JP2010221358A - Finger with incorporated photographing device for robot hand - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To reduce cost by providing a finger with an incorporated photographing device for a robot hand for photographing a contact portion with an object without using a light emitting means. <P>SOLUTION: The finger with the incorporated photographing device for the robot hand includes an elastic outer skin 12 deforming by gripping the object 10, a finger body 11 supporting the elastic outer skin 12, and the photographing device 13 provided in the inner part of the finger body 11 and photographing a deformation state of the elastic outer skin 12. In the finger 101 with the incorporated photographing device for the robot hand, the finger body 11 includes light transmission parts 11, 12 introducing light into a photograph range F1 of the photographing device 13 from an outside. <P>COPYRIGHT: (C)2011,JPO&INPIT

Description

  The present invention relates to a finger for a robot hand, and more particularly to a built-in imaging device.

  When grasping an object with a robot hand, in order to perform an appropriate grasp with the robot hand, detection of the presence or absence of contact between a finger, which is a finger part of the robot hand, and detection of a contact position on the finger, etc. It is necessary to detect the contact state between the finger and the object. And the detection apparatus for detecting the contact state with a target object conventionally is proposed.

For example, Patent Document 1 describes a tactile sensor as a detection device. This tactile sensor has an elastic body at a contact portion with an object, and further, an image acquisition unit such as a CCD camera that acquires the state of the contact surface between the object and the elastic body as image information inside the tactile sensor. And a light emitting means such as an LED for illuminating the contact surface. The tactile sensor calculates the contact state (frictional force) between the object and the contact surface by analyzing the shape of the contact surface at the time of contact with the object.
Patent Document 2 describes an optical tactile sensor as a detection device. This optical tactile sensor has a hemispherical touch pad made of an elastic body having light permeability at the tip of the casing. The touch pad comes into contact with the object, and a grid pattern is provided on the surface thereof. Further, a CCD camera that captures an image of the grid pattern from the back of the touch pad and a ring-shaped illumination that illuminates the grid pattern are provided inside the casing. The optical tactile sensor calculates the contact state (frictional force) between the object and the touch pad from the behavior of the grid pattern captured by the CCD camera.

International Publication No. 2006/030570 JP 2005-257343 A

  However, in both the tactile sensor described in Patent Document 1 and the optical tactile sensor described in Patent Document 2, the light emitting means is provided inside the tactile sensor. In order to capture a clear image of the contact area between the elastic body and the touch pad with the object, the contact area is illuminated by the light emitting means. For this reason, when these tactile sensors are used for the fingers of the robot hand, there is a problem in that the cost increases due to the provision of the light emitting means inside thereof.

  The present invention was made to solve such problems, and by providing a finger with a built-in imaging device for a robot hand that can image a contact portion with an object without using a light emitting means. The purpose is to reduce the cost.

  A finger with a built-in imaging device for a robot hand according to the present invention images an elastic body that deforms by grasping an object, a support member that supports the elastic body, and a deformation state of the elastic body that is provided inside the support member. In the finger having a built-in image pickup device for a robot hand having the image pickup device to perform, the support member includes a light transmission portion that introduces light into the image pickup range of the image pickup device from the outside.

  As a result, the light collected from the outside to the inside of the support member through the light transmitting portion in the support member is irradiated to a portion corresponding to the imaging range of the imaging device in the support member, thereby imaging the support member and further the elastic body. A clear image of a part corresponding to the imaging range of the apparatus is captured by the imaging apparatus. Therefore, when the finger touches the object and the elastic body is deformed when the object is gripped, the deformation of the elastic body is recognized even from the image captured by the image pickup apparatus without using the light emitting means. Can do. That is, it is possible to recognize the contact state of the finger with the built-in imaging device for the robot hand with the object without providing the light emitting means.

A portion of the elastic body corresponding to at least the imaging range of the imaging device may have light transparency. Thereby, when an elastic body deform | transforms, the refractive index of the deformation | transformation site | part differs from another site | part. For this reason, in the image of the imaging device, the deformation of the elastic body can be recognized by the difference in luminance.
The support member and the elastic body may be made of a transparent member. As a result, external light includes light reflected from surrounding structures and the like so that the support member is irradiated from multiple directions. However, since the support member is transparent, the support member transmits light incident from multiple directions from the inside. It is possible to irradiate a portion corresponding to the imaging range of the imaging device in the elastic body. In addition, since the elastic body is transparent, a portion of the elastic body corresponding to the imaging range of the imaging device is irradiated by light that passes through the elastic body, and a clear image can be captured by the imaging device.

The part corresponding to the imaging range of the imaging device in the elastic body may have a lattice pattern. As a result, the deformation of the elastic body can be recognized by recognizing the deformation of the lattice pattern of the elastic body imaged by the imaging device, and the contact state of the fingers with the built-in imaging device for the robot hand is recognized. It becomes possible to do.
The support member may have a solid structure. Thereby, since a support member has a solid structure, it is easy to ensure rigidity.

  According to this invention, the finger with a built-in imaging device for a robot hand can image a contact part with an object without using a light emitting means, thereby reducing costs.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is an overall view of a robot hand including fingers with a built-in imaging device for a robot hand according to Embodiments 1 and 5 of the present invention. It is a cross-sectional side view which shows the structure of the imaging device built-in apparatus for robot hands which concerns on Embodiment 1 of FIG. It is a figure which shows the state of a contact surface with the target object of the imaging device built-in finger for robot hands of FIG. It is a cross-sectional side view which shows the structure of the imaging device built-in apparatus for robot hands which concerns on Embodiment 2 of this invention. It is a figure which shows the state of a contact surface with the target object of the imaging device built-in apparatus for robot hands of FIG. It is a cross-sectional side view which shows the structure of the imaging device built-in apparatus for robot hands which concerns on Embodiment 3 of this invention. It is a cross-sectional side view which shows the structure of the imaging device built-in apparatus for robot hands which concerns on Embodiment 4 of this invention. It is a cross-sectional side view which shows the structure of the imaging device built-in apparatus for robot hands which concerns on Embodiment 5 of FIG.

Embodiments of the present invention will be described below with reference to the accompanying drawings.
Embodiment 1 FIG.
1 and 2 show the configuration of a finger 101 with a built-in imaging device for a robot hand according to Embodiment 1 of the present invention.

First, referring to FIG. 1, a robot hand 1 is provided with a plurality of fingers 3 on a hand body 2. Each finger part 3 is comprised from the front end side by the 1st phalanx 3a and the 2nd phalanx 3b. Furthermore, the first phalange 3a and the second phalange 3b, and the second phalange 3b and the hand body 2 are connected via ultrasonic actuators 4a and 4b, respectively. The ultrasonic actuators 4 a and 4 b are electrically connected to the control unit 20 and are driven by the control of the control unit 20.
Then, by driving the ultrasonic actuators 4 a and 4 b under the control of the control unit 20, the first phalange 3 a and the second phalange 3 b with respect to the second phalange 3 b and the hand main body 2 have multiple degrees of freedom. Can be refracted. Thereby, the robot hand 1 grips an object not shown.
Each first phalanx 3a incorporates an imaging device (not shown), and the first phalanx 3a constitutes an imaging device built-in finger (hereinafter referred to as “finger”) 101 for the robot hand. .

Next, referring to FIG. 2, the finger 101 has a finger body 11 that is a support member. The finger body 11 has a cylindrical tube portion 11b and a hemispherical tip portion 11a formed at one end of the tube portion 11b, and the inside thereof is hollow. The tip portion 11a and the cylindrical portion 11b are all formed of a material having high light transmission and rigidity, such as a transparent resin.
Further, when the robot hand 1 (see FIG. 1) grips the object 10, the first phalanx 3a (see FIG. 1), that is, the finger 101 is brought into contact with the object 10. At this time, the finger 101 is the object. A region that can come into contact with the object 10 is indicated by a gripping portion A1. A sheet-like elastic skin 12 is provided on the outer surface 11d of the finger main body 11 so as to cover at least the grip portion A1. The elastic skin 12 constitutes an elastic body, and is formed of a material having high light transmittance and elasticity, such as transparent silicon rubber. The elastic skin 12 in the gripping part A1 is formed with a thickness t1.

In addition, an imaging device 13 is provided inside the cylindrical portion 11b of the finger body 11, and the imaging device 13 is integrally formed on the inner surface of the cylindrical portion 11b with the same material as the cylindrical portion 11b. It is attached to and supported by. Further, the imaging device 13 includes a two-dimensional CCD image sensor 13a and a wide-angle lens unit 13b for providing the two-dimensional CCD image sensor 13a with an image with a wide viewing angle. The two-dimensional CCD image sensor 13a is attached toward the gripping portion A1 of the finger main body 11, and the two-dimensional images of the finger main body 11 and the gripping portion A1 of the elastic outer skin 12 are obtained via the wide-angle lens unit 13b. Get from inside. The two-dimensional CCD image sensor 13a and the wide-angle lens unit 13b are arranged so that an image of the entire gripping part A1 of the elastic skin 12 can be acquired via the wide-angle lens unit 13b. The two-dimensional CCD image sensor 13 a is electrically connected to the control unit 20 and sends the acquired two-dimensional image to the control unit 20.
In the first embodiment, the part corresponding to the imaging range F1 of the imaging device 13 in the elastic skin 12 is the same as the gripping part A1 of the elastic skin 12. Note that the imaging range F1 of the imaging device 13 with respect to the elastic skin 12 only needs to include at least the grip portion A1 of the elastic skin 12, and may be wider than the grip portion A1.

Next, the operation of the finger 101 with a built-in imaging device for a robot hand according to Embodiment 1 of the present invention will be described with reference to FIGS.
Referring to FIG. 1, when the robot hand 1 grips the object 10 (see FIG. 2), the control unit 20 operates the ultrasonic actuators 4 a and 4 b of each finger unit 3, and the first of each finger unit 3. The phalanx 3a and the second phalanx 3b are operated. At the same time, the control unit 20 operates the imaging device 13 (see FIG. 2) in the first phalanx 3a, that is, the finger 101. Then, as shown in FIG. 2, when the finger 101 comes into contact with the object 10 for gripping, the elastic skin 12 of the finger 101 comes into contact with the object 10 at the contact portion B <b> 1, and the object is detected by the finger body 11. 10 is pressed and compressed. For this reason, the thickness of the elastic skin 12 decreases from the thickness t1 to the thickness t2 at the contact portion B1 with the object 10.

Further, since the finger body 11 and the elastic skin 12 are light transmissive, a part of the external light radiated to the finger 101 from the direction P outside the finger 101 is transmitted through the upper side of the finger body 11. Then, it passes through the inside of the finger body 11 and irradiates the imaging range F <b> 1 of the imaging device 13 in the finger body 11 and the elastic skin 12. Further, this light is transmitted through the finger body 11 and the elastic skin 12, reflected by the object 10 and irradiated to the gripping portion A1 of the elastic skin 12, and further transmitted through the elastic skin 12 to be transmitted through the finger body 11 and the elastic skin. The imaging range F1 in the outer skin 12 is irradiated. Further, another part of the external light irradiated on the finger 101 from the direction P is transmitted through the elastic outer skin 12 and the finger main body 11 at the distal end portion 11 a of the finger main body 11, and the imaging range in the finger main body 11 and the elastic outer skin 12. Irradiate F1. Therefore, the part corresponding to the entire imaging range F1 in the finger body 11 and the elastic skin 12 is irradiated by the transmitted light that has passed through the finger body 11 and the elastic skin 12 and the reflected light that has been reflected by the object 10.
Here, the finger main body 11 and the elastic skin 12 constitute a light transmission part that introduces light from the outside of the finger 101 into the imaging range F1 of the imaging device 13 in the finger main body 11 and the elastic skin 12.
In this embodiment, for ease of explanation, the incident direction of light from the outside is set as one direction. However, in reality, there is a large amount of incident light on the finger 101 because reflected light from surrounding structures exists. Direction.

  At this time, the imaging device 13 obtains an image of the imaging range F1 of the finger body 11 and the elastic skin 12, which is clear by being irradiated with the transmitted light and the reflected light, that is, the image of the grip portion A1. In addition, since the elastic skin 12 has a thickness t2 at the contact portion B1 of the gripping portion A1 that is smaller than the thickness t1 of other regions that are not in contact with the object 10, the refractive index of light is the contact portion. It differs between B1 and other areas. For this reason, the image acquired by the imaging device 13 has light and dark (light / dark) between the contact part B1 and the area other than the contact part B1, and is as shown in FIG. 3, for example. That is, in the image of the gripping part A1 in FIG. 3, the brightness is higher in the contact part B1 than in other areas. The luminance is greatest at the center of gravity, which is the center of the contact portion B1, and is slightly attenuated from the center of gravity toward the periphery of the contact portion B1, and further rapidly attenuated at the peripheral portion C1 of the contact portion B1. Thus, the brightness converges to the brightness of the region D1 that is not in contact with the object 10 (see FIG. 2). The contact portion B1 indicates a region that is fixed to the object 10, the peripheral portion C1 indicates a region that is located around the contact portion B1, and the elastic outer skin 12 is deformed by the contact, and the region D1 is formed by the contact. An area where the elastic skin 12 is not affected is shown. In addition, when the finger 101 is not in contact with the object 10 (see FIG. 2), the image of the gripping part A1 does not have local light / dark (light / dark) but has uniform light / dark (light / light). .

Further, returning to FIG. 2, the imaging device 13 sends the acquired image information of the grip portion A <b> 1 to the control unit 20.
The control unit 20 analyzes the image information of the grip unit A1 that is sent, and performs detection of the presence or absence of contact of the finger 101 with the object 10, calculation of the contact position, and the like. Further, the control unit 20 calculates the pressing force of the finger 101 against the object 10, that is, the gripping force of the finger 101 with respect to the object 10 from the calculated contact position and the size of the contact part B <b> 1. And the control part 20 controls operation | movement of the ultrasonic actuators 4a and 4b (refer FIG. 1) based on the calculated gripping force, and adjusts gripping force so that the target object 10 may not be crushed.
Therefore, the robot hand 1 grips the object 10 while the gripping force is adjusted by the control of the control unit 20 based on the image information acquired by the imaging device 13.

As described above, the finger 101 with a built-in imaging device for the robot hand according to the first embodiment includes the elastic outer skin 12 that is deformed by gripping the object 10, the finger main body 11 that supports the elastic outer skin 12, and the finger main body 11. And an imaging device 13 that is provided inside and images the deformation state of the elastic skin 12. Further, in the finger 101 with a built-in imaging device for the robot hand, the finger main body 11 includes light transmitting portions 11 and 12 that introduce light into the imaging range F1 of the imaging device 13 from the outside.
As a result, the portion of the finger body 11 corresponding to the imaging range F1 of the imaging device 13 is obtained by collecting the light collected from the outside of the finger body 11 through the finger body 11 and the elastic skin 12 which are light transmitting portions. The image pickup device 13 picks up a clear image of a portion corresponding to the image pickup range F1 of the image pickup device 13 in the finger body 11 and the elastic skin 12. Therefore, when the finger 101 comes into contact with the object 10 and the elastic skin 12 is deformed when the object 10 is gripped, the deformation of the elastic skin 12 is an image captured by the imaging device 13 without using the light emitting means. Can be recognized even from. That is, it is possible to recognize the contact state of the finger 101 with the built-in imaging device for the robot hand with the object 10 without providing the light emitting means.

Further, at least a portion corresponding to the imaging range F1 of the imaging device 13 in the elastic skin 12 is light transmissive, so that when the elastic skin 12 is deformed, the deformed portion has a different refractive index of light from other portions. . For this reason, in the image of the imaging device 13, the deformation of the elastic skin 12 can be recognized by the difference in luminance.
Since all of the finger main body 11 is a transparent member and all of the elastic shell 12 is a transparent member, external light includes light reflected from surrounding structures and the like, so that the finger main body 11 is irradiated from multiple directions. The finger main body 11 can irradiate light incident from multiple directions to the part corresponding to the imaging range F1 in the elastic skin 12 from the inside. In addition, since the elastic skin 12 is transparent, a portion corresponding to the imaging range F1 in the elastic skin 12 is also irradiated by light transmitted through the elastic skin 12 from the outside, and a clear image can be captured by the imaging device 13. it can.

Embodiment 2. FIG.
The configuration of the finger 102 with a built-in imaging device for a robot hand according to Embodiment 2 of the present invention is such that a lattice-like pattern along the surface of the elastic skin 12 of the finger 101 with a built-in imaging device for robot hand according to the first embodiment ( Pattern).
In the following embodiments, the same reference numerals as those in the previous drawings are the same or similar components, and thus detailed description thereof is omitted.

Referring to FIG. 4, the finger 102 includes the finger body 11 and the imaging device 13 in the same manner as the finger 101 of the first embodiment. Furthermore, a transparent elastic skin 22 is provided on the outer surface 11d of the finger body 11 so as to cover at least the grip portion A2. A lattice-like pattern (pattern) 22b is printed on the outer surface 22a of the elastic skin 22 at least over the entire gripping portion A2. The pattern 22b may be one in which lattice-shaped grooves are formed on the outer surface 22a of the elastic skin 22, or may be formed inside or on the inner surface of the elastic skin 22.
Also in the finger 102, the part corresponding to the imaging range F <b> 2 of the imaging device 13 in the elastic skin 22 is the same as the grip portion A <b> 2 in the elastic skin 22. For this reason, the imaging device 13 can image the lattice-like pattern 22 b of the elastic skin 22.
The other configuration of the finger 102 with a built-in imaging device for a robot hand according to the second embodiment of the present invention is the same as that of the first embodiment, and thus the description thereof is omitted.

Next, the finger 102 with a built-in imaging device for a robot hand according to Embodiment 2 of the present invention operates in the same manner as the finger 101 of Embodiment 1, but when the robot hand 1 grips the object 10, the imaging device The image of the gripping part A2 acquired by 13 is different and is shown in FIG.
Therefore, the state (a) in FIG. 5 shows a state in which the robot hand 1 is not holding the object 10, and the state (b) shows a state in which the robot hand 1 is holding the object 10.

  In the state (b), the luminance distribution in the image of the grip portion A2 is displayed in the same manner as the luminance distribution in the finger 101 of the first embodiment. In addition, a lattice-like pattern is displayed on the image of the grip portion A2, but when the finger 101 comes into contact with the object 10, the elastic outer skin 22 and the lattice-like pattern 22b are deformed. In addition, the contact state between the elastic skin 22 and the object 10 can be confirmed. Furthermore, in the image of the grip portion A2, the intensity of the brightness is more clearly depicted by the density of the grid pattern. For this reason, the image of the grip portion A2 can more clearly show information related to the contact between the elastic skin 22 and the object 10 by both the luminance distribution shape and the lattice pattern state. (See Figure 4)

When the object 10 is gripped by the robot hand 1, if the gripping force is insufficient, the object 10 may be likely to slide in the direction Q with respect to the elastic skin 22 due to its own weight. At this time, the lattice pattern of the peripheral portion C2 is deformed such that the contact portion B2 is attracted toward the direction Q. Then, the control unit 20 calculates whether or not the object 10 is likely to slide in the direction Q from the shape of the lattice pattern of the peripheral part C2. (See Figure 4)
Therefore, referring to FIG. 4, the control unit 20 calculates the gripping force of the finger 102 against the object 10 from the image information of the gripping unit A2 sent from the imaging device 13 in the same manner as in the first embodiment. Further, the control unit 20 detects whether or not the object 10 is about to slip with respect to the elastic skin 22, that is, the finger 102, from the image information of the grid pattern in the peripheral part C <b> 2 (see FIG. 5). Then, the control unit 20 controls the operations of the ultrasonic actuators 4a and 4b (see FIG. 1) based on the calculated information, and adjusts the gripping force so that the object 10 does not slide and does not collapse. To do.
Other operations of the finger 102 with a built-in imaging device for a robot hand according to the second embodiment of the present invention are the same as those in the first embodiment, and thus the description thereof is omitted.

As described above, in the robot hand imaging device built-in finger 102 in the second embodiment, the same effect as the robot hand imaging device built-in finger 101 in the first embodiment can be obtained.
In addition, by providing the lattice-like pattern 22b in a portion corresponding to the imaging range F2 of the imaging device 13 in the elastic skin 22, in the image acquired by the imaging device 13, the elastic skin 22 due to contact with the object 10 is obtained. The deformed state is indicated not only by the intensity of brightness but also by the shading and deformation of the grid pattern 22b. For this reason, the finger 102 with a built-in imaging device for the robot hand can recognize a more detailed contact state between the object 10 and the elastic outer skin 22 with respect to the finger 101 with the built-in imaging device for the robot hand according to the first embodiment. Further, finer control of the finger 102 by the control unit 20 becomes possible.
Further, the pattern provided on the elastic skin 22 is not limited to the lattice-like pattern 22b, and may be a pattern in which dots having different shapes are regularly arranged.

Embodiment 3 FIG.
The configuration of the finger 103 with a built-in imaging device for a robot hand according to the third embodiment of the present invention is a solid body of the finger body 11 that is hollow in the finger 101 with a built-in imaging device for a robot hand according to the first embodiment. .
Referring to FIG. 6, the finger main body 31 of the imaging device built-in finger 103 for the robot hand has a columnar column 31b and a hemispherical tip 31a formed at one end of the column 31b. And the inside of the front-end | tip part 31a and the pillar part 31b is solid. In addition, the front-end | tip part 31a and the pillar part 31b of the finger main body 31 are formed with the material which has high light transmittance, such as transparent resin. Further, the imaging device 13 is embedded in the pillar portion 31b so as to be oriented toward the grip portion A3 of the pillar portion 31b, and the imaging device 13 is electrically connected to the control unit 20.
The other configuration and operation of the finger 103 with a built-in imaging device for a robot hand according to the third embodiment of the present invention are the same as those in the first embodiment, and thus the description thereof is omitted.

As described above, the robot hand imaging device built-in finger 103 in the third embodiment has the same effect as the robot hand imaging device built-in finger 101 in the first embodiment.
Further, the finger main body 31 of the finger 103 is easy to ensure rigidity because the inside thereof is solid. Therefore, the finger main body 31 can be formed of a material having lower rigidity than the finger main body 11 in Embodiment 1, a material having flexibility, or a material having elasticity. Furthermore, the finger body 31 may also serve as the elastic skin 12 by forming the finger body 31 from an elastic material. Thereby, the elastic outer skin 12 becomes unnecessary, and the cost can be reduced.

Embodiment 4 FIG.
The configuration of the finger 104 with a built-in imaging device for a robot hand according to Embodiment 4 of the present invention is provided so as to cover the grip portion A1 of the finger body 11 in the finger 101 with a built-in imaging device for a robot hand according to Embodiment 1. The elastic outer skin 12 is provided so as to cover the entire finger body 11.
Referring to FIG. 7, the finger 104 has a finger body 11 and an imaging device 13 in the same manner as the finger 101 of the first embodiment. Further, a sheet-like elastic skin 42 is provided so as to cover the entire outer surface 11 d of the finger body 11. The elastic skin 42 is made of a material having high light transmittance and elasticity, such as transparent silicon rubber.
Here, the finger main body 11 and the elastic outer skin 42 constitute a light transmission part that introduces light from the outside of the finger 104 into a portion of the finger main body 11 and the elastic outer skin 42 corresponding to the imaging range F4 of the imaging device 13. .
Further, since the other configuration and operation of the finger 104 with a built-in imaging device for a robot hand according to the fourth embodiment of the present invention are the same as those in the first embodiment, description thereof will be omitted.

As described above, in the robot hand imaging device built-in finger 104 in the fourth embodiment, the same effect as the robot hand imaging device built-in finger 101 in the first embodiment can be obtained.
Further, since the entire finger body 11 of the finger 104 is covered with an elastic material, when the finger 104 comes into contact with the object 10 or a surrounding object, it is possible to prevent the finger 104 from being damaged. Further, when the finger 104 is used in a situation where it is in contact with the human body, it is possible to realize a soft touch when in contact with the human body.

Embodiment 5 FIG.
The configuration of the finger 105 with a built-in imaging device for a robot hand according to Embodiment 5 of the present invention is such that the finger 101 with a built-in imaging device for a robot hand is provided in the first phalange 3a of the finger part 3 of the robot hand 1 in Embodiment 1. What has been provided is provided in the second phalanx 3b.
First, referring to FIG. 1, an imaging device (not shown) is built in the second phalanx 3 b of each finger portion 3 of the robot hand 1, and the second phalanx 3 b is an imaging device built-in finger 105 for the robot hand. Is configured.

Next, referring to FIG. 8, the finger 105 has a hollow finger body 51 having a cylindrical shape. The entire finger body 51 is made of a material having high light transmissivity and rigidity, such as a transparent resin.
Further, a sheet-like elastic skin 52 formed with a thickness t1 is provided on the gripping portion A5 of the outer surface 51d of the finger body 51. The elastic skin 52 is made of a material having high light transmittance and elasticity, such as transparent silicon rubber.
In addition, the imaging device 13 is provided inside the finger body 51, and the imaging device 13 is attached and supported by a bracket 51c that is integrally formed of the same material as the finger body 51. And the imaging device 13 is attached so that the image of the whole holding part A5 can be acquired. Furthermore, the imaging device 13 is electrically connected to the control unit 20 and sends the acquired two-dimensional image to the control unit 20. In the finger 105 as well, the part corresponding to the imaging range F5 of the imaging device 13 in the elastic skin 52 is the same as the gripping part A5 in the elastic skin 52.
Further, since the other configuration and operation of the finger 105 with a built-in imaging device for a robot hand according to the fifth embodiment of the present invention are the same as those in the first embodiment, description thereof will be omitted.
As described above, the robot hand imaging device built-in finger 105 in the fifth embodiment has the same effect as the robot hand imaging device built-in finger 101 in the first embodiment.

In the first to fifth embodiments, the finger bodies 11, 31, and 51 and the elastic skins 12, 22, 42, and 52 are formed of a material having high light transmittance. However, the present invention is not limited to this. is not. These need only have such light transmittance that the image acquired by the imaging device 13 can be analyzed by the control unit 20.
In the first to fifth embodiments, the finger bodies 11, 31, and 51 are all made of a light-transmitting material. However, the present invention is not limited to this. The finger bodies 11, 31, and 51 are formed of a material having a light transmitting property in addition to the portions corresponding to the gripping portions A1 to A5, and the elastic skins 12, 22, 42, and 52 are internally generated by light collected from the portions. The structure which irradiates the site | part corresponded to the imaging range F1-F5 of the imaging device 13 in may be sufficient. Further, the finger bodies 11, 31, and 51 are formed from a material that does not transmit light, and the portions corresponding to the gripping portions A1 to A5 (contact portions) and the portions outside the finger bodies 11, 31, 51 are formed. A window (opening) may be formed only in a portion where light is introduced from (imaging range of the imaging device) to constitute a light transmission unit that introduces light into the imaging ranges F1 to F5 of the imaging device 13.

In Embodiments 1 to 3 and 5, the elastic skins 12, 22 and 52 are made of a light-transmitting material, but the invention is not limited to this. Marking such as a lattice-like pattern 22b is provided inside the elastic skins 12, 22 and 52, and the contact state between the elastic skins 12, 22 and 52 and the object 10 is determined from the deformed shape of the marking when contacting the object 10. You may make it recognize.
In the first to fifth embodiments, the elastic skins 12, 22, 42, and 52 are directly provided on the outer surfaces 11d, 31d, and 51d of the finger bodies 11, 31, and 51. However, the present invention is not limited to this. Absent. An air layer may be provided between the finger bodies 11, 31 and 51 and the elastic skins 12, 22, 42 and 52. As a result, the elastic outer skins 12, 22, 42, and 52 are more easily deformed when in contact with the object 10, and the amount of deformation increases. The deformation state of the elastic skins 12, 22, 42 and 52 due to the contact is shown more clearly.

  DESCRIPTION OF SYMBOLS 10 Object, 11, 31, 51 Finger main body (support member, light transmission part), 12, 22, 42, 52 Elastic outer skin (elastic body, light transmission part), 13 Imaging device, 22b Grid pattern (grating form) , 101, 102, 103, 104, 105 Fingers with built-in imaging device for robot hand, F1, F2, F3, F4, F5 imaging range.

Claims (5)

Imaging for a robot hand having an elastic body that deforms by gripping an object, a support member that supports the elastic body, and an imaging device that is provided inside the support member and images the deformation state of the elastic body In the built-in finger,
The support member is a finger having a built-in imaging device for a robot hand that includes a light transmission portion that introduces light into the imaging range of the imaging device from the outside. The finger with a built-in imaging device for a robot hand according to claim 1, wherein at least a portion of the elastic body corresponding to an imaging range of the imaging device has light transmittance. The finger with a built-in imaging device for a robot hand according to claim 2, wherein the support member and the elastic body are made of a transparent member. The finger | toe with a built-in imaging device for robot hands as described in any one of Claims 1-3 in which the site | part corresponded to the imaging range of the said imaging device in the said elastic body has a grid | lattice pattern. The said support member is a finger | toe with a built-in imaging device for robot hands as described in any one of Claims 1-4 which has a solid structure.

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