JPH0392283A - Robot hand with determinable configuration - Google Patents

Abstract

PURPOSE: To touch or grip surfaces of any regular and irregular shapes by disposing a distance measuring means for generating electric signals pertaining to the distance by which each first end of a finger unit is moved from a first position to a second position both as references in a fixed path. CONSTITUTION: Fingers 26 and 28 are arranged for individual or collective outward movement out of a housing 12 to touch or grip the surface of an object 30. A hydraulic, pneumatic or electromechanical means is preferably used to establish this movement. The fingers 26 and 28 are each provided with a means appropriate for the generation of signals regarding their moving distance out of the housing 12. The moving distance is later employed to determine the shape of the object 30. Such location is typically materialized by resistor means, capacitor means, digital cord means or guide means.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention generally relates to an apparatus for touching/grasping an object to obtain information regarding the shape of the object and for use with remote control equipment.

In particular, the present invention provides a remote control device adapted to touch/grasp an object and generate information that allows the operator to infer the shape of the object even if the operator cannot see the object. Regarding "robot hand".

PRIOR ART AND PROBLEMS TO BE SOLVED BY THE INVENTION In the technical field of remotely controlled manibulators, manipulators are used to grip an object and transport it from one position to another, or to Various types of "hand" units have been developed for purposes such as performing kinetic tasks. Such a hand unit (generally referred to as an "end effector") is simply a pair of fingers or tongs that are moved toward and away from each other in a parallel relationship. Typically, tongs for gripping objects have resilient surfaces to enhance gripping capabilities. Some units also include pressure feedback to ensure proper gripping force.

In order to grasp an object using these devices according to the prior art, the device can be viewed directly or using video equipment, thereby allowing the user to grasp the appropriate gripping portion of the object and avoid inadvertent It is necessary to be able to suppress withdrawal to a minimum. For example, a generally spherical object must be gripped with a large diameter, and a constricted object must be gripped at its constricted portion. When an object with a specific shape is to be held as part of daily work, a tong unit with a shape matching the shape of the object can be used. Objects with highly irregular shapes, especially objects with slopes, will probably be very difficult to find after several attempts! It(ML) is grasped.Furthermore, if the shape of the object is not known at the time of grasping, the object must be visually recognized directly or indirectly to confirm the shape.For example, 1 When used to assemble one piece of equipment, a bolt is grasped, but it is necessary to visually check the bolt to confirm the head type (hexagonal or square), thread length, etc.

Remotely operated contact/grasping devices may be used in locations where objects are only locally visible or cannot be seen by normal means. For example, in underwater exploration, dark water generally obstructs any visibility. Furthermore, the distortion of the light hinders accurate positioning of the device. It is therefore important that the object must be grasped without precise positioning.

It is also important to obtain information that can be used to estimate the shape of the object to be touched/grasped. As used herein, the term "touch/grasp" refers to simply touching an object (usually without moving it) for any purpose, and grasping an object with the basic ability to move it;
is intended to encompass a variety of meanings, such as

Other suitable terms for this operation are "collocate,""engage," and "locked."

Grasping devices having a variety of shapes have been developed.

Some of them are designed to grip objects of unusual geometry. One such device was in 1986
No. 4,572,564 issued to T.M. Citubola on February 27, 2006.

Other typical devices include US Pat. No. 4,632,444 to Martinets et al., and No. 4,088,312 to NASA dated May 9, 1978;
It is described in. None of these devices are applicable for use as a remote control device hand;
Also, none of the devices other than U.S. Pat. No. 4,632,444 provide a signal regarding the shape of the touched/grasped object.

OBJECTS OF THE INVENTION The basic object of the present invention is to provide a hand unit for use in a remote control device, which is capable of contacting/grasping surfaces of either regular or irregular shapes. It is.

Another object of the present invention is to touch/contact an object whose surface shape is unknown.
It is an object of the present invention to provide a VAti device used for grasping, which generates information that makes it possible to estimate the shape of an object.

Yet another object of the invention is to provide an apparatus that is capable of gripping an object and then orienting the object to a selected new orientation.

These and other objects of the invention will become apparent by reference to the accompanying drawings in conjunction with the detailed description thereof.

SUMMARY OF THE INVENTION According to the invention, a unit for contacting/grasping an object is provided. This device provides information for determining the shape (contour) and other parameters related to the touched/grasped surface. More particularly, the apparatus includes a housing member and a plurality of fingers adapted to move externally of the housing member to contact/grasp objects of any surface configuration from at least two generally opposing directions;
has. These fingers are forced to move in a direction along their central axis. However, the fingers can be formed with any suitable cross-sectional shape. These fingers can be moved out of the housing individually or in groups to contact/grasp the surface of an object. fluid pressure,
Pneumatic or electromechanical means can preferably be used to effect this movement. Each of the fingers is provided with suitable means for providing a signal regarding the distance of movement outside the housing. This distance traveled is then used to determine the shape of the object. Typical position detection is performed by resistive means, capacitor means, digital code means or inductive means. The outputs of these sensors are transformed and shaped, if needed or desired, through appropriate programming. Other parameters related to the object can also be calculated.

DESCRIPTION OF THE EMBODIMENTS Shown generally at 10 in FIG. 1 is a front perspective view of one embodiment of an apparatus embodying the principles of the present invention. This embodiment has a housing 12. The housing 12 has two side chambers 14 and 16,
These side chambers are connected by a top sabot 18. These side chambers define an object receiving opening 20. A plurality of finger arrays 22.24 are respectively extendable from each of the side chambers 14.16. These fingers (hereinafter also referred to as finger units) are arranged in selected arrays, such as straight fingers arranged in a plurality of rows and columns as shown.

Thus, the fingers 26 of one array are faced with the fingers 28 of the opposing array.

Of course, other non-facing arrays can also be used. For illustrative purposes, for example, one row of fingers may be 26.26A. 26B. It is identified as 260.26D. In the rows, the fingers with the same identification are 26.26'... in one row and 26 in the next row.
A, 268'. Similarly, array
The finger at 24 is 28.28A as shown.
~28D1 and 28' and 28A'~28D'・
It is identified as... This drawing shows object 3
0 is shown, the object being touched/grasped by the device according to the invention.

Array 22.24, as explained in more detail below.
The fingers are piston-like members and are adapted to move in fixed passages axially along their respective long axes. The embodiment of FIG. 1 (as well as FIGS. 2 and 3) uses fluid (gas or liquid) pressure. This fluid pressure is directed into the side chamber 14.16 through a header 32 attached to conduit 34.

Of course, the top support 18 can be used as a header if desired. Application of fluid pressure through conduit 34 and header 32 causes finger array 22 to
．． 24 is made to move towards object 30 so that it can come into contact with the object. For example, finger 26
and 28 are not in contact with the object, but the finger 26B
．． 288, 260 and 280 are seen touching the object. Some of the other fingers do not travel the full distance before contacting the object.

If the pressure is maintained, the object will be held firmly;
It will be appreciated that objects can be transported from one location to another by moving the device 10. By reversing the pressure, ie making the pressure inside the side chamber 14.16 lower than the external pressure, each finger of each array 22.24 can be caused to be pulled back from the object.

Although not shown in FIG. 1, each of the fingers of array 22.24 is provided with means for ascertaining the amount (distance) of movement out of chamber 14.16.

Details of typical distance measuring means will be discussed below. Each of the distance measuring means has electrical leads, which are not shown in FIG. The illustrated embodiment includes removable end covers 36, 38 in the side chambers 14, 16. These covers are typically attached by screws 40. Of course, these It will be appreciated that the side chambers can be formed as other structures suitable for the various situations in which the device 10 is applied.

Referring now to FIG. 2, a vertical cross-section along 112-2 of FIG. 1 is shown. The side chamber 16 is thus formed by the aforementioned top support 18 and walls 42, 44, 46, 48 (and cover 38). These walls and covers define the space surrounding the fingers. The fingers pass through the wall 48. For example, fingers 28.28B and 28D are fully extended into opening 20 (see FIG. 1) so that the ends of the fingers are visible in this cross-section. However, fingers 28' 28A. 288' etc. are not fully extended, so a cross section through those fingers is shown as shown. Object 3
The rear part of line 28.0 is not visible in FIG.
The positions of the rear fingers 28', 28", etc. indicate that the object 30 has a protrusion at the rear, and that the fingers are in contact with the protrusion. In FIG. 51 is shown in dotted lines. This collar 51 is useful for attaching the device of the invention to, for example, a manipulator arm. Of course, other suitable attachment means can be used.

FIG. 3 is a vertical cross-sectional view of the device of FIG. 1 taken along line 3--3. However, another shaped object 30' is shown to further explain the movement of the fingers. For example, the fingers of array 24 can be seen passing through a tight opening 49 formed in wall 48 (side chamber 1
The structure in 4 is the same). These openings form "guiding means" by which the finger unit can be moved along a fixed path. Each finger has a slightly enlarged diameter as shown in finger 28". It has a head 52. This head 52 prevents the fingers from falling out of the Ip1 chamber 16 and being lost. Of course, other securing means can also be used. Resilient pads 54,56 are shown attached to the inner walls of covers 36,38, respectively. These elastic pads 54,56 provide a damping effect when the fingers are pulled back into the side chambers 14,16.

Before describing further embodiments of the overall device of the invention, it must be understood that the fingers shown in the drawings can have other cross-sectional shapes. One such other cross-sectional shape is rectangular or square in cross-section and is shown at 58 in FIG. This finger passes through the support wall (guide) 60,
A seal 62 surrounds the finger to minimize leakage around the finger. Fully linear motion is used, no rotation is required, and the fingers can have other cross-sectional shapes such as triangular, crossed, oval, etc.

Referring again to FIG. 1, the operation of this embodiment will be explained. By reducing the internal pressure of the side chambers 14,16 relative to the external pressure, all fingers in each array 22, 24 are fully retracted with their outermost ends protruding into the opening 20.

This device is placed over the object 30. There is no need for the object to be centered or vertically oriented as shown. That is, the object can be in any position and in any orientation. When an object is placed within the opening 20, pressure is applied inside the side chamber 14.16 and the fingers are moved outwardly along their fixed path into contact with the object as shown. Ru. This object is released by reducing the pressure and retracting the finger. This is expressed here as applying "counter pressure."

As mentioned above, each finger is provided with means for determining the distance traveled towards the object.

These means generate electrical signals that are directly related to their distance. Therefore, the shape of the object can be "identified" through appropriate programming of these signals. Normal bow processing, as described below, can be used to provide an accurate depiction of the shape.

In the embodiment of Figures 1-3, the fingers are extended or retracted as a group by applying the same pressure to all fingers.

Moreover, these fingers are only supported by one wall (other guide means can be added). For certain applications of the device of the invention, this 'a
Although the structure is suitable, other applications require enhanced drive and/or support for the individual fingers. A finger unit that accomplishes this reinforcement of individual drive and support guides is shown in FIGS. 10 and 11.

Referring first to FIG. 10, a portion of support wall 64 is illustrated. A finger support guide sleeve 66 is attached to this wall. This finger support guide sleeve 66 has a cylindrical recess 68 formed therein. A piston-like finger 70 is fitted inside this recess 68 . This wall has an opening 72 in communication with the recess 68 through which pressure (or counterpressure) is applied from a source 71 to drive the finger axially within the recess. It is done like this. Alternatively, instead of an opening through the support wall, no hole may be formed in the wall 64, but an opening may communicate with the recess 68 in the vicinity of the wall. In either configuration, a separate feed line 73 with a suitable valve 75 is in communication with the opening, the bubble of which exerts a pressure (or counter-pressure) on each or subgroup of the cylindrical quadrants. This makes it possible to selectively drive individual fingers or groups of fingers.

The finger embodiment of FIG. 11 similarly provides support, guidance and individual actuation in a slightly different manner.

In this embodiment, the support wall 64' is connected to the support tube 6.
6', which support tube 66' has a substantially axial passage 68'. Communication with this passage is through opening 72' (or an opening through the wall of support tube 66'). This support tube 66
A piston-shaped finger 74 is fitted around the . The finger 74 is formed with a cylindrical quadrant 76 for receiving a support tube. Similar to the embodiment of FIG. 10, individual fingers in the finger array can be individually connected to a source of pressure (counterpressure) to drive the individual fingers.

FIG. 4 shows another embodiment 10A of the present invention.

This embodiment functions similarly to the embodiment of FIGS. 1-3, but is constructed using three side chambers 78, 80 and 82. These three side chambers each have a finger 84
．． It has 86 and 88 arrays. Figure 4 shows outfit 11.
10A, the other fingers in the array are not shown. These arrays are shown in position gripping a generally cylindrical object designated by the numeral 90. Although not shown here, the side chambers are mounted to a suitable frame or support to form a housing so that the positional relationship between the side chambers is maintained in a fixed relationship during operation of the device 10A. It is done like this. It will be appreciated that the frame or support can be configured to selectively position the side chambers if desired. Furthermore, these side chambers, in addition to the equal angular range (120°) as shown,
They can have different positional relationships with respect to each other. Each of the side chambers is configured to apply a pressure or counter-pressure to effect axial drive of the fingers in each array.
It is equipped with boats 92A and 928.92G.

Referring now to FIG.
It is indicated by 0B. This embodiment is constructed from a body 94 that includes a plurality of cavities 9.
6.96A... is formed. These cavities are formed along the circumference of a circular passage centered on the central position of the body 94. Each of these cavities has an opening 100,100, as in the structure of FIG.
It communicates with the common header 98 through A.

A boat 102 is provided to apply pressure or counterpressure to this pressure and thus the cavity. Inside each cavity is a finger 104.1 of circular cross section.
04A... is arranged and adapted to be moved in one degree of freedom along its longitudinal axis within the fixed passage established by the cavity. In this way, these fingers can be retracted into the interior of the body 94 or directed towards a region 105 corresponding to the remainder of the sphere (or cylinder) in order to grip an object as indicated at 106. For clarity of this drawing, the fingers in the rearward position of the body 94 (if hemispherical) are not shown.

A cross-sectional view of Example 10B is shown in FIG. Only approximately half of the total cross section is shown. The remaining parts are mirror images of the parts shown here. Other cavities and their fingers are shown in this view, where a symmetrical array is depicted. In this embodiment 10B, all finger units have the same cross-sectional dimensions. Finger's
Although the angular relationship of the rows is shown as approximately 30 degrees, any other selected uniform or non-uniform relationship may be used to contact/grasp the object with the fingers to achieve the desired motion.

FIG. 7 is a drawing similar to FIG. 6, and is a partial cross-sectional view of embodiment 10B', which is similar to embodiment 10B. The difference is the cavity (e.g. 96'968'...) and each finger (e.g. 104'.104A').
...) whose diameter changes from the central part to the outer part. This structure allows for the use of a very large number of finger "rows" if desired or required.

In some applications, it may be desirable to grasp/contact an inner surface with a hollow object having an opening leading to the inner surface. An embodiment of the invention adapted for such biasing is shown in FIG. 8 by the reference numeral 10G. This embodiment has a body 10B from which finger arrays 110, 112 project in opposite directions and are brought into contact with the inner surface 114 of the object 116. Although only one row of fingers of array 110, 112 is shown, additional rows are used to determine the shape of inner surface 114. As in other embodiments, pressure or counterpressure is applied to body 108 through conduit 118;
It is adapted to drive the finger in the axial direction.

In the above-described embodiments, the fingers of the robotic device are actuated by fluids via pneumatic or hydraulic devices. The particular choice of gas or liquid will depend on the environmental conditions in which the device will be used.

For example, when used in air, air can be used as the working fluid. Similarly, when used in an aqueous environment, water is a suitable working fluid. Of course, these are not the only fluids under these circumstances and one skilled in the art can make appropriate choices.

Additionally, fluid leakage around the fingers may not be harmful. In other applications, if leakage is to be prevented, a seal can be used (as shown in Figure 9).

The invention is not limited to hydraulically driving the fingers. For example, a finger embodiment such as that shown at 120 in FIG. 12 can be used.

This is a linear motor that sequentially energizes coils 122 in or near the support wall 124 to drive the finger 120 axially relative to the wall like a "linear motor." Make it. FIG. 12 shows a finger 120 having a contact end of a different shape compared to the contact ends of the finger units previously illustrated. If extremely irregular surfaces are to be computed,
Contact edges with sharp points are generally preferred (
Objects with more regular surfaces, such as square or cylindrical shapes, are more easily affected by fingertips of other shapes (because the tip is generally more likely to contact objects with its rear part), but objects with more regular surfaces, such as approximately square or cylindrical, are This is because it can be grasped and its contour can be predicted. Accurately determining the distance traveled by the finger is a problem, as is the shape of the finger tip, which provides information about the shape.

The exact location of each and every finger according to the present invention can be determined using a variety of methods. A finger particularly suitable for use in devices for detecting linear movement is shown at 128 in FIGS. 13, 13A and 13B.
It is shown in This finger is supported and guided by header 130. Further, this finger has a flat portion 132 formed along its length from the vicinity of the enlarged diameter head 134 to the vicinity of the object contacting end 136.

This structure allows suitable detection means 138 to be placed in the vicinity of this planar portion 132, so that, for example, a code information reader can be used as shown in FIG.

Yet another use of the finger unit 128 having a planar portion 132 is shown in FIG.

A resistive element 140 is applied to this planar portion 132 . In this embodiment, this resistive element is U-shaped.

A pair of slider units 14 from this header 130
2,144 are insulated and installed. As the fingers move (under any form of movement), the resistance between the slider units changes. If this changing resistance forms part of the measuring circuit, the change in resistance will be directly related to the distance traveled by the discussion unit and therefore the distance moved by the position of the chip 136.

A similar resistive motion detection device is shown in FIG. In this embodiment, resistive element 146 extends along finger unit 148.

This resistive element is connected to a power source 150 (also known as a voltage source) to apply a voltage across the resistive element. A fixed slider contact 152 moves along this resistance element in response to movement of the finger unit. Therefore, the sample and hold (S/H) circuit 154 is proportional to the position of the finger unit. Since this is an analog signal, the Anaguchi digital (A/D) circuit 15
Sent to 6. The digital output is sent to the appropriate processor device 158. The S/D circuit, A/D circuit, and processor are conventional circuits and known to those skilled in the art.

Each finger unit is monitored in the same way. A high speed switching device (multiplexing) is installed to allow S/H circuits and A/D circuits to be used for multiple finger units.

The positions of these finger units are shown in Figure 16 and Figure 1.
It can also be determined by capacitor and induction techniques as shown in Figure 7, respectively. For example, in FIG. 16, finger unit 160, which serves as one "plate" of the capacitor, moves inside a sleeve 162, which serves as the "plate" for the other capacitor. This capacitor forms part of an oscillator circuit 164 whose output frequency is a function of the position of finger unit 160. The output of the oscillator circuit is sent to a gate counter (CTR) 166. The gate counter measures the frequency and sends a digital signal thereto to a processor 168 to convert the finger unit positions into shape information about the object that the finger units are contacting.

Similar frequency change measurements are made with the apparatus shown in FIG. Finger unit 160 moves inside inductor 170. This inductor changes impedance as a function of the position of finger unit 160. This inductor is the oscillator circuit 16
CTR circuit 166 detects changes in frequency and sends a corresponding signal to processor 168.

As already referenced, encoder track 172 is
As shown in FIG. 8, it can be arranged on the surface of the finger unit 174. Typical means for forming such encoder tracks include magnetic means, such as those commonly used for magnetic head-disk head position tracks, and commercially available "optical" means, either reflective or transmissive. optical means included in a commercially available "brush" encoder, or conductors that can be found in commercially available "brush" encoders. Typically these codes are arranged as one of several pinary codes. There are natural binary, gray binary, or binary coded decimal numbers.

Therefore, this code can describe the distance along the finger unit, and the big-up unit 176 is placed close to the finger unit. The encoder track "reading" information read by this pickup unit is sent to a memory unit 178 and then to a signal processor 180. This memory unit can be part of the processor if desired.

If we consider again the occasional actuation or actuation in small groups in the finger units (see FIGS. 10, 11 and 12), this structure provides yet another advantage according to the invention. . For example, it can be applied to a case where an object grasped by a robot hand is realigned from the grasped position. This realigns the bolt to properly engage the bolt with the threaded septer. This is done by retracting finger units in selected areas and extending other finger units, without completely releasing the object.
This is achieved by shifting the position of the object into the desired alignment.

When multiple surface positions are positioned on an object, conventional computational methods are known to give global information about the shape of the object (repeating to give a fit).
. After that, information about the volume, the center of volume of the object and/or
Or you can check the main axis. Also, information from "unknown" shapes can be matched with known shape information, for example to recognize features of an object. Additionally, known techniques can be used to refine the shape determination by taking into account the shape of the finger unit tips.

Determination of surface shape, as well as other characteristics of objects, is
This will be explained with reference to FIG. Some dansui involve yes/no choices. Algorithms well known to those skilled in the art accomplish the desired processing of the information signal.

The input signal shown at 182 is typically shown in FIGS.
Analog digital (A/D') converter, gate counter (CTR), or memory (M
). Of course, if other devices are used to determine the position of each finger, the input signal 18
2 is a signal from those devices.

Using standard algorithms or using a calculation table of the three-dimensional position of the finger tip relative to the linear movement of the finger (derived from a known fixed trajectory of the position of the finger relative to the housing) do,
This input signal is converted into a three-dimensional signal indicated by reference numeral 184. This provides information to a three-dimensional surface data array. From this data, the center position of the object with its surface is determined at a location indicated at 186 using algorithms known in the art.

Once this decision is made, the user of the device of the invention makes a choice as to whether or not to display the shape.

This selection is usually determined by whether or not someone is viewing the display.

Assuming this information is to be displayed, the appropriate scale for the data is selected at location 190. This scaled data has the code 192
It is converted into two-dimensional information using conventional algorithms at the location indicated by , and then displayed on a suitable display unit 194 (usually a CRT). Depending on the proper recognition of the object, a selection is made at 196 as to whether further refinement is required to display the object with a recognizable or sufficiently detailed surface. If further refinement is not desired,
Select whether or not other congratulatory images of the object are desired (symbol 19
8). If the selection is "no" then the work is completed. If the selection is ``yes'', this information is given a ``rotation'' or ``translation'' at the location indicated by 200, so that the information is in the required view as the original information was displayed. It is done so that it can be displayed.

Depending on the surface shape of the object and the shape of the end of the finger,
It will be appreciated that the tip position of the finger is not always located only at the point of contact with the object surface. This can be seen for example in FIG. Some of the fingers have their points in contact with the surface of the object 106 (e.g., 104B-104D), while other fingers have contact along the slope or the heel of the slope (eg, 104B-104D).
For example, 104). In this way, the distance traveled by the finger toward the surface that contacts the tip will be different if it is being contacted at the heel. This also applies to other tip shapes, such as the round tip 126 shown in FIG. Therefore, data refinement typically involves adjustments to the fingertip shape at the location shown at 202. This refined data is then returned to the input for reprocessing, such as for display.

If the determination at location 188 is "no", the center data is converted to a "coordinate zero location" at location 204 using known data handling techniques. This results in standardized data, from which various features such as volume and basic axis are extracted at the position indicated by reference numeral 206. This information regarding the particular feature may be compared with stored information regarding the selected known shape at location 208 . For example, data regarding bolts of special shapes may be stored. This data is compared to the input data to determine if the data matches a particular bolt. If there is no match, it is compared with other unstored data until a match is found. Usually the object can be identified by this comparison (performed at position 210). Once identified, any appropriate operations are performed at location 212.

If the object cannot be identified, a decision is made whether to display the data visibly (using the steps described above) at 214 or in the form of a fingertip (for example) as previously described. A determination is made at 216 whether to further refine the data relating to the data. Once again, once a method has been chosen to obtain information signals regarding the position of each of the fingers in the device of the present invention, processing of the data is accomplished using known techniques. Such a state of technology has been developed in the field of computer graphics.

Effects of the Invention Although the structure of several embodiments of the present invention has been fully described together with the apparatus for processing data obtained by the present invention, those skilled in the art will appreciate that the present invention has various applicability. It will be appreciated that there are currently no known devices available for comparison. For example, in the case of underwater exploration where the water is often dark, the present invention can be used to touch/grasp objects and identify them without full visibility. Similar discrimination may be dangerous for humans4.

It can be done under other circumstances, such as handicaps. Furthermore, if the fingers are individually equipped with me means, an object gripped by the device of the invention can be reoriented while being gripped, and new data for the object can be derived or positioned. can be facilitated. This therefore adds another degree of freedom not possible with conventional remote control manipulators.

Although only specific embodiments of the invention have been described herein, these are not offered as limitations on the invention, but rather by way of example only. The invention is, therefore, limited only by the claims and equivalents given in conjunction with this detailed description.

[Brief explanation of drawings]

FIG. 1 is a front perspective view of an apparatus embodying the principles of the invention, shown contacting/grasping an irregularly shaped object; FIG. FIG. 2 is a vertical sectional view taken along line [12-2] of the device of FIG. Figure 3 shows that except the object has a different outline,
FIG. 2 is a vertical cross-sectional view along Ia3-3 of the device of FIG. 1; FIG. 4 is a bottom view of another embodiment in which three sets of fingers are used to contact/grasp an object located approximately centrally between them. FIG. 5 is a vertical cross-section through a substantially spherical contact/grip device according to the invention in which the fingers are moved toward and away from an object along a circular path; FIG. 6 is a cross-sectional view through Ia6-6 of the embodiment of FIG. FIG. 7 shows that the cross-sectional area of the inner unit fingers has been reduced to allow for the use of multiple fingers if desired or required.
FIG. 6 is a cross-sectional view of an embodiment similar to that of FIG. 5; FIG. 8 is a diagram illustrating an embodiment of the invention configured to contact/grasp the inner surface of an irregularly shaped hollow object. FIG. 9 is a perspective view of a finger used in the invention having a rectangular cross section. FIG. 10 is a schematic diagram showing an alternative support structure for axially driving the fingers and means for driving the individual fingers, if desired or required; FIG. 11 is a schematic diagram showing further support structures for axially driving the fingers and means for driving individual fingers, if desired or required; FIG. 12 is a diagram illustrating the employment of the linear motor principle for axially driving individual fingers in an embodiment of the invention. FIG. 13 shows the construction of a finger unit of the invention adapted to accommodate movement measuring means by forming a flat area along the length of a generally cylindrical finger; 11 3A is an end view of the finger unit of FIG. 13. Figure 13B shows line 1 of the finger unit in Figure 13.
3B-1 is a cross-sectional view along 3B, showing the arrangement of signal off units brought close to each other. FIG. 14 is a drawing showing a state in which a resistance unit is arranged on a flat area portion of the finger of FIG. 13 together with a pair of sliding contacts. FIG. 15 is a schematic diagram showing a circuit for measuring movement of a finger unit by means of a resistive element along the finger unit. FIG. 16 is a schematic diagram illustrating the use of a finger unit as part of a capacitor to vary the oscillator frequency as a function of movement of the finger unit. FIG. 17 is a schematic diagram illustrating the use of a finger unit within a guiding member to vary the oscillator frequency as a function of movement of the finger unit. FIG. 18 is a schematic diagram of a circuit in which encoder tracks and readers of those tracks are adapted to determine finger unit movement; FIGS. 19A and 19B are supplementary views of a flowchart showing calculation steps for converting position signals derived from finger units into signals for determining the shape and other parameters of the object touched/grasped. 1o... Device of the present invention, 12... Housing, 14
, 16... side chamber, 18... top support, 20...
・Object receiving opening, 22.24--finger array 26.28...finger, 30...object, 3
2... Header, 34... Conduit, 36.38...
Cover, 42-48...Wall portion, 49...Opening, 50
...Space, 51...Color, 52...Head, 5
4.56... Elastic pad, 60... Supporting wall, 62...
... Seal, 64 ... Wall section, 66 ... Sleeve, 6
8... Recess, 70... Finger, 72... Opening, 73... Feed line, 75... Valve, 76
... Concavity, 78-82... Side chamber, 84-86...
finger, 90...object, 92...boat, 94
...Body, 96...Cavity, 98...Header 100...Opening, 104...Finger
106... Object, 110. 112... Finger array 114... Surface, 118... Conduit, 120...
... Finger unit, 122 ... Coil, 124
...Supporting wall, 128...Motion detection device, 130...
・Header 132...Flat area part, 134...
・Head, 136... End that comes into contact with the object, 138.
...Detection means, 140...Resistance element, 142.144
...Slider unit, 146...Resistance element, 1
48...Finger unit, 150...Power supply, 1
52... Contact, 154... Sample and hold circuit, 156... Analog-digital circuit, 160...
...Finger unit, 162...Sleeve, 16
4... Oscillator circuit, 166... Gate counter 168... Processor, 170... Inductor 172... Encoder track, 174...
・Finger unit.

Claims (34)

[Claims] (1) A device that engages an object having a surface and generates an information signal regarding the surface of the object, the device comprising: a housing disposed in close proximity to the surface of the object; and a plurality of objects carried by the housing. finger units, each finger unit having a first end engaged with the surface and an other end located within the housing, the first end engaging the object; a sufficient number of finger units to support the object when engaged with the housing; and guide means for each of the finger units along a path fixed relative to the housing. guide means adapted to move said finger units; and assembled to each of said finger units to guide said finger units within said stationary passageways along respective axes to references housed within said housing. selectively moved from a first position to a second position to engage the surface of the object with the first end, and selectively returned to the reference first position to engage the surface of the object with the first end; drive means assembled to each of said finger units for moving said finger units disengaged from a surface of said object, said finger units for engaging said first end of said finger unit with said surface of said object; distance measuring means for generating an electrical signal related to the distance that each said first end is moved along said fixed path from said reference first position to said second position; the distance measuring means, wherein the electrical signal is a signal uniquely related to the shape of the surface. (2) The apparatus according to claim 1, wherein the housing has first and second side chambers spaced apart a fixed distance, the side chambers at least partially receiving the object therebetween. The side chambers each include a set of the plurality of finger units, and the set of finger units in the first side chamber is moved within the work space by the drive means. The finger unit set in the second side chamber is movable toward and away from the second side chamber, and the finger unit set in the second side chamber is moved within the work space toward the first side chamber by the driving means. and also movable in a direction away from each other, such that the object is engaged by the first ends of the two sets of finger units when the finger units are in the second position. and the finger unit is configured such that the first end portion is released from the surface when the finger unit is accommodated in the reference first position within the first and second side chambers. A device characterized by: (3) The apparatus according to claim 1, wherein the housing has a plurality of side chambers arranged about a central axis and separated so as to form a space therebetween for receiving the object. , each of said side chambers comprising a set of said plurality of finger units, the finger units in each side chamber being movable towards and away from said axis by said drive means; A device featuring: 4. The apparatus according to claim 1, wherein the housing is centrally located on the object, the object has an internal surface, and the plurality of finger units reciprocate relative to an external surface of the housing. 1. A device adapted to be engaged with an inner surface of the object. (5) The device according to claim 1, wherein the housing is substantially hemispherical and defines a space in the center, and the finger unit reciprocates along a fixed circular arc path with respect to the housing. and is adapted to be moved into and out of a region corresponding to a residual portion of the sphere, said residual portion engaging an object when the object is positioned within said workspace. device, characterized in that the finger units are arcuate along their respective axes and are arranged at different radial positions of the hemisphere. 6. A device according to claim 1, characterized in that said drive means drives said finger units as a group. 7. Device according to claim 1, characterized in that said drive means drives said finger units individually. (8) The device according to claim 1, wherein the driving means includes a device for applying and releasing fluid pressure to the other end of the finger unit, thereby driving the finger unit. A device characterized by: (9) The device according to claim 8, wherein the housing defines a space therein, and further includes a device for applying and releasing fluid pressure to the other end of the finger unit. Device, characterized in that it communicates with the interior space and is adapted to drive the finger units as a group. 10. The apparatus according to claim 8, wherein the housing defines a plurality of passages equal in number to the number of finger units, the passages being connected to the other end of the operatively assembled finger units. a first end communicating with the passageway, and a second end communicating with the passageway, wherein the device for selectively applying and releasing fluid pressure is connected to the second end of each of the passageways. A device characterized in that it is connected to a part. 11. A device according to claim 10, wherein said device for selectively applying and releasing fluid pressure comprises valve means for each of said passageways, whereby selected Apparatus characterized in that actuation is adapted to individually and selectively drive said finger units. 12. The device according to claim 8, wherein said device for selectively applying and releasing fluid pressure is a pneumatic device. (13) A device according to claim 8, characterized in that said device for selectively applying and releasing fluid pressure is a hydro device. (14) The device according to claim 7, wherein the driving means includes an electromagnetic coil in the housing surrounding each of the finger units, and the finger units are driven linearly by passing a current through the coils. A device characterized by: 15. The device according to claim 1, wherein the distance measuring means comprises: a resistive area formed along at least a portion of each of the finger units and having a selected resistance value; and the housing. at least one electrical contact carried and adapted for sliding engagement with the resistive area; at least one further electrical contact electrically engaged with the resistive area; and the finger unit. a change in resistance caused by movement of the electrical contact along the resistive area by movement of the electrical contact, the change in resistance being proportional to the distance traveled by the finger unit from the housing; An apparatus characterized in that it comprises: circuit means for detecting; (16) The device according to claim 1, wherein the distance measuring means is a capacitor formed within the housing,
the first plate is positioned within the housing;
circuit means for connecting between a capacitor, the finger unit being adapted to form a second plate, and the first plate and the second plate, whereby the capacitor is placed in the circuit; said circuit means forming part of an oscillator circuit adapted to generate an output frequency signal proportional to the distance of movement of said finger unit from said housing; Featured device. (17) The device according to claim 1, wherein the distance measuring means is an inductor formed within the housing,
the inductor having a coil surrounding each of the finger units, the finger unit moving within the coil to change the inductance of the inductor; and circuit means connected to the inductor. , said inductor forming part of an oscillator circuit in said circuit means, said oscillator circuit being adapted to generate a frequency signal output proportional to the distance of movement of said finger unit from said housing. A device comprising: and. 18. The device according to claim 1, wherein the distance measuring means is a digitally encoded marking carried by each of the finger units, the axis of the predetermined code along the finger unit. a marking defining a directional distance unit; an encoder read head disposed within the housing proximate the marking on the finger unit; and an encoder read head connected to the read head and defined by the marking and the read head. and said circuit means adapted to generate an electrical signal output proportional to the distance of movement of said finger unit from said housing. 19. The apparatus according to claim 18, wherein said digital encoder marking is a magnetic means and said read head is responsive to said magnetic means. 20. The apparatus according to claim 18, wherein said digital encoder marking is an optical means and said reading head is responsive to said optical means. 21. Apparatus according to claim 18, characterized in that said digital encoder marking is a conductive means and said read head is responsive to said conductive means. (22) The device according to claim 1, characterized in that the first end of each of the plurality of finger units that is engaged with the surface of the object restricts the apex to the center. A device that does this. (23) The device according to claim 1, wherein the first end of each of the plurality of finger units engaged with the surface of the object defines a hemispherical surface. Featured device. (24) The apparatus according to claim 1, wherein the electrical signal generated by the distance measuring means of each of the finger units is input, and a signal for calculating the shape and other parameters of the object. An apparatus further comprising processing means. (25) A device that engages an object having an external surface to uniquely generate information regarding the external shape of the object, the device being spaced a fixed distance apart and adapted to receive at least a portion of the object between them. a plurality of finger units carried by the first and second side chambers, each finger unit having a first end portion engaged with the surface; having another end located within the side chamber and moving from a first position received within the side chamber into the work space and into a second position engaged with the surface. a finger unit adapted to be movable along a fixed path such that the finger unit is moved along a fixed path; and guide means for each of said finger units,
guide means for restricting movement of the finger unit relative to the fixed passage; and from the first position relative to the first and second side chambers;
reciprocating the finger units along respective axes toward the second position in which the first ends of the finger units engage the surface of the object;
the first position to selectively return to the first position;
and a drive means assembled to each of the finger units in the second side chamber, the drive means being attached to the other end of the finger unit for reciprocating the finger unit between the first and second positions. drive means including a device for selectively applying and releasing fluid pressure to the object; distance measuring means for generating an electrical signal relating to the distance traveled by the first end of the finger unit until the first end of the finger unit is engaged with the surface of the finger unit, wherein the electrical signal corresponds to the shape of the surface; said distance measuring means adapted to be uniquely related to said device. (26) The apparatus according to claim 25, wherein each of the finger units is substantially elongated and cylindrical;
Apparatus characterized in that the first end of the finger unit engaged with the surface forms a substantially conical surface with a centrally located apex. (27) The device according to claim 25, wherein each of the first and second side chambers defines a space therein, and the fluid pressure is applied to the other end of the finger unit; Device characterized in that said device for releasing is in communication with both said internal spaces, such that said finger units are moved as a group. (28) The apparatus according to claim 25, further comprising signal processing means for receiving the electrical signal from the distance measuring means of each of the finger units in order to calculate the surface shape of the object. A device characterized by: (29) The apparatus according to claim 25, wherein the distance measuring means is an encoded marking carried by each of the finger units, the distance measuring means being an encoded marking carried by each of the finger units in a predetermined axial direction of the code along the finger unit. a marking defining a distance unit of; an encoder read head disposed within the housing in close proximity to the marking on the finger unit; and an encoder read head connected to the read head and defined by the marking and the read head. and circuit means adapted to generate an electrical signal output proportional to the distance of movement of the finger unit from the housing. (30) The device according to claim 25, wherein each of the first and second side chambers defines a plurality of passages, the number of which is equal to the number of the finger units of the side chambers,
The passageways have first ends in communication with the other ends of the operatively assembled finger units, and the apparatus for selectively applying and releasing the fluid pressure is in communication with the passageways. are connected to second ends of each of the passages through valve means for each passage, and selective actuation of the valve means selectively drives the finger units individually. A device characterized by: 31. The apparatus according to claim 25, further comprising attachment means for attaching the housing to the manipulator means to facilitate movement of the housing so that the workspace receives the object. A device characterized in that it has on a housing. (32) A device that is brought into contact with an object having an external surface and is adapted to provide information regarding the shape of the surface of the object, the device having first and second spaced-apart side chambers; a housing, each of the side chambers defining an interior space and further defining a working space between the side chambers for at least partially receiving the object; and a plurality of housings carried in each of the first and second side chambers. finger units having a substantially elongated cylindrical shape having a central axis and a substantially conical first end portion having a centrally positioned point engaged with the surface; , and the other end portion located inside the side chamber, and the finger unit is movable along a fixed path from the side chamber toward the work space, and The finger unit in the first side chamber substantially faces the finger unit in the second side chamber, and guide means for each of the finger units,
a guide means for forcing movement of the finger unit along the fixed path; and a drive means assembled with the finger unit in each of the first and second side chambers, the finger unit within the fixed passageway along respective axes of the first and second
and a device for selectively applying and releasing fluid pressure to the other end of the finger unit in order to cause the finger unit to reciprocate with respect to the side chamber and the work space, and to cause the reciprocating movement. a drive means assembled to each of said finger units and having a drive means associated with said first end of said finger unit relating to the distance traveled by said finger unit to engage said surface within said working space; an encoder marking for generating an electrical signal and defining an axial distance along the finger unit; an encoder read head disposed adjacent each of the finger units in the side chamber; circuit means connected to each other for generating an electrical output signal corresponding to the distance traveled of the finger unit from the side chamber as determined by the marking and the reading means, An apparatus comprising: the distance measuring means, wherein the electrical signal generated by the distance measuring means is a signal related to the surface shape. (33) The apparatus according to claim 32, further comprising: said signal processing means connected to said circuit means for generating said electrical signal output corresponding to a distance of movement of said finger unit; An apparatus characterized in that the surface shape of the object is calculated from the output signals of all the distance measuring means of the finger units. 34. The apparatus according to claim 32, further comprising attachment means for attaching the housing to the manipulator means to facilitate movement of the housing so that the workspace receives the object. A device characterized in that it has on a housing.