JP2018089719A - Robot hand - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a robot hand capable of preventing a held article from dropping, while preventing an increase in size.SOLUTION: A robot hand according to one embodiment includes: a frame; a suction part provided on the frame; and a gripping device including a first plate member, and a linkage mechanism for connecting to the frame, the first plate member movably between a position at a suction part side and a position at a frame side.SELECTED DRAWING: Figure 3

Description

  Embodiments described herein relate generally to a robot hand.

  In a warehouse or the like that stores a plurality of articles, a robot may be used to efficiently collect these articles. As this type of robot, a robot arm having a plurality of degrees of freedom and a robot having a robot hand attached to the robot arm and holding an article are known. As a robot hand, there is known a robot hand that has a pair of grippers and holds the article by sandwiching the article with the pair of grippers.

  As a robot hand, there is known a robot hand that has a cylindrical suction member that sucks an article by negative pressure, and holds the article by sucking the article by the suction portion.

JP 2008-238326 A

  The robot hand described above is required to take out an article placed in a narrow space such as a shelf, that is, to be able to enter a narrow space and to prevent the held article from falling. ing.

  For this reason, the problem to be solved by the present invention is to provide a robot hand that can prevent the held article from falling while preventing an increase in size.

  According to the embodiment, the robot hand includes a frame, a suction portion provided in the frame, a first plate member, and a position of the first plate member on the suction portion side and a position on the frame side. A gripping device including a link mechanism that is movably coupled to the frame.

The perspective view which shows the robot hand which concerns on 1st Embodiment. Explanatory drawing which shows the structure of the robot hand. Explanatory drawing explaining operation | movement of the robot hand. Explanatory drawing explaining operation | movement of the robot hand. Explanatory drawing explaining operation | movement of the robot hand. Explanatory drawing explaining operation | movement of the robot hand. Explanatory drawing which shows the structure of the adsorption | suction part of the robot hand which concerns on 2nd Embodiment. Explanatory drawing which shows operation | movement of the adsorption | suction part. Explanatory drawing which shows operation | movement of the robot hand. Explanatory drawing which shows operation | movement of the robot hand. Explanatory drawing which shows operation | movement of the robot hand which concerns on 3rd Embodiment. Explanatory drawing which shows operation | movement of the robot hand. Explanatory drawing which shows operation | movement of the robot hand. Explanatory drawing which shows the structure of the robot hand which concerns on 4th Embodiment type | system | group. The flowchart which shows operation | movement of the robot hand. A side view showing a robot hand concerning a 5th embodiment. The side view which shows the robot hand of the state which the moving apparatus extended. The top view which shows the modification of the robot hand. The top view which shows the same robot hand of the state which the moving apparatus extended | stretched. Explanatory drawing which shows the structure of the movement apparatus. Explanatory drawing which shows operation | movement of the movement apparatus. Explanatory drawing which shows operation | movement of the movement apparatus. Explanatory drawing which shows the structure of the robot hand which concerns on 6th Embodiment. Explanatory drawing which shows the robot hand main body and holding apparatus of the robot hand. Explanatory drawing which shows operation | movement of the error absorption displacement apparatus of the robot hand. Explanatory drawing which shows operation | movement of the error absorption displacement apparatus. Explanatory drawing which shows the robot hand of the state which the movement apparatus of the robot hand extended. The flowchart which shows an example of operation | movement of the robot hand.

  A robot hand 10 according to a first embodiment will be described with reference to FIGS. 1 to 5. FIG. 1 is a perspective view showing the robot hand 10. FIG. 2 is an explanatory diagram showing the configuration of the robot hand 10. 3 to 5 are explanatory diagrams for explaining the operation of the robot hand 10.

  The robot hand 10 is configured to be connectable to a robot arm having a plurality of degrees of freedom. The robot hand 10 is configured to be able to hold an article. As shown in FIGS. 1 to 3, the robot hand 10 includes a robot hand body 20 and a gripping device 70. The robot hand body 20 is configured to be able to suck articles. The robot hand body 20 includes a frame 30, a suction unit 40, a rotating device 50 that rotates the suction unit 40, and a pipe member 60 connected to the suction unit 40.

  The frame 30 is formed in a plate shape that is long in one direction, for example. A housing 31 is formed at one end of the frame 30 on the inner side in the width direction. The accommodating portion 31 opens at one end in the longitudinal direction of the frame 30.

  The suction part 40 includes a support part 41 rotatably connected to the frame 30 and a suction member 42 fixed to the support part 41. The support part 41 is formed in a cylindrical shape, for example. The support portion 41 is disposed in the housing portion 31 of the frame 30. The support portion 41 is connected to the frame 30 so as to be rotatable by a shaft member 49 parallel to the width direction of the frame 30.

  The adsorbing member 42 is formed in a bellows cylindrical shape. The adsorbing member 42 is made of a flexible material such as resin and can be expanded and contracted in the axial direction. The adsorption member 42 is disposed in the support portion 41. The adsorbing member 42 is fixed in the support portion 41 by a fixing means such as a tightening spring or adhesion.

  The suction member 42 is rotated by the support 41 so that the axial direction of the suction member 42 is along the longitudinal direction of the frame 30 and the axial direction of the suction member 42 is perpendicular to the longitudinal direction of the frame 30. Can be rotated between the two.

  The rotation device 50 is fixed to the frame 30, and is configured to be able to rotate the suction portion 40 around the shaft member 49. As illustrated in FIG. 2, the rotation device 50 includes an electric motor 51 and a transmission unit 52 that transmits the rotation of the output shaft of the electric motor 51 to the adsorption unit 40. The electric motor 51 is fixed to the frame 30 such that the axis of the output shaft is along the longitudinal direction of the frame 30.

  For example, the transmission unit 52 is arranged coaxially with the first bevel gear 53 fixed to the output shaft of the electric motor 51, the second bevel gear 54 that meshes with the first bevel gear 53, and the second bevel gear 54. The first pulley 55 fixed to the bevel gear, the second pulley 56 fixed to the support portion 41 of the suction portion 40, and the transmission belt 57 turned around the first pulley 55 and the second pulley 56. have.

  The tube member 60 is connected to one end opening of the adsorption member 42. The pipe member 60 is a flexible pipe member such as a hose, for example. The pipe member 60 is connected to a negative pressure generating device that generates a negative pressure such as a pump, and causes the negative pressure generated by the negative pressure generating device to act in the adsorption member 42.

  The gripping device 70 includes a first plate member 71, a pair of parallel links 72 that connect the first plate member 71 to the frame, and a drive device 73 that drives the pair of parallel links 72. The first plate member 71 is formed in a flat plate shape. The pair of parallel links 72 is an example of a link mechanism that connects the first plate member 71 to the frame 30 so as to be movable between a position on the suction portion 40 side and a position on the frame 30 side. A shaft member 74 parallel to the shaft member 49 of the suction portion 40 is fixed to one end of the pair of parallel links 72. The shaft member 74 is rotatably connected to both ends of the frame 30 in the width direction. A shaft member 75 parallel to the shaft member 74 is rotatably provided at the other end of the pair of parallel links 72. The shaft member 75 is rotatably connected to both end portions in the width direction of the first plate member 71. The pair of parallel links 72 are formed to be able to move the first plate member 71 to at least the suction member 42 at the position P2 and a position facing the suction member 42 in the axial direction.

  The drive device 73 includes an electric motor 76 fixed to the frame 30, and a transmission unit 77 that transmits rotation of the output shaft of the electric motor 76 to the parallel link 72 and drives the parallel link 72.

  The electric motor 76 is fixed to the surface of the frame 30 opposite to the surface to which the electric motor 51 is fixed, with the posture in which the axial direction of the output shaft is parallel to the longitudinal direction of the frame 30. The transmission unit 77 includes a bevel gear 78 fixed to the output shaft of the electric motor 76 and a bevel gear 79 that is disposed coaxially with the shaft member 74 and fixed to the shaft member 74. The bevel gear 78 and the bevel gear 79 are meshed with each other. Thereby, in the present embodiment, the first plate member 71 maintains the posture in which the surface of the first plate member 71 on the frame 30 side is parallel to the surface of the frame 30 on the first plate member 71 side, Moved.

  Next, an example of the operation of the robot hand 10 will be described. First, an operation for adsorbing and holding an article by the adsorbing member 42 will be described. First, the posture of the suction member 42 is adjusted to a posture suitable for suction of an article by a control device that controls the operation of the robot hand 10 or a control device that controls a robot having a robot hand.

  Specifically, the electric motor 51 is driven. The rotation of the output shaft of the electric motor 51 due to the driving of the electric motor 51 is transmitted to the support portion 41 of the adsorption portion 40 via the transmission portion 52. The driving of the electric motor 51 is controlled so that the posture of the suction member 42 becomes a posture suitable for suction.

  When the adjustment of the posture of the suction member 42 is completed, the robot arm is driven to bring the tip of the suction member 42 into contact with the article. When the suction member 42 comes into contact with the article, the negative pressure generator is driven. The negative pressure generated by the negative pressure generator acts in the adsorption member 42 through the tube member 60. The adsorbing member 42 adsorbs and holds the article O by this negative pressure. Note that the negative pressure device may be activated before the suction member 42 contacts the article O.

  Next, an operation for holding the article adsorbed by the adsorbing member 42 by the first plate member 71 will be described. As described above, after the article is adsorbed by the adsorbing member 42, the adsorbing portion 40 is rotated to move the adsorbing member 42 to the position P2. When the suction member 42 is moved to the position P <b> 2, the electric motor 76 of the gripping device 70 is driven by the control device, and the first plate member 71 is moved to a position where the article O is sandwiched between the suction member 42. The In this way, the article O is held by suction by the suction member 42.

  Next, an operation of sandwiching the article O between the adsorption unit 40 and the first plate member 71 without adsorbing the article O by the adsorption member 42 will be described. As shown in FIG. 5, the rotation device 50 is driven by the control device, and the suction member 42 is moved to the position P1. In this state, the driving device 73 moves the first plate member 71 to a position where the article O is sandwiched between the first plate member 71 and the suction portion 40. By this operation, the robot hand 10 holds the article O between the suction portion 40 and the first plate member 71 without sucking the article O by the suction member 42.

  Next, another example of the operation of sandwiching the article between the adsorption unit 40 and the first plate member 71 without adsorbing the article by the adsorption member 42 will be described. As shown in FIG. 6, in the case where the article O has a bottomed cylindrical shape, first, the electric motor 51 of the rotation device 50 is driven, and a part of the adsorption member 42 is placed in the article O. The support portion 41 is rotated to the position where it is arranged and abuts against the opening edge of the article O. When the support portion 41 or the suction member 42 comes into contact with the opening edge of the article O, the electric motor 76 of the gripping device 70 is driven so that the first plate member 71 reaches a position where the tip of the first plate member 71 comes into contact with the article. Moved. When the tip of the first plate member 71 is in contact with the article O, the article O is sandwiched between the suction portion 40 and the first plate member 71.

  In the robot hand 10 configured as described above, the suction part 40 that holds the article O by suction and the first plate member 71 that sandwiches the article O between the suction part 40 and the suction part 40 only. The holding by the suction unit 40 and the holding by the first plate member 71 can be properly used depending on the shape of the article O.

  For example, when the article O is relatively light, it is possible to select the adsorption by the adsorption unit 40 alone, and when the article O is relatively heavy, the holding by the adsorption unit 40 and the first plate member 71 can be selected. Even in the case of holding only by adsorption by the adsorption unit 40, by disposing the first plate member 71 below the article, even if the article O is removed from the adsorption member 42, the removed article is removed from the first plate. Since it is supported by the member 71, it can prevent falling.

  Further, even when the chucking is performed by the suction portion 40 and the first plate member 71, appropriate holding can be selected depending on the shape of the article O. Specifically, when the article O is comparatively large, the article O is held between the suction portion 40 disposed at the position P1 and the first plate member 71 without being sucked by the suction member 42. Is selected. When the article O has a cylindrical shape, the holding of holding the article is selected by bringing the suction portion 40 into contact with the opening edge of the article O and bringing the tip of the first plate member 71 into contact with the article O. The

  Thus, since an appropriate holding method can be selected according to the article, the article can be prevented from falling.

  Further, since the gripping device 70 has a structure in which the first plate member 71 is moved by the parallel link 72, the first plate member 71 is moved to the frame 30 side when the first plate member 71 is not used. Thus, the gripping device 70 can be made compact.

  From these things, it becomes possible for the robot hand 10 of this embodiment to prevent fall of the article | item O, preventing enlargement.

  Next, a robot hand 10A according to a second embodiment will be described with reference to FIGS. In addition, the structure which has the same function as 1st Embodiment attaches | subjects the code | symbol same as 1st Embodiment, and abbreviate | omits description.

  The robot hand 10A has a robot hand body 20A and a gripping device 70 (shown in FIG. 9). The robot hand body 20A is configured to be able to suck the article O. Specifically, the robot hand body 20 </ b> A includes a frame 30, a suction unit 40 </ b> A, a rotation device 50, and a pipe member 60.

  FIG. 7 is an explanatory diagram showing the configuration of the adsorption unit 40A. As shown in FIG. 7, the adsorption portion 40 </ b> A includes a support portion 41, an adsorption member 42, a pair of accommodation members 43, and a pair of adsorption portion plate members 44 disposed in the accommodation member 43, one by one. ing.

  The accommodation members 43 are fixed one by one at positions on both sides of the support portion 41 with the adsorption member 42 interposed therebetween. The housing member 43 has a rectangular parallelepiped appearance, for example. The housing member 43 is formed with a housing portion for housing the suction portion plate member 44 so as to be movable in the axial direction of the suction member 42. The housing portion is open at one end of the suction member 42 in the axial direction. In the present embodiment, the accommodation members 43 are arranged one by one on the first plate member 71 side and the opposite side in the support portion 41.

  The suction part plate member 44 is formed, for example, in the shape of a flat plate having a rectangular plane. The adsorption member plate member 44 is formed to be movable between a position P3 at which a part thereof is disposed on the side of the adsorption member 42 and a position P4 moved from the position P3 into the housing member 43. Specifically, the adsorption member plate member 44 is accommodated in the accommodating member 43 so as to be movable in a direction entering the accommodating member 43 and in a direction exiting the accommodating member 43.

  At least one of the suction part plate member 44 and the storage member 43 has a restricting structure that prevents the suction part plate member 44 from moving beyond the position P3 in the direction of exiting the storage member 43. This restricting structure also has a function of preventing the suction portion plate member 44 from coming out of the housing member 43. This restricting structure is, for example, an engaging portion that is formed on each of the suction portion plate member 44 and the housing member 43 and engages with each other in the direction in which the suction portion plate member 44 exits from the housing member 43.

  Further, at least one of the suction portion plate member 44 and the housing member 43 is biased toward the position P3 from the position P4 to position the suction portion plate member 44 at the position P3. A force structure is provided. The urging structure is, for example, a coil spring disposed between the adsorption member plate member 44 and the inner surface of the housing member.

  FIG. 8 is an explanatory diagram showing the operation of the adsorption unit 40A. As shown in FIG. 8, in the case where the adsorbing part 40 </ b> A adsorbs an article by the adsorbing member 42, if the adsorbing member 42 is compressed in the axial direction by the negative pressure acting in the adsorbing member 42, the adsorbing part plate member 44 moves in accordance with the compression of the suction member 42 in the axial direction. That is, the suction portion plate member 44 is retracted into the housing member 43. For this reason, the suction part plate member 44 does not inhibit the suction of the article O by the suction member 42.

  With the robot hand 10A configured as described above, the same effects as those of the first embodiment can be obtained. FIG. 9 is an explanatory diagram showing the operation of the robot hand 10A. Further, as shown in FIG. 9, when the article O is sandwiched between the adsorption portion 40 and the first plate member 71 without adsorbing the article O by the adsorption member 42, the article O is separated from the adsorption portion plate member 44 and It can be held between the first plate members 71. As described above, since the article O can be sandwiched between the suction portion plate member 44 and the first plate member 71 which are harder members than the suction member 42, the state where the article O is held can be stably maintained. .

  FIG. 10 is an explanatory diagram showing the operation of the robot hand 10A. Furthermore, as shown in FIG. 10, when holding the cylindrical article O, the opening edge of the article O is disposed between the suction member 42 and the suction part plate member 44, and the first plate member 71 By bringing the tip into contact with the article O, the article O can be held between the adsorbing portion 40 and the first plate member 71, so that the state in which the article O is held can be stably maintained.

  Next, a robot hand 10B according to a third embodiment will be described with reference to FIGS. In addition, the structure which has the same function as 1st Embodiment attaches | subjects the code | symbol same as 1st Embodiment, and abbreviate | omits description.

  FIG. 11 is an explanatory diagram showing a configuration of the robot hand 10B. As shown in FIG. 11, the robot hand 10B includes a robot hand body 20 and a gripping device 70A. The gripping device 70 </ b> A is a first plate member 71, a parallel link 72, a second plate member 80 provided to be slidable with respect to the first plate member 71, and a driving device that drives the second plate member 80. 81.

  The second plate member 80 is supported by the first plate member 71 so as to be movable with respect to the first plate member 71. Specifically, the second plate member 80 is in a posture parallel to the first plate member 71 and protrudes from the position P5 with respect to the first plate member 71, and the first plate member 71 from the position P5. It is supported so as to be movable between positions P6 moved to the side. FIG. 11 shows a state where the second plate member 80 is at the position P5. FIG. 12 is an explanatory diagram showing the operation of the robot hand 10B. FIG. 12 shows a state where the second plate member 80 is at the position P6. Note that the second plate member 80 may be movably disposed in a groove provided in the first plate member 71.

  The driving device 81 is configured to be able to move the second plate member 80 between positions P5 and P6 with respect to the first plate member 71. The drive device 81 includes, for example, an electric motor and a transmission device that converts rotation of the output shaft of the electric motor into movement of the second plate member 80. Alternatively, the driving device 81 may be a solenoid.

  Next, the operation of the robot hand 10B will be described. As shown in FIG. 11, when the article O adsorbed by the adsorption member 42 is sandwiched between the adsorption member 42 and the gripping device 70, the article O is adsorbed by moving the second plate member 80 to the position P5. It is sandwiched between the member 42 and the second plate member 80.

  As shown in FIG. 12, when the article O can be held only by the suction by the suction member 42, the second plate member 80 is moved to the position P6. Further, when the article O is held only by the adsorption of the adsorption member 42, the second plate member 80 is moved below the article O by moving the second plate member 80 to the position P5 as shown in FIG. You may arrange. FIG. 13 is an explanatory diagram showing the operation of the robot hand 10B.

  As described above, the robot hand 10B of the present embodiment can obtain the following effects in addition to the effects of the first embodiment. That is, even when the article O is relatively large, the article O can be sandwiched between the adsorption member 42 and the second plate member 80, so that the article O can be prevented from falling.

  Furthermore, even when the relatively large article O is held only by the adsorption of the adsorption member 42, the second plate member 80 can be disposed below the article O. For this reason, even if the article O is removed from the adsorption member 42, the article O can be received by the second plate member 80, so that the article can be prevented from falling.

  Next, a robot hand 10C according to a fourth embodiment will be described with reference to FIGS. In addition, the structure which has the same function as 3rd Embodiment attaches | subjects the code | symbol same as 3rd Embodiment, and abbreviate | omits description.

  FIG. 14 is an explanatory diagram showing a configuration of the robot hand 10C. As shown in FIG. 14, the robot hand 10 </ b> C performs the operation of the robot hand 10 </ b> C based on the robot hand body 20, the gripping device 70 </ b> A, the pressure sensor 90 that detects the pressure in the pipe member 60, and the detection result of the pressure sensor 90. It has the control apparatus 100 which controls.

  The pressure sensor 90 is configured to be able to detect the pressure in the tube member 60. The pressure sensor 90 transmits the detection result to the control device 100. The control device 100 is configured to be able to determine whether to use the gripping device 70A based on the detection result of the pressure sensor 90. Specifically, the control device 100 has a threshold value used for determining whether or not to use the gripping device 70A.

  If the detection result of the pressure sensor 90 is less than or equal to this threshold, it is determined that the negative pressure generated by the negative pressure generator is operating normally on the article O. That is, when the pressure in the pipe member 60 is larger than the threshold value, the article O may be detached from the adsorption member 42.

  For example, the surface of the article O is bumpy, and therefore, if there is a gap between the opening of the adsorption member 42 and the surface of the article O, ambient air enters from the outside of the adsorption member 42 due to this gap. The pressure in the adsorbing member 42, that is, the pressure in the tube member 60 is difficult to decrease. In this state, the pressure in the pipe member 60 may be larger than the threshold value. Similarly, when a crack is formed in the peripheral wall portion of the adsorption member 42 due to deterioration or when there is a gap between the connection portion of the adsorption member 42 and the pipe member 60, the inside of the pipe member 60 is similarly changed. May be higher than the threshold.

  FIG. 15 is a flowchart illustrating an example of the operation of the control device 100. As shown in FIG. 15, as described in the first embodiment, the control device 100 first activates the negative pressure generating device after bringing the tip of the adsorption member 42 into contact with the article O, and adsorbs the adsorption member. The article O is adsorbed by 42 (step ST1). Note that the tip of the adsorption member 42 may be brought into contact with the article O in a state where the negative pressure generator is driven. For example, a sensor may be used to determine whether or not the adsorption member 42 is adsorbed to the article O. The control device 100 can determine whether or not the adsorption is performed based on the detection result of the sensor.

  When the article O is adsorbed by the adsorbing member 42, the control device 100 next compares the detection result of the pressure sensor 90 with a threshold value (step ST2). When the control device 100 determines that the detection result of the pressure sensor 90 is equal to or less than the threshold value as a result of the comparison (Yes in step ST2), the control device 100 determines that the article O can be held only by suction by the suction portion 40, and 70A is not driven (step ST5).

  Alternatively, when the control device 100 determines that the detection result of the pressure sensor 90 is larger than the threshold value (No in step ST2), the control device 100 drives the gripping device 70A and moves the first plate member 71 to the position P3 as shown in FIG. Move to. Further, the control device 100 drives the drive device 81 to move the second plate member 80 to the position P5 (step ST3).

  When determining that the gripping device 70A is not required to be driven (step ST5), the control device 100 drives the gripping device 70A, moves the first plate member 71 to the position P3, and positions the second plate member 80 in position. When moving to P5 (step ST3), the robot arm to which the robot hand 10C is connected is driven to move the article O (step ST4).

  In the present embodiment, in addition to the effects of the third embodiment, the following effects can be obtained. That is, by determining whether or not the gripping device 70A is driven, a holding unit suitable for the article can be selected.

  In the present embodiment, the control device 100 that controls the driving of the robot hand 10C is used as a control unit that determines whether or not the gripping device 70A is driven based on the detection result of the pressure sensor 90. The control device 100 also controls the operation of the robot arm. As described above, the controller that determines whether or not the gripping device 70A is driven based on the detection result of the pressure sensor 90 may be the robot hand 10C and the robot control device 100 having the robot arm, or When a control device that controls only driving of the robot hand 10C is provided, this control device may be used.

  Next, a robot hand 10D according to a fifth embodiment will be described with reference to FIGS. In addition, the structure which has the same function as 3rd Embodiment attaches | subjects the code | symbol same as 3rd Embodiment, and abbreviate | omits description.

  FIG. 16 is a side view showing the robot hand 10D. As illustrated in FIG. 16, the robot hand 10 </ b> D includes a robot hand body 20, a gripping device 70 </ b> A, and a moving device 110.

  The moving device 110 is connected to the frame 30 and the robot arm 120 (partially shown in FIGS. 16 and 17), and is configured to be able to move the frame 30 in a linear direction with respect to the robot arm 120 by expanding and contracting. ing. In this embodiment, the moving device 110 is configured to be able to move the frame 30 in a direction parallel to the longitudinal direction of the frame 30. FIG. 16 shows a state in which the moving device 110 is contracted. FIG. 17 is a side view of the robot hand 10D showing a state in which the moving device 110 is extended.

  The moving device 110 is, for example, a ball screw device. Specifically, the moving device 110 includes a case 111 fixed to the robot arm 120, a screw member 112 arranged in the case 111, an electric motor 114 arranged in the case 111 and rotating the screw member 112, and a screw member. It has a moving device rod 115 which is formed so as to be able to advance and retreat with respect to the case 111 by the rotation of 112 and whose end is fixed to the frame 30.

  In the present embodiment, the following effects are obtained in addition to the effects of the third embodiment. That is, since the frame 30 can be moved by the moving device 110, the robot hand 10D can be made to enter a narrow space where the robot arm 120 cannot enter.

  The moving device 110 is not limited to a moving device using a ball screw. As another example, a moving device 110 </ b> A having another stage expansion / contraction device shown in FIGS. 18 to 22 may be used. FIG. 18 is a plan view showing the moving device 110A. FIG. 19 is a plan view showing the robot hand 10D with the moving device 110A extended. FIG. 20 is an explanatory diagram showing the configuration of the moving device 110A. 21 and 22 are explanatory diagrams showing the operation of the moving device 110A.

  As shown in FIG. 20, the moving device 110 </ b> A includes a base 121 fixed to the robot arm and movably connected to the frame 30, and a driving device 122 that moves the frame 30. There may be a plurality of bases 121. When there are a plurality of bases 121, these bases 121 are connected to each other so as to be movable, and one base 121 is connected to the frame 30 so as to be movable in the longitudinal direction of the frame 30.

  In the present embodiment, an example in which two bases 121 are used will be described. As the base 121, a first base 121a and a second base 121b are used. The bases 121a and 121b are formed in a plate shape that is long in one direction, for example. The bases 121a and 121b and the frame 30 are arranged apart from each other in a posture in which the longitudinal direction is parallel.

  The first base 121a is fixed to the robot arm. The second base 121b is movably connected to the frame 30.

  The driving device 122 is fixed to a driving unit 126 such as an electric motor and a first base 121a, and is rotated by the driving unit 126, and a first free pulley that is rotatably supported by the first base 121a. 123b, and a first belt 124a that is turned around the pulleys 123a and 123b and transmits the rotation of the driving pulley 123a to the first free pulley 123b. The first belt 124a is fixed to the second base 121b.

  The driving device 122 includes a second free pulley 123c and a third free pulley 123d that are rotatably supported by the second base 121b, and a second belt 124b that is turned around the pulleys 123c and 123d. doing.

  The second belt 124 b is fixed to the frame 30. Note that the second belt 124b may be directly fixed to the frame 30 or may be indirectly fixed to the frame 30 via another connecting member 127. FIG. 19 shows a state in which the second belt 124 b is fixed to the frame 30 via the connecting member 127. The second belt 124b is fixed to the first base 121a by a fixing member 125. The fixing member 125 does not restrict the movement of the second base 121b with respect to the first base 121a.

  In the moving device 110A configured as described above, when the driving pulley 123a is rotated, the first base 124 is moved to move the second base 121b relative to the first base 121a. When the second base 121b moves relative to the first base 121a, the second belt 124b moves due to the fixing member 125 being fixed. The frame 30 is moved by the movement of the second belt 124b.

  FIG. 20 shows a state where the moving device 110A is reduced to the minimum. FIG. 22 shows a state in which the moving device 110A is extended to the maximum. FIG. 21 shows a state in the middle of expansion from the reduced state to the maximum extended state.

  Next, a robot hand 10E according to a sixth embodiment will be described with reference to FIGS. In addition, the structure which has the same function as 5th Embodiment attaches | subjects the code | symbol same as 5th Embodiment, and abbreviate | omits description.

  FIG. 23 is an explanatory diagram showing a configuration of the robot hand 10E. As shown in FIG. 23, the robot hand 10E images the vicinity of the target 130, the target 130, and the suction member 42 provided in any part of the robot hand body 20, the gripping device 70A, the moving device 110, and the robot hand body 20. It has a possible camera 140, a hand sensor 150 provided in the suction unit 40, and an error absorption displacement device 160.

  The target 130 is provided on the first plate member 71 of the gripping device 70A, for example. The target 130 serves as a mark. The camera 140 is fixed to the moving device 110 and is disposed at a position where the target 130 can be photographed. The camera 140 transmits the captured image to the control device 100.

  FIG. 24 is an explanatory diagram showing configurations of the robot hand body 20 and the gripping device 70A. As shown in FIG. 27, the hand sensor 150 is fixed in the vicinity of the adsorption member 42. In the present embodiment, the hand sensor 150 is fixed to the support portion 41. The hand sensor 150 is configured to be able to detect the distance from the hand sensor 150 to the article O and the position of the article O. The hand sensor 150 transmits the detection result to the control device 100.

  25 and 26 are explanatory diagrams showing the operation of the error absorption displacement device 160. FIG. 25 and 26, the control device 100, the target 130, the camera 140, and the hand sensor 150 are omitted.

  As shown in FIGS. 25 and 26, the error absorbing / displacement device 160 is provided in the frame 30 and the moving device 110, and a load is applied to the moving device 110 in the contracting direction by the suction member 42 coming into contact with the article O. When the moving device 110 is contracted by being input, the moving device 110 is configured to be able to contract integrally with the moving device 110. FIG. 26 shows a state in which the error absorption / displacement device 160 contracts as the moving device 110 contracts.

  In addition, the error absorbing displacement device 160 is extended by a spring or the like when the moving device 110 is extended. Further, the error absorption displacement device 160 is formed so as to be able to detect contraction, and transmits the detection result to the control device 100.

  The control device 100 is configured to be able to detect a deflection amount when the moving device 110 is extended from an image captured by the camera 140. Specifically, the control device 100 detects the amount of deflection based on the position of the target 130 in the captured image of the camera 140. FIG. 27 is an explanatory diagram showing the robot hand 10D with the moving device 110 extended. As shown in FIG. 27, the moving device 110 bends by extending.

  Further, the control device 100 is configured to be able to detect the distance from the suction member 42 to the article O and the position of the article O based on the detection result of the hand sensor 150. Further, the control device 100 is configured to be able to determine whether or not the suction member 42 has contacted the article O based on the detection result of the error absorption displacement device 160.

  Further, the control device 100 detects or determines as described above that the deflection amount of the moving device 110, the distance from the suction member 42 to the article O, the position of the article O, and the suction member 42 abut on the article O. Thus, the position of the suction member 42 can be corrected.

  FIG. 28 is a flowchart illustrating an example of an operation of the control device 100 for correcting the position of the suction member 42. As shown in FIG. 28, the control device 100 first detects the position of the article O based on the captured image of the camera 140, and sets this position as the target position of the suction member 42 (step ST11).

  When the target position is set, next, the control device 100 drives the robot arm 120 and the moving device 110 to bring the suction member 42 closer to the target position (step ST12). Next, the control device 100 detects the presence or absence of deflection of the moving device 110 from the position of the target based on the captured image of the camera 140 (step ST13 and step ST14).

  When determining that the moving device 110 has a deflection (Yes in step ST14), the control device 100 detects the deflection amount and corrects the target position by the deflection (step ST15).

  When the correction of the target position is completed or it is determined that there is no deflection (NO in step ST14), control device 100 detects the position of article O based on the detection result of hand sensor 150 (step ST16).

  When the control device 100 detects the position of the article O based on the detection result of the hand sensor 150, next, whether or not the target position is deviated from the position of the article O detected based on the detection result of the hand sensor 150. Is determined (step ST17).

  If it is determined that the target position is displaced from the position of the article O detected based on the detection result of the hand sensor 150 (Yes in step ST17), the target position is corrected (step ST18). Specifically, control device 100 replaces the position of article O detected by the detection result of hand sensor 150 with the target position (step ST18).

  When the control device 100 completes the correction of the target position or determines that the target position is not deviated from the position of the article O detected from the detection result of the hand sensor 150 (No in step ST17), the error absorption displacement device. Based on the detection result of 160, it is determined whether or not the suction member 42 has contacted the article O (step ST19 and step ST20).

  When error absorbing displacement device 160 is contracted, control device 100 determines that adsorption member 42 has contacted the article (Yes in step ST20). Then, the control device 100 determines that the suction member 42 has reached the target position, and stops driving the robot arm 120. (Step ST21). In this state, the suction member 42 contacts the article O, that is, the suction member 42 has reached the target position (step ST22). When the control device 100 does not detect the contraction of the error absorption displacement device 160 (No in step ST20), the suction member 42 reaches the article O without stopping the driving of the robot arm 120. (Step ST22).

  The robot hand 10D of the present embodiment can obtain the same effects as those of the sixth embodiment. Furthermore, the following effects can be obtained. That is, since the robot hand 10D includes the target 130, the camera 140, the hand sensor 150, and the error absorption displacement device 160, the suction member 42 can be more accurately moved to the article O based on these detection results. it can.

  Further, the error absorbing displacement device 160 is reduced, so that the impact when the suction member 42 and the article O come into contact with each other is absorbed.

  According to at least one embodiment described above, the robot hand 10 includes the suction portion 40 that holds the article O by suction, and the first plate member 71 that sandwiches the article O between the suction portion 40 and the robot hand 10. , 10A, 10B, 10C, 10D, and 10E can prevent the article O from falling while preventing an increase in size.

  Although several embodiments of the present invention have been described, these embodiments are presented by way of example and are not intended to limit the scope of the invention. These novel embodiments can be implemented in various other forms, and various omissions, replacements, and changes can be made without departing from the scope of the invention. These embodiments and modifications thereof are included in the scope and gist of the invention, and are included in the invention described in the claims and the equivalents thereof.

  DESCRIPTION OF SYMBOLS 10 ... Robot hand, 10A ... Robot hand, 10B ... Robot hand, 10C ... Robot hand, 10D ... Robot hand, 10E ... Robot hand, 20 ... Robot hand main body, 30 ... Frame, 40 ... Adsorption part, 41 ... Support part, 42 ... Adsorbing member, 43 ... Accepting member, 44 ... Adsorbing plate member, 60 ... Pipe member, 70 ... Gripping device, 70A ... Gripping device, 71 ... First plate member, 72 ... Parallel link, 80 ... Second Plate member, 90 ... pressure sensor, 110 ... moving device, 130 ... target, 140 ... camera, 150 ... hand sensor, 160 ... error absorption displacement device.

Claims (8)

Frame,
A suction portion provided in the frame;
A gripping device including a first plate member, and a link mechanism that connects the first plate member to the frame so as to be movable between the position on the suction portion side and the position on the frame side;
Robot hand equipped with. The adsorption part is
A support portion supported by the frame;
A suction member formed in a cylindrical shape that is supported by the support portion and can be reduced;
Receiving members disposed on both sides of the supporting portion with the adsorption member interposed therebetween;
A suction member plate member disposed in the housing member so as to be movable in the axial direction of the suction member;
The robot hand according to claim 1, comprising:   The robot hand according to claim 1, wherein the gripping device includes a second plate member that is movably supported by the first plate member. A pipe member connected to the suction portion;
A pressure sensor for detecting the pressure in the pipe member;
The robot hand according to claim 1, comprising:   The robot hand according to claim 1, further comprising a moving device connected to the frame and moving the frame. The robot hand according to claim 5, further comprising a camera that is provided on the moving device and photographs a target provided on the frame or the gripping device.   The robot hand according to claim 6, further comprising an error absorbing and displacing device that is provided in the frame and the moving device, and is reduced in accordance with the reduction of the moving device.   The robot hand according to claim 1, further comprising a hand sensor that is provided in the suction unit and detects a distance to the article and a position of the article.