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