WO2019225222A1

WO2019225222A1 - Robot hand

Info

Publication number: WO2019225222A1
Application number: PCT/JP2019/016239
Authority: WO
Inventors: 順亮上溝; 貴司上田
Original assignee: 日本金銭機械株式会社
Priority date: 2018-05-22
Filing date: 2019-04-16
Publication date: 2019-11-28
Also published as: JP6587324B1; JP2019202369A

Abstract

The purpose of the present invention is to provide a robot hand which can grip an object prone to sag, such as a banknote bundle, in a manner in which the object is not prone to sag. This robot hands is a two-finger hand and is provided with a first finger, a second finger, and a finger moving mechanism. The first finger has one recess. The recess opens at least on the side facing the second finger. The second finger is arranged facing the first finger. Also, the second finger either is opposite of the recess and has a width less than or equal to the width of the recess, or has one projection or protrusion that is opposite of the recess and has a width less than or equal to the width of the recess. The finger moving mechanism moves at least one of the first finger and the second finger in the direction of opposition between the first finger and the second finger.

Description

Robot hand

The present invention relates to a robot hand.

In the past, “a banknote processing apparatus using an arm with a robot hand” has been proposed (for example, Japanese Patent Application Laid-Open No. 62-92095). In such a banknote handling apparatus, a banknote bundle is conveyed to a banknote count banknote confirmation unit by an arm with a robot hand, and the banknote count is counted by denomination while the banknote bundle is sorted into denominations by the banknote count banknote confirmation unit. . And the banknote bundle sorted for every denomination is conveyed to a predetermined position by another arm with a robot hand for each denomination.

JP-A-62-92095

By the way, in such a banknote handling apparatus, if a banknote bundle can be delivered between robot hands, the degree of freedom of arrangement of the banknote count banknote confirmation unit and other units increases. However, when the banknote bundle is relatively thin and the robot hand is controlled so as to hold only less than half the longitudinal direction of the banknote bundle, the non-grip portion of the banknote bundle may be bent. If there is a possibility that the non-grip portion of the banknote bundle may be bent in this manner, it becomes extremely difficult for another robot hand to grasp the non-grip portion. On the other hand, when the robot hand is controlled to grip more than half of the longitudinal direction of the banknote bundle, the other robot hand holds the area of less than half the longitudinal direction of the banknote bundle. When the robot hand grips the area of the banknote bundle, the non-grip portion of the banknote bundle in another robot hand may be bent. In such a case, when placing the banknote bundle at a specified location, there is a risk that it may be necessary to require a very complicated movement from another robot hand, or the other robot hand may grip the non-gripping part. Is extremely difficult.

An object of the present invention is to provide a robot hand that can grip an object that easily hangs down, such as a banknote bundle, in a form that does not easily sag.

The robot hand according to the first aspect of the present invention is a two-finger hand, and includes a first finger unit, a second finger unit, and a finger unit moving mechanism. The 1st finger part has one crevice. The recess opens at least on the side facing the second finger. Here, the recess may be a groove or a recess formed along the direction from the base end side to the tip end side. Further, the concave portion may be a through concave portion (a concave portion (for example, a through groove (slit), a through hole, etc.) that opens not only on the side opposite to the second finger portion but also on the opposite side). The concave portion may be provided in the central portion in the width direction of the first finger portion, or may be formed in a partial cylindrical shape in which the central portion in the width direction is depressed over the entire width of the first finger portion. The second finger part is disposed so as to face the first finger part. And this 2nd finger part has one protrusion part or protruding part which has a width | variety below the width | variety of a recessed part while facing a recessed part, or has a width | variety below the width | variety of a recessed part. In particular, in the former case (when the second finger portion faces the recess and has a width equal to or smaller than the width of the recess), the second finger portion preferably has a width less than the width of the recess. The finger movement mechanism moves at least one of the first finger and the second finger along the opposing direction of the first finger and the second finger.

As described above, in this robot hand, the first finger portion has at least one recess opening on the side facing the second finger portion, and the second finger portion faces the recess of the first finger portion. And one protrusion or a raised portion having a width equal to or smaller than the width of the concave portion or facing the concave portion of the first finger portion and having a width equal to or smaller than the width of the concave portion. Then, the finger movement mechanism moves at least one of the first finger and the second finger along the opposing direction of the first finger and the second finger. For this reason, this robot hand can grip the object while curving it in the short direction when gripping an area of less than half of the longitudinal direction of an object that tends to sag, such as a banknote bundle. Therefore, even if this robot hand can grip only an area less than half of the longitudinal direction of an object that tends to sag, such as a banknote bundle, the robot hand can grip the object in a form that is difficult to sag.

The robot hand according to the second aspect of the present invention is the robot hand according to the first aspect, wherein the finger part moving mechanism is configured such that the first finger part and the second finger part until the protruding part or the raised part enters the recess. It is possible to move at least one of them.

As described above, in this robot hand, the finger part moving mechanism can move at least one of the first finger part and the second finger part until the protruding part or the raised part enters the recess. For this reason, even if the object is relatively thin, the robot hand can hold the object in a form that is difficult to sag.

Note that the determination of whether the object is relatively thick or thin can be realized by a person skilled in the art by a sensing technique using a pressure sensor or the like, an image analysis technique, or the like. Then, it is preferable that the control device of the robot hand make the determination, and the control device controls the finger movement mechanism to adjust the movement stroke of at least one of the first finger portion and the second finger portion.

The robot hand according to the third aspect of the present invention is the robot hand according to the first aspect or the second aspect, and the recess is formed at the tip portion of the first finger part. Further, the second finger portion has a protrusion and a tip portion that faces the tip portion of the first finger portion. The robot hand further includes a reciprocating mechanism. The reciprocating mechanism can move the protrusion from the proximal end side to the distal end portion of the second finger portion and from the distal end portion of the second finger portion to the proximal end side.

As described above, in this robot hand, the reciprocating mechanism can move the protrusion from the proximal end side to the distal end portion of the second finger portion and from the distal end portion of the second finger portion to the proximal end side. It is. For this reason, with this robot hand, it is possible not only to grip an object that tends to sag, such as a banknote bundle, but also to grip the object without intentional deformation. That is, this robot hand can change the way of gripping according to the situation.

It is a perspective view at the time of projection part accommodation of the robot hand concerning a 1st embodiment of the present invention. However, in this drawing, only the movable finger is a perspective view for convenience of explanation. It is a perspective view at the time of protrusion use of the robot hand concerning a 1st embodiment of the present invention. However, in this drawing, only the movable finger is a perspective view for convenience of explanation. It is a figure which shows the state at the time of the robot hand holding | gripping a banknote bundle at the time of use of the projection part of the robot hand which concerns on 1st Embodiment of this invention. It is a perspective view of a finger part of a robot hand concerning a 3rd embodiment of the present invention. It is a perspective view of a finger part of a robot hand concerning a 4th embodiment of the present invention.

-First embodiment-
As shown in FIG. 1, the robot hand 100 according to the first embodiment of the present invention is a two-fingered robot hand and is disposed at the tip of an arm RA. As shown in FIG. 1, the robot hand 100 mainly includes a movable finger 110, a fixed finger 120, a movable finger reciprocating mechanism 130, a protruding portion 140, a protruding portion reciprocating mechanism 150, and a connecting portion 160. Has been. Hereinafter, these components will be described in detail.

<Robot hand components>
(1) Movable Finger As shown in FIG. 1, the movable finger 110 is a substantially rectangular flat plate member, and is fixed to a lifting plate 132 (described later) of the movable finger reciprocating mechanism 130. The movable finger 110 has a screw hole (not shown) formed in the vicinity of the approximate center in the longitudinal direction and the width direction.

(2) Fixed Finger As shown in FIG. 1, the fixed finger 120 is a substantially rectangular flat plate member, and is fixed to a support plate 131 (described later) of the movable finger reciprocating mechanism 130. As shown in FIG. 1, the fixed finger 120 faces the movable finger 110 in the reciprocating direction of the movable finger 110. As shown in FIG. 1, the fixed finger 120 is mainly formed with a first recess 121 and a second recess 122. Further, the tip portion 123 is formed by forming the first recess 121. Hereinafter, these parts will be described in detail.

The 1st recessed part 121 is a substantially T-shaped recessed part as FIG. 1 shows, and is formed from 121 A of front end side parts, and 121 B of base end side parts. As shown in FIG. 1, the distal end portion 121 </ b> A is formed at a position near the distal end of the fixed finger 120 on the movable finger facing side of the fixed finger 120. The distal end portion 121A is formed over the entire width of the fixed finger 120. On the other hand, the base end portion 121B is formed at a position near the base end of the fixed finger 120 on the movable finger facing side of the fixed finger 120, as shown in FIG. And this base end part 121B is formed in the center part of the width direction of the fixed finger 120. Further, the base end side portion 121B extends along the longitudinal direction from the center portion in the width direction on the base end side of the tip end side portion 121A toward the base end side. For convenience of explanation, the function of the first recess will be described later.

As shown in FIG. 1, the second recess 122 is a substantially rectangular recess, and is formed inside the front end portion 121 </ b> A of the first recess 121. Note that the second recess 122 has a function of accommodating a part or all of the protrusion 140 in a state in which the protrusion 140 is accommodated. In the present embodiment, part or all of the protrusion 140 is accommodated in the second recess 122 so that the tip 111 of the movable finger 110 can come into contact with the tip 123 of the fixed finger 120. it can.

As shown in FIG. 1, the distal end portion 123 has a shape in which the portions on both sides in the width direction are raised from the center portion, that is, the shape in which the center portion in the width direction is recessed. In other words, a concave portion CV is formed in the tip portion 123.

(3) Movable finger reciprocation mechanism As shown in FIG. 1, the movable finger reciprocation mechanism 130 mainly includes a support plate 131, an elevating plate 132, and an air cylinder mechanism (not shown). The support plate 131 supports the elevating plate 132 so that it can be raised and lowered. The air cylinder mechanism serves as a drive source when the elevating plate 132 is raised and lowered. The movable finger reciprocating mechanism 130 moves the movable finger 110 close to the fixed finger 120 until the projection 140 of the movable finger 110 enters the recess CV of the distal end portion 123 of the fixed finger 120 in a state where the projection is used, which will be described later. be able to.

(4) Protrusion Part The protrusion part 140 is a substantially rectangular parallelepiped small piece part, as shown in FIG. 1, and is formed at the front end of a front and rear slide bar 153 (described later) of the protrusion part reciprocation mechanism 150.

(5) Protrusion Reciprocation Mechanism The protrusion reciprocation mechanism 150 is a mechanism for reciprocating the protrusion 140 along the front-rear direction, and mainly includes a rotating air cylinder 151 as shown in FIG. , A swivel bar 152 and a front / rear slide bar 153. As shown in FIG. 1, the rotary air cylinder 151 has a movable finger reciprocating mechanism 130 such that a rotary shaft (not shown) extends downward along a direction parallel to the moving direction of the movable finger 110. It is arranged on the side of. A rotating bar 152 is attached to the rotating shaft of the rotating air cylinder 151. As shown in FIG. 1, the swivel bar 152 is a long plate member that is swingably accommodated in a substantially fan-shaped recess VS formed on the back side of the movable finger 110. Is attached to the rotary shaft of the rotary air cylinder 151. As a result, the swivel bar 152 is swung around the rotating shaft of the rotating air cylinder 151 by the rotating air cylinder 151. Further, at the other end portion of the swivel bar 152, a long hole OS extending along the longitudinal direction is formed at the center in the width direction. As shown in FIG. 1, the front / rear slide bar 153 is a long plate member, and as described above, the protrusion 140 is formed at the tip. The front / rear slide bar 153 is formed with a pin PN extending in the thickness direction at the base end. As shown in FIG. 1, the pin PN passes through a long hole OL of the swivel bar 152 and is inserted into a linear guide groove GL (described later) formed on the back side of the movable finger 110. The linear guide groove GL is formed along a direction parallel to the direction in which the front / rear slide bar 153 extends. Further, the front and rear slide bar 153 is formed with a long hole OL extending in the longitudinal direction at the center in the width direction on the front end side. As shown in FIG. 1, a screw BS is passed through the long hole OL from below, and the screw BS is screwed into a screw hole of the movable finger 110. Here, the screw BS is stopped so as to form a gap that allows the front / rear slide bar 153 to reciprocate.

The protrusion reciprocating mechanism 150 can be configured to reciprocate the protrusion 140 along the front-rear direction by the forward / reverse drive of the rotating air cylinder 151 by being configured as described above. As a result, the robot hand 100 can be switched between the projection housing state shown in FIG. 1 and the projection usage state shown in FIG.

(6) Connecting part The connecting part 160 is a part for connecting the robot hand 100 to the arm RA and is, for example, a flange or the like.

<Robot hand shape change and banknote gripping state>
In the robot hand 100 according to the first embodiment of the present invention, when the rotary air cylinder 151 is driven to rotate forward in the state shown in FIG. It advances to the part 111 and will be in the state of FIG. 2, ie, a projection part use state. If the robot hand 100 grips an object that easily sags such as a banknote bundle in this state, as shown in FIG. 3, the robot hand 100 can bend the object upward to make it difficult to sag. This is realized by the cooperation of the protrusion 140 and the tip 123 of the fixed finger 120.

On the other hand, when the rotary air cylinder 151 is driven in the reverse direction in the state shown in FIG. 2, that is, in the state where the protrusion is used, the robot hand 100 moves backward to the base end side of the movable finger 110. It will be in the state of FIG. 1, ie, a projection part accommodation state. In this state, the robot hand 100 can hold the object between the tip 111 of the movable finger 110 and the tip 123 of the fixed finger 120. Note that the robot hand 100 can bring the tip 111 of the movable finger 110 and the tip 123 of the fixed finger 120 into contact with each other even in the protrusion housing state. In this state, when the movable finger 110 is moved toward the fixed finger 120, the protrusion 140 is accommodated in the second recess 122 of the fixed finger 120, and the protrusion is protruded in the first recess 121 of the fixed finger 120. This is because the front / rear slide bar 153 of the reciprocating mechanism 150 is designed to be accommodated.

<Features of the robot hand according to the first embodiment>
As described above, in the robot hand 100 according to the first embodiment, when the rotary air cylinder 151 is driven to rotate forward in the protrusion housing state, the protrusion 140 advances to the tip 111 of the movable finger 110 and protrudes. It will be in use. Then, as shown in FIG. 3, when the robot hand 100 grips an object MT that is easy to sag such as a banknote bundle in this state, the robot MT may bend the object MT so that it is difficult to sag. it can.

On the other hand, in the robot hand 100, when the rotating air cylinder 151 is driven in reverse while the protrusion is in use, the protrusion 140 moves backward to the proximal end side of the movable finger 110 and enters the protrusion accommodating state. In this state, the robot hand 100 can hold an object between the distal end portion 111 of the movable finger 110 and the distal end portion 123 of the fixed finger 120. That is, the robot hand 100 can also grip an object that tends to sag, such as a banknote bundle, without curving upward.

<Modification>
(A)
In the robot hand 100 according to the first embodiment, the movable finger 110 is provided with the protrusion 140 and the protrusion reciprocating mechanism 150, and the fixed finger 120 is formed with the first recess 121 and the second recess 122. The protrusion 140 and the protrusion reciprocating mechanism 150 may be provided at 120, and the first recess 121 and the second recess 122 may be formed at the movable finger 110. In such a case, the robot hand 100 is turned upside down.

(B)
In the robot hand 100 according to the first embodiment, the fixed finger 120 is fixed and only the movable finger 110 is moved. However, the fixed finger 120 may be moved similarly to the movable finger 110.

(C)
In the robot hand 100 according to the first embodiment, an air cylinder mechanism is employed as the movable finger reciprocating mechanism 130. However, a known reciprocating mechanism such as a rack and pinion mechanism, a ball screw mechanism, or the like is known as the movable finger reciprocating mechanism 130. A mechanism such as an air cylinder mechanism, a motor cylinder mechanism, an electric slider mechanism, a belt slider mechanism, or a linear slider mechanism may be employed. In such a case, an electric motor may be employed as the drive source.

(D)
In the robot hand 100 according to the first embodiment, the movable finger reciprocation mechanism 130 moves the movable finger 110 until the projection 140 of the movable finger 110 enters the recess CV of the distal end 123 of the fixed finger 120 in the usage state of the projection. Although it could be brought close to the fixed finger 120, the object to be grasped by the robot hand 100 is relatively thick so that the protrusion 140 of the movable finger 110 cannot enter the concave portion CV of the tip 123 of the fixed finger 120. If it is known in advance, the lower limit position of the movement stalk of the movable finger 110 by the movable finger reciprocating mechanism 130 may be set to the upper position of the fixed finger 120 (that is, the protrusion 140 of the movable finger 110). (The lower limit position of the moving stroke of the movable finger 110 may be set at a position where the moving finger 110 does not enter the recess CV of the distal end portion 123 of the fixed finger 120.)

(E)
In the robot hand 100 according to the first embodiment, the rotating air cylinder 151 is employed as a drive source for moving the protrusion 140 forward and backward, but an electric motor capable of normal / reverse rotation is employed instead of the rotating air cylinder 151. It doesn't matter.

(F)
In the robot hand 100 according to the first embodiment, a link mechanism is employed as the protrusion reciprocating mechanism 150, but a known mechanism may be employed as the protrusion reciprocating mechanism 150.

-Second Embodiment-
The robot hand according to the second embodiment is the robot hand according to the first embodiment except that the protrusion reciprocating mechanism 150 does not exist and the protrusion 140 is always fixed to the tip 111 of the movable finger 110. 100. Note that the modifications (A) to (E) of the first embodiment may be applied to the robot hand according to the second embodiment.

-Third embodiment-
The robot hand 200 according to the third embodiment is the same as the robot hand according to the second embodiment except for the shapes of movable fingers and fixed fingers. For this reason, only the movable finger 210 and the fixed finger 220 will be described for the robot hand 200 according to the second embodiment.

As shown in FIG. 4, the movable finger 210 has a square bar shape. On the other hand, the fixed finger 220 has a pair of square bar shapes parallel to each other. A slit PS is formed between the pair of fixed fingers 220. The width of the slit PS is designed to be slightly wider than the width of the movable finger 210. The movable finger reciprocating mechanism 130 can cause the movable finger 210 to enter the slit PS of the fixed finger 220. Therefore, similarly to the robot hand 100 according to the first embodiment, the robot hand 200 according to the third embodiment faces the object MT upward even when the object MT is easy to sag, such as a relatively thin banknote bundle. The same object MT can be made difficult to bend by bending.

Note that the movable finger 210 and the fixed finger 220 of the robot hand 200 according to the third embodiment do not necessarily have a square bar shape, and may have a round bar shape or other bar shapes. Also, the modifications (A) to (E) of the first embodiment may be applied to the robot hand 200 according to the third embodiment.

-Fourth embodiment-
The robot hand 300 according to the fourth embodiment is the same as the robot hand according to the second embodiment except for the shapes of movable fingers and fixed fingers. For this reason, only the movable finger 310 and the fixed finger 320 will be described for the robot hand 300 according to the fourth embodiment.

As shown in FIG. 5, the movable finger 310 has a raised portion MC. On the other hand, the fixed finger 320 has a curved recess CC. Here, the curved surface of the curved concave portion CC coincides with the curved surface of the raised portion MC of the movable finger 310. Here, the width of the raised portion MC of the movable finger 310 is the same as the width of the curved concave portion CC of the fixed finger 320. The movable finger reciprocating mechanism 130 can cause the raised portion MC of the movable finger 310 to enter the inside of the curved recess CC of the fixed finger 320. For this reason, similarly to the robot hand 100 according to the first embodiment, the robot hand 300 according to the fourth embodiment faces the object MT upward even if it is a relatively thin object MT such as a banknote bundle. The same object MT can be made difficult to bend by bending.

Note that the width of the raised portion MC of the movable finger 310 of the robot hand 300 according to the fourth embodiment may be narrower than the width of the curved recess CC of the fixed finger 320, and the raised portion MC of the movable finger 310 is more You may form so that it may protrude below. Also, the modifications (A) to (E) of the first embodiment may be applied to the robot hand 300 according to the fourth embodiment.

100, 200, 300

Robot hand

110, 210, 310 Movable finger (second finger)
111 Tip of movable finger (tip of second finger)
120, 220, 320 Fixed finger (first finger)
123 Tip of fixed finger (tip part of first finger)
130 Movable finger reciprocating mechanism (finger moving mechanism)
140 Protrusion 150 Protrusion reciprocating mechanism (reciprocating mechanism)
CC Curved recess CV Recess MC Raised portion

Claims

A first finger;
A second finger disposed to face the first finger;
A finger movement mechanism that moves at least one of the first finger and the second finger along the opposing direction of the first finger and the second finger;
The first finger part has at least one recess opening on the side facing the second finger part,
The robot finger having one protrusion or a raised portion facing the recess and having a width equal to or less than the width of the recess, or facing the recess and having a width equal to or less than the width of the recess. .
The said finger part moving mechanism is capable of moving at least one of the first finger part and the second finger part until the protruding part or the raised part enters the recess. Robot hand.
The concave portion is formed at a tip portion of the first finger portion,
The second finger portion has the protrusion, and has a tip portion facing the tip portion of the first finger portion,
The reciprocating mechanism which can move the said projection part from the base end side to the front-end | tip part of the said 2nd finger part, and can move from the front-end | tip part of the said 2nd finger part to the base end side is further provided. Or the robot hand according to 2.