WO2019176808A1 - Main de robot et robot - Google Patents

Main de robot et robot Download PDF

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Publication number
WO2019176808A1
WO2019176808A1 PCT/JP2019/009483 JP2019009483W WO2019176808A1 WO 2019176808 A1 WO2019176808 A1 WO 2019176808A1 JP 2019009483 W JP2019009483 W JP 2019009483W WO 2019176808 A1 WO2019176808 A1 WO 2019176808A1
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WO
WIPO (PCT)
Prior art keywords
finger
robot hand
finger portion
convex
support member
Prior art date
Application number
PCT/JP2019/009483
Other languages
English (en)
Japanese (ja)
Inventor
博文 長澤
Original Assignee
日本電産株式会社
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 日本電産株式会社 filed Critical 日本電産株式会社
Publication of WO2019176808A1 publication Critical patent/WO2019176808A1/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
    • B25J15/04—Gripping heads and other end effectors with provision for the remote detachment or exchange of the head or parts thereof
    • 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 present invention relates to a robot hand and a robot.
  • Patent Document 1 describes a configuration including a gripping device having a finger part (claw) for clamping an object. Such a robot hand grips various objects by opening and closing a plurality of finger portions.
  • the surface of the finger part is used to prevent the object from slipping when the object is gripped by the finger part of the robot hand. It is conceivable that irregularities are provided on the surface.
  • a robot hand that is provided at the tip of a robot arm or the like and grips an object (work) is known.
  • Such a robot hand includes a plurality of fingers.
  • the robot hand grips an object by opening and closing a plurality of finger portions.
  • Patent Documents 2 and 3 below disclose configurations in which a finger (part of a robot hand) is provided with a cover (covering member) for preventing dust and drip.
  • a cover is made of an elastic material such as rubber and is detachable from the finger portion. It is necessary to prevent the cover from being inadvertently dropped when attached to the finger portion. For this reason, Patent Documents 2 and 3 disclose a configuration in which a protrusion provided on the inner side of the cover is hooked in a groove or a recess provided in a finger part of a robot hand.
  • an object of the present invention is to provide a robot hand and a robot that can hold an object well while suppressing the accumulation of residues on the fingers of the robot hand. .
  • an object of the present invention is to provide a robot hand and a robot that can easily attach a cover to a finger part of the robot hand.
  • One aspect of the robot hand according to the present invention is a robot hand for gripping an object, in a base part, at least two finger parts provided on the base part and gripping the object, and the finger part.
  • a convex portion provided at least on a gripping surface of the object, and a cross section of the convex portion is such that a first surface located on the proximal end side of the finger portion is directed radially outward of the finger portion. Accordingly, the shape is inclined toward the tip side of the finger portion.
  • One aspect of the robot of the present invention includes the above robot hand and an arm unit connected to the robot hand.
  • One aspect of the robot hand according to the present invention is a robot hand that grips an object.
  • a base part at least two finger parts that are provided on the base part and grip the object, and at least a tip of the finger part.
  • a projecting member which is provided so as to be able to project and retract in the radial direction from the outer peripheral surface of the finger portion and protrudes from the outer peripheral surface, and is in contact with the inner side of the coating member.
  • a stopper mechanism capable of fixing the position of the protruding member in a state of being pressed toward.
  • 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 favorably hold an object while suppressing the accumulation of residues on the fingers of the robot hand.
  • a robot hand and a robot that can easily attach a covering member to a finger of the robot hand are provided.
  • FIG. 1 is an exploded perspective view showing a robot hand and a robot according to an embodiment (first embodiment).
  • FIG. 2 is a perspective view showing a robot hand according to one embodiment (first embodiment).
  • FIG. 3 is an enlarged view of a finger part of the robot hand according to one embodiment (first embodiment).
  • FIG. 4 is an enlarged view of a main part showing a convex part formed on a finger part of one embodiment (first embodiment).
  • FIG. 5 is a cross-sectional view showing a modification of the convex portion provided on the finger portion of the robot hand according to one embodiment (first embodiment).
  • FIG. 6 is a cross-sectional view illustrating another modified example of the convex portion provided on the finger portion of the robot hand according to the embodiment (first embodiment).
  • FIG. 1 is an exploded perspective view showing a robot hand and a robot according to an embodiment (first embodiment).
  • FIG. 2 is a perspective view showing a robot hand according to one embodiment (first embodiment).
  • FIG. 3 is an enlarged view of
  • FIG. 7 is a cross-sectional view of a finger part of a robot hand according to a modified example.
  • FIG. 8 is an exploded perspective view showing a robot hand and a robot according to one embodiment (second embodiment).
  • FIG. 9 is a perspective view showing a robot hand according to one embodiment (second embodiment).
  • FIG. 10 is a perspective view showing a stopper mechanism provided in a finger portion of the robot hand according to one embodiment (second embodiment).
  • FIG. 11 is a diagram illustrating a schematic configuration of a stopper mechanism according to one embodiment (second embodiment).
  • FIG. 12 is a diagram illustrating a state in which the covering member is pressed by the protruding member that protrudes from the finger portion in the stopper mechanism of the embodiment (second embodiment).
  • FIG. 13 is a diagram illustrating a state in which a covering member is attached to the finger portion of the stopper mechanism in one embodiment (second embodiment).
  • FIG. 14 is a diagram illustrating a state in which the stopper mechanism according to one embodiment (second embodiment) is operated with an operation jig by an operation of opening a finger portion.
  • FIG. 15 is a diagram illustrating a state in which the stopper mechanism according to one embodiment (second embodiment) is operated with an operation jig by an operation of opening a finger portion.
  • FIG. 16 is a diagram illustrating a state in which the covering member is removed from the finger portion of the stopper mechanism according to one embodiment (second embodiment).
  • FIG. 17 is a diagram illustrating a configuration in which the position of the support member is switched using magnetic force in the stopper mechanism according to one embodiment (second 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 perspective view showing a robot hand according to an embodiment.
  • the robot hand 1 holds an object 200.
  • the robot hand 1 includes a base unit 10 and finger units 11.
  • the robot hand 1 according to the present embodiment holds, for example, food as the object 200. *
  • 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 made of, for example, a material such as a stainless alloy or a fluorine-based resin.
  • 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 diameter of each finger portion 11 gradually decreases toward the tip 11b.
  • 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. *
  • the finger part 11 is provided with a convex part 12.
  • the convex portion 12 is provided closer to the distal end 11 b than the joint portion 11 c of the finger portion 11.
  • the convex portion 12 is provided at least on the gripping surface 11 h that grips the object 200 in the finger portion 11.
  • the convex portion 12 is provided continuously over the entire circumference of the finger portion 11 in the circumferential direction.
  • the convex portion 12 is provided in a spiral shape along the outer peripheral surface of the finger portion 11. *
  • FIG. 3 is an enlarged view of a finger portion of the robot hand according to the embodiment.
  • FIG. 4 is an enlarged view of a main part showing a convex part formed on the finger part of one embodiment. *
  • the cross-sectional shape along the extending direction of the finger part 11 in the convex part 12 is, for example, a triangle.
  • the convex portion 12 includes a convex portion 13 that protrudes outward in the radial direction of the finger portion 11.
  • the convex portion 12 (convex portion 13) is located on the base end 11a side (upper side of the paper in FIGS. 3 and 4) of the finger portion 11 in the extending direction of the finger portion 11 (the vertical direction on the paper in FIGS. 3 and 4).
  • a second surface 16 positioned on the tip 11b side of the finger portion 11 (downward in FIG. 3 and FIG. 4).
  • the first surface 15 is inclined toward the tip 11b side of the finger portion 11 as it goes outward in the radial direction of the finger portion 11.
  • the second surface 16 is inclined toward the tip 11b side of the finger portion 11 as it goes inward in the radial direction of the finger portion 11.
  • the convex shape part 12 (convex part 13) having such a first surface 15 and the second surface 16 has a substantially triangular cross-sectional shape.
  • the tip 13 a of the convex portion 13 has a chamfered portion 14 that intersects the first surface 15 and the second surface 16.
  • the chamfered portion 14 is parallel to the extending direction of the finger portion 11. *
  • the second surface of the convex portion 12 on the base end 11a side of the finger portion 11 (above the paper surface in FIGS. 3 and 4) between the convex portions 12 and 12 adjacent to each other in the extending direction of the finger portion 11.
  • a flat surface portion 17 is formed between 16 and the second surface 16 of the convex portion 12 on the tip 11b side of the finger portion 11 (downward in FIG. 3 and FIG. 4).
  • the plane part 17 is along the extending direction of the finger part 11.
  • the plane part 17 has a width of a predetermined dimension in the extending direction of the finger part 11.
  • the plane part 17 is interposed between the convex-shaped parts 12 and 12 adjacent to each other in the extending direction of the finger part 11. *
  • Convex-shaped portions 12, 12 that are adjacent to each other in the extending direction of the finger portion 11.
  • the angle ⁇ between the second surface 16 of the convex portion 12 on the proximal end 11a side of the finger portion 11 and the first surface 15 of the convex portion 12 on the distal end 11b side of the finger portion 11 is 90 °. Greater than degree.
  • the angle ⁇ is more preferably larger than 120 degrees, for example. This makes it difficult for residue to accumulate between the convex portions 12.
  • the convex portion 12 contacts the target object 200 at a plurality of locations. Since the target object 200 of the present embodiment is a food product, the object 200 is soft and the convex portion 12 bites in. Thereby, the convex-shaped part 12 can suppress that the target object 200 slips on the surface of the finger part 11.
  • the robot hand 1 periodically cleans the finger part 11.
  • the finger part 11 is cleaned by, for example, immersing the finger part 11 in a cleaning liquid such as water or chemicals, and vibrating or moving the finger part 11 in the cleaning liquid.
  • a cleaning liquid such as water or chemicals
  • the extending direction of the finger part 11 is made to coincide with the vertical vertical direction on the tip 11 b side of the joint part 11 c of the finger part 11. Thereby, it becomes easy for the cleaning liquid adhering to the surface of the finger part 11 to fall vertically downward from the tip 11b by its own weight.
  • the tip 11b of the finger part 11 has a sharp shape, so that the cleaning liquid is sharp and the cleaning liquid hardly remains on the finger part 11.
  • the first surface 15 located on the proximal end 11 a side of the finger portion 11 is inclined toward the distal end 11 b side of the finger portion 11 toward the radially outer side of the finger portion 11. Accordingly, the moisture, oil, residue of the object 200, and the residue such as the cleaning liquid used for cleaning the finger portion 11 are unlikely to stay on the first surface 15 and easily fall downward due to their own weight.
  • the plane part 17 is interposed between the convex parts 12, 12 adjacent to each other in the vertical vertical direction, that is, the extending direction of the finger part 11. For this reason, since the cleaning liquid falls downward along the flat surface portion 17 by the slave, it is difficult for the residue to remain between the convex-shaped portions 12 and 12. That is, the time required for the cleaning operation can be shortened because the labor required for the cleaning operation of the finger portion 11 is reduced.
  • the base unit 10 in the robot hand 1 for gripping the object 200, the base unit 10, the at least two finger units 11 provided on the base unit 10 and gripping the object 200, and the finger unit 11 And a convex portion 12 provided at least on the gripping surface 11h.
  • the cross section of the convex portion 12 is a shape in which the first surface 15 located on the proximal end 11 a side of the finger portion 11 is inclined toward the distal end 11 b side of the finger portion 11 as it goes outward in the radial direction of the finger portion 11.
  • the cross-sectional shape of the convex-shaped part 12 is a triangle. Therefore, the cross-sectional shape of the convex-shaped part 12 can be made simple, and the deposit of the residue in the finger
  • the tip 11b of the finger 11 is formed by the convex portion 12 on the base end 11a side of the finger 11 between the convex portions 12, 12 adjacent to each other in the extending direction of the finger 11.
  • An angle ⁇ formed by the second surface 16 positioned on the side and the first surface 15 positioned on the proximal end 11a side of the finger portion 11 by the convex portion 12 on the distal end 11b side of the finger portion 11 is greater than 90 degrees.
  • the convex portion 12 is provided on the finger portion 11 in a spiral shape. According to this configuration, the residue not only falls downward due to its own weight, but also tends to flow downward in the extending direction of the finger portion 11 along the surface of the spiral convex portion 12. Therefore, the accumulation of the residue in the finger part 11 can be further suppressed.
  • the convex portion 12 has the chamfered portion 14 at the tip 13 a of the convex portion 13. According to such a configuration, the chamfered portion 14 can make it difficult for the convex portion 12 to be stuck into the object 200 or to be damaged. In addition, the provision of the chamfered portion 14 has an advantage that the convex shaped portion 12 can be easily formed. *
  • the place where the chamfered portion 14 is provided is not limited to the tip 13a of the convex portion 13.
  • the chamfered portion at the base portion of the convex portion 12 as described above, it is possible to obtain an effect of making the residue easier to flow.
  • the three finger parts 11 are provided. Thereby, the target object 200 can be gripped better.
  • the robot 100 includes the robot hand 1 as described above and the arm unit 50 connected to the robot hand 1.
  • the robot 100 it is possible to provide the robot 100 that can grip the object 200 satisfactorily while suppressing the accumulation of residues on the fingers 11 of the robot hand 1.
  • the planar portion 17 is interposed between the convex portions 12 and 12 adjacent to each other in the extending direction of the finger portion 11, but the present invention Is not limited to this.
  • FIG. 5 is a cross-sectional view illustrating a modified example of the convex portion provided on the finger portion of the robot hand according to the embodiment.
  • 11 may be continuous with the first surface 15 ⁇ / b> B of the convex portion 12 ⁇ / b> B on the tip end 11 b side without passing through the flat portion 17.
  • an angle ⁇ b formed between the second surface 16B of the convex portion 12B on the proximal end 11a side of the finger portion 11 and the first surface 15B of the convex portion 12 on the distal end 11b side of the finger portion 11 is, for example, 120 degrees. It is preferable to make it larger.
  • FIG. 6 is a cross-sectional view illustrating another modified example of the convex portion provided on the finger portion of the robot hand according to the embodiment.
  • the convex-shaped portion 12 is provided only on the gripping surface 11 h side that grips the object 200 in the finger portion 11, and the outer peripheral surface facing the outer peripheral side of the robot hand 1 on the side opposite to the gripping surface 11 h. 11f may be a smooth surface without the convex portion 12 provided.
  • the present invention is not limited by the embodiment.
  • the cross-sectional shape of the convex portion 12 is a substantially triangular shape, but is not limited thereto.
  • the second surface 16 located on the distal end 11b side of the finger portion 11 is the distal end of the finger portion 11 toward the radially inner side of the finger portion 11.
  • the second surface may be orthogonal to the extending direction of the finger part 11, or may be inclined toward the base end 11 a side of the finger part 11 toward the radially inner side of the finger part 11.
  • the cross-sectional shape of the convex portion 12 can be a substantially semicircular shape or the like.
  • the convex shape portion 12 has a substantially semicircular cross-sectional shape, and the gripping surface 11 h located between adjacent convex shape portions 12 is recessed in a substantially semicircular shape.
  • at least the cross-sectional shape of the holding surface 11h may be a wave shape that repeats a semicircular shape. *
  • 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.
  • the foodstuff was mentioned as an example as the target object 200, it is not restricted to this.
  • the robot hand may hold, for example, a machine part manufactured by cutting as an object. Even in this case, since the finger portion having the convex portion is provided, accumulation of residues (iron powder, oil, cleaning liquid, etc.) in the finger portion can be suppressed.
  • the robot hand for example, it may be applied to a use for holding medicines or cosmetics, or a use for holding medicines in a chemical factory.
  • the robot hand may be used in an assembly process of electronic parts using an adhesive. At this time, the adhesive may adhere to the robot hand, but by providing a finger portion having a convex portion, accumulation of residues (adhesive, cleaning liquid containing adhesive, etc.) can be suppressed. . *
  • FIG. 8 is an exploded perspective view showing a robot hand and a robot according to an embodiment.
  • the robot 100 of the present 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. 9 is a perspective view showing a robot hand according to an embodiment. As shown in FIG. 9, the robot hand 1 holds the 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 portion 11 is formed in a substantially L shape having a bent portion 11c at an intermediate portion.
  • 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, for example.
  • the object 200 is grasped or released by opening and closing the plurality of finger parts 11. *
  • FIG. 10 is a perspective view showing a stopper mechanism provided on the finger part of the robot hand according to the embodiment.
  • a covering member 20 that covers at least the tip 11 b of the finger portion 11 is attached to each finger portion 11 of the robot hand 1.
  • the covering member 20 includes a tubular portion 21 that extends in a tubular shape in the extending direction of the finger portion 11, and a tubular end portion 22 that closes one end of the tubular portion 21. Thereby, the covering member 20 has an opening 23 at the other end of the cylindrical portion 21.
  • the covering member 20 is made of a rubber-based material such as silicon rubber or nitrile rubber and has elasticity. *
  • FIG. 11 is a diagram illustrating a schematic configuration of a stopper mechanism according to an embodiment.
  • FIG. 12 is a diagram illustrating a state in which the covering member is pressed by the protruding member protruding from the finger portion in the stopper mechanism of the embodiment. *
  • the finger portion 11 is provided with a stopper mechanism 30 that prevents the covering member 20 attached to the finger portion 11 from falling off from the finger portion 11.
  • the stopper mechanism 30 is disposed on the outer peripheral surface 11f of the finger portion 11 on the side opposite to the gripping surface 11h of the object 200.
  • the outer peripheral surface 11 f faces the outer peripheral side opposite to the space surrounded by the plurality of finger portions 11.
  • the stopper mechanism 30 mainly includes a support member 31, a protruding member 32, a spring member 35, and a convex portion 36. *
  • the support member 31 is accommodated in the recess 13 formed in the finger part 11.
  • the concave portion 13 is formed on the outer peripheral surface 11f of the finger portion 11 on the side opposite to the gripping surface 11h that grips the object 200.
  • the recess 13 is formed to be recessed from the outer peripheral surface 11f of the finger portion 11 toward the gripping surface 11h.
  • the support member 31 has a substantially rectangular plate shape, and an intermediate portion thereof is supported to be rotatable around the rotation shaft 33. Both ends of the rotation shaft 33 are held by the fingers 11 so as to be movable along the extending direction of the fingers 11 in the recess 13. *
  • the protruding member 32 is provided on the one end 31 s side of the support member 31.
  • the protruding member 32 is provided on the surface 31 a of the support member 31 that faces the outside of the finger portion 11 (the side opposite to the side that holds the object 200).
  • the protruding member 32 is provided so as to protrude from the surface 31 a of the support member 31 toward the outer peripheral side of the finger portion 11. *
  • the other end protrusion 34 is provided on the other end 31t side of the support member 31 opposite to the side on which the protrusion member 32 is provided.
  • the other end protruding portion 34 is provided so as to protrude from the surface 31 a of the support member 31 toward the outer peripheral side of the finger portion 11, similarly to the protruding member 32.
  • the spring member 35 is provided along the opposite surface 31 b facing the opposite side to the surface 31 a on which the protruding member 32 is provided in the support member 31.
  • a projection 35t that protrudes toward the bottom surface 13b of the concave portion 13 of the finger portion 11 is formed at the intermediate portion of the spring member 35.
  • the spring member 35 is formed from an elastic material or the like for a leaf spring. The protrusion 35 t of the spring member 35 swings around the rotation shaft 33 integrally with the support member 31 when the support member 31 rotates around the rotation shaft 33. *
  • the convex portion 36 is provided on the bottom surface 13 b of the concave portion 13 of the finger portion 11.
  • the convex portion 36 is provided so as to protrude from the bottom surface 13 b of the concave portion 13.
  • the convex portion 36 is in contact with a protrusion 35 t that swings integrally with the support member 31.
  • the spring member 35 fixes the position of the support member 31 by the protrusion 35t coming into contact with the convex portion 36.
  • the support member 31 is in a state in which the other end 31 t side protrudes outward from the outer peripheral surface 11 f of the finger portion 11 with the projection 35 t in contact with one side of the convex portion 36.
  • the support member 31 in the state where the projection 35 t is in contact with the other side of the convex portion 36, the support member 31 has the one end 31 s side where the projection member 32 is provided projects outward from the outer peripheral surface 11 f of the finger portion 11. It is fixed to the state.
  • the spring member 35 switches the position of the support member 31 when the contact position with respect to the convex part 36 provided in the finger part 11 is changed by the rotation of the support member 31.
  • the stopper mechanism 30 is provided so that the protruding member 32 can protrude and retract in the radial direction from the outer peripheral surface 11 f of the finger portion 11 by a rotation operation around the rotation shaft 33 of the support member 31.
  • the stopper mechanism 30 in a state where the protruding member 32 protrudes from the outer peripheral surface 11 f, the stopper mechanism 30 is in a contact state in which the protruding member 32 abuts (contacts) the inside of the covering member 20. In this contact state, the projecting member 32 presses the inner peripheral surface of the tubular portion 21 of the covering member 20 outward in the radial direction. This prevents the covering member 20 from falling off from the finger portion 11.
  • the protruding member 32 is formed on the inner peripheral surface of the cylindrical portion 21 of the covering member 20. On the other hand, it retracts radially inward.
  • the stopper mechanism 30 is in a non-contact state in which the protruding member 32 is retracted from the covering member 20. In this non-contact state, the covering member 20 can be easily inserted / removed (removed) with respect to the finger portion 11.
  • the stopper mechanism 30 can fix the position of the protruding member 32 in a state where the covering member 20 is pressed toward the radially outer side. Further, in the stopper mechanism 30, the protruding member 32 protrudes and protrudes in the radial direction from the outer peripheral surface 11 f of the finger portion 11 by the rotation operation around the rotation shaft 33 of the support member 31. The stopper mechanism 30 switches between a contact state in which the protruding member 32 contacts the inside of the covering member 20 and a non-contact state in which the protruding member 32 is retracted from the covering member 20. *
  • the stopper mechanism 30 as described above can switch the position of the protruding member 32 using the opening / closing operation of the finger portion 11. For example, the finger 11 is opened, and the one end 31s side or the other end 31t side of the support member 31 is pressed against the operation unit 300A or 300B (see FIGS. 13 to 16) provided on the outer peripheral side of the robot hand 1 as described later. Thus, the support member 31 is rotated around the rotation axis 33. Thereby, the position of the support member 31 is switched.
  • the stopper mechanism 30 uses the opening / closing operation of the finger part 11, thereby causing a contact state in which the protruding member 32 abuts on the inner side of the covering member 20 and a non-contact state in which the protruding member 32 is retracted from the covering member 20. Switching is possible.
  • FIG. 13 is a diagram illustrating a state in which the covering member is attached to the finger portion of the stopper mechanism according to the embodiment.
  • FIG. 14 is a diagram illustrating a state in which the stopper mechanism according to the embodiment is operated by the operation jig by the operation of opening the finger portion.
  • FIGS. 13 and 7 only two finger portions 11 in the robot hand 1 are illustrated in a simplified manner. *
  • the operation jig 310 includes a holding unit 311 that holds the covering member 20 to be mounted, and an operation unit 300A that switches the position of the support member 31.
  • the holding part 311 may hold one covering member 20 attached to each finger part 11 one by one, or as shown in FIG. It may be held.
  • the operation unit 300A is disposed on the outer side in the radial direction of the holding unit 311.
  • the operation unit 300 ⁇ / b> A includes an operation protrusion 312 for operating the support member 31 of the stopper mechanism 30 of each finger unit 11. *
  • the fingers 11 of the robot hand 1 are inserted inside the operation unit 300 ⁇ / b> A by the operation of the arm unit 50. At this time, each finger portion 11 is positioned at a location spaced radially inward from the operation portion 300A. Further, the tip 11 b of the finger portion 11 is inserted into the covering member 20 held by the holding portion 311. *
  • each finger part 11 of the robot hand 1 is opened radially outward. Then, the other end protrusion 34 (see FIG. 11) of the other end 31t of the support member 31 of the stopper mechanism 30 provided in each finger portion 11 abuts on the operation protrusion 312 of the operation portion 300A located on the radially outer side. . *
  • the support member 31 rotates around the rotation shaft 33, and the protruding member 32 protrudes radially outward from the outer peripheral surface 11 f of the finger portion 11.
  • the protruding member 32 comes into contact with the inside of the covering member 20 (contacts), and the protruding member 32 presses the inner peripheral surface of the tubular portion 21 of the covering member 20 outward in the radial direction. This prevents the covering member 20 from falling off from the finger portion 11.
  • the finger portion 11 is closed radially inward, and the robot hand 1 is detached from the radially inner region of the operation portion 300A.
  • FIG. 15 is a diagram illustrating a state in which the stopper mechanism according to the embodiment is operated by the operation jig by the operation of opening the finger portion.
  • FIG. 16 is a diagram illustrating a state in which the covering member is removed from the finger portion of the stopper mechanism according to the embodiment. *
  • the operation jig 320 includes a receiving unit 321 that receives the covering member 20 removed from the finger unit 11, and an operation unit 300 ⁇ / b> B that switches the position of the support member 31.
  • the operation unit 300B is disposed on the outer side in the radial direction of the receiving unit 321.
  • the operation part 300 ⁇ / b> B has an operation protrusion 322 for operating the support member 31 of the stopper mechanism 30 of each finger part 11.
  • each finger portion 11 to which the covering member 20 is attached is inserted inside the operation portion 300 ⁇ / b> B by the operation of the arm portion 50. At this time, each finger portion 11 is positioned at a location spaced radially inward from the operation portion 300B.
  • each finger 11 of the robot hand 1 is opened radially outward.
  • the operation of the operation unit 300B in which the protruding member 32 (see FIG. 12) side of the one end 31s of the support member 31 of the stopper mechanism 30 provided in each finger unit 11 is located on the radially outer side through the covering member 20 is performed. It strikes against the protrusion 322.
  • the support member 31 rotates around the rotation shaft 33, and the protruding member 32 is pushed inward in the radial direction from the outer peripheral surface 11 f of the finger portion 11.
  • the protruding member 32 is in a non-contact state in which the protruding member 32 is separated from the covering member 20 and retracted, and the pressing of the cylindrical portion 21 of the covering member 20 by the protruding member 32 is released.
  • the covering member 20 is removed from the finger unit 11 and dropped to the receiving unit 321.
  • the base unit 10 in the robot hand 1 that grips the object 200, the base unit 10, at least two finger units 11 that are provided on the base unit 10 and grip the object 200, and at least the tip of the finger unit 11
  • the covering member 20 includes a covering member 20 that covers 11b, and a protruding member 32 that is provided so as to be able to protrude and protrude in the radial direction from the outer peripheral surface 11f of the finger portion 11 and protrudes from the outer peripheral surface 11f.
  • a stopper mechanism 30 that can fix the position of the protruding member 32 in a state in which is pressed outward in the radial direction.
  • the protruding member 32 protrudes from the outer peripheral surface 11 f of the finger portion 11 and presses the covering member 20 radially outward, thereby preventing the covering member 20 from falling off the finger portion 11. Can be prevented.
  • the protrusion member 32 protruding from the outer peripheral surface 11 f is retracted to the inside in the radial direction of the finger portion 11, so that the attaching / detaching operation can be performed without extending the covering member 20. It can be carried out. Therefore, the covering member 20 can be easily attached to the finger part 11 of the robot hand 1.
  • the stopper mechanism 30 is arranged on the opposite side of the finger portion 11 from the gripping surface 11h of the object 200. Thereby, when the object 200 is gripped, the protruding member 32 can be prevented from coming into contact with the object 200. Furthermore, the covering member 20 is not inadvertently detached from the finger portion 11 during the gripping operation. Further, it is possible to make it difficult to crease the covering member 20 that covers the gripping surface 11h.
  • the stopper mechanism 30 includes the support member 31 that rotates around the predetermined rotation shaft 33.
  • the protruding member 32 is provided on the one end 31 s side of the support member 31, and the protruding member 32 protrudes and protrudes from the outer peripheral surface 11 f of the finger portion 11 in the radial direction by the rotation operation of the support member 31 around the rotation shaft 33. Between the contact state in contact with the inner side and the non-contact state in which the protruding member 32 is retracted from the covering member 20.
  • the stopper mechanism 30 in which the covering member 20 can be easily attached and detached can be realized with a simple configuration using the rotation operation of the support member 31.
  • the stopper mechanism 30 includes the spring member 35 that fixes the position of the support member 31.
  • the stopper mechanism 30 in which the protruding member 32 protrudes and retracts in the radial direction of the finger portion 11 can be realized with a simple configuration using the biasing force of the spring member 35.
  • the spring member 35 is provided on the surface 31 b opposite to the surface 31 a provided with the protruding member 32 in the support member 31.
  • the spring member 35 switches the position of the support member 31 when the contact position with respect to the convex part 36 provided in the finger part 11 is changed by the rotation operation of the support member 31.
  • the position of the support member 31 can be easily switched by changing the contact position between the spring member 35 and the convex portion 36.
  • the stopper mechanism 30 can switch the position of the protruding member 32 using the opening / closing operation of the finger portion 11. Thereby, attachment / detachment to the finger
  • three finger parts 11 are provided. Thereby, the target object 200 can be more reliably gripped.
  • the robot 100 includes the robot hand 1 as described above and the arm unit 50 connected to the robot hand 1. Accordingly, it is possible to provide the robot 100 that can easily attach the cover to the finger part 11 of the robot hand 1. *
  • FIG. 17 is a diagram illustrating a configuration in which the position of the support member is switched using magnetic force in the stopper mechanism according to the embodiment.
  • the stopper mechanism 30 may be pivotally supported so as to switch the position of the support member 31 using magnetic force.
  • the electromagnet 40A, the position corresponding to the one end 31s side of the support member 31 and the position corresponding to the other end 31t side are respectively formed on the bottom surface 13b of the recess 13 of the finger portion 11. 40B is provided.
  • Metal plates 41A and 41B are provided on the one end 31s side and the other end 31t side of the support member 31, respectively.
  • the metal plates 41A and 41B are attracted by the magnetic force generated by energizing the electromagnet 40A or 40B.
  • the support member 31 rotates around the rotation shaft 33, and the contact state in which the protruding member 32 contacts the inside of the covering member 20 and the non-contact state in which the protruding member 32 is retracted from the covering member 20 can be switched. . *
  • the stopper mechanism 30 switches the position of the support member 31 using magnetic force.
  • the stopper mechanism 30 in which the protruding member 32 protrudes and disappears in the radial direction of the finger portion 11 can be realized with a simple configuration using magnetic force.
  • the stopper mechanism 30 does not have to use a configuration based on the rotation operation of the support member 31 as long as the protruding member 32 appears and disappears in the radial direction of the finger portion 11.
  • the protruding member 32 contacts the inner side of the covering member 20, and the protruding member 32
  • a configuration such as a knock button that enables switching between the non-contact state retracted from the covering member 20 can also be employed.
  • the stopper mechanism 30 is disposed on the outer peripheral surface 11f opposite to the gripping surface 11h has been described as an example, but the stopper mechanism 30 is one of the other two surfaces different from the gripping surface 11h. You may arrange in. *
  • the stopper mechanism 30 can switch the position of the protruding member 32 using the opening / closing operation of the finger portion 11, but is not limited thereto.
  • the stopper mechanism 30 as described above can be switched between a contact state and a non-contact state by rotating the support member 31 by an operator's finger, an actuator for rotating the support member 31, or the like.
  • 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. Moreover, it is good also as a structure which can be bent because the finger part 11 has a joint part in the middle. *
  • the uses of the robot hand 1 and the robot 100 shown in the above-described embodiment are not particularly limited.

Landscapes

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

Abstract

Selon un aspect, l'invention concerne une main de robot, qui est une main de robot destinée à saisir un objet, la main de robot comprenant une partie de base, au moins deux parties de doigt qui sont disposées sur la partie de base et qui saisissent l'objet, et une partie de forme convexe disposée sur au moins une surface, destinée à saisir l'objet dans les parties de doigt; et dans une section transversale de la partie de forme convexe, une première surface positionnée sur le côté d'extrémité proximale des parties de doigt présentant une forme qui s'incline vers le côté d'extrémité distale des parties de doigt le long d'une direction vers le côté radialement vers l'extérieur des parties de doigt. Selon un aspect, la main de robot est une main de robot qui saisit un objet, la main de robot comprenant : une partie de base; au moins deux parties de doigt qui sont disposées sur la partie de base et qui saisissent l'objet; un élément de recouvrement qui recouvre au moins les extrémités distales des parties de doigt; et un mécanisme d'arrêt qui est disposé de façon à être apte à se projeter radialement depuis la surface périphérique externe des parties de doigt et à se rétracter dans cette dernière, qui comporte un élément saillant venant en butée contre le côté interne de l'élément de recouvrement une fois qu'il fait saillie depuis la surface périphérique externe, et qui est apte à fixer la position de l'élément saillant dans un état dans lequel l'élément de recouvrement est pressé radialement vers l'extérieur.
PCT/JP2019/009483 2018-03-14 2019-03-08 Main de robot et robot WO2019176808A1 (fr)

Applications Claiming Priority (4)

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JP2018047236 2018-03-14
JP2018046915 2018-03-14
JP2018-046915 2018-03-14
JP2018-047236 2018-03-14

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Cited By (2)

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Publication number Priority date Publication date Assignee Title
WO2021187471A1 (fr) * 2020-03-19 2021-09-23 株式会社イシダ Dispositif de préhension d'article
US11912449B2 (en) 2020-03-19 2024-02-27 Ishida Co., Ltd. Article gripping system

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JP2008221393A (ja) * 2007-03-13 2008-09-25 Nitta Ind Corp 自動工具交換装置
JP2010094796A (ja) * 2008-10-20 2010-04-30 Mitsubishi Motors Corp タイヤ把持装置
JP2013090728A (ja) * 2011-10-25 2013-05-16 Olympus Corp 医療用マニピュレータ
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US20170203443A1 (en) * 2016-01-20 2017-07-20 Soft Robotics, Inc. Soft robotic grippers for cluttered grasping environments, high acceleration movements, food manipulation, and automated storage and retrieval systems
CN107433615A (zh) * 2017-08-21 2017-12-05 北京精密机电控制设备研究所 一种刚柔混合的多自由度三指软体机械手

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Publication number Priority date Publication date Assignee Title
JPH06170658A (ja) * 1992-12-07 1994-06-21 Asahi Tec Corp 車両用タイヤの搬送装置
JPH10249775A (ja) * 1997-03-11 1998-09-22 Kubota Corp ロボットハンド用指
JP2001260067A (ja) * 2000-01-14 2001-09-25 Moon Star Co ビン保持チャック
JP2014025586A (ja) * 2006-06-01 2014-02-06 Wila Bv 自動安全爪
JP2008221393A (ja) * 2007-03-13 2008-09-25 Nitta Ind Corp 自動工具交換装置
JP2010094796A (ja) * 2008-10-20 2010-04-30 Mitsubishi Motors Corp タイヤ把持装置
JP2013090728A (ja) * 2011-10-25 2013-05-16 Olympus Corp 医療用マニピュレータ
JP2015039726A (ja) * 2013-08-20 2015-03-02 株式会社豊田自動織機 ロボットハンド
JP2017019093A (ja) * 2015-07-13 2017-01-26 メリディアン インターナショナル カンパニー リミテッド プライヤ
US20170203443A1 (en) * 2016-01-20 2017-07-20 Soft Robotics, Inc. Soft robotic grippers for cluttered grasping environments, high acceleration movements, food manipulation, and automated storage and retrieval systems
CN107433615A (zh) * 2017-08-21 2017-12-05 北京精密机电控制设备研究所 一种刚柔混合的多自由度三指软体机械手

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2021187471A1 (fr) * 2020-03-19 2021-09-23 株式会社イシダ Dispositif de préhension d'article
JP2021146449A (ja) * 2020-03-19 2021-09-27 株式会社イシダ 物品把持装置
US11912449B2 (en) 2020-03-19 2024-02-27 Ishida Co., Ltd. Article gripping system
JP7481735B2 (ja) 2020-03-19 2024-05-13 株式会社イシダ 物品把持装置

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