JP2002264066A - Grip method and grip mechanism by robot hand - Google Patents

Abstract

PROBLEM TO BE SOLVED: To positively grip a rail and to prevent the damage of a hand or a rail in a grip method by a robot hand. SOLUTION: The grip mechanism 20 is composed of two grip parts constituted by connecting finger parts 23a, 23b to a base part, and connecting finger parts 22a, 22b and tip finger parts 21a, 21b bendably. A handrail 103a is formed in elliptic shape cut out at the upper and lower parts. In (a), the handrail 103a is taken in by bending operation P1 . In (b), the handrail 103a is horizontally moved by moving operation P2 and lowered by bending operation P3 . In (c), the handrail 103a is taken into the center position further by horizontal moving operation P4 . In (d), the handrail 103a is held by the bending operation P5 , P6 of both grip parts, or as shown in (e), the handrail 103a is gripped by bending P7 of one grip part and bending action P8 of the other grip part. The damage of the rail and finger parts is prevented by accurate gripping.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a gripping method and a gripping mechanism using a robot hand, and is applied to a robot working inside and outside a spacecraft, and to a robot in a special plant on the ground such as a nuclear power plant. Thus, the object to be gripped can be reliably gripped.

[0002]

2. Description of the Related Art Handrails are provided on the surface of a manned module body of a manned spacecraft, such as a space station, which is currently being planned. To carry out maintenance, inspection and equipment replacement. A portable hand hold is attached to the equipment inside and outside the ship, and an operator grips and carries it.

[0003] In particular, in a manned module ship of a space station, in order to perform various experiments, an operator transports experimental equipment and equipment, mounts and removes the equipment on a rack, and removes the equipment.
And so on. FIG. 21 is a side view showing the outline of the structure inside the manned module. In the figure, a number of racks 101 for experiments are arranged inside a manned module main body 100, and a handrail 103 for an operator to grip during work is provided.

[0004] As described above, work in space, such as a module or an artificial satellite, which is currently being planned, is mainly performed by a worker wearing a space suit. There has been a demand for alternative mechanization, and various robots have been proposed for the purpose of, for example, inspecting the outer space of the module body of the space station, exchanging structures, operating, installing, and removing equipment onboard.

[0005] In addition, even a robot such as a nuclear power plant on the ground does not pay attention to rotation of an object to be gripped when gripping a handrail with a gripping hand or the like. Depending on the shape of the object to be grasped, the robot to fly in space and work in outer space, and the hand part (gripping part) attached to the arm of the robot to work in water, the grasping object rotates and the robot body holding the hand grasps it. Subject may collide.

[0006]

In the above-mentioned currently planned working robot, bolts of various shapes and sizes, working sockets of small and large sizes, handrails, etc. are used in space at the gripping portion at the tip of the arm. Must be grasped. In particular, when the gripping section uses a gripping mechanism such as a hand, the gripping of the handrail is ensured when the robot is moved by gripping the handrail or the like. It is necessary to perform the gripping quickly and reliably so as not to damage or break the gripping mechanism.

Accordingly, the present invention provides a method for grasping an object such as a handrail by manipulating a hand of a robot. The object of the present invention is to move and grip the object.

[0008]

SUMMARY OF THE INVENTION The present invention provides the following gripping method to solve the above-mentioned problems.

(1) A method for gripping a robot hand comprising a plurality of hands arranged to face each other and gripping an object to be gripped, wherein each of the hands is formed by connecting a plurality of fingers to bend freely. Even when the hand to be gripped is brought into contact with the inside of one hand in a state where the tip of the hand is widened, the inner surface of the finger contacted by the one hand is translated in a direction perpendicular to the center axis of the hand. Moving the object to be gripped in the orthogonal direction with the posture as it is; positioning the center of the object to be gripped substantially on the center line of the hand; and then bending each finger of both hands inward. A gripping method using a robot hand, wherein the gripping object is gripped with the object held therebetween.

(2) The object to be grasped is a handrail, and the cross section of the handrail has an elliptical curved surface, and the hand is in contact with the elliptical curved surface of the handrail. The holding method by the described robot hand.

(3) The method according to (1), wherein the object to be gripped is a handrail, and the cross section of the handrail is circular.

(4) The gripping method by a robot hand according to (1), wherein the object to be gripped is a handrail, and the cross section of the handrail is quadrangular.

(5) The object to be grasped is a handrail, and the cross section of the handrail has an elliptical curved surface, and has notches at the upper end or lower end, or both the upper and lower ends of the elliptical curved surface. The method according to (1), wherein the hand contacts the elliptical curved surface of the handrail.

(6) The object to be grasped is a handrail, and the cross section of the handrail has a circular curved surface, and has a notch at an upper end or a lower end, or both an upper end and a lower end of the circular curved surface. The method according to (1), wherein the hand is in contact with a circular curved surface of the handrail.

(7) A robot gripping mechanism comprising a plurality of hands arranged to face each other and gripping the object to be gripped, the hands being formed by connecting a plurality of finger portions in a bendable manner. A robot gripping mechanism, wherein opposing inner surfaces of the portion are cut out to form a smooth curved surface.

(8) The robot gripping mechanism according to (7), wherein the curved surface is not formed and a linear flat surface is formed inside the base finger portion of the finger portion.

(9) The robot gripping mechanism according to (7) or (8), wherein the cross section of the finger portion is square.

(10) The robot gripping mechanism according to (7) or (8), wherein the finger has a circular cross section.

(11) In a robot gripping mechanism comprising a plurality of grippers arranged opposite to each other and gripping an object to be gripped, each gripper comprising a plurality of fingers connected to bend freely. A surface material is attached to the inside of each finger, and the coefficient of friction of the surface material is larger at the tip of the finger than at the base of the finger, and the other fingers are formed of the base of the same finger. A robot gripping mechanism characterized by being smaller than a coefficient of friction.

(12) The robot holding mechanism according to (11), wherein each of the surface materials is detachably attached inside each finger portion.

(13) The object to be gripped by the robot gripping mechanism according to (11) or (12) is a handrail, and the cross section of the handrail is an elliptical curved surface, the upper or lower end of the elliptical curved surface, or A rail to be gripped, having notches at both upper and lower ends.

(14) An object rail to be gripped by the robot gripping mechanism according to the above (11) or (12), wherein the object to be gripped is a handrail, and the cross section of the handrail is rectangular.

(15) In a robot gripping mechanism comprising a plurality of grippers disposed opposite to each other and gripping a gripping object therebetween, each gripper comprising a plurality of fingers connected to bend freely. On the peripheral surface of each finger, a plurality of surface materials of different materials are circumferentially divided and attached so as to cover the entire periphery, and each of the fingers is provided with a drive mechanism for rotating each finger about an axis. A robot gripping mechanism, wherein each of the finger portions is driven by each of the driving mechanisms to select a predetermined surface material of each of the finger portions and arrange the material inside the gripping portion.

(16) In a robot gripping mechanism comprising a plurality of grippers disposed opposite to each other and gripping an object to be gripped, each gripper comprising a plurality of fingers connected to bend freely. On the peripheral surface of each finger, a plurality of surface materials each having a different material are circumferentially divided and attached so as to cover the entire periphery, and the same finger is connected only to the finger connected to the base side of each finger. It is configured to include a drive mechanism for rotating about the axis, and by driving the drive mechanism, simultaneously with the finger on the base side, the other fingers connected to the same finger are simultaneously rotated to select a predetermined surface material. A robot gripping mechanism that can be arranged inside a gripping part.

(17) The cross section of each finger is circular or elliptical. (15) or (1)
6) The robot gripping mechanism according to the above.

(18) The robot gripping mechanism according to (15) or (16), wherein the cross-sectional shape of each finger portion is quadrangular.

(19) The robot holding mechanism according to (15) or (16), wherein the cross-sectional shape of each of the plurality of finger portions is a combination of a square shape, a circular shape, and an elliptical shape.

(20) The driving mechanism according to (15), wherein the driving mechanism selects a required one of the finger portions and drives only the driving mechanism corresponding to the selected finger portion. Robot gripping mechanism.

In (1) of the present invention, the object to be gripped is brought into contact with one inside of the hand, and the inner surface of the finger portion where the object to be gripped of the hand is in contact is oriented in a direction perpendicular to the center axis of the hand. Move in parallel and press the object to be gripped in the orthogonal direction,
The center of the object to be gripped is moved so as to be located substantially on the center axis of the hand. Thereafter, since the fingers of both hands are bent inward to grip the object to be gripped, the grip between the two hands and the object to be gripped is smoothly performed, and excessive friction and impact are reduced, and the object to be gripped is reduced. Damage to objects and damage to the hand itself can also be prevented.

In (2) of the present invention, the cross section of the handrail has an elliptical shape, and the contact portion with the hand is formed by an elliptical curved surface, so that the handrail is easy to slide along the inside of the finger of the hand. Movement becomes easy. Also, since the elliptical curved part can be sandwiched by the gripping part, there is no protrusion, and the handrail may be adjusted on the hand center axis, and there is no excessive friction force or impact, so the handrail is Of course, the hand itself is not damaged.

In (3) of the present invention, the cross section of the handrail is circular, has a smooth curved surface without protrusions, like the elliptical shape, and the position of the handrail is adjusted on the center axis of the hand. Therefore, there is no excessive frictional force or impact at the time of gripping, and the handrail and the hand are not damaged. Further, according to (4) of the present invention, even if the handrail is square, the handrail is positioned on the center axis of the hand and then the fingers of both hands are bent and gripped, so that the impact at the time of contact is large. And the hand rail as well as the hand itself is prevented from being damaged.

In (5) of the present invention, the cross-sectional shape of the handrail is elliptical, and in (6), it is circular, and one or both of the upper and lower ends are cut out. It is easier to abut inside.

In (7) of the present invention, since a notch having a smooth curved surface is provided inside each finger portion of the opposed gripping portions, gripping of a handrail or the like inserted between the gripping portions is performed. The target object can easily move while sliding along the curved surface of each finger, and can be located at the center from the tip. This facilitates positioning of the object to be gripped between the gripping portions, so that the object to be gripped can be reliably gripped without applying excessive friction or impact to the object to be gripped or the finger.

According to (8) of the present invention, since the finger portion connected to the base portion among the finger portions is a flat linear surface without forming a curved surface, the finger portion is inserted between the grip portions and is directed toward the base portion. When the moved gripping object is an object having a shape particularly having a plane,
There is an advantage that the object is securely held by the close contact between the object and the plane inside the finger on the base side.

According to (9) of the present invention, the cross-sectional shape of the finger portion is square, and in the invention of (10), the cross-sectional shape is smooth. Since the notch having the curved surface in the direction is formed, the object to be grasped in the grasping portion can move smoothly as in the invention of the above (7), and the robot grasping mechanism that can securely grasp the object to be grasped is provided. Can be built.

In (11) of the present invention, a surface material is attached to the inside of each finger portion of the grip portion, and the friction coefficient of the surface material is larger at the tip finger portion than that of the base material. The object to be gripped is easily hooked and rolled between the sections and taken in. Furthermore, since the gripping object drawn between the gripping parts has a smaller coefficient of friction of the surface material inside the other finger part than the base material, it becomes more slippery, and it becomes easier to move while sliding along the finger part. In addition, the gripping mechanism and the object to be gripped are not damaged, and the capturing is quickly performed, and the gripping is reliably performed.

According to (12) of the present invention, the surface material is detachably attached to the inside of each finger portion, for example, by a screw or the like. Function is further improved.

In (13) of the present invention, the object to be gripped is a handrail, the cross-section of which has an elliptical curved surface, and the upper end and the lower end are cut out, so that the elliptical curved surface portion enters the grip portion. After being taken in, it is easy to slide and move along the finger portion, and the taking-in is performed quickly without damaging the handrail and the grip portion. Further, according to (14) of the present invention, even when the cross-sectional shape of the handrail is a four-corner shape, as in the above-mentioned invention (11), quick take-in and grasping to the grasping portion can be surely performed.

In (15) of the present invention, since the peripheral surface of each finger is covered with a different surface material,
By driving each finger unit with the driving device and rotating the finger unit around the axis, an appropriate surface material can be arranged inside the grip unit. The object to be grasped is various in shape, size, material, etc.When each of them is sandwiched by a grasping portion and grasped, when rotating the grasping object, when a certain amount of slip is required, or firmly, There are various cases such as when a gripping surface having a large frictional force is required for gripping. Therefore, the finger portion is rotated by the driving mechanism, and the surface material of the finger portion suitable for the object to be grasped is arranged inside the grasping portion, the grasping is appropriately performed, and the reliability of the grasping mechanism is improved.

In (16) of the present invention, the driving mechanism is provided only on the finger connected to the base, and one of the gripping parts and the other gripping part are rotated by only one driving mechanism, respectively. A surface material suitable for gripping the gripping object can be arranged inside the entire part, and the gripping is reliably performed by a simple mechanism and simple control.

In (17) of the present invention, the cross section of the finger part is circular, in the invention of (18) it is rectangular, and (19)
In the invention of the present invention, these circular, square, and elliptical combinations are used, and in any cross-sectional shape of the finger portion, in the present invention, the finger portion is rotated around the axis, and the surface material of the grip portion suitable for the object to be gripped is obtained. It can be placed inside, expanding the range of application of the gripping mechanism.

According to (20) of the present invention, the driving mechanism for rotating the finger portion selectively rotates only the required portion of the finger portion.
Only the necessary portions need to be driven in accordance with the size, shape, material, and the like of the grasping object, and fine control can be performed, thereby further improving the reliability of the grasping mechanism.

[0043]

Embodiments of the present invention will be specifically described below with reference to the drawings. FIG. 1 is a front view showing a robot gripping mechanism (hand) to which the gripping method of the present invention is applied. In the figure, reference numeral 24 denotes a base, which is attached to the arm tip of any robot such as a working robot moving in outer space, a robot flying in outer space, a robot working underwater, and various working robots on the ground. Is the basis of Gripping mechanism 2
In the example shown in the drawing, 0 is one of the gripping portions that connect the tip finger portion 21a, the finger portion 22a, and the finger portion 23a in a bendable manner,
Similarly, it is composed of the other gripping portion that connects the distal finger portion 21b, the finger portion 22b, and the finger portion 23b in a bendable manner, and sandwiches a handrail or the like to be gripped between these two gripping portions as described later. It is a configuration for gripping. It should be noted that the gripping part is 2
It goes without saying that not only the book configuration but also a hand in which a plurality of gripping portions are arranged to face each other as shown in FIG. 6 described later.

FIGS. 2A and 2B show a handrail gripped by the gripping mechanism 20. FIG. 2A is a side view, and FIGS. 2B, 2C, and 2D are AA cross-sectional views in FIG. 3 is a cross-sectional shape of a handrail having a cross-sectional shape. FIG. 2 (a)
2, a handrail 103 is attached to the module main body 100 of the space station with both ends supported, and the robot can move by holding the handrail 103 by the gripping mechanism 20 at the tip of the multifunctional arm. The cross section of the rail is elliptical in FIG.
(C) shows a rectangular shape, and (d) shows a circular shape. The cross-sectional shape of the handrail 103 may be basically any shape, but the elliptical shape of (b) is the most preferable shape for the gripping mechanism 20 to sandwich and grip.

In FIG. 2B, the handrail 103
The cross section a has a shape in which the upper end and the lower end in the major axis direction of the elliptical shape are cut out in parallel to provide cutouts 28a and 28b.
FIG. 2C shows a square rectangular shape 103b.
(D) has a circular shape 103c and may have any shape. However, when gripping by the gripping mechanism 20, the elliptical shape 103a of (b) is most preferable. (B)
Either one of the notches at the upper end and the lower end may be provided, but it is preferable to provide the cutouts at both ends. Also, in the case of the circular cross section of (d), a cutout may be provided at one or both of the upper end and the lower end as in (b).

FIG. 3 is a diagram showing a procedure of a gripping method by the robot hand according to the first embodiment of the present invention.
This is an example of a case where the handrail 103a described in FIG. 2 is gripped by the gripping mechanism (hand) shown in FIG. FIG.
In (a), the gripping mechanism 20 spreads both gripping portions, and firstly, the handrail 103a is moved between the gripping portions and the tip finger portion 21b is moved.
Draw hook by bending operation P _1. Next, FIG.
As in (b), for causing movement P ₂ in the horizontal direction by abutting the elliptic surface of the handrail 103a to the finger unit 22b, rotates the fingers 23b, furthermore, the distal end fingers 21b
It is bent inward by bending movement P ₃ a.

By the above operation, the handrail 103a drawn between the gripping parts moves horizontally to the center between the gripping parts and moves down toward the base 24 below. Next, in FIG. 3 (c), the further performs a moving operation P ₄ the fingers 22b toward the position of the center axis of the grip portion,
The handrail 103a is positioned substantially on the center axis of both grips. Next, in FIG. 3D, the finger portions 21a, 22
a, gripper consisting of 23a with even cause the bending operation P _6, the grip portion comprising a finger portion 21b, 22b, from 23b also performs a bending operation P _5, both elliptic surface of the handrail 103 at the center position between the two sets of grip parts Is sandwiched, pressed and gripped.

The grip may be held in the state shown in FIG. 3D, but depending on the size of the shape of the handrail 103a,
As shown in FIG. 3E, the handrail 103a is further
Is moved to the 4 side, the finger portions 21b, 22b, the grip portion consisting 23b is a bending operation P _7, the fingers 21a, 22a, 2
The grip portion consisting 3a by the bending operation P _8, the handrail 103a may be gripped wrapped in the one of the grip portion and the base portion 24.

According to the gripping method by the robot hand of the first embodiment described above, the bending operation P
₁ draws handrail 103a, the contacting one of the gripping portions elliptic surface, handrail 10 by movement P ₂
Handrail 103a 3a parallel is lowered by bending movement P ₃ causes laterally move in the central axis line position between the two gripper
Are moved, it is moved to a substantially central position further movement P _4, or both gripper to perform a bending operation P _5, P _6, or made to perform one of the gripper only bending operation P _8, the handrail 103a is held between both holding portions.

By adopting the above gripping method, each finger 21a, 21b, 22a, 22b and 23
a, 23b contact the elliptical curved surface of the handrail 103a,
Both slide smoothly and the movement between the gripping parts becomes easy,
Further, since the handrail 103a can be moved horizontally to the center position while maintaining the posture as it is by the gripping portion, the operation of bending the gripping portion and gripping can be smoothly performed without any resistance. Therefore, excessive friction between the handrail 103a and each finger and collision of the corners are reduced, and the handrail 103a and the grip are prevented from being damaged.

In the above example, the handrail 103
a and the gripping mechanism 20 move relative to each other. However, since the handrail 103a is actually attached to the manned module of the space station, the gripping mechanism 20 moves with respect to the handrail 103a and moves as described above. Keep the position described.

FIG. 4 is a view showing a gripping method by a robot hand according to a second embodiment of the present invention, and is an example of gripping a handrail having a circular cross section. In FIG. 4A, the bending operation P1 is performed on the distal end finger 21b of _one of the grips, and the handrail 103b is taken in between the grips. Next, in FIG. 4 (b), carried out moving operation P ₂ by operating the fingers 22b and 23b of one of the grip portion, substantially between the handrail 103b is moved in the horizontal direction both grip portion captured is positioned to the central axis, then, lowers the fingers 21b with the bending operation P _3. Figure 4 (c), the circular cross-section of each finger of both gripper encloses the bending operation P _4, P ₅ to the by handrail 103b handrail 103
b is surely grasped.

[0053] Also in the second embodiment described above, by translating one capture handrail 103b by bending movement P ₁ between both gripper in gripper, the movement P ₂ one of the gripper in the horizontal direction To position the handrail 103b substantially on the center axis, and furthermore, the bending motions P ₄ ,
Since made to perform the P ₅ to grip wrap handrail 103b, the movement of the position of the central axis of into the space between the gripping portion is made smoothly, even excessive friction and collision between the handrail 103b and the respective fingers Thus, the handrail 103b and the grip are prevented from being damaged.

FIG. 5 is a view showing a gripping method by a robot hand according to a third embodiment of the present invention, and is an example of gripping a handrail having a rectangular cross section. In FIG. 5 (a), the bending operation P1 is performed on the distal finger 21b of _one of the grips, and the handrail 103c is inserted between the grips. Next, FIG. In 5 (b), actuates the fingers 22b and 23b of one of the gripper performs a movement operation P ₂ are, taken handrail 103c substantially both gripper is moved parallel to the horizontal direction Move to the position on the center axis, and then
1b is bent and lowered to adjust the position.

In FIG. 5 (c), the fingers of both grip portions are caused to perform bending operations P ₄ and P ₅ , and the hand rail 103c is wrapped by the both grip portions to form a rectangular hand rail 103c.
Can be gripped.

In the third embodiment described above, even if the handrail 103c has a square cross section, the handrail 103c is moved between the two gripping portions by the bending operation P1 of the tip finger 21b of _one gripping portion. The rail 103c is taken in, and is further moved to a position substantially on the center axis by a horizontal movement operation P _{2 of} one grip portion and a bending operation P ₃ of the tip finger portion, and bending operations P ₄ and P ₅ of both grip portions are performed. Hold the handrail.

By the above method, the handrail 103c
Is moved to a position substantially on the center axis of both grips, and then both sides are sandwiched by both grips, so even if there is a square corner, excessive pressing force or unevenness to one side Without applying force, damage to the handrail 103c or the grip can be prevented.

FIG. 6 shows a gripping mechanism in which a plurality of (two in the illustrated example) gripping portions to which the gripping methods of the first to third embodiments of the present invention are applied are opposed to each other. Of course, the method of the present invention shown in FIGS. 1 to 5 is also applied to the robot gripping mechanism.

FIG. 7 shows a robot gripping mechanism (hand) according to a fourth embodiment of the present invention, where (a) is a front view,
(B), (c) is a perspective view of a finger part. In the figure, 2
4 is a base, a working robot that moves in outer space, a robot that flies in space, or a working robot that is underwater,
It is attached to the tip of an arm of any robot such as various work robots on the ground, and serves as a base of the gripping mechanism 20. In the example shown, the gripping mechanism 20 includes a tip finger 21a,
One of the gripping portions that connects the finger portion 22a and the finger portion 23a so as to be able to bend, respectively, and similarly the tip finger portion 21b, the finger portion 22b,
The finger 23b is constituted by the other gripping part which is flexibly connected to the finger 23b, and the two gripping parts are gripped with a handrail or the like to be gripped therebetween as described later. In addition,
It is needless to say that not only two left and right grips but also a hand in which a plurality of grips are arranged to face each other may be used.

A curved surface 50 having a smooth arc-shaped surface is formed inside the finger portions 22a, 22b, 23a and 23b as shown in FIGS. (B) shows a finger having a square cross section, (c) shows a circular cross section,
In any case, the curved surface 50 is the same flat plane in the horizontal direction, and a concave and smooth arcuate curved surface 50 is formed in the axial direction. This curved surface may be any curved surface, such as a circular shape, an elliptical shape, or any other smooth and uniform curved surface.

FIG. 8 is a view for explaining the operation when a handrail having a circular cross section is gripped by the robot gripping mechanism according to the fourth embodiment of the present invention. (A), the gripping mechanism 20 is outstretched gripper, first the handrail 103 between both gripper draws hook by bending movement P ₁ of the distal finger portion 21b. Next, as shown in FIG.
The b, further sends the handrail 103 by the bending motion P ₂ inward, handrail 103, the circular circumferential surface moves toward the base 24 along the curved surface 50 of the finger portion 22b.

Next, as shown in FIG.
3 moves from the curved surface 50 of the finger 22b to the center of the base 24 along the curved surface 50 of the finger 23b. In (d),
When the hand rail 103 reaches the base 24, the bending operation P _3, P ₄ is bent inwards the respective fingers at the junction, wrap around the handrail 103 of a circular cross section on both curved surfaces 50 of the fingers 23a, 23b And hold it. Or, as shown in (e), the finger 2 of one gripper
The handrail 103 may be gripped so as to wrap the handrail 103 between the curved surfaces 50 of the 2b and 23b and the tip finger 21b.

In the above example, the handrail 103
And the gripping mechanism 20 relatively move,
Actually, the handrail 103 is attached to the manned module of the space station,
The gripping mechanism 20 moves to maintain the position described above. In addition, not only handrails, but also protrusions and bolts of other structures can be similarly gripped,
Equipment and components can also be gripped.

FIG. 9 is a view for explaining the operation when a rectangular handrail is gripped by the robot gripping mechanism according to the fourth embodiment of the present invention. In (a), the gripping mechanism 20 expands both gripping portions, and first, the handrail 103
an a between both gripper draws hook by bending movement P ₁ of the distal finger portion 21b. Next, as shown in (b), the distal finger portion 21b, further, sends the handrail 103a inwardly by performing the bending operation P _2, handrail 103a
Of the base portion 2 smoothly extends along the curved surface 50 of the finger portion 22b.
Move toward 4.

Next, as shown in FIG.
handrail 103a by b flexion P ₃ of the fingers 2
It moves from the curved surface 50 of 2b to the center of the base 24 along the curved surface 50 of the finger 23b. (D), the the handrail 103a reaches the central portion of the base portion 24 as is the posture, the fingers 22b by bending operation P _4, although two of the four corners to 23b curved 50 of contact, also, The remaining two corners abut on the curved surface 50 of the finger 23a and the base 24, and the handrail 103a can be wrapped and gripped.

As described above, according to the robot holding mechanism in the fourth embodiment, the finger portions 22a, 22b
, 23a and 23b, a smooth curved surface 50 is formed, and the gripping target such as the handrails 103, 103a is slid along the curved surface 50 and gripped, so that the smooth curved surface 50 and the gripping target are gripped. And smooth sliding is done,
The operation of bending and holding the gripping portion is also smoothly performed without resistance. Accordingly, excessive friction between the gripping target such as the handrails 103 and 103a and each finger and collision with the corners are reduced, and the grips of the handrails 103 and 103a and the like are prevented from being damaged. .

FIG. 10 is a front view of a robot holding mechanism according to a fifth embodiment of the present invention. In the second embodiment of the present invention, the smooth curved surface 50 inside the finger is
2a, 22b only, finger part 2 connected to base 24
The inner surfaces of the finger portions 23a and 23b are not provided on the reference numerals 3a and 23b, and the inner surfaces of the finger portions 23a and 23b remain flat. The other structure is the same as that of the fourth embodiment shown in FIG.

In the fifth embodiment, the operation of gripping the object to be gripped is the same as that of the fourth embodiment shown in FIGS. 8 and 9, and particularly in the fifth embodiment. In the case where the object has a square shape or another shape with a plane,
The inner planes of the fingers 23a and 23b on the base 24 side and the plane of the object to be grasped are in close contact with each other, so that they can be easily grasped. Also in the second embodiment of such a structure, the curved surface 50 of the intermediate finger portions 22a and 22b makes it easy to slide an object to be grasped and facilitates movement to the base 24 side. A similar effect can be obtained.

FIG. 11 is a view showing an example of a case in which the robot gripping mechanism according to the fifth embodiment of the present invention grips gripping objects having various sizes, and grips a gripping object having a square cross section. (A) is a relatively medium size compared to the grip portion, (b) is a relatively large size,
(C) shows the thing of a small shape, respectively.

In (a), the object to be grasped 103b is gripped by the tip finger 21a and the fingers 22a and 23a so as to wrap the object 103b.
Is held in close contact with the surface of the linear portion of the object to be gripped, so that the gripping is reliably performed. In (b), since the gripping object 103c has a relatively large shape, the finger 2
Part of the surface of the straight portion of the object to be grasped 103c is brought into close contact with the inner straight portion B of 3b, and the object to be grasped is wrapped by the finger 22b, the finger 23a and the tip finger 21a. Can be reliably held.

Further, in FIG.
d is a relatively small shape, the inner straight portion C of the finger portion 23b and the straight portion of the gripping object 103d are brought into close contact with each other, and the whole is wrapped by the finger portion 22b and the tip finger portion 21b,
Furthermore, the gripping target 103d is gripped by being wrapped by the finger portions 23a and 22a and the tip finger portion 21a from the outside. Thus, the size of the object to be grasped is 103b, 10
Even if the shape is different from that of 3c and 103d but has a surface of a straight portion, the straight portions A, B, and C inside the finger portion can be securely held by closely contacting the holding object. It becomes possible.

FIGS. 12A and 12B show a robot gripping mechanism according to a sixth embodiment of the present invention, wherein FIG. 12A is a front view, FIG. 12B is a sectional view taken along line BB in FIG. 10 is a sectional view taken along line CC in FIG. In FIG. 12 (a), reference numeral 24 denotes a base, which is attached to the arm tip of various working robots that move in space, robots that fly in space, robots that work in water, or various robots on the ground.
The entire holding mechanism 20 is supported. In the example shown in the figure, the gripping mechanism 20 includes one gripping portion in which the distal finger 21a, the finger 22a, and the finger 23a are flexibly connected to each other.
1b, the finger 22b, and the other grip 23b, which are formed by connecting the fingers 23b in a bendable manner, and grips a handrail or the like to be gripped between the two grips as described later. . It should be noted that the left and right grips are not limited to two,
Needless to say, a configuration in which two or more gripping portions are arranged to face each other is also possible.

FIG. 12 shows the inside of the tip finger portions 21a and 21b.
As shown in (b), the coefficient of friction is reduced by the finger portions 21a and 21b.
A relatively large surface material 25a, 25b is attached and the fingers 22a, 22b and 23a,
The finger portions 22, 2 as shown in FIG.
Surface materials 26a, 27a and 26b, 27b having a coefficient of friction smaller than 3 are respectively attached. The gripping mechanism 20 operates the two bendable grips to approach the handrail 103a, inserts and takes in the handrail 103a between the two grips, and sandwiches the gripper as described later. Is to be gripped.

FIG. 13 is a view showing the operation when the gripping mechanism 20 according to the sixth embodiment of the present invention grips the elliptical handrail 103a. FIG. Hand rail 103a at arm tip
And the robot gripping mechanism at the tip of the multifunctional arm is moved so that the handrail 103a is inserted between the gripping portions.

In FIG. 13 (b), the tip finger 21a at the tip of one of the grips is operated to be hooked on the handrail 103a, and in this state the handrail 103a is inserted between the two grips. The finger 21a is bent to move the gripping mechanism 20 and the handrail 103a relatively. The robot moves the handrail 1
The finger portions 22a and 23 are arranged such that the reference numeral 03a is located on the side of the base portion 24 between the two gripping portions (see the two-dot chain line 103a 'in the figure).
a and the handrail 103a move with each other while sliding.

Next, in FIG. 13 (c), the curved surface of the handrail 103a and the inside of the finger 22a move while sliding with each other, and the finger 22a is moved along the finger 23a so that the handrail 103a reaches the base 24. 22b, 23a, 2
3b, the two curved surfaces of the handrail 103a are
The robot body is completely gripped by the inner side surfaces of the a and 23b, whereby the robot body can be stably supported.

In the above operation, the handrail 103
First, a surface material 25a, 25b having a relatively large friction coefficient is attached to the inside of the tip finger portions 21a, 21b, so that the tip finger portions 21a, 21b are easily formed by friction.
Can be moved relative to the inside. After that, the inside of the fingers 22a and 22b and the handrail 1
03a is in contact with the elliptical curved surface of the finger portions 22a, 23a, and 2
2b and 23b are surface materials 26 having a small friction coefficient.
a, 26b, 27a, 27b are attached,
Fingers 22a, 22b, 23a, 23b and handrail 1
03a is easily slippery with the elliptical curved surface of the base 2
The handrail 103a can be relatively moved to the fourth side, and the handrail 103a and the finger portions 21 to 23 are not damaged.

Therefore, the movement and positioning between the handrail 103a and the two gripping portions are performed quickly and easily, and the gripping of the handrail 103a by the gripping mechanism 20 is performed without damaging each other. Although not shown, the handrail 103b having a circular cross section is also gripped by the gripping mechanism 20 by the same operation as described above. However, as shown in FIG. In terms of supporting the elliptical handrail 103a, the elliptical handrail 103a has a more reliable effect.

FIG. 14 is a view for explaining the operation of the robot gripping mechanism according to the seventh embodiment of the present invention. In the seventh embodiment, the robot gripping mechanism 20 is the same as that of the sixth embodiment, except that only the handrail employs a square-shaped handrail 103c. It is the same as that of the six forms.

In FIG. 14 (a), the tip of the robot arm is moved to the handrail 103c with the two grippers opened.
And the gripping mechanism 20 is moved closer to the position where the handrail 103c is inserted between the gripping portions. Next, FIG.
As shown in (b), the user operates one of the tip fingers and hooks it on the handrail 103c.
The distal finger portion 21a is bent so that 03c relatively moves downward between the two grip portions.

The handrail 103c and the fingers 22a, 23
aThe inside of the robot moves while sliding on each other,
By this movement, the handrail 103c is moved toward the base 24 between the two gripping portions (in the figure, a two-dot chain line 103).
c ') The inside of the finger portions 22a and 23a and the handrail 10
3 moves while sliding, and the handrail 103c is accurately positioned.

Next, as shown in FIG.
2a and 22b and 23a and 23b are narrowed, and the handrail 103c is moved to the base 24 side so that the finger 23a
And both sides of the handrail 103c are gripped by the inside of the handrail 103c. As a result, the handrail 103c is connected to the finger portions 23a, 23a.
The robot body is completely grasped by the inside of 3b, and the robot body can be stably supported.

In the seventh embodiment described above,
Since the surface material 25a having a large friction coefficient is attached to the inside of the distal finger portions 21a and 21b, the handrail 103c can be easily hooked and moved by friction, and without damaging the grip portion and the handrail 103c. The handrail 103c can be drawn between the grip portions. Further, since the surface materials 26a and 27a having a small coefficient of friction are provided inside the finger portions 22a and 22b and 23a and 23b, the handrail 103c and the finger inside slide easily, thereby facilitating relative movement. , Handrail 1
03c can be quickly and accurately gripped by the gripping mechanism 20.

FIGS. 15A and 15B show a robot gripping mechanism according to an eighth embodiment of the present invention, wherein FIG. 15A is a side view, FIG. 15B is a view taken along the line DD in FIG. FIG. In FIG. 15 (a), the gripping mechanism 40 has two bendable portions including the tip fingers 21a and 21b and the fingers 22a and 22b and 23a and 23b as in the gripping mechanism 20 of the sixth embodiment shown in FIG. The holding portion is supported by the base portion 24.

In the gripping mechanism 40 according to the eighth embodiment, the surface materials 25a and 25b having a larger friction coefficient inside the tip finger portions 21a and 21b and the surface materials 26a and 26b having a smaller friction coefficient inside the finger portions 22a and 22b are further provided. , And the finger portions 23a,
Each of the surface materials 27a and 27b on the inner side of 23b is attached to the inside of each finger with a screw 30 so as to be detachable.
The other structure is the same as that of the sixth embodiment shown in FIG.

In FIG. 15B, the finger portions 22a, 23
The materials 26a and 27a on the inner side of a are respectively attached with screws 30, and the screws 30 are dished on the surface of the material 26a so that the surface of the material 26a becomes flat as shown in FIG. To make the surface flat.

Also in the eighth embodiment described above, the inside of the front finger portions 21a and 21b is made of a surface material 2 having a large friction coefficient.
5a, the handrail 103 can be easily hooked and moved by friction, and the handrail 103 can be drawn between the gripping portions without damaging the gripping portion and the handrail 103. Also, since the surface materials 26a, 27a having a small friction coefficient are provided inside the finger portions 22a, 22b and 23a, 23b,
The handrail 103 and the inside of the finger part slide easily, and the relative movement is facilitated.
Can be performed quickly and accurately.

Further, in the eighth embodiment, the surface materials 25a and 25b of the tip fingers 21a and 21b and the finger 2
2a, 22b surface materials 26a, 26b, and finger portions 23
It is possible to replace the surface material 27a, 27b of a, 23b with a new material by removing the screw 30 at the time of maintenance and inspection, and to select and replace the material most suitable for the grip according to the shape of the handrail to be supported. Can be.

FIG. 16 shows a robot gripping mechanism according to a ninth embodiment of the present invention, wherein FIG.
(B), (c), (d), and (e) show F- in (a).
It is F sectional drawing, (a), (b) is circular shape, (c),
(D) shows a rectangular shape.

In (a), reference numeral 24 denotes a base, which is attached to the end of the arm of any robot such as a robot that moves in outer space, a robot that flies in outer space, a working robot underwater, and various working robots on the ground. And supports the entire gripping mechanism 20. Gripping mechanism 20
In the example shown in the figure, the tip finger 21a, finger 22a, finger 2
3a is constituted by one grasping portion which is connected to bendable, and similarly, the other grasping portion is formed by connecting the tip finger portion 21b, the finger portion 22b, and the finger portion 23b to bendable. These tip fingers and fingers are rotatable about an axis as described later,
In this configuration, as described later, a handrail 103 or the like to be grasped is sandwiched between two grasping portions and grasped. In addition, it is needless to say that not only two gripping portions on the left and right but also a configuration in which a plurality of gripping portions are arranged to face each other may be used.

In (b), the finger portion 22b has surface materials 22b-1 and 22b-2 of different materials attached to the entire surface thereof. The mounting method may be either screwing or bonding. For example, the surface material 22b-1 is 22
The coefficient of friction is smaller than b-2, it is relatively slippery when gripping a specific gripping object, and the surface material 22b-2 is a non-slip material. In this case, in order to firmly grip the specific gripping target object and prevent it from being easily separated, the surface of the appropriate surface material can be turned to the inner gripping surface by rotating about the axis as described later. . Other tip finger 21
a, 21b and the finger portions 22a, 23a, 23b have the same structure. In FIG.
(X is 1 or 2).

(C) is an application example of (b), in which the surface material is covered with three types of different materials, 22b-1, 22b-2, and 22b-3. Surface can be selected. (D),
(E) is an example in which the finger portion of the gripping portion has a square shape,
(D) is an example using two types of surface materials 22b-1, 22b-2, and (e) is an example using 22b-1, 22b-2, 22b-.
This is an example using four types of surface materials of 3,22b-4,
Similarly, an appropriate gripping surface can be selected when gripping a gripping object of a specific material or shape by rotating the gripping object.

The cross-sectional shape of the finger portion has been described by way of example of a circular shape and a square shape. However, an elliptical shape may be used. These circular, square and elliptical shapes may be appropriately selected and combined.
You may make it comprise from several grip parts.

FIGS. 17A and 17B are views showing a rotating mechanism. FIG. 17A is an internal cross-sectional view of one gripping portion, and FIG.
FIG. 2G is a cross-sectional view of FIG. In (a), the finger portion 22a is attached to the attaching portion 6 attached to one of the connecting portions.
0, a structure rotatable about the axis between the mounting portions 31 mounted on the other connecting portion. Also, the finger tips 21a, 21
b and the finger portions 23a and 23b have the same structure.

A fixing member 64 is fixed to one end (upper end in the figure) of the finger portion 22a, a shaft 64a is attached to the center of the fixing member 64, and a connecting flange 62 is fixed to the shaft 64a.
The connection flange 62 is rotatably inserted into an engagement groove 63 provided in a member 60 a in the mounting portion 60, and supports the finger portion 22 a to engage with the mounting portion 60.

A fixing member 65 is fixed to the other end (lower end in the figure) of the finger portion 22a, and a motor shaft 71 is attached to the center of the fixing member 65. The motor shaft 71 is connected to a motor 70 via an engaging portion 72. are doing. The motor 70 is fixed in the mounting portion 61, and the motor shaft 71 is rotatably supported by a bearing 66 mounted on the mounting portion 61.

As described above, one end of the finger portion 22a is rotatably connected to the attachment portion 60 attached to the connection portion by the connection flange 62, and the other end is fixed to the attachment portion 61. The shaft 71 is rotatably connected to the shaft 71 via a bearing 66 and an engaging portion 72. Therefore, the motor 70
By driving, it is possible to rotate around the axis,
An appropriate surface material of the finger portion 22a can be selected as needed, and the surface of the selected surface material can be set inside the grip portion. The finger portions 23a and 23b and the tip finger portion 2
Since 1a and 21b have the same structure, the description is omitted. In addition, as described above, one grip portion has been described, but the other opposing grip portion has the same structure.

FIG. 17B is a cross-sectional view of one mounting portion 60, which is an example of the circular shape described with reference to FIG. 1, in which the surface material is omitted. In the drawing, the inside of the mounting portion 60 is a member 6
0a has an integral structure, a circular engaging groove 63 is formed in the member 60a, and a connecting flange 62 is inserted into the engaging groove 63.

FIG. 17C is a cross-sectional view of the other mounting portion 61, showing a state where a motor shaft 71 is arranged at the center of the mounting portion 61 and connected to the motor 70. In FIG. 17, the grip portion is described as an example of a circular finger portion, but a rotatable structure can also be adopted for a square cross section shown in FIGS. 16 (d) and (e).

FIGS. 18A and 18B show the motor arrangement and control system in the ninth embodiment described above. FIG. 18A shows the motor arrangement and FIG. 18B shows the control system diagram.
In (a), the motor 70 includes 70A and 70B for the tip finger portions 21a and 21b, and 70C and 7C for the finger portions 22a and 22b.
Six units of 70D and 70F of the finger portions 23a and 23b are arranged. By controlling these motors 70A to 70F, each finger is rotated, and FIG.
An appropriate one of the plurality of surface materials shown in (d) can be selected, and an appropriate surface can be arranged inside the grip.

In FIG. 18B, each of the six motors 7
Reference numerals 0A to 70F are connected to the motor drive circuit 80 and driven by the input device 81. Motor drive circuit 8
0 and the input device 81 are provided on the robot body,
In the input device 81, all of the motors 70A to 70F or, if necessary, motors at necessary locations are selected and rotated by a required angle. By such control, when grasping by the material, shape, size, etc. of the object to be grasped by the grasping mechanism, the degree of slip, the location of the finger portion to be grasped, etc. Rotating by designating at 81, a suitable surface material can be placed inside the grip.

FIG. 19 is a view showing an example of a case where a handrail having a circular cross section is gripped by the gripping mechanism according to the ninth embodiment described above. In the figure, before gripping, a finger portion at a necessary portion is rotated by a command from the input device 81 to select an appropriate surface material in the manner described above.

FIG. 19 is a view showing a gripping method by the robot gripping mechanism according to the ninth embodiment of the present invention, and is an example of gripping a handrail having a circular cross section. In (a), the bending operation P1 is performed on the tip finger 21b of _one of the grips, and the handrail 103 is taken in between the grips. Next, in (b), the fingers 22b and 23 of one gripper
actuates a b performs a moving operation P ₂ and, is positioned by moving the handrail 103 taken in the horizontal direction to approximately the center axis between the two sets of grip parts, then lower the fingers 21b with the bending operation P ₃ Let it. In (c), the fingers of both gripping portions are caused to perform bending operations P ₄ and P ₅ , and the handrail 103 b
And securely grip the handrail 103b having a circular cross section.

In the above operation, each finger 22a, 22
Since a suitable surface material is selected for the inner gripping portions of the b, 23a, 23b and the tip finger portions 21a, 21b, the movement to the position on the center axis between the two gripping portions is smoothly performed, and the handrail is provided. Excessive friction and collision between the finger 103 and each finger are also reduced, and the handrail 103 and the grip are prevented from being damaged.

In the above example, the handrail 103
And the gripping mechanism 20 relatively move,
Actually, the handrail 103 is attached to the manned module of the space station,
The gripping mechanism 20 moves to maintain the position described above.

FIG. 20 is a front view of a robot gripping mechanism according to a tenth embodiment of the present invention. In the tenth embodiment, one and the other gripping portions are attachment portions of a connecting portion on the base 24 side. 61, only one motor 70E, 7
0F provided by the motor 70E and the distal finger 21a,
The whole of one of the grips including the fingers 22a and 23a is rotated, and the distal end 21b and the fingers 22b and 23 are rotated by the motor 70F.
In this case, the entire other gripping portion b is rotated. The other configuration is the same as that of the ninth embodiment shown in FIGS.
It has the same function except that the motor in (b) is 70E and 70F.

According to the tenth embodiment described above, each tip finger and the fingers rotate integrally, and the same surface material can be disposed on the inside, respectively, and the structure of the motor is 70E, 70F.
And the control is simplified, and a highly practical gripping mechanism can be realized.

[0108]

The gripping method by the robot hand according to the present invention includes the inventions (1) to (20) as described in the claims. In (1) of the present invention, both hands and the object to be gripped are smoothly gripped, friction and impact are reduced without difficulty, and damage to the object to be gripped and damage to the hand itself can be prevented.

In (2) of the present invention, the cross section of the handrail has an elliptical shape, and the contact portion with the hand is formed as an elliptical curved surface. Therefore, the handrail is easily slipped along the finger inside of the hand. Movement becomes easy. Also, since the elliptical curved part can be sandwiched by the gripping part, there is no protrusion, and the handrail may be adjusted on the hand center axis, and there is no excessive friction force or impact, so the handrail is Of course, the hand itself is not damaged.

In (3) of the present invention, the cross section of the handrail is circular, has a smooth curved surface without protrusions, and has a handrail whose position is adjusted on the center axis of the hand, like the elliptical shape. Therefore, there is no excessive frictional force or impact at the time of gripping, and the handrail and the hand are not damaged. Further, according to (4) of the present invention, even if the handrail is square, the handrail is positioned on the center axis of the hand and then the fingers of both hands are bent and gripped, so that the impact at the time of contact is large. And the hand rail as well as the hand itself is prevented from being damaged.

In (5) of the present invention, the cross-sectional shape of the handrail is elliptical, and in (6), it is circular, and one or both of the upper and lower ends are cut out. It is easier to abut inside.

According to (7) of the present invention, an object to be grasped, such as a handrail inserted between the grasping portions, can easily move while sliding along the curved surface of each finger portion, and can be moved from the tip portion to the center portion. Can be located. This facilitates positioning of the object to be gripped between the gripping portions, so that the object to be gripped can be reliably gripped without applying excessive friction or impact to the object to be gripped or the finger.

According to (8) of the present invention, since a curved surface is not formed on the inside of the finger portion connected to the base portion of the finger portion and is a flat linear surface, particularly, the base portion is inserted between the grip portions. In the case where the grasped object moved to the side is an object having a shape having a plane,
There is an advantage that the object is securely held by the close contact between the object and the plane inside the finger on the base side.

In (9) of the present invention, the cross-sectional shape of the finger portion is a square shape, and in the (10) invention, the cross-sectional shape is smooth. Since the notch having the curved surface in the direction is formed, the object to be grasped in the grasping portion can move smoothly as in the invention of the above (7), and the robot grasping mechanism that can securely grasp the object to be grasped is provided. Can be built.

In (11) of the present invention, a surface material is attached to the inside of each finger of the grip, and the friction coefficient of the surface material is larger at the tip finger than the friction coefficient of the base material. It is easy to hook the object to be gripped and rolled it in between. Furthermore, since the gripping object drawn between the gripping parts has a smaller coefficient of friction of the surface material inside the other finger part than the base material, it becomes more slippery, and it becomes easier to move while sliding along the finger part. In addition, the gripping mechanism and the object to be gripped are not damaged, and the capturing is quickly performed, and the gripping is reliably performed.

In (12) of the present invention, since the surface material is detachably attached to the inside of each finger portion, for example, by screws or the like, it is easy to replace the material, select an appropriate material and attach it, and the robot gripping mechanism is provided. Function is further improved.

In (13) of the present invention, the object to be gripped is a handrail, the cross-section of which has an elliptical curved surface, and the upper end and the lower end are notched, so that the elliptical curved surface portion is inserted into the grip portion. After being taken in, it is easy to slide and move along the finger portion, and the taking-in is performed quickly without damaging the handrail and the grip portion. Further, according to (14) of the present invention, even when the cross-sectional shape of the handrail is a four-corner shape, as in the above-mentioned invention (11), quick take-in and grasping to the grasping portion can be surely performed.

According to (15) of the present invention, an appropriate surface material can be arranged inside the grip by being driven by the driving device for each finger and rotating the finger around the axis. The objects to be grasped are variously different in shape, size, material, etc.,
When gripping each of them with a gripping part, the gripping object needs to be rotated, a certain amount of slippage is required, a gripping surface with a large frictional force is required for firm gripping, etc. There are cases. Therefore, the finger portion is rotated by the driving mechanism, and the surface material of the finger portion suitable for the object to be grasped is arranged inside the grasping portion, the grasping is appropriately performed, and the reliability of the grasping mechanism is improved.

In (16) of the present invention, the driving mechanism is provided only on the finger connected to the base, and one of the gripping parts and the other gripping part are rotated by only one driving mechanism, respectively. A surface material suitable for gripping the gripping object can be arranged inside the entire part, and the gripping is reliably performed by a simple mechanism and simple control.

In (17) of the present invention, the cross section of the finger part is circular, in the invention of (18) it is rectangular, and (19)
In the invention of the present invention, these circular, square, and elliptical combinations are used, and in any cross-sectional shape of the finger portion, in the present invention, the finger portion is rotated around the axis, and the surface material of the grip portion suitable for the object to be gripped is changed It can be placed inside, expanding the range of application of the gripping mechanism. In (20) of the present invention, the driving mechanism for rotating the finger portion is configured to rotate only the finger portion of the selected and necessary portion, and to rotate only the necessary portion according to the size, shape, material, etc. of the object to be grasped. Driving is sufficient, and fine control is possible, and the reliability of the gripping mechanism is further improved.

[Brief description of the drawings]

FIG. 1 is a front view showing a configuration of a robot hand according to a first embodiment of the present invention.

FIGS. 2A and 2B show a handrail gripped by a robot hand according to the first to third embodiments of the present invention, wherein FIG. 2A is a side view, and FIG.
(C) and (d) show modified examples of the cross section of (b).

FIG. 3 shows a gripping method by the robot hand according to the first embodiment of the present invention, wherein (a), (b), (c),
(D) and (e) show the procedure.

FIG. 4 shows a gripping method by a robot hand according to a second embodiment of the present invention, and (a), (b), and (c) show the procedure.

FIG. 5 shows a gripping method by a robot hand according to a third embodiment of the present invention, and (a), (b), and (c) show the procedure.

FIG. 6 is a perspective view of a robot gripping mechanism having a plurality of gripping portions to which the gripping methods according to the first to third embodiments of the present invention are applied.

7A and 7B show a robot gripping mechanism according to a fourth embodiment of the present invention, wherein FIG. 7A is a front view, FIGS. 7B and 7C are perspective views of finger portions, and FIG. , (C) are circular examples.

FIGS. 8A and 8B are diagrams illustrating an operation when a handrail having a circular cross section is gripped by the robot gripping mechanism according to the fourth embodiment of the present invention, and FIGS. 8A, 8B, 8C, 8D, and 8D; (E)
The procedure of gripping is shown below.

FIG. 9 is a diagram showing an operation when a robot hand gripping a quadrangular handrail by a robot gripping mechanism according to a fourth embodiment of the present invention, wherein (a), (b), (c), and (d) are diagrams; , Each showing the procedure of gripping.

FIG. 10 is a front view of a robot gripping mechanism according to a fifth embodiment of the present invention.

FIGS. 11A and 11B are diagrams illustrating an operation when the robot gripping mechanism according to the fifth embodiment of the present invention grips gripping objects of various sizes, wherein FIG. (D) shows a large one, and (d) shows a small one.

12A and 12B show a robot gripping mechanism according to a sixth embodiment of the present invention, wherein FIG. 12A is a front view of the entire mechanism, FIG. 12B is a cross-sectional view taken along the line BB of FIG. FIG.

13A and 13B show a robot gripping mechanism and a rail to be gripped according to a sixth embodiment of the present invention.
(C) shows a procedure for gripping the rail.

14A and 14B show a robot gripping mechanism and a rail to be gripped according to a seventh embodiment of the present invention.
(C) shows a procedure for gripping the rail.

15A and 15B show a robot gripping mechanism according to an eighth embodiment of the present invention, wherein FIG. 15A is a side view of the entire mechanism, FIG. 15B is a view taken along the line DD in FIG. It is EE sectional drawing in b).

FIG. 16 shows a robot gripping mechanism according to a ninth embodiment of the present invention, wherein (a) is a front view, and (b), (c),
(D) and (e) are FF sectional views in (a),
(B) and (c) show circular cross sections, and (d) and (e) show square cross sections.

FIG. 17 shows a detailed structure of a robot gripping mechanism according to a ninth embodiment of the present invention, where (a) is a cross-sectional view of a rotating mechanism,
(B) is GG sectional drawing of (a), (c) is HH sectional drawing.

FIGS. 18A and 18B show a motor control system according to a ninth embodiment of the present invention, in which FIG. 18A is a layout diagram of a motor, and FIG.

FIG. 19 is a diagram showing a procedure of a gripping mechanism according to a ninth embodiment of the present invention, and (a), (b), and (c) are diagrams showing respective steps.

FIG. 20 is a diagram showing a motor arrangement of a robot gripping mechanism according to a tenth embodiment of the present invention.

FIG. 21 is a perspective view showing a structure inside a manned module ship of the space station.

[Explanation of symbols]

20, 40 Grasping mechanism 21a, 21b Tip finger 22a, 22b Finger 23a, 23b Finger 24 Base 25a, 25b, 26a, 26b, 27a, 27b Surface material 30 Screw 50 Curved surface 60, 61 Mounting part 62 Connection flange 63 Mating groove 64, 65 Fixing material 66 Bearing 70 Motor 71 Motor shaft 72 Engagement section 80 Motor drive circuit 81 Input device 103a, 103b, 103c Handrail

Claims (20)

[Claims] 1. A method for gripping a robot hand comprising a plurality of hands arranged to face each other and gripping an object to be gripped, each of said hands being formed by connecting a plurality of finger portions in a bendable manner. Even when the object to be gripped is brought into contact with the inside of one hand in a state where the tip of the hand is widened, the surface inside the finger portion of the one hand that is in contact is moved in parallel in a direction orthogonal to the center axis of the hand. By moving the object to be gripped in the orthogonal direction with the posture as it is, the center of the object to be gripped is located substantially on the center line of the hand; A gripping method by a robot hand, wherein the gripping object is gripped by being sandwiched. 2. The object to be grasped is a handrail,
2. The gripping method according to claim 1, wherein a cross section of the handrail has an elliptical curved surface, and the hand contacts the elliptical curved surface of the handrail. 3. The object to be gripped is a handrail,
2. The gripping method according to claim 1, wherein a cross section of the handrail is circular. 4. The object to be grasped is a handrail,
2. The gripping method according to claim 1, wherein a cross section of the handrail is square. 5. The object to be grasped is a handrail,
The cross section of the handrail has an elliptical curved surface, and the upper or lower end of the elliptical curved surface, or both the upper and lower ends have notches, and the hand comes into contact with the elliptical curved surface of the handrail. The gripping method using a robot hand according to claim 1. 6. The object to be grasped is a handrail,
The cross section of the handrail has a circular curved surface, and has a notch at the upper end or lower end of the circular curved surface, or at both the upper end and the lower end, and the hand comes into contact with the circular curved surface of the handrail. The gripping method using a robot hand according to claim 1. 7. A robot gripping mechanism comprising a plurality of hands arranged to face each other and gripping an object to be gripped, said hands being formed by connecting a plurality of fingers in a bendable manner. A robot gripping mechanism, wherein opposing inner surfaces of the robot are cut out so as to form a smooth curved surface. 8. Inside the finger part on the base side of the finger part,
The robot gripping mechanism according to claim 7, wherein a straight plane is formed without providing the curved surface. 9. The robot gripping mechanism according to claim 7, wherein a cross section of the finger portion has a quadrangular shape. 10. The robot gripping mechanism according to claim 7, wherein a cross-sectional shape of the finger portion is circular. 11. A robot gripping mechanism, comprising: a plurality of grippers disposed to face each other and gripping a gripping object, wherein each gripper is configured by connecting a plurality of fingers in a bendable manner. A surface material is attached to the inside of each finger, and the coefficient of friction of the surface material is greater at the tip of the finger than at the base of the finger, and at the other fingers the friction of the base of the finger is higher. A robot gripping mechanism characterized by being smaller than a coefficient. 12. The robot gripping mechanism according to claim 11, wherein each surface material is detachably attached inside each finger portion. 13. A gripping object gripped by the robot gripping mechanism according to claim 11 or 12, wherein a cross section of the handrail has an elliptical curved surface, an upper or lower end of the elliptical curved surface, or upper and lower ends. A grip target rail having a notch. 14. A gripping target rail, wherein the gripping target gripped by the robot gripping mechanism according to claim 11 or 12 is a handrail, and a cross section of the handrail is quadrangular. 15. A robot gripping mechanism comprising a plurality of grippers disposed opposite to each other and gripping an object to be gripped, wherein each gripper is configured by connecting a plurality of fingers in a bendable manner. On the peripheral surface of the finger portion, a plurality of surface materials each having a different material are circumferentially divided and attached so as to cover the entire periphery, and each of the finger portions is provided with a drive mechanism for rotating each finger portion around an axis. A robot gripping mechanism, wherein each of the driving mechanisms rotates the finger so that a predetermined surface material of the finger can be selected and arranged inside the gripping part. 16. A robot gripping mechanism comprising a plurality of grippers disposed to face each other and gripping a gripping object, wherein each gripper is configured by connecting a plurality of fingers in a bendable manner. On the peripheral surface of the finger portion, a plurality of surface materials each having a different material are circumferentially divided and attached so as to cover the entire periphery, and the same finger portion is pivoted only to the finger portion connected to the base side of each of the finger portions. It is equipped with a drive mechanism to rotate to the center,
By driving the driving mechanism, the other finger connected to the finger together with the finger on the base side is simultaneously rotated to select a predetermined surface material and to be capable of being arranged inside the grip. Robot gripping mechanism. 17. The robot gripping mechanism according to claim 15, wherein a cross-sectional shape of each of the finger portions is circular or elliptical. 18. The robot gripping mechanism according to claim 15, wherein a cross-sectional shape of each of the finger portions is a quadrangular shape. 19. The robot gripping mechanism according to claim 15, wherein a cross-sectional shape of each of the plurality of finger portions is a combination of a square shape, a circular shape, and an elliptical shape. 20. The robot according to claim 15, wherein the driving mechanism selects a required finger from the respective fingers, and drives only the driving mechanism corresponding to the selected finger. Gripping mechanism.