JP4878007B2 - Robot hand and robot for door opening - Google Patents

Description

  The present invention relates to a hand provided at the tip of a robot arm and used to open a door, and a robot equipped with the hand.

  Many doors of buildings and the like are provided with a latch mechanism to maintain a closed state. This latch mechanism inserts the latch part protruding from the side edge of the door into the recess formed on the side edge of the building opening (side edge opposite to the door hinge), thereby latching the door (locked state) ).

  The latch mechanism is interlocked with a knob or lever provided on the door. When the knob or lever is turned, the latch portion is retracted and the latched state is released. The turning operation of the knob and lever is performed when a person enters and leaves the room.

  For example, when an accident occurs in a building and the robot is exploring in an environment filled with toxic gases, if there is a door with a latch mechanism as described above, the robot will move into the room. I can't.

Therefore, the robot shown in FIG. 32 of Patent Document 1 is provided with a pair of knob turning rings on the hand at the tip of the arm, and by rotating these rings in synchronization with the knobs, the knob is turned in the latch release direction. Yes.
Japanese Patent No. 3645460 (paragraph 023, FIG. 32)

  However, the robot hand of Patent Document 1 cannot be opened by pulling the door toward the front after the latch is released only by the knob turning structure. For this reason, this robot hand is provided with means for adsorbing the door. However, such a suction means causes an increase in the size of the robot hand.

In order to solve the above problems, the present invention provides a robot hand used to open a door with a knob.
(A) Hand body,
(A) a rotating body rotatably supported by the hand body and having an outer peripheral surface applied to the outer peripheral surface of the knob;
(C) Rotation drive means that is supported by the hand body and rotates the knob in a direction to release the latched state of the door by rotating the rotating body against the knob.
(D) It is provided at the tip of the hand body so as to protrude radially and outwardly from the outer peripheral surface of the rotating body, and is inserted between the knob and the door while the rotating body is in contact with the knob. And a locking claw locked to the back of the knob,
It is provided with.

  According to the above configuration, the knob can be pulled by a simple combination of the rotating body and the locking claw, and thus the door can be pulled and opened.

The robot hand of the present invention is also used to open a door with a lever. In this case, when the rotating body pushes the lever, the lever is rotated in a direction to release the latched state of the door, and the locking body is in a state where the rotating body is in contact with the lever. A claw or another locking claw provided at the tip of the hand body so as to protrude radially and outwardly from the outer peripheral surface of the rotating body is inserted between the lever and the door, Locked to the back.
In this way, not only the door with the knob but also the door with the lever can be opened only by changing the structure or adding a locking claw.

Preferably, it is also used to open a sliding door, and the front end of the hand body is provided with another locking claw that protrudes forward at a position away from the locking claw. The latching claw is latched by the latching part which makes the concave or convex of the sliding door type door.
According to this, it can be used also when opening the sliding door type door.

Preferably, the hand body includes a support cylinder and a support plate provided at a tip of the support cylinder, and a rotating cylinder as the rotating body is supported on the outer periphery of the support cylinder via a bearing, and the support plate The above-mentioned locking claw is provided on the outer periphery.
According to this, the structure of the robot hand can be simplified.

Furthermore, the present invention provides a robot comprising a traveling body, an arm provided on the traveling body, and the door opening robot hand provided at the tip of the arm, and driving the arm to bring the robot hand into a door. After the release of the latched state by the rotation of the knob and the displacement means for inserting the locking claw between the knob and the door, and the contact of the rotating body with the knob of the door Then, by driving at least one of the traveling body and the arm to retract the robot hand, the knob is pulled in a state where the locking claw is locked to the back surface of the knob. Retreating means for performing an opening operation.
According to this robot, the opening operation of the door with the knob can be smoothly performed.

Preferably, it is also used to open a door with a lever, and the displacing means displaces the robot hand along the door, thereby pushing the lever with the rotating body and turning it in a direction to release the latched state. In addition, the locking claw or another locking claw provided at the tip of the hand body so as to protrude radially and outward from the outer peripheral surface of the rotating body is inserted between the lever and the door. The retraction means releases the latch state by rotating the lever, and then retracts the robot hand in a state where the engagement claw is engaged with the back surface of the lever. The lever is pulled while being engaged with the back surface of the lever, thereby opening the door.
According to this robot, the opening operation of the door with the knob and the door with the lever can be smoothly performed.
Preferably, it is also used to open a sliding door, and the front end of the hand body is provided with another locking claw that protrudes forward at a position away from the locking claw. The sliding door is opened by moving the traveling body along the path of the sliding door while the locking claw is locked to the concave or convex locking portion of the sliding door.
According to this robot, the sliding door type door can be opened.

  According to the present invention, it is possible to open a door with a knob while having a simple structure.

Hereinafter, an embodiment of a robot according to the present invention will be described with reference to the drawings. 1 to 3 show a door opening robot hand 1.
The robot hand 1 includes a hand main body 10, a rotating cylinder 20 (rotating body) provided in the hand main body 10, a motor 30 (rotation driving means) provided in the hand main body 10 and rotationally driving the rotating cylinder 20, First, second, and third locking claws 41, 42, and 43 are provided as main components.

The hand body 10 includes a support cylinder 11 provided on the same axis, and disk-shaped first and second support plates 12 and 13.
The first support plate 12 is fixed to the front end of the support cylinder 11 and closes the front end opening of the support cylinder 11. The second support plate 13 is fixed to a protrusion 12 a formed at the center of the front surface of the first support plate 12 and is spaced apart from and parallel to the first support plate 12.

  The rotating cylinder 20 has a metal inner cylinder 21 and an elastomer outer cylinder 22 attached to the outer periphery of the inner cylinder 21, and rotates around the support cylinder 11 via a bearing 23. Supported as possible. The material of the outer cylinder 22 may be sponge, gel, or the like, which can be appropriately deformed by the pressing force of the robot A as will be described later and can be brought into close contact with the knob 101. Any material that can rotate 101 can be used.

  The motor 30 is fixed to the first support plate 12 and accommodated in the support cylinder 11, and the driving force is applied to the rotary cylinder 20 via a gear train 35 disposed in the gap between the support plates 12 and 13. It is to be transmitted. Specifically, the output shaft of the motor 30 passes through the first support plate 12, a pinion 36 is fixed to the tip thereof, and an inner gear 37 that meshes with the pinion 36 is fixed to the front end of the inner cylinder 21 of the rotary cylinder 20. ing.

  The locking claws 41 to 43 are formed at intervals on the outer periphery of the second support plate 13, the first locking claw 41 is located on the upper side, the second locking claw 42 is located on the lower side, The three latching claws 43 are located 90 ° apart from the latching claws 41 and 42. In addition, the angle interval of these latching claws 41-43 is not restrict | limited to 90 degrees. For example, when the second locking claw 42 is set at a right angle to the lever 201 at a lowering position of the lever 201 described later, the third locking claw 43 is 90 ° or more with respect to the second locking claw 42.

  The locking claws 41 to 43 are provided at the distal end of the hand main body 10, in other words, at the distal end side (front) of the rotating cylinder 20, and protrude in the radial direction and the outward direction from the outer peripheral surface of the rotating cylinder 20.

As shown in FIG. 3, the upper edge 41a (engagement edge) of the first locking claw 41 is curved so as to form a concave curve.
As shown in FIG. 2, the third locking portion 43 has a bowl shape and projects forward in parallel with the axis of the rotating cylinder 20.

  The hand 1 having the above configuration is installed in a robot A schematically shown in FIG. More specifically, the robot A has a crawler 50 (running body) and an arm 60 equipped on the crawler 50.

  The arm 60 includes a first arm 61 provided in a state of standing vertically to the crawler 50, and a second arm 62 provided on the upper end of the vertical arm 61 so as to be able to descend in the vertical direction.

  As shown in FIG. 1, the rear end portion of the support cylinder 11 of the hand 1 has an enlarged diameter, and the distal end portion of the second arm 62 is fitted and fixed to the rear end portion.

The crawler 50 is provided with first driving means 65 including rotation driving means for rotating the first arm 61 about a vertical axis and lifting means for moving the first arm 61 up and down.
Further, a connecting node between the first arm 61 and the second arm 62 is provided with second driving means 66 (displacement means) for rotating the second arm 62 in the vertical direction.

  The crawler 50 is configured such that the left and right traveling parts are driven by independent motors, and can perform not only forward and backward movements but also super-advance turning (changing direction with almost no change in position) and the like. .

Although not shown, the crawler 50 of the robot A is equipped with a video camera and various sensors and a communication device. By communication between the communication device and the communication device of the remote control device, the motor of the crawler 50, the motors of the driving means 65 and 66, and the motor 30 of the hand 1 are controlled remotely. Video signals from the video camera and detection signals from various sensors are sent to the remote control device.
Note that the communication between the robot A and the remote control device may be either wireless communication or wired communication using an optical fiber or the like.

  The operation of the robot A having the above-described configuration will be described focusing on the operation of the hand 1 in particular. First, the action of opening the door 100 with the knob 101 will be described with reference to FIGS.

  The knob 101 is linked to a latch mechanism via a shaft portion 102 that protrudes perpendicular to the door 100, and has a circular cross section so that a person can easily grip it. The latch state is released by turning the knob 101 counterclockwise. Since this latch mechanism is well known, description thereof is omitted.

  As shown in FIG. 4, the robot A is moved closer to the closed door 100 by driving the crawler 50 forward. As shown in FIG. 5, before the robot A approaches the door 100, the second driving means 66 is driven to rotate the second arm 62 downward from the horizontal posture. Note that the second arm 62 may be rotated downward in advance.

  With the second arm 62 in a downward posture, the robot A is further moved forward, so that the rotary cylinder 20 of the hand 1 is positioned almost directly below the knob 101 as shown in FIGS.

Next, the second driving means 66 is driven to rotate the second arm 63 upward. As a result, the hand 1 is displaced upward along the door 1, and the outer peripheral surface of the rotating body 20 of the hand 1 hits the outer peripheral surface of the knob 101 as shown in FIG. 6.
With the rotating body 20 pressed against the knob 101 in this way, the first locking claw 41 is inserted between the knob 101 and the door 100 (disposed on the back side of the knob 101).

  Next, as shown in FIGS. 7 and 10, the knob 30 is rotated counterclockwise by driving the motor 30. As a result, the latched state is released.

  Next, as shown in FIGS. 8 and 11, the crawler 50 is moved backward. As a result, the hand 1 is also retracted. At this time, since the first locking claw 41 of the hand 1 is locked to the back surface of the knob 101, the knob 101 is pulled and the door 100 is opened forward. The means for retracting the crawler 50 constitutes a retracting means for the hand 1.

  After sufficiently opening the door 100, the robot A enters the room by controlling the crawler 50 so as to go around the door 100 while holding the knob 101 with the hand 1 and maintaining the opened state of the door 100. Can do.

  Next, the case where the door 200 with the lever 201 is opened will be described with reference to FIGS. The lever 201 is linked to a latch mechanism via a shaft 202 that is orthogonal to the door 200. The lever 201 extends substantially horizontally in parallel with the door 200. By turning the lever 201 downward, the latched state is released.

  With the second arm 62 pivoted upward, the robot A is advanced toward the door 200, and the rotary cylinder 20 is positioned directly above the lever 201 as shown in FIG. In this state, as shown in FIGS. 12 and 14, the second driving means 66 is driven to rotate the second arm 62 downward, so that the hand 1 is displaced downward along the door 200. As a result, the rotary cylinder 20 hits the lever 201 and pushes it downward. As a result, the latched state of the door 200 is released.

  In the state where the lever 201 is pushed down by the rotary cylinder 20 as described above, the second locking claw 42 is inserted between the lever 201 and the door 200 and is located on the back side of the lever 201. Therefore, when the robot A is retracted after the latch is unlocked, the second locking claw 42 is caught on the back surface of the lever 201, and the door 200 is thereby opened.

  Next, the case of opening the sliding door type door 300 will be described with reference to FIGS. The door 300 has a recess 301 (locking portion) in which a human finger enters near the side edge.

  First, as shown in FIG. 15, the robot A is advanced toward the door 300, and the third locking claw 43 is inserted into the recess 301.

  Next, as shown in FIG. At this time, the first drive unit 65 rotates the first arm 61 with respect to the crawler 50 in the direction opposite to the turning direction of the crawler 50 so that the arm 62 is kept substantially orthogonal to the door 300. Thereby, the 3rd latching claw 43 is maintained in the state inserted in the recessed part 301.

  After the crawler 50 becomes parallel to the door 300 by the above-mentioned super-advance turning, the crawler 50 is advanced along the track of the door 300 as shown in FIG. Thereby, the door 300 is opened.

In the case of the sliding door type door 300, as shown in FIG. 18, the third locking claw 43 is inserted into the recessed portion 301 of the door 300 by moving forward with respect to the door 300 from the oblique direction. 300 may be opened. The forward movement in the oblique direction is also travel along the track of the door 300 in the claims.
In this embodiment, even if the locking portion of the sliding door type door 300 is a convex portion, the door 300 can be opened in the same manner as described above by locking the third locking claw 43 to the convex portion. it can.
In addition, in the case of a door that locks the projection on the edge of the opening of the building using a hook-shaped rotating rod, the third locking claw 43 can be unlocked by hooking and rotating the rotating rod. Even when the slidable latch is slidably attached to the door, the rod-like latch can be moved by the third locking claw 43 to be unlocked.
Thus, according to this embodiment, most doors can be opened.

  FIG. 19 shows another aspect of the hand 1. In this embodiment, a pair of third locking claws 43 are provided and moved so as to approach and separate from each other. Thereby, a light work such as grasping an object by the pair of locking claws 43 can be performed. The entire hand 1 is rotated coaxially with the rotary cylinder 20 at the tip of the robot. Other configurations are the same as those in the first embodiment.

The present invention is not limited to the above embodiment, and various aspects can be adopted.
In the above embodiment, the elevating means of the first driving means 65 is equipped to adjust the position (height adjustment) of the hand 1 with respect to the knob 101, the lever 201 and the recess 301, but the second arm is the neck. Since it is possible to get off, it can be omitted.

  The second driving unit 66 may be omitted. In this case, the raising / lowering means of the 1st drive means 65 is provided as a means to displace the hand 1 along a door.

  When opening the door with knob, when the robot hand is displaced downward along the door, the locking claw provided on the lower side also serves as the locking claw for the door with knob and the door with lever Can do.

  The robot hand may be displaced so as to approach the knob from the lateral direction (left-right direction). In this case, the first locking claw is provided on either the left or right side of the robot hand.

  Even when the entire robot hand is rotated with respect to the arm, the first and second locking claws can be shared by one locking claw.

  In the case of using a multi-axis arm, the robot hand may be retracted by arm driving without reversing the traveling body, or may be performed by arm driving and retreating the traveling body.

The traveling body may be a tire type instead of the crawler.
The door may be a door other than a building.

It is a longitudinal cross-sectional view of the robot hand for door opening which makes one Embodiment of this invention. It is a top view of the hand. It is the front view which looked at the hand from the front end side. It is the schematic which shows the robot equipped with the hand, and the door with a knob in the state which mutually separated. It is the schematic which shows the state which brought the hand close to the door with a knob. It is the schematic which shows the state which contacted the knob of the door with the rotary cylinder of the hand. It is the schematic which shows the state which rotates the rotary cylinder of the hand, rotates the knob of a door, and is unlatched. It is the schematic which shows the state which is trying to open a door by hooking the latching claw of the hand on a knob and retracting a robot. It is an enlarged side view which shows the state in which the rotation cylinder of the hand exists just under the knob of a door. It is an enlarged side view which shows the state which is turning the rotary cylinder of the hand and is turning the knob of a door. It is an enlarged side view which shows the state which is hooking the latching claw of the hand on a knob and is trying to open a door. It is the schematic which shows the state which is going to open the door with a lever with the robot. The state which located the hand above the lever of the door is shown, (A) is a front view, (B) is a side view. FIG. 2 shows a state where the lever of the door is turned by the same hand to release the latch and the door is being opened, (A) is a front view, and (B) is a side view. It is a schematic plan view which shows the robot and the sliding door type door in the state which mutually separated. It is a schematic plan view which shows the state which is carrying out the super ground turning in the state which inserted the latching claw of the hand of the robot in the recessed part of the sliding door type door. It is a schematic plan view which shows the state which is going to open a door by advancing the crawler of the robot parallel to a sliding door type door. It is a schematic plan view which shows the other way of opening the sliding door type door by the robot. It is a front view of the robot hand which makes other embodiments of the present invention.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Hand 10 Hand main body 11 Support cylinder 13 Support plate 20 Rotating cylinder (rotating body)
23 Bearing 30 Motor (Rotary drive means)
41 1st latching claw 42 2nd latching claw 43 3rd latching claw 50 Crawler (running body)
60 Arm 65 Second drive means (displacement means)
100, 200, 300 Door 101 Knob 201 Lever 301 Recessed part (locking part)

Claims (7)

In a robot hand used to open a door with a knob,
(A) Hand body,
(A) a rotating body rotatably supported by the hand body and having an outer peripheral surface applied to the outer peripheral surface of the knob;
(C) Rotation drive means that is supported by the hand body and rotates the knob in a direction to release the latched state of the door by rotating the rotating body against the knob.
(D) It is provided at the tip of the hand body so as to protrude radially and outwardly from the outer peripheral surface of the rotating body, and is inserted between the knob and the door while the rotating body is in contact with the knob. And a locking claw locked to the back of the knob,
A door opening robot hand characterized by comprising: Furthermore, it is also used to open a door with a lever, and when the rotating body pushes the lever, the lever is rotated in a direction to release the latched state of the door,
While the rotating body is in contact with the lever, the locking claw or other locking claw provided at the tip of the hand body so as to protrude radially and outwardly from the outer peripheral surface of the rotating body 2. The door opening robot hand according to claim 1, wherein the door opening robot hand is inserted between the lever and the door and is locked to the back surface of the lever.   Furthermore, it is also used for opening the sliding door type door, and the other end of the hand body is provided with another locking claw protruding forward at a position away from the locking claw. 3. The door opening robot hand according to claim 1 or 2, wherein a claw is engaged with an engaging part that is concave or convex of the sliding door.   The hand body includes a support cylinder and a support plate provided at the tip of the support cylinder, and a rotating cylinder as the rotating body is supported on the outer periphery of the support cylinder via a bearing, and on the outer periphery of the support plate. The door opening robot hand according to any one of claims 1 to 3, wherein the locking claw is provided. In a robot comprising a traveling body, an arm provided on the traveling body, and the door opening robot hand according to claim 1 provided at a tip of the arm,
Displacement means for driving the arm and displacing the robot hand along the door so that the rotating body is applied to the knob of the door and the locking claw is inserted between the knob and the door;
After releasing the latched state by turning the knob, the robot hand is moved backward by driving at least one of the traveling body and the arm so that the locking claw is locked to the back surface of the knob. Pulling the knob in a state of being opened, thereby retracting means for opening the door,
A robot characterized by comprising Also used to open the door with lever,
The displacing means is configured to displace the robot hand along the door, thereby pushing the lever with the rotating body and turning it in a direction to release the latched state, and from the locking claw or the outer peripheral surface of the rotating body. Insert another locking claw provided at the tip of the hand body so as to protrude radially and outwardly, between the lever and the door,
The retraction means releases the latch state by rotating the lever, and then retracts the robot hand in a state where the engagement claw is engaged with the back surface of the lever, thereby moving the engagement claw to the lever. The robot according to claim 5, wherein the lever is pulled while being engaged with the back surface of the door, thereby opening the door.   Furthermore, it is also used for opening the sliding door type door, and the other end of the hand body is provided with another locking claw protruding forward at a position away from the locking claw. The sliding door is opened by moving the traveling body along the path of the sliding door while the claw is locked to the concave or convex engaging portion of the sliding door. The robot according to claim 5 or 6.

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