WO2019225222A1 - Main de robot - Google Patents

Main de robot Download PDF

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Publication number
WO2019225222A1
WO2019225222A1 PCT/JP2019/016239 JP2019016239W WO2019225222A1 WO 2019225222 A1 WO2019225222 A1 WO 2019225222A1 JP 2019016239 W JP2019016239 W JP 2019016239W WO 2019225222 A1 WO2019225222 A1 WO 2019225222A1
Authority
WO
WIPO (PCT)
Prior art keywords
finger
robot hand
recess
protrusion
width
Prior art date
Application number
PCT/JP2019/016239
Other languages
English (en)
Japanese (ja)
Inventor
順亮 上溝
貴司 上田
Original Assignee
日本金銭機械株式会社
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 日本金銭機械株式会社 filed Critical 日本金銭機械株式会社
Publication of WO2019225222A1 publication Critical patent/WO2019225222A1/fr

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/08—Gripping heads and other end effectors having finger members
    • G—PHYSICS
    • G07—CHECKING-DEVICES
    • G07D—HANDLING OF COINS OR VALUABLE PAPERS, e.g. TESTING, SORTING BY DENOMINATIONS, COUNTING, DISPENSING, CHANGING OR DEPOSITING
    • G07D11/00—Devices accepting coins; Devices accepting, dispensing, sorting or counting valuable papers

Definitions

  • the present invention relates to a robot hand.
  • a banknote processing apparatus using an arm with a robot hand has been proposed (for example, Japanese Patent Application Laid-Open No. 62-92095).
  • 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.
  • the banknote bundle sorted for every denomination is conveyed to a predetermined position by another arm with a robot hand for each denomination.
  • the non-grip portion of the banknote bundle in another robot hand may be bent.
  • 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.
  • the recess may be a groove or a recess formed along the direction from the base end side to the tip end side.
  • 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.
  • this 2nd finger part has one protrusion part or protruding part which has a width
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the robot hand 100 is a two-fingered robot hand and is disposed at the tip of an arm RA.
  • 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.
  • a movable finger 110 a fixed finger 120
  • a movable finger reciprocating mechanism 130 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the function of the first recess will be described later.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • an object that tends to sag such as a banknote bundle
  • 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.
  • the fixed finger 120 is fixed and only the movable finger 110 is moved.
  • the fixed finger 120 may be moved similarly to the movable finger 110.
  • an air cylinder mechanism is employed as the movable finger reciprocating mechanism 130.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • a link mechanism is employed as the protrusion reciprocating mechanism 150, but a known mechanism may be employed as the protrusion reciprocating mechanism 150.
  • 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.
  • 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.
  • the movable finger 210 has a square bar shape.
  • 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.
  • 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.
  • 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.
  • the movable finger 310 has a raised portion MC.
  • the fixed finger 320 has a curved recess CC.
  • the curved surface of the curved concave portion CC coincides with the curved surface of the raised portion MC of the movable finger 310.
  • 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.
  • 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.
  • 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.
  • the modifications (A) to (E) of the first embodiment may be applied to the robot hand 300 according to the fourth embodiment.
  • 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

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

L'objet de la présente invention est de fournir une main de robot qui peut saisir un objet susceptible de s'affaisser, tel qu'un faisceau de billets de banque, d'une manière dans laquelle l'objet n'est pas susceptible de s'affaisser. La main de robot selon l'invention est une main à deux doigts et est pourvue d'un premier doigt, d'un second doigt et d'un mécanisme de déplacement de doigt. Le premier doigt a un renfoncement. Le renfoncement s'ouvre au moins sur le côté faisant face au second doigt. Le second doigt est agencé face au premier doigt. De plus, le second doigt est opposé au renfoncement et a une largeur inférieure ou égale à la largeur du renfoncement ou présente une saillie ou un prolongement qui est opposé au renfoncement et a une largeur inférieure ou égale à la largeur du renfoncement. Le mécanisme de déplacement de doigt déplace le premier doigt et/ou le second doigt dans la direction d'opposition entre le premier doigt et le second doigt.<u> <b/> </u> <u> <b/> </u>
PCT/JP2019/016239 2018-05-22 2019-04-16 Main de robot WO2019225222A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2018097803A JP6587324B1 (ja) 2018-05-22 2018-05-22 ロボットハンド
JP2018-097803 2018-05-22

Publications (1)

Publication Number Publication Date
WO2019225222A1 true WO2019225222A1 (fr) 2019-11-28

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Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2019/016239 WO2019225222A1 (fr) 2018-05-22 2019-04-16 Main de robot

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JP (1) JP6587324B1 (fr)
WO (1) WO2019225222A1 (fr)

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH09300250A (ja) * 1996-05-20 1997-11-25 Katsumi Takizawa 紙片つまみ具
JP2013233601A (ja) * 2012-05-08 2013-11-21 Amada Co Ltd 加工装置
US8936287B2 (en) * 2012-06-24 2015-01-20 Stephen Burton Stayton Tweezer device incorporating improved gripping tip structures, and method of using
JP2016031619A (ja) * 2014-07-28 2016-03-07 グローリー株式会社 収納作業装置、有価媒体収納システム及び収納作業方法

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH09300250A (ja) * 1996-05-20 1997-11-25 Katsumi Takizawa 紙片つまみ具
JP2013233601A (ja) * 2012-05-08 2013-11-21 Amada Co Ltd 加工装置
US8936287B2 (en) * 2012-06-24 2015-01-20 Stephen Burton Stayton Tweezer device incorporating improved gripping tip structures, and method of using
JP2016031619A (ja) * 2014-07-28 2016-03-07 グローリー株式会社 収納作業装置、有価媒体収納システム及び収納作業方法

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Publication number Publication date
JP2019202369A (ja) 2019-11-28
JP6587324B1 (ja) 2019-10-09

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