JPH10175185A - Robot hand - Google Patents

Abstract

PROBLEM TO BE SOLVED: To firmly grip an article with each finger part regardless of its diameter, and prevent the article from falling down. SOLUTION: This robot hand is provided with a finger opening diameter change adjustment mechanism 36 which changes the initial opening diameter of a finger part 16 so as to adjust it, a detection means detecting that the base end side of each finger 16 located around the circumference of the article approaches or comes in contact with the article, and a control means controlling how to hold and grip the article. The control means is so constituted that its initial opening diameter of the finger part 16 is set at a large diameter side, let each finger part 16 be positioned around the circumference of the article in a state that the finger part 16 is opened, let the finger opening diameter change adjusting mechanism 36 be actuated to a diameter contracting side thereafter, and when it is detected by the detection means that the base end side of each finger part 16 approaches or comes in contact the the article, each finger 16 is thereby actuated to a closing side so as to be bent for gripping the article based on the result of the detection.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a robot hand which embraces and holds an article at a first position by a plurality of finger portions and sends the article to a second position.

[0002]

2. Description of the Related Art Conventionally, in the above-mentioned robot hand, an initial opening diameter of the finger portion is fixed to a fixed value, and the finger portion is always opened and closed from the fixed opening diameter regardless of the diameter of an article. It was configured to be gripped and actuated.

[0003]

According to the above-mentioned conventional structure, regardless of the diameter of the article, the finger portion is always opened and closed from the fixed value of the opening diameter to grip and operate the article. In addition, for example, a bent posture of the finger portion at the time of gripping, such that an article having a small diameter is gripped only at the distal end side of the finger portion, and an article having a large diameter is gripped only at the proximal end side of the finger portion. However, the shape of each article did not match the shape of the article, resulting in an unnatural shape.In each case, the grip was insufficient, and the gripped article could drop or lose its posture during movement. .

[0004] It is an object of the present invention to provide a robot hand which can firmly grip an article with a finger portion regardless of its diameter and can prevent problems such as dropping the gripped article.

[0005]

[Means for Solving the Problems]

[Structure] The characteristic structure of the invention according to claim 1 is, in the robot hand described at the beginning, a finger opening diameter change adjusting mechanism for changing and adjusting an initial opening diameter of the finger section, and each finger section located around the article. Detecting means for detecting that the base end side of the object has approached or contacted the article;
Control means for controlling the holding and gripping of the article by the finger portion at the first position, the control means comprising:
The initial opening diameter of the finger part is set to the large diameter side, and each finger part is positioned around the article in a state where the finger part is opened, and then the finger opening diameter changing adjustment mechanism is reduced in diameter. When the detecting means detects that the base end side of the finger portion approaches or comes into contact with the article, the finger portion is configured to be gripped and bent to the closing side based on the detection result. It is in.

According to a second aspect of the present invention, in the invention according to the first aspect, the detecting means is configured to adjust the finger opening diameter changing mechanism when the base end side of each finger contacts the article. This is to detect that the drive unit has stopped.

According to a third aspect of the present invention, in the invention according to the first aspect, the detecting means is provided for the finger opening diameter change adjusting mechanism when the base end side of each finger portion comes into contact with the article. It is to detect that the drive speed of the drive unit has started to decrease.

According to the structure of the first aspect, the initial opening diameter of the finger portion is set to the large diameter side, and each finger portion is placed around the article at the first position in a state where the finger portion is opened. After that, when the finger opening diameter change adjusting mechanism is operated to reduce the diameter and the detecting means detects that the base end side of the finger part approaches or contacts the article, each finger part is closed based on the detection result. The folding operation is performed to embrace and grasp the article. Since the article is gripped in this way, even if the article is small or large, the finger portion can be evenly applied to the article from the base end to the tip side, and the article is embraced. The posture of the grasped finger portion can be set to a posture suitable for grasping that matches the shape of each article.

According to the second aspect of the present invention, in addition to the operation similar to the operation of the first aspect, the detecting means can be configured such that the base end side of each finger contacts the article. Accordingly, since the stop of the drive unit of the finger opening diameter change adjusting mechanism is stopped, a sensor for detecting the stop position of the drive unit is not required.

According to the configuration of claim 3, in addition to the same operation as the operation of the above-described configuration of claim 1, the following operation can be obtained. For example, if the detecting means is configured to detect that the drive unit of the finger opening diameter change adjusting mechanism has stopped by the base end side of each finger contacting the article, the article is like a lettuce. If it is a soft spherical vegetable, it is unavoidable that the spherical vegetable is gripped by each finger with a strong force and damaged, but in the configuration of claim 3, the detecting means is a base end of each finger. This detects that the drive speed of the drive unit of the finger opening diameter change adjusting mechanism has started to decrease due to the side contacting the article, so that the gripping force does not become too strong and is gripped with an appropriate force. It can avoid damage to spherical vegetables.

[Effect] Therefore, according to the structure of the first aspect, the article can be firmly grasped by the finger portion regardless of the diameter thereof, and the trouble of dropping the grasped article or distorting the posture can be prevented. A robot hand that can be provided.

According to the configuration of claim 2, in addition to the same effect as the effect of the configuration of claim 1, it is possible to detect the stop position of the drive unit of the finger opening diameter change adjusting mechanism. Since no sensor is required, the manufacturing cost can be reduced.

According to the third aspect of the present invention, in addition to the same effects as those of the first aspect, when the article is a soft spherical vegetable such as lettuce, the spherical Vegetables can be prevented from being damaged, and the commercial value of spherical vegetables can be prevented from being reduced, and spherical vegetables can be prevented from being shipped as products.

[0014]

Embodiments of the present invention will be described below with reference to the drawings. As shown in FIG. 1, a lettuce packaging device 1 (hereinafter abbreviated as a packaging device) and the packaging device 1
And a lettuce supply device 2 (corresponding to a crop supply device) for supplying lettuce to the floor independently of each other, and a control device 3 (corresponding to control means) for controlling both devices 1 and 2 are provided. And lettuce packaging equipment.

As shown in FIG. 2, the lettuce supply device 2 comprises a round pipe-shaped main frame 4 standing on the floor surface facing the front wall of the packaging device 1 from the packaging device 1. A round pipe provided on the side of the main frame 4 opposite to the packaging device 2, with the transport end of the belt conveyor 5 feeding the lettuce supplied by the operator laterally to the packaging device 1 side. A first horizontal support frame 6 is supported via a support bracket 71 provided with a downward U-shaped member 71A, and a leg 5A is provided on the conveyor start end side of the belt conveyor 5, and a predetermined take-out is performed by the belt conveyor 5. The robot hand 9 which grips the lettuce sent to the position A (corresponding to the first position) with a plurality of finger portions 16 and takes out the lettuce and sends it to the lettuce receiving portion 8 of the packaging device 1 is moved to the packaging device 1 side of the main frame 4 It is constituted by supported by the second transverse support frame 10 provided on the side. A pair of shelves 11 are formed on both sides of the belt conveyor 5 in the width direction on the transport start end side, and a knife for root cutting of lettuce and a towel for wiping lettuce juice after root cutting can be placed. It is like that.

An annular lettuce support portion 19 having a plurality of notches 21 for allowing the plurality of finger portions 16 to enter the respective portions from the radially outer side to grip the lettuce.
A and a lettuce support member 19 made of rubber comprising a circular seat plate 19B integrally provided with the lettuce support portion 19A are provided at a constant pitch on the conveying surface of the belt conveyor 5, and the cut surface of the lettuce is set to It is configured to be conveyed to the robot hand 9 side while being positioned and supported by the lettuce support portion 19A in such a posture. The support portion 19A is raised from the circular seat plate 19B, and the lettuce is received by the circular-shaped receiving portion on the upper end side, so that the lettuce is rounded.
The finger portion 16 is supported in a state of being floated from the head so that the tip side of the finger portion 16 can be turned around to the top of the lettuce. The belt conveyor 5 is of an intermittent operation type that repeats an operation of stopping by a set time after moving by one pitch of the constant pitch.

The packaging device 1 receives the lettuce from the lettuce slot 7 formed in the lettuce receiving portion 8 at the center of the upper surface and packs it with a transparent packaging sheet 49 (see FIG. 14). An opening 12 (FIG. 1)
7) discharges the lettuce after packaging.

As shown in FIG. 5, the robot hand 9
Is provided with a support bracket 13 on the second lateral support frame 10, and the first electric motor M1 and the support bracket 1
A finger support member 15 that suspends and supports a plurality of finger portions 16 is provided on the swing end side of a swing arm 14 that is supported by the drive swingably. A posture holding mechanism 17 for holding the posture of the part 16 is provided. With the swing of the swing arm 14, the finger part 16 draws an arc trajectory in a downward posture and the take-out position A and the lettuce inlet 7
Is configured to reciprocate between a feeding position B (corresponding to a second position) corresponding to.

As shown in FIG.
Is formed of a hollow rubber material having a bellows 16a formed on the back side at regular intervals in the longitudinal direction, and an opening on the base end side thereof is externally connected to a flanged support pipe 18 so that the compressor 20
The finger 16 is bent and deformed into a gripped state by the supply pressure of air into the finger 16 from (see FIG. 6), and is restored to a released state by discharging air.

As shown in FIG. 8, a first proximity sensor 23 for detecting that the swing arm 14 is almost upright through a metal fitting 22 provided on the swing arm 14 is a side surface on the side of the support bracket 13. 13A, based on the detection information of the first proximity sensor 23, the storage is stopped in a substantially upright posture, and the swing arm 14 is provided with a pair of detected plates 2
4 are arranged side by side in such a manner that one end of the arm 4 projects laterally from the swing arm 14, and the fact that the swing arm 14 is located at the lettuce take-out position A or the lettuce feed-in position B is considered as one of the pair. A pair of second proximity sensors 25 that detect via a corresponding one of the detected plates 24
Is provided on the side surface 13A on the side of the support bracket 13, and based on the detection information of the pair of second proximity sensors 25, the swing arm 14 is stopped and the swing direction is controlled to be switched in the opposite direction. Is configured.

As shown in FIG. 5, the posture holding mechanism 17 comprises a support shaft 26 integrally provided on the finger support member 15 in a state along the lettuce transport direction.
4 is supported on the swing end of the swing arm 14 so as to be rotatable around the support shaft axis P in a posture parallel to the swing axis O of FIG.
An upper toothed pulley 27 rotatably provided integrally with the support shaft 26 in a state where the shaft center is located on the support shaft center P, and a swing arm in a state where the shaft center is located on the swing shaft center O A toothed belt 30 is wound around a lower toothed pulley 28 fixed to the support bracket 13 via a support piece 29 separately from the toothed belt 14.

As shown in FIG. 4, the finger supporting member 15 is formed by connecting a hollow, umbrella-shaped finger holding portion 15B to the lower end of a vertical pipe portion 15A. Explaining the structure of
An air cylinder 33 provided with an elastically deformable lettuce extruded body 32 in which a sponge 32a is covered with a rubber or soft resin 32b having a smooth surface is provided at the tip of a piston rod 31 having an oval cross section. The body 32 is supported in a downward position from the vertical pipe portion 15A to the hollow portion of the finger holding portion 15B so as to protrude and retreat from the support member portion surrounded by the base end sides of the plurality of finger portions 16, and the finger support member 15 The piston rod 31 is inserted through an oval hole 35A of a bracket 35 attached to a bottom plate 34 of the packaging device 1 so that the lettuce that has been released or almost released can be pushed into the lettuce receiving portion 8 of the packaging device 1 and the finger portion is formed. A finger opening diameter change adjusting mechanism 36 for changing and adjusting the initial opening diameter of the sixteen is provided. The cutout 32A is provided in the lettuce extruded body 32 to allow each of the finger portions 16 in the gripped state to enter the finger 16 individually.
(See FIG. 5).

As shown in FIGS. 4, 9, 10, and 11, to configure the finger opening diameter change adjusting mechanism 36, the cylinder tube 37 of the air cylinder 33 is connected to the finger supporting member 15 by the cylinder shaft center. Each support pipe 18 is configured to be rotatable around Q, and is allowed to move individually in the radial direction of the finger support member 15 with respect to the finger support member 15.
Are respectively inserted into the plurality of guide grooves 38 along the radial direction provided on the bottom plate 34 of the finger support member 15, and each support pipe 18 is inserted into a plurality of long holes 39 formed in a spiral shape around the cylinder axis Q. Is rotated in accordance with the rotation of the cylinder tube 37 in a state in which the guide pipe 3 is pushed and pulled in the radial direction.
A disk-shaped cam body 40 to be moved inside the cylinder 8 is externally fitted and fixed to the lower end of the cylinder tube 37, and a second electric motor M2 (driving) for rotating the cylinder tube 37 provided at the lower end of the main frame 4 is provided. Part) and the cylinder tube 37
A rotating disk 41 fitted externally so as to be rotatable integrally with the upper end of the opposite side to the lettuce extruded body 32 side is linked via a wire 42.

The second electric motor M2 has such an output that the base end side of each finger portion 16 located around the lettuce comes into contact with the lettuce and stops when the contact pressure exceeds a certain level. A detecting means for detecting, that is, a potentiometer 43 for detecting that the rotation change of the rotating disk 41 has disappeared is provided, and by the control of the control device 3,
The initial opening diameter of the finger portions 16 is set to the large diameter side (FIGS. 9 and 11A), and each finger portion 16 is positioned around the lettuce with the finger portions 16 opened, and thereafter, Activating the second electric motor M2 on the reduced diameter side,
When the potentiometer 43 detects that the base end side of the finger portion 16 approaches or contacts the lettuce, the respective finger portions 16 are configured to be gripped and bent to the closing side based on the detection result (FIGS. 10 and 10). 11 (b)).
Since the lettuce is grasped in this manner, the lettuce can be embraced and grasped, and even if the lettuce is small or large, the finger portion 16 has a shape suitable for grasping along the shape of the lettuce when grasped. become.

As shown in FIG. 4, FIG. 6, and FIG. 7, an air storage space 56 is formed between the cylinder tube 37 of the air cylinder 33 and the vertical pipe portion 15A, so that the compressor 20 and the air storage space are formed. The air gap 56 is connected to the air gap 56 via a first hose 72.
The plurality of portions and the base end side opening of each finger portion 16 are separately connected to each other through a plurality of second hoses 73 so that air is supplied and discharged from the compressor 20 into each finger portion 16. It is composed.

As shown in FIGS. 1, 2 and 3, an upper part which covers the moving space of the finger part 16 of the robot hand 9 from the side of the transporting end of the belt conveyor 5 to the lettuce receiving part 8 of the packaging apparatus 1 from the side. Open transparent cover 44
Are provided at 45 on a third lateral support frame provided in a cantilever manner on the main frame 4 above the first lateral support frame 6. The cover 44 has a handle 46 on the free end side, and the outer frame portion 4 of the third lateral support frame 45.
With the 5A as a fulcrum, the swinging can be switched between an open state and a closed state via a gas spring 47.

The operation of the robot hand 9 will be briefly described (see FIGS. 12 to 17). Swing arm 14
Swings down to the takeout position A side, and the finger portion 16 whose initial opening diameter is set to the large diameter side is located around the lettuce (FIG. 13). Finger opening diameter change adjusting mechanism 36
Operates to reduce the diameter, and as described above, each finger portion 16 embraces and holds the lettuce (FIG. 12). Next, when the swing arm 14 swings to the lettuce feed position B side and stops (FIG. 14), and when each finger portion 16 releases gripping or almost gripping of the lettuce, the air cylinder 33 is driven to extend and the lettuce extruded body is moved. 32 pushes the lettuce into the lettuce receiving section 8 of the packaging device 1 (FIG. 15). The lettuce is sent onto the movable table 52 while being squeezed together with the packing sheet 49 by the rubber squeezing member 51 of the packaging apparatus 1 (FIG. 16).
Then, the lettuce is packaged through several steps such as lowering of the movable base 52 and collected by the container 46 (FIG. 17).
An excess portion on the upper end side of the packaging sheet 49 is cut by a cutter (not shown), and the cut piece is cut into a bag 70 provided in the packaging device 1.
(See FIG. 1).

[Another Embodiment] In addition to lettuce, the article may be a vegetable or fruit such as cabbage, or may be other than a crop.

The detecting means detects that the rotation speed of the second electric motor M2 has started to decrease due to the contact of the base end side of each finger portion 16 with the article, and that the current value of the second electric motor M2 has increased. May be detected by the following.

The detecting means may detect that the base end side of each finger portion 16 located around an article such as a lettuce has approached the article.

[Brief description of the drawings]

FIG. 1 is an overall perspective view of a lettuce packaging facility.

FIG. 2 is an exploded perspective view showing a structure around a conveyance end side of a belt conveyor.

FIG. 3 is a diagram showing the lettuce packaging equipment as viewed from a lower side in a conveying direction of the belt conveyor.

FIG. 4 is a longitudinal sectional side view of a robot hand.

FIG. 5 is a side view of the robot hand.

FIG. 6 is a cross-sectional plan view showing an air supply / discharge path between a compressor and a hollow portion of a finger portion.

FIG. 7 is a view showing an air supply / discharge path between a compressor and a hollow portion of a finger portion.

FIG. 8 is a diagram showing a state in which a swing arm in a robot hand is upright;

FIG. 9 is a diagram showing a finger opening diameter change adjusting mechanism in a state where the opening diameter of the finger portion is large.

FIG. 10 is a view showing a finger opening diameter changing adjustment mechanism in a state where the opening diameter of the finger portion is reduced.

11A is a cross-sectional plan view showing the finger portion in a state where the open diameter of the finger portion is large and the lettuce immediately before being gripped by the finger portion. FIG. 11B The open diameter of the finger portion is small. Cross-sectional plan view showing a finger portion in a state and a lettuce gripped by the finger portion

FIG. 12 is a diagram showing a finger portion holding a lettuce;

FIG. 13 is a diagram showing a state in which the robot hand grips the lettuce at the removal position.

FIG. 14 is a diagram showing a state in which the robot hand is located on the sending position side.

FIG. 15 is a diagram showing a state in which a lettuce is pushed out to a lettuce receiving portion by a lettuce extruding body.

FIG. 16 is a diagram showing a state where lettuce is supplied to a movable base by a lettuce extruding body.

FIG. 17 is a diagram showing a state where lettuce after packaging is collected in a container.

[Explanation of symbols]

 3 control means 16 finger part 36 finger opening diameter change adjusting mechanism 43 detecting means A first position B second position M2 drive unit

 ──────────────────────────────────────────────────続 き Continuing on the front page (72) Inventor Takashi Iwakawa 64 Ishizukita-cho, Sakai-shi, Osaka Inside Kubota Sakai Works

Claims (3)

[Claims] 1. A robot hand for holding and grasping an article at a first position by a plurality of finger portions and feeding the article to a second position, wherein a finger opening diameter change adjusting mechanism for changing and adjusting an initial opening diameter of the finger portion. Detecting means for detecting that the base end side of each finger portion located around the article approaches or comes into contact with the article; and control means for controlling holding and gripping of the article by the finger section at the first position. The control means sets the initial opening diameter of the finger portion to the large diameter side, and positions each finger portion around the article in a state where the finger portion is opened, and thereafter, the When the finger opening diameter change adjusting mechanism is operated to reduce the diameter, and the detecting means detects that the base end side of the finger portion approaches or contacts the article, the detection result is obtained. Robot hand that is configured to actuate gripping bending each finger portion closing side based. 2. The apparatus according to claim 1, wherein the detecting means detects that the driving section of the finger opening diameter changing adjustment mechanism has stopped when the base end side of each finger section contacts the article. Robot hand. 3. The detecting means detects that the drive speed of the drive unit of the finger opening diameter change adjusting mechanism has started to decrease due to the base end side of each finger contacting the article. The robot hand according to claim 1.