NL2019386A - Robot hand device - Google Patents

Abstract

A robot hand device (10) comprises multiple holding portions (12) and a driving unit (13). Each of the holding portions (12) has a spiral portion (15) and a rotating shaft (14), which is movably connected to the driving unit (13). Each of the holding portions (12) is rotated by the driving unit (13) around a center axis of the rotating shaft (14) in synchronism with one another, so that an accommodation space (C1) is operatively formed by the multiple holding portions (12). A physical body (F) is concurrently accommodated and held in the accommodation space (C1), when the accommodation space (C1) is formed by the multiple holding portions (12).

Description

NL A 2019386

Patent center

The Netherlands © 2019386

APPLICATION FOR APPLICATION (51) Int. CL:

B25J 15/08 (2018.01) (21) Application number: 2019386 © Application submitted: 02/08/2017

© Priority: © Applicant (s): 22/08/2016 JP 2016-161945 DENSO CORPORATION in Kariya-shi, Japan, JP. © Application registered: 01/03/2018 © Inventor (s): Hiromu Ariharate Kariya-shi (JP). © Request published: 02/03/2018 © Authorized representative: ir. C.M. Jansen et al. In The Hague. © ROBOT HAND DEVICE

(57) A robot hand device (10) comprising multiple holding portions (12) and a driving unit (13). Each of the holding portions (12) has a spiral portion (15) and a rotating shaft (14), which is movably connected to the driving unit (13). Each of the holding portions (12) is rotated by the driving unit (13) around a center axis of the rotating shaft (14) in synchronism with one another, so that an accommodation space (Cl) is operatively formed by the multiple holding portions (12). A physical body (F) is competitively accommodated and held in the accommodation space (Cl), when the accommodation space (Cl) is formed by the multiple holding portions (12).

This publication corresponds to the documents originally submitted.

P116368NL00

TITLE; ROBOT HAND DEVICE

The present disclosure relates to a robot hand device.

A robot hand device is known in the art, for example, as disclosed in Japanese Patent No. 5,762,7 58. The robot hand device of this prior art includes a grip unit for gripping a physical body, a flexible film for covering a grip surface of the grip unit, and fluid filled in a space formed between the grip surface and the flexible film. In the robot hand device, an amount of the fluid in the space between the grip surface and the flexible film is adjusted in order to equally distribute fluid pressure, which is applied to an outer surface of the physical body. The robot hand device of the prior art aims to grip the physical body without causing damage to the outer surface of the physical body (for example, without scratching up the physical body),

The structure for gripping the physical body without causing damage to the outer surface by distributing gripping pressure and / or force to be applied to the physical body is further known in the art other than the above prior art (JP 5, 762, 758) . Although the gripping pressure and / or force applied to the outer surface of the physical body can be equally distributed, it is not possible to avoid a situation that the grip unit is directly brought into contact with the physical body. As a result, it may inevitably happen that the outer surface of the physical body is damaged at such a contact portion.

The present disclosure is made in view of the above problem. It is an object of the present disclosure to provide a robot hand device, which is capable of holding a physical body without causing damage to an outer surface of the physical body.

According to to one or features or the present disclosure, a robot hand device (10, 20 30 40) composed of a finger unit (12A, 12B, 22A, 22B ) and a driving unit (13). The finger unit includes multiple

The driving unit portions (12, 22j (13) in holding portions (12, 22) for operatively forming an accommodation space (C1, C2, C3) in order to accommodate and hold a physical body (F).

rotates each of the holding synchronism with one in such a way that the physical body (F) is accommodated in the accommodation space competitively when the accommodation space is formed by the holding portions (12, 22).

According to the above feature of the present disclosure, the accommodation space for the physical body is operatively formed by rotating each of the holding portions, which is different from the prior art according to which the gripping pressure and / or force is applied directly to the outer surface of the physical body. However, according to the robot hand device or the present disclosure, it is possible to hold the physical body without causing damage to the outer surface of the physical body.

The above and other objects, features and advantages of the present disclosure will become more apparent from the following detailed description made with reference to the accompanying drawings. In the drawings:

FIG. 1 is a schematic plan view showing a structure of a robot hand device according to a first embodiment of the present disclosure;

FIG. 2 is a schematic side view showing a structure or a holding portion or a finger unit according to the first embodiment;

FIG. 3 is a schematic top plan view showing the structure of the holding portion of the first embodiment;

FIG. 4 is a schematic perspective view showing a cross section of the holding portion at a position taken along a line IV-IV in FIG. 3;

FIG. 5 is a schematic perspective view showing a cross section of the holding portion at another position tasks along a line V-V in FIG. 3;

FIG. 6 is a schematic bottom view showing a structure or a driving unit of the robot hand device;

FIG. 7 is a schematic plan view showing an operating condition of the robot hand device of the first embodiment, the finger unit being in its initial condition;

FIG. 8 is a schematic plan view showing another operating condition of the robot hand device of the first embodiment, the finger unit being rotated by a certain angle from the initial condition;

FIG. 9 is a schematic view of the robot hand device for explaining an operation, where a physical body is located directly above the robot hand device;

FIG. 10 is a schematic view of the robot hand device for further explaining the operation, the physical body is just above the finger unit of the robot hand device;

FIG. 11 is a schematic view of the robot hand device for further explaining the operation, the physical body is surrounded and held by the finger unit of the robot hand device;

FIG. 12 is a schematic view of the robot hand device for further explaining the operation, the physical body is separated from its related portion and completely surrounded by the finger unit of the robot hand device;

FIG. 13 is a schematic view of the robot hand device for further explaining the operation, the physical body is moved to a position at an upper side of the finger unit of the robot hand device in a process of bringing out the physical body from the finger unit;

FIG. 14 is a schematic view of the robot hand device for further explaining the operation, the physical body is further moved to the upper side of the finger unit or the robot hand device in the process or bringing out the physical body from the finger unit ;

FIG. 15 is a schematic plan view showing a structure of a robot hand device according to a second embodiment of the present disclosure;

FIG. 16 is a schematic top plan view showing the structure of the robot hand device of the second embodiment;

FIG. 17 is a schematic side view showing a structure or a holding portion or a finger unit of the second embodiment;

FIG. 18 is a schematic top plan view showing the structure of the holding portion of the second embodiment;

a schematic plan view showing the

FIG. 19 is structure of the device of the second robot hand embodiment, a finger unit or the robot hand device is in its initial condition;

FIG. 20 is a schematic plan view showing the structure of the robot hand device or the second embodiment, the finger unit of the robot hand device being rotated by a certain angle from the initial condition;

FIG. 21 is a schematic plan view showing a structure of a robot hand device according to a third embodiment of the present disclosure;

FIG. 22 is a schematic top plan view showing the structure of the robot hand device of the third embodiment;

FIG. 23 is a schematic view of the robot hand device for explaining an operation of the robot hand device of the third embodiment;

FIG. 24 is a schematic plan view showing a structure of a robot hand device according to a fourth edition of the present disclosure;

FIG. 25 is a schematic top plan view showing the structure of the robot hand device of the fourth embodiment;

FIG. 26 is a schematic view of the robot hand device for explaining an operation, such a finger unit or the robot hand device is rotated by a certain angle from its initial condition; and

FIG. 27 is a schematic view of the robot hand device for further explaining the operation, the finger unit or the robot hand device is further rotated by another angle.

A robot hand device of the present disclosure will be explained here by way of multiple expired and / or modifications with reference to the drawings. The same reference numerals are given to the same or similar parts or portions throughout the multiple expired and / or modifications in order to eliminate repeated explanation.

(First Embodiment)

A robot hand device 10 shown in FIG. 1 is attached to, for example, a forward end of a robot arm (not shown) and used when taking in a physical body, more exactly, when harvesting fruits.

The robot hand device 10 is composed of a base portion 11, a finger unit 12A having multiple holding portions 12, a driving unit 13 and so on.

The base portion 11, which forms a base for the robot hand device 10, is formed in a disc shape plate having a predetermined thickness.

The finger unit 12A having the multiple holding portions 12 is one of examples for forming an accommodation-space forming unit. In the present version, the finger unit 12A of the robot hand device 10 has six holding portions 12. Each of the holding portions 12 has a rotating shaft 14 at its rear end, which is assembled to the base portion 11. Each of the holding portions 12 is movably attached to a front side of the base portion 11 in such a manner that the holding portion 12 is rotatable around a center axis or the rotating shaft 14.

The driving unit 13 is a mechanical section for rotating each of the holding portions 12 or the finger unit 12A.

ί

As shown in Figs. 2 and 3, each of the holding portions 12 has the same configuration to one another and has a spiral portion 15 which is spirally extending along and around the center axis of the rotating shaft 14. The spiral portion 15 is composed of multiple sections which are different from one another in their spiral shapes. A first section, which is a part of the spiral portion 15 between a point A and a point B, as shown in FIG. 2, has a constant radius (a first radius R1). A pitch of the first section, that is, an inclination angle of the spiral shape of the first section, is gradually increased from a first pitch P2 to P2 in a direction to a front end (in an upward direction in the drawings , which is also referred to as a front direction).

In addition, as shown in FIG. 2, a second section, which is another part of the spiral portion 15 between the point B and a point C has a radius (a second radius R2), which is gradually increased from the first radius R1 to the second radius R2 in the front direction. The pitch of the second section is constant at the second pitch P2.

Furthermore, as shown in FIG. 2, a third section, which is a remaining part of the spiral portion 15 between the point C and a point D, has a radius constant at the second radius R2. The pitch of the third section is constant at the second pitch P2.

As shown in Figs. 4 and 5, cross sectional shapes as well as cross sectional areas at cross sections SI and S2 of the spiral shape are different from a cross sectional point to a cross sectional point of the spiral portion 15. Each of the cross sections SI and S2 agreed to a cross section on a plane perpendicular to a direction spirally extending at the respective cross sectional point of the spiral portion 15.

As shown in FIG. 6, the driving unit 13 is provided on a rear side of the base portion 11, that is, on a side opposite of the holding portions 12 or the finger unit 12A. In the present edition, the driving unit 13 includes a planetary gear train 16. The planetary gear train 16 is composed of an internal gear 16a, a sun gear 16b and multiple planetary gears 16c. In the present version, there are six planetary gears 16c provided between the internal gear 16a and the sun gear 16b, the number of the planetary gears 16c agreed to the number of the holding portions 12.

An axial rear end of the rotating shaft 14 or each holding portion 12 passes through the base portion 11 in an axial direction of the robot hand device 10. The axial rear end projects outwardly from a rear side surface of the base portion 11. Each of the planetary gears 16c is fixed to the axial rear end of the rotating shaft 14 or the respective holding portion 12 on the rear side of the base portion 11. The sun gear 16b has a hollow shape at its center.

When the sun gear 16b is rotated by a driving portion (not shown), such as an electric motor provided, for example, in the robot arm, the planetary gears 16c are rotated between the internal gear 16a and the sun gear 16b. Then, the holding portions 12 are rotated in accordance with the rotation of the planetary gears 16c.

In the present embodiment, each of the planetary gears 16c, which is respectively fixed to the axial rear end of the rotating shaft 14 or the holding portion 12, has the same size and the same shape to one another. In other words, each of the planetary gears 16c is arranged around the sun gear 16b, that is, around a center of the base portion 11, and located at a position separated from the sun gear 16b by a predetermined distance. As a result, the multiple planetary gears 16c (more exactly, the multiple holding portions 12) are rotated in synchronism with the rotation of the sun gear 16b. As shown in FIG. 6, the planetary gears 16c and the holding portions 12 are arranged at equal intervals in a circumferential direction of the robot hand device 10.

As shown in Figs. 1, 7 and 8, in the robot hand device 10 of the present edition, a finger unit position, that is, a rotational angular position or each holding portion 12 has been changed in accordance with a change of a rotational angle of the sun gear 16b .

When the sun gear 16b is in its initial position, the finger unit 12A is shown in its initial condition in FIG. 7. When the sun gear 16b is rotated from the initial position by a predetermined angle, for example, by 65 degrees, the finger unit position has been changed from the initial condition of Fig. 7 to a finger unit position shown in FIG. 1 via a finger unit position shown in FIG. 8. In the finger unit position or Fig. 1, an accommodation space Cl is formed in the finger unit 12A or the robot hand device 10, which is surrounded by the multiple holding portions 12 so as to form an almost spherical shape or an oval sphere shape. A physical body, which is a subject to be held by the robot hand device 10, can be accommodated in the accommodation space Cl. The finger unit position of

FIG. 8 corresponds to a condition that the sun gear 16b is rotated by a predetermined angle of 25 degrees from the initial position of FIG. 7.

Now, an operation of the robot hand device 10 will be explained. The robot hand device 10 is operated in a first process for holding the physical body, for example, a fruit F or a tree (not shown), a second process for separating the fruit F from the tree, and a third process for bringing out the fruit F from the robot hand device 10.

As shown in FIG. 9, the robot hand device 10 attached to the forward end of the robot arm (not shown) is in the initial condition. As shown in FIG. 10, the robot hand device 10 is gradually moved to a position closer to and directly below the fruit F. Then, the multiple holding portions 12 are rotated in synchronism with one another, while the robot hand device 10 is further moved to the fruit F The accommodation space Cl is gradually formed in accordance with the rotation of the holding portions 12.

When the multiple holding portions 12 are further rotated, that is, when the accommodation space Cl is further formed, while the robot hand device 10 is further moved closer to the fruit F, the finger unit position of the robot hand device 10 is changed to an accommodation condition in that the fruit F is fully accommodated in the

accommodation space Cl operatively formed by the multiple holding portions 12, ash shown in FIG. 11. Since each of the holding portions 12 is formed in the spiral shape, the fruit F relatively moves in a

direction to the base portion 11 in the following manner.

During the process from a step of moving the robot hand device 10 to the position closer to the fruit F (Figs. 9 and 10) to a step of accommodating the fruit F in the accommodation space Cl (Fig. 11), the fruit F moves along the spiral shape of the holding portion 12, while the fruit F keeps a gap with the rotating holding portion 12 of the spiral shape. More exactly, a space which is formed by the multiple holding portions 12 is moved in the direction to the base portion 11 (in a downward direction) in accordance with the rotation of the holding portions 12 and the fruit F is surrounded by the holding portions 12. Therefore, the fruit F relatively moves in the direction to the base portion 11 together with the space, which is formed by the rotating holding portions 12 and which is moved in the direction to the base portion 11 in accordance with the rotation of the holding portions 12.

Likewise, it is possible that each of the holding portions 12 rotates without being in contact with an outer periphery of the fruit F (that is, a surface skin of the fruit) moving in the direction to the base portion 11, during the process from the step of moving the robot hand device 10 to the position closer to the fruit F (Figs. 9 and 10) to the step of accommodating the fruit F in the accommodation space Cl (Fig. 11).

When the holding portions 12 are further rotated from the accommodation condition of the robot hand device 10 shown in FIG. 11, each of front ends of the holding portions 12 comes closer to one another, as shown in Figs. 12. In a condition or FIG. 12, each of the front ends of the holding portions 12 overlap with another in the axial direction of the robot hand device 10. A caulome portion Fa of the fruit F, which is pinched by the front ends of the holding portions 12, as shown in FIG. 11, is cut off by the front ends of the holding portions 12. The finger unit position of the robot hand device 10 is moved to a separated condition shown in FIG. 12, in which the fruit F is accommodated in the accommodation space Cl is separated from the tree (which is also referred to as a related portion of the physical body).

When the holding portions 12 are further rotated from the separated condition of the robot hand device 10 shown in FIG. 12, the accommodation space Cl gradually disappears, as shown in Figs. 13 and 14. In other words, the space formed by the holding portions 12 and holding the fruit F is gradually moved in an upward direction in accordance with the rotation of the holding portions 12. As a result, the fruit F is pushed out from the rotating holding portions 12. The operating condition of the robot hand device 10 is moved to a bring-out condition (Fig. 14), in which the fruit is separated from the tree and accommodated in the accommodation space Cl can be brought out from the robot hand device 10.

In the process from the separated condition (Fig. 12) to the bring-out condition (Fig. 14), each of the holding portions 12 has a smoothly changing spiral configuration when it is rotated. Therefore, it is possible to smoothly push out the fruit F along the spiral configuration of the holding portion 12. It is possible to avoid a situation that the outer periphery of the fruit F is damaged in the process of pushing out the fruit F from the robot hand device 10.

As above, the operational condition of the robot hand device 10 or the present edition is changed when the holding portions 12 having the spiral configurations are rotated by the driving portion 13, that is, from the accommodation condition (Fig. 11) in which the physical body is accommodated in the accommodation space Cl to the separated condition (Fig. 12) in which the physical body is accommodated in the accommodation space Cl is separated from its related portion (the tree in the present edition), and further to the bring- out condition (Fig. 14) in which the physical body is accommodated in the accommodation space Cl and separated from the related portion is brought out from the accommodation space Cl.

According to the robot hand device 10, each of the holding portions 12 of the finger unit 12A which operatively forms the accommodation space Cl has the spiral configuration around the rotating shaft 14. Each of the holding portions 12 is rotated in such a way that each of the holding portions 12 avoids the fruit F moving in the downward direction to the base portion 11. In other words, it is possible to accommodate the fruit F in the accommodation space Cl during the accommodation space Cl is being formed without completely or substantially bringing each of the holding portions 12 into direct contact with the fruit F.

As above, the structure of the present embodiment is different from that of the prior art, in which the gripping force or pressure is applied directly to the outer peripheral surface of the physical body. It is, therefore, possible in the present embodiment to hold the fruit F without causing any damage on the outer peripheral surface. In the present version, any one of the holding portions 12 may be brought in contact with the fruit F to some extent during the process for accommodating it in the accommodation space Cl. However, such a minimal contact between the holding portions 12 and the fruit F is acceptable.

In addition, according to the robot hand device 10 or the present edition, the spiral shape of the spiral portion 15 varies at different sites of the holding portion 12. In other words, it is possible to design the configuration of the holding portion 12 in such a manner that the configuration varies at different sites depending on characteristics of the physical body to be hero by the robot hand device, for example, a shape, a size, a hardness, a weight and so on or such physical body. Then, it becomes possible to more securely accommodate the physical body in the accommodation space Cl without completely or substantially bringing the holding portions into direct contact with the physical body.

In addition, according to the robot hand device 10 or the present edition, the multiple holding portions 12 are rotated in synchronism with one another. In other words, it is possible to more certainly avoid the situation that the holding portions 12 may be brought into contact with the physical body to be, by rotating the multiple holding portions 12 in synchronism with one another.

In addition, according to the robot hand device 10 or the present edition, the driving unit 13 is composed of the planetary gear train 16 for rotating the multiple holding portions 12 in synchronism with one another.

According to the above structure, it is sufficient to provide one driving source for rotating one sun gear 16b, which rotates the multiple holding portions 12.

Furthermore, according to the robot hand device 10, the operating condition of the robot hand device 10 is sequentially changed to the accommodation condition, the separated condition and the bring-out condition, when the multiple holding portions are 12 rotated. In other words, it is possible to carry out the harvesting process sequentially including the step for accommodating, the step for separating and the step for bringing out the fruit. It is possible to improve productivity.

(Second Embodiment)

A robot hand device 20 according to a second embodiment of the present disclosure will be explained with reference to Figs. 15 to 20.

As shown in Figs. 15 and 16, a finger unit 22A of the robot hand device 20 has multiple holding portions 22, more exactly, six holding portions 22. Each of the holding portions 22 has a rotating shaft 24, a rear end of which is movably attached to the base portion 11, so that the holding portion 22 is movable around a center axis or the rotating shaft 24 on the front side of the base portion 11.

As shown in Figs. 17 and 18, each of the holding portions 22 has the same configuration to another and has a spiral portion 25 which is spirally extending along and around the center axis of the rotating shaft 24 and an arc-like portion 26 which extends along the center axis of the rotating shaft 24. The arc-like portion 26 is one of examples for a non-spiral portion, which is formed at a rear side of the holding portion 22, which is, a side closer to the rotating shaft 24. The spiral portion 25 is formed on a front side of the holding portion 22 opposite to the arc-like portion 26. In the present edition, the spiral portion 25 is likewise formed as a spiral shape varies at different sites.

As shown in Figs. 15, 19 and 20, in the robot hand device 20 of the present edition, a finger unit position of the finger unit 22A, that is, a rotational angular position of each holding portion 22 has been changed in accordance with the change of the rotational angle of the sun gear 16b.

When the sun gear 16b is in its initial position, the finger unit position or the finger unit 22A is in its initial condition shown in FIG. 19. When the sun gear 16b is rotated from the initial position by a predetermined angle, for example, by 65 degrees, the finger unit position of the robot hand device 20 has been changed from the initial condition of FIG. 19 to a finger unit position shown in FIG. 15 via a finger unit position shown in FIG. 20. In the finger unit position or Fig. 15, an accommodation space C2 is formed in the finger unit 22A of the robot hand device 20, which is surrounded by the multiple holding portions 22. The physical body, which is the subject to be held by the robot hand device 20, can be accommodated in the accommodation space C2. The finger unit position or Fig. 20 corresponds to a condition that the sun gear 16b is rotated by a predetermined angle of 25 degrees from the initial position of FIG. 19.

In the present version, each of the holding portions 22 which is operatively form the accommodation space C2 is formed in the arc-like shape on the rear side and in the spiral shape on the front side. Therefore, the accommodation space C2 formed by the holding portions 22 has an almost spherical shape or an almost oval sphere shape surrounded by the spiral portion 25 at the front side and another almost spherical shape or another almost oval sphere shape surrounded by the arc-like portion 26 at the rear side. In other words, the accommodation space C2 operatively formed by the finger unit 22A agreed to

such a space, in which multiple (two in the present execution) spaces different shapes are combined together. In the robot hand device 20 or the present embodiment, since each of the holding portions 22 is formed

in the spiral shape spirally extending along and around the center axis of the rotating shaft 24 and the arc-like shape extending along the center axis of the rotating shaft 24, it is possible to accommodate the physical body in the accommodation space C2 without bringing the holding portions 22 into the direct contact with the physical body or by avoiding a substantial contact between the holding portions 22 and the physical body. In other words, it is possible to hold the physical body by the robot hand device 20 without causing substantial damages to the outer peripheral surface of the physical body.

In the present version, each of the holding portions 22 has the non-spiral portion, that is, the arkike portion 26. The non-spiral portion is formed in the arc-like shape extending along the center axis or the rotating shaft 24. Even with such a configuration of the holding portion 22, it is possible to accommodate the physical body in the accommodation space C2 without bringing the holding portions 22 into the direct contact with the physical body or by avoiding the substantial contact between the holding portions 22 and the physical body.

The shape of the non-spiral portion is not limited to the arc-like shape extending along the center axis of the rotating shaft 24. Any other shape can be applied to the holding portion 22, so long as each of the holding portions

22 can i be rotated without directly bringing the holding company portion into contact with the physical body and without bringing the holding portions 22 themselves into Contact with one another. (Third Embodiment) a robot hand device 30 according to a third

embodiment of the present disclosure will be explained with reference to Figs. 21 to 23.

As shown in Figs. 21 and 22, in the present edition, some of the holding portions 22 (one in the present edition) are removed from the structure of the robot hand device 20 or the second embodiment.

According to the robot hand device 30, an accommodation space C3 is operatively formed by a finger unit 22B having multiple holding portions 22 (five holding portions 22 in the present edition). In a condition that the accommodation space C3 is formed, a bring-out opening 31 is formed in the finger unit 22B having five holding portions 22 at such a position, from which the one holding portion 22 has been removed. As a result, as shown in FIG. 23, it is possible to easily bring out the fruit F, which is accommodated in the accommodation space C3 and separated from the tree, in a direction indicated by an arrow E.

(Fourth Embodiment)

A robot hand device 40 according to a fourth embodiment of the present disclosure will be explained with reference to Figs. 24 to 27.

As shown in Figs. 24 and 25, the robot hand device 40 or the present version has a suction unit 41. Therefore, the robot hand device 40 has not only the holding function for holding the physical body but also a function for sucking the physical body in order to support the holding function. The sucking function is one of supporting functions for supporting the holding function.

The suction unit 41 has a suction pipe 42 extending in the axial direction and passing through a center of the base portion 11. A suction opening portion 43 is formed at a front end of the suction pipe 42. The suction pipe 42 is inserted through a center portion of the sun gear 16b in such a manner that the suction pipe 42 is movable in the axial direction of the base portion 11, namely in the axial direction in parallel to the center axis of the rotating shaft 14 or the holding portion 12. More exactly, the suction pipe 42 is movably inserted through a hollow portion formed at the center of the sun gear 16b. A compressor 44 is provided on a rear end of the suction pipe 42 opposite to the front end, that is, the end opposite to the suction opening portion 43. The suction unit 41 is capable of sucking the physical body toward the suction opening portion 43 , when the air is drawn into the compressor 44.

As shown in Figs. 24, 26 and 27, the suction unit 41 pulls back the suction pipe 42 in the direction to the base portion 11 in synchronism with the rotation of the multiple holding portions 12. According to such a movement, it is possible to guide in a more stable manner the physical body, which is sucked to the suction opening portion 43, into the accommodation space Cl and to stably accommodate the physical body in the accommodation space Cl.

Since it is possible to accommodate the physical body in the accommodation space Cl in the condition that the physical body is sucked and fixed to the suction opening portion 43, it is possible to more certainly avoid the situation the physical body is brought into contact with the holding portions 12 when the physical body swings or rattles during the process of accommodating the physical body in the accommodation space Cl.

In the robot hand device 40 of the present edition, since the supporting function for supporting the holding function for holding the physical body, more exactly, the sucking function for sucking the physical body is added to the holding function, it is possible to accommodate and hold the physical body in the accommodation space Cl in the more stable condition. It is further possible to more certainly avoid the situation that the physical body may have been brought into contact with the holding portions 12 during the process of forming the accommodation space Cl and competitively accommodating the physical body in the accommodation space Cl.

(Modifications)

The present disclosure is not limited to the above but can be modified in various manners without departing from a spirit of the present disclosure. For example, the above can be combined to each other.

In addition, a cutting portion may be formed at each front end of the holding portions 12 or 22. According to this structure, it is possible to easily cut away the fruit F to be accommodated in the accommodation space Cl, C2 or C3 from the caulome portion Fa. In other words, the fruit F, accommodated in the accommodation space Cl, C2 or C3 can be easily separated from the tree. A cutting function of cutting the fruit F from the caulome portion Fa by the cutting portion can also be considered as another one of the supporting functions for holding the physical body or as one of supporting functions for supporting a harvesting function of the physical body.

In addition, each of the robot hand devices 10, 20, 30 and 40 may have a distance sensor for detecting a distance between the robot hand device and the physical body to be held by the robot hand device. According to such a structure, it is possible to exactly detect the distance to the physical body and to more more hold the physical body without bringing the holding portions into contact with the physical body. For example, the distance sensor is provided at a center of the base portion 11, so the detection of the distance to the physical body can be done more exactly.

It is possible to properly change the number, the shape, the size and so on of the holding portions or the finger unit depending on the characteristics of the physical body to be hero. The base portion 11 is not limited to the disc shape. For example, the base portion may be formed in a rectangular shape or any other shapes.

In addition, multiple driving portions may be provided in the driving unit 13 for each of the holding portions 12 or 22. Alternatively, the driving force generated by one driving portion may be transmitted to each of the holding portions 12 or 22 via a belt or the like.

Claims (14)

CONCLUSIONS A robot hand device (10, 20, 30, 40) comprising; a finger unit (12A, 12B, 22A, 22B) with a plurality of retention portions (12, 22) for operatively forming an accommodation space (C1, C2, C3) for accommodating a physical body (F), each of the retaining portions (12, 22) has a rotating shaft (14, 24); and a drive unit (13) to which each of the rotating shafts (14) of the retaining portions (12, 22) is movably connected, the drive unit (13) each of the retaining portions (12, 22) about a center axis of the rotating shank (14) rotates such that the accommodation space (C1, C2, C3) is formed operationally in accordance with the rotation of the retaining portions (12, 22) and the physical body (F) is accommodated simultaneously in the accommodation space (C1, C2, C3) ). The robotic hand device of claim 1, wherein each of the retaining portions (12, 22) has a coil portion (15, 25) that extends helically along and around the center axis of the rotating shaft (14, 24). The robot hand device of claim 2, wherein the spiral portion (15, 25) of each retaining portion (12, 22) consists of a plurality of sections, spiral shapes of which vary at different locations of the spiral portion. The robot hand device of any one of claims 1-3, wherein each of the retaining portions (22) has a non-spiral portion (26). The robot hand device of any one of claims 1-4, wherein the drive unit (13) rotates each of the retaining portions (12, 22) synchronously with each other. The robot hand device according to any of claims 1-5, wherein the drive unit (13) consists of a planet wheel drive train (16). The robot hand device of any one of claims 1-6, further comprising; a support unit (41) for supporting a holding operation of the holding portions (12) of the finger unit (12B). The robot hand device of any one of claims 1-7, wherein an operational state of the finger unit (12A, 12B, 22A, 22B) in accordance with rotation of the retaining portions (12, 22) is changed from an accommodation state to a release state via a separate state, the accommodation state corresponds to the operational state in which the physical body (F) is accommodated in the accommodation space (C1, C2) , C3), the separated state corresponds to the operational state in which the physical body (F) accommodated in the accommodation space (C1, C2, C3) is separated from its related part (Fa), and the release state corresponds to the operational state in which the physical body (F) is accommodated in the accommodation space (C1, C2, C3) and is separated from the related part from the accommodation space (C1, C2, C3). The robot hand device of claim 2, wherein each of the retaining portions (12) comprises; a first section of the spiral portion (15) that has a first radius (R1) that is constant and that has a pitch that increases from a first pitch (P1) to a second pitch (P2) in a front direction from a rear end to a front end of the retaining portion (12); a second section of the spiral portion (15) that has a radius that increases from a first radius (R1) to a second radius (R2) in the front direction and that has the second pitch (P2) which remains constant; and a third section of the spiral portion (15) having the radius (R2) and the pitch (P1) that are both constant in the front direction. The robotic hand device of claim 4, wherein the non-spiral portion (26) is formed in an arcuate shape that extends in a direction parallel to the center axis of the rotating shaft (14). The robot hand device of claim 1, wherein the plurality of retaining portions (12, 22) are disposed at an equal distance in a circumferential direction of the finger unit. The robot hand device of claim 11, wherein one or some of the retaining portions (22) is removed from the finger unit (22B). The robot hand device of claim 7, wherein the support unit (41) comprises; a suction pipe (42) movably connected to the drive unit (13) such that the suction pipe (42) is movable in the axial direction of the finger unit (12B) in synchronism with the rotation of the finger unit (12B); a suction port portion (43) provided at a front end of the suction pipe (42); and a compressor (44) provided at a rear end of the suction pipe (42) to draw air around the suction port portion (43). The robot hand device of any one of claims 1-13, further comprising; a distance sensor provided in a center of the drive unit (13) for detecting a distance between the robot hand device and the physical body.