WO2017154254A1 - Robot de préhension et procédé de commande de main de robot - Google Patents

Robot de préhension et procédé de commande de main de robot Download PDF

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Publication number
WO2017154254A1
WO2017154254A1 PCT/JP2016/079957 JP2016079957W WO2017154254A1 WO 2017154254 A1 WO2017154254 A1 WO 2017154254A1 JP 2016079957 W JP2016079957 W JP 2016079957W WO 2017154254 A1 WO2017154254 A1 WO 2017154254A1
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WO
WIPO (PCT)
Prior art keywords
gripping
finger
gripped
fingers
robot
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Application number
PCT/JP2016/079957
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English (en)
Japanese (ja)
Inventor
全弘 斎藤
保幸 小林
中村　一也
弘之 並木
Original Assignee
並木精密宝石株式会社
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Publication date
Application filed by 並木精密宝石株式会社 filed Critical 並木精密宝石株式会社
Priority to TW105133399A priority Critical patent/TW201731647A/zh
Publication of WO2017154254A1 publication Critical patent/WO2017154254A1/fr

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/08—Gripping heads and other end effectors having finger members

Definitions

  • the present invention relates to a gripping robot that operates to change the posture of a gripped object to be gripped and a method for controlling a robot hand.
  • the posture of the object to be grasped is changed in various patterns depending on the degree of freedom on the arm side by combining the robot arm with a robot arm with multiple degrees of freedom.
  • a stand for that is necessary, or the operation range including the robot arm tends to be large.
  • a complicated operation such as gripping and operating a tool (driver or the like) used by a person is difficult.
  • the degree of freedom of the robot arm is used to access the counterpart part, and the orientation of the part to be grasped
  • the change is more efficient when the robot hand is used in view of the relative sizes of the robot hands. Therefore, in order to construct a robot system that can perform more efficient work, it is desired to realize a sophisticated robot hand that does not impair the redundancy of the robot arm and has a large number of posture change patterns of the grasped object. Yes.
  • the present invention has the following configuration.
  • a base, and four or more fingers supported at the base by the base, and a control unit that controls the operation of the fingers;
  • a gripping robot that performs a posture changing operation for changing the posture of the gripped target object and a releasing operation for releasing the gripped target object, wherein the control unit is configured to control the four or more finger units.
  • a first step of gripping a gripping object by a first gripping operation of at least two fingers and a second step of changing the posture of the gripping object by a posture changing operation of the fingers in the gripping state
  • a third step of gripping the object to be gripped by a second gripping operation using two or more finger parts including at least one finger part other than the finger parts in the gripping state and the second gripping action.
  • Finger holding the object to be held Gripping robot and executes a fourth step of releasing operate fingers other than.
  • the present invention is configured as described above, it is possible to change the posture of the grasped object in the hand and change it.
  • FIG. 5 is a perspective view sequentially illustrating an example of an operation procedure of the robot hand in (I) to (V). It is a flowchart which shows an example of the control procedure of a robot hand. It is a perspective view which shows the other example of a robot hand.
  • FIG. 6 is a perspective view sequentially illustrating an example of an operation procedure of the robot hand illustrated in FIG. 5 in (I) to (IV). It is a perspective view which shows the other example of a robot hand. It is a perspective view which shows the other example of a robot hand. It is a schematic diagram which shows an example of the holding state by a robot hand.
  • the first feature of the gripping robot according to the present embodiment is that it includes a base, four or more fingers supported on the base by the base, and a controller that controls the operation of the fingers.
  • a gripping robot that performs a gripping operation for gripping a gripping target, a posture changing operation for changing the posture of the gripped gripping target, and a release operation for releasing the gripped gripping target.
  • the control unit grips the object to be gripped by the first gripping operation of at least two of the four or more fingers, and the posture changing operation of the fingers in the gripped state.
  • the gripping object is moved by a second gripping operation using two or more finger parts including at least one finger part other than the gripped finger parts, and a second step of changing the posture of the gripping object by A third step of gripping and the second step
  • gripping operation performing a fourth step of releasing operate fingers other than the finger that is holding the grasped object (see FIGS. 1 to 7).
  • the “posture changing operation” means an operation of changing the gripping object from the initial posture to a different posture. In this specific example of the “posture changing operation”, the gripping target is moved.
  • An operation for rotating a predetermined amount around the rotation axis in the object, an operation for rotating the gripping object by a predetermined amount around the rotation axis outside the gripping object, an operation for swinging the gripping object by a predetermined amount, a gripping target This includes the operation of tilting a predetermined amount of objects.
  • each of the fingers includes a plurality of nodes arranged in the longitudinal direction and a joint provided between adjacent nodes to bend and extend the adjacent nodes ( (See FIGS. 2, 5, and 7).
  • the joint portion includes a joint portion that rotates, with respect to one node portion, the other node portion connected to the node portion around an axis along the connection direction. (See FIGS. 2, 5, and 7).
  • a fingertip rotating body that protrudes toward the distal end side of each finger portion and rotates around an axis in the protruding direction (see FIGS. 8 and 9).
  • the fingertip rotating body has a cylindrical portion, the axis in the protruding direction is a central axis of the cylindrical portion, and the central axis as viewed from the tip side of each finger portion is A part of the peripheral surface of the cylindrical portion on the gripping direction side protrudes toward the gripping direction side with respect to the node (see FIGS. 8 and 9).
  • the object to be grasped is grasped by a first grasping operation that bends the node on the tip side of the three fingers, and in the second step, the three objects are grasped.
  • the gripping object is rotated by a predetermined amount by a posture changing operation for rotating the respective joints on the distal end side by a predetermined amount in the same direction (see FIG. 6).
  • a finger pad rotating body that protrudes toward the gripping direction and that rotates around the axis in the protruding direction is provided on the tip side of each finger portion (see FIG. 2).
  • a gripping operation is performed between the finger pad rotating body of the two fingers by a first gripping operation that bends the node on the distal end side of the two fingers.
  • the object is grasped, and in the second step, the object to be grasped is rotated by a predetermined amount by a posture changing operation in which the finger pad rotating bodies of the two fingers are respectively rotated by a predetermined amount (see FIG. 3). .
  • each finger is provided on the base so as to swing toward the adjacent finger (see FIG. 2).
  • a sensor for detecting an object to be grasped is provided on the palm side of the base (see FIGS. 2, 5, and 7).
  • the following robot hand control method is disclosed as an eleventh feature. That is, in this control method, the gripping operation for gripping the gripping object, the posture changing operation for changing the posture of the gripped gripping object, and the gripping operation are held on four or more fingers whose base ends are supported by the base.
  • a second step of changing the posture of the gripping object by a posture changing operation of the gripped fingers, and two including at least one finger other than the gripped fingers The third step of gripping the object to be gripped by the second gripping operation using the above finger parts, and the releasing operation of the finger parts other than the finger part gripping the gripping object by the second gripping action And the fourth step Run (see FIG. 4).
  • FIG. 1 shows an example of a gripping robot according to the present invention.
  • This gripping robot A includes a robot main body 10 in which a plurality of arms 14 are connected to a support rod 12 fixed on a base 11 via a joint portion 13 so as to be able to bend and extend, and the robot main body 10
  • a hand unit 20 (robot hand) connected to the state-of-the-art arm 14 is provided, and the operations of the arm 14 and the hand unit 20 are controlled by commands from the control unit 15.
  • a part or all of the plurality of arms 14 may be rotated about the longitudinal direction as necessary in addition to the bending / extending movement.
  • the support rod 12 may be rotated about the longitudinal direction as necessary.
  • the robot main body 10 is not limited to the illustrated example, and may be, for example, a mode in which the number of the joint units 13 and the arms 14 are different, a mode configured in a human arm shape, or the like.
  • the bending / extending motion and the rotational motion of the arm 14, the rotational motion of the support rod 12, and the like are provided inside the base 11, the support rod 12 and / or the arm 14.
  • a drive source (not shown) and a drive mechanism (not shown) are provided.
  • the control unit 15 is, for example, a computer provided outside or inside the base 11, and based on a program stored in the storage device, a detection signal from the sensor 23 of the hand unit 20, the arm 14, the hand unit 20, and the like. To control the operation.
  • the hand part 20 (robot hand) includes a base part 21 connected to the most advanced arm 14 in the robot body part 10, four finger parts 22 supported on the base end side by the base part 21, and a gripping object X1.
  • the sensor 23 to detect is comprised (refer FIG. 2).
  • the base portion 21 is formed in a polygonal box shape in which the finger portions 22 are connected to the surrounding sides.
  • the back side of the base 21 is connected to the tip of the arm 14, and the sensor 23 is fixed to the palm side.
  • a drive source (not shown) and a drive mechanism (not shown) that swing each finger 22 toward the adjacent finger 22 are provided near each side in the base 21.
  • Each finger portion 22 has a plurality (three in the illustrated example) of node portions 1, 2, and 3 arranged in the longitudinal direction, and a plurality of (in the illustrated example, in accordance with the illustrated example). Two joint portions 1a and 2a and a finger pad rotating body 4 protruding from the node portion 3 toward the gripping direction.
  • Each of the node portions 1, 2, and 3 is a substantially cylindrical member having front and rear end portions opened. Inside each node 1 (2 or 3), a drive source (not shown) and a drive mechanism (for driving the other adjacent node 2 (1 or 2) adjacent to each other) are bent and extended and / or rotated. Etc.) are provided.
  • the joint portions 1a and 2a are mechanisms for connecting the adjacent node portions 1 and 2 (or 2 and 3) so as to bend and extend or rotate, and for example, well-known universal joints, shafts, and bearing members Composed of etc.
  • the joint 1a that connects the most proximal node 1 and the intermediate node 2 causes the other node 2 to bend and extend with respect to one node 1, and its connection.
  • a rotational movement is made around an axis along the direction (see the arrow in FIG. 2).
  • the joint 2a that connects the intermediate node 2 and the most distal node 3 causes the other node 3 to bend and extend with respect to one node 2 (see the arrow in FIG. 2).
  • the finger pad rotator 4 protrudes from the node 3 on the most distal side of each finger part 22 toward the gripping direction and is driven to rotate around an axis in the protruding direction.
  • the protruding end side is a cylindrical member formed in a hemispherical shape, and the base end side thereof is connected so as to rotate relative to the node portion 3 via a rotating shaft (not shown).
  • the finger pad rotating body 4 is driven to rotate by a drive source (not shown) and a drive mechanism (not shown) in the node portion 3.
  • the driving source and the driving mechanism for moving the support rod 12, the arm 14, the node portions 1, 2, 3, the finger pad rotating body 4 and the like described above are combined with, for example, a stepping motor, a gear, a link mechanism, and the like.
  • a known mechanism may be used.
  • the senor 23 is one or a plurality of imaging elements (for example, CCD, CMOS, etc.), images the gripping object X1, and transfers the imaging data to the control unit 15.
  • imaging elements for example, CCD, CMOS, etc.
  • the hand unit 20 (robot hand) having the above-described configuration is configured to control the gripping operation for gripping the gripping target object X1 and the posture of the gripped gripping target object X1 by controlling each of the drive sources in accordance with a command from the control unit 15.
  • a plurality of operations including a posture change operation to be changed and a release operation to release the gripped object X1 are performed.
  • the control unit 15 of the gripping robot A images the gripping object X1 with the sensor 23, and based on the captured data, the position coordinates of the gripping object X1 with respect to a predetermined reference position, the contour shape of the gripping object X1, and the gripping Data such as the posture of the object X1 is calculated. Then, the control unit 15 calculates the rotation axis P of the posture change so as to change the posture of the captured grasped object X1 to the target posture input in advance (see step 1 in FIG. 4).
  • the control unit 15 moves the hand unit 20 by the operation of the arm 14, surrounds the grasped object X ⁇ b> 1 by the four finger units 22, and the two finger units 22 among the four finger units 22.
  • the gripping object X1 is gripped from both sides in the axial direction of the rotation axis P (see step 2 (first step) in FIG. 3 (I) and FIG. 4), and the arm 14 is operated. Lift the gripping object X1.
  • the control unit 15 changes the posture of the grasped object X1 by changing the posture of the gripped finger portions 22 (a) and 22 (c) (see FIGS. 3 (II) and 4).
  • Step 3 (second step) More specifically, the posture changing operation is an operation of rotating the finger portions 22 (a) and 22 (c) by a predetermined amount around the rotation axis P. By this operation, the gripping object X1 is rotated by a predetermined amount around the rotation axis P, and the posture is changed from the original state (see FIG. 3 (II)).
  • control unit 15 makes one finger part 22 (d) other than the finger parts 22 (a) and 22 (c) in the gripped state, and another finger part 22 (not the finger part 22 (d).
  • the object to be grasped X1 is grasped by the second grasping operation using (b) (see FIG. 3 (III), step 4 (third step) in FIG. 4).
  • control unit 15 releases the finger portions 22 (a) and 22 (c) other than the finger portions 22 (d) and 22 (b) holding the gripping target object X1 by the second gripping operation. Operate (see step 5 (fourth step) in FIG. 4). With this operation, the gripping object X1 is gripped only by the two fingers 22 (d) and 22 (b) (see FIG. 3 (IV)).
  • control unit 15 moves the grasped object X1 to a desired position by operating the support rod 12, the arm 14, and the like (see step 6 in FIG. 4), and further, two fingers
  • the holding object X1 is released from the hand unit 20 by opening the units 22 (d) and 22 (b) (see step 7 in FIG. 3 (V) and FIG. 4).
  • the gripping object X1 once gripped as in the prior art or the like can be compared in the hand unit 20 without temporarily moving it on the base and holding it. It is possible to change the posture of the gripping object X1 with high accuracy only by a small movement, and to change the gripping object X1 from the finger part 22 that was gripped first to another finger part 22 in the hand part 20. . That is, it is possible to operate so as to change the posture of the grasped grasped object with the fingertip.
  • the hand portion 20 ′ is obtained by omitting the finger pad rotating body 4 from the hand portion 20 and changing the movement of the joint portion 1 a and the joint portion 2 a, and is gripped by the tip side portions of the four finger portions 22. Hold the object X2.
  • the joint 1a that connects the most proximal node 1 and the intermediate node 2 is configured to bend and extend the other node 2 with respect to one node 1 (in FIG. 5). See arrow).
  • the joint portion 2a that connects the middle node portion 2 and the most distal node portion 3 causes the other node portion 3 to bend and extend with respect to one node portion 2, and is centered on an axis along the connection direction. (See the arrow in FIG. 5).
  • FIG. 6 shows the operation of the finger part 22 of the hand part 20 ′.
  • the processing of the control unit 15 will be described in combination with the flowchart (FIG. 4) of the first embodiment described above.
  • the control unit 15 images the gripping object X2 with the sensor 23, and based on the captured data, the position coordinates of the gripping object X2 with respect to a predetermined reference position, the contour shape of the gripping object X2, and the gripping object X2 Data such as posture is calculated.
  • the gripping object X2 is a cylindrical workpiece.
  • the control unit 15 calculates the rotation axis P of the posture change so as to change the posture of the captured grasped object X2 to the target posture input in advance (see Step 1 in FIGS. 5 and 4).
  • control unit 15 surrounds the gripping object X2 with the four finger portions 22 (see FIG. 5), and among these four finger portions 22, three finger portions 22 (a) and 22 (b) ), 22 (c), the outer peripheral portion around the rotation axis P of the gripping object X1 is gripped by the most advanced side (specifically, the three nodes 3) (step 2 in FIG. 6 (I) and FIG. 4). First step))), the grasped object X2 is lifted by the operation of the arm 14.
  • the control unit 15 changes the posture of the grasped object X2 by performing the posture changing operation of the finger portions 22 (a), 22 (b), and 22 (c) in the gripped state (FIG. 6 (II ) And step 3 (second step) of FIG. 4). More specifically, the posture changing operation is rotated by a predetermined amount at the distal end side (specifically, the three node portions 3) of the finger portions 22 (a), 22 (b) and 22 (c). It is an action to make. With this operation, the gripping object X2 is rotated by a predetermined amount about the rotation axis P as a central axis, and the posture is changed from the initial state (see FIG. 6 (II)).
  • control unit 15 is not one finger unit 22 (d) other than the finger units 22 (a), 22 (b), and 22 (c) in the gripped state, and the finger unit 22 (d).
  • the gripping object X2 is gripped by the second gripping operation using the other finger 22 (b) (see FIG. 6 (III), step 4 (third step) in FIG. 4).
  • control unit 15 releases the finger portions 22 (a) and 22 (c) other than the finger portions 22 (d) and 22 (b) that have grasped the grasped object X2 by the second grasping operation. (See FIG. 6 (IV), step 5 (fourth step) in FIG. 4). With this operation, the gripping object X2 is gripped only by the two finger portions 22 (d) and 22 (b).
  • control unit 15 moves the gripped object X2 to a desired position (see step 6 in FIG. 4), and further, two finger portions 22 (d), 22 ( By releasing the operation b), the grasped object X2 is released from the hand unit 20 (see step 7 in FIG. 4).
  • the posture of the gripping object X2 can be changed with high accuracy only by a relatively small operation in the hand unit 20, and the gripping object X2 can be changed in the hand unit 20. Can do.
  • FIGS. 8 to 9 a third embodiment of the gripping robot according to the present invention will be described (see FIGS. 8 to 9).
  • This gripping robot is obtained by replacing the above-described gripping robot A with the hand unit 20 by the hand unit 20 ′′, and therefore, the hand unit 20 ′′ will be mainly described in detail, and a detailed description thereof will be omitted.
  • the hand unit 20 ′′ is provided with a fingertip rotating body 6 instead of the finger pad rotating body 4 in the hand unit 20 with respect to the hand unit 20.
  • the fingertip rotating body 6 extends from the node portion 3 to the outermost portion of each finger portion 22.
  • the fingertip rotating body 6 is a cylindrical member having a hemispherical protrusion side according to the example shown in FIG. The base end side is connected so as to rotate with respect to the node portion 3 via a rotating shaft (not shown).
  • the rotation axis of the fingertip rotating body 6 is slightly positioned on the gripping direction side, so that the circumferential surface of the cylindrical portion of the fingertip rotating body 6 is in contact with the node portion 3. On the other hand, it protrudes toward the gripping direction. That is, when the finger part 22 is viewed from the tip side, the contour of the fingertip rotating body 6 appears in a circular shape, and the contour of the node 3 appears in a square shape, the rotation axis of the fingertip rotating body 6 is the fingertip rotating body.
  • the center point of the contour circle coincides with the center of the circle that is the contour of No. 6, and is slightly offset toward the gripping direction side with respect to the intersection of the diagonal lines in the square that is the contour of the node 3 ( (See FIG. 9B).
  • the object to be grasped can be surrounded by the four finger portions 22 of the hand portion 20 ′′ and grasped by the cylindrical portion of the fingertip rotating body 6 of each finger portion 22. At this time, the cylindrical portion of the fingertip rotating body 6 can be grasped. Since the peripheral surface protrudes toward the gripping direction side with respect to the node part 3, it is possible to prevent the object to be gripped from interfering with the node part 3. Can do.
  • FIG. 9 is a schematic diagram showing a state in which the four finger portions 22 of the hand portion 20 ′′ are gripping a cylindrical gripping object as viewed from the fingertip side.
  • 9 (a) shows that when the fingertip rotating body 6 is seen from the fingertip side when a part of the outer periphery of the cylindrical portion of the fingertip rotating body 6 is aligned with the position of the side surface on the gripping direction side of the node section 3,
  • the gripping object X4 is shown as being gripped by the four fingers 22 arranged so as not to protrude, and the diameter of the cylindrical gripping object X4 is shown in FIG. 9B is the minimum diameter size that can be gripped by the four finger portions 22.
  • FIG. 9B is the minimum diameter size that can be gripped by the four finger portions 22.
  • the peripheral surface of the cylindrical portion of the fingertip rotating body 6 is relative to the node portion 3 when viewed from the fingertip side.
  • a state in which the gripping target object X3 is gripped by four fingers 22 arranged so as to protrude toward the gripping direction side is shown.
  • Diameter shaped for gripping target X3 is the smallest diameter size capable of four fingers 22 shown in FIG. 9 (b) to grip.
  • the gripping object is moved to the node portion by causing the peripheral surface of the cylindrical portion of the fingertip rotating body 6 to protrude toward the holding direction side with respect to the node portion 3. 3 can be prevented, so that the gripping object X3 having a size smaller than that of the gripping object X4 in the case of FIG. 9A can be gripped.
  • the hand unit 20 ′′ surrounds the gripping object X3 with four finger units 22 (see FIG. 8), and among these four finger units 22, three finger units 22 (a), 22 (b ), 22 (c), the peripheral surface of the gripping object X3 around the rotation axis P can be gripped by the peripheral surface of the cylindrical portion of each fingertip rotating body 6, and the gripping object X3 can be lifted by the operation of the arm 14.
  • the gripping object X3 is changed in posture with high accuracy in the same manner as the holding object X2 changing operation described with reference to FIG. It can be changed in the hand part 20 ".
  • FIG. 7 a third embodiment of the gripping robot according to the present invention will be described (see FIG. 7).
  • This gripping robot is obtained by replacing the above-described gripping robot A with the hand unit 20 by the hand unit 30, and therefore, the hand unit 30 will be mainly described in detail, and a detailed description thereof will be omitted.
  • the hand portion 30 (robot hand) includes a base portion 31 connected to the most advanced arm 14 in the robot main body portion 10 and four or more (four in the illustrated example) whose base end side is supported by the base portion 31.
  • a finger part 32 and a sensor 23 for detecting a grasped object are provided (see FIG. 7).
  • the base 31 is integrally provided with two plate-like members 31a and a plurality of support members 31b sandwiched between the plate-like members and projecting radially at the distal end side.
  • the base end side of each finger part 32 can swing to the adjacent finger part 32 side via the joint part 1a, and the protruding direction of each finger part 32 is set as the central axis. Connected to rotate.
  • a sensor 23 similar to that of the first embodiment is fixed on the palm side of the base 31.
  • Each support member 31b is provided with a drive source (not shown) and a drive mechanism (not shown) that swing each finger 22 toward the adjacent finger 22 side.
  • Each finger 32 includes a plurality of (two in the illustrated example) nodes 1 and 2 arranged in the longitudinal direction, a joint 1b provided between these nodes, and the leading edge of the node 2 on the front side. And a forceps part 5 provided in the part.
  • the joint portion 1b causes the other node portion 2 to bend and extend with respect to the one node portion 1 and rotate about the axis along the connecting direction (see the arrow in FIG. 7).
  • the forceps portion 5 is a mechanism for opening and closing between one piece portion and the other piece portion provided in a scissor shape.
  • the joint 1b and the forceps 5 are driven by a drive source (not shown) and a drive mechanism (not shown) provided in the nodes 1 and 2.
  • the hand unit 30 having the above-described configuration is attached to the robot main body unit 10 and operates according to a command from the control unit 15, similarly to the hand units 20, 20 ′, 20 ′′ described above.
  • a grasping object (not shown) can be partially grasped by each forceps unit 5.
  • the grasping object is a flexible object such as a living body, the grasping object An object can be gripped so as not to slide off.
  • a grasp object (figure is shown) by the 1st grasping operation of at least two finger parts 32 among four finger parts 32.
  • a second step of changing the posture of the object to be grasped by a posture changing operation (specifically, a bending operation) of the finger part 32 in the gripped state Then, a third step of gripping the gripping object by a second gripping operation using two or more finger portions 32 including at least one finger portion 32 other than the gripped finger portions 32, and thereafter Performing the fourth step of releasing the finger parts 32 other than the finger parts 32 holding the object to be grasped by the second grasping operation, and holding the object to be grasped in the hand part 30. it can.
  • the holding operation may be performed by the two finger portions 32. Is possible.
  • the one piece part and the other piece part constituting the forceps part 5 can be interpreted and applied as finger parts in the first step to the fourth step.
  • the posture changing operation for changing the posture of the grasped object a part (specifically, the finger pad rotator 4 or the finger pad rotating body 4) of at least two finger portions 22 (or 32).
  • the posture of the grasped object is changed by rotating the joint 3 or the like, and the posture thereof is changed.
  • the posture changing operation the bending motion or the extension motion of the gripped finger portion 22 (or 32) is used.
  • the gripping object is not limited to the illustrated example.
  • a tool used by a person such as an electric driver or an adhesive dispenser can be used as the gripping object. Even such a tool can be changed by changing the posture in a single hand unit 20 (20 ′, 20 ′′ or 30).
  • the image pick-up element was used as an example of the sensor 23, as another example of the sensor 23, a contact-type sensor, such as an infrared sensor, a contact-type sensor, such as a limit switch, and these sensors are combined. It is also possible to use a composite sensor or the like.
  • the gripping robot A, the hand units 20, 20 ′, 20 ′′, 30 (robot hand) and the control method thereof in the above embodiment are, for example, an assembly work robot, a machining robot, a welding robot, a painting robot, It can be applied to measurement robots, medical robots (including treatment robots and inspection robots), and other robots.
  • the present invention is not limited to the above-described embodiments, and can be appropriately changed without changing the gist of the present invention.

Abstract

La présente invention modifie la position d'un objet à saisir dans une main. Ce robot de préhension comprend une base (21) et au moins quatre doigts (22) dont les extrémités sont soutenues par la base (21), et amène les doigts (22) à effectuer une opération de préhension pour saisir un objet (X1) devant être saisi, une opération de changement de position pour changer la position de l'objet saisi (X1), et une opération de libération pour libérer l'objet saisi. Le robot de préhension effectue : une première étape au cours de laquelle l'objet à saisir est saisi par une première opération de préhension effectuée par au moins deux desdits au moins quatre doigts (22); une deuxième étape au cours de laquelle la position de l'objet (X1) est modifiée par l'opération de changement de position des doigts (22) saisissant l'objet (X1); une troisième étape au cours de laquelle l'objet (X1) est saisi par une seconde opération de préhension effectuée par au moins deux doigts qui sont les doigts (22) autres que les doigts (22) saisissant l'objet (X1); et une quatrième étape au cours de laquelle les doigts (22) autres que les doigts (22) saisissant l'objet (X1) dans la seconde opération de préhension sont libérés.
PCT/JP2016/079957 2016-03-10 2016-10-07 Robot de préhension et procédé de commande de main de robot WO2017154254A1 (fr)

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TW105133399A TW201731647A (zh) 2016-03-10 2016-10-17 握持機器人及機器人手部的控制方法

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JP2016-046617 2016-03-10

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WO2019093303A1 (fr) * 2017-11-09 2019-05-16 有限会社渥美不動産アンドコーポレーション Dispositif de déplacement pourvu de corps rotatifs cylindriques
JP2021020088A (ja) * 2019-03-28 2021-02-18 有限会社渥美不動産アンドコーポレーション 筒型回転体を備える作業装置
EP3863955A4 (fr) * 2018-10-12 2022-07-06 Indexator Rotator Systems AB Système destiné à commander un rotateur par des moyens de détection d'image
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