WO2007094517A1

WO2007094517A1 - Robot hand

Info

Publication number: WO2007094517A1
Application number: PCT/JP2007/053333
Authority: WO
Inventors: Satoru Sakai; Yasuhide Nakamura
Original assignee: National University Corporation Chiba University
Priority date: 2006-02-16
Filing date: 2007-02-16
Publication date: 2007-08-23
Also published as: JPWO2007094517A1; JP5092128B2

Abstract

A robot hand not employing an actuator in picking and placing. The robot hand comprises a cylinder body forming a tubular space, a body gear, a gravity gear and a state gear combined with the body gear and the gravity gear arranged in the tubular space of the cylinder body, an output bar having a shaft and a plate secured to the shaft and connected with the state gear, a plurality of arms coupled rotatably with the cylinder body, and a passive restriction hand coupled rotatably with the plurality of arms.

Description

Specification

Mouth potnode

Technical

[0001] The present invention relates to a robot hand.

Background art

[0002] In recent years, the working environment for mouth pots has been expanding from indoor to outdoor. However, not only performance but also cost has become a serious problem. / Research on costs is increasing. In particular, the agricultural sector is characterized by the emphasis on cost.

[0003] As a conventional technique related to a mouth pot, in particular, a robot node, for example, Non-Patent Document 1 below uses a pneumatic actuator that generates a vacuum state and a gripper having a simple shape at a low cost. A technology related to a robot hand having a mechanism for performing the above is disclosed. Non-Patent Document 2 below discloses a technique related to a robot hand having a mechanism that performs picking without using an actuator and a mechanism that performs placing using a hydraulic cylinder. Non-Patent Document 3 below discloses a technology related to a robot hand having a mechanism that performs picking without using an actuator and a mechanism that performs placing using a wire and a small DC motor.

[0004] Patent Literature l: Setiawan, A Low Cost Gripper for an apple picking robot ", Proceedings of the 2004 IEEE ICRA, pp. 4448-4453 Non-Patent Literature 2: Iida et al.," Development of Watermelon harvesting robot (ii) watermelon harvesting gripper ", Proceedings of the Symposium on Automation and Robotics in Bioproduction and Processing 1995, Vol. 2, pp. 17-24

Non-Patent Document 3: Sakai et al., "Watermelon Harvesting Experiment of A Heavy Material Handling Agricultural Robot with LQ Control", Proceedings of the 2002 IEEE / RSJ, 769-774

Disclosure of the invention Problems to be solved by the invention

[0005] However, in the technologies described in Non-Patent Document 1, Non-Patent Document 2 and Non-Patent Document 3, the use of an actuator in Placing is expensive and wiring becomes complicated and durable. The problem is that it is less reliable and requires advanced knowledge for maintenance.

[0006] Accordingly, an object of the present invention is to solve the above-described problems and provide a robot hand that uses an actuator for picking and placing.

Means for solving the problem

[0007] As one means for solving the above-mentioned invention, this robot machine includes a cylinder body in which a cylindrical space is formed, a housing gear disposed in the cylindrical space of the cylinder body, and a heavy force. A state gear combined with a gear, a housing gear and a gravity gear, a shaft and a plate fixed to the shaft, an output bar connected to the state gear, and a plurality of rotatably coupled to the cylinder body An arm; and a passive restraint node rotatably coupled to the plurality of arms.

[0008] In this means, at least one of the plurality of arms preferably controls the open / closed state of the passive restraint hand according to the position of the plate of the output bar IX, and the state gear includes the shaft and A plurality of teeth arranged in the circumferential direction of the shaft, and the housing gear has an axis on which a deep groove / shallow groove / shallow groove / groove groove is combined with the plurality of teeth in the state gear. It is also desirable for the gravity gear to have an axis on which irregularities are formed that are combined with a plurality of teeth in the state gear.

[0009] As another means for solving the above-described invention, a cylinder body in which a cylindrical space is formed, and a housing gear, a gravity gear, a housing gear arranged in the cylindrical space of the cylinder body, and A gear system having a state gear combined with a gravity gear, a shaft and a plate fixed to the shaft, and an output par connected to the state gear.

[0010] Although not limited to this means! /, The state gear has a shaft and a plurality of teeth arranged in the circumferential direction of the shaft, and the housing gear is , Having a shaft formed with a deep groove and a shallow groove combined with a plurality of teeth in the state gear, and a gravity gear has an axis formed with irregularities combined with a plurality of teeth in the state gear. It is also preferable. The invention's effect

As described above, according to the present invention, it is possible to provide a robot hand that does not use an actuator for picking and placing.

BEST MODE FOR CARRYING OUT THE INVENTION

Hereinafter, embodiments of the present invention will be described with reference to the drawings. However, the present invention can be implemented in many different modes and is not limited to the embodiments shown below. Note that in this specification, portions having the same or similar functions are denoted by the same reference numerals, and repeated description thereof is omitted.

[0013] FIG. 1 shows an overall view of a robot according to the present embodiment (hereinafter referred to as “the present robot”, “!”). As shown in FIG. 1, the robot hand 1 includes a cylinder body 2, a housing gear 3, a gravity gear 4, a state gear 5 and an output bar 6 incorporated in the cylinder body 2, and a plurality of cylinder bodies 2 connected to the cylinder body 2. Arm 7 and a passive restraint hand 8 coupled to the plurality of arms 7 (in addition, the cylinder body 2 and the housing gear 3 incorporated therein, the gravity gear 4, the state gear). 5 and output bar 6 are called gear system).

[0014] The cylinder body 2 is a part of a main configuration that houses the plurality of gears and forms a robot node. The cylinder body 2 is provided with a cylindrical space (hereinafter simply referred to as a “cylinder portion”) that is open at both ends to be a cylinder. The cylinder gear 3, the gravity gear 4, the state gear 5 are provided in the cylinder portion. And the output bar is stored! /

[0015] FIG. 2 is a view of the vicinity of the cylinder portion and the housing gear 3 in the cylinder body 2 (FIG. 2 (A) is a top view, FIG. 2 (B) is a side view, and FIG. 2 (C) is a bottom view). A body gear 3 or a gear combined with a state gear 5 to be described later, having a hollow space in a cylindrical shape, and having deep grooves 31 and shallow grooves 32 periodically formed in the circumferential direction. ing. The housing gear 3 is fixed to the cylinder portion of the cylinder body 2 and moves the position of the output bar 6 vertically according to the position of the teeth of the state gear 5. The housing gear 3 also has a function of restraining the gravity gear. The material of the gear is not particularly limited as long as it does not cause a large deformation due to stress. For example, a metal or an alloy such as iron or aluminum can be used.

[0016] The gravity gear 4 is a gear combined with the state gear 5 in the same manner as the housing gear 3. More specifically, the state of the gear 5 immediately after the combination with the body gear 3 is released and the state Rotate gear 5 in the circumferential direction. Therefore, as shown in FIG. 3 (FIG. 3 (A) is a top view, (B) is a side view, and (C) is a bottom view), the gravity gear 4 has a mountain-shaped unevenness at the lower end. Since the gravity gear 4 needs to be aligned with the state gear 5 in the axial direction, a space for combining with a part of the state gear shaft is provided near the center of the gear shaft 41. Is formed. The gravity gear 4 is disposed in the space of the housing gear 3 of the cylinder portion 2 in the cylinder body 2, and is fixed by, for example, fitting with the housing gear 3 using the key 43 formed on the shaft 41, for example. . Further, a top plate 42 is disposed outside the cylinder body 2 on the axis of the gravity gear 4 according to the present embodiment. The material of the gravity gear 4 is not particularly limited as long as it does not cause a large deformation due to stress, as in the case of the above-described body gear 3. For example, a metal or alloy such as iron or aluminum can be used.

[0017] The state gear 5 rotates up and down while alternately meshing with the body gear and the gravity gear, and determines the state of Picking or Placing according to the rotation angle. The structure of the state gear 5 according to this embodiment is shown in FIG. Fig. 4 (A) is a top view, (B) is a side view, and (C) is a bottom view. As shown in FIG. 4, the state gear 5 has a disk 51, a shaft 52 disposed on the disk 51, and a plurality of teeth 53 with inclined tips disposed in the circumferential direction of the shaft. It is configured. The plurality of teeth are preferably arranged at equal intervals in the circumferential direction, and the number of teeth is preferably 3 from the viewpoint of stability! However, / is not limited to this. Also for this material, as in the case described above, a metal or alloy such as iron or aluminum can be used as long as it is not particularly limited as long as large deformation due to stress does not occur.

[0018] The output bar 6 is fixed to the state gear 5, and is displaced up and down in accordance with the rotation and vibration of the state gear 5, and the opening and closing of the passive restraint node is determined by the amount of the displacement. The output par 6 includes a shaft 61 and a plate 62 fixed below the shaft 6. By moving the output par 62 up and down, the lower arm 72 of the coupling link 7 can be pushed down or opened, and the passive restraint hand 8 can be opened and closed.

The plurality of arms 71 and 72 are coupled to the cylinder body 2 via, for example, the screw 73 so as to be rotatable to the cylinder body 2 via the screw 73, and are also connected to the passive restraint hand 8 with the screw. It is connected through 74 so that it can rotate. As a result, the passive restraint hand 8 The arms 71 and 72 and the cylinder body form a coupling link, so that picking and placing can be performed smoothly (see FIG. 1 again).

[0020] In addition, one arm 72 of the plurality of arms is arranged such that the tip end portion 721 contacts the plate 62 of the output bar 6, and can move up and down as the output bar 6 moves up and down. It is. Figure 5 shows a state where the output par is lowered, and Fig. 6 shows a state where the output par is raised. As a result, it is possible to convert the displacement of the output bar into a force constraint node and an open / close amount of the terminal. As is clear from the above, the passive restraint hand 8 is for directly picking and placing a Picikng object, and a plurality of arms are connected to one passive restraint hand 8-. ing. In addition, the number of fingers of the passive restraint hand is not particularly limited, but it is desirable to provide a plurality of fingers so as not to drop the picking target, specifically 3 or more, more preferably 4 or more. Of course, each passive restraint hand has multiple arms connected! It is desirable to beat and it is also desirable that one end of at least one arm can be raised and lowered according to the top and bottom of the output par. The material of the plurality of arms and the passive restraint hand is not particularly limited as in the above configuration, and for example, a metal or an alloy such as iron or aluminum can be used.

[0021] Here, the tip of the arm will be described. For example, the arm 72 can be picked up when the arm is closed by pulling the tip 721 into the lower part of the object to be picked (the object also has a hook hole). In this case, the picking operation can also be performed by passing the arm 72 through this hook hole and hanging the bow I.) ₀ Therefore, make sure that the object to be used for picking has a gap at the bottom. If it is assumed (for example, in the case of a spherical shape), no special equipment is required. For example, in the case of an object that does not have a gap in the lower part (for example, in the case of a rectangular parallelepiped shape) It is useful to attach the gripping unit 73 to the tip 721. FIG. 7 is a schematic diagram of the robot hand when the gripping unit 73 is attached, and FIG. 8 is an explanatory diagram of the operation of the gripping unit 73.

[0022] The gripping unit 73 includes a shaft 731 and a cam 732 attached to the shaft 731 and rotatable around the shaft 731 at the tip (object side) of the arm. Has been. The gripping unit 73 is attached to each of the arms 72. Also shown in Fig. 7 and Fig. 8. The gripping unit 73 also has a bearing 733 disposed between the cam 732 and the shaft 731 and a weight 734 disposed on the cam 732.

[0023] The shaft 731 serves as the rotation center of the cam 732, and the material of the shaft 731 is not limited to this limit. In terms of ease of manufacturing, it is preferable to select the same material as arm 72 1 / ヽ

In addition, a bearing 733 is disposed between the cam 732 and the shaft 731. This is preferable because the rotation becomes smoother. However, it is not limited as long as the cam 732 can be held and rotated, and may be omitted depending on the case.

[0025] The cam 732 is pressed against the side surface of the object at the time of picking and applies a force (frictional force generated by the vertical drag between the cam and the object) on the side surface of the object to enable the picking of the object. To do. In addition, the shape of the cam 732 shown in FIGS. 7 and 8 is not limited, but the distance between the center of the shaft 731 and a point on the outer surface of the cam is not always constant, and the circumference is not constant. Change the direction monotonously! It has a part that has More specifically, for example, as shown in FIG. 8, when the distance between the center point of the shaft 731 and the contact point between the cam 732 and the object is d, the rotation angle 0 (0 The cam 732 is formed so that the distance d has a portion that increases monotonically as the horizontal line increases (see Fig. 8 (A) to (C). It is also preferable to place a weight 734 on the cam 732 and adjust the tilt of the cam 732 so that the distance d is as small as possible when it is not in contact with an object! / ヽ .Example of Fig. 8 (A) In the open state, the long axis of the cam 732 is horizontal.) _{0 The} cam 732 is attached to each of the arms 72, and the cams 732 of the plurality of arms 72 are similarly pressed against the side surface of the object. Therefore, as the cam 732 rotates, the cam 732 The force generated during the separation (the force pressing the object from the side) can be adjusted, and picking and placing can be performed easily even in the case of an object that has a gap at the bottom and does not move. . The shape of the cam that produces the above effects is not limited. For example, an elliptical shape (see FIG. 8) focusing on the shaft 731, an egg shape, and the like are suitable. The material of the cam 732 is not limited, but may be a material that has elasticity and can generate large friction. For example, rubber can be preferably used.

[0026] With the above configuration, the robot arm having the gripping unit 73 has a gap in the lower part, for example! / Even if it is an object, it will be able to be picked easily.

As described above, according to the above configuration, the robot node can perform Picking and Placing without using an actuator. In more detail, this node and nendopot realizes a mechanical system with a memory element by combining multiple gears, and in addition to this, combines multiple arms and passive restraint nodes to make an actuator panel element. Picking and Placing can be performed smoothly without using. In particular, according to this robot hand, while holding the object to be picked up via a passive restraint hand and multiple arms, picking up each gear etc. g The weight of the object, the arm, passive restraint, and the weight of the terminal itself cannot be transmitted.

[0028] When the smooth element may be sacrificed to some extent, the arm and the passive restraint hand are integrally coupled to the cylinder body (hereinafter referred to as "integrated hand"! / ヽぅ). It is also possible. In this case, the side that contacts the output bar of the integrated hand and the tip side (the side that grips the object) are placed on the opposite side of the coupling point with the cylinder body, and the output bar is under a lower force. It is also possible to set Placing to Picking when the output par goes up (see the conceptual diagram in Figure 9 for example).

Industrial applicability

[0029] The mouth pot hand according to the present invention is, for example, an agricultural mouth pot hand for picking and placing crops such as Sika 'kabotya, and a spherical object with an uncertain radius (for deformed or different types of ball games) It can be used as an industrial / amusement robot node that picks and places balls and has industrial applicability.

Brief Description of Drawings

FIG. 1 is a front view of a robot hand according to the present embodiment.

FIG. 2 is a diagram showing the configuration of the vicinity of the cylinder portion and the housing gear in the cylinder body according to the embodiment.

FIG. 3 is a diagram showing a configuration of a gravity gear according to the embodiment. FIG. 4 is a diagram showing a configuration of a state gear according to the embodiment.

FIG. 5 is a view showing the upper body with the lower force S of the output of the robot hand according to the present embodiment.

FIG. 6 is a view showing a state where the output of the robot node according to the present embodiment is raised.

FIG. 7 is a diagram when a gripping unit is attached to the arm tip of the robot node according to the present embodiment.

FIG. 8 is a more detailed explanatory view of the gripping unit shown in FIG.

FIG. 9 is a diagram illustrating a concept when an arm and a passive restraint hand are integrated.

Explanation of symbols

1 ... Mouth pot hand, 2 ... Cylinder body, 3 ... Body gear, 4 ... Gravity gear, 5 ... Status gear, 6 ... Output bar, 7 ... Arm, 8 ... Passive restraint hand, 31 ... Deep groove, 32 ... Shallow groove, 41 ··· axis, 42 ··· Top plate, 43 ··· key, 5 'disc, 52 ··· shaft, 53 ··· Teeth, 61 · · · shaft, 62 ··· plate, 71, 72 ... Arm, 73, 74 ··· Screw, 721 · · · (End of arm) 73 ··· Grip unit, 731 ··· Shaft, 732 ... Cam, 733 · · · Bearing, 734 ... Weight

Claims

- The scope of the claims

[1] a cylinder body in which a cylindrical space is formed;

A housing gear, a gravity gear, a state gear combined with the housing gear and the gravity gear disposed in a cylindrical space of the cylinder body;

A shaft and a plate fixed to the shaft, an output par connected to the state gear, and a plurality of arms rotatably coupled to the cylinder body;

A robot node having a passive constraining node rotatably coupled to the plurality of arms.

2. The robot node according to claim 1, wherein at least one of the plurality of arms controls an open / close state of the passive restraint node according to a position of a plate of the output bar.

[3] The state gear has a shaft and a plurality of teeth arranged in a circumferential direction of the shaft,

The housing gear has a shaft on which a deep groove and a shallow groove combined with a plurality of teeth in the state gear are formed,

2. The robot node according to claim 1, wherein the gravity gear has an axis on which irregularities combined with a plurality of teeth in the state gear are formed.

[4] a cylinder body in which a cylindrical space is formed;

A gear system comprising: a shaft and a plate fixed to the shaft; and an output par connected to the state gear.

[5] The state gear has a shaft and a plurality of teeth arranged in a circumferential direction of the shaft,

The housing gear has an axis on which a deep groove and a shallow groove combined with a plurality of teeth in the state gear are formed,

5. The gear system according to claim 4, wherein the gravity gear has an axis on which irregularities combined with a plurality of teeth in the state gear are formed.