JP6035892B2 - Robot hand and robot apparatus - Google Patents

Description

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

  Conventionally, vertical articulated robots, horizontal articulated robots (SCARA robots), orthogonal robots, etc. have been developed as industrial robots, and these robots are selected according to the application that suits their characteristics ( For example, see Patent Document 1). In these robots, a grip part having two finger parts for gripping an object is moved to a target position, and the two finger parts are opened and closed by rotating around the rotation axis of these two finger parts, Thus, a robot hand for gripping an object is provided. Among such robot hands, for example, a configuration in which a concave portion is provided on each of the opposing surfaces of two finger portions and a target object is sandwiched in the concave portion has been studied.

JP 2009-78312 A

  The inventor examined the range of the size of the object that can be grasped in the shape of the finger portion having the concave portion as proposed above. As a result, the configuration in which the opening / closing operation is performed by moving the two finger portions in the horizontal direction can grip a wide range of objects, rather than the above-described configuration in which the opening / closing operation is performed around the rotation axis. I understood.

  In view of the circumstances as described above, it is an object of the present invention to provide a robot hand, a robot apparatus, and a robot hand driving method capable of gripping objects in a wide range of sizes.

In order to solve the above-described problem, one robot hand according to the present invention includes a gripping portion having a first finger portion and a second finger portion arranged side by side in a first direction, and a first portion orthogonal to the first direction. A movable part capable of reciprocating in two directions; a first connection part for connecting the movable part and the first finger part; a second connection part for connecting the movable part and the second finger part; A drive unit that drives the movable unit so that the first finger unit and the second finger unit are opened and closed in the first direction via the first connection unit and the second connection unit; The finger part and the second finger part are respectively disposed at positions on a distal end part that grips an object and a third direction perpendicular to the first direction and the second direction with respect to the distal end part. And the object on the opposite surface of the first finger portion and the second finger portion to the other finger portion. A concave portion to be sandwiched is disposed, and each of the concave portions of the first finger portion and the second finger portion includes a first surface disposed on the base end side of the first finger portion and the second finger portion; A second surface disposed on the tip side of the first finger portion and the second finger portion, and a straight line parallel to the first direction in the second direction view, and the second surface The angle α between the straight line including the straight line and the straight line including the first surface is greater than 0 ° and less than 90 °, and the angle formed between the straight line orthogonal to the first direction and the straight line including the first surface in the second direction view. The angle β is greater than 0 ° and less than 90 °, and when viewed in the second direction, the intersection of the straight line including the second surface and the straight line including the first surface is a base point, passes through the base point, and the first direction A straight line parallel to the base line, a straight line passing through the vertex on the opposite side of the straight line including the second surface and perpendicular to the base line Is a perpendicular line, the length d from the base point to the perpendicular line in the base line is greater than 0, and each of the first finger part and the second finger part protrudes in the opposing direction. Protruding portions are provided, and each of the first finger portion and the second finger portion is movable in the vertical direction, parallel to the horizontal direction, tilted with respect to the horizontal direction, and vertical The object can be gripped in a state where the tip is directed downward in the direction.
In order to solve the above problems, one robot apparatus according to the present invention includes a base and a robot hand provided on the base, and the robot hand is arranged in a first direction and arranged in a first direction. A gripping part having a part and a second finger part, a movable part capable of reciprocating in a second direction orthogonal to the first direction, a first connecting part for connecting the movable part and the first finger part, A second connecting part that connects the movable part and the second finger part, and the first finger part and the second finger part in the first direction via the first connecting part and the second connecting part. A drive unit that drives the movable unit to open and close, and the first finger unit and the second finger unit have a first direction and a front end for gripping an object, respectively, A proximal end portion disposed at a position on a third direction orthogonal to each of the second directions. In the first finger part and the second finger part, a concave part for sandwiching an object is disposed on a surface of the first finger part and the second finger part facing each other, and the concave part of each of the first finger part and the second finger part is provided. Are a first surface arranged on the base end side of the first finger part and the second finger part, and a second surface arranged on the tip part side of the first finger part and the second finger part. An angle α between a straight line parallel to the first direction and a straight line including the second surface in the second direction view is greater than 0 ° and less than 90 °, In a two-way view, an angle β formed by a straight line orthogonal to the first direction and a straight line including the first surface is greater than 0 ° and less than 90 °, and in the second direction view, the second An intersection of a straight line including a surface and a straight line including the first surface is a base point, a straight line passing through the base point and parallel to the first direction is a base line, When a straight line that passes through the vertex opposite to the base point of the straight line including two surfaces and is orthogonal to the base line is a straight line, the length d from the base point to the straight line in the base line is greater than 0, Each of the first finger part and the second finger part is provided with a protruding part that protrudes in the opposite direction, and each of the first finger part and the second finger part moves in the vertical direction. The object can be gripped in a state parallel to the horizontal direction, a state inclined with respect to the horizontal direction, and a state in which the tip portion is directed downward in the vertical direction.
In order to solve the above-described problem, one robot hand according to the present invention includes a gripping portion having a first finger portion and a second finger portion arranged side by side in a first direction, and a first portion orthogonal to the first direction. A movable part capable of reciprocating in two directions; a first connection part for connecting the movable part and the first finger part; a second connection part for connecting the movable part and the second finger part; A drive unit that drives the movable unit so that the first finger unit and the second finger unit are opened and closed in the first direction via the first connection unit and the second connection unit; The finger part and the second finger part are respectively disposed at positions on a distal end part that grips an object and a third direction perpendicular to the first direction and the second direction with respect to the distal end part. And the object on the opposite surface of the first finger portion and the second finger portion to the other finger portion. A concave portion to be sandwiched is disposed, and each of the concave portions of the first finger portion and the second finger portion includes a first surface disposed on the base end side of the first finger portion and the second finger portion; A second surface disposed on the tip side of the first finger portion and the second finger portion, and a straight line parallel to the first direction in the second direction view, and the second surface The angle α between the straight line including the straight line and the straight line including the first surface is greater than 0 ° and less than 90 °, and the angle formed between the straight line orthogonal to the first direction and the straight line including the first surface in the second direction view. The angle β is greater than 0 ° and less than 90 °, and when viewed in the second direction, the intersection of the straight line including the second surface and the straight line including the first surface is a base point, passes through the base point, and the first direction A straight line parallel to the base line, a straight line passing through the vertex on the opposite side of the straight line including the second surface and perpendicular to the base line Is a perpendicular line, the length d from the base point to the perpendicular line in the base line is greater than 0, and each of the first finger part and the second finger part protrudes in the opposing direction. A protrusion is provided.
In order to solve the above problems, one robot apparatus according to the present invention includes a base and a robot hand provided on the base, and the robot hand is arranged in a first direction and arranged in a first direction. A gripping part having a part and a second finger part, a movable part capable of reciprocating in a second direction orthogonal to the first direction, a first connecting part for connecting the movable part and the first finger part, A second connecting part that connects the movable part and the second finger part, and the first finger part and the second finger part in the first direction via the first connecting part and the second connecting part. A drive unit that drives the movable unit to open and close, and the first finger unit and the second finger unit have a first direction and a front end for gripping an object, respectively, A proximal end portion disposed at a position on a third direction orthogonal to each of the second directions. In the first finger part and the second finger part, a concave part for sandwiching an object is disposed on a surface of the first finger part and the second finger part facing each other, and the concave part of each of the first finger part and the second finger part is provided. Are a first surface arranged on the base end side of the first finger part and the second finger part, and a second surface arranged on the tip part side of the first finger part and the second finger part. An angle α between a straight line parallel to the first direction and a straight line including the second surface in the second direction view is greater than 0 ° and less than 90 °, In a two-way view, an angle β formed by a straight line orthogonal to the first direction and a straight line including the first surface is greater than 0 ° and less than 90 °, and in the second direction view, the second An intersection of a straight line including a surface and a straight line including the first surface is a base point, a straight line passing through the base point and parallel to the first direction is a base line, When a straight line that passes through the vertex opposite to the base point of the straight line including two surfaces and is orthogonal to the base line is a straight line, the length d from the base point to the straight line in the base line is greater than 0, Each of the first finger portion and the second finger portion is provided with a protruding portion that protrudes in the opposing direction.
A robot hand according to the present invention includes a gripping portion having a first finger portion and a second finger portion arranged side by side in a first direction, and a movable portion capable of reciprocating in a second direction orthogonal to the first direction. , A first connecting part for connecting the movable part and the first finger part, a second connecting part for connecting the movable part and the second finger part, the first connecting part and the second connecting part. A drive unit that drives the movable unit so that the first finger unit and the second finger unit are opened and closed in the first direction via the first finger unit and the second finger unit, Each of the first finger and a distal end portion disposed at a position on a third direction perpendicular to each of the first direction and the second direction with respect to the distal end portion. A concave portion for sandwiching an object is disposed on a surface of the second finger portion facing the other finger portion, and the first finger And each of the recesses of the second finger part includes a first surface disposed on the base end side of the first finger part and the second finger part, and the first finger part and the second finger part. The angle α of the angle formed by the straight line parallel to the first direction and the straight line including the second surface is 0 when viewed in the third direction. Greater than 90 ° and less than 90 °, and the angle β between the straight line parallel to the first direction and the straight line including the first surface in the third direction view is greater than 0 ° and less than 90 °. In the base line, a length d from the base point to the perpendicular line is greater than zero.

  According to the present invention, a gripping part having a first finger part and a second finger part arranged side by side in a predetermined first direction, a movable part capable of reciprocating in a second direction orthogonal to the first direction, A first connecting part for connecting the movable part and the first finger part; a second connecting part for connecting the movable part and the second finger part; and the first finger part via the first connecting part and the second connecting part. And a driving part that drives the movable part so that the second finger part opens and closes in the first direction, so that the first finger part and the second finger part do not rotate. By opening and closing the two finger portions in the first direction, the opening and closing operation by the first finger portion and the second finger portion can be performed. Thereby, it becomes possible to grip an object having a wide range of sizes.

In the robot hand described above, the driving unit includes a screw unit in which a screw thread to be screwed to the movable unit is formed along a predetermined direction, and a motor unit that rotates the screw unit, and the predetermined direction. Is parallel to the second direction, and the movable part is preferably movable in the second direction by rotation of the screw part.
According to the present invention, the screw portion that is screwed to the movable portion has the shaft portion formed along the predetermined direction, and the motor portion that rotates the screw portion, and the predetermined direction is parallel to the second direction. Since the movable part can move in the second direction by the rotation of the screw part, the rotational force by the motor part is converted into the moving force in the second direction by the screw part. Since the movable part is movable by the moving force in the second direction, the rotation of the motor part can be efficiently transmitted to the first finger part and the second finger part as a linear displacement.

In the robot hand, the motor unit includes a drive source and a rotation transmission shaft connected to the drive source and rotatable about a predetermined axis, and the rotation transmission shaft is parallel to the second direction. It is preferable to arrange | position.
According to the present invention, the motor unit includes a drive source and a rotation transmission shaft that is connected to the drive source and is rotatable around a predetermined axis, and the rotation transmission shaft is disposed in parallel to the second direction. Therefore, the motor part can be made compact.

In the above robot hand, it is preferable that the screw thread is formed on a part of the rotation transmission shaft.
According to the present invention, since the screw thread is formed on a part of the rotation transmission shaft, the motor unit can be made more compact.

In the robot hand, it is preferable that the first finger portion and the second finger portion extend linearly in the second direction.
According to the present invention, since the first finger portion and the second finger portion extend linearly in the second direction, the grip portion can be made compact.

  A robot apparatus according to the present invention includes a base and a robot hand provided on the base, and the robot hand includes a first finger and a second finger arranged in a first direction. A movable part capable of reciprocating in a second direction orthogonal to the first direction, a first connecting part for connecting the movable part and the first finger part, the movable part and the second finger part, And the movable part is driven so that the first finger part and the second finger part are opened and closed in the first direction via the first connection part and the second connection part. The first finger part and the second finger part are respectively orthogonal to the first direction and the second direction with respect to the tip part and the tip part for gripping the object, respectively. A proximal end portion disposed at a position in three directions, and the first finger portion and the second finger portion A concave portion for holding the object is disposed on a surface facing the other finger portion, and the concave portions of the first finger portion and the second finger portion respectively correspond to the first finger portion and the second finger portion. A first surface disposed on the base end side of the portion and a second surface disposed on the distal end side of the first finger portion and the second finger portion, in the third direction view The angle α between the straight line parallel to the first direction and the straight line including the second surface is greater than 0 ° and less than 90 °, and is parallel to the first direction when viewed in the third direction. The angle β between the straight line and the straight line including the first surface is greater than 0 ° and less than 90 °, and the length d from the base point to the perpendicular line in the base line is greater than zero.

  According to the present invention, the robot comprises a base and a robot hand provided on the base, the robot hand having a first finger part and a second finger part arranged side by side in the first direction, A movable part capable of reciprocating in a second direction orthogonal to one direction, a first connecting part for connecting the movable part and the first finger part, and a second connecting part for connecting the movable part and the second finger part. Since the first finger part and the second finger part are provided with a drive part for driving the movable part so that the first finger part and the second finger part are opened and closed in the first direction via the first connection part and the second connection part, The first finger and the second finger can be opened and closed by reciprocating the first finger and the second finger in the first direction instead of rotating the two fingers. Thereby, it becomes possible to grip an object having a wide range of sizes.

In the above robot apparatus, it is preferable that the robot hand is rotatable in a direction around an axis having a predetermined straight line parallel to the second direction as a central axis.
According to the present invention, the robot hand can rotate in the direction around the axis with a predetermined straight line parallel to the second direction as the central axis, so that the first finger and the second finger hold the object. Can change the posture of the object. For example, the direction in the direction of gravity can be reversed by rotating the first finger and the second finger while holding the object.

In the above robot apparatus, it is preferable that the first finger part and the second finger part are arranged at a position sandwiching the central axis in the first direction.
According to the present invention, since the first finger portion and the second finger portion are disposed at positions sandwiching the central axis in the first direction, when the object rotates, it rotates about the central axis. Become. Thereby, it becomes possible to change the posture of the object while suppressing the movement of the center position of the object.

1 is a perspective view showing a schematic configuration of a robot 1 according to the present embodiment. It is a top view which shows the structure of the holding part which concerns on the same embodiment. It is a figure explaining the opening-closing mechanism of the nail | claw part which concerns on the same embodiment. It is a figure explaining the procedure which computes parameter alpha, beta, and d of a claw part shape concerning the embodiment. It is a figure explaining the components which the nail | claw part which concerns on the same embodiment can hold | grip. It is a figure explaining the relationship between the largest magnitude | size which can be hold | gripped and the parameters (alpha), (beta), and d of a nail | claw part shape which concern on the embodiment. It is a figure explaining the magnitude | size of the component which can be hold | gripped by the relationship between the vertex of the nail | claw part which concerns on the embodiment, and components. It is a figure explaining the relationship between the vertex of the nail | claw part which concerns on the embodiment, and components. It is a figure explaining the magnitude | size of the component which can be hold | gripped when the nail | claw part which concerns on this embodiment is closed. It is a figure explaining calculation of the minimum size of the component which can be grasped by the claw part concerning the embodiment. It is a figure explaining the parameter of the caging area | region which concerns on the same embodiment. It is a figure explaining the shape of a caging area | region and each parameter concerning the embodiment. It is a figure explaining the case where the distance of the x direction of the caging area | region which concerns on the embodiment is c21. It is a figure explaining the case where the distance of the x direction of the caging area | region which concerns on the embodiment is c22. It is a figure explaining the case where the distance of the x direction of the caging area | region which concerns on the embodiment is c23. It is a figure explaining the case where the distance of the x direction of the caging area | region which concerns on the embodiment is c24. It is a figure explaining the relationship between the largest magnitude | size rmax2 which can be caged, and distance c1, c2, clim concerning the embodiment. It is a figure explaining the conditions of self-alignment concerning the embodiment. It is a figure explaining the force added to components from the nail | claw part which concerns on the same embodiment. It is a figure explaining the relationship between r and the vertex a2 which concern on the same embodiment. It is a figure explaining the conditions used when attaching the component M which concerns on the embodiment. It is a figure explaining the example which is interfering with the components M2 which the nail | claw part tip which concerns on the embodiment attaches. It is a perspective view which shows the structure of the robot hand which concerns on the same embodiment. It is a figure which shows the structure of the robot hand which concerns on the same embodiment. It is a figure which shows the structure of the robot hand which concerns on the same embodiment. It is a figure which shows the structure of the robot hand which concerns on the same embodiment. It is a figure showing one mode of operation of a robot hand concerning the embodiment. It is a figure showing one mode of operation of a robot hand concerning the embodiment. It is a figure showing one mode of operation of a robot hand concerning the embodiment. It is a figure showing one mode of operation of a robot hand concerning the embodiment. It is a figure showing one mode of operation of a robot hand concerning the embodiment. It is a figure showing one mode of operation of a robot hand concerning the embodiment. It is a figure showing one mode of operation of a robot hand concerning the embodiment. It is a figure showing one mode of operation of a robot hand concerning the embodiment. It is a figure showing one mode of operation of a robot hand concerning the embodiment. It is a figure showing one mode of operation of a robot hand concerning the embodiment. It is a figure showing one mode of operation of a robot hand concerning the embodiment. It is a figure showing one mode of operation of a robot hand concerning the embodiment. It is a general | schematic external view which shows a mode that the robot system to which the robot apparatus which is 2nd embodiment of this invention is applied performs a work. It is a general | schematic external view of the robot system in 3rd embodiment of this invention.

  Embodiments of the present invention will be described below with reference to the drawings. This embodiment shows one aspect of the present invention, and does not 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.

  In the following description, the XYZ rectangular coordinate system shown in FIG. 1 is set, and each member will be described with reference to this XYZ rectangular coordinate system. In the XYZ orthogonal coordinate system, the X axis and the Y axis are set in a direction parallel to the horizontal plane and orthogonal to each other, and the Z axis is set in a direction (vertical direction) orthogonal to each of the X axis and the Y axis.

[First embodiment]
FIG. 1 is a perspective view showing a schematic configuration of a robot 1 according to the first embodiment of the present invention. In FIG. 1, the code | symbol W1 is a 1st target object, and the code | symbol W2 is a 2nd target object. Reference numeral L1A is a rotation axis of the first arm 21A, reference numeral L2A is a rotation axis of the second arm 22A, reference numeral L3A is a rotation axis of the third arm 23A, and reference numerals L4A and L5A are rotation axes of the gripper 10A. Reference numeral L1B is a rotation axis of the first arm 21B, reference numeral L2B is a rotation axis of the second arm 22B, reference numeral L3B is a rotation axis of the third arm 23B, and reference numerals L4B and L5B are rotation axes of the grip portion 10B.

  Here, a small and lightweight gear is illustrated and described as the first object W1, and an electronic device including a support shaft (pin) that rotatably supports the gear is illustrated as the second object W2. I will explain. The first object W1 has a substantially cylindrical shape having a curved surface on the side in contact with the grip portion.

  As shown in FIG. 1, the robot 1 according to this embodiment includes a robot hand RH. The robot hand RH includes gripping portions 10A and 10B. 10 A of holding parts have the 1st finger part 41 and the 2nd finger part 42 which are provided so that opening and closing is possible, and hold | grips a target object. The gripping part 10B has a pair of finger parts 43 and 44 that are provided so as to be openable and closable and grip an object.

  In addition, the robot 1 includes arms (moving devices) 20A and 20B that relatively move the object and the gripping units 10A and 10B, belt conveyors 33 and 34 that convey the first object W1, and the first object W1. A first belt conveyor (moving device) 33, a stage 37 serving as a delivery base for the first object W1, a stage (moving device) 30 on which the objects W1, W2 are placed, and an arm 20A, 20B and a base 50 for supporting the stage 30, cameras 40A, 40B attached to the arms 20A, 20B, a control device 60 for controlling the operation of the robot 1 itself, and input instructions to the control device 60, respectively. And an input device 70 for performing.

  The grip portion 10A is connected to the distal end portion of the third arm 23A. The gripping unit 10 </ b> A grips the first object W <b> 1 disposed on the first belt conveyor 33. The gripping unit 10A transports the gripped first object W1 to the stage 37. The gripper 10A includes a detection device 41A that detects a force for gripping the first object W1. As the detection device 41A, 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.

  The grip 10B is connected to the tip of the third arm 23B. The gripping unit 10 </ b> B grips the first object W <b> 1 arranged on the stage 37. The gripping unit 10B transports the gripped first object W1 to the stage 30. The gripping unit 10B transports the gripped first object W1 (or disposed on the stage 37) to the second target object W2. Specifically, the gear W1 is inserted through the pin of the electronic device W2 by the grip portion 10B. The gripping part 10B includes a detection device 41B that detects a force for gripping the first object W1. As the detection device 41B, 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.

  In the arm 20A, a first arm 21A, a second arm 22A, and a third arm 23A are connected in this order. The first arm 21A has a main shaft 24 having a rotation axis in the Z-axis direction and a base portion 25 having a substantially rectangular shape in plan view. It is connected to the base 50 via. The first arm 21 </ b> A is provided so as to be able to rotate forward and backward around the rotation axis L <b> 1 </ b> A in the horizontal direction (direction parallel to the XY plane) at the connection point with the main shaft 24. The second arm 22A is provided so as to be able to rotate forward and backward around the rotation axis L2A in the horizontal direction at the connection point with the first arm 21A. The third arm 23A is provided so as to be able to rotate forward and backward about the rotation axis L3A in the horizontal direction and to be vertically movable in the vertical direction (Z-axis direction) at the connection point with the second arm 22A. The grip portion 10A is provided so as to be able to rotate forward and backward around the rotation axis L4A in a direction orthogonal to the horizontal direction at a connection point with the third arm 23A.

  In the arm 20B, a first arm 21B, a second arm 22B, and a third arm 23B are connected in this order. The first arm 21B has a main shaft 24 having a rotation axis in the Z-axis direction and a base portion 25 having a substantially rectangular shape in plan view. It is connected to the base 50 via. The first arm 21 </ b> B is provided so as to be able to rotate forward and backward around the rotation axis L <b> 1 </ b> B in the horizontal direction (direction parallel to the XY plane) at the connection point with the main shaft 24. The second arm 22B is provided so as to be able to rotate forward and backward around the rotation axis L2B in the horizontal direction at the connection point with the first arm 21B. The third arm 23B is provided so as to be able to rotate forward and backward around the rotation axis L3B in the horizontal direction and to be vertically movable in the vertical direction (Z-axis direction) at the connection point with the second arm 22B. The grip portion 10B is provided so as to be able to rotate forward and backward around the rotation axis L4B in a direction orthogonal to the horizontal direction at a connection point with the third arm 23B.

  The first belt conveyor 33 and the second belt conveyor 34 are spaced apart in this order from the side on which the arm 20A is provided. The feeder 36 is disposed on the upstream side (+ Y direction side) of the first belt conveyor 33. The second belt conveyor 34 is larger than the first belt conveyor 33 in plan view so as to protrude downstream (−Y direction side) of the first belt conveyor 33. The first object W1 dropped from the first belt conveyor 33 is transported to the second belt conveyor 34 and put into the opening 36a of the feeder 36 by an inclined belt conveyor (not shown). In this way, the first object W1 that has not been gripped by the gripping portion 10A circulates through the first belt conveyor 33, the second belt conveyor 34, and the feeder 36.

  The stage 30 includes a top plate 31 on which an object is placed and a base portion 35 that supports the top plate 31. For example, the base unit 35 includes a moving mechanism that horizontally moves the top plate 31 in the X direction and a moving mechanism that moves the top plate 31 in the Y direction. It is provided to be movable.

  The camera 40A is attached to the tip of the second arm 22A that constitutes the arm 20A. For example, a CCD camera is used as the camera 40A. The camera 40A images the first object W1 placed on the first belt conveyor 33. The captured image of the camera 40A is transmitted to the control device 60.

  The camera 40B is attached to the tip of the second arm 22B that constitutes the arm 20B. For example, a CCD camera is used as the camera 40B. The camera 40B images the first object W1 and the second object W2 placed on the top board 31. The captured image of the camera 40B is transmitted to the control device 60.

  The control device 60 includes a memory, a CPU, a power supply circuit, and the like. The control device 60 stores an operation program that defines the operation content of the robot 1 input from the input device 70, and activates various programs stored in the memory by the CPU to control the robot 1 in an integrated manner.

  FIG. 2 is a plan view showing the configuration of the claw portion according to the present embodiment. Here, the configuration of the finger portion will be described by exemplifying the first finger portion 41 and the second finger portion 42 of the grip portion 10A out of the grip portion 10A and the grip portion 10B. Since the first finger part 43 and the second finger part 44 of the gripping part 10B have the same configuration as the first finger part 41 and the second finger part 42 of the gripping part 10A, detailed description thereof is omitted. FIG. 2A is a plan view showing the configuration of the finger part, and FIG. 2B is a diagram for explaining parameters of the shape of the finger part.

  As shown in FIG. 2A, the first finger part 41 has a claw part 101, and the second finger part 42 has a claw part 102. The claw part 101 and the claw part 102 have a line-symmetric relationship with respect to the reference line 202. In addition, the claw portion 101 and the claw portion 102 are first inclined surfaces (also referred to as front end surfaces) 111 and 112 that gradually incline away from each other as they go from the front end toward the rear end (also referred to as a base end or base portion). And second inclined surfaces (also referred to as a base-side surface or a base-side surface) 121 and 122 that are gradually inclined in directions close to each other. Further, the claw portion 101 and the claw portion 102 can be formed by, for example, bending a metal (flat plate) such as aluminum or cutting the metal (cuboid).

  With such a configuration, the first object W1 is gripped near the tips of the claw portion 101 and the claw portion 102. For this reason, since the nail | claw part 101 and the nail | claw part 102 hold | grip and convey the 1st target object W1, it can implement | achieve three functions, caging, self-alignment, and friction grip. The control device 60 performs control so that the claw portion 101 and the claw portion 102 grip the first object W1 at four or more contact points.

  “Caging” refers to a space in which the first object W1 is closed by the pair of claws 101 and 102 when the object (first object W1) is in a certain position and posture. It means that there is. In the caging, the position or posture of the first object W1 is not restricted by the claw portion 101 and the claw portion 102 and is free.

  “Self-alignment” refers to the shape of the nail 101 and the nail 102, the nail 101 and the nail 102, and the first object W1 when the nail 101 and the nail 102 sandwich the first object W1. This means that the first object W1 is moved to a predetermined position in the closed space by the frictional force.

  “Friction grip” means that the claw part 101 and the claw part 102 contact the first object W1 at four or more contact points to restrain the first object W1, and the first object W1 by frictional force. Is restrained in a direction perpendicular to the surface 33a on which the first object W1 is arranged.

As shown in FIG. 2B, the tip of the claw portion 101 has a triangular shape (also referred to as a concave portion) surrounded by vertices a ₁ , a ₂ , and a ₃ (hereinafter referred to as a claw shape). . This nail shape is represented by three parameters α, β, and d. The symbol β represents an angle formed by the line segment a ₁ a ₂ and the line segment a ₁ a _3, and the symbol α represents a case where a perpendicular (also referred to as a base line) is dropped from the vertex a ₂ to the line segment a ₁ a ₃ . It represents the angle between the line segment a ₂ a ₃ and the perpendicular. The symbol d represents the height (= a ₂ a ₃ cos α) to the base a ₂ of the triangle a ₁ a ₂ a ₃ . Further, the point a ₂ that is the intersection of the first inclined surface 111 and the second inclined surface 121 is also referred to as a base point.

  In the nail portion 101, the range that the nail shape parameters α, β, and d can take is expressed by the following equation (1).

Hereinafter, a method for calculating the parameters α, β, d of the nail shape will be described. FIG. 3A and FIG. 3B are diagrams for explaining a general principle of the opening / closing mechanism of the claw portion according to the present embodiment. As shown in FIG. 3 (a), the control device 60, the claw portion 101 and the claw portion 102, the center point Q of intersection by extending the side connecting the respective vertices a ₁ and a _3, and another side It opens and closes by controlling an angle φ formed by lines extending a ₁ a ₃ . Further, the claw portion 101 and the claw portion 102 are represented by three parameters (hereinafter referred to as opening / closing parameters) θ, γ, and l (el) in opening and closing the claw portion 101. The point P represents the center of rotation, and the symbol l (el) is from the point P to the lower end a ₁ of the triangle a ₁ a ₂ a ₃ of the claw portion 101 (point B; also referred to as the end of the base side surface). Represents distance. The symbol γ represents the angle formed by the BP when the grip portion 101 is closed and the x axis, and the symbol θ is the BP when the grip portion 101 is closed and B′P when the claw portion 101 is open. Represents the angle formed by. In this embodiment, as described later, γ = 90 ° is satisfied. However, in the following description, general principles including γ = 90 ° will be described.

Next, a procedure for calculating the parameters α, β, d of the nail shape will be described with reference to the drawings. FIG. 4 is a view for explaining the procedure for calculating the parameters α, β, d of the claw shape according to the present embodiment.
First, an outline of a procedure for calculating the parameters α, β, and d of the nail shape will be described with reference to FIG.

  The claw design device (not shown) calculates a range that can be gripped by the claw 101 and the claw 102 (step S1). In this embodiment, an example in which the claw part design apparatus calculates the parameters α, β, and d of the claw part shape of the claw part 101 and the claw part 102 will be described. For example, the calculation is performed according to these calculation procedures. You may make it perform the calculation apparatus and the designer of a nail | claw part.

  Next, the nail | claw part design apparatus narrows down the range which can hold | grip the nail | claw part 101 and the nail | claw part 102 using the constraint conditions containing the caging conditions and self-alignment conditions mentioned later (step S2).

  Next, the nail design device narrows down the range of the nail shape of the nail 101 and the nail 102 from the constraint conditions (step S3).

  Next, the nail design apparatus calculates the toe shapes of the nail 101 and the nail 102, that is, calculates the parameters α, β, and d of the nail shape (step S4).

[Conditions for friction gripping]
Next, the calculation method of the range that can be gripped by the claw portion 101 and the claw portion 102 performed in step S1 will be described in detail. The condition for the claw part 101 and the claw part 102 to grip the object W1 is that the claw parts 101, 102 and the object W1 are in contact with each other with at least three contact points and are restrained ( Friction grip conditions).

  First, the claw design device obtains the maximum size of the object W1 (part) that can be gripped by the claw 101 and the claw 102.

  FIG. 5 is a diagram illustrating components that can be gripped by the claw portion according to the present embodiment. In this figure, the shape of the object M gripped by the claw portion 101 and the claw portion 102 is circular (for example, a columnar shape) when viewed from the xy plane. Further, in the following description, the triangular shapes at the tips of the above-described claw part 101 and claw part 102 will be described in order to calculate the claw part shape parameters α, β, and d. In the following description, even if the gripping portions have different nail shape parameters α, β, and d, they are referred to as gripping portions 101 and 102 by using common reference numerals 101 and 102. In addition, the object W1 gripped by the claw portion 101 and the claw portion 102 is hereinafter referred to as a component M using a common reference M even if the sizes are different.

Further, as shown in FIGS. 5A to 5C, the contact point between the first inclined surface 111 of the claw portion 101 and the object M is a point p ₁ , the second inclined surface 121 of the claw portion 101 and the component M. Is a point p ₂ , a contact between the first inclined surface 112 of the claw 102 and the part M is a point p ₄ , and a contact between the second inclined surface 122 of the claw 102 and the part M is a point p ₃ . A center point o of the object M is on the reference line 202, passes through the center point o, and a line segment perpendicular to the reference line 202 is referred to as a center line 201.

  FIG. 5A is a diagram illustrating components that can be gripped by the claw portion 101 and the claw portion 102, and FIG. 5B is a component of the maximum size that can be gripped by the claw portion 101 and the claw portion 102. FIG. 5C is a diagram illustrating parts that the claw portion 101 and the claw portion 102 cannot grip.

As shown in FIG. 5 (a), the center line 201, a line segment connecting the contact point _{p 1} and _{p 4,} it is positioned between the line connecting the contact point _{p 2} and _{p 3.} In such a state, since the claw part 101 and the claw part 102 can be gripped so as to surround the part M by the four contact points, the part M is stably gripped by frictional gripping.

As shown in FIG. 5 (c), the center line 201 is positioned in the positive direction of the y-direction than the line segment connecting the contact point p ₁ and p _4. In such a state, since the claw part 101 and the claw part 102 cannot be gripped so as to surround the part M by the four contact points, the part M may not be gripped stably by frictional gripping. For example, when the friction coefficient between the object M and the claw part 101 and the claw part 102 is smaller than a predetermined value, the part M may come off in the positive direction in the y direction from the frictionally gripped state.

Therefore, the maximum size of the component M to the claw portion 101 and the claw portion 102 is gripped, as shown in FIG. 5 (b), if it matches the line connecting the center line 201 and the contact p ₁ and p ₄ It is. The maximum radius of the component M that can be gripped by the surfaces of the claw portion 101 and the claw portion 102 (the first inclined surfaces 111 and 112, the second inclined surfaces 121 and 122) is r _max1 (hereinafter referred to as the maximum size that can be gripped). Represented by

FIG. 6 is a diagram for explaining the relationship between the maximum grippable size and the parameters α, β, and d of the claw shape according to the present embodiment. As shown in FIG. 6, the component M surrounds the component M with _four contacts p _{1 to} p ₄ . That is, all the contacts p _{1 to} p ₄ and the component M are on the surfaces of the claw portion 101 and the claw portion 102 (first inclined surfaces 111 and 112, second inclined surfaces 121 and 122). In this way, the maximum _grippable size that can surround the part M with the four contact points is represented by r _max11 .

  FIG. 7 is a diagram illustrating the size of a component that can be gripped by the relationship between the apex of the claw portion and the component according to the present embodiment. FIG. 8 is a diagram illustrating the relationship between the apex of the claw portion and the component according to the present embodiment.

  FIG. 7A is a diagram illustrating a case where gripping is possible, and FIG. 7B is a diagram illustrating a case where gripping is impossible. In the following description, the case where the component M is a resin softer than the material of the claw portion 101 and the claw portion 102 will be described.

As shown in FIG. 7 (a), component M is in contact with the second inclined surface 122 and the contact _{p 3} in contact with the second inclined surface 121 and the contact _{p 2} of the claw portion 101, and the claw portion 102 . The component M is not in contact with the first inclined surface 111 of the claw portion 101 and is in contact with the vertex a ₃ (contact point p ₃ ) of the triangle a ₁ a ₂ a ₃ at the tip of the claw portion 101. At the contact point p ₁ , the side a ₂ a ₃ of the triangle a ₁ a ₂ a ₃ of the claw portion 101 is a tangent line of the component M. For this reason, the apex a ₃ of the claw portion 101 does not pierce the part M.

On the other hand, as shown in FIG. 7 (b), similarly to FIG. 7 (a), the component M is in contact with the second inclined surface 121 and the contact _{p 2} of the claw portion 101, and a second inclination of the pawl portion 102 We are in contact with the surface 122 and the contact _{p 3.} However, the vertex a ₁ of the claw portion 101 and the part M are in contact with each other at the contact point p ₁ . In this case, at the contact point p ₁ , the side a ₂ a ₃ of the triangle a ₁ a ₂ a ₃ of the claw portion 101 is not a tangent line of the component M. For this reason, the apex a ₃ of the claw portion 101 is stuck into the part M. That is, as a condition of the maximum size that can be gripped, the vertex a ₃ or the vertex a ₁ of the claw portion 101 needs not to pierce the part M.

Hereinafter, the apex a ₃ of the nail part 101 and the nail part 102 and the apex a _{1 of the} nail part 101 and the nail part 102 are referred to as nail tips.

8 (a) is a diagram vertex _{a 3} claw portion 101 and pawl portion 102 will be described conditions that do not Tsukisasara the component M. FIG. 8B is a diagram for explaining a condition in which the claw part 101 and the apex a ₁ of the claw part 102 do not pierce the part M. 8 (a) and FIG. 8 (b) is whether the nail shape parameter α is less than π / 2-β or more than π / 2-β. In this way, the maximum _grippable size that takes into account the condition that the tip is not _pierced is expressed by _rmax12 .

As a result, as shown in FIG. 6 and FIG. 8, the maximum _grippable size r _max1 is determined from geometrical relations by the nail shape parameters α, β, d and open / close parameters θ, γ, l (el ), The following equations (2) to (4) are obtained.

In formula (2), whether r _max1 is selected as r _max11 or r _max12 depends on the shape of the toe. Moreover, in Formula (4), if represents a case classification, when α is less than π / 2−β, r _max12 = d / cos (α) × tan ((π / 2−β + α) / 2) When α is π / 2−β or more, r _max12 = d / sin (β) × tan ((π / 2−β + α) / 2).

  Next, a state where the claw portion 101 and the claw portion 102 are closed will be described. FIG. 9 is a diagram illustrating the size of a component that can be gripped when the claw portion according to the present embodiment is closed.

As shown in FIG. 9B, when the claw portion 101 and the claw portion 102 are closed, the first inclined surfaces 111 and 112 and the second inclined surfaces 121 and 122 of the claw portion 101 and the claw portion 102 are respectively , The component M and the contacts p _{1 to} p ₄ , respectively. The component M in this state has a minimum size r _min1 that can be gripped by the claw portion 101 and the claw portion 102.

On the other hand, as shown in FIG. 9A, when the component M is small, when the claw portion 101 and the claw portion 102 are closed, the component M cannot contact with all the _four contacts p _{1 to} p ₄ . Such a state is assumed that the claw part 101 and the claw part 102 cannot grip the part M (cannot be gripped).

Further, as shown in FIG. 9 (c), the rear end of the part M is in contact with the contact _{p 2} and _{p 3} in the second inclined surfaces 121 and 122 of the claws 101 and the claw portion 102. The contacts p ₁ and p ₄ of the tip of the part M and the claw portion 101 and the claw portion 102 are the tips a ₃ of the claw portion 101 and the claw portion 102. A line segment a ₂ a ₃ is a tangent to the part M. Such a state is a state where the claw portion 101 and the claw portion 102 do not pierce the component M as described with reference to FIG.

FIG. 10 is a diagram for explaining the calculation of the minimum size of a component that can be gripped by the claw portion according to the present embodiment. In this state, as in FIG. 9B, when the claw portion 101 and the claw portion 102 are closed, the component M is a surface of the claw portion 101 and the claw portion 102 (first inclined surfaces 111 and 112, second inclined surface). 121 and 122) in a state in contact with four contacts _p 1 ~p _4. Since the part M is a circle, the minimum size r _min1 of the part M that can be gripped by the claw part 101 and the claw part 102 is the radius of the inscribed circle when the claw is closed. Therefore, the minimum size of the grippable parts can be obtained from the geometric relationship shown in FIG.

  Above, description of the calculation performed at step S1 is complete | finished.

  Next, the process performed in step S2 will be described in detail. In step S2, the caging condition and the self-alignment condition are used as constraint conditions to narrow down the range in which the claw part 101 and the claw part 102 can be gripped.

FIG. 11 is a diagram for explaining parameters of the caging area according to the present embodiment. As shown in FIG. 11A, the symbol r represents the radius of the part M. The space S in which the center point o of the part M can move freely is represented by c _{2 in} the x direction and c ₁ in the y direction. Further, as shown in FIG. 11B, the symbol H represents the vertex on the positive direction side in the y direction of the caging region S, and the symbol J represents the vertex on the negative direction side in the y direction. Further, the symbol I represents the vertex in the x direction on the negative direction side with respect to the line segment HJ of the caging region S, and the symbol K represents the vertex in the x direction on the positive direction side with respect to the line segment HJ. That is, the length c ₁ in the y direction is the distance between the vertices H and J, and the length c ₂ in the x direction is the distance between the vertices I and K.

  FIG. 12 is a diagram for explaining the shape of the caging region and each parameter according to the present embodiment.

First, the code is defined. As shown in FIGS. 12A and 12B, in the triangles a ₁ a ₂ a ₃ of the claw portion 101 and the claw portion 102, the symbol 1 (el) ₂ is the y between the vertices a ₃ and a ₁ Represents the distance in the direction. Further, the length c ₁ in the y direction described with reference to FIG. 11 is represented by reference numerals c ₁₁ and c ₁₂ according to the shape of the caging region. Moreover, the x-direction length _{c 2} described in FIG. 11, according to the shape of the caging region, represented by reference numeral _{c 21, c 22, c 23} , c 24. Further, reference numeral l _{(el) 1} represents the apex _{a 1} of the triangle _a 1 _a 2 _{a 3} by symbol B, represents the x-direction distance between the point B and the vertex J.

First, as shown in FIGS. 12A and 12B, the lengths c ₁₁ and c ₁₂ in the y direction are divided according to the shape of the area surrounded by the vertex IJK of the caging area S. The distance between the tip positions of the left and right claw portions 101 and the claw portions 102 is equal to or less than the diameter of the component M. That is, the upper end of the distance c ₁₁ is the midpoint of the toe tip position of the left and right claw portions 101 and the claw portion 102.

As shown in FIG. 12A, the line segment of the caging region S is a straight line between the vertices I and J and a straight line between the vertices J and K. The line segment of the caging region S is not a straight line between the vertices H and I and is not a straight line between the vertices H and K. Further, as shown in FIG. 12A, the distance between the point B and the vertex J is not r. The y-direction length of the caging region S in such a state and c _11.

As shown in FIG. 12B, the line segment of the caging region S is not only a straight line between the vertices I and J but also a straight line between the vertices J and K. That is, the line segment between the vertices I and J has a straight line and a curved line as shown in FIG. The line segment of the caging region S has a straight line and a curved line between the vertices H and I and between the vertices H and K, respectively. Further, as shown in FIG. 12B, the distance between the point B and the vertex J is r. The y-direction length of the caging region S in such a state and c _12.

As shown in FIGS. 12A and 12B, the distance c _{1 in} the y direction of the caging region S is classified according to the following equation (6).

From geometrical relationship shown in FIG. 12 (b) 12 and (a), _{c 11} and _{c 12} in the y direction of the length of the caging region S, like the following equation (7) to the following equation (8) become.

In the expressions (7) and (8), the distance l (el) ₁ and the distance l (el) ₂ are the following expressions (9) to (10).

  Moreover, in Formula (7) and Formula (8), angle (theta) is following Formula (11).

  In the formula (11), a, b, and c are the following formulas (12) to (14).

[Caging conditions]
Next, according to the shape of the caging region S, the distance c ₂ in the x direction of the caging region S is divided into c _{21 to} c _{24 as shown} in FIGS.

Figure 13 is a diagram distance x direction caging region according to the present embodiment will be described the case of c _21. Figure 14 is a diagram distance x direction caging region according to the present embodiment will be described the case of c _22. Figure 15 is a diagram distance x direction caging region according to the present embodiment will be described the case of c _23. Figure 16 is a diagram distance x direction caging region according to the present embodiment will be described the case of c _24.

First, symbols used in FIGS. 13 to 16 are defined. The symbol T represents the vertex a ₃ of the triangle a ₁ a ₂ a ₃ of the claw portion 101, and the symbol B represents the vertex a ₁ . A symbol C represents the vertex J of the caging region S. A symbol L1 represents a straight line passing through a line segment connecting the vertex J and the vertex I of the caging region S. A symbol A represents an end point of a straight line range between the vertex I and the vertex H. That is, in FIG. 13, the line segment IA is a straight line, and the line segment AH is a curve.

The straight line L2 is a straight line passing through the straight line range IA between the vertex I and the vertex H of the caging region S. Code l _{(el) 3} represents the vertex J of the caging region S, the x-direction distance between the vertex _{a 2} of the triangle _a 1 _a 2 _{a 3} a claw portion 101. Reference numeral 1 (el) ₄ represents a distance between the point A (boundary between the arc and the straight line (upper side)) and the straight line L1, and reference numeral 1 (el) ₅ represents a point C (boundary between the arc and the straight line (lower side). )) And the distance between the straight line L2. Reference symbol l (el) ₆ represents the distance between point A and point B (tip tip), and l (el) ₇ represents the distance between point C and point T (tip tip).

As shown in FIGS. 13 to 16, the distance _{c 2} vertices IK caging region S is case analysis as follows (15).

In Expression (15), for example, l ₄ greater than 0 (zero) means that there is a straight line region between the vertex I and the vertex H of the caging region S. Further, l ₄ less than 0 (zero) means that there is no straight line region between the vertex I and the vertex H of the caging region S, that is, there is a curved region. When l ₄ is equal to or greater than 0 (zero), it means that there is a straight line region between the vertex I and the vertex H of the caging region S and a curved region is included.

As shown in FIG. 13, the caging region S having a distance c ₂₁ is the section of the vertex H and vertex I is formed by straight lines and curves, sections of the apex I and the apex J is formed only in a straight line. As shown in FIG. 14, the caging region S having a distance c ₂₂ is the section of the vertex H and vertex I is formed only by a curved line, the section of the apex I and the apex J is formed only in a straight line. As shown in FIG. 15, the caging region S having a distance c ₂₃ is the section of the vertex H and vertex I is formed by straight lines and curves, sections of the apex I and the apex J is formed only by a curved line. As shown in FIG. 16, in the caging region S having the distance c ₂₄ , the section between the vertex H and the vertex I is formed by only a curve, and the section between the vertex I and the vertex J is formed by only a curve.

From the geometric relationships shown in FIGS. 13 to 16, _c 21 _{to c 24} in the x-direction of the length of the caging region S, the following equation (16) to equation (19).

In the equations (16) to (19), l (el) _{3 to} l (el) ₇ and the angle θ are the following equations (20) to (25).

  In the formula (25), a, b, and c are the following formulas (26) to (28).

The larger the caging area S, the more robust the component M can be with respect to the position error. Further, the value of the distance c ₁ and c ₂ of the larger component M caging region S becomes small. Therefore set the minimum value _{c lim} allowable position error, the distance _{c 1} or _{c 2} is the minimum value _c magnitude of _lim below component M caging possible maximum size _{r max2.} The claw design device obtains r _max2 by numerical calculation from Equation (6) and Equation (15).

FIG. 17 is a diagram for explaining the relationship between the maximum caging possible size r _max2 and the distances c ₁ , c ₂ , c _{lim according to} the present embodiment. In FIG. 17, the vertical axis represents the lengths of distances c ₁ , c ₂ , and c _lim , and the horizontal axis represents the radius of the component M. As shown in FIG. 17, as the maximum size r _max2 that can be caging, a value having a small r at the intersection of the curve of the distance c ₁ or c ₂ and the minimum value c _lim is selected. For example, the _{c 12} is selected in the divided case of formula (6), _{if c 21} is selected in the selection of the formula (15), maximum size _{r max2} capable caging the curve of the distance _{c 12} or _{c 21} And a value with a small r at the intersection of the minimum value c _lim is selected.

Further, the minimum value c _lim is an allowable position error. The allowable position error is a range (caging region S) in which the part M can freely move in a state where caging is established. For example, if the minimum value c _lim = 2.0 [mm], the distance c ₁ or c ₂ is 2.0 [mm].

This value is, for example, recognizes an object at the camera, in the case of gripping the object by the gripping unit 10A, the positioning error of the camera of the recognition errors and grip portion 10A is, c _1, c ₂ to 2.0 [mm as long as it is within the range of the area S to be formed at], which means that it is caging the part M of r _max2.

[Self-alignment conditions]
Next, a method for calculating the maximum size of the part M that can be self-aligned by the claw design apparatus will be described.

FIG. 18 is a diagram for explaining self-alignment conditions according to the present embodiment. As shown in FIG. 18 (a), component M is in contact with the contact _{p 2} and _{p 3} of the second inclined surface 121 of the pawl 101 and the pawl portion 102 and 122. In this state, when the claw portion 101 and the claw portion 102 move in a direction approaching each other, that is, close, the component M is moved in the positive direction of the y direction. Thereby, self-alignment is performed (also referred to as upward self-alignment). In FIG. 18A, symbol φ represents an angle formed by the line segment a ₁ a ₂ of the claw portion 101 and the line segment 401 that starts from the vertex a ₁ and is parallel to the y direction.

Further, as shown in FIG. 18 (b), component M is in contact with the contact _{p 1} and _{p 4} of the first inclined surface 111 of the pawl 101 and the pawl portion 102 and 112. In this state, when the claw portion 101 and the claw portion 102 move in a direction approaching each other, that is, close, the component M is moved in the negative direction of the y direction. Thereby, self-alignment is performed (also referred to as downward self-alignment). Further, in FIG. 18B, symbol φ represents an angle formed by the line segment a ₃ a ₂ of the claw portion 101 and the line segment 411 parallel to the y direction starting from the vertex a ₃ .
This angle φ is the contact angle between the claw portion 101 and the part M.

FIG. 19 is a diagram illustrating the force applied to the component from the claw portion according to the present embodiment. FIG. 19A is a diagram for explaining the force applied to the component from the claw portion during the self-alignment in the upward direction as in FIG. 18A. FIG. 19B is a diagram for explaining the force applied to the component from the claw portion during the self-alignment in the upward direction as in FIG. 18B. Further, in FIG. 19 (b), the reference numeral xb is the distance from the vertex _{a 3} claw portion 101 to the line segment 421 passing through the center point o of the component M. FIG. 20 is a diagram illustrating the relationship between r and the vertex a _{2 according to} the present embodiment.

As shown in FIG. 19A and FIG. 19B, the force F applied to the part M from the claw portion 101 and the claw portion 102 is applied to the claw portion direction (line segment a ₂ a ₁ direction or line segment a ₃ a ₂ (Direction) force f _s and x-direction force f _x are expressed by the following equation (29).

Furthermore, frictional force f _f acting on the component M is, when the friction coefficient is mu, is expressed by the following equation (30).

  From the equations (29) and (30), the condition for moving the component M by closing the claw portion 101 and the claw portion 102 is expressed by the following equation (31).

  In the formula (31), the following formula (32) is set.

  Next, self-alignment conditions for upward self-alignment will be described. As shown in FIG. 19B, the contact angle φ is represented by the following equation (33).

As the claw portion 101 and the claw portion 102 are closed as in the expression (33), the contact angle φ becomes smaller. Therefore, in the range where β is less than (tan ⁻¹ μ), the component M stops in the middle of self-alignment. May end up. For this reason, the minimum size r _min2 of the part M that can be self-aligned in the upward direction is expressed by the following equation (34) from the geometrical relationship shown in FIG.

  Substituting equation (33) into equation (34) results in the following equation (35).

  Next, self-alignment conditions in the case of downward self-alignment will be described. As shown in FIG. 19B, the contact angle φ is expressed by the following equation (36).

As the nail part 101 and the nail part 102 are closed as shown in the equation (36), the contact angle φ becomes larger. Therefore, in the range where (π / 2−α) is (tan ⁻¹ μ) or more, the nail part 101 is the most. When the claw portion 102 is opened, self-alignment is possible. For this reason, the maximum size r _max3 of the component M that can be self-aligned in the downward direction is expressed by the following equation (37) from the geometrical relationship shown in FIG.

  Substituting equation (36) into equation (37) yields the following equation (38).

As described above, in step S2, the claw design device calculates the maximum size r _max2 of the part M that can be _cage from the equations (6) and (15) based on the caging conditions. Further, the claw design apparatus calculates the minimum size r _min2 of the component M that can be self-aligned in the upward direction based on the self-alignment condition from the equation (35), and the component M that can be self-aligned in the downward direction. _Is calculated from the equation (38).

  Above, description of the calculation performed at step S2 is complete | finished.

[Conditions for assembling target parts]
Next, the process performed in step S3 will be described in detail. In step S3, the conditions used when considering the case of attaching the component M will be described.

  FIG. 21 is a diagram for explaining conditions used when the component M according to the present embodiment is attached. As shown in FIG. 21 (a), the claw portion 101 and the claw portion 102 attach the gripped component M1 so that the gears of the attachment destination component M2 are assembled. That is, the parts M1 and M2 are gears having gears, for example. FIG. 21B is a diagram for explaining conditions under which the claw tip can be assembled without interference with the component M2 to be attached. Moreover, FIG. 22 is a figure explaining the example which is interfering with the components M2 which the nail | claw part tip which concerns on this embodiment attaches.

In FIG. 21B, the symbol o ₁ is the center point of the component M1, and the symbol o ₂ is the center point of the component M2 to be attached. Reference numeral l (el) ₈ represents a distance in the x direction between the vertex a1 of the triangle a ₁ a ₂ a ₃ of the claw portion 101 and the center point o ₁ of the part M1, and reference numeral l (el) ₉ represents the nail. represents the distance between the vertex a1 and the vertex _{a 3} parts 101, reference numeral l _{(el) 10} represents the y component of the distance between the apex _{a 1} of the center point _{o 2} and the claw portion 101 of the attached part M2.

  As shown in FIG. 22, when the claw portion 101 and the claw portion 102 are attached to the gear component M2 when the gear part M1 is attached to the gear part M2, if the claw part tip shape wraps the part M1 too much, the other gear and the claw tip Will interfere. That is, the nail | claw part 101 and the nail | claw part 102 need to satisfy | fill following Formula (39) as conditions which can be assembled | attached without interference.

In the equation (39), the distances l (el) ₈ , l (el) ₉ and l (el) ₁₀ are the following equations (40) to (42).

In equation (42), as shown in FIG. 21 (b), r ₁ represents the radius of the gear to be grasped, r ₂ represents the radius of the gear to be assembled, and d ₁ represents the gear. Represents the inter-axis distance.

  As described above, in step S3, the claw design device calculates the conditions of the claw part 101 and the claw part 102 according to the equation (39) based on the conditions under which components can be assembled.

  Note that step S3 needs to be considered when attaching the gears as shown in FIG. 21A, but may not be considered when attaching the gripped component M to the shaft, for example. In this case, the calculation process in step S3 may not be performed.

  In the present embodiment, an example in which a condition that does not interfere with the attachment destination component M2 has been described. However, the claw portion 101 and the claw portion 102 interfere with the attachment component M2 depending on the size of the component M to be gripped. You may make it delete a part. Even in this case, the interference portion is deleted so as to satisfy the above-described friction gripping conditions, self-alignment conditions, and caging conditions.

  Above, description of the calculation performed at step S3 is complete | finished.

  Next, the process performed in step S4 will be described in detail. In step S4, the toe shapes of the nail portion 101 and the nail portion 102 are calculated using the results calculated in steps S1 to S3.

The claw design apparatus uses the allowable position error c _lim and the friction coefficient μ to calculate the minimum size r _min of the component M that can be gripped in the toe shape by the following equation (43) and the following equation (44): The maximum size r _max that can be gripped is calculated.

In other words, the claw design device can perform self-alignment from the tip to the base end with the minimum size r _min1 of the component M that can be frictionally gripped as the minimum size r _min of the component M by the equation (43). A large value is selected from the minimum sizes r _min2 of the parts M. Further, the claw portion design device, by the equation (44), the maximum size r _max of the part M, the maximum size r _max1 friction grippable part M, the area around which the movable part M is The smallest value is selected from among the maximum size r _max2 of the maximum component M and the maximum size r _max3 of the component M that can be self-aligned from the distal end to the proximal end. The minimum size r _min of the component M and the maximum size r _{max of} the component M selected in this way are the range of the size of the component M that can be gripped by the claw portion 101 and the claw portion 102.

Incidentally, the tip portion of the claw portions 101 and 102, rather than necessarily shows only end in a strict sense, for example, as shown in FIG. 3 (a), a straight line passing through the point a ₁ and the point a ₃ It also includes the side of the tip including, and similar parts. Similarly, the base portions of the claw portions 101 and 102 do not necessarily show only the end portions in a strict sense. For example, as shown in FIG. 3A, a straight line passing through the points a ₁ and a ₃ It also includes the side of the rear end that contains and similar parts.

  In addition, although the formulas in the specification are shown on the assumption that the object is a circle, even a gear can be sufficiently established by treating it as a circumscribed circle approximately.

[Robot hand]
Next, the configuration of the robot hand RH having the first finger part 41 and the second finger part 42 designed as described above will be described. FIG. 23 is a perspective view showing the configuration of the robot hand RH. FIG. 24 is a diagram illustrating a configuration when the robot hand RH is viewed in the + Z direction. FIG. 25 is a diagram illustrating a configuration when the robot hand RH is viewed in the + X direction. FIG. 26 is a diagram illustrating a configuration when the robot hand RH is viewed in the −Y direction.

  As shown in FIGS. 23 to 26 (a), the robot hand RH includes a gripping part 10A having a first finger part 41 and a second finger part 42, a movable part 12 capable of reciprocating in the Z direction, and the movable part. A first connecting part 13 for connecting the part 12 and the first finger part 41, a second connecting part 14 for connecting the movable part 12 and the second finger part 42, a first connecting part 13 and a second connecting part 14 And a driving unit 15 that drives the movable unit 12 so that the first finger unit 41 and the second finger unit 42 open and close in the Y direction. Each of these parts is disposed on a support base 16 formed in a circular shape when viewed in the Y direction. The center of the support base 16 is provided on the central axis L5A.

  The support base 16 is provided with a wall portion 17 and a wall portion 19 that are arranged with an interval in the Z direction. The wall part 17 and the wall part 19 are arrange | positioned in parallel with XY plane. The support base 16 can rotate around the Y axis about the central axis L5A. When the support base 16 rotates around the Y axis, the respective parts supported by the support base 16 rotate around the Y axis. The first finger portion 41 and the second finger portion 42 are provided so as to be positioned at the center portion of the support base 16 in the Z direction, and are arranged at positions sandwiching the central axis L5A when viewed in the Y direction. (See FIG. 26).

  The gripping part 10 </ b> A includes a support part 41 a that supports the first finger part 41 and a support part 42 a that supports the second finger part 42. The first finger portion 41 extends linearly from the support portion 41a in the + Y direction. The second finger portion 42 extends linearly from the support portion 42a in the + Y direction. The support part 41a and the support part 42a are formed in a U shape when viewed in the X direction.

  The support portion 41a is provided with a slider 41b. The support portion 42a is provided with a slider 42b. The slider 41 b and the slider 42 b are attached to the guide rail 18. The guide rail 18 extends in the X direction and is fixed to the wall portion 17. The slider 41b and the slider 42b attached to the guide rail 18 are movable along the guide rail 18 in the X direction. When the slider 41b moves in the X direction, the support portion 41a and the first finger portion 41 move in the X direction integrally with the slider 41b. Similarly, when the slider 42b moves in the X direction, the support portion 42a and the second finger portion 42 move in the X direction integrally with the slider 42b. Thus, in this embodiment, the 1st finger part 41 and the 2nd finger part 42 do not rotate, but translate in the X direction. Therefore, this corresponds to the case where the value of γ in FIG. 3 is 90 °. The inventor has found that when γ is 90 °, the size of the object that can be gripped is maximized.

  The movable portion 12 is disposed at substantially the center of the support base 16 in the X direction. The movable part 12 has a first connection part 12 a connected to the first connection part 13 and the second connection part 14, and a second connection part 12 b connected to the drive part 15. The second connection portion 12b has a through portion formed in a cylindrical shape in the Z direction, and a screw thread (not shown) formed in a spiral shape in the Z direction is arranged in the through portion. Yes.

  The 1st connection part 13 is formed in the rod shape using materials with high rigidity, such as a metal. As for the 1st connection part 13, the + Z side edge part is connected with the support part 41a of the 1st finger part 41 via the connection member 13a, and the -Z side edge part is the 1st of the movable part 12 via the connection member 13b. It is connected to one connecting portion 12a. The 1st connection part 13 and the support part 41a are connected so that it can rotate relatively around the Y-axis. Similarly, the 1st connection part 13 and the 1st connection part 12a are connected so that it can rotate relatively around the Y-axis. In addition, the 1st connection part 13 is arrange | positioned so that the + Z side edge part may incline in the + X direction rather than the center part of a X direction in the state which the support part 41a and the support part 42a contact in the center of a X direction. .

  The 2nd connection part 14 is formed in the rod shape using materials with high rigidity, such as a metal. As for the 2nd connection part 14, the + Z side edge part is connected with the support part 42a of the 2nd finger part 42 via the connection member 14a, and the -Z side edge part is the 1st of the movable part 12 via the connection member 14b. It is connected to one connecting portion 12a. The 2nd connection part 14 and the support part 42a are connected so that it can rotate relatively around the Y-axis. Similarly, the 2nd connection part 14 and the 1st connection part 12a are connected so that it can rotate relatively around the Y-axis. The second connecting portion 14 is arranged such that the + Z side end portion is inclined in the −X direction with respect to the X direction center portion in a state where the support portion 41a and the support portion 42a are in contact with each other in the X direction center. Yes.

  The drive unit 15 includes a screw part BT provided so as to be rotatable around the Z axis, and a motor part MTR that rotates the screw part BT. The screw part BT has a shaft part 22 which is formed in a columnar shape and is arranged in parallel with the Z direction. The + Z side end portion of the screw portion BT is rotatably supported by the frame portion 17. The −Z side end portion of the screw portion BT is rotatably supported by the frame portion 19. The screw part BT is restricted from moving in the Z direction by the frame part 17 and the frame part 19.

  A thread 22a (see FIG. 26A) is formed on the shaft portion 22. The shaft portion 22 is disposed so as to penetrate a through hole provided in the second connection portion 12 b of the movable portion 12. The movable portion 12 and the shaft portion 22 are screwed together by engaging a screw thread (not shown) formed in the through hole of the movable portion 12 with a screw thread 22a of the shaft portion 22.

  The motor unit MTR is fixed to the support base 16. The motor part MTR is arranged on the −X side of the screw part BT. The motor unit MTR includes a drive source 20 and a rotation transmission shaft 21 connected to the drive source 20 and capable of rotating around the Z axis. The rotation transmission shaft 21 is disposed in parallel with the Z direction.

  In the above configuration, the rotation transmission shaft 21 and the shaft portion 22 of the screw portion BT are arranged side by side in the X direction. A drive belt 23 is stretched between the drive transmission shaft 21 and the shaft portion 22. The rotation of the drive transmission shaft 21 is transmitted to the shaft portion 22 via the drive belt 23. Thus, since the drive transmission shaft 21 and the shaft portion 22 are parallel to the Z direction and are arranged side by side in the Z direction, if only the drive belt 23 is provided as a driving force transmission means between them, It will be good. For this reason, the drive unit 15 can be made compact. For example, as shown in FIG. 26B, the rotation transmission shaft 21 of the motor unit MTR has a shaft portion 22 and a screw thread 22a, that is, a part of the rotation transmission shaft 21 is a screw portion BT. It may be a configuration. In this case, since the screw part BT and the motor part MTR can be arranged linearly, the drive part 15 and thus the robot hand RH can be made compact.

  The operation of the grip portion 10A configured as described above will be described. When the motor unit MTR rotates the rotation transmission shaft 21, the drive belt 23 rotates around the Z axis. As the drive belt 23 rotates, the shaft portion 22 rotates around the Z axis.

  When the shaft portion 22 rotates around the Z axis, the screw portion BT rotates around the Y axis. This rotation causes a relative rotational movement between the screw part BT and the second connecting part 12b of the movable part 12, and the second connecting part 12b moves in the Z direction. By this movement, the entire movable part 12 including the second connection part 12b moves in the Z direction.

  In this operation, by switching the rotation direction of the motor unit MTR, the movable unit 12 can be switched and moved in the + Z direction and the −Z direction. For example, when the movable part 12 is moved in the + Z direction, the first connecting member 13 and the second connecting member 14 connected to the movable part 12 are pushed by the movable part 12 and moved to the + Z side.

  In this embodiment, it arrange | positions so that the + Z side edge part of the 1st connection part 13 may incline in a + X direction rather than the center part of a X direction, and the + Z side edge part of the 2nd connection part 14 is a center part of a X direction. Since the movable portion 12 is moved to the + Z side, the + Z side end portion of the first connecting portion 13 is moved in the + X direction, and the second connecting portion 14 is + Z. The side end moves in the -X direction.

  By the movement of the first connecting portion 13 and the second connecting portion 14, the first finger portion 41 connected to the first connecting portion 13 moves in the + X direction and the second finger connected to the second connecting portion 14. The part 42 moves in the −X direction. Therefore, the first finger part 41 and the second finger part 42 move in parallel so as to move away from each other in the X direction. By this movement, the first finger part 41 and the second finger part 42 are opened.

  On the other hand, when the movable part 12 is moved in the −Z direction, the first connecting member 13 and the second connecting member 14 connected to the movable part 12 are pulled by the movable part 12 and moved to the −Z side.

  As the movable part 12 moves to the −Z side, the + Z side end of the first connecting part 13 moves in the −X direction, and the + Z side end of the second connecting part 14 moves in the + X direction. By the movement of the first connecting portion 13 and the second connecting portion 14, the first finger portion 41 connected to the first connecting portion 13 moves in the −X direction and the second finger connected to the second connecting portion 14. The finger part 42 moves in the + X direction. Therefore, the first finger part 41 and the second finger part 42 move in parallel so as to approach each other in the X direction. By this movement, the first finger part 41 and the second finger part 42 are closed. In addition, in the state which the 1st finger part 41 and the 2nd finger part 42 closed, it will be in the state which mutual opposing surfaces contacted. The object can be gripped by opening and closing the first finger part 41 and the second finger part 42 in this way.

  FIG. 27 is a perspective view showing a state in which the object W is gripped by the first finger part 41 and the second finger part 42. From this state, when the support base 16 is rotated around the Y axis around the center axis L5A, the object W is moved in the Z direction while the X coordinate and Y coordinate of the object W are fixed as shown in FIG. Can be reversed. For this reason, for example, even if the posture of the target object W placed on the belt conveyor 33 is different from the posture when the target object W is assembled, the target object W can be simply rotated by rotating the support base 16. Can change the posture.

29 to 31 show a case where the object W placed on the table parallel to the XY plane is gripped by the first finger part 41 and the second finger part 42 inclined with respect to the XY plane. It is a figure which shows the example of.
First, as shown in FIG. 29, the first finger part 41 and the second finger part 42 are arranged on both sides of the object W so as to sandwich the object W in the X direction. Next, as shown in FIG. 30, the first finger part 41 and the second finger part 42 are brought close to the X direction, and the object W is sandwiched between the first finger part 41 and the second finger part 42.

  Next, as shown in FIG. 31, the first finger part 41 and the second finger part 42 are moved in the + Z direction while being translated in the direction in which the first finger part 41 and the second finger part 42 are brought closer to each other. Lift the object W. At this time, the object W includes the first inclined surface 111 and the second inclined surface 121 formed on the nail portion 101 of the first finger portion 41 and the first inclined surface formed on the nail portion 102 of the second finger portion 42. It is sandwiched between the surface 112 and the second inclined surface 122, and is self-aligned so as to have a posture parallel to the first inclined surfaces 111 and 112 and the second inclined surfaces 121 and 122. Thus, the first finger 41 and the second finger 42 realize self-alignment not only for the position of the object W but also for the posture.

  Further, as shown in FIGS. 32 and 33, the first finger part 41 and the second finger part 42 face the belt conveyor 33 in a state where the tip parts (the claw part 101 and the claw part 102) are directed to the −Z side. The same applies to the case where the object W placed on the object is gripped. In this case, the object W is a bolt provided with a head, and is inclined with respect to the XY plane in the mounted state by an amount corresponding to the diameter of the head larger than the diameter of the shaft portion. Further, the shaft portion of the bolt is inclined with respect to the Y direction.

  In such a state, for example, as shown in FIG. 32, the first finger part 41 and the second finger part 42 are arranged on both sides of the object W so as to sandwich the object W in the X direction. Next, as shown in FIG. 33, the first finger part 41 and the second finger part 42 are brought close to the X direction, and the object W is sandwiched between the first finger part 41 and the second finger part 42.

  As a result, the object W includes the first inclined surface 111 and the second inclined surface 121 formed on the nail portion 101 of the first finger portion 41 and the first inclined surface formed on the nail portion 102 of the second finger portion 42. It is sandwiched between the surface 112 and the second inclined surface 122, and is self-aligned so as to have a posture parallel to the first inclined surfaces 111 and 112 and the second inclined surfaces 121 and 122. Therefore, it arrange | positions so that the axial part of a volt | bolt may be parallel to XY plane and may be parallel to a Y direction.

  Next, an example in which the object is self-aligned in the gravity direction (Z direction) will be described. FIG. 34 is a flowchart showing the self-alignment process. Hereinafter, a bolt having a head part and a shaft part will be described as an example.

  First, an object is grasped using the first finger part 41 and the second finger part 42 (ST01). In this case, for example, as shown in FIGS. 29 to 31, the head portion Wa may be placed on the bottom surface, or placed sideways on the belt conveyor 33 as shown in FIG. 32. It may be the case. In any case, by grasping the object W, the first inclined surface 111 and the second inclined surface 121 formed on the nail portion 101 of the first finger portion 41 and the nail portion 102 of the second finger portion 42. The first inclined surface 112 and the second inclined surface 122 formed between the first inclined surface 111 and the second inclined surface 121 and the second inclined surface 121 and 122 are self-aligned.

  Next, by rotating the support base 16 around the Y axis, as shown in FIG. 35, the object is so arranged that the shaft part Wb is parallel to the Z direction and the head part Wa is arranged on the + Z side. The posture of W is adjusted (ST02). By this operation, the object W is in a state where the shaft part Wb is gripped by the first finger part 41 and the second finger part 42. In this state, the frictional force between the first finger part 41 and the second finger part 42 and the gravity act on the shaft part Wb of the object W. In the gravitational direction, the frictional force exceeds the gravitational force, so that the movement of the object W is restricted in the gravitational direction.

  Next, the gripping force of the shaft part Wb by the first finger part 41 and the second finger part 42 is relaxed by moving the first finger part 41 and the second finger part 42 by a minute amount in the X direction (ST03). By this operation, since the gravity acting on the object W is larger than the frictional force between the first finger part 41 and the second finger part 42 and the object W, the object W is in the direction of gravity. Move (drop).

  At this time, when the sum of the movement amounts of the first finger part 41 and the second finger part 42 is smaller than the difference between the diameter of the head part Wa and the diameter of the shaft part Wb, as shown in FIG. The head part Wa is caught on the first finger part 41 and the second finger part 42. For this reason, the movement to the Z direction of the target object W which fell in the gravity direction is controlled.

  When performing the said operation | movement, the head part Wa of the target object W will be hooked on the 1st finger part 41 and the 2nd finger part 42 irrespective of the shape and dimension of the head part Wa and the shaft part Wb. For this reason, the object W is positioned in the Z direction in the head portion Wa (self-alignment).

  After positioning the object W in the X direction, Y direction, and Z direction (self-alignment) as described above, the first finger part 41 and the second finger part 42 are brought close to each other and the shaft part Wb is gripped again (ST04). Thereafter, the support base 16 is rotated around the Y axis and adjusted so that the object W has a desired posture (ST05). After adjusting the posture of the object W, the object W is moved while being gripped by the first finger part 41 and the second finger part 42, and the first finger part 41 and the second finger part 42 are moved at a predetermined position. The object W is arranged at a predetermined position by opening (ST06).

  As described above, in the configuration in which the grip portion 10A rotates the support base 16 freely in the Y direction to rotate and move the first finger portion 41 and the second finger portion 42, a part of the object W is moved to the first finger portion 41. In addition, since it is configured to be able to be hooked on the second finger portion 42, self-alignment in the Z direction using gravity is possible. Thereby, the self-alignment of the object W in all directions of the X direction, the Y direction, and the Z direction becomes possible.

  For example, as shown in FIG. 37, each of the first finger part 41 and the second finger part 42 is provided with a protruding part 101a and a protruding part 102a protruding in the opposing direction, and the protruding part 101a and the protruding part are provided. The structure which hooks the target object W on the part 102a may be sufficient. Thereby, as shown in FIG. 38, for example, positioning in the Z direction can be performed on the end face side of the enlarged diameter portion Wa of the object W (gear). Of course, the enlarged diameter portion Wa of the object W is arranged on the + Z side, the reduced diameter portion Wb is gripped, and the gripping force of the first finger portion 41 and the second finger portion 42 is loosened to thereby make the enlarged diameter portion Wa the first. The finger 41 and the second finger 42 may be hooked on the + Z side.

  The inventor studied the range of the size of the object that can be gripped when the first finger portion 41 and the second finger portion 42 have the first inclined portion 111 and the configuration as described above. As a result, when the first finger 41 and the second finger 42 are opened and closed, the first finger 41 and the second finger 42 are opened and closed in parallel rather than being rotated around a predetermined rotation axis. It was found that the configuration that performs the operation can grip objects in a wide range of sizes.

  Therefore, according to the present embodiment, the gripping portion 10A having the first finger portion 41 and the second finger portion 42 arranged side by side in the Y direction, and the movable portion 12 capable of reciprocating in the Z direction orthogonal to the Y direction. The first connecting portion 13 that connects the movable portion 12 and the first finger portion 41, the second connecting portion 14 that connects the movable portion 12 and the second finger portion 42, the first connecting portion 13 and the second connecting portion 13. Since the first finger part 41 and the second finger part 42 are provided with the drive part 15 that drives the movable part 12 so that the first finger part 41 and the second finger part 42 open and close in the Y direction via the connecting part 14, the first finger part 41 and the second finger part The first finger 41 and the second finger 42 can be opened and closed by reciprocally moving the first finger 41 and the second finger 42 in the Y direction instead of rotating the first finger 41 and the second finger 42. . Thereby, it becomes possible to grip an object having a wide range of sizes.

[Second Embodiment]
Hereinafter, embodiments for carrying out the present invention will be described in detail with reference to the drawings.
In the robot system according to the second embodiment of the present invention, the assembly part to which the first part is attached is attached in combination with the second part conveyed by the robot main body without applying a physical load to the first part. It is an assembly system. In the present embodiment, an example in which the first component and the second component are spur gears (hereinafter referred to as gears) will be described.

FIG. 39 is a schematic external view showing a state in which the robot system to which the robot apparatus according to the second embodiment is applied performs work.
In the figure, the robot system 801 includes a robot body 810, a gripping unit 811, a robot control device 820, a photographing device 830, a cable 840, and a cable 841.
The robot body 810, the robot control device 820, and the cable 841 are included in the robot device.

  Specifically, the robot body 810 includes a support base 810a fixed to the ground, an arm part 810b connected to the support base 810a so as to be capable of turning and bending, and an arm part 810b capable of swinging and swinging. And a hand portion 10c connected to the head. The robot body 810 is, for example, a seven-axis vertical articulated robot, and has a degree of freedom of seven axes by the operation in which the support base 810a, the arm unit 810b, and the hand unit 10c are linked. That is, the seven degrees of freedom are a six-axis degree of freedom by the support base 810a and the arm part 810b and a one-axis degree of freedom by the hand part 10c.

  The robot body 810 includes a gripping portion 811 that is movable. The grip part 811 includes the claw part of the present invention. In FIG. 39, the gripping portion 811 is schematically shown in order to show its function.

  The robot body 810 takes in a robot control command supplied from the robot control device 820, changes the position and orientation of the gripper 811 as desired in the three-dimensional space by drive control based on the robot control command, and also holds the gripper 811. Open and close the nails.

  Note that the robot body 810 is not limited to one having seven degrees of freedom, and may be one having six degrees of freedom, for example. Moreover, you may install the support stand 810a in the place fixed with respect to the grounds, such as a wall and a ceiling.

As shown in FIG. 39, an assembly component 805 is installed within the movable range of the gripping portion 811 by the operation of the robot body 810. In addition, in the same figure, illustration of the support stand (desk) of the assembly component 805 is abbreviate | omitted. The assembly component 805 includes a plate-like base 850, a shaft 851 standing upright (including vertical) with respect to the base 850, and a shaft 852. The assembly component 805 is configured by attaching a gear 853 (first component) to the shaft 851 and attaching a gear 854 (second component) to the shaft 852. However, the assembly component 805 is completed by attaching the gear 854 to the shaft 852 after the gear 853 is attached to the shaft 851.
It should be noted that the scales of parts, structures, etc. in the figure are different from actual ones in order to make the figure clear.

  The imaging device 830 captures the assembly component 805 to acquire a captured image that is a still image or a moving image, and supplies the captured image to the robot control device 820 via the cable 840.

  The photographing device 830 is realized by, for example, a digital camera device or a digital video camera device. The photographing direction is substantially vertical (including vertical) above the assembly component 805 and the photographing direction is substantially vertical (including vertical) below. Fixed installation in position. However, in FIG. 39, the distance between the shaft 851 and the shaft 852 is sufficiently long with respect to the distance between the shaft 851 and the shaft 852.

  The cable 840 supplies control data for the imaging device 830 output from the robot control device 820 to the imaging device 830, and supplies response data and a captured image output from the imaging device 830 to the robot control device 820. The control data includes, for example, control commands such as a shooting start command and a shooting stop command that the robot control device 820 notifies the shooting device 830. The response data includes, for example, a response to the control data that the imaging device 830 notifies the robot control device 820.

  The cable 841 supplies a robot control command output from the robot control device 820 to the robot main body 810, and supplies a robot control response output from the robot main body 810 to the robot control device 820. The robot control command is a control command for driving and controlling each movable part of the robot body 810. The robot control response includes, for example, a response to the robot control command that the robot body 810 notifies the robot control device 820 of. The cable 841 is, for example, a cable such as a serial communication line or a computer network.

  The robot controller 820 captures a tracking image of the assembly component 805 supplied from the imaging device 830, controls the operation of each movable part of the robot body 810 based on the tracking image, and passes the gear 854 through the shaft 852. Attach to assembly part 805.

[Third embodiment]
In the robot system according to the third embodiment of the present invention, the robot body includes two arms. In this embodiment, a hand is attached to each arm. In this robot system, a captured image of an assembly part is acquired by an imaging device attached to the hand of one arm of the robot body, and the part is conveyed by a gripping part attached to the hand of the other arm.

FIG. 40 is a schematic external view of a robot system according to the third embodiment.
In the figure, the robot system 802 includes a robot body 860, a photographing device 861, a gripping unit 862, a robot control device 820, and a cable 863.

The robot body 860, the robot control device 820, and the cable 863 are included in the robot device.
Since the robot control device 820 has the same configuration as that of the second embodiment, detailed description of the robot control device 820 is omitted.

  Specifically, the robot main body 860 includes a main body 860a that is movably installed on the ground, a neck 860b that is connected to the main body 860a so as to be rotatable, a head 860c that is fixed to the neck 860b, A first arm portion 860d connected to the head portion 860c so as to be able to bend and extend, a second arm portion 860e connected to the head portion 860c so as to be able to turn and bend and extend, 860f is attached to the main body 860a so as to be movable.

  A gripping part 862 is attached to the hand that is the open end of the first arm part 860d. A photographing device 861 is attached to the hand that is the open end of the second arm portion 860e.

  The transfer unit 860f supports the robot main body 860 so that the robot main body 860 can move in a certain direction or freely in a direction with respect to the installation surface of the robot main body 860. The transport unit 860f is realized by four sets of wheels, four sets of casters, a pair of endless tracks, and the like.

  The robot body 860 is, for example, a vertical articulated robot (double-arm robot) having two arms. The robot body 860 takes in the robot control command supplied from the robot control device 820, and changes the positions and postures of the imaging device 861 and the gripper 862 in the three-dimensional space as desired by drive control based on the robot control command. Further, the claw portion of the grip portion 862 is opened and closed.

  The imaging device 861 captures a subject to acquire a captured image that is a still image or a moving image, and supplies the captured image to the robot control device 820. The photographing device 861 is realized by, for example, a digital camera device or a digital video camera device.

  The grip portion 862 includes the claw portion of the present invention. In FIG. 40, the gripping portion 862 is schematically shown to show its function.

  The cable 863 supplies a robot control command output from the robot control device 820 to the robot main body 860, and supplies a robot control response output from the robot main body 860 to the robot control device 820. The robot control command is a control command for driving and controlling each movable part of the robot body 860. The robot control response includes, for example, a response to a robot control command that the robot body 860 notifies the robot control device 820 of. The cable 863 is, for example, a cable such as a serial communication line or a computer network.

  The robot control device 820 controls the operation of the neck 860b, the head 860c, and the second arm 860e of the robot main body 860, and changes the position and posture of the imaging device 861. Specifically, the robot control device 820 installs the imaging device 861 at a position where the imaging direction is substantially vertically downward and substantially vertically above an assembly component (not shown).

  Also, the robot control device 820 takes in a photographed image of the assembly part supplied from the photographing device 861, and based on the photographed image, the neck 860b, the head 860c, and the first arm of the robot main body 860 are captured. The operation with the part 860d is controlled, and the gear is passed through the shaft and attached to the assembly part as in the second embodiment.

  As described above, in the robot control device 820 in the second embodiment and the third embodiment of the present invention, the template image storage unit 822 displays the images of the gear 853 and the gear 854 in a state of being normally combined with each other as the template image. Remember as. This template image is an image supplied from, for example, a photographing device 830 that photographs the assembly component 805 in a state where the gear 853 and the gear 854 are normally combined with each other and attached to the base 850.

The technical scope of the present invention is not limited to the above-described embodiment, and appropriate modifications can be made without departing from the spirit of the present invention.
In the present embodiment, the example in which the claw portion grips the component and is transported or assembled to the second object has been described. However, for example, the claw portion is attached using an image captured by a camera provided on the arm. May be. The camera may take an image of the part or the second object under the control of the control device 60 and recognize the attachment position based on the taken image. And based on the recognized result, you may make it a control apparatus control so that components may be moved to the attachment position of a 2nd target object.

  As described above, by designing the claw portion, it is possible to obtain a shape in which the range of the diameter size of the grippable part of the hand that can grip a small and lightweight part is widest. Further, since the robot includes the claw portion designed in this way, it is possible to grip a small and light component, and further widen the range of the size of the component that can be gripped. In addition, since the range of the size of the parts that can be gripped is wide, the frequency of replacing the claw portion mounted on the robot for each part is reduced, and the robot can grip a wide range of parts.

In the present embodiment, an example in which the present invention is applied to an assembly robot including the claw portions 101 and 102 has been described. However, for example, the robot 1 of the present embodiment may be applied to a transfer device or the like.
Further, in the present embodiment, an example in which the object is grasped, conveyed, or incorporated has been described. However, for example, a predetermined operation such as disassembly or inspection of an object may be performed.

  Note that a program for realizing the functions of the control unit in FIG. 1 of the embodiment and each unit of the claw design device (not shown) is recorded on a computer-readable recording medium, and the program recorded on the recording medium is stored in the computer system. The processing of each unit may be performed by reading and executing. Here, the “computer system” includes an OS and hardware such as peripheral devices.

  Further, the “computer system” includes a homepage providing environment (or display environment) if the WWW system is used.

  “Computer-readable recording medium” means a flexible disk, a magneto-optical disk, a ROM (Read Only Memory), a portable medium such as a CD-ROM, and a USB (Universal Serial Bus) I / F (interface). A storage device such as a USB memory or a hard disk built in a computer system. Further, the “computer-readable recording medium” includes a medium that holds a program for a certain period of time, such as a volatile memory inside a computer system serving as a server or a client. The program may be a program for realizing a part of the above-described functions, or may be a program that can realize the above-described functions in combination with a program already recorded in a computer system.

DESCRIPTION OF SYMBOLS 1 ... Robot 10A, 10B ... Grasping part 20A, 20B Arm W1, M, M1 ... 1st target object (parts) W2, M2 ... 2nd target object 30 ... Stage (moving apparatus) 33 ... 1st belt conveyor, 34 ... Second belt conveyor 37 ... Stage 50 ... Base 40A, 40B ... Camera 60 ... Control device 70 ... Input device 41 ... First finger portion 42 ... Second finger portion 101, 102 ... Claw portion RH ... Robot hand 12 ... Movable Part 13 ... First connecting part 14 ... Second connecting part 15 ... Drive part

Claims (8)

A grip portion having a first finger portion and a second finger portion arranged side by side in the first direction;
A movable part capable of reciprocating in a second direction orthogonal to the first direction;
A first connecting part for connecting the movable part and the first finger part;
A second connecting part for connecting the movable part and the second finger part;
A drive unit that drives the movable unit so that the first finger unit and the second finger unit are opened and closed in the first direction via the first coupling unit and the second coupling unit;
The first finger part and the second finger part are respectively arranged at positions on a tip direction that grips an object and a third direction perpendicular to the first direction and the second direction with respect to the tip part. A proximal end,
On the surface of the first finger portion and the second finger portion facing the other finger portion, a recess for holding the object is disposed,
Each of the concave portions of the first finger portion and the second finger portion includes a first surface disposed on the base end side of the first finger portion and the second finger portion, the first finger portion, A second surface disposed on the tip end side of the second finger portion,
In the second direction view, an angle α between a straight line parallel to the first direction and a straight line including the second surface is greater than 0 ° and less than 90 °,
In the second direction view, an angle β formed by a straight line orthogonal to the first direction and a straight line including the first surface is greater than 0 ° and less than 90 °,
In the second direction view, an intersection of a straight line including the second surface and a straight line including the first surface is a base point, a straight line passing through the base point and parallel to the first direction is a base line, and includes the second surface When a straight line that passes through the vertex of the straight line opposite to the base point and is orthogonal to the base line is a perpendicular line, a length d from the base point to the orthogonal line in the base line is greater than 0,
Each of the first finger part and the second finger part is provided with a protruding part that protrudes in the opposing direction ,
Each of the first finger part and the second finger part is movable in the vertical direction, and is parallel to the horizontal direction, tilted with respect to the horizontal direction, and the tip part on the lower side in the vertical direction. A robot hand capable of gripping the object in a state of being directed . The drive unit is
A screw part in which a screw thread screwed to the movable part is formed along a predetermined direction;
A motor part for rotating the screw part,
The predetermined direction is parallel to the second direction;
The robot hand according to claim 1, wherein the movable part is movable in the second direction by rotation of the screw part. The motor part is
A driving source;
A rotation transmission shaft connected to the drive source and rotatable about a predetermined axis;
The robot hand according to claim 2, wherein the rotation transmission shaft is arranged in parallel with the second direction. The robot hand according to claim 3, wherein the screw thread is formed on the rotation transmission shaft. The robot hand according to any one of claims 1 to 4, wherein the first finger portion and the second finger portion extend linearly in the third direction. The base,
A robot hand provided at the base, and
The robot hand is
A grip portion having a first finger portion and a second finger portion arranged side by side in the first direction;
A movable part capable of reciprocating in a second direction orthogonal to the first direction;
A first connecting part for connecting the movable part and the first finger part;
A second connecting part for connecting the movable part and the second finger part;
A drive unit that drives the movable unit so that the first finger unit and the second finger unit are opened and closed in the first direction via the first connection unit and the second connection unit;
The first finger part and the second finger part are respectively arranged at positions on a tip direction that grips an object and a third direction perpendicular to the first direction and the second direction with respect to the tip part. A proximal end,
On the surface of the first finger portion and the second finger portion facing the other finger portion, a recess for holding the object is disposed,
Each of the concave portions of the first finger portion and the second finger portion includes a first surface disposed on the base end side of the first finger portion and the second finger portion, the first finger portion, A second surface disposed on the tip end side of the second finger portion,
In the second direction view, an angle α between a straight line parallel to the first direction and a straight line including the second surface is greater than 0 ° and less than 90 °,
In the second direction view, an angle β formed by a straight line orthogonal to the first direction and a straight line including the first surface is greater than 0 ° and less than 90 °,
In the second direction view, an intersection of a straight line including the second surface and a straight line including the first surface is a base point, a straight line passing through the base point and parallel to the first direction is a base line, and includes the second surface When a straight line that passes through the vertex of the straight line opposite to the base point and is orthogonal to the base line is a perpendicular line, a length d from the base point to the orthogonal line in the base line is greater than 0,
Each of the first finger part and the second finger part is provided with a protruding part that protrudes in the opposing direction ,
Each of the first finger part and the second finger part is movable in the vertical direction, and is parallel to the horizontal direction, tilted with respect to the horizontal direction, and the tip part on the lower side in the vertical direction. A robot apparatus capable of gripping the object in a state of being directed . The robot apparatus according to claim 6, wherein the robot hand is rotatable in a direction around an axis with a predetermined straight line parallel to the third direction as a central axis. The robot apparatus according to claim 7, wherein the first finger part and the second finger part are arranged at positions sandwiching the central axis in the first direction.

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