JP5760485B2 - Robot hand and robot apparatus - Google Patents

Description

  The present invention relates to a robot hand and a robot apparatus.

  A robot hand that is attached to a robot apparatus and performs a predetermined operation by grasping or releasing an object is known. In recent years, for example, there has been proposed a multi-functional robot hand that grips a tool and performs operations such as assembling components and grips a minute component and arranges it with high accuracy.

  For example, in the robot hand of Patent Document 1, an elastic member having a plurality of protrusions is provided in a portion that grips an object of two finger parts, and one protrusion is disposed at the center of the elastic member. A plurality of protrusions having a height lower than that of the central part are arranged in the peripheral part. Then, by appropriately controlling the opening and closing of the two finger parts, the object is rotatably gripped by bringing only the tips of the protrusions at the center of the elastic members of the two finger parts into contact with the object, The elastic member is deformed by changing the control of the opening and closing of the part, a plurality of protrusions are brought into contact with the object, and the object is restrained and gripped.

JP 2009-255191 A

  In the technique of Patent Document 1, the tip of one protrusion of the elastic member contacts (holds the object at two points) when the object is rotatably supported by two fingers. However, if the object is only gripped at two points, gripping of the object becomes unstable, and the object may fall when the posture of the object is changed (when the object is rotated). .

  In order to solve the above-described problems, the robot hand of the present invention includes two finger portions for gripping an object, and each of the two finger portions is provided with a rotating member at a portion for gripping the object. The rotating members of the two finger portions are rotatable in a state where the object is held by the two finger portions.

  According to this robot hand, the posture of the object can be changed by rotating the rotating members of the two fingers. For example, when the object is a bar-like member placed horizontally (sideways) on the work surface, if one end of the object is grasped and lifted by the rotating members of the two fingers, the other end of the object is grasped by its own weight. Rotating and hanging around a point, the posture of the object is changed from horizontal to vertical in the course of this movement. That is, the posture of the object can be changed in a state where the gripping postures of the two finger portions hardly change. In addition, a configuration is adopted in which an object is gripped by a rotating member of two fingers, an elastic member having a plurality of protrusions is provided on the two fingers, and the object is held at the tip of one protrusion at the center of the elastic member. Since a structure for gripping in a rotatable manner is not required, the object can be gripped stably. Therefore, it is possible to provide a robot hand that can change the posture of an object while stably grasping the object.

  In the robot hand, at least one of the two finger portions includes the rotating member and a support member that rotatably supports the rotating member, and the two finger portions hold a grip with a predetermined gripping force or more. When the object is gripped by force, the rotating member and the support member may be in contact with each other, and the rotating operation of the rotating member may be suppressed.

  According to this robot hand, when the object is gripped with a gripping force less than a predetermined gripping force with two fingers, the rotating member and the support member are separated from each other, and the rotating member can be rotated. Is gripped with a gripping force equal to or greater than a predetermined gripping force, the rotating member and the support member come into contact with each other, and the rotating operation of the rotating member is suppressed. That is, the rotating operation of the rotating member is suppressed depending on whether the rotating member and the support member are in contact with each other. Therefore, it becomes easy to change the posture of the object.

  In the robot hand, the rotation axes of the rotation members of the two finger portions may coincide with each other.

  According to this robot hand, the posture of the object can be changed stably. On the other hand, if the rotation axes of the rotating members of the two finger portions are different from each other, the object is difficult to rotate.

  In the robot hand, the portion of the rotating member that contacts the object may have a structure that always has a plurality of contact points with respect to the smooth surface of the object, even when the object has a smooth surface. Good.

  According to this robot hand, it is possible to always hold the object stably.

  In the robot hand, a portion of the rotating member that comes into contact with the object may be a smooth surface.

  According to this robot hand, the object can be gripped stably. For example, when the surface of the object is a smooth surface, the part that contacts the object of the rotating member and the object come into contact with each other, so that the object can be firmly held. On the other hand, if the portion of the rotating member that contacts the object has an uneven shape, the portion of the rotating member that contacts the object and the object will come into contact with each other, and the gripping of the object will be unstable. Sometimes it becomes.

  In the robot hand, the support member of the two finger portions is formed with a housing portion that rotatably accommodates the rotation shaft of the rotation member, and the space between the rotation shaft of the rotation member and the storage portion. Is provided with an elastic member, and when the object is gripped by the two fingers with a gripping force equal to or greater than a predetermined gripping force, the elastic member is elastically deformed, whereby the rotating member and the support are supported. The members may contact each other.

  According to this robot hand, when the object is gripped with a gripping force less than a predetermined gripping force with two fingers, the elastic member is not sufficiently deformed, and the rotating member and the supporting member are separated from each other to rotate the rotating member. When the object is gripped with a gripping force greater than or equal to a predetermined gripping force, the elastic member is elastically deformed, and the rotating member and the support member come into contact with each other, and the rotating operation of the rotating member is suppressed. The That is, the rotation operation of the rotating member is suppressed depending on whether the elastic member is elastically deformed by a predetermined amount. Therefore, it becomes easy to change the posture of the object.

  In the robot hand, the rotating shaft of the rotating member has elasticity, and the support member of the two finger portions is formed with a receiving portion that rotatably receives the rotating shaft of the rotating member, When the object is gripped by a gripping force equal to or greater than a predetermined gripping force by two finger portions, the rotating member and the support member may contact each other due to elastic deformation of the rotating shaft.

  According to this robot hand, when the object is gripped with a gripping force less than a predetermined gripping force with two fingers, the rotating shaft of the rotating member is not sufficiently deformed, and the rotating member and the supporting member are separated from each other. When the rotating member can rotate and the object is gripped with a gripping force greater than or equal to a predetermined gripping force, the rotating shaft of the rotating member is elastically deformed, and the rotating member and the support member come into contact with each other to rotate the rotating member. The rotational movement of the is suppressed. That is, the rotation operation of the rotating member is suppressed depending on whether the rotating shaft of the rotating member is elastically deformed by a predetermined amount. Therefore, it becomes easy to change the posture of the object.

  In the robot hand, when the object is gripped with a gripping force equal to or greater than a predetermined gripping force by the two finger portions, a surface where the rotating member comes into contact with the support member, and a predetermined gripping by the two finger portions When the object is gripped with a gripping force equal to or greater than the force, a concave portion is formed on one of the surfaces where the support member contacts the rotating member, and a convex portion that meshes with the concave portion is formed on the other surface. It may be formed.

  According to this robot hand, when the object is gripped with a gripping force greater than or equal to a predetermined gripping force, the concave member and the convex portion mesh with each other, so that the rotational movement of the rotating member is suppressed. Therefore, the posture of the object can be changed with a simple configuration.

  In the robot hand, when the object is gripped with a gripping force equal to or greater than a predetermined gripping force by the two finger portions, a surface where the rotating member comes into contact with the support member, and a predetermined gripping by the two finger portions At least one of the surfaces of the support member that contacts the rotating member when the object is gripped with a gripping force that is greater than or equal to a force of the rotating member when the rotating member and the supporting member are in contact with each other. You may have a friction coefficient which suppresses rotation operation.

  According to this robot hand, when the object is gripped with a gripping force equal to or greater than a predetermined gripping force, the rotating operation of the rotating member is suppressed by the frictional force on the surface where the rotating member and the support member come into contact. Therefore, the posture of the object can be changed with a simple configuration.

  In the robot hand, a portion of the two fingers that contacts the object of the rotating member is provided with a first sensor that detects contact with the object. A second sensor that detects contact between the rotating member and the support member may be provided between the rotating member and the support member.

  According to this robot hand, it is possible to determine contact between the rotating member of the two finger portions and the object by the first sensor, and to determine contact between the rotating member and the support member by the second sensor. That is, when the contact determination of the first sensor is “no contact”, it can be understood that the rotating member of the two fingers does not hold the object, while when the contact determination is “contacted”, the rotating member of the two fingers. Is grasping the object. In addition, when the contact determination of the second sensor is “no contact”, it can be seen that the rotating member of the two finger portions can be rotated, whereas when the contact determination is “contacted”, the rotation member of the two finger portions is rotated. It turns out that it has stopped (the rotation member is being fixed to the support member). Therefore, it becomes easy to confirm the gripping state of the object and the state of the rotating operation of the rotating member.

  In the robot hand, a relative position between a portion where the rotating member of one of the two fingers holds the object and a portion where the rotating member of the other finger holds the object. A third sensor to be detected; and when the object is gripped with a gripping force equal to or greater than a predetermined gripping force by the two finger portions, the support member of one of the two finger portions is the rotating member Detects the relative position between the contact surface and the surface where the support member of the other finger portion contacts the rotating member when the object is gripped by the two finger portions with a gripping force greater than or equal to a predetermined gripping force And a fourth sensor.

  According to this robot hand, the third sensor detects the interval between the rotating members of the two finger portions, and the fourth sensor detects the interval between the contact surfaces of the supporting members of the two finger portions and the rotating member. be able to. For example, this is effective when the size of the object can be accurately recognized. That is, when the detection result of the third sensor is “larger than the width of the object (the length of the object in the direction in which the object is sandwiched between the two fingers)”, the rotating members of the two fingers grip the object. On the other hand, in the case of “equal to the width of the object”, it can be understood that the rotating members of the two fingers hold the object. Further, the detection result of the fourth sensor is “a value obtained by adding the width of the object and the thickness of the rotating member of the two fingers (the length of the rotating member in the direction in which the object is sandwiched between the two fingers)” If it is “large”, it can be seen that the rotating member of the two fingers can rotate, while if it is “equal to the sum of the width of the object and the thickness of the rotating member of the two fingers” It turns out that rotation of the rotation member of the part has stopped (the rotation member is being fixed to the support member). Therefore, it becomes easy to confirm the gripping state of the object and the state of the rotating operation of the rotating member.

  In the robot hand, a fifth sensor for detecting a force for gripping the object is provided in a portion of at least one of the two fingers that contacts the object of the rotating member. Also good.

  According to this robot hand, it is possible to detect the gripping force when the two fingers grip the object with the fifth sensor. For example, it can be seen from the detection result of the fifth sensor whether or not the rotating members of the two fingers firmly hold the object. Thus, the object can be reliably gripped.

  The robot hand may include a drive unit that opens and closes the two finger parts so that the two finger parts approach or move away from the object in synchronization.

  According to this robot hand, it becomes easy to hold an object with two fingers. Therefore, it becomes easy to stably hold the object. Moreover, the opening / closing operation | movement of two finger parts is realizable with simple structure.

  A robot apparatus according to the present invention includes the robot hand described above.

  According to this robot apparatus, it is possible to provide a robot apparatus capable of controlling the posture of the object while stably grasping the object.

It is a perspective view showing the whole robot hand composition concerning a 1st embodiment of the present invention. FIG. 2 is a front view showing the overall configuration of the robot hand. It is sectional drawing which shows the whole robot hand structure similarly. It is a figure which shows the surface where a rotation member and a supporting member mutually contact similarly. It is a figure which shows the state which the robot hand hold | gripped the target object similarly. It is a figure which shows the whole structure of the robot apparatus which concerns on 2nd Embodiment of this invention. It is a figure which shows the state at the time of operation | movement of a robot apparatus. It is a figure which shows the 1st modification of a robot hand. It is a figure which shows the 2nd modification of a robot hand. It is a figure which shows the 3rd modification of a robot hand. It is a figure which shows the state at the time of operation | movement of a robot hand. It is a figure which shows the 4th modification of a robot hand.

  Embodiments of the present invention will be described below with reference to the drawings. Such an embodiment shows one aspect of the present invention, and is not intended to limit the present invention, and can be arbitrarily changed within the scope of the technical idea of the present invention. Moreover, in the following drawings, in order to make each structure easy to understand, an actual structure and a scale, a number, and the like in each structure are different.

(First embodiment)
FIG. 1 is a perspective view showing the overall configuration of the robot hand RH according to the first embodiment of the present invention. FIG. 2 is a front view showing the overall configuration of the robot hand RH. FIG. 3 is a cross-sectional view showing the overall configuration of the robot hand RH.
As shown in FIG. 1, the robot hand RH includes two finger portions 101 and 102, a first sensor 141, a second sensor 142, and a drive unit 103 that opens and closes the two finger portions 101 and 102. I have.

  The robot hand RH is used as a gripping device for an industrial robot that grips an object such as a tool or a part. The robot hand RH is not limited to an industrial robot, and may be used for other purposes (space related, play equipment, etc.).

  The finger parts 101 and 102 are parts for gripping an object. Each finger part 101, 102 is provided with a rotating member 110 at a part for gripping an object. The robot hand RH can change the posture of the object by rotating the rotating member 110 of the two fingers 101 and 102 while holding the object with the two fingers 101 and 102.

  Each of the finger portions 101 and 102 includes a rotating member 110 and a support member 120 that rotatably supports the rotating member 110. When the object is gripped by the two fingers 101 and 102 with a gripping force equal to or greater than a predetermined gripping force, the rotating member 110 and the support member 120 come into contact with each other, and the rotating operation of the rotating member 110 is suppressed.

  As shown in FIG. 2, the rotating member 110 includes a contact member 111 that contacts an object and a rotating shaft 112. The rotating shafts 112 of the rotating members 110 of the two finger portions 101 and 102 are coincident with each other. That is, the rotating shaft 112 of the rotating member 110 of one finger 101 and the rotating shaft 112 of the rotating member 110 of the other finger 102 are positioned so as to overlap each other when viewed from the direction in which the two fingers 101 and 102 open and close. Has been placed.

  A portion of the rotating member 110 that contacts the object of the contact member 111 (hereinafter, may be referred to as a contact surface 111f1) is a smooth surface. The contact member 111 is a rigid member formed in a disk shape, for example. For example, one end of the rotating shaft 112 is fixed to the center of the surface of the contact member 111 opposite to the contact surface 111f1. As a result, the rotating member 110 is rotatable about the rotating shaft 112 so that the contact member 111 and the rotating shaft 112 are integrated.

  Of the surface opposite to the contact surface 111f1 of the contact member 111, the portion where the rotating shaft 112 is not provided grips the object with a gripping force equal to or greater than a predetermined gripping force by the two finger portions 101 and 102. Sometimes, the contact member 111 is a portion in contact with the support member 120 (hereinafter may be referred to as a contact surface 111f2). At that time, the part where the support member 120 contacts the contact member 111 may be referred to as a contact surface 120f.

  As shown in FIG. 3, the support member 120 of each of the finger portions 101 and 102 is formed with a storage portion 121 that rotatably stores the rotation shaft 112 of the rotation member 110. A rolling bearing 131 (such as a ball bearing) that rotatably supports the rotating shaft 112 is provided on the side wall of the housing 121. Thereby, the rotating shaft 112 rotates smoothly.

  An elastic member 132 (a spring or the like) is disposed between the rotating shaft 112 of the rotating member 110 and the accommodating portion 121. When the object is gripped by the two finger portions 101 and 102 with a gripping force equal to or greater than a predetermined gripping force, the elastic member 132 is elastically deformed (compressed), whereby the contact member 111 (contact surface 111f2) of the rotating member 110 is obtained. ) And the support member 120 (contact surface 120f) come into contact with each other.

  The first sensor 141 is provided at a portion (contact surface 111f1) where the contact member 111 of the rotating member 110 of the two finger portions 101 and 102 contacts the object. The first sensor 141 is a sensor that detects contact with an object.

  The second sensor 142 is provided between the contact member 111 and the support member 120 of the rotating member 110 of the two finger portions 101 and 102. In the present embodiment, the second sensor 142 is provided at a portion where the support member 120 contacts the contact member 111 (contact surface 120f). The second sensor 142 is a sensor that detects contact between the contact member 111 of the rotating member 110 and the support member 120.

  The drive unit 103 is attached to one end of the two finger units 101 and 102. The drive unit 103 opens and closes the two finger units 101 and 102 so that the two finger units 101 and 102 move in synchronization with or away from the object W.

  FIG. 4 is a diagram illustrating a surface where the contact member 111 and the support member 120 of the rotating member 110 are in contact with each other. 4A is a view showing a portion (contact surface 111f2) where the contact member 111 is in contact with the support member 120, and FIG. 4B is a portion where the support member 120 is in contact with the contact member 111 (contact). It is the figure which showed the surface 120f).

  As shown in FIG. 4A, the contact surface 111f2 of the contact member 111 has a plurality (three) of recesses 111h. Each recess 111 h is formed in a circular arc shape in plan view, and is arranged in a rotationally symmetrical manner around the rotation axis 112.

  As shown in FIG. 4B, a plurality (three) of convex portions 122 are formed on the contact surface 120 f of the support member 120. Each convex portion 122 is sized to mesh with each concave portion 111h. Each convex portion 122 is formed in a rectangular shape in plan view, and is disposed on a rotation target with the accommodating portion 121 as the center.

FIG. 5 is a diagram illustrating a state in which the robot hand RH grips the object W.
As shown in FIG. 5, when the object W is gripped with a gripping force equal to or greater than a predetermined gripping force by the two finger portions 101, 102, the elastic member 132 is elastically deformed (compressed) and the rotating shaft 112 of the rotating member 110 Is accommodated in the accommodating part 121. When the entire rotating shaft 112 is accommodated in the accommodating portion 121, the contact member 111 of the rotating member 110 and the support member 120 of the two finger portions 101 and 102 come into contact with each other. The surface of the object W is a smooth surface, and the portion of the rotating member 110 that contacts the object W (contact surface 111f1) and the object W are in contact with each other. At this time, the concave portion 111h formed on the contact surface 111f2 of the contact member 111 of the rotating member 110 and the convex portion 122 formed on the contact surface 120f of the support member 120 mesh with each other. When the concave portion 111h and the convex portion 122 mesh with each other, the rotation operation of the rotating member 110 is suppressed.

  According to the robot hand RH of the present embodiment, the posture of the object can be changed by rotating the rotating member 110 of the two finger portions 101 and 102. For example, when the object is a bar-like member placed horizontally (sideways) on the work surface, if one end of the object is grasped and lifted by the rotating member 110 of the two fingers 101 and 102, the other end of the object Is rotated by its own weight with respect to the gripping point and hangs down, and the posture of the object is changed from horizontal to vertical in the course of this operation. That is, the posture of the object can be changed in a state where the gripping postures of the two finger portions 101 and 102 hardly change. Further, a configuration is adopted in which the object is gripped by the rotating member 110 of the two finger portions 101 and 102, and an elastic member having a plurality of protrusions is provided on the two finger portions, and the tip of one protrusion at the center of the elastic member Therefore, the object can be gripped stably because the structure for gripping the object in a rotatable manner is not required. Therefore, it is possible to provide the robot hand RH that can change the posture of the object while stably holding the object.

  According to this configuration, when the object is gripped by the two finger portions 101 and 102 with a gripping force less than a predetermined gripping force, the rotating member 110 and the support member 120 are separated from each other, and the rotating member 110 can rotate. On the other hand, when the object is gripped with a gripping force equal to or greater than a predetermined gripping force, the rotating member 110 and the support member 120 come into contact with each other, and the rotating operation of the rotating member 110 is suppressed. That is, the rotation operation of the rotation member 110 is suppressed depending on whether or not the rotation member 110 and the support member 120 are in contact with each other. Therefore, it becomes easy to change the posture of the object.

  According to this configuration, since the rotation axes 112 of the rotating members 110 of the two finger portions 101 and 102 coincide with each other, the posture change of the object can be performed stably. On the other hand, if the rotation axes of the rotating members of the two finger portions are different from each other, the object is difficult to rotate even if the rotating member rotates.

  According to this structure, since the part which contacts the target object of the rotation member 110 is a smooth surface, a target object can be hold | gripped stably. For example, when the surface of the target object is a smooth surface, the part that contacts the target object of the rotating member 110 and the target object are in contact with each other, so that the target object can be firmly held. On the other hand, if the portion of the rotating member that contacts the object has an uneven shape, the portion of the rotating member that contacts the object and the object will come into contact with each other, and the gripping of the object will be unstable. There is a case.

  However, even if the portion of the rotating member 110 that comes into contact with the object has an uneven shape, the stability may be increased in the case of a material that is soft and easily deformed and has high friction. In any case, it is preferable that the portion of the rotating member 110 that contacts the object has a structure that always has a plurality of contact points with respect to the smooth surface of the object even when the object has a smooth surface.

  According to this configuration, when the object is gripped by the two finger portions 101 and 102 with a gripping force less than a predetermined gripping force, the elastic member 132 is not sufficiently deformed, and the rotating member 110 and the support member 120 are mutually connected. When the rotating member 110 is separated and can rotate, while the object is gripped with a gripping force equal to or greater than a predetermined gripping force, the elastic member 132 is elastically deformed, and the rotating member 110 and the support member 120 come into contact with each other. Thus, the rotation operation of the rotating member 110 is suppressed. That is, the rotating operation of the rotating member 110 is suppressed depending on whether the elastic member 132 is elastically deformed by a predetermined amount. Therefore, it becomes easy to change the posture of the object.

  According to this configuration, when the object is gripped with a gripping force equal to or greater than a predetermined gripping force, the concave portion 111h and the convex portion 122 are engaged with each other, whereby the rotation operation of the rotating member 110 is suppressed. Therefore, the posture of the object can be changed with a simple configuration.

  According to this configuration, the first sensor 141 performs contact determination between the rotating member 110 of the two fingers 101 and 102 and the object, and the second sensor 142 determines contact between the rotating member 110 and the support member 120. It can be carried out. That is, when the contact determination of the first sensor 141 is “no contact”, it can be understood that the rotating members 110 of the two finger portions 101 and 102 are not gripping the object, while when the contact determination is “contact”, two It can be seen that the rotating members 110 of the finger portions 101 and 102 are holding the object. In addition, when the contact determination of the second sensor 142 is “no contact”, it can be seen that the rotating member 110 of the two finger portions 101 and 102 can be rotated, while when the contact determination is “contact”, the two finger portions 101 are detected. , 102 has stopped rotating (the rotating member 110 is fixed to the support member 120). Therefore, it becomes easy to confirm the gripping state of the object and the state of the rotating operation of the rotating member 110.

  According to this configuration, since the drive unit 103 that opens and closes the two finger units 101 and 102 in synchronization is provided, the object can be easily held by the two finger units 101 and 102. Therefore, it becomes easy to stably hold the object. Moreover, the opening / closing operation | movement of the two finger parts 101 and 102 is realizable with simple structure.

  In the present embodiment, each of the finger portions 101 and 102 has been described with an example including the rotating member 110 and the support member 120 that rotatably supports the rotating member 110, but the present invention is not limited thereto. . For example, only one of the finger portions 101 and 102 may include the rotation member 110 and the support member 120 that rotatably supports the rotation member 110. That is, when the object is gripped with a gripping force equal to or greater than a predetermined gripping force by the two finger parts 101 and 102, the object is rotated even if only the rotating member 110 of one finger part stops rotating. There is an effect that can be gripped without. That is, at least one of the finger portions 101 and 102 only needs to include the rotation member 110 and the support member 120 that supports the rotation member 110 in a rotatable manner.

  In the present embodiment, the configuration in which the concave portion 111h is formed on the contact surface 111f2 of the contact member 111 and the convex portion 122 is formed on the contact surface 120f of the support member 120 has been described as an example, but the present invention is not limited thereto. . For example, a configuration in which a convex portion is formed on the contact surface 111f2 of the contact member 111 and a concave portion is formed on the contact surface 120f of the support member 120 may be employed. That is, one surface of the contact surface 111f2 of the contact member 111 when the object is gripped by the two finger portions 101 and 102 with a gripping force equal to or greater than a predetermined gripping force, and then the contact surface 120f of the support member 120 It is sufficient that a concave portion is formed on the other surface and a convex portion that meshes with the concave portion is formed on the other surface.

  In the present embodiment, the second sensor 142 is provided at a portion (contact surface 120f) where the support member 120 contacts the contact member 111, but the present invention is not limited to this. For example, the second sensor 142 may be provided in a portion where the contact member 111 is in contact with the support member 120 (contact surface 111f2).

  Moreover, in this embodiment, although the three recessed parts 111h are formed in the contact surface 111f2 of the contact member 111, it is not restricted to this. For example, the contact surface 111f2 of the contact member 111 may have one, two, four or more recesses. That is, the number of the concave portions formed on the contact surface 111f2 of the contact member 111 can be appropriately changed as necessary. In addition, although the three convex parts 122 are formed in the contact surface 120f of the support member 120, not only this but the number of arrangement | positioning of the convex part formed in the contact surface 120f of the support member 120 is also the number of arrangement | positioning of a recessed part. Similarly to the above, it can be changed as needed.

(Second Embodiment)
FIG. 6 is a perspective view showing the configuration of the robot apparatus RA according to the present embodiment.
As shown in FIG. 6, the robot apparatus RA is used as, for example, an industrial robot arm. The robot apparatus RA includes an attachment portion ATC, a first joint 10, a second joint 20, a third joint 30, a fourth joint 40, a fifth joint 50, and a sixth joint 60.

  The attachment portion ATC is a portion attached to, for example, a floor portion, a wall portion, or a ceiling portion. The first joint 10 to the sixth joint 60 are connected in series, for example, in order from the mounting portion ATC. The first joint 10 to the sixth joint 60 are connected to, for example, adjacent joints via a rotation axis, and are provided so as to be rotatable around the rotation axis. Since each of the first joint 10 to the sixth joint 60 is rotatably provided, the combined operation of the entire robot arm RA is possible by appropriately rotating each joint.

  The sixth joint 60 is a tip portion of the robot apparatus RA. The robot hand RH described in the above embodiment is attached to the tip of the sixth joint 60.

  According to the robot apparatus RA of the present embodiment, it is possible to provide the robot apparatus RA that can control the posture of the object while stably holding the object.

  FIG. 7 is a diagram illustrating a state during operation of the robot apparatus RA. FIG. 7A is a diagram illustrating a state before the posture of the object W is changed, and FIG. 7B is a diagram illustrating a state after the posture of the object W is changed. In FIG. 7, for the sake of convenience, only the robot hand RH and the sixth joint 60 constituting the robot apparatus RA are shown, and the other illustrations are omitted.

  As shown in FIG. 7A, for example, it is assumed that the object W is a rod-shaped member and the object W is placed on a work surface (not shown). First, one end of the object W (a part different from the center of gravity of the object W) is held by the rotating members 110 of the two finger parts 101 and 102.

  Next, as shown in FIG. 7B, the object W is lifted by the rotating members 110 of the two finger portions 101 and 102 (the sixth joint of the robot apparatus RA is moved upward). Then, the other end of the object rotates and hangs down with respect to one end by its own weight. That is, the posture of the object W is changed from horizontal to vertical in the course of this operation. In the course of this operation, the sixth joint 60 of the robot apparatus RA moves upward, but its posture hardly changes. Therefore, it can be seen that the posture of the object W can be changed in a state where the gripping postures of the two finger portions 101 and 102 hardly change.

(Modification 1)
FIG. 8 is a view showing a first modification of the robot hand according to the present invention.
The robot hand RH1 of the present modification is different from the robot hand RH described in the first embodiment described above in that the rotating shaft 112A of the rotating member 110A has elasticity. That is, in the robot hand RH of the first embodiment, the elastic member 132 is disposed between the rotation shaft 112 of the rotating member 110 and the accommodating portion 121, whereas in the present modification, the elastic member 132 is not disposed. The rotation shaft 112A itself functions as an elastic member. Since other configurations are the same as those of the robot hand RH described in the first embodiment, detailed description thereof is omitted.

  As shown in FIG. 8, the rotating member 110A of the two finger portions 101A and 102A includes a contact member 111 and a rotating shaft 112A. The rotating shaft 112A is formed of an elastic member such as rubber. The support member 120 of the two finger portions 101A and 102A is formed with a storage portion 121 that rotatably supports the rotating shaft 112A of the rotating member 110A. When the object is gripped by the two fingers 101A and 102A with a gripping force equal to or greater than a predetermined gripping force, the rotating shaft 112A is elastically deformed, so that the contact member 111 and the support member 120 of the rotating member 110A come into contact with each other. To do.

  According to the robot hand RH1 of the present modified example, when the object is gripped by the two finger portions 101A and 102A with a gripping force less than a predetermined gripping force, the rotating shaft 112A of the rotating member 110A is not sufficiently deformed and rotated. When the member 110A and the support member 120 are separated from each other and the rotating member 110A can rotate, while the object is gripped with a gripping force greater than a predetermined gripping force, the rotating shaft 112A of the rotating member 110A is elastically deformed. The rotating member 110A and the support member 120 come into contact with each other, and the rotating operation of the rotating member 110A is suppressed. That is, the rotating operation of the rotating member 110A is suppressed depending on whether or not the rotating shaft 112A of the rotating member 110A is elastically deformed by a predetermined amount. Therefore, it becomes easy to change the posture of the object.

(Modification 2)
FIG. 9 is a view showing a second modification of the robot hand according to the present invention. In FIG. 9, for the sake of convenience, only the part of the configuration of the robot hand RH where the rotating member 110B and the supporting member 120B of the two fingers are in contact with each other is shown. 9A shows a portion (contact surface 111Bf2) where the contact member 111B contacts the support member 120B, and FIG. 9B corresponds to FIG. 4A. A corresponding portion (contact surface 120Bf) where the support member 120B contacts the contact member 111B.

  The robot hand RH2 of the present modified example has a surface (contact surface 111Bf2) on which the contact member 111B of the rotating member 110B comes into contact with the support member 120B when the object is gripped with a gripping force equal to or greater than a predetermined gripping force by two fingers. When the contact member 111B of the rotation member 110B and the support member 120B are in contact with each other, both surfaces of the contact member 111B of the rotation member 110B (the contact surface 120Bf) are in contact with the contact member 111B of the rotation member 110B. The robot hand RH differs from the robot hand RH described in the first embodiment in that it has a coefficient of friction that suppresses the rotational motion of 110B. That is, in the robot hand RH of the first embodiment, the concave portion 111h is formed on the contact surface 111f2 of the contact member 111, and the convex portion 122 that meshes with the concave portion 111h is formed on the contact surface 120f of the support member 120. In the modified example, the concave portion 111h and the convex 122 are not formed. Since other configurations are the same as those of the robot hand RH described in the first embodiment, detailed description thereof is omitted.

  As shown in FIG. 9A, the contact surface 111Bf2 of the contact member 111B has a friction coefficient that suppresses the rotation operation of the rotation member 110B when the contact member 111B and the support member 120B of the rotation member 110B contact each other. It is a surface. For the surface having such a friction coefficient, for example, a material having a large friction coefficient such as a rubber sheet is disposed on the contact surface 111Bf2 of the contact member 111B, or a plurality of fine irregularities are provided on the contact surface 111Bf2 of the contact member 111B. Can be realized.

  As shown in FIG. 9B, the contact surface 120Bf of the support member 120B also has a friction coefficient that suppresses the rotation operation of the rotation member 110B when the contact member 111B of the rotation member 110B and the support member 120B contact each other. It is a surface. Similar to the contact surface 111Bf2 of the contact member 111B, for example, a material having a high friction coefficient such as a rubber sheet is disposed on the contact surface 120Bf of the support member 120B or the contact surface of the support member 120B. This can be realized by attaching a plurality of fine irregularities to the surface 120Bf.

  According to the robot hand RH2 of the present modified example, when the object is gripped with a gripping force equal to or greater than a predetermined gripping force, the rotating motion of the rotating member 110B is caused by the frictional force on the surface where the rotating member 110B and the support member 120B contact each other. It is suppressed. Therefore, the posture of the object can be changed with a simple configuration.

  In this modification, both the contact surface 111Bf2 and the contact surface 120Bf have a coefficient of friction that suppresses the rotation operation of the rotation member 110B when the contact member 111B and the support member 120B of the rotation member 110B contact each other. Although it is the surface which has, it is not restricted to this. For example, only the contact surface 111Bf2 may be a surface having a friction coefficient that suppresses the rotation operation of the rotation member 110B when the contact member 111B and the support member 120B of the rotation member 110B contact each other, or the contact surface 120Bf. Only the contact member 111B of the rotation member 110B and the support member 120B may have a surface having a friction coefficient that suppresses the rotation operation of the rotation member 110B when they contact each other.

(Modification 3)
FIG. 10 is a view showing a third modification of the robot hand according to the present invention.
The robot hand RH3 of the present modified example is described above in that a third sensor 143 and a fourth sensor 144 are provided instead of the first sensor 141 and the second sensor 142 provided on the two finger portions 101 and 102. This is different from the robot hand RH described in the first embodiment. Since other configurations are the same as those of the robot hand RH described in the first embodiment, detailed description thereof is omitted.

  As shown in FIG. 10, the third sensor 143 is provided in a portion (contact surface 111 f 1) that contacts the object of the contact member 111 of the rotating member 110 of the two finger portions 101 and 102. The third sensor 143 includes a portion (contact surface 111f1) where the rotating member 110 of one finger 101 grips the object of the two fingers 101 and 102, and the rotating member 110 of the other finger 102 detects the object. It is a sensor that detects a relative position with a gripped portion (contact surface 111f1).

  The fourth sensor 144 is provided between the contact member 111 and the support member 120 of the rotating member 110 of the two finger portions 101 and 102. In the present modification, the fourth sensor 144 is provided at a portion (contact surface 120 f) where the support member 120 contacts the contact member 111. The fourth sensor 144 rotates the support member 120 of one of the two finger portions 101 and 102 when the object is gripped by the two finger portions 101 and 102 with a gripping force equal to or greater than a predetermined gripping force. The relative position between the surface (contact surface 120f) of the member 110 that contacts the contact member 111 and the surface (contact surface 120f) of the rotating member 110 that the support member 120 of the other finger 102 contacts at that time. It is a sensor that detects

  FIG. 11 is a diagram illustrating a state during the operation of the robot hand RH3. 11A shows a state before the object W is gripped, FIG. 11B shows a state where the object W is gripped, and FIG. 11C shows the rotation of the rotating member stopped. It is a figure which shows the state which carried out.

  As shown in FIG. 11A, based on the detection result of the third sensor 143 provided on the two finger portions 101 and 102, the contact surface 111f1 of one finger portion 101 and the contact surface 111f1 of the other finger portion 102 Is considered to be larger than the width WL of the object (the length of the object W in the direction in which the object W is sandwiched between the two fingers 101 and 102) (L1> WL). In this case, it can be seen that the rotating member 110 of the two finger portions 101 and 102 does not hold the object W.

  As shown in FIG. 11B, based on the detection results of the third sensor 143 provided on the two finger portions 101 and 102, the contact surface 111f1 of one finger portion 101 and the contact surface 111f1 of the other finger portion 102 Is considered to be equal to the width WL of the object (L1 = WL. In this case, it can be seen that the rotating member 110 of the two fingers 101 and 102 holds the object W).

  Further, as shown in FIG. 11A and FIG. 11B, the contact surface 120f of one finger 101 and the other contact surface 120f are detected by the detection result of the fourth sensor 144 provided on the two fingers 101 and 102. The distance L2 between the contact surface 120f of the finger part 102 is the width WL of the object and the thickness 111t of the rotating member 110 of the two finger parts 101 and 102 (in the direction in which the object W is sandwiched between the two finger parts 101 and 102). Consider a case in which the value is greater than the sum of the length of the contact member 111 of the rotating member 110 (L2> WL + 111t × 2). In this case, it can be seen that the rotating member 110 of the two finger portions 101 and 102 can rotate.

  As shown in FIG. 11 (c), the contact surface 120f of one finger 101 and the contact surface 120f of the other finger 102 are detected by the detection result of the fourth sensor 144 provided on the two fingers 101 and 102. Is assumed to be equal to the sum of the width WL of the object and the thickness 111t of the rotating member 110 of the two fingers 101 and 102 (L2 = WL + 111t × 2). In this case, it can be seen that the rotation of the rotating member 110 of the two finger portions 101 and 102 is stopped (the rotating member 110 is fixed to the support member 120).

  According to the robot hand RH3 of this modified example, the third sensor 143 detects the interval between the rotating members 110 of the two finger portions 101 and 102, and the fourth sensor 144 supports the two finger portions 101 and 102. The distance between the contact surfaces with the rotating member 110 at 120 can be detected. For example, this is effective when the size of the object can be accurately recognized. That is, when the detection result of the third sensor is “larger than the width of the object (the length of the object in the direction in which the object is sandwiched between the two fingers)”, the rotating member 110 of the two fingers 101 and 102 is It can be seen that the object is not gripped. On the other hand, if it is “equal to the width of the object”, it can be seen that the rotating members 110 of the two finger portions 101 and 102 are gripping the object. Further, the detection result of the fourth sensor 144 is “a value obtained by adding the width of the object and the thickness of the rotating member of the two fingers (the length of the rotating member in the direction in which the object is sandwiched between the two fingers)” Is larger, it can be seen that the rotating member 110 of the two finger portions 101 and 102 can rotate, while “the width of the object and the thickness of the rotating member 110 of the two finger portions 101 and 102 are added together. In the case of “equal to the value”, it can be seen that the rotation of the rotating member 110 of the two fingers 101 and 102 is stopped (the rotating member 110 is fixed to the support member 120). Therefore, it becomes easy to confirm the gripping state of the object and the state of the rotating operation of the rotating member 110.

(Modification 4)
FIG. 12 is a view showing a fourth modification of the robot hand according to the present invention.
The robot hand RH4 of this modification example is provided with a fifth sensor 145 instead of the first sensor 141 provided on the two finger portions 101 and 102, and is not provided with the second sensor 142. Different from the robot hand RH described in the first embodiment. Since other configurations are the same as those of the robot hand RH described in the first embodiment, detailed description thereof is omitted.

  As shown in FIG. 12, the fifth sensor 145 is provided at a portion (contact surface 111 f 1) of the two finger portions 101 and 102 that contacts the object of the contact member 111 of the rotating member 110 of one finger portion 101. ing. The fifth sensor 145 is a sensor that detects a force for gripping an object. As the fifth sensor 145, for example, a pressure sensor or a sensor that detects a change in torque of the motor (change in current flowing through the motor) can be used. For example, this is effective when the force with which the rotating member 110 is pushed (the elastic coefficient of the elastic member 132 (spring constant, etc.)) is known in advance.

  According to the robot hand RH4 of this modification, the fifth sensor 145 can detect the gripping force when the two finger portions 101 and 102 grip the object. For example, the detection result of the fifth sensor 145 indicates whether or not the rotating member 110 of the two finger portions 101 and 102 is firmly holding the object. Thus, the object can be reliably gripped.

  In the present modification, the fifth sensor 145 is provided at a portion (contact surface 111f1) of the two finger portions 101 and 102 that contacts the object of the contact member 111 of the rotating member 110 of one finger portion 101. However, it is not limited to this. For example, the fifth sensor 145 may be provided in a portion (contact surface 111f1) of the two finger portions 101 and 102 that contacts the object of the contact member 111 of the rotating member 110 of the other finger portion 102. That is, the fifth sensor 145 only needs to be provided in a portion (contact surface 111f1) that contacts the object of the contact member 111 of the rotating member 110 of at least one of the two finger portions 101 and 102.

  In the present modification, only the fifth sensor 145 is provided, but the present invention is not limited to this. For example, in addition to the fifth sensor 145, a first sensor 141 and a second sensor 142 may be further provided, or a third sensor 143 and a fourth sensor 144 may be provided.

101, 102, 101A, 102A ... finger part, 103 ... driving part, 110, 110A, 110B ... rotating member, 111, 111A, 111B ... contact member, 111f1 ... contact surface (part contacting the object of the rotating member), 111h ... concave portion, 112, 112A ... rotating shaft, 120, 120B ... support member, 121 ... accommodating portion, 122 ... convex portion, 132 ... elastic member, 141 ... first sensor, 142 ... second sensor, 143 ... third sensor DESCRIPTION OF SYMBOLS 144 ... 4th sensor, 145 ... 5th sensor, W ... Target object, RA ... Robot apparatus, RH, RH1, RH2, RH3, RH4 ... Robot hand

Claims (13)

With two fingers to grip the object,
Each of the two finger portions is provided with a rotating member at a portion for gripping the object,
In a state where the object is gripped by the two fingers, the rotating member of the two fingers is rotatable .
At least one of the two finger parts includes the rotating member and a support member that rotatably supports the rotating member, and the object has a gripping force equal to or higher than a predetermined gripping force by the two finger parts. When the robot is gripped, the rotating member and the support member come into contact with each other, and the rotating operation of the rotating member is suppressed . The robot hand according to claim 1 , wherein the rotation axes of the rotation members of the two finger portions coincide with each other. The portion of the rotating member that contacts the object has a structure that always has a plurality of contact points with respect to the smooth surface of the object even when the object has a smooth surface. Item 3. The robot hand according to Item 1 or 2 . The robot hand according to claim 3 , wherein a portion of the rotating member that contacts the object has a smooth surface. The support member of the two fingers is formed with an accommodating portion for rotatably accommodating the rotation shaft of the rotating member,
An elastic member is disposed between the rotating shaft of the rotating member and the accommodating portion,
When the object is gripped with a gripping force equal to or greater than a predetermined gripping force by the two fingers, the elastic member is elastically deformed so that the rotating member and the support member come into contact with each other. The robot hand according to any one of claims 1 to 4 . The rotating shaft of the rotating member has elasticity,
The support member of the two fingers is formed with an accommodating portion for rotatably accommodating the rotation shaft of the rotating member,
When the object is gripped with a gripping force equal to or greater than a predetermined gripping force by the two finger portions, the rotating shaft and the support member come into contact with each other due to elastic deformation of the rotating shaft. The robot hand according to any one of claims 1 to 4 . The surface of the rotating member that comes into contact with the support member when the object is gripped with a gripping force equal to or greater than a predetermined gripping force by the two fingers, and a gripping force that is equal to or greater than a predetermined gripping force with the two fingers In any one of the surfaces of the support member that comes into contact with the rotating member when the object is gripped with a concave portion and a convex portion that meshes with the concave portion is formed on the other surface. The robot hand according to any one of claims 1 to 6 . The surface of the rotating member that comes into contact with the support member when the object is gripped with a gripping force equal to or greater than a predetermined gripping force by the two fingers, and a gripping force that is equal to or greater than a predetermined gripping force with the two fingers At least one of the surfaces of the support member that comes into contact with the rotating member when the object is gripped in the step suppresses the rotating operation of the rotating member when the rotating member and the supporting member are in contact with each other. It has a friction coefficient, The robot hand as described in any one of Claims 1-6 characterized by the above-mentioned. A portion of the two fingers that contacts the object of the rotating member is provided with a first sensor that detects contact with the object.
Between the rotary member and the supporting member of said two finger portions, claim 1 to 8, characterized in that a second sensor for detecting the contact between the supporting member and the rotating member is provided The robot hand according to any one of the above. A third sensor that detects a relative position between a portion where the rotating member of one of the two finger portions grips the object and a portion where the rotating member of the other finger portion holds the object. When,
The surface of the support member that comes into contact with the rotating member of one of the two finger portions when the object is gripped by the two finger portions with a gripping force equal to or greater than a predetermined gripping force; Detecting the relative position of the other finger part to the surface of the support member that comes into contact with the rotating member when the object is gripped with a gripping force equal to or greater than a predetermined gripping force by one finger part A fourth sensor to
The robot hand according to claim 1 , further comprising: A portion of at least one of the two finger portions that contacts the object of the rotating member is provided with a fifth sensor that detects a force for grasping the object. the robot hand according to any one of claims 1 to 10. Wherein as the two fingers are moved in synchronism so as to approach or away from the object, any one of claims 1 to 11, characterized in that it comprises a drive unit for opening and closing the two fingers The robot hand according to the item. Robot device including a robot hand according to any one of claims 1 to 12.

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