JP2007125624A - Hand device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a hand device capable of varying the direction and position of a holding mechanism with high accuracy without moving an arm. <P>SOLUTION: The drive of each first ultrasonic motor 44 and each second ultrasonic motor 45 of a multi-shaft mechanism 7 is controlled to move the holding mechanism 5 along the flat surface 41a of a base 41 of the multi-shaft mechanism 7, move the holding mechanism 5 in rotation along the curved surface 41b of the base 41, or turn the holding mechanism 5 around its own axis on the curved surface 41b of the base 41. Thus, even if the holding mechanism 5 cannot be positioned with favorable accuracy by the bending and stretching action of the arm 6, the holding mechanism 5 is precision-moved by the multi-shaft mechanism 7 or the direction is varied to achieve high-accuracy positioning. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention relates to a hand device that assembles a product or the like by gripping or moving a component or the like.

  There exists a thing of patent document 1 as this kind of conventional apparatus. Here, a gripping mechanism portion is provided at the tip of an arm portion having a plurality of joints, and each joint of the arm portion is driven to rotate by an appropriate amount while each part of the arm portion is gripped by the gripping mechanism portion, and each joint is rotated. In combination, the parts and the like held by the holding mechanism are rotated or moved linearly.

  At this time, in order to move the gripping mechanism unit from the current position to the desired position, the current posture of the arm unit at the current position of the gripping mechanism unit is obtained, and this current posture is moved to the desired position. The rotation angle of each joint of the arm portion necessary for changing to the posture of the arm portion is obtained, and each joint is rotated by the respective rotation angle, and the gripping mechanism portion is moved to a desired position. Various methods for calculating the rotation angle of such a joint have already been proposed.

In addition, the connection part between the arm part and the gripping mechanism part is provided with compliance by an elastic mechanism, and the elastic mechanism is displaced by a reaction force received by the gripping mechanism part at the time of work. The positions and postures of the other members are matched.
JP 2004-223680 A

  However, when the arm mechanism moves the gripping mechanism to a desired position, the accumulated rotation angle error of each joint of the arm becomes the position error of the gripping mechanism at the tip of the arm. It was difficult to position with high accuracy.

  In addition, when assembling the members, the arm unit is also moved when the gripping mechanism unit is finely moved. Therefore, in a narrow space, the arm unit interferes with surrounding equipment and components, making it difficult to move the components. Or parts were damaged.

  Furthermore, in order to match the positions and postures of the members by compliance between the arm portion and the gripping mechanism portion, contact between the members is a prerequisite, and there is a risk of damaging the members, products, and the like during assembly.

  In order to avoid this, it is necessary to detect misalignment between members. However, it is not possible to detect misalignment between members unless it is close to the member, and in order to mount a device for detecting this misalignment on the gripping mechanism unit, the gripping mechanism unit must be downsized. It was.

  Therefore, the present invention has been made in view of the above-described conventional problems, and the orientation and position of the gripping mechanism can be changed with high accuracy without moving the arm, and the size can be reduced. Thus, an object of the present invention is to provide a hand device that can be mounted with a device that detects misalignment between members.

  In order to solve the above-described problem, an arm unit, a gripping mechanism unit that grips a member, and a multi-axis mechanism unit that connects the gripping mechanism unit to a tip of the arm unit, and the gripping by the multi-axis mechanism unit In the hand device that changes the orientation and position of the mechanism unit, the multi-axis mechanism unit is interposed between the tip of the arm unit and the gripping mechanism unit, and the gripping mechanism unit is arranged along a plane and a curved surface set between the two. A first ultrasonic motor that slides the base portion and the gripping mechanism portion along one of the plane and the curved surface with respect to the tip of the arm portion, and the gripping portion with respect to the base portion. A second ultrasonic motor that slides the mechanism along the other of the flat surface and the curved surface.

  According to the present invention as described above, the multi-axis mechanism portion supports the gripping mechanism portion slidably along a plane and a curved surface set between the tip of the arm portion and the gripping mechanism portion, and the first and second The gripping mechanism is slid along a plane and a curved surface by an ultrasonic motor to change the orientation and position of the gripping mechanism. Therefore, the gripping mechanism can be positioned with high accuracy by moving the gripping mechanism by the multi-axis mechanism without moving the arm and without interfering with the surrounding equipment or parts. .

  Moreover, since it is the structure which slides a holding | grip mechanism part along a plane and a curved surface with a 1st and 2nd ultrasonic motor, compared with the other structure which combined the several joint, size reduction is easy, and members are mutually. It is possible to mount a device for detecting misalignment or the like on the gripping mechanism.

  For example, the first and second ultrasonic motors include a vibrator and a vibrator that is vibrated by the vibrator and abuts on one of the plane and the curved surface. The vibrator is a piezoelectric element or a polymer actuator.

  Such an ultrasonic motor is suitable for the hand device of the present invention because it can be easily downsized.

  Further, in the present invention, a plurality of lines are drawn on the plane and the curved surface, and a sensor for detecting the line drawn on the plane and the curved surface is provided at a position that slides along the plane and the curved surface. Yes.

  If a line drawn on a flat surface and a curved surface is detected by such a sensor, the movement of the line seen from a portion sliding along the flat surface and the curved surface can be detected. It is possible to detect the sliding amount and direction of the part.

  Furthermore, in the present invention, position detecting means for detecting the relative position or orientation of two members, and the multi-axis mechanism section based on the relative position or orientation of each member detected by the position detecting means. And a control means for controlling the orientation and position of the gripping mechanism section by driving and controlling the first and second ultrasonic motors. The gripping mechanism section grips one of the members, and the control means The first and second ultrasonic motors of the multi-axis mechanism unit are controlled to control the orientation and position of the gripping mechanism unit, thereby aligning the members.

  Thereby, the position and attitude | position of the member hold | gripped by the holding | grip mechanism part and other members can be made to correspond.

  For example, the position detecting means irradiates two slit members with respective slit lights, and projects the slit lights across the members, and the slit light projection means emits the slit lights. Slit light driving means for moving or vibrating each slit light, image pickup means for picking up a projected light image of each slit light projected on each member, and each slit imaged by the image pickup means Arithmetic means for obtaining a relative position or posture of each member based on a projected light image of light.

  Thereby, the relative position or attitude | position of two members can be correctly calculated | required by non-contact, and the assembly operation | work of members is not inhibited.

  Such a hand device of the present invention moves the gripping mechanism part by the multi-axis mechanism part without moving the arm part, without interfering with the surrounding equipment or parts, etc. Positioning can be performed with high accuracy. Moreover, since it is the structure which slides a holding | grip mechanism part along a plane and a curved surface with a 1st and 2nd ultrasonic motor, compared with the other structure which combined the several joint, size reduction is easy, and members are mutually. It is possible to mount a device for detecting misalignment or the like on the gripping mechanism.

  Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings.

  FIG. 1 is a side view showing an embodiment of the hand device of the present invention. The hand device 1 of the present embodiment includes an arm unit 6 provided on the base 2, a gripping mechanism unit 5 that grips a member, and a multi-axis mechanism unit 7 that connects the tip of the arm unit 6 and the gripping mechanism unit 5. I have.

  The arm unit 6 includes three joints 3a, 3b, and 3c, respective drive sources 4a, 4b, and 4c that rotationally drive the joints 3a, 3b, and 3c, and two link rods 8a and 8b. One end of the link bar 8a is connected to the multi-axis mechanism 7 via the joint 3a, the other end of the link bar 8a is connected to one end of the link bar 8b via the joint 3b, and the other end of the link bar 8b is connected to the joint 3c. It is connected to the base 2 via. When the joints 3a, 3b, and 3c are rotationally driven by the drive sources 4a, 4b, and 4c, the arm portion 6 is bent and stretched, and the gripping mechanism portion 5 on the distal end side of the arm portion 6 is rotated or linearly moved.

  The drive sources 4a, 4b, and 4c are, for example, electric motors, and the output shafts of the electric motors are directly connected to the rotation shafts of the joint portions 3a, 3b, and 3c or connected via reduction gears. The driving force of the motor is transmitted to each joint part 3a, 3b, 3c, and each joint part 3a, 3b, 3c rotates. As a reduction gear, there are a gear unit combining a plurality of gears, a harmonic drive, and the like.

  Note that the number of joints of the arm unit 6 may be increased or decreased, or a joint for turning the entire arm unit 6 may be provided. Depending on the application of the hand device 1 and the work space of the gripping mechanism section 5, it is necessary to appropriately change and set the number of joint sections and the number and length of link bars.

  The gripping mechanism portion 5 is provided with two fingers 9a and 9b on the main body portion 5a. The fingers 9a and 9b are supported by the main body 5a so as to be movable in the X direction, and are moved so as to approach and separate from each other by an electric motor built in the main body 5a. For example, the rotation of the output shaft of the electric motor is converted into a linear motion by a combination of a rack gear and a pinion gear and transmitted to the fingers 9a and 9b, and the fingers 9a and 9b are moved in the X direction.

  The multi-axis mechanism unit 7 changes the orientation and position of the gripping mechanism unit 5. As shown in FIG. 2, the multi-axis mechanism unit 7 includes a connecting part 40 connected to the joint 3 a of the arm part 6, and a base part 41 interposed between the connecting part 40 and the main body part 5 a of the gripping mechanism part 5. A first support mechanism 42 that movably supports the base portion 41 with respect to the connecting portion 40, a second support mechanism 43 that movably supports the main body portion 5a of the gripping mechanism portion 5 with respect to the base portion 41, The first ultrasonic motor 44 fixed to the end surface 40 a of the connecting portion 40 and abutting the flat surface 41 a of the base portion 41 and the end surface 5 b of the main body portion 5 a of the gripping mechanism portion 5 are fixed to the base portion 41. There are three second ultrasonic motors 45 in contact with the curved surface 41b.

  For example, as shown in FIGS. 2 and 3, the first support mechanism 42 includes two L-shaped stays 46 projecting near the edge of the flat surface 41a of the base portion 41, and the vicinity of the edge of the end surface 40a of the connecting portion 40. And two guide members 47 fixed to each other. The flat plate end portion 46 a of each L-shaped stay 46 abuts on the flat end surface 40 a of the connecting portion 40 and is inserted into the guide hole 47 a of each guide member 47. Thereby, the base part 41 is supported with respect to the connection part 40 so that a movement to an XZ direction is possible. That is, the base portion 41 is supported so as to be movable along the flat surface 41 a of the base portion 41. In addition, each first ultrasonic motor 44 is pressed against the flat surface 41 a of the base portion 41.

  For example, as shown in FIGS. 2 and 4, the second support mechanism 43 fixes and connects one end of three elastic arms 48 to the vicinity of the edge of the curved surface 41 b of the base portion 41, and holds the other end of each elastic arm 48. The mechanism 5 is fixedly connected to the edge of the end surface 5b of the main body 5a. Thereby, the main body portion 5a of the gripping mechanism portion 5 is supported so as to be movable along the curved surface 41b of the base portion 41, and the state where each second ultrasonic motor 45 is pressed against the curved surface 41b of the base portion 41 is maintained. The

  Note that, instead of the first support mechanism 42, the base portion 41 is supported so as to be movable in the XZ direction with respect to the connecting portion 40 by a mechanism similar to the second support mechanism 43, and each flat surface 41 a of the base portion 41 is supported by each One ultrasonic motor 44 may be pressed.

  Further, instead of the first support mechanism 42, the first ultrasonic motor 44 or the connecting portion 40 is attracted to or magnetically attracted to the flat surface 41 a of the base portion 41, and the base portion 41 is connected to the connecting portion 40. Alternatively, a mechanism that supports the movement in the XZ direction may be applied. Similarly, instead of the second support mechanism 43, the second ultrasonic motor 45 or the main body portion 5 a of the gripping mechanism portion 5 is attracted to the curved surface 41 b of the base portion 41 or is magnetically attracted and gripped. You may apply the mechanism which supports the main-body part 5a of the mechanism part 5 along the curved surface 41b of the base part 41 so that a movement is possible. In the case of adsorption, each ultrasonic motor needs to slide easily along the flat surface 41a and the curved surface of the base portion 41. In the case of magnetic attraction, the base portion 41 and each ultrasonic motor need to be magnetic.

  Each of the first ultrasonic motors 44 and each of the two ultrasonic motors 45 includes a substrate 19 and a plurality of vibrators 20a, 20b, 21a, 21b, 22a, 22b stacked on the substrate 19, as shown in FIG. And a vibrator 23 fixed on the surface of the vibrator 22b.

  Each vibrating body 20a, 20b, 21a, 21b, 22a, 22b is, for example, a piezoelectric element, and vibrates in a direction indicated by an arrow or the like. The vibrating bodies 20a and 20b vibrate in the left-right direction, the vibrating bodies 21a and 21b vibrate in the vertical direction, and the vibrating bodies 22a and 22b vibrate in the front-rear direction.

  By arbitrarily vibrating these vibrating bodies, the tip of the vibrator 23 can be elliptically moved along an elliptical locus 24 as shown in FIG. In this case, the surface of the base portion 41 that is in contact with the tip of the vibrator 23 receives a frictional force (propulsive force) in the direction of arrow A, and the base portion 41 is relative to the vibrator 23 in the direction of arrow A. Move on.

  By controlling the vibration amplitude of each of these vibrating bodies, the direction of the short axis of the elliptical locus 24 can be changed, whereby the frictional force (the surface of the base portion 41 contacting the tip of the vibrator 23) ( The direction of movement of the base portion 41 can be changed by changing the direction of the propulsive force.

  Therefore, if the applied voltage of each vibrating body of each first ultrasonic motor 44 is controlled and the vibration amplitude is controlled, the flat surface 41a of the base portion 41 in contact with each first ultrasonic motor 44 is changed to each first ultrasonic motor 44. It moves relative to the vibrator of one ultrasonic motor 44, and its moving direction can be changed.

  Similarly, by controlling the voltage applied to each vibrating body of each second ultrasonic motor 45 and controlling the respective vibration amplitudes, the curved surface 41b of the base portion 41 in contact with each second ultrasonic motor 44 is changed to each. It moves relative to the vibrator of the second ultrasonic motor 45, and its moving direction can be changed.

  The vibrators 20a, 20b, 21a, 21b, 22a, and 22b are not limited to the stacking order as shown in FIG. 5, and may be stacked in other stacking orders. For example, the stacking order of the vibrators may be changed depending on factors such as the wiring of each vibrator and the production method.

  In addition, the vibration direction (vibration axis) of each vibrating body is orthogonal to each other, but it is not necessarily orthogonal, and the crossing angle of the vibration direction of each vibrating body is changed to increase the propulsive force in any direction. It doesn't matter.

  Furthermore, although the piezoelectric element is illustrated as a vibrating body, it is not limited to this, You may use another vibrating element. For example, a polymer actuator can be applied as the vibrating body. This polymer actuator is obtained by sandwiching a polymer material (also called dielectric elastomer, electrostrictive polymer, etc.) 26 between two electrodes 27 as shown in FIG. When a voltage is applied between the electrodes 27 as shown in b), the polymer material extends in the direction of arrow B. When a voltage is periodically applied between the electrodes 27, the polymer actuator repeatedly vibrates and vibrates, so that it can be applied as a vibrating body. This polymer actuator is voltage control in which a voltage is applied between the electrodes 27, and has advantages such as low current consumption and very little heat generation.

  FIG. 8 is a plan view showing the arrangement positions of the first ultrasonic motors 44 and the second ultrasonic motors 45. Each of the first ultrasonic motors 44 and the second ultrasonic motors 45 is arranged at each vertex of an equilateral triangle on the end surface 40 a of the connecting portion 40 or the end surface 5 b of the main body portion 5 a of the gripping mechanism portion 5. The vibrator 23 of each first ultrasonic motor 44 is in contact with each vertex of the equilateral triangle on the flat surface 41a of the base portion 41, and stably positions the flat surface 41a of the base portion 41. Similarly, the vibrator 23 of each second ultrasonic motor 45 is in contact with each vertex of the regular triangle on the curved surface 41b of the base portion 41, and stably positions the curved surface 41b of the base portion 41.

  Note that the number and arrangement position of each of the first ultrasonic motors 44 and each of the second ultrasonic motors 45 are not limited, and the required propulsive force and the propulsion direction are taken into consideration. The number may be increased or the arrangement position may be changed.

  Here, the base portion 41 is supported by the first support mechanism 42 so as to be movable in the XZ direction (movable along the flat surface 41a of the base portion 41). Further, the base portion 41 has a flat surface 41 a that is in contact with the vibrator 23 of each first ultrasonic motor 44 and is moved by the vibration of the vibrator 23 of each first ultrasonic motor 44, and changes its moving direction. Is done. Therefore, as shown in FIGS. 9A and 9B, the base portion 41 can be moved in any direction on the XZ plane by controlling the vibration of the vibrator 23 of each first ultrasonic motor 44. Accordingly, the gripping mechanism 5 connected to the base 41 is also moved in the same direction.

  Further, the main body portion 5 a of the gripping mechanism portion 5 is supported by the second support mechanism 43 so as to be movable along the curved surface 41 b of the base portion 41. Further, the curved surface 41b of the base portion 41 is in contact with the vibrator 23 of each second ultrasonic motor 45, and is moved by the vibration of the vibrator 23 of each second ultrasonic motor 45 to change the moving direction thereof. Is done. Therefore, as shown in FIGS. 10A and 10B, the body portion 5 a of the gripping mechanism portion 5 is moved along the curved surface 41 b of the base portion 41 by controlling the vibration of the vibrator 23 of each second ultrasonic motor 45. Can be moved in any direction. At this time, since the main body portion 5a of the gripping mechanism portion 5 moves along the curved surface 41b of the base portion 41, the gripping mechanism portion 5 rotates around the curved surface 41b, and the orientation of the gripping mechanism portion 5 changes.

  Furthermore, as shown in FIG. 11, if the vibration direction of the vibrator 23 of each second ultrasonic motor 45 is set in the tangential direction of a circle centering on the axis in the Y direction, the main body 5a of the gripping mechanism 5 is It rotates around the axis in the Y direction and changes its direction so that the gripping mechanism 5 rotates on the curved surface 41b of the base 41.

  Therefore, in the hand device 1 of the present embodiment, the joints 3a to 3c of the arm unit 6 are rotated to bend and extend the arm unit 6, thereby moving the gripping mechanism unit 5 on the distal end side of the arm unit 6 and its orientation. The first ultrasonic motor 44 and the second ultrasonic motor 45 of the multi-axis mechanism unit 7 are driven and controlled so that the gripping mechanism unit 5 can be changed to the base of the multi-axis mechanism unit 7. It is possible to move along the flat surface 41 a of the portion 41, rotate the gripping mechanism portion 5 along the curved surface 41 b of the base portion 41, or rotate the gripping mechanism portion 5 on the curved surface 41 b of the base portion 41. it can. For this reason, even if the gripping mechanism 5 cannot be positioned with high accuracy by the bending / extending operation of the arm 6, the gripping mechanism 5 is moved or changed its direction by the multi-axis mechanism 7. Positioning with high accuracy.

  In practice, the arm mechanism 6 moves the gripping mechanism section 5 greatly or changes its orientation to roughly position the member gripped by the gripping mechanism section 5 and subsequently the multi-axis mechanism section 7 to grip the gripping mechanism. The member 5 is moved with a fine movement or the direction thereof is changed to position the member held by the holding mechanism unit 5 with high accuracy. For this reason, the movement amount and rotation amount of the gripping mechanism unit 5 by the multi-axis mechanism unit 7 may be small.

  In addition, when the arm portion 6 is likely to interfere with surrounding devices or parts, the gripping mechanism portion 5 can be moved or changed in direction by the multi-axis mechanism portion 7. The interference of the arm portion 6 can be prevented in advance.

  In addition, since the basic configuration of the multi-axis mechanism unit 7 is simple, the ultrasonic motor is small, and no transmission mechanism or reduction mechanism for driving force is required unlike the electric motor, so the gripping mechanism unit 5 is downsized. can do.

  The curved surface 41b of the base portion 41 can be set to a spherical surface, an elliptical surface, another type of curved surface, or the like. Further, if the curvature of the curved surface 41b is changed (for example, if the radius of the spherical surface is changed), the change amount (rotation angle amount) of the orientation of the gripping mechanism portion 5 relative to the slide amount of the curved surface 41b of the base portion 41 can be changed. it can. For example, if the curvature of the curved surface 41b is increased (for example, if the radius of the spherical surface is decreased), the rotation angle amount of the gripping mechanism portion 5 with respect to the sliding amount of the curved surface 41b of the base portion 41 increases, and conversely the curvature of the curved surface 41b is increased. If it is made smaller (for example, if the radius of the spherical surface is made larger), the rotation angle amount of the gripping mechanism portion 5 relative to the slide amount of the curved surface 41b of the base portion 41 becomes smaller.

  Further, instead of making both surfaces of the base portion 41 flat and curved, the end surface 40a of the connecting portion 40 is made flat, or the end surface 5b of the main body portion 5a of the gripping mechanism portion 5 is curved, One ultrasonic motor 44 and each second ultrasonic motor 45 are provided, and each first ultrasonic motor 44 and each second ultrasonic motor 45 on the base 41 side is connected to the end surface 40a of the connecting portion 40 and the main body of the gripping mechanism portion 5. It may be configured to abut on the end surface 5b of the portion 5a. Also in this case, the gripping mechanism 5 can be moved along a plane and a curved surface.

  By the way, in order to accurately move the gripping mechanism unit 5 and change its direction by the multi-axis mechanism unit 7, it is necessary to detect the movement amount and the change of the direction (rotation angle amount).

  Therefore, in the hand device 1 of the present embodiment, a plurality of concentric circles LA are drawn at equal intervals around the center O of the curved surface 41b of the base portion 41 of the multi-axis mechanism portion 7 as shown in FIG. A plurality of radial straight lines LB are drawn from the center O of the portion 41 at regular angular intervals.

  Further, two optical sensors S1 and S2 for detecting each circle LA and each straight line LB of the curved surface 41b are provided at two locations on the end surface 5b of the main body 5a of the gripping mechanism 5. The positions of the optical sensors S1 and S2 are provided symmetrically with respect to the center O when the center O of the curved surface 41b of the base portion 41 and the center of the end surface 5b of the body portion 5a of the gripping mechanism portion 5 overlap. However, if they are provided asymmetrically with respect to the center O, the circles LA and the straight lines LB are alternately detected by the optical sensors S1 and S2, so that the detection sensitivity of the circles LA and the straight lines LB is improved.

  When the gripping mechanism section 5 is rotated and moved along the curved surface 41b of the base section 41, or when the gripping mechanism section 5 is rotated on the curved surface 41b of the base section 41, each optical sensor S1 of the main body section 5a of the gripping mechanism section 5; S2 moves relative to the curved surface 41b of the base portion 41 or rotates. At this time, if the number of circles LA and the number of straight lines LB detected by the optical sensors S1 and S2 of the main body 5a of the gripping mechanism unit 5 are counted, that is, the circles that have passed through the detection areas of the optical sensors S1 and S2. By counting the number of LA and the number of straight lines LB, the rotational movement amount corresponding to the count value of the circle LA and the rotational angle corresponding to the count value of the straight line LB can be obtained. It can be obtained as the rotational movement amount or rotation angle of the gripping mechanism portion 5 relative to the base portion 41.

  Similarly, a grid line in the XZ direction is drawn on the flat surface 41 a of the base part 41 of the multi-axis mechanism unit 7, and two optical sensors for detecting this grid line are provided on the end face 40 a of the connecting part 40. When the gripping mechanism unit 5 is moved along the plane 41a of the base unit 41, the number of grid lines that pass through the detection area of each optical sensor in the XY direction is counted, and each count value that passes in the XY direction is counted. If the movement amount in the XY direction to be obtained is obtained, this can be obtained as the movement amount in the XY direction of the gripping mechanism unit 5.

  An optical sensor includes, for example, a combination of an LED and a photodetector. The surface of the base portion 41 is illuminated by the LED, and the reflected light from the surface of the base portion 41 is detected by the photodetector. The intensity of the reflected light from the surface of the base portion 41 is different between the portion where the line is drawn on the surface of the base portion 41 and other portions, and the line drawn on the surface of the base portion 41 passes through the detection area of the photodetector. Each time the detection output level of the photodetector changes, the number of lines passing through the detection area of the photodetector can be counted based on the change in the detection output level of the photodetector. Further, if the photodetector is divided into four and the boundary of the line is detected by this photodetector, the position can be detected with higher sensitivity.

  Furthermore, if a CCD camera is used as the optical sensor, a line drawn on the surface of the base portion 41 can be detected with high accuracy. Further, a line drawn on the surface of the base portion 41 can be detected by only one CCD camera.

  Further, if the intervals between the circles LA and the straight lines LB of the curved surface 41b of the base portion 41 and the grid lines of the plane 41a are narrowed, the sensitivity of position detection is improved. If the sense of these lines is widened, the sensitivity of position detection is increased. descend.

  Further, instead of drawing a line on the surface of the base portion 41, if the reflectance is different at each part of the surface of the base portion 41, the movement of the gripping mechanism portion 5 based on the change in the detection output level of the optical sensor. The amount, rotation angle, etc. can be detected. For example, the roughness of the surface is changed at each part of the surface of the base portion 41, and the reflectance of light at each part is made different.

  On the other hand, since the multi-axis mechanism 7 can be miniaturized in the hand device 1 of the present embodiment, the alignment device 30 can be mounted on the connecting portion 40 of the multi-axis mechanism unit 7 as shown in FIG. . The alignment device 30 includes a slit light projector 30a that emits slit light St, and an imaging device 30b that captures a projected light image of the slit light St. The slit light St emitted from the slit light projector 30a is applied to the member 31 and the other member 32 held by the holding mechanism 5, and 2 of the slit light St is applied to the side surfaces of the members 31 and 32. Two projected light images st1 and st2 are projected. The imaging device 30b images the projected light images st1 and st2 projected on the side surfaces of the members 31 and 32, and outputs the imaging screen to the arithmetic control device 33 such as a microcomputer. The arithmetic and control unit 33 grasps the relative positions of the members 31 and 32 based on the projected light images s1 and s2 on the imaging screen, and moves the members 31 necessary for assembling the members 31 and 32. The first ultrasonic motor 44 and the second ultrasonic motor 45 of the multi-axis mechanism unit 7 are driven and controlled while the amount is obtained and the position of the gripping mechanism unit 5 is detected based on the detection outputs of the sensors S1 and S2. Then, the member 31 held by the holding mechanism unit 5 is moved by the moving amount and combined with the other member 32.

  Specifically, the amount of movement necessary for grasping the position of one end of each of the projection light images s1 and s2 facing each other and bringing one end of each of the projection light images s1 and s2 closer to each other and joining them linearly. The member 31 is moved by the amount of movement and combined with the other member 32. When the members 31 and 32 are combined, one ends of the projection light images s1 and s2 are joined linearly.

  Further, the projection light images st1 and st2 when the positional relationship between the members 31 and 32 are completely matched are obtained and stored in advance, and the stored projection light images st1 and st2 and the imaging screen are stored. The positional deviations of the members 31 and 32 are detected by comparing the projected light images st1 and st2 above.

  In FIG. 13, only one alignment device 30 is installed, but two or more alignment devices 30 are installed in the connecting portion 40 of the multi-axis mechanism unit 7, and a plurality of locations of the members 31 and 32 are arranged. You may make it align. In this case, while grasping the positions of the vertical and horizontal side surfaces of the members 31 and 32, the vertical and horizontal alignment of the members 31 and 32 can be performed by moving the gripping mechanism unit 5 by the multi-axis mechanism unit 7. it can.

  Further, although a method using slit light has been proposed as an alignment detection device, the present invention is not limited to this. Various alignment detection devices can be applied, but the alignment detection device is not installed separately from the hand device so as to be able to deal with a complicated shape mechanism, but is as close as possible to the gripping mechanism 5 It is better to install in the position.

It is a side view which shows one Embodiment of the hand apparatus of this invention. It is a side view which shows the multi-axis mechanism part and the holding | grip mechanism part in the hand apparatus of FIG. It is a perspective view which shows the 1st support mechanism in the multi-axis mechanism part of FIG. It is a perspective view which shows the 2nd support mechanism in the multi-axis mechanism part of FIG. It is a side view which shows the ultrasonic motor in the multi-axis mechanism part of FIG. It is the side view used in order to demonstrate the drive by the ultrasonic motor in the multi-axis mechanism part of FIG. (A) And (b) is a perspective view which shows the polymer actuator which can be applied to the ultrasonic motor in the multi-axis mechanism part of FIG. It is a top view which shows the arrangement position of each ultrasonic motor in the multi-axis mechanism part of FIG. (A) And (b) is a side view which shows the movement of the holding | grip mechanism part along the plane of the base part in the multi-axis mechanism part of FIG. (A) And (b) is a side view which shows the movement of the holding | grip mechanism part along the curved surface of the base part in the multi-axis mechanism part of FIG. It is a top view which shows rotation of the holding | grip mechanism part on the curved surface of the base part in the multi-axis mechanism part of FIG. FIG. 3 is a plan view showing a plurality of circles and straight lines drawn on a curved surface of a base portion in the multi-axis mechanism portion of FIG. 2. It is a perspective view which shows the alignment apparatus mounted in the connection part in the multi-axis mechanism part of FIG.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Hand apparatus 2 Base 3a, 3b, 3c Joint 4a, 4b, 4c Drive source 5 Grasp mechanism part 6 Arm part 7 Multi-axis mechanism part 8a, 8b Link rod 9a, 9b Finger 19 Substrate 20a, 20b, 21a, 21b, 22a 22b Vibrating body 23 Vibrator 30 Positioning device 33 Arithmetic control device 40 Connecting portion 41 Base portion 42 First support mechanism 43 Second support mechanism 44 First ultrasonic motor 45 Second ultrasonic motor S1, S2 Sensor

Claims (7)

An arm unit, a gripping mechanism unit that grips a member, and a multi-axis mechanism unit that connects the gripping mechanism unit to a tip of the arm unit, and the orientation and position of the gripping mechanism unit are changed by the multi-axis mechanism unit. In the hand device,
The multi-axis mechanism is
A base portion interposed between the tip of the arm portion and the gripping mechanism portion, and slidably supporting the gripping mechanism portion along a plane and a curved surface set between the two;
A first ultrasonic motor that slides the base portion and the gripping mechanism portion with respect to the tip of the arm portion along one of the plane and the curved surface;
A hand device comprising: a second ultrasonic motor that slides the gripping mechanism portion with respect to the base portion along the other of the flat surface and the curved surface.   2. The hand device according to claim 1, wherein the first and second ultrasonic motors include a vibrator and a vibrating body that is vibrated by the vibrator and abuts on one of the flat surface and the curved surface.   The hand device according to claim 2, wherein the vibrator is a piezoelectric element.   The hand device according to claim 2, wherein the vibrator is a polymer actuator.   A plurality of lines are drawn on the plane and the curved surface, and a sensor for detecting the line drawn on the plane and the curved surface is provided at a portion that slides along the plane and the curved surface. The hand apparatus according to 1. Position detecting means for detecting the relative position or posture of the two members;
Based on the relative position or orientation of each member detected by the position detection means, the first and second ultrasonic motors of the multi-axis mechanism are driven and controlled to control the orientation and position of the gripping mechanism. Control means for
Gripping one of the members by the gripping mechanism, and controlling the first and second ultrasonic motors of the multi-axis mechanism by the control means to control the orientation and position of the gripping mechanism, The hand device according to claim 1, wherein each member is aligned. The position detecting means includes
A plurality of slit light projection means for irradiating the two members with respective slit lights and projecting these slit lights across the respective members;
Slit light driving means for moving or vibrating each slit light irradiated from each slit light projection means;
Imaging means for capturing a projected light image of each slit light projected on each member;
The hand device according to claim 6, further comprising: an arithmetic unit that obtains a relative position or posture of each member based on a projection light image of each slit light imaged by the imaging unit.

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