JP2015166122A - Holding method for robot hand, robot, and clamping workpiece - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a robot hand that can smoothly clamp a clamped workpiece even when a gap between adjacent clamped workpieces is narrow.SOLUTION: A thickness of a holding part is thinned down by housing a bent rod-like member in a virtual plane when a clamped workpiece is to be clamped. Further, the width of the holding part is formed in a taper form toward the tip. Thus, the holding part turns small-sized with respect to a thickness direction (clamping direction of the clamped workpiece). Turning the holding part small-sized enables the holding part to be inserted easily into a gap at an arbitrary position even when clamping a clamped workpiece of an arbitrary position out of an aggregate of a plurality of clamped workpieces densely arranged with narrow gaps, so that an arbitrary clamped workpiece is easily clamped in a selective manner.

Description

  The present invention relates to a robot hand, a robot, and a method for holding an object to be clamped.

  Various robots and robot hands for holding an object to be clamped have been proposed in operations such as assembly work and classification work. Patent Document 1 discloses an invention in which a sandwiched object is sandwiched and held from both sides of a sandwiched object by a pair of linear pins.

  Patent Document 2 discloses an invention in which a sandwiched object is sandwiched and held from both sides of a sandwiched object with a pair of bags enclosing a gel fluid therein.

  Further, Patent Document 3 discloses an invention in which a sandwiched object is sandwiched and held from both sides of the sandwiched object in a state where the fluid is supplied into the pair of fingertip portions and the fingertip is expanded.

Japanese Patent Laid-Open No. 11-300675 JP 2012-148380 A Japanese Patent Laid-Open No. 9-103983

  In the robot hand described in Patent Document 1, when a sandwiched object is sandwiched between a pair of straight pins, each pin and the sandwiched object are in line contact or point contact, so the sandwiched object is held by a pair of pins. Even when trying to do so, the object to be clamped easily slipped off the pin, and the object to be clamped could not be held firmly and stably with the pin. On the other hand, when the pin clamping force is increased so that the object to be clamped does not slide off the pin, there is a problem that the object to be clamped is easily damaged by the strengthened pin clamping force.

  In the invention described in Patent Document 2, for example, a plurality of objects to be sandwiched are closely arranged with a narrow gap between adjacent objects to be sandwiched, and any object to be sandwiched will be sandwiched among them. In this case, the bag body thickened by enclosing the gel-like fluid inside must be inserted into the gap between the objects to be sandwiched closely, so that the thick bag body can be inserted. When the gap is not secured between the objects to be sandwiched, there is a problem that the objects to be sandwiched cannot be held.

  In the invention described in Patent Document 3, in order to sandwich and hold the object to be sandwiched by the fingertip portion that is expanded by supplying a fluid, for example, a plurality of other objects to be sandwiched are closely spaced with a narrow gap. When placing an object to be clamped that is placed side by side and gripped by the expanded fingertip part, the objects to be held adjacent to each other, including the fingertip part that is thickened by flowing fluid inside Insert the object to be clamped in a state where there is not enough space between adjacent objects to be sandwiched so that the thick fingertip portion and the object to be grasped can be inserted together. There was a problem that could not be placed.

  As described above, the present invention has been made to provide a robot hand, a robot, and a method for holding a sandwiched object that can stably hold the sandwiched object even when the gap between adjacent sandwiched objects is narrow. Yes, it can be realized as the following forms or application examples.

[Application Example 1]
The robot hand according to this application example is a robot hand in which a plurality of holding units hold a sandwiched object,
The plurality of holding portions are a base portion,
A plurality of curved rod-like members installed on the base and capable of rotating around a rotation axis;
A rod-shaped tip portion provided at the tips of the plurality of curved rod-shaped members and having a length in the longitudinal direction shorter than the base portion;
A first film-like member fixed to the base and the tip, and a part of the first membrane-like member located between the object to be clamped and the curved rod-like member,
The pivot axis intersects the base and the tip;
The length of the end fixed to the base in the first membrane member is longer than the length of the end fixed to the tip.
The plurality of curved rod-shaped members are rotated from a virtual plane including a plurality of the rotation shafts by the reaction force from the object to be clamped by the holding unit sandwiching the object to be clamped, and the tip portion or the first A part of the film-like member of 1 holds the object to be clamped.

  According to this application example, in a non-clamping state in which the holding unit does not clamp the sandwiched object, the curved rod-like member of the holding unit is located in a virtual plane including the rotation shaft, and thus the thickness of the holding unit is thin. State. In addition, the holding portion has a narrower width at the tip side than at the base side. In other words, the holding portion is thin in the thickness direction (holding direction of the sandwiched object) and further has a narrow width (short shape in the longitudinal direction of the tip portion) in the direction orthogonal to the thickness direction. The tip side of the part has a small form in two orthogonal directions (the clamping direction and the longitudinal direction).

  As described above, since the holding portion is small in two orthogonal directions in a non-clamping state where the object to be clamped is not clamped, a plurality of adjacent objects to be clamped are arranged in the vertical direction and the horizontal direction. Even in a state where the narrow gaps are opened and densely arranged, the holding portion can easily enter the narrow gaps.

  When the object to be clamped is clamped, each holding portion approaches the object to be clamped, and when the first film-shaped member further approaches the object to be clamped, the reaction force from the object to be clamped The curved rod-shaped member rotates about the rotation axis, and the place where the curved rod-shaped member is pressed moves to the opposite side of the object to be clamped about the rotation axis. As a result, the object to be sandwiched enters between the base portion and the distal end portion, and as a result, the distal end portion is located under the object to be sandwiched, so that the first film-like member extends from the bottom to the side surface of the object to be sandwiched. Contact. As a result, the robot hand can hold the object to be held with a stable feeling while supporting the bottom and side surfaces of the object to be held.

  As described above, since the object to be sandwiched is held so as to be wrapped by the first film-like member, it is held with good stability without being damaged.

[Application Example 2]
The robot hand according to this application example is a robot hand in which a plurality of holding units hold a sandwiched object,
The holding portion includes a base portion,
A plurality of curved rod-like members installed on the base and capable of rotating around a rotation axis;
A rod-shaped tip portion that is installed at the tips of the plurality of curved rod-shaped members and whose length in the longitudinal direction is shorter than the base portion;
A first film-like member fixed to the base and the tip, and a part of the first membrane-like member located between the object to be clamped and the curved rod-like member,
The pivot shaft intersects the base and the curved portion of the curved rod-shaped member,
The length of the end fixed to the base of the first membrane member is longer than the length of the end fixed to the tip.
The plurality of curved rod-shaped members are rotated from a virtual plane including a plurality of the rotation shafts by the reaction force from the object to be clamped by the holding unit sandwiching the object to be clamped, and the tip portion or the first A part of the film-like member of 1 holds the object to be clamped.

  According to this application example, in the non-clamping state in which the holding unit does not hold the sandwiched object, the curved rod-like member of the holding unit enters the virtual plane including the rotation shaft, and thus the thickness of the holding unit is It is in a thin state toward the clamping direction of the sandwiched object. Further, as described above, the holding portion has a narrower width at the tip side than at the base side. That is, in the non-clamping state, the holding part is thin in the thickness direction (clamping direction of the clamped object) and further narrowed in the direction perpendicular to the thickness direction, so that the front end side of the holding part Is a small form in two orthogonal directions.

  As described above, since the holding portion is small in two orthogonal directions in a non-clamping state where the object to be clamped is not clamped, a plurality of adjacent objects to be clamped are arranged in the vertical direction and the horizontal direction. Even in a state where the narrow gaps are opened and closely arranged, the holding portion can easily enter the narrow gap, and the object to be clamped at an arbitrary position can be removed from the set of objects to be clamped. It can be pinched accurately.

  When the object to be clamped is clamped, the holding unit moves and holds the object to be clamped. The holding part has a base part. A plurality of curved rod-like members are installed at the base, and each curved rod-like member rotates around a rotation axis. The rotating shaft intersects the base and the curved portion of the curved rod-like member. Therefore, the curved portion of the curved rod-like member is separated from the rotating shaft.

  Each curved rod-like member connects the base portion and the tip portion, and a first film-like member is installed between the base portion and the tip portion. The first film member is located between the object to be clamped and the curved rod member. Each holding part is brought close to the object to be clamped, the first film-shaped member comes into contact with the object to be clamped, and the object to be clamped pushes the curved portion of the curved rod-shaped member through the first film-shaped member. The curved rod-shaped member rotates around the rotation axis, and the bending portion moves to the opposite side of the object to be clamped with respect to the rotation axis. As a result, the object to be clamped enters the bent portion of the bent rod-like member. Since the distal end of the curved rod-shaped member is separated from the rotation shaft, the distal end of the curved rod-shaped member enters the back side of the object to be clamped from the rotational shaft. A tip portion is located under the object to be clamped, and the first film-like member contacts from the bottom to the side of the object to be clamped. Thus, the robot hand can stably hold the object to be held by supporting the bottom and side surfaces of the object to be held.

[Application Example 3]
The robot hand according to the application example includes a joint portion that is disposed between the curved rod-shaped member and the tip portion and pivots about a pivot shaft that intersects the curved rod-shaped member and the tip portion. It is characterized by that.

  According to this application example, the joint portion is disposed between the curved rod-shaped member and the tip portion. The joint portion rotates about the intersecting rotation axis. The direction in which the tip of the curved rod-like member extends intersects the axial direction of the rotation shaft. When the bent rod-shaped member rotates about the rotation axis, the direction in which the bent rod-shaped member faces is changed. The tip portion is located in the direction in which the tip of the curved rod-like member extends. When the direction in which the tip of the curved rod-shaped member changes changes, the joint portion rotates at the joint portion. Therefore, the curved rod-like member can be rotated so that the tip portion is not twisted.

[Application Example 4]
In the robot hand according to the application example, the first film-like member has elasticity, and a connecting portion that connects the curved rod-like member and the first film-like member is installed, and the first film-like member is installed. The member is biased to turn the bent rod member.

  According to this application example, the first film member has elasticity. A connecting portion is installed on the first film-like member. The connecting portion connects the curved rod-shaped member and the first film-shaped member. When the holding portion is in a non-clamping state where the object to be clamped is not held, the first film-like member biases the curved rod-shaped member by its elasticity so that the plurality of curved rod-shaped members are accommodated in the virtual plane. As a result, when the holding portion is in the non-clamping state, the plurality of bent rod-like members do not protrude outward from the plane, and thus the thickness of the holding portion is thin. As a result, as shown in the application example described above, even when the objects to be sandwiched are clamped from a set of objects to be sandwiched such that adjacent objects to be sandwiched are closely arranged with a narrow gap. The holding portion can be inserted into the narrow gap, and the object to be clamped at an arbitrary position can be easily held.

  In addition, since the above-described effects can be achieved by a simple operation of simply attaching the connecting portion to the first film-like member, the robot hand can be configured to be simple and easy to manufacture.

[Application Example 5]
In the robot hand according to the application example described above, the robot hand includes a second film-like member having elasticity, and the first film-like member and the second film-like member are arranged at positions sandwiching the curved rod-like member, The second film-like member biases the turning of the curved rod-like member.

  According to this application example, the second film-like member has elasticity. The second film-like member and the first film-like member have a structure sandwiching a curved rod-like member. For this reason, when the holding portion is in a non-clamping state in which the object to be clamped is not held, the second film-like member can accommodate the curved rod-shaped member within a virtual plane including the rotation axis of the curved rod-shaped member by its elasticity. The curved rod-shaped member is urged to. As a result, when the holding unit is in a non-clamping state where the object to be clamped is not held, the plurality of curved rod-shaped members do not protrude outward from the virtual plane, and thus the thickness of the holding unit is thin. As a result, as shown in the application example described above, even when the objects to be sandwiched are clamped from a set of objects to be sandwiched such that adjacent objects to be sandwiched are closely arranged with a narrow gap. The holding portion can be inserted into the narrow gap, and the object to be clamped at an arbitrary position can be easily held.

  In addition, according to this application example, the second film-shaped member is provided, and the above-described operation is achieved by a simple structure in which the curved film-shaped member is sandwiched between the second film-shaped member and the first film-shaped member. Since an effect can be produced, the robot hand can be configured to be simple and easy to manufacture.

[Application Example 6]
In the robot hand according to the application example described above, a bag-shaped member formed by the first film-shaped member and the second film-shaped member covers the tip portion and the curved rod-shaped member.

  According to this application example, when the holding portion is in a non-clamping state where the object to be clamped is not clamped, the second film-shaped member that biases the curved rod-shaped member so as to fit the curved rod-shaped member in a virtual plane; Since the first film-like member is formed into an integral bag, the first film-like member and the second film-like member can be attached at the same time simply by attaching the bag-like member. Can be facilitated.

  Further, since the bag-shaped member covers the tip portion and the curved rod-shaped member, the object to be sandwiched does not directly contact the tip portion and the curved rod-shaped member, and the tip portion and the curved rod-shaped member are sandwiched. Do not get dirty or corrode by touching.

[Application Example 7]
In the robot hand according to the application example described above, the holding unit includes an urging unit, and the urging unit urges the curved rod-shaped member so as to be within a virtual plane including the rotation shaft. To do.

  According to this application example, the biasing portion is positioned in the vicinity of the curved rod-shaped member by providing the holding portion with the biasing portion that biases the curved rod-shaped member into the virtual plane. As a result, since the urging portion can urge the curved rod-shaped member in the vicinity of the curved rod-shaped member, the structure of the urging portion itself can be made compact.

[Application Example 8]
In the robot hand according to the application example, the urging unit includes a spring, and the spring urges the curved rod-shaped member.

  According to this application example, the spring of the urging portion urges the curved rod-shaped member. The spring can be biased with a reproducible force. Therefore, the urging unit can urge the plurality of curved rod-shaped members so as to be within a virtual plane with good reproducibility.

[Application Example 9]
In the robot hand according to the application example described above, when the holding unit does not hold the object to be clamped, that is, when the plurality of curved rod-shaped members are within the virtual plane, the plurality of curved rod-shaped members intersect with each other. And

  According to this application example, since the curved rod-shaped members are arranged close to each other so that the plurality of curved rod-shaped members intersect with each other, the horizontal width of the holding portion can be narrowed and compactly formed.

[Application Example 10]
In the robot hand according to the application example described above, the base portion includes a plurality of bearing mechanisms that rotatably support the curved rod-shaped member on a pivot shaft of the curved rod-shaped member.

  According to this application example, since the curved rod-shaped member is supported by the plurality of bearings, the curved rod-shaped member can rotate with a sense of stability without shaking.

[Application Example 11]
The robot hand according to this application example is a robot hand in which the holding unit holds the object to be held,
A drive mechanism accommodating portion for changing the position of the holding portion;
A plurality of curved rod-like members installed at the base of the holding portion and rotatable about a rotation axis;
A first film-like member having one end fixed to the base and the other end fixed to the tip.
The length of the end fixed to the base in the first membrane member is longer than the length of the end fixed at the tip,
By reducing the interval between the plurality of holding portions by the drive mechanism housing portion,
A plurality of the holding parts sandwich the object to be clamped,
The plurality of curved rod-shaped members rotate from a virtual plane including the plurality of pivot shafts, and the curved rod-shaped portion and the first film-shaped member are held so as to wrap the object to be sandwiched. To do.

  According to this application example, the bent rod-like member is located on the virtual plane in the non-clamping state in which the holding unit does not clamp the object to be clamped. For this reason, the thickness of the holding part itself is thin. Therefore, when holding the object to be clamped by the holding part, the holding part can be easily moved into the narrow gap even when the distance between adjacent objects to be held is narrow and a plurality of objects to be clamped are arranged closely. Can invade. And by narrowing the space | interval of the holding | maintenance parts inserted in the clearance gap, a holding | maintenance part clamps a to-be-clamped object from both sides, but the operation | movement which spreads outside from the state inserted in this way is not carried out. That is, the holding unit does not disturb the entire product line by hitting the product around the target sandwiched object.

  Further, the holding portion has a lateral width on the distal end side that is narrower than a lateral width on the base side. That is, as described above, in a non-clamping state where the holding unit does not clamp the object to be clamped, the holding unit is structurally thin. Moreover, the lateral width on the distal end side of the holding portion is narrower in structure than the lateral width on the base side. This means that when the holding part enters the gap between the objects to be sandwiched, the tip side of the holding part becomes small in two directions perpendicular to each other, such as the thickness direction and the width direction. Means that In addition, the holding portion does not move outwardly after entering the operation of holding the object to be held. This can have a beneficial effect when a target object to be sandwiched is sandwiched among a plurality of objects to be sandwiched densely with narrow gaps in two orthogonal directions.

[Application Example 12]
The robot hand according to the application example described above is characterized in that, if the curved rod-like member has a bow shape, the rotation shaft has a virtual string shape.

  According to this application example, the curved rod-like member has a bow shape with the rotation axis as a string. That is, the curved rod-like member has a curved shape so as to project outward from the rotating shaft in a bow shape. When the holding unit clamps the object to be clamped, the bent rod-shaped member holds the object to be clamped in this curved portion, and the distal end side of the bent rod-shaped member holds the object to be clamped from below. Become. In other words, the holding part can hold the object to be held, not just to hold it, so that the object to be held can be held stably without being damaged when being held. it can.

  Moreover, according to this application example, the curved rod-like member has a bow shape. The rotation axis has a virtual shape corresponding to a string with respect to the bow shape of the curved rod-like member. Therefore, when the object to be clamped is held, the bent portion of the bent rod-like member can widely support the object to be clamped. And since the force which supports a to-be-clamped object is easy to disperse | distribute rather than shapes other than a bow shape, even when a to-be-clamped object is soft, it can be made hard to deform | transform a to-be-clamped object with a curved rod-shaped member.

[Application Example 13]
The robot hand according to the application example described above is characterized in that the tip portion is provided with a position offset in a longitudinal direction of the tip portion with respect to the base portion.

  According to this application example, the tip portion is provided so as to be biased in the longitudinal direction. For example, when the object to be sandwiched is placed near an obstacle such as a wall surface, the robot hand is The object to be clamped can be clamped while approaching the obstacle.

[Application Example 14]
In the robot hand according to the application example described above, the distal end portion is configured such that one end surface of the distal end portion and one end surface of the base portion are flush with each other in the longitudinal direction of the distal end portion. Features.

  According to this application example, since the end surface of the distal end portion and the end surface of the base portion are flush with each other, the object to be clamped can be clamped while moving the robot hand along the floor surface or the wall surface. . Note that the first film-like member can be easily deformed unlike the tip portion or the base portion. For this reason, even if a part of the first film-like member protrudes from the end face that is flush with the tip part and the base part, the protruding part does not become a major obstacle when the object to be sandwiched is sandwiched.

[Application Example 15]
In the robot hand according to the application example, the first film-shaped member has the tip side as a trapezoid upper base, the base end side as a trapezoid lower bottom, and one of the two trapezoidal legs is A member having a shape orthogonal to the upper base and the lower base.

  According to this application example, the object to be clamped can be held while moving one leg of the first film-like member in a state parallel to a surface such as a floor surface or a wall surface. Moreover, since a part of 1st film-like member does not protrude from the end surface which became the flush surface of the front-end | tip part and the base part, a to-be-clamped object can be clamped easily.

[Application Example 16]
The robot according to this application example includes the robot hand described above, a wrist joint portion connected to the robot hand, a link connected to the wrist joint portion, a main body portion, and the main body portion and the link. A shoulder joint portion to be connected and a plurality of links are provided.

  According to this application example, the shoulder joint portion of the robot is connected to the main body portion, and the shoulder joint portion and the wrist joint portion are connected by the link. A robot hand is connected to the wrist joint, and the robot hand holds the object to be clamped. When the holding part of the robot hand is not in contact with the object to be clamped, the curved rod-like member follows the virtual plane. As a result, the distal end portion and the first film-like member supported by the curved rod-shaped member follow the virtual plane in the same manner as the curved rod-shaped member, so that the curved rod-shaped member, the distal end portion, and the first film-shaped member are thin. It becomes a form. Therefore, even when the gap between adjacent sandwiched objects is narrow, the holding portion can be inserted into the narrow gap. The robot hand can hold the object to be held when the drive mechanism housing part brings the position of the holding part closer to the object to be held. As a result, the robot can be a robot including a robot hand that holds the object to be held stably even when the gap between adjacent objects to be held is narrow.

[Application Example 17]
The holding method according to this application example is a holding method for holding an object to be held by a robot,
A plurality of curved rod-shaped members that can rotate around a rotation axis are installed on a virtual plane including the plurality of rotation axes, and the robot hand is moved so that the object to be clamped is positioned between a plurality of holding portions. A first robot hand moving step,
The drive mechanism housing portion reduces the relative distance between the plurality of holding portions, the holding portion is fixed to the base portion and the tip portion, and the length of the end portion fixed to the base portion is fixed at the tip end. The object to be clamped is sandwiched through a film-like member longer than the length of the end, and the curved bar-shaped member is rotated about a rotation axis by a reaction force from the clamped object, A holding start step for holding the film-like member so as to follow the surface of the object to be sandwiched;
A second robot hand moving step of moving the robot hand while holding the object to be clamped;
A holding end step of extending the relative distance between the holding portions to separate the film-like member and the object to be clamped to end the holding of the object to be clamped.

  According to this application example, in the first robot hand moving step, the plurality of curved bar members follow the virtual plane. The robot hand is moved so that the object to be clamped is positioned between the plurality of holding units. In the holding start process, the drive mechanism housing portion moves the holding portion. And a drive mechanism accommodating part makes a curved-bar member contact a to-be-clamped object via a 1st film-shaped member, and rotates a curved-bar-shaped member with the reaction force from a to-be-clamped object. Accordingly, the bent rod-like member and the first film-like member are held so as to wrap the object to be sandwiched. In the second robot hand moving step, the robot hand is moved while holding the object to be clamped. In the holding end process, the drive mechanism housing portion moves the holding portion to increase the distance between the holding portions. As a result, the drive mechanism housing portion separates the first film-like member and the object to be clamped and ends the holding of the object to be clamped.

  In the first robot hand moving step, the thickness of the holding portion is reduced by allowing the plurality of curved rod-shaped members to follow the virtual plane. Therefore, the robot hand can be moved between the objects to be held even when the space between the adjacent objects to be held is narrow. Then, in the holding start step, the bent rod-like member and the first film-like member are held so as to wrap the object to be sandwiched. Therefore, the robot hand can hold the object to be clamped stably. As a result, the robot hand can hold the object to be held even when the gap between adjacent objects to be held is narrow.

FIG. 3 is a schematic perspective view of the robot hand according to the first embodiment. It is a model exploded perspective view of the 1st holding part. FIG. 3 is a schematic cross-sectional view of the vicinity of a bearing portion and a biasing portion of a first rod as a curved rod-like member. It is a model perspective view which shows the state which clamped the large to-be-clamped object with the robot hand. It is a model perspective view which shows the state which pinched the small to-be-clamped object with the robot hand. It is a schematic diagram explaining operation | movement. It is a flowchart explaining the process with respect to a to-be-clamped thing. It is explanatory drawing explaining the operation | movement which clamps and raises a to-be-clamped object with a holding | maintenance part. It is explanatory drawing explaining the operation | movement which lowers the to-be-clamped object clamped by the holding | maintenance part to a floor. It is explanatory drawing explaining the operation | movement transferred to a predetermined | prescribed container, after pinching arbitrary goods from several goods. It is a model perspective view of the robot hand concerning 2nd Embodiment. It is a model perspective view of the robot hand concerning 3rd Embodiment. It is a model perspective view which shows the structure of the robot hand of 4th Embodiment. It is a model perspective view of the robot hand concerning a 5th embodiment. It is a model perspective view of the robot hand concerning 6th Embodiment. FIG. 4 is a schematic side view of a first holding unit of a robot hand. It is a model front view which shows the structure of the robot hand concerning 7th Embodiment. FIG. 9A is a schematic perspective view showing the structure of the tip portion, and FIGS. 7B and 7C are schematic cross-sectional views showing the structure of the tip portion according to the seventh embodiment. It is explanatory drawing which shows the positional relationship of the 1st stick | rod, the 2nd stick | rod, and a front-end | tip part in a clamping state and a non-clamping state. It is a schematic diagram which shows the non-clamping state of the robot hand of 7th Embodiment. It is a schematic diagram which shows the clamping state of the robot hand of 7th Embodiment. It is a model front view which shows the structure of the robot hand concerning 8th Embodiment. It is explanatory drawing which shows operation | movement of the robot hand concerning 8th Embodiment. It is a schematic front view which shows the structure of the robot concerning 10th Embodiment. It is a model front view which shows the structure of a double-arm robot.

(First embodiment)
1 to 10 show a first embodiment. In FIG. 1, directions orthogonal to each other in a horizontal plane orthogonal to the Z direction (hereinafter referred to as the vertical direction) are referred to as an X direction and a Y direction. In the following description, an embodiment in which the Z direction is the vertical direction will be described. However, the X direction can be the vertical direction, or the Y direction can be the vertical direction.

  First, it demonstrates based on FIG. The robot hand 1 includes a robot arm 2, a drive mechanism accommodating portion 3 provided at the lower end 2a of the robot arm 2, a first holding portion 4 as a holding portion provided so as to face each other, and a second holding portion. The holding space 7 is provided between the first holding portion 4 and the second holding portion 5 for holding the object 6 to be held, which is indicated by a one-dot chain line in FIG.

  As will be described later, the first holding part 4 and the second holding part 5 are structured to reciprocate so that they can approach and separate from each other in the X direction. FIG. 1 shows a non-nipping state where the first holding unit 4 and the second holding unit 5 do not hold the object 6 to be held.

  The interval P between the first holding unit 4 and the second holding unit 5 can be adjusted by the size of the object 6 to be clamped, the size of the gap between the objects to be clamped 6 arranged side by side, and the like. It has become.

  The first holding part 4 includes a base part 8, a tip part 9 provided at a position spaced downward from the base part 8, a first film member 10 stretched between the base part 8 and the tip part 9, A first rod 11 and a second rod 12 as curved rod-shaped members, and a first urging portion 13 and a second urging portion 14 as urging portions are provided.

  The base portion 8 includes a vertical member 8a provided in the vertical direction and a horizontal member 8b elongated in the Y direction, and the horizontal member 8b and the vertical member 8a are connected to each other in the center in the longitudinal direction of the horizontal member 8b. .

  The vertical member 8a of the base portion 8 is guided by a rail (not shown) provided on the lower surface of the drive mechanism housing portion 3 so as to reciprocate in the X direction. Therefore, the 1st holding | maintenance part 4 becomes a structure which can reciprocate to a X direction.

  The distal end portion 9 is formed in a rod shape and is elongated in the Y direction, but the length of the distal end portion 9 is set shorter than the length of the transverse member 8b of the base portion 8.

  The first film-like member 10 is a so-called film, and its planar shape is formed in a trapezoidal shape, the length of the lower base is shorter than the length of the upper base, and is an isosceles trapezoid.

  As shown in FIG. 2, the upper end 10 a side of the first film-like member 10 is fixed to the inner side surface 8 c of the transverse member 8 b of the base 8 by bonding, screws or the like, and the lower end 10 b side of the first film-like member 10 is the tip. It is fixed to the inner side surface 9a of the portion 9 by bonding, screws or the like. Here, the inner side surface 8c of the horizontal member 8b means a surface facing the object 6 to be sandwiched among the six surfaces of the horizontal member 8b when the horizontal member 8b is formed in a hexahedron. Further, the inner side surface 9a of the distal end portion 9 refers to a surface of the six surfaces of the distal end portion 9 that faces the object to be sandwiched 6 when the distal end portion 9 is formed as a hexahedron.

  As shown in FIGS. 1 and 2, the tip 9 is shorter than the transverse member 8b of the base 8, and the first film-like member 10 is trapezoidal. The taper is tapered from the base 8 side toward the tip 9 side.

  As shown in FIGS. 2 and 3, the first rod 11 is composed of a linear shaft portion 11a provided at the upper and lower ends and a curved portion 15 extending in a curved shape from both shaft portions 11a. The first rod 11 has a bow shape as a whole. The first rod 11 is rotatable about a rotation shaft 16, and the shaft portion 11 a is provided coaxially with the rotation shaft 16. Thus, when the 1st stick | rod 11 is compared with a bow, the rotating shaft 16 corresponds to the bow | string of a bow.

  As shown in FIG. 2, like the first rod 11, the second rod 12 includes a linear shaft portion 12a provided at the upper and lower ends, and a curved line extending from both shaft portions 12a. The second rod 12 has a bow shape as a whole. The second rod 12 is rotatable about a rotation shaft 18, and the shaft portion 12 a is provided coaxially with the rotation shaft 18.

  Here, the rotation shaft 16 of the first rod 11 intersects the transverse member 8b, the tip 9 and the curved portion 15 of the base 8, and the rotation shaft 18 of the second rod 12 is the transverse member of the base 8. 8b, intersects the tip 9 and the curved portion 17. A surface including the rotation shaft 16 of the first rod 11 and the rotation shaft 18 of the second rod 12 is a virtual plane.

  The curved portion 15 of the first rod 11 and the curved portion 17 of the second rod 12 are accommodated in the virtual plane or protrude from the virtual plane by the rotation of the first rod 11 and the second rod 12. However, the state shown in FIG. 1 and FIG. 2 shows a state that is within the virtual plane. In the state where the curved portion 15 of the first rod 11 and the curved portion 17 of the second rod 12 of the first holding portion 4 are within the virtual plane, as shown in FIG. Since the thickness H in the X direction is the thinnest, the first holding part 4 can be easily inserted into a narrow gap. Here, the thickness H is specifically the width of the transverse member 8b of the base 8 of the first holding part 4 or the total value of the width of the tip 9 and the thickness of the first film-like member 10. is there.

  As shown in FIG. 3, the upper shaft portion 11a of the first rod 11 is rotatably supported by two bearings 19 and 20 provided on the transverse member 8b of the base portion 8, and the lower shaft portion 11a. Is rotatably supported by a bearing 21 provided at the distal end portion 9. The three bearings 19, 20, and 21 are provided coaxially with the rotation shaft 16 and support the first rod 11 with good stability without shaking.

As shown in FIG. 2, the second rod 12 is similar to the first rod 11 in the transverse member 8 b of the base 8.
The upper shaft portion 12a is rotatably supported by the two bearings provided on the lower end, the lower shaft portion 12a is rotatably supported by the bearing provided on the distal end portion 9, and the second rod 12 is a rotating shaft. It is freely rotatable around 18. Similar to the first rod 11, the second rod 12 is supported by the three bearings with good stability without shaking.

  As shown in FIG. 3, the upper shaft portion 11 a of the first rod 11 penetrates upward from the bearings 19, 20, and rotational force is always applied by the first biasing portion 13. The first urging unit 13 includes a coil spring 22 and a cap 23 that covers the coil spring 22. One end 22 a of the coil spring 22 is hooked in a hook hole 11 e provided in the shaft portion 11 a of the first rod 11, and the other end 22 b of the coil spring 22 is hooked recess 8 d provided in the lateral member 8 b of the base 8. It is caught in

  As shown in FIGS. 2 and 3, the curved portion 15 of the first rod 11 is directed in a direction that fits in a virtual plane including the rotation shaft 16 of the first rod 11 and the rotation shaft 18 of the second rod 12. The coil spring 22 is always energized.

  Further, as shown in FIG. 2, the curved portion 17 of the second rod 12 is always urged in a direction to be within the imaginary plane by the second urging portion 14 having the same configuration as the first urging portion 13. Has been.

  As shown in FIG. 1, the second holding part 5 has a symmetric shape with the first holding part 4 with the sandwiching space 7 as the center. That is, as shown in FIG. 1, the second holding portion 5 has a base 24, a tip portion 25, a first film-like member 26, a first rod 27, and a second rod 28, and the base portion 24, the tip The portion 25, the first film-like member 26, the first rod 27, the second rod 28, the first urging portion 29, and the second urging portion 30 have the same configurations as the corresponding members of the first holding portion 4. The second holding part 5 is tapered.

  The first rod 27 of the second holding portion 5 has a curved portion 31 similar to the first rod 11 of the first holding portion 4 and is rotatable about a rotation shaft 32 (FIG. 2). reference). The second rod 28 of the second holding portion 5 has a curved portion 33 similar to the second rod 12 of the first holding portion 4 and is rotatable about a rotation shaft 34 ( (See FIG. 2).

  The base 24 has the same configuration as the base 8 of the first holding unit 4, and includes a vertical member 24 a and a horizontal member 24 b, and the vertical member 24 a is a rail provided on the lower surface of the drive mechanism housing unit 3. Guided by (not shown), it can reciprocate in the X direction. Thereby, the 1st holding | maintenance part 4 and the 2nd holding | maintenance part 5 can reciprocate to a X direction, and can mutually approach and space apart.

  Next, an operation for holding an object to be held by the robot hand 1 will be described. FIG. 1 shows a case where the robot hand 1 is in a non-clamping state where the clamping object 6 is not clamped. In FIG. 1, the curved portion 15 of the first rod 11 and the curved portion 17 of the second rod 12 of the first holding portion 4 are within a virtual plane including two rotating shafts 16 and 18. For this reason, the thickness H in the X direction of the first holding portion 4 is the thinnest, and the thickness H is substantially the width of the transverse member 8b of the base portion 8 or the distal end portion 9. And the total thickness of the first film-like member 10.

  Similarly, the curved portion 31 of the first rod 27 and the curved portion 33 of the second rod 28 of the second holding portion 5 are within a virtual plane including the two rotating shafts 32 and 34. For this reason, the thickness H in the X direction of the second holding portion 5 is the thinnest state, and the thickness H is substantially the width of the transverse member 24b of the base portion 24 or the distal end portion 25. And the thickness of the first film-like member 26.

  Thus, in the non-clamping state where the object to be clamped 6 is not clamped, the thickness H of the first holding part 4 and the second holding part 5 is the thinnest state, so the object 6 is clamped. As a previous step, the first holding part 4 and the second holding part 5 can easily enter the narrow gap.

FIG. 4 shows a state in which the object 6 is sandwiched between the first holding unit 4 and the second holding unit 5.
As shown in FIG. 4, even if the first holding part 4 and the second holding part 5 are tapered, the first holding part 4 and the second holding part 5 are wide on the bases 8 and 24 side. For this reason, as shown in FIG. 4, the object 6 to be sandwiched can be sandwiched between the first holding part 4 and the second holding part 5 with a sense of stability without shaking.

  On the other hand, as shown in FIG. 5, when holding a small object 6 to be clamped, the first holding part 4 and the second holding part 5 that are tapered form the object 6 to be clamped efficiently and securely. Can be pinched.

  That is, when the object 6 to be clamped is large, as shown in FIG. 4, the object 6 to be clamped is located near the bases 8 and 24 from the tip portions 9 and 25 of the first holding unit 4 and the second holding unit 5. It can be clamped firmly and without shaking in a wide range. On the other hand, when the object 6 to be clamped is small, as shown in FIG. 5, the object 6 can be firmly held in the vicinity of the front end portions 9 and 25 of the first holding portion 4 and the second holding portion 5.

  That is, in the present embodiment, the object 6 to be sandwiched is efficiently and firmly clamped at appropriate portions of the first holding part 4 and the second holding part 5 according to the size.

  The first rod 11 and the second rod 12 of the first holding unit 4 and the first rod 27 and the second rod 28 of the second holding unit 5 are separated from the object 6 when the object 6 is held. It has a great feature that the object to be held 6 can be held as long as there is a gap enough to insert the robot hand 1 on both sides of the object to be held 6 because it is pushed by the reaction force and rotates. Yes. Hereinafter, this point will be described in detail with reference to FIG.

  FIG. 6 shows a process in which the first holding unit 4 and the second holding unit 5 reach the holding state shown in FIG. 4 from the non-holding state shown in FIG.

  6 (a), 6 (b), and 6 (c) are explanatory views showing a state in which the robot hand 1 of this embodiment holds the object as viewed from the front side (Y direction in FIG. 1). is there. In order to avoid complicated illustration, the display of the drive mechanism housing portion 3 and the portion where the base 8 is connected to the drive mechanism housing portion 3 is omitted in FIG. 6. For convenience of understanding, each figure also shows a top view as viewed from above (Z direction in FIG. 1).

  As shown in FIG. 6A, when the first holding unit 4 and the second holding unit 5 are brought close to each other from the state where the object 6 is not clamped, the first film of the first holding unit 4 The first film-like member 10 and the first film-like member 26 of the second holding part 5 come into contact with the object 6 to be sandwiched, and the first film-like members 10 and 26 start to bend as shown in FIG. At this time, as shown in FIG. 6B, the width W of the robot hand 1 is the width of the object 6 to be sandwiched, the thicknesses of the two first film-like members 10 and 26, and the first holding part 4. This is the total value of the thickness of the first rod 11 or the second rod 12 and the thickness of the first rod 27 or the second rod 28 of the second holding unit 5.

  When the first holding part 4 and the second holding part 5 are further brought closer from the state shown in FIG. 6B, the first rod 11 of the first holding part 4 and The second rod 12 starts to rotate around the rotation shafts 16 and 18. Also, with respect to the second holding portion 5, the first rod 27 and the second rod 28 start to rotate around the rotation shafts 32 and 34.

  As described above, the first rod 11 and the second rod 12 of the first holding unit 4 start to rotate around the rotation shafts 16 and 18 by the reaction force from the object 6 to be clamped, and the second holding unit 5 When the first rod 27 and the second rod 28 of the first and second rods 28 start to rotate around the rotation shafts 32 and 34, the object to be clamped 6 can enter the curved portions 15, 17, 31, and 33. The first holding part 4 and the second holding part 5 can further approach each other.

  As a result, as shown in FIGS. 4 and 6 (c), the distal end portion 9 of the first holding portion 4 and the distal end portion 25 of the second holding portion 5 enter the lower side of the sandwiched object 6, and the first holding portion 4 and the 2nd holding | maintenance part 5 can wait and support the to-be-clamped object 6 from the lower side, holding the to-be-clamped object 6 from the lower side. As shown in FIG. 6C, the width W of the robot hand 1 at this time is the width of the object 6 to be sandwiched, the thicknesses of the two first film members 10 and 26, and the first holding portion 4. Of the first rod 11 or the second rod 12 and the thickness of the first rod 27 or the second rod 28 of the second holding part 5, and the value shown in FIG. This is the same as the width W of the robot hand 1.

  In other words, the first rods 11 and 27 and the second rods 12 and 28 of the robot hand 1 are only changed in posture by being pushed and rotated by the reaction force from the object 6 during clamping. The width W of the robot hand 1 does not increase from the initial state in the process of clamping the object 6 to be clamped. For this reason, the robot hand 1 can greatly suppress the possibility of causing a failure by hitting the surrounding object 6 or the like during the clamping operation.

As described above, according to the present embodiment, the following operational effects are obtained.
(1) That is, the broken line in FIG. 6C indicates the horizontal member 8b of the base portion 8 of the first holding portion 4 and the distal end portion 9 and the base portion 24 of the second holding portion 5 in FIG. The position of the horizontal member 24b and the front-end | tip part 25 is shown. As shown by the solid line in FIG. 6 (c), the tip end portions 9, 25, etc. of the first holding part 4 and the second holding part 5 move further inward from the position shown by the broken line, and the object 6 is held. I support it from the bottom. Thus, since the to-be-clamped thing 6 is firmly lifted and supported so that it may be held from the lower side, there is little possibility of being damaged.

  (2) Further, the first holding part 4 and the second holding part 5 are formed in a tapered shape, and the lengths of the distal end parts 9 and 25 are set shorter than the lengths of the lateral members 8b and 24b of the base parts 8 and 24, respectively. ing. For this reason, as described above, when the distal end portion 9 of the first holding portion 4 and the distal end portion 25 of the second holding portion 5 enter the lower side of the object 6 to be sandwiched, the distal end portion 9 of the first holding portion 4 and The contact area between the distal end portion 25 of the second holding portion 5 and the object to be clamped 6 is small, and the resistance force between them is small.

  (3) Even if the tip 9 of the first holding part 4 and the tip 25 of the second holding part 5 come into contact with a mounting table (not shown) on which the object 6 is placed. Since the first holding part 4 and the second holding part 5 are formed in a tapered shape, the contact area between the tip part 9 of the first holding part 4 and the tip part 25 of the second holding part 5 and the mounting table is increased. Small and resistance between them is small. For this reason, the front-end | tip part 9 of the 1st holding | maintenance part 4 and the front-end | tip part 25 of the 2nd holding | maintenance part 5 enter into the lower side of the to-be-clamped object 6 smoothly with few resistances, It can be pinched as if it is carried.

  (4) Even if the first holding part 4 and the second holding part 5 are tapered, the first holding part 4 and the second holding part 5 are wide on the bases 8 and 24 side. Therefore, as shown in FIG. 4, the large object 6 can be sandwiched between the first holding part 4 and the second holding part 5 with a sense of stability without shaking.

  (5) On the other hand, as shown in FIG. 5, when a small object to be clamped 6 is clamped, the clamped object 6 is efficiently held by the tapered first holding part 4 and second holding part 5. Can be clamped firmly.

  (6) That is, when the object 6 to be clamped is large, as shown in FIG. 4, the object 6 to be clamped is connected to the base 8, from the distal end portions 9 and 25 of the first holding unit 4 and the second holding unit 5. In a wide range up to 24 vicinity, it can be clamped firmly and without shaking. On the other hand, when the object to be clamped 6 is small, it can be firmly clamped in the vicinity of the tip end portions 9 and 25 of the first holding portion 4 and the second holding portion 5 as shown in FIG.

  (7) That is, in this embodiment, the object 6 to be clamped is efficiently and firmly clamped at appropriate portions of the first holding part 4 and the second holding part 5 according to the size.

  (8) Furthermore, according to the present embodiment, as shown in FIGS. 6B and 6C, the width W of the robot hand 1 is kept constant during the action of holding the object 6 to be held. In addition, there is little fear that the width W increases and hits surrounding objects to be damaged.

  Next, a holding method for holding the object 6 by holding it with a robot will be described with reference to FIG. First, in step S1, a first robot hand moving step is executed. When this step is executed, the urging portions 13 and 14 of the first holding portion 4 urge the rotation of the first rod 11 and the second rod 12 of the first holding portion 4, and the first rod 11 The curved portion 15 and the curved portion 17 of the second rod 12 are housed in a virtual plane.

Thereby, as shown in FIG. 1, the thickness H of the 1st holding | maintenance part 4 becomes thin, and the 1st holding | maintenance part 4 will be in the state which can penetrate | invade easily in a narrow clearance gap.

  Further, the urging portions 29 and 30 of the second holding portion 5 urge the rotation of the first rod 27 and the second rod 28 of the second holding portion 5, so that the curved portion 31 and the first portion of the first rod 27 The curved portion 33 of the two rods 28 is stored in a virtual plane. Thereby, as shown in FIG. 1, the thickness H of the 2nd holding | maintenance part 5 becomes thin, and the 2nd holding | maintenance part 5 will be in the state which can penetrate | invade easily in a narrow clearance gap.

  In the above-described state, the robot hand 1 is moved so that the object 6 is positioned in the holding space 7 between the first holding part 4 and the second holding part 5, and the robot hand 1 is moved to the target position. Align to.

  Next, in step S2, a holding start process is executed. In this holding start step, when the drive mechanism housing portion 3 brings the first holding portion 4 and the second holding portion 5 closer to each other, the object 6 to be pinched is held between the first holding portion 4 and the second holding portion 5. The first rod 11 and the second rod 12 of the first holding portion 4 and the first rod 27 and the second rod 28 of the second holding portion 5 are rotated by the reaction force from the object 6 to be sandwiched, and as a result, The sandwiched object 6 is supported so as to be held in the curved portions 15, 17, 31, 33 of these rods 11, 12, 27, 28.

  Next, in step S3, a second robot hand moving step is executed. In this step, the robot hand 1 holding the object 6 is moved to a predetermined position. Thereafter, Step S4 is executed. In this step, the drive mechanism housing part 3 separates the first holding part 4 and the second holding part 5, so that the object 7 to be sandwiched between the first holding part 4 and the second holding part 5 is held. Release in place. In this way, a series of steps shown in FIG. 7 is completed.

Next, a specific example of the series of steps described above will be described.
First, as shown in FIG. 8A, it is assumed that a gap M exists between the objects to be sandwiched 6. The first holding unit 4 and the second holding unit 5 are positioned above the gap M. At this time, since the first holding part 4 and the second holding part 5 are in the non-clamping state, the thickness H of the first holding part 4 and the second holding part 5 is the thinnest as shown in FIG. Is in a state. Thus, since the first holding part 4 and the second holding part 5 are in the state where the thickness H is the thinnest, even if the gap M is narrow, the first holding part 4 and the second holding part 5 can easily enter the gap M.

  Next, as shown in FIG. 8B, the first holding part 4 and the second holding part 5 are positioned in the gap M with the object 6 to be sandwiched therebetween. Next, as shown in FIG. 8 (c), the first holding unit 4 and the second holding unit 5 hold the object to be held 6 by bringing the first holding unit 4 and the second holding unit 5 closer to each other. Then, it can be lifted and transported to a target location as shown in FIG.

  Next, as shown in FIG. 9, the case where the to-be-clamped object 6 is arrange | positioned while the other to-be-clamped object 6 is arranged is demonstrated. As shown in FIG. 9 (a), the robot hand 1 in a state where the object 6 is held is moved over the gap R while the other objects 6 are arranged. Next, as shown in FIG. 9B, after the robot hand 1 is lowered and the object 6 to be clamped is placed in the gap R, as shown in FIG. The second holding unit 5 is separated. Next, as shown in FIG. 9D, the robot hand 1 is raised.

  As shown in FIG. 9 (d), in order for the robot hand 1 to raise the object to be held 6 between the other objects to be held 6, the robot hand 1 moves between the object to be held 6 and the next object to be held 6. A gap e greater than the width H (shown in FIG. 1) when the first holding part 4 or the second holding part 5 is not sandwiched is required between them, but the width H is substantially the tip. Since this is the sum of the width of the portion 9 and the thickness of the first film-like member 10, if the width of the tip 9 and the thickness of the first film-like member 10 are formed thin, the gap e is narrow. Even at a place, the robot hand 1 can ascend with the object 6 to be clamped.

  Further, the robot hand 1 according to the present embodiment has the tip 9 shorter than the base 8, so that not only the both sides (left and right direction) of the object 6 to be sandwiched but also the gap in the front and rear direction of the object 6 to be sandwiched. Even if it is too narrow, the object 6 can be taken up or the object 6 can be placed. FIG. 10 shows a case where an arbitrary sandwiched object 6 is selected from among a plurality of sandwiched objects 6 arranged vertically and horizontally and transferred to the container E. Here, it is assumed that the gaps T in the X direction and the gaps K in the Y direction of the plurality of objects 6 are narrow, and the plurality of objects 6 are closely arranged.

  As shown in FIG. 1, the robot hand 1 according to the present embodiment is thin in the thickness H of the first holding unit 4 and the second holding unit 5 in the non-clamping state. That is, in FIG. 1, since the thickness in the X direction is thin, it is easy to enter the gap T in the X direction in FIG. Further, as shown in FIG. 1, the first holding part 4 and the second holding part 5 are tapered. That is, since the front end sides of the first holding part 4 and the second holding part 5 are small in the Y direction, they easily enter the gap K in the Y direction in FIG.

  Therefore, as shown in FIG. 10, it is possible to select and hold as an arbitrary sandwiched object 6 from a plurality of sandwiched objects 6 that are closely arranged with narrow gaps T and K in two orthogonal directions. it can. At this time, the application example 9 does not interfere with the adjacent sandwiched object 6 to disturb the arrangement of the sandwiched object 6 or damage the sandwiched object 6. Furthermore, even when the clamped object 6 must be inserted into the small container E in both the X direction and the Y direction, the tip 9 of the robot hand 1 is inserted and clamped. 6 can be placed gently. If the tip 9 cannot be inserted into the container E, the sandwiched article 6 must be dropped from the container E. In this case, the object 6 cannot be placed at a desired position, and the object 6 may be damaged by the dropped impact. On the other hand, if the robot hand 1 according to the present embodiment is used, even if the container E is small, the object 6 can be placed at the desired position and without being damaged.

(Second Embodiment)
Next, an embodiment of the robot hand will be described with reference to FIG. Compared with the first embodiment, the present embodiment is characterized in that the elasticity of the first film-like members 10 and 26 is used without using a coil spring as the urging portion.

  FIG. 11 is a schematic perspective view of the robot hand 100. As in the first embodiment, the first holding unit 4 of the robot hand 100 of the present embodiment includes a base 8, a first film-like member 10, a tip 9, a first rod 11 as a curved rod-like member, and a second rod. A rod 12 is provided. However, the first holding part 4 of the present embodiment does not use a coil spring as an urging part, and sandwiches the first rod 11 and the second rod 12 between the first film-like member 10 and the connecting part 35. The first rod 11 and the second rod 12 are biased so that the curved portion 15 of the first rod 11 and the curved portion 17 of the second rod 12 are within the virtual plane. That is, in the present embodiment, the first rod 11 and the second rod 12 are always urged so as to have the posture shown in FIG. 11 without using the coil spring.

  Therefore, in a state where the bent portion 15 of the first rod 11 and the bent portion 17 of the second rod 12 are pressed against the back surface of the first film member 10 by the connecting portion 35, both end portions of the connecting portion 35 are bonded. The structure is such that the first membrane member 10 is attached to a fixing means such as a screw. Thus, the first film member 10 and the connecting portion 35 sandwich the first rod 11 and the second rod 12, and the first rod 11 and the second rod 12 are formed of the first film. The slidable member 10 and the connecting portion 35 are slidable. The connecting portion 35 may be made of a material that is difficult to bend, and for example, a metal or a resin material can be used.

  Similarly to the first holding unit 4, the second holding unit 5 uses the elasticity of the first film member 26 without using a coil spring as the urging unit, and uses the first rod 27 and the second holding unit 5. The two bars 28 are urged so as to be within the virtual plane. That is, the first rod 27 and the second rod 28 are always urged so as to have the posture shown in FIG.

  Therefore, as shown in FIG. 11, in a state where the curved portion 31 of the first rod 27 and the curved portion 33 of the second rod 28 are pressed against the back surface of the first film-like member 26, It is structured to be attached to the back surface of the first film-like member 26 by adhering means such as a screw. As a result, the first film member 26 and the connecting portion 35 sandwich the first rod 27 and the second rod 28, and the first rod 27 and the second rod 28 are formed of the first film. The slidable member 26 and the connecting portion 35 are slidable.

  Next, the operation will be described. As shown in FIG. 11, when the first holding unit 4 and the second holding unit 5 do not hold the object to be clamped, the bent portion 15 of the first rod 11 and the bent portion 17 of the second rod 12 of the first holding portion 4. Is biased by the elasticity of the first film-like member 10 so as to be within a virtual plane including the two rotating shafts 16 and 18. As a result, the thickness H of the first holding part 4 is reduced.

  The curved portion 31 of the first rod 27 and the curved portion 33 of the second rod 28 of the second holding portion 5 are virtual planes including two rotating shafts 32 and 34 due to the elasticity of the first film-like member 26. Energized to fit within. As a result, the thickness H of the second holding part 5 is reduced. That is, there exists an effect similar to the coil spring as an urging | biasing part of 1st Embodiment.

  On the other hand, as the object 6 is held between the first holding part 4 and the second holding part 5, the first rods 11 and 27 and the second bars 12 and 28 are caused by the reaction force from the object 6 to be held. The first film-like members 10 and 26 rotate while resisting the elastic force.

As described above, according to the present embodiment, the following operational effects are obtained.
(1) As described above, the first film-like member 10 of the first holding part 4, the first film-like member 26 of the second holding part 5, and the connecting part 35 are urged according to the first embodiment. In addition to having the same effect as the coil spring as a portion, the both ends of the connecting portion 35 formed of a material that is difficult to bend is adhered to the back surface of the first film-like members 10 and 26 by means such as a screw. It can be used as an urging portion by a simple operation only by fixing. As a result, the robot hand 100 and the robot can be manufactured easily and inexpensively as compared with the first embodiment.

(Third embodiment)
Next, a third embodiment will be described with reference to FIG. Compared with the first embodiment, the present embodiment is characterized in that a second film-like member 36 having elasticity is provided without using a coil spring as an urging portion.

  FIG. 12 is a schematic perspective view of the robot hand 200. The first holding unit 4 of the robot hand 200 of the present embodiment is similar to the first holding unit 4 of the first embodiment in that the base 8, the first film-like member 10, the tip portion 9, and the bent rod-like member are used. A first rod 11 and a second rod 12 are provided. The first rod 11 rotates about a rotation shaft 16, and the second rod 12 rotates about a rotation shaft 18. However, the first holding portion of the present embodiment includes the second film-like member 36 without using a coil spring as the biasing portion.

  A state in which the bent portion 15 of the first rod 11 and the bent portion 17 of the second rod 12 are housed in a virtual plane including the two rotation axes 16 and 18 of the first rod 11 and the second rod 12; That is, in the posture shown in FIG. 12, the upper end portion 36 a of the second film-like member 36 is fixed to the outer surface of the transverse member 8 b of the base portion 8 by means such as adhesion or screw, and the second film-like member 36 is fixed. The lower end portion 36b is fixed to an outer surface of the tip end portion 9 by a bonding means such as an adhesive or a screw. The second film-like member 36 is formed of a film made of an elastic material. As described above, the first rod 11 and the second rod 12 are sandwiched between the first film member 10 and the second film member 36.

  Similar to the first holding unit 4, the second holding unit 5 includes a base 24, a first film-like member 26, a tip 25, a first rod 27 as a curved rod-like member, and a second rod 28. The rod 27 rotates about the rotation shaft 32, and the second rod 28 rotates about the rotation shaft 34. And the 2nd film-like member 36 similar to the 2nd film-like member 36 of the 1st holding | maintenance part 4 is provided.

  In the present embodiment, as shown in FIG. 12, when the object to be clamped is not held, the bent portion 15 of the first rod 11 and the bent portion 17 of the second rod 12 of the first holding portion 4 are the second film. Due to the elastic force of the member 36, it is biased so as to be within a virtual plane including the two rotation shafts 16 and 18.

  Further, the curved portion 31 of the first rod 27 and the curved portion 33 of the second rod 28 of the second holding portion 5 are imaginary planes including two rotating shafts 32 and 34 by the elasticity of the second film-like member 36. Energized to fit within. That is, there exists an effect similar to the coil spring as an urging | biasing part of 1st Embodiment. On the other hand, as the object 6 is held between the first holding part 4 and the second holding part 5, the first rods 11 and 27 and the second bars 12 and 28 are caused by the reaction force from the object 6 to be held. The second film-like member 36 rotates while resisting the elastic force.

As described above, according to the present embodiment, the following operational effects are obtained.
(1) As described above, according to the present embodiment, the second film-like member 36 has the same effect as the coil spring as the biasing portion of the first embodiment, and also has elasticity. Similar to the coil spring of the first embodiment, the second film-like member 36 formed of a material having the same material as that of the first embodiment can be obtained by simply attaching the second film-like member 36 to the outer surfaces of the base portions 8 and 24 and the outer surfaces of the tip portions 9 and 25. Therefore, the robot hand 200 and the robot can be manufactured easily and inexpensively as compared with the first embodiment.

(Fourth embodiment)
Next, a fourth embodiment will be described based on FIG. The feature of the fourth embodiment is that a bag-like member 37 is formed by integrating the first film-like members 10 and 26 and the second film-like member 36 into a bag shape as compared with the third embodiment. It is in the point. An attachment opening 371 a is formed in the upper part of the bag-shaped member 37. The bag-shaped member 37 is formed of a member having elasticity.

  FIG. 13 is a schematic perspective view of the robot hand 300. The first holding unit 4 of the robot hand 300 of the present embodiment is similar to the first holding unit 4 of the first embodiment in that the base 8, the tip 9, and the first rod 11 and the second rod 12 as curved rod members. However, the first film-like member and the urging portion are not provided.

  In order to attach the bag-shaped member 37 to the first holding portion 4, the bag-shaped member 37 is positioned below the distal end portion 9 as shown in FIG. 13. Then, the bag-shaped member 37 is moved upward, and the distal end portion 9 is inserted into the bag-shaped member 37 from the attachment opening 37a. Thereafter, the bag-like member 37 is further moved upward, and the periphery of the attachment opening 37a of the bag-like member 37 is attached to the lateral member 8b of the base 8 by means such as a screw or a screw. In this state, the tip 9, the first rod 11, and the second rod 12 are covered with the bag-shaped member 37. The bag member 37 is also attached to the second holding portion 5 in the same manner as described above.

  When the object to be clamped is not clamped, the bag-shaped member 37 prevents the first rod 11 and the second rod 12 of the first holding unit 4 from rotating carelessly, and the second holding unit 5 Inadvertent rotation of the first rod 27 and the second rod 28 is prevented. That is, when the object to be sandwiched is not sandwiched, the first rod 11 and the second rod 12 of the first holding unit 4 and the first rod 27 and the second rod 28 of the second holding unit 5 are 13 is maintained, and the bag-like member 37 has the same effect as the urging portion of the first embodiment. On the other hand, as the object 6 is held between the first holding part 4 and the second holding part 5, the first rods 11 and 27 and the second bars 12 and 28 are caused by the reaction force from the object 6 to be held. The bag-shaped member 37 rotates while resisting the elastic force.

As described above, according to the present embodiment, the following effects can be obtained.
(1) In the non-clamping state in which the object to be clamped is not clamped, the bag-shaped member 37 functions as the urging unit of the first rod 11 and the second rod 12 of the first holding unit 4 and also the second holding It functions as an urging portion for the first rod 27 and the second rod 28 of the portion 5. And when clamping the to-be-clamped thing 6, the surface of the opposing side of the bag-shaped member 37 with which the 1st holding | maintenance part 4 and the 2nd holding | maintenance part 5 were each mounted | worn is the 1st film-like member 10 of the above-mentioned embodiment. Function as. For this reason, compared with the above-described embodiment, the first film-like member and the biasing portion of the first holding portion 4 can be obtained simply by attaching the bag-like member 37 to the first holding portion 4 and the second holding portion 5. Further, it is possible to omit the trouble of mounting the first film-like member and the urging portion of the second holding portion 5, and a simple and easy-to-manufacture structure can be achieved.

  (2) Since the tip portions 9 and 25 of the first holding portion 4 and the second holding portion 5 are covered with the bag-like member 37, the object 6 to be sandwiched is directly connected to the tip portion 9 of the first holding portion 4. In order not to contact the first rod 11 and the second rod 12 and to contact the distal end portion 25, the first rod 27, and the second rod 28 of the second holding portion 5, the distal end portions 9, 25, The first rods 11 and 27 and the second rods 12 and 28 are not soiled.

  (3) When the bag-shaped member 37 is soiled, it can be replaced with a new bag-shaped member 37.

(Fifth embodiment)
Next, an embodiment of a robot hand having a characteristic structure will be described with reference to FIG. FIG. 14 is a schematic perspective view of the robot hand 400. The feature of the present embodiment is that the first rod 11 and the second rod 12 of the first holding unit 4 intersect each other when the object to be clamped is not clamped, and the second holding unit 5 The first rod 27 and the second rod 28 are at points where they intersect each other.

  The first holding part 4 has a base part 8, a tip part 9, a first film-like member 10, a first bar 11, a second bar 12, and biasing parts 13 and 14 in the first embodiment. It is the same as that of the 1st holding | maintenance part 4 of a form.

  However, the feature of this embodiment is that when the object to be sandwiched is not sandwiched, that is, when the first rod 11 and the second rod 12 are in a virtual plane, the first rod 11 and the second rod 12 Are at points where they cross each other.

  The second holding part 5 has a base part 24, a tip part 25, a first film-like member 26, a first bar 27, a second bar 28, and biasing parts 29 and 30. This is the same as the second holding unit 5 of one embodiment.

  However, the feature of this embodiment is that when the object to be sandwiched is not sandwiched, that is, when the first rod 27 and the second rod 28 of the second holding part 5 are in a virtual plane, The second bar 28 intersects with each other.

As described above, according to the present embodiment, the following operational effects are obtained.
(1) According to the present embodiment, when the object to be sandwiched is not sandwiched, that is, the first rod 11 and the second rod 12 of the first holding unit 4 are in a virtual plane, and the second When the first rod 27 and the second rod 28 of the holding portion 5 are in a virtual plane, the first rod 11 and the second rod 12 of the first holding portion 4 intersect each other, and the first rod of the second holding portion 5 Since the rod 27 and the second rod 28 cross each other, the lateral width (the width in the Y direction in the drawing) of the first film-like members 10 and 26 can be reduced, and as a result, the robot hand 400 Can be moved without interfering with the object to be clamped. Furthermore, since the length in the longitudinal direction (Y direction in the drawing) of the distal end portion 9 of the first holding portion 4 and the distal end portion 25 of the second holding portion 5 can be shortened, as described above with reference to FIG. In addition, a smaller object 6 can be held, or the object 6 can be accommodated in a narrower place or in the container E.

(Sixth embodiment)
Next, an embodiment of a robot hand having a characteristic structure will be described with reference to FIGS. This embodiment is different from the first embodiment in the shape of the first film member.

  FIG. 15 is a perspective view showing a rough outer shape of the robot hand 500. In the first embodiment, the first film member is formed in an isosceles trapezoid. However, as shown in FIG. 16, the first film-like member 38 of the present embodiment is a trapezoid having an upper base 38a, a lower base 38b, and two legs 38c, 38d. The angle formed by the bottom 38a and the angle formed by the leg 38c and the lower bottom 38b are formed at right angles.

  The length of the distal end portion 9 in the longitudinal direction (Y direction in the drawing) is shorter than the lateral member 8b of the base portion 8, and one end surface 9c of the distal end portion 9 and the lateral member of the base portion 8 are formed. One end face 8 d of 8 b is provided flush with the longitudinal direction of the tip end portion 9.

  Then, the portion corresponding to the upper base 38a of the first film member 38 is fixed to the tip portion 9 by means such as bonding and screwing, and the portion corresponding to the lower base 38b is bonded to the horizontal member 8b of the base portion 8, It is fixed by means such as a screw. The second holding portion 40 is formed in the same manner as the first holding portion 39.

  As shown in FIG. 16, the first holding unit 39 and the second holding unit 40 of the robot hand 500 configured in this way, for example, hold the object 6 in a state where one leg 38 c is parallel to the floor surface γ. It can be used when the object 6 is clamped from the horizontal direction by the first holding part 4 and the second holding part 5.

(Seventh embodiment)
Next, an embodiment of a robot hand 700 having a characteristic structure will be described with reference to FIGS. This embodiment is different from the first embodiment in that the connection structure between the first rod, the second rod and the tip is different. Note that description of the same points as in the first embodiment is omitted.

  FIG. 17 is a schematic front view showing the structure of the robot hand 700. The robot hand 700 according to the seventh embodiment also includes a first holding unit 54 and a second holding unit 55 as in the robot hand 100 according to the first embodiment described above. A first rod 56 and a second rod 57 corresponding to the first rod 11 and the second rod 12 of the first holding portion 4 are rotated around the rotation shafts 58 and 59 on the base portion 8 of the first holding portion 54. It is provided to be movable. The first rod 56 and the second rod 57 are also formed in a bow shape as in the first rod 11 and the second rod 12, but the first rod 56 and the second rod 57 of the first holding portion 54 are formed. Connection portions 56d and 57d that are formed obliquely with respect to the rotation shafts 58 and 59 are provided on the lower end side. And the front end side of the connection parts 56d and 57d is connected to the front-end | tip part 60 corresponded to the front-end | tip part 9 of the 1st holding | maintenance part 4 via the joint part shown in FIG. Further, the first film-like member 10 is provided between the base portion 8 and the distal end portion 60 similarly to the first holding portion 4 of the robot hand 100 described above.

  The second holding part 55 has the same structure as the first holding part 54. That is, an arcuate first rod 61 and a second rod 62 are provided on the base 24 so as to be pivotable about pivot shafts 63 and 64, and on the lower end side of the first rod 61 and the second rod 62. Connection portions 61d and 62d are formed obliquely with respect to the rotating shafts 63 and 64. And these connection parts 61d and 62d are connected to the front-end | tip part 65 via the joint part mentioned later. Further, a first film member 26 is provided between the base portion 24 and the distal end portion 65.

  For this reason, the robot hand 700 according to the seventh embodiment shown in FIG. 17 also holds the object 6 by narrowing the distance between the first holding part 54 and the second holding part 55, or the first holding part. By widening the gap between the second holding portion 55 and the second holding portion 55, the sandwiched object 6 can be released.

  FIG. 18A is a perspective view showing a rough shape of the distal end portion 60 of the first holding portion 54. As shown in the drawing, the distal end portion 60 has a substantially wedge-shaped cross-section having a wide side to which the connecting portions 56d and 57d are connected, and is a member that is long in the Y direction in the drawing. A concave portion 60c in which the joint portion 66 is accommodated is formed on the surface to which the connection portions 56d and 57d are connected, and the connection portions 56d and 57d are connected to the joint portion 66.

  FIG. 18B shows the internal structure by taking a cross section of the joint 66. As shown in the figure, the joint 66 is equipped with two bearings, a small bearing 68 and a large bearing 69. Of these, the small bearing 68 is fitted with the ends of the connecting portions 56d and 57d. Further, the large bearing 69 pivotally supports the entire joint portion 66 so as to be rotatable around the rotation shaft 70 in the recess 60c. The intersection G between the rotation axis of the small bearing 68 (indicated by a broken line in the figure) and the rotation axis of the large bearing 69 (indicated by a two-dot chain line in the figure) is set to be on the rotation axis 58. Has been.

  FIG. 18C shows the shape of the recess 60 c by taking a cross section of the joint portion 66 and the tip portion 60 along a rotation axis of the small bearing 68 along a plane perpendicular to the rotation shaft 70. . As shown in the figure, since there is a gap between the inner surface of the recess 60c and the joint portion 66, the joint portion 66 and the connecting portions 56d and 57d are free to center around the rotation shaft 70 within a predetermined angle range. Can be rotated.

  FIG. 19A shows the first rod 56, the second rod 57, and the distal end portion 60 in the clamping state, and FIG. 19B shows the first rod 56, the second rod 57, and the distal end in the non-clamping state. Part 60 is shown. For convenience of understanding, the state seen from the front is shown on the left side of each figure, and the state seen from the P direction is shown on the right side of each figure.

  In order to shift from the clamping state shown in FIG. 19 (a) to the non-clamping state shown in FIG. 19 (b), the transition is performed by the urging force of the urging unit. First, in FIG. The rod 56 rotates about the rotation shaft 58 and the second rod 57 rotates about the rotation shaft 59 about 90 degrees in the direction indicated by the arrow in FIG. To do.

  When the first rod 56 and the second rod 57 are rotated by 90 degrees, the bow-shaped first rod 56 and the second rod 57 are linear in a front view as shown in the left side of FIG. become. At this time, since the tip end side of the first rod 56 is rotatably supported by a bearing 68 shown in FIG. 18B, twisting occurs between the first rod 56 and the tip portion 60. Absent. Similarly, no twisting occurs between the second rod 57 and the tip 60.

  Here, the axial center of the connecting portion 56d on the distal end side of the first rod 56 and the rotation shaft 70 of the distal end portion 60 are in a positional relationship (see FIG. 18B). For this reason, as shown in FIG. 19 (b), the rotation shaft 70 in a positional relationship orthogonal to the distal end side of the first rod 56 is horizontal, and as a result, the distal end portion 60 is formed as shown in FIG. 19 (b). As shown in FIG. 2, the so-called toe-up posture is formed, with the rear side floating and rising only at the tip side. For this reason, even when the gap between the adjacent non-clamping objects 6 is narrow, the tip part 60 in the non-clamping state can be easily entered into the gap. In order to shift from the non-clamping state shown in FIG. 19B to the clamping state shown in FIG. 19A, the above process is reversed.

  Next, the operation of the robot hand 700 will be described. FIG. 20 shows the robot hand 700 in a non-clamping state, and FIG. 21 shows the robot hand 700 in a clamping state. 20 (a) and 21 (a) show the object 6 to be sandwiched, the tip portions 60 and 65, the first rods 56 and 61, the second rod 57, 62, and the bases 8 and 24 are also indicated by broken lines for reference. Further, FIGS. 20B and 21B show side views as viewed from the direction of the arrow Q in the drawings.

  When the robot hand 700 is in the non-clamping state shown in FIG. 20, the first bar 56 and the second bar 57 of the first holding part 54 are present in a virtual plane, as shown in FIG. , It overlaps the tip 60. Similarly, the first rod 61 and the second rod 62 of the second holding portion 55 overlap the tip portion 65. In this state, the distal end portion 60 of the first holding portion 54 and the distal end portion 65 of the second holding portion 55 are in a so-called toe-up posture (see FIG. 19B). When the first holding part 54 and the second holding part 55 are brought close to each other from this state, the first rods 56 and 61 and the second rods 57 and 62 are rotated by the reaction force from the object 6 to be sandwiched. At the same time, the tip portions 60 and 65 that have been standing on the toes stand up and enter the lower side of the object 6 to be sandwiched. As a result, the object to be clamped 6 is firmly and stably held in a state of being held from below.

  FIG. 21 shows a state where the object 6 is sandwiched. Further, since the tip portions 60 and 65 of the first holding portion 54 and the second holding portion 55 have a wedge-shaped cross-sectional shape, they can easily enter the lower side of the object 6 to be sandwiched, and the robot hand 700 can The operation of holding the holding object 6 can be performed smoothly.

(Eighth embodiment)
Next, an embodiment of a robot hand having a characteristic structure will be described with reference to FIG. This embodiment is different from the seventh embodiment in that the tip portion is provided at a position farther from the rotation shafts of the first rod and the second rod than in the seventh embodiment. Note that description of the same points as in the seventh embodiment is omitted.

  FIG. 22 is a schematic front view showing the structure of the robot hand 800. Similarly to the robot hand 700 of the seventh embodiment described above, the robot hand 800 of the eighth embodiment also includes the first holding unit 71 and the second holding unit 72, and the base portion of the first holding unit 71. 8, a first rod 73 and a second rod 74 corresponding to the first rod 56 and the second rod 57 of the first holding portion 54 are provided so as to be rotatable about the rotation shafts 75 and 76. . The entirety of the first rod 73 and the second rod 74 is also formed in a bow shape, and connection portions 73d and 74d formed obliquely with respect to the rotation shafts 75 and 76 are provided on the lower end side. . And the front end side of the connection parts 73d and 74d is connected to the front-end | tip part 81 equivalent to the front-end | tip part 60 of 7th Embodiment. Here, the connection portions 73d and 74d of the eighth embodiment are formed longer than the connection portions 56d and 57d of the seventh embodiment described above. For this reason, the distal end portion 81 of the eighth embodiment is closer to the position of the object 6 to be sandwiched than the distal end portion 60 of the seventh embodiment (a position away from the rotation shafts 75 and 76). is there. Further, the first film-like member 10 is provided between the base portion 8 and the distal end portion 81 similarly to the robot hand 700 described above.

  The second holding part 72 has the same structure as the first holding part 71. That is, an arcuate first rod 77 and second rod 78 are provided on the base 24 so as to be pivotable about pivot shafts 79 and 80, and on the lower ends of the first rod 77 and the second rod 78, respectively. Connection portions 77d and 78d are formed obliquely with respect to the rotation shafts 79 and 80. These connecting portions 77d and 78d are connected to a tip portion 82 corresponding to the tip portion 65 of the seventh embodiment. And the connection parts 73d and 74d of the second holding part 72 are also formed longer than the connection parts 61d and 62d of the seventh embodiment described above. For this reason, the front-end | tip part 82 of 8th Embodiment is in the position (position away from the rotating shafts 79 and 80) closer to the direction of the to-be-clamped object 6 than the front-end | tip part 65 of 7th Embodiment. is there. A first film-like member 26 is provided between the base 24 and the tip 65.

  Next, the operation of the robot hand 800 according to the eighth embodiment will be described. In FIG. 23 (a), when the robot hand 800 in a non-pinch state is viewed from above, the object to be clamped 6, the tips 81 and 82, the first rods 56 and 61, and the second rods 57 and 62 The positional relationship is shown. FIG. 23 (b) shows the relationship between the object 6 to be clamped, the tips 81 and 82, the first rods 56 and 61, and the second rods 57 and 62 when the robot hand 800 is in the clamping state. The positional relationship is shown.

  The operation of the robot hand 800 of the eighth embodiment is basically the same as the operation of the robot hand 700 of the seventh embodiment described above. Hereinafter, in brief, when the robot hand 800 is in the non-clamping state, as shown in FIG. 23A, the first rod 73 and the second rod 74 of the first holding portion 71 are in the virtual plane. And overlaps the distal end portion 81. Similarly, the first rod 77 and the second rod 78 of the second holding portion 72 overlap the tip portion 82. And in this state, all the front-end | tip parts 81 and 82 are a toe standing posture.

  When the first holding part 71 and the second holding part 72 are brought close to each other from this state, the first rods 73 and 77 and the second rods 74 and 78 are rotated by the reaction force from the object 6 to be held, and as a result Then, the tip portions 81 and 82 that have been standing on the toes stand up and enter the lower side of the object 6 to be sandwiched. At this time, as described above with reference to FIG. 22, in the robot hand 800 of the eighth implementation brother, the tip portions 81 and 82 are provided at positions away from the rotation shafts 75, 76, 79, and 80. Therefore, as shown in FIG. 23 (b), the tip portions 81 and 82 greatly advance under the object 6 to be sandwiched. As a result, it is possible to hold the object to be clamped 6 from the lower side and hold it firmly and stably as compared with the case of the seventh embodiment.

As described above, according to the present embodiment, the following effects can be obtained.
(1) According to this embodiment, in the non-clamping state, the first rod 73 and the second rod 74 of the first holding portion 71 and the first rod 77 and the second rod 78 of the second holding portion 72 are: They are positioned so as to overlap the tip portions 81 and 82, respectively, and do not protrude outward from the tip portions 81 and 82. For this reason, when the object 6 is clamped, even if the gap between adjacent objects 6 is narrow, the tip 81 and the second holding of the first holding part 71 are held in the gap. The tip portion 82 of the portion 72 can be inserted smoothly.

  (2) According to the present embodiment, the tip portions 81 and 82 of the first holding portion 71 and the second holding portion 72 are formed at locations away from the rotation shafts 75, 76, 79, and 80. Therefore, when the first holding part 71 and the second holding part 72 are brought close to each other in order to hold the object 6 to be sandwiched, the tip parts 81 and 82 are below the object 6 to be sandwiched. Since the center of the object 6 can be reached and the vicinity of the center of the object 6 can be supported from below, the object 6 can be supported with good stability.

  (3) According to the present embodiment, the tip portions 81 and 82 are formed at locations away from the rotation shafts 75, 76, 79, and 80. Therefore, the first rods 73 and 77 and the second rods 74 and 78 are rotated around the rotation shafts 75, 76, 79, and 80 by the reaction force from the object 6 when the object 6 is sandwiched. By doing so, the tip portions 81 and 82 can be advanced deeply to the vicinity of the center of the object 6 to be sandwiched.

  (4) According to this embodiment, with the rotation of the first rod 73 and the second rod 74 of the first holding portion 71 and the rotation of the first rod 77 and the second rod 78 of the second holding portion 72. Thus, the tip portions 81 and 82 move in parallel, the distance between the tips of the first rod 73 and the second rod 74 of the first holding portion 71, and the first rod 77 and the second rod 78 of the second holding portion 72. The tip spacing does not change. That is, without changing the shapes of the first rod 73 and the second rod 74 of the first holding portion 71 and the shapes of the first rod 77 and the second rod 78 of the second holding portion 72, the first rod 73, In order to rotate the 77 and the second rods 74 and 78, the first rods 73 and 77 and the second rods 74 and 78 can be rotated with a small external force.

(Ninth embodiment)
Next, a robot provided with the robot hand of the above embodiment will be described with reference to FIGS. FIG. 24 is a schematic front view showing the structure of the robot 900. A robot 900 shown in FIG. 24 is a SCARA robot. That is, the robot 900 includes a first arm 901 and a second arm 902, the first arm 901 is provided with a motor 903, and the output shaft of the motor 903 is connected to the second arm 902. The second arm 902 can be rotated horizontally by the driving force of the motor 903.

  The second arm 902 is provided with a robot hand 904. As the robot hand 904, the aforementioned robot hands 1, 100, 200, 300, 400, 500, 700, 800 are used.

  FIG. 25 is a schematic front view showing a dual-arm robot. As shown in FIG. 25, the double-arm robot 1000 is provided with arms 1112 symmetrically about the main body 1111. Each arm portion 1112 includes a shoulder joint portion 1113, a first link 1114, an elbow joint portion 1115, a second link 1116, a wrist joint portion 1117, and a robot hand 1118 in this order. In the illustrated example, the two arm portions 1112 are provided. However, a multi-arm robot including three or more arm portions 1112 may be used.

  Any of the robot hands 1, 100, 200, 300, 400, 500, 700, and 800 in the above embodiment is used for the robot hand 1118.

As described above, according to the present embodiment, the following operational effects are obtained.
(1) According to this embodiment, the robot 900 includes the robot hand 904, and any one of the robot hands 1, 100, 200, 300, 400, 500, 700, 800 in the above embodiment is used for the robot hand 904. It has been. The robot 900 having any one of the robot hands 1, 100, 200, 300, 400, 500, 700, and 800 can stably hold the object 6 even when the gap between adjacent objects 6 is narrow. Can be held.

  (2) According to this embodiment, the double-arm robot 1000 includes the robot hand 1118, and any one of 1,100, 200, 300, 400, 500, 700, 800 in the above embodiment is used for the robot hand 1118. It has been. The double-arm robot 1000 having any one of the robot hands 1, 100, 200, 300, 400, 500, 700, and 800 can stably hold the object 6 even when the gap between the adjacent objects 6 is narrow. Can be held.

  In the second embodiment, the third embodiment, and the fourth embodiment, the urging portion that replaces the urging portion of the first embodiment has been described, but these second embodiments are described. In the third embodiment and the fourth embodiment, the urging portion of the first embodiment can be used together.

    DESCRIPTION OF SYMBOLS 1 ... Robot hand, 3 ... Drive mechanism accommodating part, 4 ... 1st holding | maintenance part, 5 ... 2nd holding | maintenance part, 6 ... To-be-clamped object, 8 ... Base part, 9 ... Tip part, 10 ... 1st film-shaped member, DESCRIPTION OF SYMBOLS 11 ... 1st rod, 12 ... 2nd rod, 13 ... Energizing part, 14 ... Energizing part, 15 ... Curved part, 16 ... Turning axis, 17 ... Turning part, 18 ... Turning axis, 19 ... Bearing, DESCRIPTION OF SYMBOLS 20 ... Bearing, 21 ... Bearing, 22 ... Coil spring, 24 ... Base part, 25 ... Tip part, 26 ... First film-like member, 27 ... First rod, 28 ... Second rod, 31 ... Curve part, 32 ... Rotating shaft, 33 ... curved portion, 34 ... rotating shaft, 35 ... connecting portion, 36 ... second membrane member, 37 ... bag-like member, 38 ... first membrane member, 39 ... first holding portion 40 ... second holding portion, 41 ... first holding portion, 42 ... second holding portion, 43 First membrane member 44... First membrane member 54. First holding portion 55. Second holding portion 56. First rod 57. Second rod 58. Rotating shaft 59. Rotating shaft, 60 ... tip portion, 61 ... first rod, 62 ... second rod, 63 ... rotating shaft, 64 ... rotating shaft, 65 ... tip portion, 66 ... joint portion, 68 ... bearing, 69 ... bearing 70 ... Rotating shaft 71 ... First holding portion 72 ... Second holding portion 73 ... First rod 74 ... Second rod 75 ... Rotating shaft 76 ... Rotating shaft 77 ... First rod 78 ... second rod 79 ... rotating shaft 80 ... rotating shaft 100 ... robot hand 200 ... robot hand 300 ... robot hand 400 ... robot hand 500 ... robot hand 700 ... robot hand 800 ... Robot C 900, robot, 1000, robot, 1111, main body, 1113, shoulder joint, 1114, first link, 1115, elbow joint, 1116, second link, 1117 wrist joint.

Claims (17)

A robot hand in which a plurality of holding units hold a sandwiched object,
The plurality of holding portions include a base,
A plurality of curved rod-like members installed on the base and capable of rotating around a rotation axis;
A rod-shaped distal end portion that is installed and supported at the distal ends of the plurality of curved rod-shaped members and whose length in the longitudinal direction is shorter than the base portion;
A first film-like member fixed to the base and the tip, and a part of the first membrane-like member located between the object to be clamped and the curved rod-like member,
The pivot axis intersects the base and the tip;
The length of the end fixed to the base in the first membrane member is longer than the length of the end fixed to the tip.
The plurality of curved rod-shaped members are rotated from a virtual plane including a plurality of the rotation shafts by the reaction force from the object to be clamped by the holding unit sandwiching the object to be clamped, and the tip portion or the first A robot hand characterized in that a part of one film-like member holds the object to be clamped. A robot hand in which a plurality of holding units hold a sandwiched object,
The holding portion includes a base portion,
A plurality of curved rod-like members installed on the base and capable of rotating around a rotation axis;
A rod-shaped tip portion that is installed at the tips of the plurality of curved rod-shaped members and whose length in the longitudinal direction is shorter than the base portion;
A first film-like member fixed to the base and the tip, and a part of the first membrane-like member located between the object to be clamped and the curved rod-like member,
The pivot shaft intersects the base and the curved portion of the curved rod-shaped member,
The length of the end fixed to the base of the first membrane member is longer than the length of the end fixed to the tip.
The plurality of curved rod-shaped members are rotated from a virtual plane including a plurality of the rotation shafts by the reaction force from the object to be clamped by the holding unit sandwiching the object to be clamped, and the tip portion or the first A robot hand characterized in that a part of one film-like member holds the object to be clamped. The robot hand according to claim 1 or 2,
A robot hand, comprising: a joint portion that is disposed between the curved rod-shaped member and the tip portion and pivots about a pivot shaft at which the curved rod-shaped member and the tip portion intersect. The robot hand according to any one of claims 1 to 3,
The first membrane member has elasticity,
A connecting portion for connecting the curved rod-like member and the first film-like member is installed,
The robot hand, wherein the first film-like member urges the turning of the curved rod-like member. The robot hand according to any one of claims 1 to 3,
A second film-like member having elasticity;
The first film-like member and the second film-like member are arranged at positions sandwiching the curved rod-like member,
The robot hand, wherein the second film-like member biases the turning of the curved rod-like member. The robot hand according to claim 5,
A robot hand characterized in that a bag-shaped member formed by the first film-shaped member and the second film-shaped member covers the tip portion and the curved rod-shaped member. The robot hand according to any one of claims 1 to 6,
The holding part includes a biasing part,
A robot hand characterized in that the curved bar-like member is biased so as to follow a virtual plane including a plurality of the rotation axes. The robot hand according to claim 7,
The biasing portion includes a spring;
A robot hand characterized in that the spring biases the curved rod-like member. The robot hand according to any one of claims 1 to 8,
A robot hand, wherein a plurality of the curved rod-shaped members intersect when the plurality of curved rod-shaped members follow the virtual plane. The robot hand according to any one of claims 1 to 9,
The robot hand according to claim 1, wherein the base portion includes a plurality of bearing mechanisms for rotatably supporting the curved rod-like member on a pivot shaft of the curved rod-like member. A robot hand that holds a holding object with an object to be sandwiched therebetween,
A drive mechanism accommodating portion for changing the position of the holding portion;
A plurality of curved rod-like members installed at the base of the holding portion and rotatable about a rotation axis;
A first film-like member having one end fixed to the base and the other end fixed to the tip.
The length of the end fixed to the base in the first membrane member is longer than the length of the end fixed at the tip,
By reducing the interval between the plurality of holding portions by the drive mechanism housing portion,
A plurality of the holding parts sandwich the object to be clamped,
The plurality of curved rod-shaped members rotate from a virtual plane including the plurality of pivot shafts, and the curved rod-shaped portion and the first film-shaped member are held so as to wrap the object to be sandwiched. Robot hand. The robot hand according to claim 1,
The robot hand according to claim 1, wherein when the curved rod-like member has a bow shape, the rotation shaft has a virtual string shape. The robot hand according to any one of claims 1 to 12,
The robot hand according to claim 1, wherein the tip portion is provided with a position biased in a longitudinal direction of the tip portion with respect to the base portion. The robot hand according to claim 13,
The robot hand according to claim 1, wherein one end surface of the tip portion and one end surface of the base portion are provided flush with a longitudinal direction of the tip portion. The robot hand according to claim 13 or 14,
The first film-like member has a trapezoidal upper base on the tip side, a trapezoidal lower base on the base end side, and one of the two trapezoidal legs is connected to the upper and lower bases. A robot hand characterized by being a member having an orthogonal shape. The robot hand according to any one of claims 1 to 15,
A wrist joint portion connected to the robot hand, a link connected to the wrist joint portion, a main body portion, a shoulder joint portion connected to the main body portion and the link, and a plurality of links. A robot characterized by that. A holding method for holding an object to be held by a robot hand,
A plurality of curved rod-shaped members that can rotate around a rotation axis are installed on a virtual plane including the plurality of rotation axes, and the robot hand is moved so that the object to be clamped is positioned between a plurality of holding portions. A first robot hand moving step,
The drive mechanism housing portion reduces the relative distance between the plurality of holding portions, the holding portion is fixed to the base portion and the tip portion, and the length of the end portion fixed to the base portion is fixed at the tip end. The object to be clamped is sandwiched through a film-like member longer than the length of the end, and the curved bar-shaped member is rotated about a rotation axis by a reaction force from the clamped object, A holding start step for holding the film-like member so as to follow the surface of the object to be sandwiched;
A second robot hand moving step of moving the robot hand while holding the object to be clamped;
A holding end step of widening a relative distance between the holding portions to separate the film-like member and the object to be held and to end the holding of the object to be held.

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