JP2011240421A - Robot hand and robot - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a robot hand which is highly versatile as a humanoid robot hand although it has a simple structure similar to a gripper-type robot hand.SOLUTION: Three fingers are attached to a palm where a second finger and a third finger are put side by side in the same orientations, and a first finger is put to face them. In addition, the location of the second finger can be changed over between a first location facing the first finger and a second location where the second finger and the third finger face the first finger at the center of the second and third fingers. Accordingly, motion to grasp a small object takes place between the first finger and the second finger while motion to grasp a large object takes place using the three fingers. Thus, various objects can be grasped like the humanoid robot hand by the simple structure similar to the gripper-type robot hand.

Description

The present invention relates to a robot hand capable of grasping an object and a robot equipped with such a robot hand.

Due to recent advances in robot technology, many industrial robots have been used in industrial product manufacturing sites. For example, in an assembly line for industrial products, multiple industrial robots are installed along the line, and the robot automatically assembles various parts to the product being manufactured that flows on the line. Improvement is widely done. Or when transporting parts assembled by such robots to the line side,
It is also widely performed to improve production efficiency as a whole factory by conveying parts using a robot.

As described above, industrial robots used in assembly lines and the like basically have only two types of movements: an operation of grasping an object and an operation of releasing the grasped object. Since there are various shapes and sizes, it is not easy to grasp and release these objects in the same way. Therefore, it is usual to prepare a plurality of types (robot hands) where the robot grips the object in accordance with the shape and size of the object, and use different robot hands suitable for the object. Note that a robot hand that performs a simple operation of simply grabbing and releasing an object in this way is sometimes called a “gripper-type robot hand (or simply a gripper)”.

However, when using multiple types of robot hands, it is necessary to change the robot hand each time the shape or size of the object changes. During that time, the assembly line must be stopped, which reduces production efficiency. End up. Therefore, in order to be able to handle objects of different shapes and sizes with the same robot hand, a robot hand having five fingers imitating a human hand (hereinafter referred to as “humanoid” in this specification). Has been developed (referred to as Patent Document 1). In this humanoid robot hand, a plurality of movable parts corresponding to joints are provided on each of five fingers standing from a member corresponding to the palm, and by appropriately controlling these movable parts, It is possible to flexibly deal with objects having different shapes and sizes.

JP 2009-166152 A

However, the humanoid robot hand has a problem that the structure is complicated due to the large number of movable parts, leading to an increase in size and weight of the robot hand. The increase in size and weight of the robot hand causes the following problems when viewed as a whole robot. That is, when the size of the robot hand is increased, workability such as attaching parts to a narrow portion is greatly impaired. Further, the increase in the weight of the robot hand causes an increase in energy required to move this part. In particular, from the viewpoint of shortening the cycle time and improving production efficiency, the robot hand needs to be moved at a high speed, so when the weight increases, a large amount of energy is consumed to move the robot at a high speed. There is a problem of causing a decrease in energy efficiency.

The present invention has been made in order to solve at least a part of the above-described problems of the prior art, and is as simple as a gripper type robot hand, but is as high as a humanoid robot hand. An object is to provide a robot including a robot hand having versatility.

In order to solve at least a part of the problems described above, the robot hand of the present invention employs the following configuration. That is,
A robot hand that performs an operation of gripping an object using a plurality of fingers,
A palm part to which the finger part is attached;
A first finger that is the first finger attached to the palm;
A second finger portion that is a second finger portion that is attached to the palm portion in a direction facing the first finger portion and is capable of gripping the object with the first finger portion; ,
The third finger unit attached to the palm unit in the same direction as the second finger unit and capable of gripping the object with the first finger unit together with the second finger unit. With a third finger,
The first finger portion is attached to the palm portion in a manner in which the attachment position to the palm portion is not movable in a direction other than a direction approaching or separating from the second finger portion and the third finger portion. Attached fingers,
The second finger portion has an attachment position to the palm portion,
A first attachment position at which the second finger part faces the first finger part alone;
In a state where the second finger portion and the third finger portion can be switched to a second attachment position where the second finger portion and the third finger portion face the first finger portion at a center position between the second finger portion and the third finger portion. Finger part attached to the part,
The third finger unit is arranged in a state in which the attachment position to the palm part is fixed relative to one of the first finger part or the second finger part with respect to one attachment position. It is a gist that it is a finger part attached to.

In the robot hand of the present invention having such a configuration, the 3
An operation of gripping an object with two fingers is performed. Among these, the 1st finger part and the 2nd finger part are attached in the direction which mutually opposes, and the 3rd finger part is attached in the same direction along with the 2nd finger part. For this reason, the object is grasped between the first finger part and the second finger part, or the object is grasped between the second finger part and the third finger part and the first finger part. Is possible. Moreover, the attachment position of the 2nd finger part can be moved to the 1st attachment position and the 2nd attachment position. Here, the first attachment position is an attachment position where the second finger part faces the first finger part. The second attachment position is an attachment position where the second finger part and the third finger part face the first finger part at the center position between the second finger part and the third finger part. Further, the third finger part is attached to the palm part in a state of being fixed to either the first finger part or the second finger part relative to one attachment position.

By doing this, the second finger part is switched to the first attachment position, the object is gripped between the first finger part and the second finger part, or the second finger part is switched to the second attachment position. The object can be grasped between the second finger part and the third finger part and the first finger part. For this reason, it becomes possible to hold | grip various objects by switching the attachment position of a 2nd finger part according to the target object to hold | grip. Also, if the attachment position of the third finger portion is fixed relative to one of the first finger portion or the second finger portion, the robot hand with a simple structure having three finger portions can be used. On the other hand, it is only necessary to add one degree of freedom for moving the second finger. That is, if the attachment position of the third finger part is fixed relative to the first finger part, only the second finger part needs to be moved, and the attachment position of the third finger part is changed to the first finger part. If it fixes relatively with respect to a 2 finger part, what is necessary is just to move a 3rd finger part with a 2nd finger part. If only one degree of freedom is increased in this way, the structure of the robot hand becomes complicated, and it is possible to minimize the increase in size and weight. In addition, when the second finger is in the first attachment position, the object is gripped in such a state that the center of gravity of the object to be gripped is between the first finger and the second finger. Thus, it can be gripped in a stable state. Further, when the second finger portion is at the second attachment position, the center of gravity of the object to be grasped is located between the center position of the second finger portion and the third finger portion and the first finger portion. When gripping in a state, the object can be gripped in a stable state. That is, even when the second finger portion is in the first attachment position or the second attachment position, the object is gripped in a state where the center of gravity of the object to be gripped is in the direction in which the first finger portion is bent. Sometimes, the object can be gripped in a stable state. The first finger part is attached to the palm part in a manner incapable of moving in directions other than the direction in which the first finger part bends (direction approaching or separating toward the second finger part and the third finger part). Therefore, in the end, no matter what object is to be gripped, it can be gripped most stably when gripping in a state where the center of gravity of the object is always at the same position relative to the palm. It becomes possible. Such a characteristic (the characteristic that the center of gravity position of the object relative to the palm does not change depending on the object to be gripped) greatly reduces the control load of the robot having the robot hand, and the control of the entire robot is complicated. Can be avoided.

In the above-described robot hand of the present invention, the first finger portion is replaced with the second finger portion and the third finger portion.
You may make it attach to a palm part in the aspect which cannot move also in the direction which approaches or leaves | separates toward a finger part.

By doing so, the attachment position of the first finger portion can be fixed, so that the structure of the robot hand can be made very simple without substantially narrowing the range of the object that can be gripped.

In the above-described robot hand of the present invention, the third finger part may be attached to a position where the palm part is fixed.

Even in this case, the attachment position of the third finger can be fixed, so that the structure of the robot hand can be made very simple.

In the robot hand of the present invention described above, when the second finger portion moves between the first attachment position and the second attachment position, the third finger portion may move together with the second finger portion. .

In this way, it is not necessary to provide a separate function for moving the third finger part in addition to the mechanism for moving the second finger part, so that the robot hand structure can be prevented from becoming complicated. It becomes.

In addition, the robot hands of the present invention described above all have a very simple structure and can be easily reduced in size and weight. Therefore, if a robot is constructed using these robot hands of the present invention, a small and high-performance robot can be constructed.

It is explanatory drawing which shows the structure of the robot hand of 1st Example. It is explanatory drawing which shows a mode that the robot hand of 1st Example grips a big target object. It is explanatory drawing which shows a mode that the robot hand of 1st Example grips a small target object. It is explanatory drawing which shows a general gripper type robot hand. It is explanatory drawing which showed the positional relationship of the 1st finger part of the robot hand of 1st Example, a 2nd finger part, and a 3rd finger part. It is explanatory drawing which illustrated the robot hand which moves the position of a 1st finger part instead of a 2nd finger part. It is explanatory drawing which showed the effect of the robot hand of 1st Example holding an object, without moving the position of a 1st finger part. It is explanatory drawing which shows the structure of the robot hand of 2nd Example. It is explanatory drawing which shows a mode that the robot hand of 2nd Example hold | grips various objects. It is explanatory drawing which shows the structure of the robot hand of a modification. It is explanatory drawing which shows the robot provided with the robot hand.

Hereinafter, in order to clarify the contents of the present invention described above, examples will be described in the following order.
A. First embodiment:
B. Second embodiment:
C. Variations:

A. First Example:
FIG. 1 is an explanatory diagram showing the configuration of the robot hand 10 of the first embodiment. As shown in the figure, the robot hand 10 of the first embodiment includes a palm portion 100 that is a substantially rectangular plate-like member, and 3
It consists of two fingers. These three fingers are roughly structured such that two members are connected by a joint, and the other end of one member is connected to the palm 100 by a joint. Of these, the first finger part 110 is attached to a substantially central position on one side of the palm part 100, and the remaining two finger parts, the second finger part 120 and the third finger part 130, are the first finger part 110.
It is attached at positions from both ends of the side opposite to the side to which the finger part 110 is attached. In the present specification, the finger portion is described as having joints at two locations, a root portion attached to the palm portion 100 and an intermediate portion, but this is not necessarily the case. It is not limited. For example, it can be a finger having a simple structure in which a joint is provided only at the root portion, or can be a finger having a complicated structure in which more joints are provided in the middle. .

Of these three finger parts, the first finger part 110 and the third finger part 130 are fixedly attached to the palm part 100, but the second finger part 120 is attached to the palm part 100. It is possible to move in a direction along the side of (i.e., a direction approaching or separating from the third finger portion 130). For this reason, the robot hand 10 of the first embodiment can be operated in two modes by switching the mounting position of the second finger portion 120.

FIG. 1A shows a first operation mode of the robot hand 10 of the first embodiment.
As shown in the drawing, in the first operation mode, the second finger 120 is moved to a position away from the third finger 130, and an intermediate position between the second finger 120 and the third finger 130. In addition, the operation is performed in such a state that the first finger part 110 facing these finger parts comes. FIG. 1B shows a second operation mode of the robot hand 10 of the first embodiment. As illustrated, in the second operation mode, the second finger 120 is operated in a state where the second finger 120 is moved to a position facing the first finger 110. As described above, the robot hand 10 according to the first embodiment has two operation modes. By switching the operation mode according to the position of the second finger 120, the robot hand 10 can be applied to various objects having different shapes and sizes. It is possible to respond flexibly.

FIG. 2 is an explanatory diagram showing a state in which a large object is gripped using the robot hand 10 of the first embodiment. FIG. 2A shows how the robot hand 10 grips a large cylindrical object W from a direction facing the palm 100 (hereinafter, this direction will be referred to as “front direction”). The situation is shown. FIG. 2B shows a state in which the robot hand 10 grasps the same object W as viewed from the side.

Thus, when gripping a relatively large object W, the first finger shown in FIG. 1A is moved by moving the second finger 120 to a position far from the third finger 130. The robot hand 10 is used in the operation mode. In this way, since the object W can be gripped by the three points of the first finger part 110, the second finger part 120, and the third finger part 130, the large object W or the heavy object W can be used. However, it is possible to grip firmly.

FIG. 3 is an explanatory diagram showing a state where a small object is gripped using the robot hand 10 of the first embodiment. FIG. 3 (a) shows a state in which the robot hand 10 sees a small cube-shaped object W from the front direction, and FIG. 3 (b) shows how the same object W is gripped. A view from the side is shown.

As described above, when the small object W is gripped, the second finger unit 120 is moved to the first finger unit 110.
The robot hand 10 is used in the second operation mode shown in FIG. In this way, the first finger 110 and the second finger 120 make the object W.
Therefore, it is possible to pick up a small object W from a narrow place or attach the object W to a narrow place. In addition, when the second operation mode is used in this way, the third finger 130 is not necessary, and as illustrated in FIG. 3B, the first finger 110 and the second finger 120 Retreat to a position that does not interfere with the operation. In this way, for example, when performing an operation of picking up a small part from a confined narrow part and attaching the part to the confined narrow part, the third finger part 130 does not get in the way.

FIG. 4 is an explanatory view illustrating a general gripper type robot hand 20 as a reference. The illustrated robot hand 20 has a very simple configuration in which two finger parts (a first finger part 210 and a second finger part 220) are mounted on the palm part 200 so as to face each other. Such a general robot hand 20 has two fingers (a first finger 210 and a second finger 220) if the object W is a relatively large object W as illustrated in FIG. ). However, in order to hold the small object W as shown in FIG. 3, the widths of the first finger part 210 and the second finger part 220 are too wide. For this reason, it is difficult to pick up only one object W, pick up the object W from a narrow place, or perform an operation of attaching the object W to a narrow place. Therefore, when performing such an operation, it is necessary to replace the robot hand with a narrower finger part.

On the other hand, the robot hand 10 of the first embodiment is used in the first operation mode shown in FIG. 2 for the large object W and shown in FIG. 3 for the small object W. Since it can be used in the second operation mode, various objects W can be used without changing the robot hand 10.
It becomes possible to cope with.

Nevertheless, the robot hand 10 of the first embodiment has a very simple structure as compared to a so-called humanoid robot hand having five fingers. That is, as apparent from comparing the robot hand 10 of the first embodiment shown in FIG. 1 with the simplest gripper type robot hand 20 shown in FIG. 3, the robot hand 10 of the first embodiment is Only one movable second finger portion 120 is added to the simplest gripper type robot hand 20. Moreover, the position of the second finger 120 is a position far from the third finger 130,
Since it is only necessary to switch to the two positions facing the first finger 110, the second finger 120
Both the mechanism for moving the second finger 120 and the mechanism for bending the second finger 120 can have a very simple structure. For this reason, it is flexible to various objects W at a level close to a so-called humanoid robot hand having five fingers, while having a simple structure of the same level as a conventional general gripper type robot hand. It is possible to realize a robot hand that can handle the above.

In addition, the robot hand 10 of the first embodiment has such an extremely simple structure, but in order to realize a level of flexibility close to that of a so-called humanoid robot hand, the first finger 1
10, the positional relationship between the second finger portion 120 and the third finger portion 130 is set to a special positional relationship. Hereinafter, this point will be described in detail.

FIG. 5 shows the first finger unit 110, the second finger unit 120, and the third finger unit 130 in the first operation mode.
It is explanatory drawing which showed these positional relationships. As shown, the second finger 120 and the third finger 1
30 are attached side by side in the same direction, and the second finger part 120 and the third finger part 130 are bent in directions parallel to each other. The second finger 120
The first finger part 110 is attached so as to face an intermediate position between the first finger part 130 and the third finger part 130. In other words, the second finger portion 120 and the third finger portion 130 are provided at positions offset by equal distances from side to side with respect to the direction in which the first finger portion 110 bends.
The 0 and third finger portions 130 are bent in a direction parallel to the direction in which the first finger portion 110 is bent.

Also, the mounting position of the first finger 110 is such that the distance “b” between the second finger 120 and the third finger 130 and the first finger 110 is the second finger 120 and the third finger. It is set to be in the range of about 0.8 to 1.2 times the interval “2a” with 130. Further, the length of each finger is approximately the same as the interval “b” between the first finger 110, the second finger 120, and the third finger 130, or slightly longer than the interval “b” (typically Is set to approximately 1.2 times).

In the second operation mode, the mounting position of the second finger 120 is set to the position facing the first finger 110 (that is, the bending direction of the first finger 110 and the bending direction of the second finger 120). Move to the position where they overlap. In FIG. 5, the outer shape of the second finger 120 in the second operation mode is indicated by a broken line. After all, in the robot hand 10 of the first embodiment, three fingers (first
The attachment position can be moved only for the second finger part 120 among the finger part 110, the second finger part 120, and the third finger part 130), and the attachment position of the second finger part 120 is shown in FIG. The position is switched between the position labeled “A” and the position labeled “B” in FIG. In this way, various objects can be obtained at a level close to that of a humanoid robot hand having five fingers while having a simple structure of almost the same level as the simplest gripper type robot hand 20 illustrated in FIG. It becomes possible to respond flexibly to the object W.

Actually, assembling work of a certain product was confirmed, it was confirmed that the robot hand 10 of the first embodiment can cover 80% or more of the assembling work with one robot hand 10. Therefore, even when the product flowing on the assembly line is changed, it is not necessary to stop the line in order to change the robot hand, so that production efficiency can be maintained. In addition, since the same robot hand 10 can cope with most assembly operations, it is not necessary to introduce a new robot even when the assembly line is rearranged, and the line can be easily rearranged.

In addition, since the robot hand 10 has a very simple structure, the robot hand 10 can be reduced in size and weight. For this reason, even when the robot hand 10 is moved at a high speed in order to improve the cycle time, an increase in energy required for this can be suppressed, so that the energy efficiency of the entire robot (or the entire line) decreases. This can be avoided. In addition, since the structure of the robot hand 10 is very simple, the robot hand 10 having such excellent characteristics can be provided at low cost.

Further, as described above with reference to FIG. 5, in the robot hand 10 according to the first embodiment, the mounting position of the first finger portion 110 remains fixed, and two of the two finger portions facing the first finger portion 110 remain fixed. One finger (second finger 120) is moved. By doing so, the following excellent effects can be obtained. Hereinafter, this point will be described in detail.

FIG. 6 is an explanatory diagram illustrating a case where the first finger is moved instead of the second finger for reference. As shown in FIG. 6A, the exemplary robot hand 30 also has three palm portions 300.
Two finger parts (first finger part 310, second finger part 320, and third finger part 330) are attached, and the first finger part 310 is attached to the two second finger parts 320 and the third finger part 330. It is provided to face each other. However, in the illustrated robot hand 30, the attachment position of the first finger part 310 is movable instead of the second finger part 320.

Such a robot hand 30 can also be used in two modes by moving the attachment position of the first finger part 310. That is, as shown in FIG. 6B, if the first finger unit 310 is moved so as to face an intermediate position between the second finger unit 320 and the third finger unit 330, a large object W is formed. It can be gripped. In addition, as shown in FIG.
If the first finger part 310 is moved to a position facing either one of the second finger part 320 or the third finger part 330 (the third finger part 330 in FIG. 6C), the small object W is gripped. can do.

Thus, the robot hand 30 illustrated in FIG. 6 is the same as the robot hand 10 of the first embodiment in that the object W having a different size can be gripped. However, the grasped object W
Focusing on the position of the center of gravity, there is a big difference between these robot hands. First, the robot hand 30 illustrated in FIG. 6 will be described. When the robot hand 30 grips the object W with three fingers, the center of gravity position G of the object W is in the bending direction of the first finger 310 as shown in FIG. The object W is gripped in a state where they almost coincide. If it carries out like this, the target object W can be stably hold | gripped with three finger parts. When the object W is gripped by two fingers (here, the first finger 310 and the third finger 330), the center of gravity G of the object W is naturally between the two fingers. (See FIG. 6C).

As can be readily understood by comparing FIG. 6B and FIG. 6C, in the robot hand 30 illustrated in FIG. 6, the case where the object W is gripped using three fingers and 2 The gravity center position G of the object W with respect to the palm 300 moves when the object W is gripped using the fingers of the book. And if the gravity center position G of the target object W moves in this way, when carrying out control of a robot, it will become a big control burden.

For example, it is assumed that the robot hand 30 shown in FIG. 6 is attached to the tip of the robot arm, and the object W placed on the workbench is gripped and lifted from above.
In order to change the direction of the object W with the palm 300 of the robot hand 30 facing downward,
The operation of rotating the robot hand 30 frequently occurs as indicated by the dashed arrow in FIG. 6C. At this time, if the center of gravity position G of the object W is moved, the robot hand 30 as a whole is moved. As a result, the driving torque for rotating the robot hand 30 and the stop torque for stopping the rotating robot hand 30 change. For this reason, if the robot hand 30 is to be rotated quickly in order to quickly assemble the object W, the robot hand 30 is rotated in consideration of the difference in the center of gravity position G depending on the size of the grasped object W. Control and control to stop are necessary.

Further, when the grasped object W is assembled to the side surface of the product flowing through the assembly line, the robot arm is set so that the palm portion 300 of the robot hand 30 is directed from the downward direction to the horizontal direction. Will move. At this time, if the gravity center position G of the object W gripped by the robot hand 30 is not in the direction of gravity with respect to the connection position between the robot hand 30 and the robot arm, the robot arm depends on the weight of the object W. Rotational torque that twists is generated. When the gravity center position G moves according to the size of the object W, the rotational torque applied to the robot arm takes different values even if the weight of the object W is the same. Therefore, in order to assemble the gripped target object W at an accurate position, the robot W is oriented so that the target object W is in the correct direction in consideration of the fact that the rotational torque applied to the robot arm varies depending on the size of the target object W. It is necessary to control the holding torque and rotation angle of the arm.

Such complicated control results in complicated control of the entire robot and enlargement of the robot. On the other hand, in the robot hand 10 of the first embodiment, the attachment position of the second finger 120 is moved while the attachment position of the first finger 110 is fixed.
The above-mentioned problem that occurs with the center of gravity position G of the image does not occur.

FIG. 7 is an explanatory diagram showing that the robot hand 10 according to the first embodiment does not cause any adverse effect due to the movement of the gravity center position G even if the size of the object W is different. For example, when gripping a large object W, the robot hand 10 is used in the first operation mode as described above with reference to FIG. For this reason, as shown in FIG. 7A, the object W can be stably gripped so that the gravity center position G of the object W coincides with the bending direction of the first finger part 110. , Object W
Is in a gripped state. Further, when gripping a small object W, the robot hand 10 is used in the second operation mode described above with reference to FIG. Then, as illustrated in FIG. 7B, the object W is gripped in a state where the gravity center position G matches the bending direction of the first finger part 110. Furthermore, even when the object W having a deformed shape is gripped, as shown in FIG. 7C, the object W should be gripped in a state where the center of gravity G of the object W coincides with the bending direction of the first finger part 110. Thus, the object W can be stably held.

As described above, in the robot hand 10 according to the first embodiment, the object W is gripped in a state where the center of gravity G matches the bending direction of the first finger 110 regardless of the size of the object W. Can be gripped stably. The first finger part 110 is fixed with respect to the palm part 100. Therefore, in the robot hand 10 of the first embodiment, the object W is stably grasped in the state where the center of gravity G is the same position with respect to the palm 100 regardless of the size of the object W to be grasped. It becomes possible. For this reason, the above-described adverse effect caused by the movement of the gravity center position G due to the difference in the size of the object W does not occur.

In particular, the position where the robot hand 10 is connected to the robot arm is the first finger part 110.
If the first finger part 110 is attached so as to coincide with the bending direction of the object W, the gravity center position G of the object W is on the axis of the robot arm (on the rotation axis when the robot arm rotates the robot hand 10). The object W can be gripped in such a state as to come to. In this way, the object W
Since the moment of inertia when rotating the can be minimized, the object W can be quickly rotated with a small rotational torque, and can be quickly assembled.

B. Second embodiment:
The robot hand 10 according to the first embodiment described above includes the first finger unit 110 and the third finger unit 1.
30 is fixed with respect to the palm 100 and only the second finger 120 can move. However, only the first finger 110 is fixed, and the second finger 120 and the third finger 1
It is also possible to adopt a configuration in which 30 moves simultaneously. Hereinafter, the robot hand 15 of the second embodiment will be briefly described.

FIG. 8 is an explanatory diagram showing the configuration of the robot hand 15 of the second embodiment. As shown in the drawing, the robot hand 15 of the second embodiment also has three fingers (first finger 110, first finger, and the like) on the substantially rectangular palm 150, similarly to the robot hand 10 of the first embodiment described above. The structure has two finger portions 120 and a third finger portion 130). Since these three fingers themselves are exactly the same as the fingers in the first embodiment, the same numbers as those in the first embodiment are assigned to the three fingers in the second embodiment. However, in the robot hand 15 of the second embodiment, the second finger part 120 and the third finger part 130 are connected, and when the second finger part 120 moves, the distance from the second finger part 120 is kept constant. The third finger part 130 is also moved while being held.

The robot hand 15 according to the second embodiment can also be used in two modes by moving the second finger 120, similarly to the robot hand 10 according to the first embodiment described above. . In FIG. 8A, the first finger part 110 is replaced by the second finger part 120 and the third finger part 130.
The 1st operation | movement aspect which will be in the state which opposes the intermediate position of is shown. In addition, FIG.
Shows a second operation mode in which the first finger part 110 faces either one of the second finger part 120 or the third finger part 130 (in the illustrated example, the second finger part 120). ing.

FIG. 9 is an explanatory diagram illustrating a state in which the robot hand 15 according to the second embodiment grips the target object W having a different size. FIG. 9A shows a state where a large cylindrical object W is gripped. FIG. 9B shows a small object W having a cubic shape. As described above, also in the robot hand 15 of the second embodiment, by moving the position of the second finger 120 and switching between the first operation mode and the second operation mode, objects of various sizes can be obtained. Things W
It is possible to respond flexibly to this.

In addition, since the structure of the robot hand 15 of the second embodiment is also extremely simple as the robot hand 10 of the first embodiment described above, the robot hand 15 can be reduced in size and weight. For this reason, energy required when moving the robot hand 15 at high speed can be suppressed. Furthermore, since the structure of the robot hand 15 is extremely simple, it can be provided at a low cost.

The robot hand 15 of the second embodiment is also the robot hand 10 of the first embodiment described above.
Similarly, even when the object W having a different size is gripped as illustrated in FIG. 9, the gravity center position G of the object W does not move with respect to the palm 150. For this reason, it is possible to avoid the above-described adverse effects caused by the movement of the gravity center position G depending on the size of the object W to be grasped.

C. Modified example:
In the first embodiment and the second embodiment described above, the attachment position of the first finger 110 is the palm 1.
It has been described as being fixed to 00 or the palm 150. By doing so, it is possible to avoid the movement of the gravity center position G regardless of the size of the object W to be grasped.
However, if the first finger part 110 is bent, the center-of-gravity position G of the object W does not move even if the attachment position of the first finger part 110 is moved.

FIG. 10 is an explanatory diagram showing a modified robot hand 17 in which the attachment position of the first finger part 110 is movable in the bending direction of the first finger part 110. As shown in the figure, the robot hand 17 of the modified example has three fingers (first finger 110, second finger 120, and third finger 130) attached to the palm 170. These finger parts themselves are exactly the same as the finger parts of the first embodiment described above. However, in the robot hand 17 of the modified example, the attachment position of the first finger part 110 can be moved in the bending direction of the first finger part 110. As for the second finger portion 120 and the third finger portion 130, only the second finger portion 120 is movable and the third finger portion 130 is fixed as in the robot hand 10 of the first embodiment described above. Alternatively, like the robot hand 15 of the second embodiment, the second finger part 120 and the third finger part 130 may be movable simultaneously.

In FIG. 10A, the mounting position of the first finger part 110 is indicated by the second finger part 120 and the third finger part 13.
A state of moving in a direction approaching 0 is shown. Thus, if the attachment position of the 1st finger part 110 is moved, it becomes possible to hold | maintain even the elongate target object W still more firmly. FIG. 10B shows a state where the attachment position of the first finger 110 is moved in a direction away from the second finger 120 and the third finger 130. If the attachment position of the first finger part 110 is moved in this way, a larger object W can be gripped. As a result, the object W can be handled while minimizing the complexity of the structure of the robot hand 17.
It is possible to further expand the range.

Although the robot hands of various embodiments have been described above, the present invention is not limited to all the embodiments and modifications described above, and can be implemented in various modes without departing from the scope of the invention.

For example, the robot hands of the various embodiments and modifications described above are very simple in structure, and thus can be easily reduced in size and weight. Therefore, as shown in FIG. 11, if these robot hands are attached to the tip of the robot arm 12 to configure the robot 500,
While being able to deal with various objects W, it is possible to obtain a high-performance robot 500 that is small and lightweight, and that does not easily reduce energy efficiency even if the cycle time is shortened.

10 ... Robot hand, 12 ... Robot arm, 15 ... Robot hand,
17 ... Robot hand, 20 ... Robot hand, 30 ... Robot hand,
100 ... palm part 110 ... first finger part 120 ... second finger part
130 ... third finger, 150 ... palm, 170 ... palm,
200 ... Palm part, 210 ... First finger part, 220 ... Second finger part,
300 ... Palm part, 310 ... First finger part, 320 ... Second finger part,
330 ... 3rd finger, 500 ... Robot, W ... Object,
G: Center of gravity position

Claims (5)

A robot hand that performs an operation of gripping an object using a plurality of fingers,
A palm part to which the finger part is attached;
A first finger that is the first finger attached to the palm;
A second finger portion that is a second finger portion that is attached to the palm portion in a direction facing the first finger portion and is capable of gripping the object with the first finger portion; ,
The third finger unit attached to the palm unit in the same direction as the second finger unit and capable of gripping the object with the first finger unit together with the second finger unit. With a third finger,
The first finger portion is attached to the palm portion in a manner in which the attachment position to the palm portion is not movable in a direction other than a direction approaching or separating from the second finger portion and the third finger portion. Attached fingers,
The second finger portion has an attachment position to the palm portion,
A first attachment position at which the second finger part faces the first finger part alone;
In a state where the second finger portion and the third finger portion can be switched to a second attachment position where the second finger portion and the third finger portion face the first finger portion at a center position between the second finger portion and the third finger portion. Finger part attached to the part,
The third finger unit is arranged in a state in which the attachment position to the palm part is fixed relative to one of the first finger part or the second finger part with respect to one attachment position. A robot hand that is a finger attached to a robot. The robot hand according to claim 1,
The first finger part is attached to the palm part in such a manner that the attachment position to the palm part cannot move in a direction approaching or separating from the second finger part and the third finger part. A robot hand that is a finger. The robot hand according to claim 1,
The third finger unit is a robot hand which is a finger unit attached to a fixed position of the palm unit. The robot hand according to claim 1,
The robot hand that is a finger part that moves together with the second finger part when the second finger part moves between the first attachment position and the second attachment position.   A robot comprising the robot hand according to any one of claims 1 to 4.

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