WO2019102913A1 - Système de préhension - Google Patents

Système de préhension Download PDF

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Publication number
WO2019102913A1
WO2019102913A1 PCT/JP2018/042087 JP2018042087W WO2019102913A1 WO 2019102913 A1 WO2019102913 A1 WO 2019102913A1 JP 2018042087 W JP2018042087 W JP 2018042087W WO 2019102913 A1 WO2019102913 A1 WO 2019102913A1
Authority
WO
WIPO (PCT)
Prior art keywords
finger
contact
gripping
exposed
inertial force
Prior art date
Application number
PCT/JP2018/042087
Other languages
English (en)
Japanese (ja)
Inventor
松尾　芳一
晋治 川畑
Original Assignee
Thk株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Thk株式会社 filed Critical Thk株式会社
Priority to JP2019555274A priority Critical patent/JPWO2019102913A1/ja
Publication of WO2019102913A1 publication Critical patent/WO2019102913A1/fr

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • 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
    • 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
    • B25J15/10—Gripping heads and other end effectors having finger members with three or more finger members

Definitions

  • the stability can be further increased by bringing the finger portions into contact with a plurality of positions which are positions on the object and face the direction of the resultant force of the inertial force and the gravity applied to the object. Further, the stability can be further increased by bringing at least one finger into contact with the surface facing outward in the direction of the resultant of the inertial force and the gravity applied to the object.
  • the sensor information acquisition unit 432 receives the detection value of the pressure sensor 70 provided on the tip end side of each finger 21 of the hand mechanism 2. Then, the hand control device 43 can detect the contact of the finger unit 21 with the target based on the detection value of the pressure sensor 70 of each finger unit 21 acquired by the sensor information acquisition unit 432, and the detection signal is detected.
  • Each motor 51, 52, 53 in each finger part 21 can also be controlled based on it.
  • the contactable surface of the object 10 is specified by the negative determination in S102.
  • the contactable surface is any finger portion of the hand mechanism 2 for tilting the object 10 in order to realize a form different from direct gripping on the object 10 placed in a state where direct gripping can not be performed.
  • a finger corresponding to the first finger of the present invention is the surface of the object 10 to which contact is possible. Therefore, not all surfaces of the exposed object 10 are contactable surfaces, but surfaces which can be touched by the finger portions and which can change the posture or position of the object 10 are contactable surfaces.
  • a process for specifying the contactable surface of the object 10 will be described based on FIG.
  • the non-exposed surface of the object 10 is specified in S105.
  • the non-exposed surface is different from the finger of the hand mechanism 2 (the finger different from the finger in contact with the contactable surface before the object 10 is tilted in a state where the finger 21 contacts the contactable surface as described above
  • the surface which is a candidate for the non-exposed surface is extracted as a requirement that the finger 21 of the hand mechanism 2 is not exposed so as to be in contact with it. Therefore, in the object 10 in the arrangement state shown in FIG. 15, the side surfaces S2 and S3, the back surface S5, and the bottom surface are extracted as candidates for the non-exposed surface.
  • An unexposed surface on which an exposed surface is to be present is selected.
  • the non-exposed surface and the exposed surface that makes a pair with the non-exposed surface in this way correspond to the predetermined gripping surface of the present invention.
  • the only candidate for the non-exposed surface selected in S302 is the back surface S5, but when the finger portion 21 is temporarily brought into contact with the back surface S5 exposed by the tilting operation, another finger portion 21 is By contacting the front surface S1 with the front surface S1, it becomes possible to grip the object 10 with both fingers. Therefore, the back surface S5 is also selected as a non-exposed surface candidate by the process of S303.
  • the finger 21B and the finger 21D are in contact with the two-point contact surface S10, and the finger S21 (hereinafter also referred to as a one-point contact surface S11) that makes a pair with the two-point contact surface S10. I am in contact with 21C.
  • the finger 21A is used for the tilting operation, the present invention is not limited thereto.
  • the finger 21B is You may contact point contact surface S10.
  • the first operation control unit 436 drives and controls the finger portion 21A to exert a force on the object 10 to pull the object 10 to the front side. Let Therefore, as shown in FIG. 19, the object 10 tilts so that the upper part approaches the floor surface side centering on a part of the bottom surface in contact with the floor surface.
  • the surface facing outward in the direction of the inertial force applied to the object 10 is determined as the two-point contact surface S10, and the two-point contact surface S10
  • the object 10 may be directly gripped so that the two fingers 21 come in contact with each other.
  • the surface facing the outside of the direction of the resultant force does not have to have the normal direction exactly in line with the direction of the resultant force applied to the object 10, and the normal of the two-point contact surface S10 is the object 10 It suffices to include the component of such a resultant vector.
  • the hand mechanism 2 is moved relative to the first arm link 31 and the axis of the first arm link 31 It may be rotated around, or the angle of each axis of the arm mechanism 3 may be adjusted.
  • the object 10 is moved to the target position without adjusting the posture of the object 10 after gripping the object 10, the time for adjusting the posture of the object 10 is saved, so the tact The time can be shortened.
  • the object 10 since the object 10 also receives gravity in addition to the inertial force, it is conceivable that the object 10 becomes unstable due to the influence of gravity when the object 10 moves.
  • one finger 21 faces the resultant force of the inertial force and the gravity applied to the object 10, and the two fingers 21 are brought into contact with the object from the direction orthogonal to the resultant force. Since the movement of the object 10 can be suppressed, the object 10 can be moved stably at a higher speed. Therefore, the tact time can be shortened.
  • the angle between the direction of the inertial force and the direction normal to the tangent plane at that position and facing the outside of the object 100 is an obtuse angle Become. That is, at an arbitrary position on the object 100 in the range indicated by R 2, the direction of the inertial force is directed to the inside of the object 100.
  • the surface of the object 100 in the range indicated by R1 is also referred to as a first surface R10
  • the surface of the object 100 in the range indicated by R2 is also referred to as a second surface R20.
  • the first surface R10 and the second surface R20 are side surfaces of a cylindrical body, and are curved surfaces formed around a central axis.
  • the two finger portions 21 are in contact with the first surface R10, it is temporarily compared with the case where one finger portion 21 is in contact with the first surface R10. Stability is increased. That is, by receiving the inertial force applied to the object 100 with the two fingers 21, it is possible to suppress the movement of the object 100.
  • the finger is a surface including the center of gravity of the object 100 and the direction of the inertial force and both fingers are on both sides of the plane orthogonal to the direction of movement of the center of gravity. By arranging the portion 21, the degree of stability can be further increased.
  • the object 100 is a cylindrical body, it is possible to suppress the movement of the object 100 by receiving the resultant force of the inertial force and the gravity applied to the object 100 with at least one finger 21.
  • the object 100 can be moved stably at a higher speed. Therefore, the tact time can be shortened.
  • the present invention is not limited to a cylindrical body, and the same applies to an object having a curved surface (for example, a cylindrical body having an elliptical cross section). Can.

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

L'objectif de la présente invention est qu'un objet cible soit déplacé d'une manière stable lorsque l'objet cible est déplacé au moyen d'un mécanisme de bras avec l'objet cible saisi par un mécanisme de main. Lorsque l'objet cible est déplacé au moyen du mécanisme de bras avec l'objet cible dans un état saisi, l'objet cible est saisi au moyen d'au moins trois parties doigts, au moins une partie doigt étant amenée en contact avec une position sur l'objet cible faisant face à la direction d'une force d'inertie agissant sur l'objet cible.
PCT/JP2018/042087 2017-11-22 2018-11-14 Système de préhension WO2019102913A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP2019555274A JPWO2019102913A1 (ja) 2017-11-22 2018-11-14 把持システム

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2017-224496 2017-11-22
JP2017224496 2017-11-22

Publications (1)

Publication Number Publication Date
WO2019102913A1 true WO2019102913A1 (fr) 2019-05-31

Family

ID=66630961

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2018/042087 WO2019102913A1 (fr) 2017-11-22 2018-11-14 Système de préhension

Country Status (2)

Country Link
JP (1) JPWO2019102913A1 (fr)
WO (1) WO2019102913A1 (fr)

Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH06319869A (ja) * 1993-05-11 1994-11-22 Epotsukushiya:Kk 景品キャッチ玩具
JPH07186083A (ja) * 1993-12-28 1995-07-25 Honda Motor Co Ltd ロボットハンドの把持制御方法
JPH09300255A (ja) * 1996-05-21 1997-11-25 Ricoh Co Ltd ロボットの制御方法
JP2006223416A (ja) * 2005-02-16 2006-08-31 Kenzo Yamazaki 景品獲得ゲーム機の把持アーム
JP2010069584A (ja) * 2008-09-19 2010-04-02 Yaskawa Electric Corp マニピュレータの制御装置および制御方法
JP2015533669A (ja) * 2012-11-09 2015-11-26 アイロボット コーポレイション 柔軟劣駆動把持具
JP2016049607A (ja) * 2014-09-01 2016-04-11 キヤノン株式会社 ロボット装置、ロボット装置の制御方法、プログラム及び記録媒体
CN105818159A (zh) * 2016-05-18 2016-08-03 中国石油集团海洋工程有限公司 Ctod试验用试件夹持钳

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH06319869A (ja) * 1993-05-11 1994-11-22 Epotsukushiya:Kk 景品キャッチ玩具
JPH07186083A (ja) * 1993-12-28 1995-07-25 Honda Motor Co Ltd ロボットハンドの把持制御方法
JPH09300255A (ja) * 1996-05-21 1997-11-25 Ricoh Co Ltd ロボットの制御方法
JP2006223416A (ja) * 2005-02-16 2006-08-31 Kenzo Yamazaki 景品獲得ゲーム機の把持アーム
JP2010069584A (ja) * 2008-09-19 2010-04-02 Yaskawa Electric Corp マニピュレータの制御装置および制御方法
JP2015533669A (ja) * 2012-11-09 2015-11-26 アイロボット コーポレイション 柔軟劣駆動把持具
JP2016049607A (ja) * 2014-09-01 2016-04-11 キヤノン株式会社 ロボット装置、ロボット装置の制御方法、プログラム及び記録媒体
CN105818159A (zh) * 2016-05-18 2016-08-03 中国石油集团海洋工程有限公司 Ctod试验用试件夹持钳

Also Published As

Publication number Publication date
JPWO2019102913A1 (ja) 2020-11-19

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