WO2019176802A1 - Robot hand and robot - Google Patents

Robot hand and robot Download PDF

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Publication number
WO2019176802A1
WO2019176802A1 PCT/JP2019/009466 JP2019009466W WO2019176802A1 WO 2019176802 A1 WO2019176802 A1 WO 2019176802A1 JP 2019009466 W JP2019009466 W JP 2019009466W WO 2019176802 A1 WO2019176802 A1 WO 2019176802A1
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WO
WIPO (PCT)
Prior art keywords
finger
robot hand
spring
coil spring
robot
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Application number
PCT/JP2019/009466
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French (fr)
Japanese (ja)
Inventor
博文 長澤
Original Assignee
日本電産株式会社
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Publication date
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Publication of WO2019176802A1 publication Critical patent/WO2019176802A1/en

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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
    • 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
    • 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
    • B25J15/12—Gripping heads and other end effectors having finger members with flexible finger members

Definitions

  • the present invention relates to a robot hand and a robot.
  • Patent Document 1 describes a finger structure of a robot hand that includes a plurality of fingers (finger) that grips an object and a coil spring wound around the outer periphery of each finger.
  • the winding of the coil spring can be displaced in the longitudinal direction of the finger portion. According to such a finger structure of the robot hand, the effect of preventing the object from slipping can be obtained by the coil spring.
  • the object to be grasped when the object to be grasped is a fragile material or a soft material, the object may be collapsed when the object is grasped by a plurality of finger portions.
  • a finger portion is provided inside the coil spring. For this reason, the coil spring is restrained by the finger portion from being displaced more than a certain amount in a direction intersecting the longitudinal direction of the finger portion. Therefore, when an object made of a fragile material or a soft material is gripped, there is a problem that the object collapses due to the coil spring biting into the object.
  • an object of the present invention is to provide a robot hand and a robot that can grip an object satisfactorily even when the object to be gripped is a brittle material or a soft material. I will.
  • One aspect of the robot hand according to the present invention is a robot hand that grips an object, and includes a base portion and at least two finger portions that are provided on the base portion and grip the object. At least one of the at least two fingers is composed of a first finger, and the first finger intersects the extending direction of the first finger when the object is gripped.
  • a spring portion including a coil spring that is elastically deformable in a direction is provided.
  • One aspect of the robot of the present invention includes the above robot hand and an arm unit connected to the robot hand.
  • a robot hand and a robot that can satisfactorily grip an object even when the object to be gripped is a brittle material or a soft material.
  • FIG. 1 is an exploded perspective view showing a robot hand and a robot according to an embodiment.
  • FIG. 2 is a diagram illustrating a robot hand according to an embodiment.
  • FIG. 3 is a diagram illustrating a coil spring provided in a finger portion of the robot hand according to the embodiment.
  • FIG. 4 is a diagram illustrating a modification of the robot hand according to the embodiment.
  • FIG. 1 is an exploded perspective view showing a robot hand and a robot according to an embodiment. As shown in FIG. 1, the robot 100 according to this embodiment includes an arm unit 50 and a robot hand 1. *
  • the arm unit 50 is fixed to a base (not shown) on which the robot 100 is installed.
  • the arm part 50 has a six-axis configuration having, for example, six joint parts 51A to 51F.
  • the joint portions 51A to 51F can rotate around the drive shaft.
  • the arm part 50 is 6 axis
  • a connection flange 52 is provided at the first end of the arm portion 50.
  • the connection flange 52 is connected to a base (not shown) by a bolt (not shown).
  • a hand connection flange 53 is provided at the second end of the arm unit 50.
  • the robot hand 1 is detachably connected to the hand connection flange 53.
  • the hand connection flange 53 includes a power supply terminal (not shown) that supplies power to the robot hand 1 and a signal terminal (not shown) that inputs and outputs electrical signals to the robot hand 1.
  • a wiring inserted into the arm unit 50 is connected to the power supply terminal and the signal terminal. *
  • FIG. 2 is a diagram illustrating a robot hand according to an embodiment. As shown in FIG. 2, the robot hand 1 holds an object 200.
  • the robot hand 1 includes a base unit 10 and finger units 11. *
  • the base portion 10 has a disc shape and has a joint portion 10j that is detachably connected to the hand connection flange 53 of the arm portion 50.
  • the base portion 10 has a base surface 10a on the side opposite to the joint portion 10j.
  • the base surface 10a is planar and faces the object 200 to be grasped.
  • the base portion 10 rotates around the drive shaft of the joint portion 51F integrally with the hand connection flange 53. *
  • the finger part 11 is provided on the base part 10.
  • the finger parts 11 are arranged at equal intervals in the circumferential direction on the radially outer side of the center of the base part 10.
  • three finger portions 11 are provided.
  • Each finger part 11 is formed, for example, in a substantially L shape having a joint part 11c in the intermediate part.
  • Each finger portion 11 has a base end 11 a rotatably connected to the base portion 10, and the tip end 11 b side can be displaced (swinged) in the radial direction of the base portion 10 around the base end 11 a.
  • the plurality of finger portions 11 are opened and closed by being displaced in the radial direction of the base portion 10 in synchronization.
  • the object 200 is grasped or released by opening and closing the plurality of finger parts 11. *
  • At least one of the plurality of finger parts 11 includes a flexible finger part (first finger part) 11S.
  • all of the plural (three) finger portions 11 are each composed of a flexible finger portion 11S.
  • the flexible finger portion 11 ⁇ / b> S has a spring portion 13.
  • the spring portion 13 is an outer periphery that is separated from the object 200 in a direction that intersects with the extending direction of the spring portion 13 of the flexible finger portion 11S, centering on a portion that contacts the object 200 when the object 200 is gripped. Elastic deformation is possible toward the side.
  • the flexible finger portion 11S has a spring portion 13 at least on the tip 11b side. In the present embodiment, the spring portion 13 is provided on the distal end 11b side with respect to the joint portion 11c in the flexible finger portion 11S.
  • the spring portion 13 includes a coil spring 14 and a pedestal portion 15. *
  • FIG. 3 is a diagram illustrating a coil spring provided in a finger portion of the robot hand according to the embodiment.
  • the coil spring 14 is composed of a wire rod 14S wound spirally along the extending direction of the flexible finger portion 11S.
  • the outer diameter D1 of the coil spring 14 gradually decreases toward the tip 11b of the flexible finger portion 11S.
  • the wire 14S that constitutes the coil spring 14 is made of, for example, a metal material. *
  • the pedestal portion 15 is provided on the distal end 11 b side with respect to the joint portion 11 c in the flexible finger portion 11 ⁇ / b> S.
  • a base end portion 14 a of the coil spring 14 is attached to the pedestal portion 15.
  • the robot hand 1 grips the object 200 by the coil spring 14 portion of the spring portion 13 in each flexible finger portion 11 ⁇ / b> S. Then, as shown in FIG. 3, the coil spring 14 of the spring portion 13 is elastically deformed to the outer peripheral side that is separated from the object 200 with the portion P in contact with the object 200 as the center.
  • the member which inhibits the elastic deformation to the outer peripheral side of the coil spring 14 when holding the target object 200 is not provided inside the coil spring 14. Thereby, it is possible to suppress an excessive force from acting on the object 200 from the spring portion 13.
  • the robot hand 1 that grips the object 200 includes the base unit 10 and at least two finger units 11 that are provided on the base unit 10 and grip the object 200.
  • At least one of the at least two finger parts 11 includes a flexible finger part 11S.
  • the flexible finger portion 11S includes a spring portion 13 including a coil spring 14 that can be elastically deformed in a direction that intersects the extending direction of the flexible finger portion 11S when the object 200 is gripped.
  • the robot hand 1 when the robot hand 1 comes into contact with the surface of the object 200, the spring portion 13 of the flexible finger portion 11 ⁇ / b> S is elastically deformed in a direction away from the object 200.
  • the robot hand 1 can grip the target object 200 without pressing the target object 200 with an excessive force. Can do.
  • the object 200 can be reliably grasped by the coil spring 14 of the spring portion 13 grasping the object 200 with an appropriate force.
  • the target object 200 can be gripped satisfactorily.
  • the flexible finger portion 11S has the spring portion 13 on at least the tip 11b side. According to such a configuration, since the spring portion 13 is provided on the distal end 11b side of the flexible finger portion 11S, even when the object 200 is a fragile material or a soft material, the object 200 is placed on the flexible finger portion 11S. Can be gripped on the tip 11b side. *
  • the flexible finger portion 11 ⁇ / b> S has the pedestal portion 15 to which the coil spring 14 is attached. According to such a structure, since the coil spring 14 is supported by the base part 15, the spring part 13 can be operated stably.
  • the flexible finger part 11S has the joint part 11c, and the spring part 13 is provided in the front-end
  • the spring portion 13 is provided on the distal end 11b side of the joint portion 11c, even when the target object 200 is a fragile material, a soft material, or the like, the target object 200 is placed on the flexible finger portion 11S. It can be gripped on the tip 11b side.
  • the outer diameter D1 of the coil spring 14 becomes small as it goes to the front-end
  • all the finger parts 11 provided in the base part 10 are comprised from the flexible finger part 11S. According to such a configuration, since all the finger parts 11 have the spring parts 13, even when the object 200 to be grasped is a brittle material or a soft material, the object 200 can be grasped satisfactorily. Can do. *
  • the spring portion 13 is made of a metal material. According to such a configuration, the wear resistance, scratch resistance, and heat resistance of the spring portion 13 can be improved.
  • the three finger parts 11 are provided. Thereby, the target object 200 can be more reliably gripped.
  • the robot hand 1 as described above and the arm unit 50 connected to the robot hand 1 are provided.
  • the robot 100 that can grip the target object 200 satisfactorily can be provided.
  • FIG. 4 is a diagram illustrating a modification of the robot hand of one embodiment.
  • the shaft portion 20 is made of a metal wire having a small wire diameter, a rubber-based material, a resin-based material, or the like.
  • the shaft portion 20 is flexible and has a sufficiently thin wire diameter with respect to the outer diameter of the coil spring 14. When the coil spring 14 comes into contact with the object 200 and is elastically deformed, the shaft portion 20 is elastically deformed together with the coil spring 14 according to the amount of elastic deformation of the coil spring 14.
  • the wire 14S constituting the coil spring 14 is made of, for example, a metal material, but is not limited thereto.
  • the wire 14S can be formed from a resin-based material or the like in addition to the metal material.
  • the spring portion 13 (coil spring 14) is provided closer to the tip 11b side of the flexible finger portion 11S than the joint portion 11c, but the position of the spring portion 13 in the flexible finger portion 11S is Not limited to this.
  • the spring portion 13 may be provided on the proximal end 11a side or the intermediate portion of the flexible finger portion 11S.
  • all the finger parts 11 are the flexible finger parts 11S, but at least one of the plurality of finger parts 11 may be the flexible finger part 11S having the spring part 13. Good. *
  • the coil spring 14 was made from metal, it is not restricted to this.
  • the coil spring 14 may be formed of other resin materials or organic materials such as elastomer.
  • the finger part 11 may be provided with 2 or 4 or more. Furthermore, although the finger part 11 is rotated about the base end 11a, for example, the plurality of finger parts 11 slide in the direction along the base surface 10a so as to grasp and release the object 200. It may be. *
  • the uses of the robot hand 1 and the robot 100 shown in the above-described embodiment are not particularly limited.

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

Abstract

The robot hand according to one embodiment of the present invention is for grasping an object, wherein the robot hand comprises a base part, and at least two finger parts that are provided to the base part and are for grasping the object. At least one of the at least two finger parts is constituted by a first finger part, and the first finger part comprises a spring part including a coil spring that is elastically deformable in a direction intersecting the direction of extension of the first finger part when the object is being grasped.

Description

ロボットハンド、ロボットRobot hand, robot
本発明は、ロボットハンド、ロボットに関する。 The present invention relates to a robot hand and a robot.
ロボットアームの先端部等に設けられて、対象物（ワーク）を把持するロボットハンドが知られている。例えば、下記特許文献１には、対象物を把持する複数の指部（フィンガ）と、各指部の外周に巻き付けられたコイルスプリングと、を備えるロボットハンドのフィンガ構造が記載される。この構成において、コイルスプリングの巻線は、指部の長手方向に変位可能とされる。このようなロボットハンドのフィンガ構造によれば、コイルスプリングによって対象物の滑り止め効果が得られる。 There is known a robot hand that is provided at the tip of a robot arm or the like and grips an object (workpiece). For example, the following Patent Document 1 describes a finger structure of a robot hand that includes a plurality of fingers (finger) that grips an object and a coil spring wound around the outer periphery of each finger. In this configuration, the winding of the coil spring can be displaced in the longitudinal direction of the finger portion. According to such a finger structure of the robot hand, the effect of preventing the object from slipping can be obtained by the coil spring.
特開２０１１－２１８４４８号公報JP 2011-218448 A
しかしながら、上記のような構成では、例えば、把持する対象物が、脆い材料や軟らかい材料である場合、複数の指部で対象物を把持すると、対象物が崩れてしまう場合がある。上記特許文献１に開示される技術では、コイルスプリングの内側に指部が設けられる。このため、コイルスプリングは、指部の長手方向に交差する方向への一定以上の変位が指部によって拘束される。したがって、脆い材料や軟らかい材料からなる対象物を把持すると、コイルスプリングが対象物に食い込むことで対象物が崩れてしまうという問題がある。　 However, in the above configuration, for example, when the object to be grasped is a fragile material or a soft material, the object may be collapsed when the object is grasped by a plurality of finger portions. In the technique disclosed in Patent Document 1, a finger portion is provided inside the coil spring. For this reason, the coil spring is restrained by the finger portion from being displaced more than a certain amount in a direction intersecting the longitudinal direction of the finger portion. Therefore, when an object made of a fragile material or a soft material is gripped, there is a problem that the object collapses due to the coil spring biting into the object. *
本発明は、上記事情に鑑みて、把持すべき対象物が脆い材料や軟らかい材料等である場合においても、対象物を良好に把持することができるロボットハンド、ロボットを提供することを目的の一つとする。 In view of the above circumstances, an object of the present invention is to provide a robot hand and a robot that can grip an object satisfactorily even when the object to be gripped is a brittle material or a soft material. I will.
本発明のロボットハンドの一つの態様は、対象物を把持するロボットハンドにおいて、ベース部と、前記ベース部に設けられ、前記対象物を把持する少なくとも２つの指部と、を備える。前記少なくとも２つの指部のうちの少なくとも一つの前記指部は第１指部から構成され、前記第１指部は、前記対象物を把持したときに前記第１指部の延伸方向に交差する方向に弾性変形可能なコイルスプリングを含むスプリング部を有する。　 One aspect of the robot hand according to the present invention is a robot hand that grips an object, and includes a base portion and at least two finger portions that are provided on the base portion and grip the object. At least one of the at least two fingers is composed of a first finger, and the first finger intersects the extending direction of the first finger when the object is gripped. A spring portion including a coil spring that is elastically deformable in a direction is provided. *
本発明のロボットの一つの態様は、上記のロボットハンドと、前記ロボットハンドに接続されるアーム部と、を備える。 One aspect of the robot of the present invention includes the above robot hand and an arm unit connected to the robot hand.
本発明の一つの態様によれば、把持すべき対象物が脆い材料や軟らかい材料等である場合においても、対象物を良好に把持することができるロボットハンド、ロボットが提供される。 According to one aspect of the present invention, there are provided a robot hand and a robot that can satisfactorily grip an object even when the object to be gripped is a brittle material or a soft material.
図１は、一実施形態のロボットハンド及びロボットを示す斜視展開図である。FIG. 1 is an exploded perspective view showing a robot hand and a robot according to an embodiment. 図２は、一実施形態のロボットハンドを示す図である。FIG. 2 is a diagram illustrating a robot hand according to an embodiment. 図３は、一実施形態のロボットハンドの指部に設けられたコイルスプリングを示す図である。FIG. 3 is a diagram illustrating a coil spring provided in a finger portion of the robot hand according to the embodiment. 図４は、一実施形態のロボットハンドの変形例を示す図である。FIG. 4 is a diagram illustrating a modification of the robot hand according to the embodiment.
図１は、一実施形態のロボットハンド及びロボットを示す斜視展開図である。　図１に示すように、本実施形態のロボット１００は、アーム部５０と、ロボットハンド１と、を備える。　 FIG. 1 is an exploded perspective view showing a robot hand and a robot according to an embodiment. As shown in FIG. 1, the robot 100 according to this embodiment includes an arm unit 50 and a robot hand 1. *
アーム部５０は、ロボット１００が設置される基台（図示無し）に固定される。アーム部５０は、例えば６つの関節部５１Ａ～５１Ｆを有した６軸構成である。アーム部５０において、関節部５１Ａ～５１Ｆがそれぞれ駆動軸の周りに回転可能とされる。なお、本実施形態において、アーム部５０は６軸構成であるが、その駆動軸の数については何ら限定するものではない。　 The arm unit 50 is fixed to a base (not shown) on which the robot 100 is installed. The arm part 50 has a six-axis configuration having, for example, six joint parts 51A to 51F. In the arm portion 50, the joint portions 51A to 51F can rotate around the drive shaft. In addition, in this embodiment, although the arm part 50 is 6 axis | shaft structure, it does not limit at all about the number of the drive shafts. *
アーム部５０の第一端部には、接続フランジ５２が設けられる。接続フランジ５２は、基台（図示無し）にボルト（図示無し）によって接続される。アーム部５０の第二端部には、ハンド接続フランジ５３が設けられる。ハンド接続フランジ５３には、ロボットハンド１が着脱可能に接続される。ハンド接続フランジ５３は、ロボットハンド１に給電する給電端子（図示無し）、及びロボットハンド１に電気信号を入出力する信号端子（図示無し）を備える。給電端子及び信号端子には、アーム部５０内に挿通される配線が接続される。　 A connection flange 52 is provided at the first end of the arm portion 50. The connection flange 52 is connected to a base (not shown) by a bolt (not shown). A hand connection flange 53 is provided at the second end of the arm unit 50. The robot hand 1 is detachably connected to the hand connection flange 53. The hand connection flange 53 includes a power supply terminal (not shown) that supplies power to the robot hand 1 and a signal terminal (not shown) that inputs and outputs electrical signals to the robot hand 1. A wiring inserted into the arm unit 50 is connected to the power supply terminal and the signal terminal. *
図２は、一実施形態のロボットハンドを示す図である。　図２に示すように、ロボットハンド１は、対象物２００を把持する。ロボットハンド１は、ベース部１０と、指部１１と、を備える。　 FIG. 2 is a diagram illustrating a robot hand according to an embodiment. As shown in FIG. 2, the robot hand 1 holds an object 200. The robot hand 1 includes a base unit 10 and finger units 11. *
ベース部１０は、円盤状で、アーム部５０のハンド接続フランジ５３に着脱可能に接続されるジョイント部１０ｊを有する。ベース部１０は、ジョイント部１０ｊとは反対側に、ベース面１０ａを有する。ベース面１０ａは、平面状で、把持対象となる対象物２００に対向する。ベース部１０は、ハンド接続フランジ５３と一体に、関節部５１Ｆの駆動軸周りに回転する。　 The base portion 10 has a disc shape and has a joint portion 10j that is detachably connected to the hand connection flange 53 of the arm portion 50. The base portion 10 has a base surface 10a on the side opposite to the joint portion 10j. The base surface 10a is planar and faces the object 200 to be grasped. The base portion 10 rotates around the drive shaft of the joint portion 51F integrally with the hand connection flange 53. *
指部１１は、ベース部１０に設けられる。指部１１は、ベース部１０の中心の径方向外側に、周方向に等間隔をあけて配置されている。本実施形態において、指部１１は、３つが設けられている。各指部１１は、例えば、中間部に関節部１１ｃを有した略Ｌ字状に形成される。各指部１１は、基端１１ａがベース部１０に回転自在に連結され、基端１１ａを中心として先端１１ｂ側がベース部１０の径方向に変位（揺動）可能である。複数の指部１１は、同期してベース部１０の径方向に変位することで開閉動作する。複数の指部１１が開閉動作することによって、対象物２００を把持又は解放する。　 The finger part 11 is provided on the base part 10. The finger parts 11 are arranged at equal intervals in the circumferential direction on the radially outer side of the center of the base part 10. In the present embodiment, three finger portions 11 are provided. Each finger part 11 is formed, for example, in a substantially L shape having a joint part 11c in the intermediate part. Each finger portion 11 has a base end 11 a rotatably connected to the base portion 10, and the tip end 11 b side can be displaced (swinged) in the radial direction of the base portion 10 around the base end 11 a. The plurality of finger portions 11 are opened and closed by being displaced in the radial direction of the base portion 10 in synchronization. The object 200 is grasped or released by opening and closing the plurality of finger parts 11. *
複数の指部１１のうち、少なくとも一つは可撓指部（第１指部）１１Ｓから構成される。本実施形態においては、複数（３つ）の指部１１の全ては、それぞれ可撓指部１１Ｓから構成される。　 At least one of the plurality of finger parts 11 includes a flexible finger part (first finger part) 11S. In the present embodiment, all of the plural (three) finger portions 11 are each composed of a flexible finger portion 11S. *
可撓指部１１Ｓは、スプリング部１３を有する。スプリング部１３は、対象物２００を把持したときに、対象物２００に接触した部位を中心として、可撓指部１１Ｓのスプリング部１３の延伸方向に交差する方向において、対象物２００から離間する外周側に向かって弾性変形可能である。可撓指部１１Ｓは、スプリング部１３を少なくとも先端１１ｂ側に有する。本実施形態において、スプリング部１３は、可撓指部１１Ｓにおいて、関節部１１ｃよりも先端１１ｂ側に設けられる。スプリング部１３は、コイルスプリング１４と、台座部１５と、を有する。　 The flexible finger portion 11 </ b> S has a spring portion 13. The spring portion 13 is an outer periphery that is separated from the object 200 in a direction that intersects with the extending direction of the spring portion 13 of the flexible finger portion 11S, centering on a portion that contacts the object 200 when the object 200 is gripped. Elastic deformation is possible toward the side. The flexible finger portion 11S has a spring portion 13 at least on the tip 11b side. In the present embodiment, the spring portion 13 is provided on the distal end 11b side with respect to the joint portion 11c in the flexible finger portion 11S. The spring portion 13 includes a coil spring 14 and a pedestal portion 15. *
図３は、一実施形態のロボットハンドの指部に設けられたコイルスプリングを示す図である。　図２、図３に示すように、コイルスプリング１４は、可撓指部１１Ｓの延伸方向に沿って螺旋状に巻き回された線材１４Ｓからなる。コイルスプリング１４は、可撓指部１１Ｓの先端１１ｂ側に向かうに従って、その外径Ｄ１が漸次小さくなる。コイルスプリング１４を構成する線材１４Ｓは、例えば、金属材料からなる。　 FIG. 3 is a diagram illustrating a coil spring provided in a finger portion of the robot hand according to the embodiment. As shown in FIGS. 2 and 3, the coil spring 14 is composed of a wire rod 14S wound spirally along the extending direction of the flexible finger portion 11S. The outer diameter D1 of the coil spring 14 gradually decreases toward the tip 11b of the flexible finger portion 11S. The wire 14S that constitutes the coil spring 14 is made of, for example, a metal material. *
図２に示すように、台座部１５は、可撓指部１１Ｓにおいて、関節部１１ｃに対して先端１１ｂ側に設けられる。台座部１５には、コイルスプリング１４の基端部１４ａを取り付ける。　 As shown in FIG. 2, the pedestal portion 15 is provided on the distal end 11 b side with respect to the joint portion 11 c in the flexible finger portion 11 </ b> S. A base end portion 14 a of the coil spring 14 is attached to the pedestal portion 15. *
このようなロボットハンド１は、対象物２００を把持するときには、各可撓指部１１Ｓにおいて、スプリング部１３のコイルスプリング１４の部分で対象物２００を把持する。すると、図３中に示すように、スプリング部１３のコイルスプリング１４は、対象物２００に接触した部位Ｐを中心として、対象物２００から離間する外周側に弾性変形する。　 When the robot hand 1 grips the object 200, the robot hand 1 grips the object 200 by the coil spring 14 portion of the spring portion 13 in each flexible finger portion 11 </ b> S. Then, as shown in FIG. 3, the coil spring 14 of the spring portion 13 is elastically deformed to the outer peripheral side that is separated from the object 200 with the portion P in contact with the object 200 as the center. *
ここで、コイルスプリング１４の内側には、対象物２００を把持したときのコイルスプリング１４の外周側への弾性変形を阻害する部材が設けられていない。これにより、対象物２００にスプリング部１３から過大な力が作用することが抑えられる。　 Here, the member which inhibits the elastic deformation to the outer peripheral side of the coil spring 14 when holding the target object 200 is not provided inside the coil spring 14. Thereby, it is possible to suppress an excessive force from acting on the object 200 from the spring portion 13. *
一方、スプリング部１３のコイルスプリング１４は、外周側に弾性変形した状態で、対象物２００に対して適度な押圧力を加えることで、対象物２００が可撓指部１１Ｓの表面で滑ることを抑える。このようにしてスプリング部１３は対象物２００を把持するため、コイルスプリング１４の弾性変形量は、対象物２００の脆さや柔らかさ等に応じて、適宜設定される。　 On the other hand, when the coil spring 14 of the spring portion 13 is elastically deformed to the outer peripheral side, an appropriate pressing force is applied to the target object 200 so that the target object 200 slides on the surface of the flexible finger portion 11S. suppress. Since the spring portion 13 grips the object 200 in this way, the amount of elastic deformation of the coil spring 14 is appropriately set according to the fragility, softness, etc. of the object 200. *
本実施形態によれば、対象物２００を把持するロボットハンド１において、ベース部１０と、ベース部１０に設けられ、対象物２００を把持する少なくとも２つの指部１１と、を備える。少なくとも２つの指部１１の少なくとも一つは、可撓指部１１Ｓから構成される。可撓指部１１Ｓは、対象物２００を把持したときに可撓指部１１Ｓの延伸方向に交差する方向に弾性変形可能なコイルスプリング１４を含むスプリング部１３を有する。　 According to this embodiment, the robot hand 1 that grips the object 200 includes the base unit 10 and at least two finger units 11 that are provided on the base unit 10 and grip the object 200. At least one of the at least two finger parts 11 includes a flexible finger part 11S. The flexible finger portion 11S includes a spring portion 13 including a coil spring 14 that can be elastically deformed in a direction that intersects the extending direction of the flexible finger portion 11S when the object 200 is gripped. *
この構成によれば、ロボットハンド１は、対象物２００の表面に接触するときに、可撓指部１１Ｓのスプリング部１３が対象物２００から離間する方向に弾性変形する。これにより、ロボットハンド１は、把持すべき対象物２００が脆い材料や軟らかい材料等である場合においても、対象物２００を過度の力で押圧することがなく、対象物２００を良好に把持することができる。また、スプリング部１３のコイルスプリング１４が対象物２００に適度な力で把持することで、対象物２００を確実に把持することができる。以上のようにして、本実施形態のロボットハンド１によれば、把持すべき対象物２００が脆い材料や軟らかい材料等である場合においても、対象物２００を良好に把持することができる。　 According to this configuration, when the robot hand 1 comes into contact with the surface of the object 200, the spring portion 13 of the flexible finger portion 11 </ b> S is elastically deformed in a direction away from the object 200. Thereby, even when the target object 200 to be gripped is a brittle material or a soft material, the robot hand 1 can grip the target object 200 without pressing the target object 200 with an excessive force. Can do. Further, the object 200 can be reliably grasped by the coil spring 14 of the spring portion 13 grasping the object 200 with an appropriate force. As described above, according to the robot hand 1 of the present embodiment, even when the target object 200 to be gripped is a fragile material, a soft material, or the like, the target object 200 can be gripped satisfactorily. *
また、本実施形態によれば、可撓指部１１Ｓは、スプリング部１３を少なくとも先端１１ｂ側に有する。このような構成によれば、可撓指部１１Ｓの先端１１ｂ側にスプリング部１３を有するので、対象物２００が脆い材料や軟らかい材料等である場合においても、対象物２００を可撓指部１１Ｓの先端１１ｂ側で把持することができる。　 Further, according to the present embodiment, the flexible finger portion 11S has the spring portion 13 on at least the tip 11b side. According to such a configuration, since the spring portion 13 is provided on the distal end 11b side of the flexible finger portion 11S, even when the object 200 is a fragile material or a soft material, the object 200 is placed on the flexible finger portion 11S. Can be gripped on the tip 11b side. *
また、本実施形態によれば、可撓指部１１Ｓは、コイルスプリング１４を取り付ける台座部１５を有する。このような構成によれば、台座部１５にコイルスプリング１４が支持されるので、スプリング部１３を安定して動作することができる。　 Further, according to the present embodiment, the flexible finger portion 11 </ b> S has the pedestal portion 15 to which the coil spring 14 is attached. According to such a structure, since the coil spring 14 is supported by the base part 15, the spring part 13 can be operated stably. *
また、本実施形態によれば、可撓指部１１Ｓは、関節部１１ｃを有し、スプリング部１３は、関節部１１ｃよりも可撓指部１１Ｓの先端１１ｂ側に設けられる。このような構成によれば、関節部１１ｃの先端１１ｂ側にスプリング部１３が設けられるため、対象物２００が脆い材料や軟らかい材料等である場合においても、対象物２００を可撓指部１１Ｓの先端１１ｂ側で把持することができる。　 Moreover, according to this embodiment, the flexible finger part 11S has the joint part 11c, and the spring part 13 is provided in the front-end | tip 11b side of the flexible finger part 11S rather than the joint part 11c. According to such a configuration, since the spring portion 13 is provided on the distal end 11b side of the joint portion 11c, even when the target object 200 is a fragile material, a soft material, or the like, the target object 200 is placed on the flexible finger portion 11S. It can be gripped on the tip 11b side. *
また、本実施形態によれば、スプリング部１３は、可撓指部１１Ｓの先端１１ｂ側に向かうに従ってコイルスプリング１４の外径Ｄ１が小さくなる。このような構成によれば、可撓指部１１Ｓの先端１１ｂにおけるコイルスプリング１４の重量が低減されるので、指部１１の移動時の慣性モーメントを少なくできる。また、先端１１ｂの重量を小さくすることで、コイルスプリング１４の過大な撓みを抑えることができる。　 Moreover, according to this embodiment, as for the spring part 13, the outer diameter D1 of the coil spring 14 becomes small as it goes to the front-end | tip 11b side of the flexible finger part 11S. According to such a configuration, since the weight of the coil spring 14 at the tip 11b of the flexible finger portion 11S is reduced, the moment of inertia when the finger portion 11 is moved can be reduced. Moreover, excessive bending of the coil spring 14 can be suppressed by reducing the weight of the tip 11b. *
また、本実施形態によれば、ベース部１０に設けられる全ての指部１１が可撓指部１１Ｓから構成される。このような構成によれば、全ての指部１１がスプリング部１３を有することで、把持すべき対象物２００が脆い材料や軟らかい材料等である場合においても、対象物２００を良好に把持することができる。　 Moreover, according to this embodiment, all the finger parts 11 provided in the base part 10 are comprised from the flexible finger part 11S. According to such a configuration, since all the finger parts 11 have the spring parts 13, even when the object 200 to be grasped is a brittle material or a soft material, the object 200 can be grasped satisfactorily. Can do. *
また、本実施形態によれば、スプリング部１３は、金属材料からなる。このような構成によれば、スプリング部１３の耐摩耗性、耐傷性、耐熱性を向上させることができる。　 Further, according to the present embodiment, the spring portion 13 is made of a metal material. According to such a configuration, the wear resistance, scratch resistance, and heat resistance of the spring portion 13 can be improved. *
また、本実施形態によれば、指部１１を３つ備える。これにより、対象物２００をより確実に把持できる。　 Moreover, according to this embodiment, the three finger parts 11 are provided. Thereby, the target object 200 can be more reliably gripped. *
また、本実施形態のロボット１００によれば、上記のようなロボットハンド１と、ロボットハンド１に接続されるアーム部５０と、を備える。これにより、把持すべき対象物２００が脆い材料や軟らかい材料等である場合においても、対象物２００を良好に把持することができるロボット１００を提供できる。　 Moreover, according to the robot 100 of the present embodiment, the robot hand 1 as described above and the arm unit 50 connected to the robot hand 1 are provided. Thereby, even when the target object 200 to be gripped is a fragile material, a soft material, or the like, the robot 100 that can grip the target object 200 satisfactorily can be provided. *
（実施形態の変形例）　図４は、一実施形態のロボットハンドの変形例を示す図である。　図４に示すよ
うに、上述の実施形態で示したような可撓指部１１Ｓのスプリング部１３に、コイルスプリング１４内に挿通された軸部２０を有するようにしてもよい。軸部２０は、線径の細い金属製の線材や、ゴム系材料、樹脂系材料等からなる。この軸部２０は、可撓性を有し、コイルスプリング１４の外径に対して十分細い線径を有する。軸部２０は、コイルスプリング１４が対象物２００と接触して弾性変形すると、コイルスプリング１４の弾性変形量に応じてコイルスプリング１４とともに弾性変形する。　 (Modification of Embodiment) FIG. 4 is a diagram illustrating a modification of the robot hand of one embodiment. As shown in FIG. 4, you may make it have the axial part 20 penetrated in the coil spring 14 in the spring part 13 of the flexible finger | toe part 11S as shown in the above-mentioned embodiment. The shaft portion 20 is made of a metal wire having a small wire diameter, a rubber-based material, a resin-based material, or the like. The shaft portion 20 is flexible and has a sufficiently thin wire diameter with respect to the outer diameter of the coil spring 14. When the coil spring 14 comes into contact with the object 200 and is elastically deformed, the shaft portion 20 is elastically deformed together with the coil spring 14 according to the amount of elastic deformation of the coil spring 14.
このような構成によれば、軸部２０を備えることによって、コイルスプリング１４が過大に弾性変形するのを抑えることができる。また、軸部２０を備えることによって、対象物２００の脆さや柔らかさ等に応じて軸部２０の太さ等を変更することで、スプリング部１３の撓み量を容易に調整することができる。　 According to such a structure, it can suppress that the coil spring 14 is elastically deformed excessively by providing the axial part 20. FIG. In addition, by providing the shaft portion 20, the amount of deflection of the spring portion 13 can be easily adjusted by changing the thickness of the shaft portion 20 according to the brittleness or softness of the object 200. *
以上に、本発明の一実施形態を説明したが、実施形態における各構成およびそれらの組み合わせ等は一例であり、本発明の趣旨から逸脱しない範囲内で、構成の付加、省略、置換およびその他の変更が可能である。また、本発明は実施形態によって限定されることはない。例えば、上述の実施形態において、コイルスプリング１４を構成する線材１４Ｓは、例えば、金属材料からなるようにしたが、これに限らない。線材１４Ｓは、金属材料以外にも、樹脂系材料等から形成することも可能である。　 Although one embodiment of the present invention has been described above, each configuration in the embodiment and combinations thereof are examples, and addition, omission, replacement, and other configurations of the configuration are within the scope not departing from the gist of the present invention. It can be changed. Further, the present invention is not limited by the embodiment. For example, in the above-described embodiment, the wire 14S constituting the coil spring 14 is made of, for example, a metal material, but is not limited thereto. The wire 14S can be formed from a resin-based material or the like in addition to the metal material. *
また、上述の実施形態において、スプリング部１３（コイルスプリング１４）は、関節部１１ｃよりも可撓指部１１Ｓの先端１１ｂ側に設けたが、可撓指部１１Ｓにおけるスプリング部１３の位置は、これに限らない。例えば、スプリング部１３は、可撓指部１１Ｓの基端１１ａ側や中間部に設けてもよい。　 In the above-described embodiment, the spring portion 13 (coil spring 14) is provided closer to the tip 11b side of the flexible finger portion 11S than the joint portion 11c, but the position of the spring portion 13 in the flexible finger portion 11S is Not limited to this. For example, the spring portion 13 may be provided on the proximal end 11a side or the intermediate portion of the flexible finger portion 11S. *
また、上述の実施形態において、全ての指部１１を可撓指部１１Ｓとしたが、複数の指部１１のうちの少なくとも一つが、スプリング部１３を有した可撓指部１１Ｓであってもよい。　 In the above-described embodiment, all the finger parts 11 are the flexible finger parts 11S, but at least one of the plurality of finger parts 11 may be the flexible finger part 11S having the spring part 13. Good. *
また、上述の実施形態において、コイルスプリング１４を金属製としたが、これに限らない。コイルスプリング１４は、他の樹脂材料やエラストマ等の有機系材料等で形成してもよい。　 Moreover, in the above-mentioned embodiment, although the coil spring 14 was made from metal, it is not restricted to this. The coil spring 14 may be formed of other resin materials or organic materials such as elastomer. *
また、上述の実施形態において、指部１１を３つ備えるようにしたが、指部１１は、２つ、あるいは４つ以上を備えてもよい。さらに、指部１１は、基端１１ａを中心として回転するようにしたが、例えば、複数の指部１１がベース面１０ａに沿った方向にスライドすることで、対象物２００を把持・解放するようにしてもよい。　 Moreover, in the above-mentioned embodiment, although the three finger parts 11 were provided, the finger part 11 may be provided with 2 or 4 or more. Furthermore, although the finger part 11 is rotated about the base end 11a, for example, the plurality of finger parts 11 slide in the direction along the base surface 10a so as to grasp and release the object 200. It may be. *
また、例えば、上述した実施形態に示したロボットハンド１、ロボット１００の用途は、特に限定されない。 For example, the uses of the robot hand 1 and the robot 100 shown in the above-described embodiment are not particularly limited.
１…ロボットハンド、１０…ベース部、１１…指部、１１Ｓ…可撓指部（第１指部）、１１ｂ…先端、１１ｃ…関節部、１３…スプリング部、１４…コイルスプリング、１５…台座部、２０…軸部、５０…アーム部、１００…ロボット、２００…対象物。 DESCRIPTION OF SYMBOLS 1 ... Robot hand, 10 ... Base part, 11 ... Finger part, 11S ... Flexible finger part (1st finger part), 11b ... Tip, 11c ... Joint part, 13 ... Spring part, 14 ... Coil spring, 15 ... Base Part, 20 ... shaft part, 50 ... arm part, 100 ... robot, 200 ... object.

Claims (10)

  1. 対象物を把持するロボットハンドにおいて、　ベース部と、　前記ベース部に設けられ、前記対象物を把持する少なくとも２つの指部と、を備え、　前記少なくとも２つの指部のうちの少なくとも一つの前記指部は第１指部から構成され、　前記第１指部は、前記対象物を把持したときに前記第１指部の延伸方向に交差する方向に弾性変形可能なコイルスプリングを含むスプリング部を有する　ロボットハンド。 A robot hand for gripping an object, comprising: a base portion; and at least two finger portions provided on the base portion and gripping the object, wherein at least one of the at least two fingers The part is composed of a first finger part, and the first finger part has a spring part including a coil spring that can be elastically deformed in a direction crossing the extending direction of the first finger part when the object is gripped. Robot hand.
  2. 前記第１指部は、前記スプリング部を少なくとも先端側に有する　請求項１に記載のロボットハンド。 The robot hand according to claim 1, wherein the first finger part has the spring part at least on a tip side.
  3. 前記第１指部は、前記コイルスプリングを取り付ける台座部を有する　請求項１又は２に記載のロボットハンド。 The robot hand according to claim 1 or 2, wherein the first finger portion includes a pedestal portion to which the coil spring is attached.
  4. 前記第１指部は、関節部を有し、　前記スプリング部は、前記関節部よりも前記第１指部の先端側に設けられる　請求項１乃至３のいずれか一項に記載のロボットハンド。 The robot hand according to any one of claims 1 to 3, wherein the first finger part has a joint part, and the spring part is provided closer to a tip side of the first finger part than the joint part.
  5. 前記スプリング部は、前記第１指部の先端側に向かうに従って前記コイルスプリングの外径が小さくなる　請求項１乃至４のいずれか一項に記載のロボットハンド。 The robot hand according to any one of claims 1 to 4, wherein the spring portion has an outer diameter that decreases toward the distal end side of the first finger portion.
  6. 前記ベース部に設けられる全ての前記指部が前記第１指部から構成される　請求項１乃至５のいずれか一項に記載のロボットハンド。 The robot hand according to any one of claims 1 to 5, wherein all the finger portions provided on the base portion are configured by the first finger portions.
  7. 前記スプリング部は、金属材料からなる　請求項１乃至６のいずれか一項に記載のロボットハンド。 The robot hand according to any one of claims 1 to 6, wherein the spring portion is made of a metal material.
  8. 前記第１指部は、前記コイルスプリング内に挿通された軸部を有し、　前記軸部は、弾性変形可能である　請求項１乃至７のいずれか一項に記載のロボットハンド。 The robot hand according to any one of claims 1 to 7, wherein the first finger portion has a shaft portion inserted into the coil spring, and the shaft portion is elastically deformable.
  9. 前記指部を３つ以上備える　請求項１乃至８のいずれか一項に記載のロボットハンド。 The robot hand according to claim 1, comprising three or more finger parts.
  10. 請求項１乃至９のいずれか一項に記載のロボットハンドと、　前記ロボットハンドに接続されるアーム部と、を備える　ロボット。 A robot comprising: the robot hand according to claim 1; and an arm unit connected to the robot hand.
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JPS59102323A (en) * 1982-12-06 1984-06-13 株式会社クボタ Robot hand for harvesting fruit
JPS59107890A (en) * 1982-12-10 1984-06-22 株式会社クボタ Robot hand
JPS61112889U (en) * 1984-12-27 1986-07-17
JPS62152688A (en) * 1985-12-26 1987-07-07 フアナツク株式会社 Hand for gripping article
US4850631A (en) * 1987-05-22 1989-07-25 Martin Dotsko Article manipulator
JP2004181569A (en) * 2002-12-03 2004-07-02 Koritsu Seisakujo:Kk Flexible actuator
JP2014083637A (en) * 2012-10-24 2014-05-12 Toyota Industries Corp Robot hand

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US1324564A (en) * 1919-12-09 pringle
JPS5638792U (en) * 1979-09-04 1981-04-11
JPS59102323A (en) * 1982-12-06 1984-06-13 株式会社クボタ Robot hand for harvesting fruit
JPS59107890A (en) * 1982-12-10 1984-06-22 株式会社クボタ Robot hand
JPS61112889U (en) * 1984-12-27 1986-07-17
JPS62152688A (en) * 1985-12-26 1987-07-07 フアナツク株式会社 Hand for gripping article
US4850631A (en) * 1987-05-22 1989-07-25 Martin Dotsko Article manipulator
JP2004181569A (en) * 2002-12-03 2004-07-02 Koritsu Seisakujo:Kk Flexible actuator
JP2014083637A (en) * 2012-10-24 2014-05-12 Toyota Industries Corp Robot hand

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