CN117279752A - Robot hand - Google Patents

Abstract

A robot hand (3) grasps an object (4), and the robot hand comprises: a 1 st finger part (31) and a 2 nd finger part (32) which grip; a 1 st driving unit (34) that operates the 1 st finger unit (31) and the 2 nd finger unit (32) in a 1 st gripping direction (201), which is a direction in which the 1 st finger unit (31) and the 2 nd finger unit (32) are brought together; a 3 rd finger (33) that operates in a 2 nd grip direction (202) that is not parallel to the 1 st grip direction (201); and a 2 nd driving unit (35) that drives the 3 rd finger unit (33). Part or all of the 1 st finger (31), the 2 nd finger (32) and the 3 rd finger (33) have passive mechanism parts movable in the 2 nd gripping direction (202).

Description

Robot hand

Technical Field

The present invention relates to a robot hand for grasping an object.

Background

A robot hand is required to perform gripping operations for various objects. Conventionally, a robot hand having two finger portions for opening and closing movement with 1 degree of freedom performs a "pinching" operation called "pinching and gripping". The conventional robot hand is not good at gripping operations for gripping objects having a slightly elongated shape and objects having a spherical shape. In contrast, a robot hand has been proposed that stably grips a plurality of types of objects by realizing a mechanism that "forcibly grips" a fingertip to form a contour on the object or "locks" that geometrically prevent the fingertip from falling off (see, for example, patent document 1). The "force grip" is a package grip, and the "lock" is a surrounding grip.

Non-patent document 1 discloses an underactuated mechanism for achieving gripping of a package.

Patent document 1: japanese patent application laid-open No. 2004-181585

Non-patent document 1: scilliano et al, "Underactuated Robotic Hands", springer tracts in advanced robotics, P.39FIG.3.9, P.98FIG.4.37.

Disclosure of Invention

In the case of gripping various objects, the following problems are involved in the robot hand for achieving the aforementioned force gripping. Since this robot hand is based on the assumption that the object is wound around, it is difficult for this robot hand to pick up the object from the ground when the finger cannot be inserted between the ground and the object. In the grasping method for realizing the lock, when grasping a small object, the object may overflow from the finger of the robot hand, and the robot hand may fail to grasp.

The present invention has been made in view of the above circumstances, and an object of the present invention is to provide a robot hand capable of gripping an object that is not good in gripping by a conventional hand mechanism without excessively increasing the structure.

In order to solve the above problems and achieve the object, a robot hand according to the present invention for grasping an object includes: a 1 st finger portion and a 2 nd finger portion for grasping; a 1 st driving unit that operates the 1 st finger unit and the 2 nd finger unit in a 1 st gripping direction, which is a direction in which the 1 st finger unit and the 2 nd finger unit are brought together; a 3 rd finger portion that operates in a 2 nd gripping direction that is not parallel to the 1 st gripping direction; and a 2 nd driving unit that drives the 3 rd finger unit. Part or all of the 1 st finger portion, the 2 nd finger portion and the 3 rd finger portion have a passive mechanism portion movable in the 2 nd gripping direction.

ADVANTAGEOUS EFFECTS OF INVENTION

The robot hand according to the present invention has an effect that the robot hand can grip an object that is not good in gripping by a conventional hand mechanism without excessively large structure.

Drawings

Fig. 1 is a diagram showing a configuration of a system including a robot hand according to embodiment 1.

Fig. 2 is a view 1 showing a configuration of a robot hand according to embodiment 1.

Fig.3 is a 2 nd view showing a configuration of a robot hand according to embodiment 1.

Fig.4 is a diagram 1 for explaining the operation of the robot hand according to embodiment 1.

Fig. 5 is a view 2 for explaining an operation of the robot hand according to embodiment 1.

Fig. 6 is a 3 rd view for explaining the operation of the robot hand according to embodiment 1.

Fig. 7 is a view 4 for explaining the operation of the robot hand according to embodiment 1.

Fig. 8 is a diagram showing a state in which the posture of the 2 nd link portion and the 3 rd link portion of the robot hand according to embodiment 1 is changed.

Fig. 9 is a diagram showing a 1 st mechanism for realizing a gripping system for wrapping a gripped object in a robot hand according to embodiment 1.

Fig. 10 is a diagram for explaining an operation of the 1 st mechanism for realizing a gripping system for wrapping a gripped object in a robot hand according to embodiment 1.

Fig. 11 is a diagram showing a mechanism including a link and a rotary joint disclosed in non-patent document 1.

Fig. 12 is a diagram for explaining an operation of a mechanism including a link and a rotary joint disclosed in non-patent document 1.

Fig. 13 is a diagram showing a configuration in which an actuator that performs rotational movement by air pressure or a motor is used for the 1 st driving unit included in the robot hand according to embodiment 1.

Fig. 14 is a diagram showing a configuration in which an actuator that operates in the translational direction is used for the 2 nd driving unit included in the robot hand according to embodiment 1.

Fig. 15 is a diagram showing a configuration in which an actuator that operates in a rotational direction is used for the 2 nd driving unit included in the robot hand according to embodiment 1.

Fig. 16 is a diagram for explaining a new effect obtained by the robot hand according to embodiment 1.

Fig. 17 is a diagram showing a part of the structure of a robot hand according to embodiment 2.

Fig. 18 is a diagram for explaining effects obtained by the robot hand according to embodiment 2.

Fig. 19 is a diagram showing the structures of the 1 st finger, the 2 nd finger, and the 3 rd finger of the robot hand according to embodiment 3.

Fig. 20 is a view 1 showing a part of the structure of a robot hand according to embodiment 4.

Fig. 21 is a view of fig. 2 showing a part of the structure of a robot hand according to embodiment 4.

Fig. 22 is a diagram showing a configuration of a robot hand according to embodiment 5.

Fig. 23 is a diagram showing a processor in the case where the robot control device included in the system according to embodiment 1 is realized by the processor.

Fig. 24 is a diagram showing a processing circuit in a case where the robot control device included in the system according to embodiment 1 is implemented by the processing circuit.

Detailed Description

The robot hand according to the embodiment will be described in detail below with reference to the drawings.

Embodiment 1.

Fig. 1 is a diagram showing a configuration of a system including a robot hand 3 according to embodiment 1. The system is a system for grasping an object 4, and includes a robot 1, a robot hand 3 attached to a distal end portion of a wrist of the robot 1, and a robot controller 2 for controlling the robot 1 and the robot hand 3. Fig. 1 also shows a gripped object 4. When the system grips the object 4, the robot hand 3 grips the object 4. The robot hand 3 may be driven by an independent controller.

Fig. 2 is a view 1 showing a configuration of a robot hand 3 according to embodiment 1. The robot hand 3 includes a 1 st finger 31 and a 2 nd finger 32 for gripping, and a 3 rd finger 33 for operating in a 2 nd gripping direction which is not parallel to the 1 st gripping direction, which is a direction in which the 1 st finger 31 and the 2 nd finger 32 are joined together. The robot hand 3 further includes a 1 st driving unit 34 that operates the 1 st finger 31 and the 2 nd finger 32 in the 1 st gripping direction, and a 2 nd driving unit 35 that drives the 3 rd finger 33.

In the robot hand 3, particularly, a passive mechanism portion that passively moves in the 2 nd gripping direction is provided in any one of the 1 st finger portion 31, the 2 nd finger portion 32, and the 3 rd finger portion 33. That is, part or all of the 1 st finger 31, the 2 nd finger 32, and the 3 rd finger 33 have passive mechanism portions movable in the 2 nd gripping direction. The passive mechanism is disposed in a state in which the finger portion having the passive mechanism can be displaced in the 2 nd gripping direction. The passive mechanism section provides a mechanism of the finger section with a passive degree of freedom with respect to the 2 nd gripping direction, thereby realizing a gripping method different from the 1 st gripping method. An example of gripping by a gripping method different from the gripping method of the 1 st gripping direction is a force gripping. The force grip is a parcel grip.

Fig.3 is a view 2 showing a configuration of a robot hand 3 according to embodiment 1. Fig.3 shows the detailed structure of each of the 1 st finger 31, the 2 nd finger 32, and the 3 rd finger 33. The 1 st finger 31 includes a 1 st link portion 311, a 2 nd link portion 312, a 3 rd link portion 313, a 1 st passive joint portion 314 connecting the 1 st link portion 311 and the 2 nd link portion 312, and a 2 nd passive joint portion 315 connecting the 2 nd link portion 312 and the 3 rd link portion 313. The 1 st passive joint 314 and the 2 nd passive joint 315 are examples of passive mechanism parts movable in the 2 nd gripping direction. Each arrow in fig.3 shows that the passive mechanism is rotatable about a dot-dash line. The 1 st link portion 311, which is the root link of the 1 st finger portion 31, is connected to the 1 st driving portion 34 shown in fig. 2. In order to achieve the force gripping and the package gripping, there are specific configurations shown in fig. 9 to 12. The basic feature of this is a passive mechanism in which the rotational motion of each passive joint is operated by linkage such as a link or a wire.

The structure of the 2 nd finger 32 is the same as that of the 1 st finger 31. That is, the 2 nd finger portion 32 includes a 4 th link portion 321, a 5 th link portion 322, a 6 th link portion 323, a 3 rd passive joint portion 324 connecting the 4 th link portion 321 and the 5 th link portion 322, and a 4 th passive joint portion 325 connecting the 5 th link portion 322 and the 6 th link portion 323. The 3 rd passive joint portion 324 and the 4 th passive joint portion 325 are examples of passive mechanism portions movable in the 2 nd gripping direction. The 4 th link portion 321, which is the root link of the 2 nd finger portion 32, is connected to the 1 st driving portion 34 shown in fig. 2. The 1 st driving unit 34 operates the 1 st finger 31 and the 2 nd finger 32 in synchronization.

Fig.4 is a diagram 1 for explaining the operation of the robot hand 3 according to embodiment 1. Fig.4 also shows the object 4. Fig. 5 is a diagram 2 for explaining the operation of the robot hand 3 according to embodiment 1. The 1 st finger 31 and the 2 nd finger 32 constitute a chuck-type hand mechanism that opens and closes in the 1 st gripping direction 201 shown in fig.4 and 5. Further, a configuration may be adopted in which only the 1 st finger 31 shown in fig. 22 is operated and the 2 nd finger 32 is fixed. The matters related to fig. 22 are described in embodiment 5.

Fig. 6 is a 3-th diagram for explaining the operation of the robot hand 3 according to embodiment 1. Fig. 6 also shows the object 4. Fig. 7 is a view 4 for explaining the operation of the robot hand 3 according to embodiment 1. For example, the 3 rd finger 33 is constituted by 1 link. The 3 rd finger 33 is connected to the 2 nd driving unit 35, and operates in the 2 nd gripping direction 202. The 2 nd grip direction 202 is a direction different from the 1 st grip direction 201. For example, the 2 nd grip direction 202 is a direction orthogonal to the 1 st grip direction 201.

Fig.4, 5, 6 and 7 are diagrams for explaining the operation and action of the 1 st finger 31, the 2 nd finger 32, the 3 rd finger 33, the 1 st driving unit 34 and the 2 nd driving unit 35. Fig.4 and 5 show the operation of the robot hand 3 in the 1 st gripping direction 201. Further, fig.4 and 5 show the gripping operation of the robot hand 3 in the 1 st gripping direction 201 in which the 2 nd fingers 31 and the 2 nd finger 32 are brought into proximity to grip the object 4. Fig. 6 and 7 show the operation of the robot hand 3 in the 2 nd gripping direction 202.

In the operations shown in fig.4 and 5, the robot hand 3 performs pinching gripping as the gripping by the 1 st gripping method. The pinch grip is a pinch grip. The 1 st finger 31 and the 2 nd finger 32, which are synchronously driven by the 1 st driving unit 34, perform an operation of sandwiching the object 4, but are implemented in the 1 st gripping direction 201. In this case, the joint and mechanism of the 1 st finger 31 and the 2 nd finger 32 do not passively deform or displace against the force in the 1 st gripping direction 201. Therefore, the force generated by the 1 st driving unit 34 in the 1 st gripping direction 201 is hardly deformed at the fingertip, and is directly transmitted to the 1 st finger 31 and the 2 nd finger 32 as the force for gripping the object 4.

Fig. 6 and 7 are diagrams for explaining a case where the robot hand 3 grips in the 2 nd gripping direction 202 orthogonal to the 1 st gripping direction 201. As shown in fig. 6 and 7, when the 3 rd finger 33 is operated in the 2 nd gripping direction 202, the 1 st passive joint 314, the 2 nd passive joint 315, the 3 rd passive joint 324, and the 4 th passive joint 325 are rotated by the force of gripping the object 4, and the 2 nd link 312, the 3 rd link 313, the 5 th link 322, and the 6 th link 323 are displaced, so that the posture thereof is changed.

Fig. 8 is a diagram showing a state where the posture of the 2 nd link portion 312 and the 3 rd link portion 313 of the robot hand 3 according to embodiment 1 is changed. Fig. 8 shows a mechanism having a 1 st passive joint part 314 and a 2 nd passive joint part 315 to which pretension is applied by a spring element. Fig. 8 also shows the force generated by the operation of the 3 rd finger 33 and the object 4.

The 1 st finger 31 and the 2 nd finger 32 have the same passive joint portions 314, 315, 324, 325, respectively, and are driven in the 2 nd gripping direction 202, which is the direction in which the 3 rd finger 33 grips the object 4. As a result, the 1 st passive joint 314, the 2 nd passive joint 315, the 3 rd passive joint 324, and the 4 th passive joint 325 rotate, the 2 nd link 312, the 3 rd link 313, the 5 th link 322, and the 6 th link 323 displace, and the robot hand 3 is in a state of surrounding the object 4 with a plurality of links. This state is referred to as a package gripping state. If the object 4 is in the wrapped gripping state, the robot hand 3 is brought into contact with the object 4 from a plurality of directions, and the robot hand 3 can stably grip the object 4 without requiring a large force.

Here, the structure of the passive mechanism will be described. As for the passive mechanism, a structure in which spring portions 316 and 317 are added to a rotating joint as shown in fig. 8 is exemplified. By adding a spring element to the rotating joint, the passive mechanism rotates about the rotation axis if an external force is applied to the rotating joint. If the external force is unloaded, the passive mechanism portion returns to the equilibrium position by the action of the spring. According to the passive mechanism, the rotation shaft is passively displaced by a force pressing the link around the rotation shaft from a direction orthogonal to the rotation shaft, and as a result, the shape of the finger is changed.

That is, the 2 nd driving unit 35 moves the 3 rd finger unit 33, thereby displacing the passive mechanism unit and changing the shape of the finger. As a result of the displacement of the passive mechanism, the contact surface between the object 4 and the finger increases. The robot hand 3 wraps the object 4 with an appropriate force from the outer periphery of the object 4, and grips the object 4 without moving the object. This condition is a state called a force grip.

In the operation of the passive mechanism, as shown in fig. 8, it is preferable that the 3 rd link portion 313 and the 6 th link portion 323, which are links on the distal end side, are bent to perform the operation of surrounding the object 4, thereby achieving the wrapping grip. As a specific configuration of the passive mechanism unit for realizing the gripping of the package, an underactuated mechanism shown in non-patent document 1 is exemplified. The underactuated mechanism is 1 kind of passive mechanism. In order to achieve the force gripping and the package gripping, there are specific configurations shown in fig. 9 to 12. The basic feature of the mechanism is that the rotational motion of each passive joint is linked and operated by a link, a wire, or the like.

When a gripped object is present in the finger mechanism, the following configuration is present in order to achieve a gripping system for wrapping the gripped object. Fig. 9 is a diagram showing a 1 st mechanism for realizing a gripping system for wrapping a gripped object in the robot hand 3 according to embodiment 1. As shown in fig. 9, the 1 st mechanism includes a 1 st link 401, a 2 nd link 402, a 1 st pulley 403 located at an end portion of the 1 st link 401 on a side away from the 2 nd link 402, a 2 nd pulley 404 connecting the 1 st link 401 and the 2 nd link 402, a spring 405 attached to a hand base portion, and a wire 406 attached to the spring 405. The 1 st pulley 403 and the 2 nd pulley 404 each have a function of a joint.

The wire 406 is connected to the 1 st pulley 403 and also connected to the 2 nd pulley 404 in a state of rotating around the 1 st pulley 403 by 1 revolution. Two wire guides are provided in the 2 nd pulley 404, the 1 st wire guide connects the wire 406 to the 1 st pulley 403, and the 2 nd wire guide connects the wire 406 to the 2 nd link 402. The wire 406 may be formed of a material having elasticity.

Fig. 10 is a diagram for explaining an operation of the 1 st mechanism for realizing a gripping system for wrapping the gripped object 4 in the robot hand 3 according to embodiment 1. Fig. 10 also shows the object 4. As shown in fig. 10, if an external force acts on the 1 st link 401 according to the connection relationship of the line 406, the 1 st pulley 403 and the 2 nd pulley 404 rotate, respectively, and the 2 nd link 402 bends. As a result, the object 4 to which the external force acts is surrounded by the 1 st link 401 and the 2 nd link 402. Fig. 10 also shows arrows indicating the rotation of the 1 st pulley 403 and the 2 nd pulley 404, respectively. The tension of the spring 405 is also shown in fig. 10.

The same function is achieved by a mechanism composed of a link and a joint disclosed in non-patent document 1. Fig. 11 is a diagram showing a mechanism including a link 441 and a rotary joint 442 disclosed in non-patent document 1. Fig. 12 is a diagram for explaining the operation of a mechanism including a link 441 and a rotary joint 442 disclosed in non-patent document 1. Fig. 12 also shows an external force and an object 4 to which the external force acts.

In embodiment 1, the driving method of each of the 1 st driving unit 34 and the 2 nd driving unit 35 may be a driving method related to translational movement or a driving method related to rotational movement, and is not limited. In other words, the 1 st driving unit 34 is not limited to the configuration shown in fig. 2, that is, the configuration having an actuator for performing a translational motion used for a hand of a general chuck type. The 1 st driving part 34 may have a rotating mechanism.

Fig. 13 is a diagram showing a configuration in which an actuator that performs rotational movement by air pressure or a motor is used for the 1 st driving unit 34 included in the robot hand 3 according to embodiment 1. As described above, the 1 st driving portion 34 may have an actuator that performs a rotational motion. In the example of fig. 13, the robot hand 3 includes a 1 st transmission mechanism 121 connected to the 1 st driving unit 34 that performs rotational movement, and a 2 nd transmission mechanism 122 and a 3 rd transmission mechanism 123 connected to the 1 st transmission mechanism 121. The 2 nd transmission mechanism 122 and the 3 rd transmission mechanism 123 obtain driving force from the 1 st driving unit 34 via the 1 st transmission mechanism 121.

The 2 nd transmission mechanism 122 is also connected to the 1 st finger 31, and the 3 rd transmission mechanism 123 is also connected to the 2 nd finger 32. The 1 st transmission mechanism 121 is a speed reducer. The 1 st finger 31 rotates via the 2 nd transmission mechanism 122, and the 2 nd finger 32 rotates via the 3 rd transmission mechanism 123. As described above, the 1 st finger 31 and the 2 nd finger 32 may be each a constituent element that performs a rotational motion. Fig. 13 also shows an arrow indicating the rotational movement of the 1 st finger 31 and the 2 nd finger 32, and a 1 st gripping direction 201.

Fig. 14 is a diagram showing a configuration in which an actuator that operates in the translational direction is used for the 2 nd driving unit 35 included in the robot hand 3 according to embodiment 1. In the example of fig. 14, the 2 nd driving unit 35 is constituted by an actuator that operates in the translational direction. For example, the 2 nd driving part 35 is a linear slider driven by a motor or air pressure.

As shown in fig. 14, the 3 rd finger portion 33 may have a 7 th link portion 331, an 8 th link portion 332, and a passive joint portion 333 that connects the 7 th link portion 331 and the 8 th link portion 332. The passive joint 333 is an example of a passive mechanism movable in the 2 nd gripping direction 202. The robotic hand 3 of fig. 14 can easily achieve the previously shown package gripping.

Fig. 15 is a diagram showing a configuration in which an actuator that operates in a rotational direction is used in the 2 nd driving unit 35 included in the robot hand 3 according to embodiment 1. As described above, the 2 nd driving part 35 may have an actuator performing a rotational motion. Specifically, the 2 nd driving unit 35 in fig. 15 may be driven by a motor or air pressure, and may be a component that performs rotational movement via a transmission mechanism as needed. In the robot hand 3 of fig. 15, the mechanism on the root side can be configured compactly for the range that can be reached by the fingertip.

The 3 rd finger portion 33 included in the robot hand 3 of fig. 15 includes a 7 th link portion 331, an 8 th link portion 332, and a passive joint portion 333 that connects the 7 th link portion 331 and the 8 th link portion 332. Therefore, the robot hand 3 of fig. 15 can easily achieve the package gripping shown before.

According to embodiment 1, a special effect that a plurality of objects 4 having different shapes can be gripped by a small robot hand 3 can be obtained. In particular, different gripping methods such as pinch gripping and grip gripping can be realized using one robot hand 3. According to the robot hand 3 of embodiment 1, it is possible to obtain a remarkable effect that the conventional grasping device is not capable of grasping an object by grasping, and it is possible to grasp an object that cannot be inserted into a finger between the ground and the object and grasp a small object without increasing the mechanism. An example of an object in which a finger cannot be inserted between the ground and the object is an object having a surface standing vertically with respect to the ground. That is, the robot hand 3 according to embodiment 1 can grip an object that is not good at gripping by the conventional hand mechanism without excessively increasing the size.

The passive mechanism portion may be disposed in a state in which the finger portion having the passive mechanism portion is displaced in the 2 nd gripping direction 202. Therefore, when the robot hand 3 tries to grip the object in the 1 st gripping direction 201, the 1 st passive joint 314, the 2 nd passive joint 315, the 3 rd passive joint 324, and the 4 th passive joint 325 can be prevented from rotating, and the gripping is not performed.

Fig. 16 is a diagram for explaining a new effect obtained by the robot hand 3 according to embodiment 1. When the robot hand 3 performs the force gripping, the arrangement of the 1 st finger 31 and the 2 nd finger 32 can be changed.

By changing the arrangement of the 1 st finger 31 and the 2 nd finger 32 with respect to the object 4 before the grip in the 2 nd grip direction 202 is performed, the robot hand 3 can stably grip the large object 4 while increasing the distance between the 1 st finger 31 and the 2 nd finger 32 as shown in fig. 16. On the other hand, when the distance between the 1 st finger 31 and the 2 nd finger 32 is reduced, the robot hand 3 can stably grasp the small object 4 with force. In the conventional mechanism for realizing the force gripping, there is a problem that the object falls from the gap between the fingers, but the robot hand 3 can change the interval between the 1 st finger 31 and the 2 nd finger 32 according to the size of the object 4, and thus, a special effect that the gripping success rate can be improved is obtained. Also shown in fig. 16 is an arrow 60 indicating the adjustment of the positions of the 1 st finger 31 and the 2 nd finger 32.

Embodiment 2.

Fig. 17 is a diagram showing a part of the structure of the robot hand 3A according to embodiment 2. Fig. 17 shows a part including the 3 rd finger 33 in the robot hand 3A. The robot hand 3A has all the constituent elements of the robot hand 3 according to embodiment 1. The robot hand 3A further includes a stopper mechanism 501 and a stopper driving unit 502 disposed in the vicinity of the 1 st link 511 constituting the 3 rd finger 33. In embodiment 2, the 2 nd driving unit 35 is a component for performing a rotational motion. The stopper mechanism 501 has a function of stopping the rotation of the 2 nd drive section 35 in the 2 nd gripping direction 202. The stopper driving unit 502 drives the stopper mechanism unit 501. The arrow closest to the stopper mechanism part 501 in fig. 17 shows that the stopper mechanism part 501 is slidable. Fig. 17 shows a stopper disabled state and a stopper enabled state.

In general, when the 2 nd driving unit 35 is driven by air, there is an effect of quick response and low cost, but there is a problem that the position of the 3 rd finger 33 cannot be freely controlled as in the case where the 2 nd driving unit 35 is driven by a motor. As a result, during the period when the 3 rd finger 33 is not used and the 1 st gripping direction 201 is being gripped, the 3 rd finger 33 may become an obstacle.

Since the robot hand 3A includes the stopper mechanism 501 and the stopper driving unit 502, when the 2 nd driving unit 35 is driven by air, the finger tips can be stopped at two positions in a state where the finger is opened. As the actuator used in the 2 nd driving unit 35, for example, an air vane motor having two air pressure ports is used, whereby a state where the robot hand 3A is opened maximally, a state where no pressure is applied, and a state where it is closed maximally can be realized. The state in which no pressure is applied is a state in which the spring and the gravity are balanced. In this case, the position of the robot hand 3A in the opened state is normally opened to the full movable range, but the stopper mechanism 501 and the stopper driving 502 are used to stop the opening in the middle.

Fig. 18 is a diagram for explaining effects obtained by the robot hand 3A according to embodiment 2. With the configuration of the robot hand 3A, as shown in fig. 18, when the 2 nd driving unit 35 drives the fingertip of the 3 rd finger unit 33 in the direction of separating from the object in the stopper disabled state, the 3 rd finger unit 33 does not interfere with the object when the 1 st driving unit 34 is used for pinching and gripping by the robot hand 3A, and a special effect of improving the gripping success rate can be obtained. The pinch grip is a pinch grip. Fig. 18 also shows the action of the stopper active state.

When the robot hand 3A operates the 1 st finger 31 and the 2 nd finger 32, the 3 rd finger 33 is sprung up, whereby unnecessary interference between the object and the 3 rd finger 33 can be suppressed. Therefore, the robot hand 3A can expand the region where the object can be gripped, and the production efficiency can be improved.

Embodiment 3.

Fig. 19 is a diagram showing the structures of the 1 st finger 31, the 2 nd finger 32, and the 3 rd finger 33 of the robot hand 3B according to embodiment 3. In embodiment 3, each of the 1 st finger 31, the 2 nd finger 32, and the 3 rd finger 33 has 2 passive joint portions. Specifically, the 1 st finger 31 has the 1 st passive joint portion 314 and the 2 nd passive joint portion 315, the 2 nd finger 32 has the 3 rd passive joint portion 324 and the 4 th passive joint portion 325, and the 3 rd finger 33 has the 5 th passive joint portion 334 and the 6 th passive joint portion 335. For example, the specific structure of the passive joint portion is a structure using pulleys and wires as shown in fig. 9.

The transition of the gripping state and the effect thereof in the robot hand 3B according to embodiment 3 will be described. In embodiment 1, in the process of shifting the object 4 from the initial state to the wrapped gripping state by sliding, the object 4 may be separated from the triangular region formed by the 1 st finger 31, the 2 nd finger 32, and the 3 rd finger 33, and the object 4 may not be gripped by the robot hand 3. On the other hand, in the configuration of the robot hand 3B according to embodiment 3, the object is not easily detached.

Specifically, the state transition of the grip in the grip direction 2 will be described. With the grasping operation in the 2 nd grasping direction, since the 3 rd finger 33 is close to the object, the 3 rd finger 33 is initially in contact with the object. In embodiment 3, since the 3 rd finger 33 has the 5 th passive joint portion 334 and the 6 th passive joint portion 335, a state in which the robot hand 3B is in contact with the object at a plurality of points from the initial state in which the object is slid can be obtained. As a result, the 3 rd finger portion 33 has the 5 th passive joint portion 334 and the 6 th passive joint portion 335, and thus has a special effect of improving the gripping success rate.

In embodiment 3, each of the 1 st finger 31 and the 2 nd finger 32 has a passive joint portion. However, the 1 st finger 31 may be configured by 1 rigid link without a passive joint. The 2 nd finger 32 may be configured by 1 rigid link without a passive joint. In these cases, the effect obtained by the robot hand 3B according to embodiment 3 is obtained.

Embodiment 4.

Fig. 20 is a view 1 showing a part of the structure of a robot hand 3C according to embodiment 4. Fig. 21 is a view of fig. 2 showing a part of the structure of a robot hand 3C according to embodiment 4. In embodiment 4, there are a plurality of 1 st finger portions, 2 nd finger portions, and 3 rd finger portions. Specifically, as shown in fig. 20, the robot hand 3C includes a 1 st driving unit 34C, a 1 st finger assembly unit 1001, and a 2 nd finger assembly unit 1002. The 1 st driving unit 34C operates the 1 st finger assembly 1001 and the 2 nd finger assembly 1002 in the 1 st gripping direction 201, and thereby the robot hand 3C performs a gripping operation.

The 1 st finger assembly 1001 is driven by the 1 st driving unit 34C in the same manner as the 1 st finger assembly 31 of the embodiments 1 to 3, but the difference between each of the embodiments 1 to 3 and the embodiment 4 is that the 1 st finger assembly 1001 has a plurality of finger portions. As shown in fig. 20, the 1 st finger assembly 1001 includes 1 st a finger 31A and 1 st B finger 31B. The 1 st finger 31A corresponds to the 1 st finger 31 of embodiment 1. The 1 st finger set 1001 may have greater than or equal to three fingers. The 1 st finger 31A and the 1 st finger 31B each have a passive joint portion. For example, the passive joint portion has a structure using pulleys and wires as shown in fig. 9.

The 2 nd finger assembly portion 1002 is driven by the 1 st driving portion 34C in the same manner as the 2 nd finger assembly portion 32 of the embodiment 1 to the embodiment 3, but the difference between each of the embodiments 1 to the embodiment 3 and the embodiment 4 is that the 2 nd finger assembly portion 1002 has a plurality of finger portions. As shown in fig. 20, the 2 nd finger assembly 1002 includes a 2 nd a finger 32A and a 2 nd B finger 32B. The 2 nd finger 32A corresponds to the 2 nd finger 32 of embodiment 1. The 2 nd finger set 1002 may have greater than or equal to three fingers. The 2A-nd finger 32A and the 2B-th finger 32B each have a passive joint portion. For example, the passive joint portion has a structure using pulleys and wires as shown in fig. 9.

As shown in fig. 21, the robot hand 3C includes a 2 nd driving unit 35C and a 3 rd finger assembly unit 1003 as a link mechanism that operates in the 2 nd gripping direction 202. The 3 rd reference numeral 1003 is connected to the 2 nd drive unit 35C. The 2 nd driving unit 35C operates the 3 rd finger assembly unit 1003 in the 2 nd gripping direction 202. The 3 rd finger assembly 1003 includes three fingers, i.e., a 3A-th finger 33A, a 3B-th finger 33B, and a 3C-th finger 33C. The 3 rd finger 33A corresponds to the 3 rd finger 33 of embodiment 1. The 3 rd finger assembly 1003 may have four or more fingers.

Since the robot hand 3C has the 1 st finger assembly 1001, the 2 nd finger assembly 1002, and the 3 rd finger assembly 1003, when gripping an object, the object can be gripped with a relatively small force without dropping, and the gripping success rate can be improved remarkably.

Embodiment 5.

Fig. 22 is a diagram showing a configuration of a robot hand 3D according to embodiment 5. The robot hand 3D is a robot hand that grips an object, and includes a 1 st finger 31 and a 2 nd finger 32 that grip the object. In embodiment 5, the 2 nd finger 32 is fixed. That is, in embodiment 5, with respect to the 1 st finger 31 and the 2 nd finger 32, only the 1 st finger 31 operates. The robot hand 3D further has: a driving unit 50 for operating the 1 st finger 31 in a 1 st gripping direction 201, which is a direction in which the 1 st finger 31 and the 2 nd finger 32 are joined together; and a 3 rd finger 33 that operates in a 2 nd grip direction 202 that is not parallel to the 1 st grip direction 201.

The robot hand 3D further includes a 1 st transmission mechanism 51 connected to the driving unit 50, a 2 nd transmission mechanism 52 that transmits driving force, and a 3 rd transmission mechanism 53 that transmits driving force. The 2 nd transmission mechanism 52 includes a transmission mechanism 52A and a transmission mechanism 52B. The 3 rd transmission mechanism 53 includes a transmission mechanism 53A and a transmission mechanism 53B. The robot hand 3D further includes a 1 st solenoid portion 54 that moves the 2 nd transmission mechanism portion 52 to be in contact with the 1 st transmission mechanism portion 51, and a 2 nd solenoid portion 55 that moves the 3 rd transmission mechanism portion 53 to be in contact with the 1 st transmission mechanism portion 51. When the 2 nd transmission mechanism portion 52 is in contact with the 1 st transmission mechanism portion 51, the transmission mechanism portion 52A is in contact with the 1 st transmission mechanism portion 51. When the 3 rd transmission mechanism portion 53 is in contact with the 1 st transmission mechanism portion 51, the transmission mechanism portion 53A is in contact with the 1 st transmission mechanism portion 51.

The 1 st finger 31 is connected to the 2 nd transmission mechanism 52. Specifically, the 1 st finger 31 is connected to the transmission mechanism 52B included in the 2 nd transmission mechanism 52. The driving unit 50 has a function for operating the 3 rd finger 33, and generates a driving force. The 3 rd finger 33 is connected to the 3 rd transmission mechanism 53. Specifically, the 3 rd finger 33 is connected to the transmission mechanism 53B included in the 3 rd transmission mechanism 53.

When the 2 nd transmission mechanism 52 is connected to the 1 st transmission mechanism 51, the 1 st finger 31 operates in the 1 st gripping direction 201. When the 3 rd transmission mechanism 53 is connected to the 1 st transmission mechanism 51, the 3 rd finger 33 operates in the 2 nd gripping direction 202. In the robot hand 3D, the 1 st finger portion 31 is operated by the driving portion 50 and the 1 st solenoid portion 54 in the 1 st gripping direction 201, and the 3 rd finger portion 33 is operated by the driving portion 50 and the 2 nd solenoid portion 55 in the 2 nd gripping direction 202.

When the drive unit 50 moves the 1 st finger 31 in the 1 st gripping direction 201, the robot hand 3D lifts the 1 st solenoid 54 to bring the transmission mechanism 52A of the 2 nd transmission mechanism 52 into contact with the 1 st transmission mechanism 51, and the drive force of the drive unit 50 can be transmitted to the 1 st finger 31. For example, the 1 st transmission mechanism 51 has a bevel gear. For example, the transmission mechanism 52A includes a component for connecting a bevel gear and a spur gear by a shaft, and the transmission mechanism 52B includes a rack and pinion mechanism.

The driving force of the driving unit 50 is transmitted to the transmission mechanism unit 52B by the transmission mechanism unit 52A after the 1 st solenoid unit 54 moves. The transmission mechanism 52B is coupled to the 1 st finger 31, and the 1 st finger 31 is moved in translation by the translational movement of the transmission mechanism 52B. Further, as an example of the rack and pinion, the example in which only the 1 st finger 31 is driven has been described, but as shown in a general chuck hand, a configuration may be adopted in which the same transmission mechanism portion as the 2 nd transmission mechanism portion 52 is provided also on the 2 nd finger 32 side, and the 1 st finger 31 and the 2 nd finger 32 are driven differently from each other.

When the driving unit 50 operates the 3 rd finger 33 in the 2 nd gripping direction 202, the robot hand 3D drives the 2 nd solenoid unit 55 to bring the transmission mechanism unit 53A into contact with the 1 st transmission mechanism unit 51, thereby transmitting the driving force of the driving unit 50 to the 3 rd finger 33. This realizes the operation in the 2 nd gripping direction 202 of the 3 rd finger 33. For example, the transmission mechanism 53A includes a component for coaxially coupling a bevel gear and a pulley, and the transmission mechanism 53B includes a pulley. The operation other than the transmission of force to each finger is the same as that of embodiment 1 or embodiment 3.

As described above, the robot hand 3D according to embodiment 5 has only the driving unit 50 as a large actuator, and the 1 st solenoid unit 54 and the 2 nd solenoid unit 55 as switching means for transmitting force. This can provide a special effect that the robot hand 3D can reduce the energy consumption.

Fig. 23 is a diagram showing the processor 91 in the case where the robot control device 2 included in the system according to embodiment 1 is implemented by the processor 91. That is, the functions of the robot control device 2 may be realized by the processor 91 executing a program stored in the memory 92. The processor 91 is CPU (Central Processing Unit), a processing device, an arithmetic device, a microprocessor, or DSP (Digital Signal Processor). Also shown in fig. 23 is a memory 92.

In the case where the function of the robot control device 2 is implemented by the processor 91, the function is implemented by the processor 91 and software, firmware, or a combination of software and firmware. The software or firmware is described as a program and stored in the memory 92. The processor 91 reads out a program stored in the memory 92 and executes the program, thereby realizing the functions of the robot control device 2.

In the case where the functions of the robot control device 2 are realized by the processor 91, the system according to embodiment 1 has a memory 92, and the memory 92 is used to store a program that is executed by the robot control device 2 and that is executed in the end. The program stored in the memory 92 can be said to cause a computer to execute the robot control device 2.

The Memory 92 is, for example, a nonvolatile or volatile semiconductor Memory such as RAM (Random Access Memory), ROM (Read Only Memory), flash Memory, EPROM (Erasable Programmable Read Only Memory), EEPROM (registered trademark) (Electrically Erasable Programmable Read-Only Memory), a magnetic disk, a floppy disk, an optical disk, a compact disk, a mini disk, or DVD (Digital Versatile Disk).

Fig. 24 is a diagram showing the processing circuit 93 in the case where the robot control device 2 included in the system according to embodiment 1 is implemented by the processing circuit 93. That is, the robot control device 2 may be realized by the processing circuit 93. The processing circuit 93 is dedicated hardware. The processing circuit 93 is, for example, a single circuit, a composite circuit, a processor programmed in parallel, ASIC (Application Specific Integrated Circuit), an FPGA (Field-Programmable Gate Array), or a combination thereof. Part of the robot control device 2 may be implemented by dedicated hardware different from the rest.

The plurality of functions of the robot control device 2 may be partially implemented by software or firmware, and the remainder of the plurality of functions may be implemented by dedicated hardware. As described above, the functions of the robot control device 2 can be realized by hardware, software, firmware, or a combination thereof.

The configuration shown in the above embodiment is an example, and other known techniques may be combined, or the embodiments may be combined with each other, and a part of the configuration may be omitted or changed without departing from the scope of the present invention.

Description of the reference numerals

A robot, a 2-robot controller, a 3, 3A, 3B, 3C, 3D-robot hand, a 4-object, a 31 st finger 1, a 31A 1 st finger 31B 1 st finger 32 nd finger 2 nd, a 32A 2 nd finger 32B 2 nd finger 33 rd, a 33A 3 rd finger 33B 3 rd finger 33C, 34C 1 st driving unit, 35C 2 nd driving unit, a 50 driving unit, a 51, 121 st transmission mechanism unit, a 52, 122 nd transmission mechanism unit, a 52A, 52B, 53A, 53B transmission mechanism unit, a 53, 123 rd transmission mechanism unit, a 54 st solenoid unit, a 55 nd solenoid unit, a 91 processor, 92 memories, 93 processing circuits, a 201 st gripping direction, a 202 nd gripping direction, 311, 511, 1 st link portion, 312, 2 nd link portion, 313, 3 rd link portion, 314, 1 st passive joint portion, 315, 2 nd passive joint portion, 316, 317 spring portion, 321, 4 th link portion, 322, 5 th link portion, 323, 6 th link portion, 324, 3 rd passive joint portion, 325, 4 th passive joint portion, 331, 7 th link portion, 332, 8 th link portion, 333 passive joint portion, 334, 5 th passive joint portion, 335, 6 th passive joint portion, 401, 1 st link, 402, 2 nd link, 403, 1 st pulley, 404, 405 spring, 406 line, 441 link, 442 rotary joint, 501 stopper mechanism portion, 502 stopper drive portion, 1001, 1002, and 1003, 3 rd.

Claims (8)

1. A robot hand for grasping an object,

the robot hand is characterized by comprising:

a 1 st finger portion and a 2 nd finger portion for grasping;

a 1 st driving unit that operates the 1 st finger unit and the 2 nd finger unit in a 1 st gripping direction which is a direction in which the 1 st finger unit and the 2 nd finger unit are held together;

a 3 rd finger portion that operates in a 2 nd gripping direction that is not parallel to the 1 st gripping direction; and

a 2 nd driving unit for driving the 3 rd finger unit,

and a part or all of the 1 st finger portion, the 2 nd finger portion, and the 3 rd finger portion has a passive mechanism portion movable in the 2 nd gripping direction.

2. The robot hand according to claim 1, wherein the robot hand comprises,

the 2 nd grip direction is a direction orthogonal to the 1 st grip direction,

the passive mechanism portion is disposed in a state in which a finger portion having the passive mechanism portion is displaceable in the 2 nd gripping direction.

3. The robot hand according to claim 1 or 2, characterized in that,

the device also comprises:

a 1 st transmission mechanism unit connected to the 1 st driving unit;

a 2 nd transmission mechanism unit connected to the 1 st finger unit and the 1 st transmission mechanism unit; and

a 3 rd transmission mechanism part connected to the 2 nd finger part and the 1 st transmission mechanism part,

the 1 st driving part is provided with an actuator for performing rotary motion,

the 2 nd transmission mechanism portion and the 3 rd transmission mechanism portion obtain a driving force from the 1 st driving portion via the 1 st transmission mechanism portion.

4. A robot hand according to any one of claims 1 to 3,

the 2 nd driving part is provided with an actuator for performing rotary motion.

5. The robot hand according to any one of claims 1 to 4, characterized in that,

the device also comprises:

a stopper mechanism section; and

a stopper driving unit for driving the stopper mechanism unit,

the 2 nd driving part is a structural element for performing rotary motion,

the stopper mechanism unit has a function of stopping rotation of the 2 nd drive unit in the 2 nd gripping direction.

6. The robot hand according to claim 4, wherein the robot hand comprises,

the 3 rd finger has 2 passive joints.

7. The robot hand according to any one of claims 1 to 6, characterized in that,

comprises a 1 st finger collecting part, a 2 nd finger collecting part and a 3 rd finger collecting part, which have more than or equal to 2 finger parts,

the 1 st finger is included in the 1 st finger collection portion,

the 2 nd finger is included in the 2 nd finger set,

the 3 rd finger is included in the 3 rd finger set,

the 1 st driving part operates the 1 st finger assembly part and the 2 nd finger assembly part in the 1 st gripping direction,

the 2 nd driving unit operates the 3 rd finger assembly unit in the 2 nd gripping direction.

8. A robot hand for grasping an object,

the robot hand is characterized by comprising:

a 1 st finger portion and a 2 nd finger portion for grasping;

a drive unit for operating the 1 st finger unit in a 1 st gripping direction which is a direction in which the 1 st finger unit and the 2 nd finger unit are held together;

a 3 rd finger portion that operates in a 2 nd gripping direction that is not parallel to the 1 st gripping direction;

a 1 st transmission mechanism unit connected to the drive unit;

a 2 nd transmission mechanism unit that transmits a driving force;

a 3 rd transmission mechanism unit that transmits a driving force;

a 1 st solenoid unit that operates the 2 nd transmission mechanism unit to be in contact with the 1 st transmission mechanism unit; and

a 2 nd solenoid portion that operates the 3 rd transmission mechanism portion to be in contact with the 1 st transmission mechanism portion,

the 1 st finger part is connected with the 2 nd transmission mechanism part,

the driving part has a function for operating the 3 rd finger part, generates the driving force,

the 3 rd finger part is connected with the 3 rd transmission mechanism part,

when the 2 nd transmission mechanism portion is connected to the 1 st transmission mechanism portion, the 1 st finger portion operates in the 1 st gripping direction,

when the 3 rd transmission mechanism portion is connected to the 1 st transmission mechanism portion, the 3 rd finger portion operates in the 2 nd gripping direction.