JPS60217084A - Robot hand with visual device - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

[Detailed Description of the Invention] ``Kihasu'' is a catch 41]! The mower is equipped with a visual device to detect the position of the elephant, and based on the detection result of the capture target by the nllll display device, the capture hand provided at the tip of the multi-jointed arm is Same v in the direction of the capture target
4) ``Regarding a robot hand with a visual device equipped with a means for driving each of the 111 joints of the arm in conjunction with each other,
In particular, the present invention relates to a robot hand with a visual device that can be suitably applied to a hand such as a manipulator equipped with a large R-shaped arm, such as a robot hand for purulent aspiration that the present applicant has already proposed.

Conventionally, a visual device such as a camera is provided as a means for detecting the entire position of the object to be captured, and the hand is guided to the position of the object to be captured based on the result of the detection of the position of the object to be captured by this visual device. For this purpose, a means for driving the arm T-drive was adopted. Generally, the field of view of the visual device aFi is fixed at A so that it faces in a specific direction, or alternatively, a drive mechanism (i?) is provided separately from the drive of the arm to change the field of view. configured as possible.

However, in the conventional configuration described above, in order to make the movement of the arm and the visual device the same, it is necessary to perform all complex calculation processes such as coordinate rhombus conversion so that the drive mechanism of the dogs is linked. However, there was an inconvenience in that the structure of the equipment required multiple meters.

On the other hand, when the robot hand is at the position hff of the target, the hyperactive approach moves linearly between the current position of the hand and the target! I! It is efficient to use IJ, and in that case, if the moving direction of the hand and the visual field direction of the visual device match, it is easy to recognize all objects to be captured, and control can be simplified.

There was a misfired 4t GoL who was impregnated by a samurai,
t-I EI'IJ uses a robot hand with a visual device as the capture target, and performs it efficiently, and also simplifies the entire movement of the arm. Enthusiasts may also be provided with a 110-bot hand device.

In order to achieve the above I:1, the robot hand with a visual device according to the present invention is provided by fixing the visual device to the shoulder joint of the arm in a state where the visual field direction matches the direction of the hand, and What makes it special is that it is designed to simultaneously change the direction of the dog's field of view and the direction of the dog's hand.

In other words, when the arm is driven to change the rotation of the hand, the rotation of the visual device changes accordingly, so that the direction of the visual device and the direction of the hand relative to the target can be adjusted automatically without using the immediate control means sound. They match.

Due to the above structure, the following excellent effects have been achieved.

That is, since the visual device f'k is fixed to the shoulder joint of the arm in a state where its visual field direction and the direction of the hand match, the drive mechanism for changing the visual device f'k is attached to the arm. It also serves as the drive mechanism for the shoulder joint of the camera, eliminating the need for a drive mechanism to change the orientation of the visual device.

Furthermore, when the visual device 11 is directed in the direction of the object to detect the object, the hand automatically moves in the same direction, so that it is necessary to detect the position of the object and move the hand by driving the ζth arm. It became obvious to simplify the control algorithm of 01.

Hereinafter, embodiments of the present invention will be explained based on all the drawings.
Shoulder joint part (horizontal II in AI)
The 1st arm (III) is pivotally supported around a pivot point (IIIl core fP), and is pivotally supported around a vertical axis (also rotated in February) Ll with respect to a support frame (not shown). The second arm (lb) has its proximal end pivotally supported around the horizontal l1tI core (Q) at the elbow part (B) at the distal end of the lth arm (la). The second arm of the bike (l
b) The arm il+ consists of the eighth arm (lc) whose proximal end is pivoted while rotating in the direction of the horizontal axis (R) while resting on the wrist part (C) at the distal end of the arm il+. The target to be captured (D
A hand (2) equipped with a mechanism (r shown in the figure) for capturing i f is pivotally supported, and a television camera 1311-t- as a viewing device is attached to the shoulder joint part (N).
When the viewing direction of the arm (tl k is driven) and the longitudinal direction (X) of the eighth arm (lc) and the longitudinal direction (Yl) of the l-th arm (1m) are perpendicular to each other, the eighth arm (IC) is fixed in a state that coincides with the longitudinal direction (X).

On the other hand, the first arm (1m) and the second arm (ib
) are roughly the same length 11).

As shown in FIG. 2, the dog's axes (P) and (Q )
, (R) around each arm (la), (lb), (l
c), the rotation @ (X) of the 8th arm (lc) is similarly in the direction of the captured object (Dl), the entire arm (1) t - the vertical axis center (Z) + hearing My heart and seven hearts,
! @1 arm (la) and 2nd arm (lb) are touching each other, and the rotation of 581 arm (la) @(Y) and IIJ ff
Adjust so that the 8th A (le) turn @ (X) is at a right angle.

Then, the target (D) is captured by the television camera (3).
) to the arm (1), that is, the hand (2), and after detecting the distance, etc. and υ position information of the arm (1), that is, the hand (2), the entire eighth arm (LC) is rotated on the straight line connecting the shoulder joint part (AJ) and the capture target (DJ). X) c From yzv, the valley arms (la), (lb), (1(:) are the axis of the dog tP
), (Ql.

(R) Rotate around to capture the hand (2) & target (
The fishing line is exclusively for fishing in a straight line in the direction of D).

By the way, each of the arms (la), (lb), (lc)
No. dJ jlA /i, FJf7gE No. 17-A
C1a) The angle (β) that the 27th arm (lb) makes with the axis (Q) as the center, the direction of the @1 arm (la) (
The angle VJl) that Y and the direction (Y') perpendicular to the same (X) of the eighth arm (lc), and -IJ's second arm (lb) is Same @(X
) and the direction (Y') perpendicular to J! ! By controlling the control unit so that i (r) holds the relationship of equation (1) shown in F below, the hand (2)
It's 6 (, which is 6), which allows the straight progression of K to C without changing.

β α=r=−・・・・・・tl) Therefore, the direction of the TV camera (3) is captured by the image (D)
With just the simple operation of turning the I/C,
While the hand (2) is aiming in the direction of the capture target (DJ), the hand (2) is then moved with a very simple arm (drive #) without any processing such as coordinate transformation. By doing this, I was able to create 4 rows.

Similarly, each arm (la
), (lb), and (lc) '5 are detected by a rotation angle t encoder or the like of a motor rotating around each of the axes (PJ, ((1, (RJ), Although it may be configured to perform puncture control, it is possible to further simplify the OJ function by using the means shown in F below.

That is, the first arms (la), (lb), and (lc) are rotated only at the shoulder joint (A), and the second arm (lb) and the arm (11) are rotated. # @ Structure j = - The IIJ of the construction is very Wi accumulated OJ ability.

In other words, the captured pair of hand (2)! The movement i1J up to (D) can be controlled only by the rotation angle of the shoulder joint portion A).

[Brief explanation of drawings]

The drawings show an example of the a-pot hand with a visual device according to this example, and Fig. 1 is a plan view showing the overall configuration, and Fig. 2 is an explanatory diagram of the previous work of the arm. fi+...Arm, (2)...Hand, (3J, old...Visual equipment, (A)...Shoulder joint part, (D) River... Capture pair t. Building 1 Figure

Claims (1)

[Claims] The object to be captured (1)) is equipped with a device (3) that detects the position of the object to be captured by the visual device (3). (for capturing) provided at the tip of arm txt12) k t
The robot is equipped with means for driving the six joints of the arm (1) in conjunction with each other in order to guide the object ('...to be captured tD) in a certain direction. 11. The visual field (3) of the shoulder joint of the arm il+ (attached to AJ, with the direction of the visual field matching the direction of the visual field (2)) A robot equipped with a visual device is characterized in that the direction change and the same @f sentence of the hand (2) are performed simultaneously in conjunction with each other.