WO2015056414A1

WO2015056414A1 - Robot hand, robot, and workpiece rotation manipulation method by means of robot

Info

Publication number: WO2015056414A1
Application number: PCT/JP2014/005033
Authority: WO
Inventors: 聡一玉田; 潤一村上
Original assignee: 川崎重工業株式会社
Priority date: 2013-10-15
Filing date: 2014-10-02
Publication date: 2015-04-23
Also published as: JP6190237B2; CN105592987A; CN107378994B; CN105592987B; JP2015077641A; CN107378994A

Abstract

A robot hand (10) handles a cylindrical workpiece (100) having a cylindrical fixed part (101), and a cylindrical moveable part (102) capable of rotating relative to the fixed part (101). The robot hand (10) is provided with a pair of finger parts (12) for grasping the cylindrical workpiece (100) by sandwiching the fixed part (101), and a rotation mechanism (40) provided to at least one of the finger parts (12). The rotation mechanism (40) rotates the moveable part (102) relative to the fixed part (101) while grasping the cylindrical workpiece (100) by means of the pair of finger parts (12).

Description

Robot hand, robot, and workpiece rotation operation method

The present invention relates to a robot hand that handles a cylindrical workpiece having a cylindrical fixed portion and a cylindrical movable portion that is rotatable with respect to the fixed portion, and a robot including such a robot hand. The present invention also relates to a work rotation operation method by a robot.

Conventionally, a robot hand that grips and rotates a cylindrical heavy workpiece is known (for example, see Patent Document 1). This hand has a pair of claws that open and close, and a mechanism for rotating the workpiece is provided inside each claw.

Japanese Laid-Open Patent Publication No. 8-281588

When the hand disclosed in Patent Document 1 is used, the entire gripped cylindrical workpiece rotates. However, this hand cannot hold the cylindrical workpiece having the fixed part and the movable part as described above to rotate the movable part with respect to the fixed part, and this hand has room for improvement.

Accordingly, the present invention provides a robot hand capable of gripping a cylindrical workpiece having a cylindrical fixed portion and a cylindrical movable portion that can rotate with respect to the fixed portion and rotating the movable portion with respect to the fixed portion. It is another object of the present invention to provide a robot including such a robot hand, and a work rotation operation method using the robot.

A robot hand according to an aspect of the present invention is a robot hand that handles a cylindrical workpiece having a cylindrical fixed portion and a cylindrical movable portion that is rotatable with respect to the fixed portion. A pair of finger parts for gripping the cylindrical workpiece by pinching and the movable part provided in at least one of the pair of finger parts and holding the cylindrical workpiece with the pair of finger parts And a rotation mechanism that rotates the rotation relative to the fixed portion.

According to the above configuration, the movable part can be rotated with respect to the fixed part while the cylindrical work is gripped by the finger part by the cooperation of the pair of finger parts and the rotation mechanism. Further, by moving the finger portion, the entire cylindrical workpiece can be moved in a state where the cylindrical workpiece is gripped and the movable portion is allowed to rotate with respect to the fixed portion.

The rotating mechanism has a driving roller provided on one of the pair of finger portions, and the movable portion rotates by rotating the driving roller in contact with an outer peripheral surface of the movable portion. May be configured to rotate.

The rotation mechanism includes one or more driven rollers that are attached to the pair of finger portions and are rotatable in accordance with the rotation of the movable portion while being in contact with the outer peripheral surface of the movable portion, The one or more driven rollers may be configured to contact the movable portion at positions separated from each other in the circumferential direction.

The cylindrical workpiece may be a lens barrel having a fixed cylinder as the fixed part and a rotating ring for performing a zooming operation or a focusing operation as the movable part.

A robot according to an aspect of the present invention includes the above-described robot hand and a control device that controls the operation of the robot hand, and the rotation mechanism of the robot hand generates power for rotating the movable portion. A rotation actuator that generates, and when the control device operates the rotation actuator to rotate the movable part, the current value of the rotation actuator, the rotation angle of the rotation actuator, or the rotation of the rotation actuator It is configured to inspect whether or not the operation of the movable part is normal according to the deviation between the angle control command value and the current value.

According to the above configuration, when the cylindrical workpiece is automatically rotated using the robot hand, the quality of the cylindrical workpiece can be inspected.

A workpiece rotation operation method by a robot according to an aspect of the present invention is a method in which a robot rotates a cylindrical workpiece having a cylindrical fixed portion and a cylindrical movable portion that is rotatable with respect to the fixed portion. The robot includes a robot hand that handles the cylindrical workpiece, and a control device that controls the operation of the robot hand, and the robot hand includes a set of fingers and the set of fingers. A rotation mechanism provided on at least one of the rotation mechanism, the rotation mechanism includes a rotation actuator that generates power for rotating the movable portion, and the control device includes the pair of fingers. The pair of fingers are controlled so that the cylindrical workpiece is gripped by the pair of fingers by sandwiching the fixed portion, and the rotary actuator is operated to operate the rotation actuator. When the movable part is rotated with respect to the fixed part by the power generated by the actuator, and the rotary actuator is operated to rotate the movable part, the current value of the rotary actuator, the rotation of the rotary actuator Whether the operation of the movable part is normal is inspected according to the deviation between the angle or the control command value of the rotation angle of the rotary actuator and the current value.

According to the present invention, when the cylindrical workpiece has a cylindrical fixed portion and a cylindrical movable portion that is rotatable with respect to the fixed portion, the cylindrical workpiece is gripped and the movable portion becomes the fixed portion. Can be rotated.

It is a top view which shows the robot hand which concerns on embodiment. It is a side view which shows the robot hand shown in FIG. FIG. 3 is a cross-sectional view taken along arrow III-III in FIG. 1.

Hereinafter, embodiments will be described with reference to the drawings. The same or corresponding elements are denoted by the same reference numerals, and detailed description thereof is omitted.

[Constitution]
FIG. 1 is a plan view showing a robot hand 10 according to the embodiment, and FIG. 2 is a side view showing the robot hand 10 shown in FIG. As shown in FIGS. 1 and 2, the robot hand 10 is detachably attached to, for example, the distal end portion of the arm 2 of the industrial robot 1. The industrial robot 1 is, for example, a vertical articulated type. The robot hand 10 handles a cylindrical workpiece 100 having a cylindrical fixed portion 101 and a cylindrical movable portion 102 that can rotate with respect to the fixed portion 101. As an example of handling, the robot hand 10 rotates the movable unit 102 relative to the fixed unit 101 while holding the cylindrical workpiece 100. As described above, the robot hand 10 realizes the gripping of the cylindrical workpiece 100 and the automatic rotation operation of the movable portion 102 as an end effector of the industrial robot 1. The industrial robot 1 includes a control device 3, and the control device 3 controls the operation of the arm 2 and the operation of the robot hand 10.

The cylindrical workpiece 100 has the fixed portion 101 and the movable portion 102 as described above. The movable portion 102 is disposed coaxially with the fixed portion 101, and the outer peripheral surface of the fixed portion 101 and the outer peripheral surface of the movable portion 102 form the outer peripheral surface of the entire cylindrical workpiece 100. A central axis common to the fixed part 101 and the movable part 102 forms a central axis of the cylindrical workpiece 100 as a whole. The movable part 102 can rotate around this central axis. The movable portion 102 may constitute an intermediate portion in the axial direction of the cylindrical workpiece 100, may constitute an end portion in the axial direction, or may be plural. In the present embodiment, one movable portion 102 constitutes the axial middle portion and is sandwiched between the two fixed portions 101 in the axial direction.

The lens barrel is one of the preferred specific examples of such a cylindrical workpiece 100. The lens barrel is detachably attached to the camera body 109, and constitutes the camera system 110 together with the camera body 109 in the attached state. The lens barrel includes a fixed cylinder as the fixed portion 101 and a rotating ring as the movable portion 102. The rotating ring is a member for the user of the camera system 110 to perform a scaling operation or a focusing operation. When the cylindrical workpiece 100 is a lens barrel, the robot hand 10 can grip the lens barrel and rotate the rotating ring with respect to the fixed barrel, and the zooming operation or the focusing operation can be performed manually. To be done. Whether or not the lens barrel is attached to the camera body 109, the robot hand 10 can rotate the rotating ring. The robot hand 10 contributes to automation of inspection before shipment of the lens barrel and / or the camera system 110, for example.

The robot hand 10 includes a palm 11 that is detachably attached to the tip of the arm 2. The palm part 11 is plate-shaped, for example. The robot hand 10 holds the cylindrical workpiece 100 with a pair of finger portions 12 that hold the cylindrical workpiece 100 by sandwiching the fixed portion 101 of the cylindrical workpiece 100 and the pair of finger portions 12. And a rotating mechanism 40 that rotates the movable part 102 relative to the fixed part 101 in a state. The rotation mechanism 40 is provided on at least one of the pair of finger portions 12.

First, the basic configuration and operation of the finger unit 12 will be described. Each finger part 12 extends from the palm part 11 in a direction opposite to the mating surface 11 a with the tip part of the arm 2. Each finger part 12 does not have a joint and extends so as not to bend. The robot hand 10 forms a gripping space 13 between the palm portion 11 and a pair of finger portions 12, and the gripping space 13 includes a side opening portion formed between adjacent finger portions 12 and a finger portion. And a tip open portion that is largely open at the tip of the 12 finger length directions.

When the cylindrical workpiece 100 is gripped by the pair of finger parts 12, the cylindrical workpiece 100 is received in the gripping space 13 through the open end portion. At this time, the axial direction of the cylindrical workpiece 100 substantially coincides with the finger length direction of the finger portion 12, and the pair of finger portions 12 are arranged on the outer peripheral side of the cylindrical workpiece 100 in the circumferential direction of the cylindrical workpiece 100. Arranged at approximately equal intervals. The positioning of the robot hand 10 with respect to the cylindrical workpiece 100 is realized by the operation of the arm 2. Thereafter, the pair of finger portions 12 approach each other in the radial direction of the cylindrical workpiece 100 and sandwich the outer peripheral surface of the cylindrical workpiece 100. Thereby, the cylindrical workpiece 100 is gripped by the pair of finger portions 12. When releasing the cylindrical workpiece 100 held by the pair of finger portions 12, the reverse procedure may be performed. First, the pair of finger portions 12 are separated from each other in the radial direction of the cylindrical workpiece 100. Thus, when handling the cylindrical workpiece 100 such as gripping and releasing, the pair of fingers 12 approaches or moves away from the radial direction of the cylindrical workpiece 100, and the gripping space 13 expands in that direction. Or reduce.

At least one of the finger portions 12 is a movable finger 14 that is movable with respect to the palm portion 11 and the other finger portions, thereby realizing gripping and releasing of the cylindrical workpiece 100. All the finger parts 12 do not have to be movable fingers 14, and the set of finger parts 12 may include a fixed finger 15 fixed to the palm part 11. The fixed finger 15 is integrated with the palm part 11 by being fastened or integrally formed with the palm part 11, and the position and posture with respect to the palm part 11 are not changed. The robot hand 10 includes a finger driving unit 16 that moves the movable finger 14 relative to the palm 11. The finger drive unit 16 includes a finger actuator 17 that generates power for moving the movable finger 14 and thus for gripping the workpiece by the pair of finger portions 12. The finger drive unit 16 may include a power transmission mechanism 18 that transmits the power generated by the finger actuator 17 to the movable finger 14. When the moving direction of the movable finger 14 is different from the direction of power generated by the finger actuator 17, the power transmission mechanism 18 converts the direction of power into the moving direction of the movable finger 14.

In this embodiment, the set of finger parts 12 is composed of two fingers. One is the movable finger 14 and the other is the fixed finger 15. The movable finger 14 translates with respect to the palm 11 and the fixed finger 15. The finger actuator 17 is composed of an electric motor that generates rotational power. The power transmission mechanism 18 converts the power of the finger actuator 17 into translational motion and transmits it to the movable finger 14. The finger actuator 17 is attached to the palm 11. The power transmission mechanism 18 includes a rotating element that is attached to the palm 11 and rotates by receiving the rotational power of the finger actuator 17, and a translation element that can translate based on the rotation of the rotating element. 14 roots are fixed. As the power transmission mechanism 18, a screw mechanism or a rack and pinion can be suitably used.

However, the finger actuator 17 may generate translational power like a cylinder. In that case, omission of the power transmission mechanism 18 is permitted. The movable finger 14 may be rotatable with respect to the palm 11. In that case, an electric motor can be suitably applied to the finger actuator 17 and the omission of the power transmission mechanism 18 is allowed. The number of all finger parts 12, the number of movable fingers 14, and the number of fixed fingers 15 can be changed. When a set of finger parts 12 includes a plurality of movable fingers 14, a plurality of finger actuators 17 may be provided corresponding to each movable finger 14, or a single finger actuator 17 may be provided for some of the movable fingers 14. Or it may be shared by all.

Next, the part of the finger 12 that contacts the cylindrical workpiece 100 will be described. The robot hand 10 has a grip portion 20 provided inside the finger portion 12. This “inner side” is the side facing the aforementioned gripping space 13, that is, the side facing or contacting the outer peripheral surface of the cylindrical workpiece 100 during handling. Therefore, the grip part 20 of one finger part 12 faces the grip part 20 of another finger part 12 in the moving direction of the movable finger 14 (generally coincides with the radial direction of the cylindrical workpiece 100 during handling). The plurality of grip portions 20 are arranged at substantially equal intervals in the circumferential direction of the cylindrical workpiece 100 on the outer peripheral side of the cylindrical workpiece 100 in the same manner as the arrangement of the finger portions 12 described above.

Each grip part 20 has one or

more grip bodies

21, 22, and each

grip body

21, 22 contacts the outer peripheral surface of the cylindrical workpiece 100 (fixed portion 101) when gripping the cylindrical workpiece 100. Having a surface.

The grip body 21 is formed of a material different from that of the main body of the finger portion 12. It is preferable to use a flexible material such as a rubber material or a resin material for the grip body 21, and it is preferable to use a highly rigid material such as a metal material for the main body of the finger portion 12. Thereby, maintaining the rigidity of the finger part 12 and improving the grip performance are realized at the same time, and stable gripping is realized.

When there are a plurality of

grip bodies

21, 22, the

grip bodies

21, 22 are separated from each other in the finger length direction (generally coincident with the axial direction of the cylindrical workpiece 100 during handling). Thereby, the

grip bodies

21 and 22 can pinch the cylindrical workpiece 100 (fixed portion 101) at a plurality of different locations in the axial direction. This is useful for handling the cylindrical workpiece 100 that is long in the axial direction.

In the present embodiment, each grip portion 20 includes first and

second grip bodies

21 and 22. A plurality of first grip bodies 21 (hereinafter sometimes collectively referred to as “first grip group”) provided in different finger portions 12 (14, 15) are in the finger length direction (cylindrical when handling). Are substantially the same as the axial direction of the workpiece 100). The same applies to the plurality of second grip bodies 22 (hereinafter sometimes collectively referred to as “second grip group”).

When the single movable portion 102 is sandwiched between the two fixed portions 101 in the axial direction, one fixed portion 101 is sandwiched between the first grip groups 23 and the other fixed portion 101 is sandwiched between the second grip groups 24. Sandwiched. As a result, the cylindrical workpiece 100 is gripped, and the movable portion 102 is positioned between the first and second grip groups 23 and 24 in the axial direction (substantially coincides with the finger length direction). Since the two fixed parts 101 on both sides of the movable part 102 are sandwiched between the pair of finger parts 12, when the power for rotation is applied to the movable part 102, the cylindrical workpiece 100 is opposed to the power. It can be held stably. As described above, when the pair of finger portions 12 has the first grip group 23 and the second grip group 24 as described above, the movable portion 102 is sandwiched between the two fixed portions 101 in the axial direction. This is useful for handling the shaped workpiece 100.

FIG. 3 is a cross-sectional view taken along line III-III in FIG. Although only the first grip body 21 will be described here, the other grip bodies 22 are similarly configured. As shown in FIG. 3, the finger width direction center portion of the grip body 21 is beaten from the inside. In other words, the surface of the grip body 21 is recessed at the center in the finger length direction. At this time, as illustrated in FIG. 3, the surface of the grip body 21 forms an arc when viewed in the finger length direction (generally coincides with the axial direction of the cylindrical workpiece 100 during handling). You may have the same curvature as the outer peripheral surface of the fixing | fixed part 101. FIG. Thereby, the entire surface of the grip body 21 can be brought into contact with the outer peripheral surface of the cylindrical workpiece 100, and the grip performance of the pair of finger portions 12 can be enhanced.

However, the grip body 21 may contact the outer peripheral surface of the cylindrical workpiece 100 at two points separated in the finger width direction (generally coincident with the circumferential direction or tangential direction of the cylindrical workpiece 100). Can also improve the grip performance. For example, the surface of the grip body 21 may be V-shaped when viewed in the finger length direction, or the grip body 21 arranged at a certain position in the finger length direction is divided into two in the finger width direction. The surfaces of the two divided bodies may be brought into contact with the cylindrical workpiece 100. In the present embodiment, the grip portion 20 is individually provided for all fingers constituting the pair of finger portions 12, but the grip portion 20 may be provided only for some of the finger portions 12. In this embodiment, the grip part 20 of any finger part 12 has a pair of

grip bodies

21, 22, but one or three or more grip parts 20 are replaced with a pair of

grip bodies

21, 22. You may have a grip body. When handling the cylindrical workpiece 100 having a short dimension in the axial direction, it is advantageous that all the grip portions 20 have one grip body because interference between the grip portion and the rotation mechanism can be easily avoided.

Next, the configuration of the rotation mechanism 40 will be described. As shown in FIGS. 1 to 3, the rotation mechanism 40 includes a driving roller 41 provided on one of the pair of finger portions 12. In the present embodiment, the pair of fingers 12 is composed of two fingers, one movable finger 14 and one fixed finger 15, and the driving roller 41 is provided on the fixed finger 15. Since the drive roller 41 does not move with the movable finger 14 during handling, the rigidity of the movable finger 14 does not need to be particularly increased.

The drive roller 41 is rotatable around its central axis, and has an outer peripheral surface that forms a circle when viewed in the direction of the rotation axis. At the time of handling, the rotation axis of the drive roller 41 is arranged in parallel with the axis of the cylindrical workpiece 100. The outer peripheral surface of the drive roller 41 abuts on the outer peripheral surface of the cylindrical workpiece 100 (movable part 102) at the above-described open side of the gripping space 13. Thus, by letting the driving roller 41 escape from the finger portion 12 to the side opening portion, it is possible to avoid the driving roller 41 from interfering with the finger portion 12 and the grip portion 20.

In order to realize such an arrangement, the finger portion 12 (fixed finger 15 in this embodiment) provided with the driving roller 41 protrudes in the finger width direction from the outer side of the central portion in the finger length direction, and further bends and protrudes inward. It has the roller support part 42 to do. The drive roller 41 is provided at the tip of the roller support portion 42. The rotation mechanism 40 includes a rotation actuator 43 that generates power for rotating the movable portion 102. An electric motor can be suitably applied to the rotary actuator 43, and the rotational power of the rotary actuator 43 is transmitted to the drive roller 41. In the present embodiment, the rotary actuator 43 is provided at the tip of the roller support portion 42 and is directly connected to the drive roller 41.

An urging member 44 is incorporated in the roller support portion 42. The urging member 44 elastically supports the distal end portion of the roller support portion 42 and urges the driving roller 41 provided at the distal end portion to the outer peripheral surface of the movable portion 102. By the pressing by the urging member 44, the rotation of the driving roller 41 is easily transmitted to the movable portion 102.

In the present embodiment, a pair of fingers 12 is composed of two fingers, and each finger 12 is provided with a grip 20. As shown in FIG. 3, the drive roller 41 and the rotary actuator 43 are formed of a cylindrical workpiece. In a state where 100 is gripped, the cylindrical workpiece 100 is disposed in the middle of the two grip portions 20 in the circumferential direction. The finger actuator 17 of the finger drive unit 16 faces the drive roller 41 in the radial direction of the cylindrical workpiece 100. For this reason, interference with the rotation mechanism 40, the finger | toe part 12, and the finger drive unit 16 can be avoided suitably. Moreover, since the weights of the rotation mechanism 40 and the finger drive unit 16 are balanced with each other, it contributes to stable handling.

The movable portion 102 is rotated relative to the fixed portion 101 by rotating the drive roller 41 with the fixed portion 101 sandwiched between the pair of finger portions 12 and the drive roller 41 in contact with the outer peripheral surface of the movable portion 102. The movable portion 102 is dragged by the rotation of the drive roller 41 and rotates in the opposite direction to the drive roller 41. The outer peripheral surface of the drive roller 41 is formed of a flexible material such as a rubber material. As a result, the sliding of the driving roller 41 with respect to the movable portion 102 can be suppressed and prevented.

The rotation mechanism 40 has one or more pressing members 45 provided on the pair of finger portions 12. The driving roller 41 and the one or more pressing members 45 are arranged at substantially the same position in the finger length direction (the axial direction of the cylindrical workpiece 100 during handling). The pressing member 45 abuts on the outer peripheral surface of the movable portion 102 while holding the cylindrical workpiece 100 with the pair of finger portions 12 and the outer peripheral surface of the driving roller 41 is in contact with the outer peripheral surface of the movable portion 102. As a result, the cylindrical workpiece 100 is moved near the contact portion between the outer peripheral surface of the drive roller 41 and the outer peripheral surface of the movable portion 102 based on the rotational force transmitted from the drive roller 41 to the movable portion 102. Trying to move in the tangential direction can be suppressed.

The driving roller 41 and the one or more pressing members 45 are arranged apart from each other in the circumferential direction of the cylindrical workpiece 100. Each pressing member 45 is located on the outer peripheral surface of the movable portion 102 at a location different from the driving roller 41 and the other pressing member 45 in the circumferential direction of the cylindrical workpiece 100 in a state where the fixed portion 101 is sandwiched between the pair of finger portions 12. Abut. Accordingly, each pressing member 45 can press or push back the movable portion 102 toward the center of the cylindrical workpiece 100 in cooperation with the driving roller 41 and the other pressing member 45. Therefore, the tangential force acting on the cylindrical workpiece 100 can be supported.

The pressing member 45 may be provided on the finger portion 12 so as not to change the position with respect to the finger portion 12, or may be elastically supported by the finger portion 12 in the same manner as the driving roller 41. The number of pressing members 45 is not particularly limited. In the present embodiment, a part of the pressing member 45 is provided on the movable finger 14, and the remainder is provided on the fixed finger 15. As a result, the pressing members 45 are distributed in the circumferential direction of the cylindrical workpiece 100, and the tangential force can be suitably supported when the driving roller 41 rotates.

The pressing member 45 is composed of a driven roller. Each driven roller is formed in a cylindrical shape in the same manner as the drive roller 41 and is rotatably supported by the finger portion 12. The driven roller is rotatable with the rotation of the movable portion 102 in a state where the pair of finger portions 12 sandwich the fixed portion 101 and the outer peripheral surface thereof is in contact with the outer peripheral surface of the movable portion 102. As a result, when the movable portion 102 attempts to rotate in accordance with the operation of the rotary actuator 43, the driven roller as the pressing member 45 allows smooth rotation of the movable portion 102 while suppressing the movement of the cylindrical workpiece 100 as described above. To do.

In the present embodiment, the pair of fingers 12 has a pair of first and second grip groups 23 and 24 in the finger length direction, and both the driving roller 41 and the pressing member 45 in the axial direction are the first and second grips. Arranged between the groups 23 and 24. However, the drive roller 41 and the pressing member may be disposed on the finger length direction base side with respect to the pair of grip groups 23 and 24, or may be disposed on the finger length direction front end side. The same applies to a single grip group.

[Operation]
Next, although partially overlapping with the above description, as an operation of the robot hand 10, an automatic rotation operation of the movable portion 102 of the cylindrical workpiece 100 by the robot hand 10 will be described. The operation of the robot hand 10 is controlled by, for example, the control device 3 that controls the operation of the arm 2. First, the finger driving unit 16 is operated to set the initial state in which the movable finger 14 is sufficiently separated from the fixed finger 15 to enlarge the gripping space. Next, the industrial robot 1 is operated to place the cylindrical workpiece 100 in the gripping space. At this time, as described above, the finger length direction substantially coincides with the axial direction of the cylindrical workpiece 100, and the first grip body of the fixed finger 15 is viewed from the palm portion 11 in the finger length direction front end side (cylindrical workpiece When 100 is a lens barrel, the lens barrel is brought into contact with the outer peripheral surface of the fixed portion 101 on the side in which the mount to the camera body is arranged in the axial direction. Further, the second grip body of the fixed finger 15 is brought into contact with the outer peripheral surface of the fixed portion 101 on the base side in the finger length direction when viewed from the palm portion 11. At the same time, the outer peripheral surface of the drive roller 41 is brought into contact with the outer peripheral surface of the movable portion 102. Further, the pressing member 45 provided on the fixed finger 15 is brought into contact with the outer peripheral surface of the movable portion 102.

Next, the finger actuator 17 is operated to move the movable finger 14 so as to approach the fixed finger 15. Then, the first grip body 21 of the movable finger 14 comes into contact with the outer peripheral surface of the fixed portion 101 on the distal end side, and the second grip body 22 of the movable finger 14 contacts the outer peripheral surface of the fixed portion 101 on the root side. The pressing member 45 provided on the movable finger 14 comes into contact with the outer peripheral surface of the movable portion 102. As described above, when the two fixing portions 101 are sandwiched between the first and second grip groups 23 and 24, the finger actuator 17 stops. As a result, the pair of finger parts 12 are in a state of gripping the cylindrical workpiece 100 by sandwiching the fixed part 101.

Next, the rotary actuator 43 is operated. Then, the drive roller 41 rotates and the movable part 102 rotates with it. At this time, the fixed portion remains stationary with respect to the pair of finger portions 12, and the movable portion 102 rotates with respect to the fixed portion 101. At this time, a tangential force acts on the cylindrical workpiece 100 from the driving roller 41 at the contact point between the movable portion 102 and the driving roller 41, but the force is received by the presence of the pressing member 45, and A stationary state can be maintained. Since the pressing member 45 is composed of a roller, the movable portion 102 can be allowed to rotate smoothly while receiving such a force.

The robot hand 10 has two drive shafts, a finger actuator 17 and a rotation actuator 43. The robot hand 10 can be removed from the tip of the arm 2 of the industrial robot 1, and the control device 3 of the industrial robot 1 is generally configured to control an external drive shaft. Since the finger actuator 17 and the rotary actuator 43 are controlled by the control device 3 of the industrial robot 1, the robot hand 10 can be easily moved together with the cylindrical workpiece 100 while the robot hand 10 holds the cylindrical workpiece 100. . Therefore, a reduction in tact time required for handling the cylindrical workpiece 100 can be expected.

When the pre-shipment inspection of the lens barrel is performed using the robot hand 10, for example, a rotating ring (so-called focus ring or so-called focus ring or zooming operation for holding the lens barrel with the robot hand 10 and performing a focusing operation or a zooming operation). The zoom ring can be automatically rotated. The control device 3 monitors the current value of the rotary actuator 43 required for this rotation, the axis value (rotation angle), or the deviation between the control command value of the axis value and the current value (actual rotation angle). Whether or not the operation is normal can be inspected. In the present embodiment, the control device that controls the operation of the arm 2 also serves as the control device that controls the operation of the robot hand 10, but the two control devices may be different. The control device for the robot hand 10 may be disposed in proximity to the robot hand 10.

The same applies to the case where a pre-shipment inspection of a camera system including a lens barrel and a camera body is performed using the robot hand 10. For example, by grasping the lens barrel with the robot hand 10 and automatically rotating the rotating ring, it is possible to inspect whether or not the image captured by the camera body is normal.

Although the embodiments of the present invention have been described so far, the present invention is not limited to the above-described configuration, and can be changed, added, and deleted as appropriate.

The present invention relates to a robot hand for handling a cylindrical workpiece having a cylindrical fixed part and a cylindrical movable part rotatable with respect to the fixed part. It can be suitably used for a robot hand for performing a rotating operation.

DESCRIPTION OF SYMBOLS 1 Industrial robot 3 Control apparatus 10 Robot hand 12 Finger part 14 Movable finger 15 Fixed finger 40 Rotating mechanism 41 Drive roller 43 Rotating actuator 45 Pressing member 100 Cylindrical workpiece 101 Fixed part 102 Movable part

Claims

A robot hand for handling a cylindrical workpiece having a cylindrical fixed part and a cylindrical movable part rotatable with respect to the fixed part,
A pair of fingers that grip the cylindrical workpiece by sandwiching the fixed part;
A rotating mechanism that is provided in at least one of the pair of finger portions and rotates the movable portion relative to the fixed portion while the cylindrical workpiece is gripped by the pair of finger portions; A robot hand to prepare.
The rotating mechanism includes a driving roller provided on one of the pair of finger portions, and the movable portion is rotated by rotating the driving roller in contact with an outer peripheral surface of the movable portion. The robot hand according to claim 1, wherein the robot hand is configured to rotate with respect to the fixed portion.
The rotation mechanism includes one or more driven rollers that are attached to the pair of finger portions and are rotatable in accordance with the rotation of the movable portion while being in contact with the outer peripheral surface of the movable portion;
The robot hand according to claim 2, wherein the driving roller and the one or more driven rollers are configured to contact the movable portion at positions separated from each other in the circumferential direction.
2. The lens barrel according to claim 1, wherein the cylindrical workpiece is a lens barrel having a fixed cylinder as the fixed part and a rotary ring as the movable part for performing a zooming operation or a focusing operation. 4. The robot hand according to any one of items 1 to 3.
The robot hand according to any one of claims 1 to 4,
A control device for controlling the operation of the robot hand,
The rotation mechanism of the robot hand has a rotation actuator that generates power for rotating the movable part,
When the control device operates the rotary actuator to rotate the movable part, the current value of the rotary actuator, the rotation angle of the rotary actuator, or the control command value and the current value of the rotation angle of the rotary actuator A robot configured to inspect whether or not the operation of the movable part is normal according to a deviation from
A method of rotating a cylindrical workpiece having a cylindrical fixed portion and a cylindrical movable portion rotatable with respect to the fixed portion by a robot,
The robot includes a robot hand that handles the cylindrical workpiece, and a control device that controls the operation of the robot hand, and the robot hand includes at least one of the set of fingers and the set of fingers. A rotation mechanism provided in one, and the rotation mechanism includes a rotation actuator that generates power for rotating the movable part,
The control device is
Controlling the set of fingers to grip the cylindrical workpiece with the set of fingers by sandwiching the fixed portion with the set of fingers;
When the rotary actuator is operated, the movable part is rotated with respect to the fixed part by the power generated by the rotary actuator, and the rotary actuator is operated to rotate the movable part. A robot that inspects whether the operation of the movable part is normal according to a current value of the actuator, a rotation angle of the rotary actuator, or a deviation between a control command value of the rotation angle of the rotary actuator and a current value. The work rotation operation method.