JP2629473B2 - Gripping lever - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a gripping lever, and more particularly to a gripping lever for performing an operation for performing a certain operation at the same time as a gripping operation using a robot arm.

[0002]

2. Description of the Related Art Conventionally, as a gripping lever for gripping an object or applying a trigger to exert a certain function at the same time as gripping, there is a gripping lever provided with a trigger or a button near a grip to be gripped. Some levers required a trigger operation separately from the gripping operation. With these levers, a human hand could easily trigger when needed while holding it. Further, there has been a gripping lever which simply consists of two levers and applies a trigger by sandwiching and gripping the lever.

[0003]

Among the above-mentioned conventional gripping levers, the former gripping lever requires an operation for further applying a trigger after the gripping operation. Therefore, when performing an operation using a robot arm, it is difficult to perform an operation of grasping and further triggering because a general robot hand has two fingers. Further, with the latter gripping lever, it is possible to trigger simultaneously with gripping, but there is a problem that only gripping cannot be performed. In addition, these gripping levers require highly accurate positioning for performing the work, and therefore, there has been a problem of automatic gripping by measuring relative position and orientation using a sensor.

[0004] It is an object of the present invention to provide a gripping lever which solves such a problem.

[0005]

SUMMARY OF THE INVENTION According to the present invention, a robot arm and a camera attached to the robot arm are used to grip a target object, and the object is set on the target object in a triggering operation for performing a certain operation simultaneously with the grip. A gripping lever, comprising two types of first and second levers and a target mark indicating a gripping position of the lever, and a camera when the robot grips the gripping lever as viewed from a camera installed at the tip of the robot arm The target is set on the setting surface such that the center of the target mark coincides with the center of the screen, and the first lever fixed to the setting surface is provided with a first grip for holding the holding object alone and the first grip. It has a second grip for gripping the gripping object by sandwiching first and second levers, and the other second lever has the first and second levers. A third grip for gripping the gripped object by sandwiching the second lever, and moving by gripping the first and second levers installed so as to be movable with respect to the gripped object; The first and second levers are integrated so that the grip shape is the same as that of the first grip.

[0006]

The principle of gripping the lever of the present invention by automatic positioning of the robot arm will be described.

FIG. 1 shows the operation principle and structure of the grip lever of the present invention. FIG. 2 is an explanatory diagram of a case where a gripping operation is performed by automatic positioning using a robot arm and a camera.

As shown in FIG. 1, this lever comprises a fixed lever 1, a movable lever 2 and a target mark 3.
The fixed lever 1 is provided with a grip 11 for independently gripping the target object 4 and a grip 12 for sandwiching and gripping two types of levers. This fixed lever 1 is provided on the joint surface of the gripping object 4. The movable lever 2 is provided with only the grip 13, and the movable lever 2 is installed so as to be movable with respect to the grasped object 4. The target mark 3 is set on the installation surface of the target object 4 so that the center of the camera screen and the center of the target mark coincide when the robot grips the grip lever. At this time, the relative position between the target mark 3 and each grip is known. FIG. 3 shows an example of a target mark indicating a relative position. FIG. 3A is a front view of the mark, and FIG. 3B is a cross-sectional view.

Next, a specific gripping operation will be described with reference to FIG. As shown in FIG. 2A, when the robot arm 20 is guided to the vicinity of the grip lever, an image of the target mark 3 is obtained by the camera 21 attached to the robot arm 20. Using the mark as shown in FIG. 3, the relative position between the camera 21 and the target mark 3 can be measured by image processing. Assuming that the relative position between the camera 21 and the robot hand 22 is known, the amount of movement required to hold each grip with the robot hand 22 can be calculated. However, camera 2 at the time of measurement
When the relative posture of the target 21 is greatly deviated from the target posture, the relative position measurement value between the camera 21 and the target mark 3 may include a considerable error. Therefore, in order to securely grip the grip with the robot hand 22, it is necessary to move the robot arm close to the target position based on the measurement result as shown in FIG. Therefore, by performing the measurement again, it is possible to reliably hold the fixed lever 1 or both the fixed lever 1 and the movable lever 2. A wire or the like is fixed to the movable lever in order to trigger at the same time as gripping. Then, the amount of movement of the movable lever by the gripping operation of the robot hand 22 can be used as a trigger. Since the target mark 3 is set so that the center of the camera screen coincides with the center of the target mark when the robot grips the grip lever, the image of the target mark 3 may deviate from the field of view of the camera 21 when measuring again. Sex is low.

According to the above procedure, only the fixed lever 1 is gripped when the object 4 is simply gripped, and the fixed lever 1 and the movable lever 2 are gripped when it is necessary to trigger simultaneously with the gripping.

In FIG. 2, the camera 21 is installed in parallel with the opening / closing direction of the robot hand 22. However, even if the camera 21 is installed in the vertical direction, the principle is exactly the same.

[0012]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A description will be given of an embodiment in which a target object is assembled and disassembled by using the grip lever of the present invention. FIG. 4 shows a case where assembly is performed. Object 30
It is assumed that a gripping lever is installed on the device to perform an operation of coupling to the object 40. The object 30 incorporates a so-called latch mechanism as shown in the figure. This latch mechanism includes a cam lever 31, a ratchet 32, a compression spring 33, a stopper 34, a wheel 35, a release pin 36, and a piston 37. A piston 37 for disconnecting is fixed to the movable lever 2. A latch pin 41 is provided on the coupling surface of the object 40.

In the connection operation, the target mark 3 is image-processed to measure the relative position, and the fixed lever 1 is gripped by the method described in the operation. Then, the robot arm is operated to bring the object 30 closer to the object 40. Then, when the latch pin 41 comes into contact with the cam lever 31, the ratchet 32 is pushed up, and the wheel 35 is unlocked and rotated. Since a groove is formed in the wheel 35, the latch pin 41 is drawn into the groove, and when the wheel 35 rotates to some extent, the wheel 35 is locked by the stopper 34, and the objects 30 and 40 are simultaneously connected as shown in FIG. Complete.

Next, when disassembling both objects, as shown in FIG. 6, when the grip 13 and the grip 12 are gripped so as to be sandwiched, the piston 37 attached to the movable lever 2 moves, Release pin 36
, The wheel 35 rotates in the reverse direction and the ratchet 32
And the wheel 35 returns to its original state. Therefore, if the object 30 is moved in the direction opposite to the combining direction, the disassembling operation is completed.

[0015]

According to the present invention, it is possible to grip a target object using a robot arm and a camera attached to the robot arm, or to apply a trigger for performing a certain operation at the same time as the gripping. The above operation can be performed by automatically positioning the robot arm by image measurement.

Further, since the target mark is set so that the center of the camera screen coincides with the center of the target mark when the robot grips the grip lever, when the measurement is performed again, the image of the target mark is viewed from the camera's field of view. The possibility of dislocation is reduced, and the range in which high-precision positioning can be performed automatically can be expanded. At this time, the gripping operation of the grip can be reliably performed.

[Brief description of the drawings]

FIG. 1 is a view showing a structure of a gripping lever.

FIG. 2 is a diagram illustrating the principle of automatically gripping a grip lever using a robot arm and a camera.

FIG. 3 is a diagram illustrating an example of a target mark shape.

FIG. 4 is a diagram illustrating a case where the present invention is applied to an operation of combining two objects as an embodiment.

FIG. 5 is a diagram showing that the joining of two objects is completed.

FIG. 6 is a diagram illustrating a case where the present invention is applied to a work of disassembling two objects as an embodiment.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Fixed lever 2 Movable lever 3 Target mark 4 Target object 11, 12, 13 Grip 20 Robot arm 21 Camera 22 Robot hand 30, 40 Object 31 Cam lever 32 Ratchet 33 Compression spring 34 Stopper 35 Wheel 36 Release pin 37 Piston 41 Latch pin

Claims (1)

(57) [Claims] 1. A gripping lever which is set on a target object in an operation of gripping the target object using a robot arm and a camera attached to the robot arm and applying a trigger for performing a certain operation at the same time as the gripping. The first and second levers and a target mark indicating the gripping position of the lever, and the center of the target mark is positioned at the center of the camera screen when the robot grips the gripping lever, as viewed from the camera installed at the tip of the robot arm. The target is set on the setting surface such that the first and second levers are fixed to the setting surface, and the first lever fixed to the setting surface and the first and second levers for individually gripping the gripped object are provided. Holding a second grip for gripping and gripping the gripping object,
The other second lever has a third grip for holding the gripped object by sandwiching the first and second levers, and is installed so as to be movable with respect to the gripped object. When the first and second levers are sandwiched and gripped, they move and the first and second levers are integrated to form a grip having the same shape as the first grip. A gripping lever.