WO2020166335A1 - Robot hand - Google Patents

Abstract

The present invention provides a robot hand that has a simple structure, can be used for general purposes, and does not readily damage an object.　A robot hand for grasping an object, wherein the robot hand has two or more fingers, and at least one of the fingers is a wire-material finger configured so as to include a loop-shaped wire material having elasticity.

Description

Robot hand

The present invention relates to a robot hand. The present invention claims the priority of Japanese Patent Application No. 2019-022504, which was filed on February 12, 2019, and regarding the designated countries in which weaving by reference to the document is allowed, the contents described in the application are This application is incorporated by reference.

As a device for grasping an object, for example, a gripper mechanism including a drive mechanism has been proposed (see Patent Document 1). The gripper mechanism includes, as a pressing member, a gripper portion having a set of gripping members that grips a workpiece by opening and closing while approaching and separating from each other in conjunction with the displacement of the displacement member (see claim 3).

Further, as a humanoid hand, for example, when a traction force is applied in one direction, a plurality of finger plates that are rotatably connected to each other are rotated to have a curved gripping shape, and a traction force is applied in one direction. A thumb mechanism that rotates toward the finger mechanism when applied, and a finger drive mechanism that applies the traction force to each of the plurality of finger mechanisms and applies the traction force to the thumb mechanism when an operation traction force is applied in one direction. It has been proposed to provide (see claim 1).

JP, 2009-125851, A Japanese Patent Laid-Open No. 2002-103269

The gripper mechanism described in Patent Document 1 may not be able to be gripped universally depending on the shape and size of the object. Further, if the object is soft, it may be damaged.

The humanoid hand described in Patent Document 2 has a multi-joint structure, has a complicated structure, and is expensive.

The present invention is to solve at least one of the above problems, and an object of the present invention is to provide a robot hand that has a simple structure, can be used for general purposes, and is less likely to damage an object.

In order to solve at least one problem described above, a robot hand according to the present invention is a robot hand for gripping an object, and has two or more finger parts, and at least one of the finger parts is a loop. It is a wire rod type finger portion configured to include a wire rod having a substantially elastic shape.

Further, the fingertip portion of the wire rod type finger portion may be configured to include a wire rod group formed by combining a plurality of the wire rods.

Moreover, the fingertip portion of the wire-type finger portion may have a depression and may have a substantially hemispherical shape or a substantially semielliptic spherical shape.

Moreover, even if it has two said wire rod type|mold finger parts arrange|positioned facing, and the fingertip parts of the said wire rod type finger parts are constructed so that the most proximal wire rods closest to the other party can contact each other. Good.

Moreover, it has two said wire rod type finger parts arrange|positioned facing, and the fingertip parts of the said wire rod type finger part contact|abut the nearest most proximal wire rods to the other party, and after that, it is the second to the other party. The second proximal wires that are proximal to each other may be configured to contact each other.

Also, the fingertip portion of the wire rod type finger portion may be configured by combining a plurality of wire rods having different thicknesses.

The fingertip portion of the wire rod type finger portion may have a reinforcing portion for reinforcing the strength.

Also, the wire may have a coating layer.

Also, the wire rod type finger portion may include a plurality of wire rod groups formed by combining a plurality of the wire rods.

Also, a gap adjusting mechanism for adjusting the gap between the fingers may be provided.

Also, the two or more finger portions may be divided into two sets and arranged to face each other.

According to the present invention, it is possible to provide a robot hand that has a simple structure, can be used for general purposes, and is less likely to damage an object.

The problems, configurations, and effects other than those described above will be clarified by the description of the embodiments below.

It is a figure which shows the robot hand which concerns on one Embodiment of this invention. It is a figure which shows the principal part of the robot hand which concerns on one Embodiment of this invention. It is a figure which shows the example of the holding|grip operation of the robot hand which concerns on one Embodiment of this invention. It is a figure which shows the other example of the robot hand of FIG. It is a figure which shows the other example of the robot hand of FIG. It is a figure which shows the other example of the robot hand of FIG. It is a figure which shows the principal part of the robot hand which concerns on one Embodiment of this invention. It is a figure which shows the other example of the robot hand of FIG. It is a figure which shows the other example of the robot hand of FIG. It is a figure which shows the principal part of the robot hand which concerns on one Embodiment of this invention, Comprising: (a) Plan view (closed state), (b) Front view (open state), (c) Front view which shows a use state. It is a figure which shows the principal part of the robot hand which concerns on one Embodiment of this invention. It is a figure which shows the other example of the robot hand of FIG. It is a figure which shows the other example of the robot hand of FIG. It is a figure which shows typically the example of the usage state of the robot hand which concerns on one Embodiment of this invention. It is a figure which shows the principal part of the robot hand which concerns on one Embodiment of this invention. It is a figure which shows the use condition of the hand of FIG. 15, (a) Front view, (b) AA sectional drawing, (c) BB sectional drawing. It is a figure which shows the example of the holding|grip operation of the robot hand which concerns on one Embodiment of this invention. It is a figure which shows the other example of the robot hand of FIG. It is a figure which shows the other example of the robot hand of FIG. 15, (a) Front view, (b) Plan view. It is a figure which shows the other example of the robot hand of FIG. It is a figure which shows the other example of the robot hand of FIG. It is a figure which shows the other example of the robot hand of FIG. It is a figure which shows the other example of the robot hand of FIG. 15, (a) is a perspective view and (b) is a figure which shows a wire rod group. It is a figure which shows the other example of the robot hand of FIG. It is a figure which shows the other example of the robot hand of FIG. It is a figure which shows the principal part of the robot hand which concerns on one Embodiment of this invention. It is a figure which shows the other example of the robot hand of FIG. It is a figure which shows an example of the robot to which this invention is applied. It is a figure which shows the robot hand which concerns on one Embodiment of this invention. It is a figure which shows the wire rod stop part of the robot hand which concerns on one Embodiment of this invention, Comprising: (a) After attachment, It is a figure which shows before (b) attachment. It is a figure which shows the other example of the wire rod stop part of FIG. It is a figure which shows the wire rod stop part of the robot hand which concerns on one Embodiment of this invention, Comprising: (a) is after attachment, (b) is a figure before attachment. It is a figure which shows the other example of the wire rod stop part of FIG. It is a figure which shows the other example of the reinforcement part of the finger part of the robot hand which concerns on one Embodiment of this invention. It is a figure which shows the other example of the reinforcement part of FIG.

An example of an embodiment of the present invention will be described below with reference to the drawings. It should be noted that constituent elements common to the following embodiments are denoted by the same reference numerals as those used above, and description thereof may be omitted. Further, when referring to the shape, positional relationship, etc. of constituent elements, etc., unless otherwise specified, or in principle, it is considered that the shape or the like is substantially similar or similar to the shape, etc. Shall be included.

FIG. 1 is a diagram showing a robot hand 1 according to an embodiment of the present invention. The robot hand 1 is for grasping an object and is attached to the tip of the robot. Here, the robot is a device that operates by automatic control or remote control, includes a so-called magic hand, and includes an industrial robot (robot manipulator, robot arm) and a non-industrial robot (service robot). Further, here, the robot includes a device that operates automatically or autonomously, for example, an automatic cooking machine, an automatic catering machine, an automatic washing machine, an automatic cleaning machine, an automatic collecting machine, or the like. These may be self-supporting or self-propelled. Further, artificial intelligence technology such as deep learning may be used for the automatic control.

A robot hand (hereinafter also abbreviated as “hand”) 1 is attached to the tip of a robot 6 such as a robot arm, as shown in the figure. As an example, the robot 6 can perform operations such as rotation of the wrist (T axis), rotation of the arm (R axis), and vertical movement of the arm (U axis).

The hand 1 has two or more finger portions 2 for gripping an object and a mounting portion 3 for mounting the finger portion 2 on the robot 6. The two or more finger portions 2 are divided into two groups and are arranged so as to face each other (face each other). As shown in the figure, the mounting portion 3 is configured by, for example, two sets of mounting portions facing (facing) the finger portion 2. For example, the mounting portion 3 or the linear motion provided at the tip of the robot 6 is provided. The actuators can approach or separate from each other in the X direction. The configuration of the mounting portion 3 is not limited, and a known configuration can be used. It should be noted that a plurality of hands 1 having different sizes and shapes may be attached to the tip of the robot 6 and switched to operate according to the purpose. Alternatively, they may be replaced and operated depending on the application.

The hand 1 is opened and closed in the X direction by the attachment part 3 where the two sets of fingers approach or separate from each other to grab or release the object. In the following description, in the hand 1, the finger portion direction is the front and the attachment portion direction is the rear. Further, the direction orthogonal to the front-rear direction and the opening/closing direction (grasping direction) is defined as the width direction (vertical direction). In addition, the side close (proximal) to the mating finger portion is the ventral side, and the opposite (distal) side is the dorsal side.

<Embodiment 1>
FIG. 2 is a diagram showing a main part of the robot hand according to the embodiment of the present invention. The hand 1 of the present embodiment has two finger portions 2 of a finger portion 2a and a finger portion 2b, as illustrated. The mounting portion 3 is omitted here (the same applies in the following figures).

The hand 1 is configured to include an elastic wire rod having at least one finger portion having a loop portion (hereinafter, also referred to as “wire rod type finger portion”). In the present embodiment, both the finger portion 2a and the finger portion 2b are configured to include the wire rod 4 having the loop portion. Both ends of the wire 4 are connected and fixed to the root portion 23a and the root portion 23b, respectively.

The wire 4 has elasticity and is preferably a metal wire having a round cross section, such as stainless steel, or a wire such as a piano wire, a brass wire, a noble metal wire, or a noble metal plated wire. However, not limited to this, a wire having a polygonal cross section such as a quadrangular cross section or a hexagonal cross section may be used. The lower limit of the thickness of the wire material (face-to-face width in the case of a polygon) is 0.2 mm, preferably 0.25 mm, and more preferably 0.3 mm. The upper limit is 8.0 mm, preferably 4.0 mm, more preferably 3.2 mm.

As the wire rod 4, for example, the above-mentioned wire rod is used as it is. Further, the wire 4 may have a coating layer by coating the surface of the wire with nylon, silicon, Teflon, or the like, or by plating or the like. The wire 4 may be formed of a material such as a plastic resin such as nylon (including a material containing carbon fiber, Kevlar (registered trademark), etc.). A plate material may be processed and used for the wire 4. Further, it may be thick at both end portions and gradually thin toward the central portion. It should be noted that even when referred to as “wire” or “wire” in the following description, it is not limited to the wire and may be any known suitable elastic wire.

As shown, the wire 4 is bent and has a loop portion. More specifically, one wire is started from one end (end) and folded back at approximately the center, and for example, as shown in the drawing, it is largely curved at the center of the wire and has a substantially elliptical shape or a balloon shape. A loop portion is formed, the other end (end portion) returns to a position close to the one end, and both end portions form a linear portion extending in the front-rear direction. The end portions of both ends are fixed in the root portion 23. Here, the loop portion has an unclosed loop shape.

In the present embodiment, since both finger portions have the same shape, one finger portion 2a will be described below as an example. The finger portion 2a has a fingertip portion 21a, an extending portion 22a, and a root portion 23a. The fingertip portion 21a is a portion that comes into contact with an object and grips the object, and is configured by a loop portion of the wire rod 4. The extending portion 22a is a portion located between the fingertip portion 21a and the root portion 23a, and is composed of a linear portion of the wire rod 4. Preferably, here, the loop portion is included in the same plane (hereinafter also referred to as “main surface”). The main surface of the fingertip portion 21a is orthogonal to the gripping direction. Further, here, the finger portion 2a has a shape symmetrical with respect to the center line in the front-rear direction.

In addition, by fixing the end portions of both ends of the wire 4 with the root portion 23a at an appropriate interval (for example, 1/6 or more, preferably 1/4 or more of the plane width of the finger 2a), the wire itself The rotation of the shaft can be suppressed, and the inclination of the main surface due to the twist of the loop part can be suppressed.

FIG. 3 is a diagram showing an example of a gripping operation of the robot hand according to the embodiment of the present invention. The object O shown has a non-uniform thickness. Here, the opening/closing direction (grasping direction) is shown as X, the longitudinal direction as Y, and the width direction (vertical direction) as Z (same in the following figures).

First, as shown in FIG. 3(a), both root portions (23a, 23b) are separated, and the front gap (front gap between the facing inner portions) m between the fingertip portions (21a, 21b) is the object. The thickness becomes larger than the thickness of the thickest portion of O (hereinafter referred to as “the thickest portion”). At this time, the gap between both root parts (23a, 23b) (between the opposing inner parts) is n.

Next, as shown in FIG. 3B, the two roots (23a, 23b) approach each other, the gap n between the two roots becomes narrower, and the front gap m between the fingertips becomes narrower. The part contacts the thickest part of the object O.

Next, as shown in FIG. 3(c), the gap n between both root parts becomes narrower, but the front gap m between the fingertips remains almost unchanged. This is because both fingertips are bent in the opening direction so as to follow the shape of the object O.

Next, as shown in FIG. 3(d), the gap n between both roots becomes smaller, but the front gap m between the fingertips remains almost unchanged. This is because both fingertips are bent further in the opening direction so as to follow the shape of the object O, and in some cases, the front end portions of both extension parts are also bent.

If the thickness of the object O is not uniform, grasping it with a conventional hand may cause fingertips to come into contact with the thickest part, and force may be concentrated on this part, causing damage. On the other hand, in the hand 1 of the present embodiment, since the finger portion is made of the elastic wire, the finger portion bends and is deformed along the object, so that the object is not damaged.

It is difficult for the robot hand to control the force of grasping the target object. If the force is large, the object is damaged, and if the force is small, the object cannot be picked up and the object may be dropped. The hand 1 of the present embodiment applies a large force, and even if both roots approach too much, both the fingertip portion or both the fingertip portion and the extension portion are bent and deformed, so that an excessive force is applied to the object. Therefore, the object can be prevented from being damaged.

4 to 6 are diagrams showing other examples of the robot hand of FIG. As an example, the hand 1 may be provided with a reinforcing portion at the fingertip portion to reinforce the strength. The reinforcing portion may be provided on one of the finger portions 2a and 2b, or may be provided on both. In addition, the reinforcing portion may be formed of a loop-shaped wire or a linear wire. Hereinafter, the finger portion 2a will be described as an example.

As shown in FIG. 4, as an example, the hand 1 is provided so that the reinforcing portion 211a projects from the tip of the fingertip portion 21a. For example, as shown in the figure, the reinforcing portion 211a is formed of a loop-shaped elastic wire and is formed like a ring-shaped nail, and a part thereof protrudes from the tip of the fingertip portion 21a in a nail shape. The reinforcing portion 211a is fixed to the fingertip portion 21a by, for example, spot welding to form a plurality of welding portions 2111a. The method of fixing the reinforcing portion to the fingertip portion is not particularly limited, and a known technique is appropriately used.

As shown in FIG. 5, as an example, in the hand 1, the reinforcing portion 211a may be provided in the fingertip portion 21a behind the tip portion. For example, as illustrated, the reinforcing portion 211a is formed of a loop-shaped wire rod, and is fixed to the fingertip portion 21a by, for example, spot welding to form a plurality of welding portions 2111a.

As shown in FIG. 6, the reinforcing portion 211a is not limited to a wire rod, and may be made of a belt-shaped metal or plastic resin member. The reinforcing portion 211a is, for example, such a belt-shaped member and is formed so as to cross the fingertip portion 21a in a bridge shape. Both ends of the reinforcing portion 211a are, for example, wound around and fixed to the wire material that constitutes the fingertip portion.

The hand 1 may have other shapes such as a substantially circular shape or polygonal shape (triangle, quadrangle, etc.) in the fingertip portion 21. Further, the extending portion 22 may have a shape in which the legs are opened rearward, a shape having a gentle roundness, or the like. Hereinafter, other embodiments of the hand 1 will be described.

<Embodiment 2>
FIG. 7 is a diagram showing a main part of the robot hand according to the embodiment of the present invention. The hand 1 has two finger portions, that is, a finger portion 2a and a finger portion 2b, and both of the finger portions are made of elastic wire rods 4, respectively. Since both fingers have the same shape, the finger 2a will be described below as an example.

Unlike the above-mentioned example, the finger portion 2a has an asymmetric shape with respect to the center line in the front-rear direction. More specifically, the loop portion of the wire 4a is formed into a substantially triangular shape, and the fingertip portion 21a is formed into a substantially triangular shape having three side portions. Of the three corners formed by the three sides, two corners are arranged in the front-rear direction, and one corner is arranged so as to project downward. Further, in the corner portion arranged rearward, the two side portions are not closed and move to the extending portion 22a while leaving a gap. The extended portion 22a has an open leg shape in which the gap between the wire rods is small at the front end and the gap between the wire rods is large toward the rear end. Further, the extending portion 22a on the protruding corner side is more inclined than the other extending portion 22a (the degree of opening is large). An obtuse angle is formed between the protruding corner portion of the fingertip portion and the extending portion. As an example, the extending portion 22a is formed such that the length in the front-rear direction is larger than the length in the front-rear direction of the fingertip portion 21a. For example, the lower limit of the length of the stretched portion 22a is twice the length of the fingertip portion 21a, preferably 3 times, and more preferably 4 times. The upper limit is 8 times the length of the fingertip, preferably 7 times, and more preferably 6 times.

In addition, by fixing the end portions of both ends of the wire 4 with the root portion 23a at an appropriate interval (for example, 1/6 or more, preferably 1/4 or more of the plane width of the finger 2a), the wire itself The rotation of the shaft can be suppressed, and the inclination of the main surface due to the twist of the loop part can be suppressed.

As shown in FIG. 8, the hand 1 may have a substantially elliptical or balloon-shaped fingertip portion 21a having a small main surface. Further, the fingertip portion 21a may be bent downward to form an obtuse angle with the extending portion as illustrated. Such a fingertip portion 21a is suitable for gripping a thin target object.

As shown in FIG. 9, in the hand 1, for example, the fingertip portion 21a may have a substantially circular shape having a small main surface. Further, the fingertip portion 21a may be bent downward to form an obtuse angle with the extending portion as illustrated. Such a fingertip portion 21a is suitable for grasping a small object having a roundness.

<Embodiment 3>
10A and 10B are diagrams showing a main part of a robot hand according to an embodiment of the present invention. FIG. 10A is a plan view (closed state), FIG. 10B is a front view (opened state), and FIG. (C) is a front view showing a usage state. In the hand 1 of the present embodiment, both of the two finger portions are wire rod type finger portions, but the wire rod 4a forming one finger portion and the wire rod 4b forming the other finger portion have different shapes.

Specifically, one finger portion 2a has a shape asymmetric with respect to the center line in the front-rear direction, and is entirely included in the same plane (the surface along the opening/closing direction X). The fingertip portion 21a is substantially U-shaped, and includes one or more concave portions 212a that are recessed with respect to the opponent finger portion on the abdomen side, and the abdominal side is formed in a wavy shape and the back side is formed in a linear shape. The tip of the fingertip portion 21a has a substantially triangular shape, and one corner portion 213a (hereinafter referred to as "protruding corner portion") faces the opponent finger portion 2b. A convex portion is formed between the concave portions 212a on the ventral side. The extending portion 22a has a protruding portion 221a protruding toward the opponent finger portion on the abdominal side, and the back side extends linearly.

The other finger 2b has a shape symmetrical with respect to the center line in the front-rear direction, and is entirely included in the same plane (a plane orthogonal to the opening/closing direction X). The fingertip portion 21b is substantially rectangular, has a rounded tip portion, and has a shape in which both rear end portions converge into a substantially eight shape. The extending portion 22b has an open leg shape in which the gap gradually widens toward the rear end. As a result, when the space between the two root portions 23 is narrowed, the fingertip portion 21a and the extending portion 22a of the finger portion 2a are set in the center of the finger portion 2b along the extending portion 22b, and the grasping accuracy is improved.

In the hand 1 of this embodiment, the main surface of one fingertip portion 21a and the main surface of the other fingertip portion 21b are orthogonal to each other, and when both finger portions approach each other, one of the fingertip portions enters the other fingertip portion. To do. Preferably, both fingers are formed so that the degree of entry is adjusted. For example, as shown in the figure, the tip end portion of the other fingertip portion comes into contact with the inclined side portion of the tip end portion 21a of the one fingertip portion, and the degree of entry is adjusted.

As shown in FIG. 10( c ), in the use state, the fingers O hold each other while gripping the object O. At that time, the protruding corner portion 213a in the fingertip portion of the finger portion 2a and the protruding portion 221a in the extending portion function as a guide. Further, the concave portion 212a in the fingertip portion of the finger portion 2a is suitable for gripping a rounded shape, for example, a linear or rod-shaped object O.

In the illustrated example, one finger 2a has a recess, but the other finger 2b may have a recess or a protrusion, or both may have a recess or a protrusion. Further, although the drawing shows an example in which the entire finger portions are included in the same plane, the configuration is not particularly limited as long as one fingertip portion enters the other fingertip portion when both finger portions approach each other. For example, only the fingertips may be included in the same vertical plane or the same horizontal plane.

Also, the hands 1 of the present embodiment have different shapes at both roots. As shown in the figure, for example, one root portion 23a has a cutout portion, and the other root portion 23b has a shape complementary thereto. Further, for example, one of the root portions 23a has a protruding portion, which performs a positioning function by passing through the gap between the extending portions of the other finger portion, or performs a guiding function of the finger portion by sliding. May be. Note that, here, although an example of a configuration in which one finger portion faces one finger portion, a configuration in which one finger portion and a plurality of finger portions face each other, a plurality of finger portions and a plurality of finger portions face each other It may be configured. Alternatively, a plurality of wire rods may be fixed to one or both root portions, and each wire rod may be formed as described above. As a result, gripping (sandwiching) strength and accuracy can be improved.

<Embodiment 4>
FIG. 11 is a diagram showing a main part of the robot hand according to the embodiment of the present invention. In the hand 1 of the present embodiment, both of the two finger portions are wire rod type finger portions, but unlike the above-mentioned example, both finger portions are each composed of a plurality of wire rods. Since both fingers have the same shape, the finger 2a will be described below as an example.

The finger 2a of the present embodiment is composed of a wire rod group 40a including a plurality of elastic wire rods each having a loop portion. Here, an example in which the wire rod group 40a includes two wire rods 41a and 42a will be described, but the wire rod group 40a may include three or more wire rods. The wire rods included in the wire rod group 40a may have the same size, but preferably have different sizes as illustrated. Hereinafter, among the wire rods included in the wire rod group 40a, the largest wire rod is referred to as a maximum wire rod, the next largest wire rod is referred to as a second large wire rod, and the smallest wire rod is referred to as a minimum wire rod.

In the present embodiment, the finger 2a is configured such that all of the plurality of wire members are included in the same plane. That is, the main surface of the largest wire 41a and the main surface of the second large wire 42a are included in a common plane, and the finger 2a is configured in a plane shape orthogonal to the opening/closing direction. As an example, the finger portion 2a has a double structure in which the second large wire rod (minimum wire rod) 42a is stacked inside the maximum wire rod 41a. The maximum wire rod 41a and the second wire rod 42a have a gap in the width direction, and the gap between them is the largest at the tip portion and gradually becomes smaller toward the rear end.

Preferably, at the rear end portion of the extending portion where the maximum wire rod 41a and the second wire rod 42a approach, a twist prevention portion 222a for fixing the wire rods to each other is provided. Here, two twist preventing portions 222a are provided for each of the adjacent extending portions, but the number can be appropriately set according to the length and rigidity of the wire. The twist prevention portion 222a may be, for example, spot welding, but it is not limited to spot welding as long as it secures the wire members. For example, welding, adhesion, rivets, clamps or the like may be used. Since the hand 1 of the present embodiment has the twist prevention portion, the wires are fixed to each other, the rigidity of the extending portion is improved, and the twisting of the finger portion can be prevented.

The shape of the loop portion forming the fingertip portion 21a is not particularly limited. For example, the shape is such that the tip end portion of the fingertip portion 21a expands to have a wide width, and the width becomes narrower toward the rear. The loop portion of the wire rod 41a and the loop portion of the wire rod 42a may have the same shape or different shapes. Further, the fingertip portion 21a and the extension portion 22a are not clearly separated, and the extension portion 22a may also come into contact with and act on the target object when gripping the target object.

The thickness of the wire 41a may be changed by making it thicker than the wire diameter of the wire 42a. Further, the main surface of the wire rod 41a and the main surface of the wire rod 42a are not located on the same plane, but a gap in the gripping direction between them is, for example, 4 times the wire diameter at the maximum, and preferably 2 times the wire diameter. It may be provided in. As a result, the force at the start of gripping can be weakened.

In the hand 1 according to the present embodiment, since the wire rods are arranged in double in the finger portions, there are many holding portions that come into contact with the object and hold it down, so that the object can be easily grasped. Further, even if it is composed of a plurality of wire rods, it has a twist prevention portion, so that it is difficult to twist.

FIG. 12 is a diagram showing another example of the robot hand of FIG. As illustrated, the maximum wire 41a and the second large wire 42a may be arranged in parallel. That is, the finger 2a may be formed by arranging the maximum wire rod 41a and the second large wire rod 42a side by side, instead of overlapping the second large wire rod 42a inside the maximum wire rod 41a as described above. Even with such a configuration, it is possible to increase the holding portion of the wire rod that abuts the object and presses it. Further, by providing the twist preventing portion at the rear end portions of the adjacent extending portions, it is possible to prevent the finger portion from being twisted.

FIG. 13 is a diagram showing another example of the robot hand of FIG. As illustrated, one or both of the both finger portions may be configured to include a wire rod group 40a including four wire rods, as an example. Explaining the finger 2a as an example, the four wires are arranged such that the loop portions are included in the same plane. In other words, in the finger 2a, in the fingertip portion 21a, the second large wire 42a is arranged inside the maximum wire 41a, the third large wire 43a is arranged further inside thereof, and the fourth large wire ( It is a quadruple structure in which the smallest wire) 44a is arranged. Both ends of the four wires may be fixed to the root portion 23a at appropriate intervals and do not have to be included in the same plane.

The hand 1 may have one of the wire rod type finger portions, and the other finger portion may be made of an appropriate member. The other finger portion 2b may be a plate member having a fingertip portion 21b and a extending portion 22b formed in a shape like a turner.

FIG. 14 is a diagram schematically showing an example of a usage state of the robot hand according to the embodiment of the present invention. As an example, each wire has a shape symmetrical with respect to the center line L in the front-rear direction. Note that the illustration of the finger portion 2b is omitted here.

As shown in the figure, when grasping the object O with the hand 1, the loop portion of the maximum wire rod 46a outside the finger portion 2a is at two locations (hereinafter, referred to as “holding section”) for one object O. And presses it, and the loop portion of the maximum wire rod of the finger portion 2b (not shown) also crosses and presses the object O with the two holding portions. That is, one object O is gripped at two points by the four holding portions 20 of the pair of maximum wire rods 46a. Therefore, the frictional force becomes larger than when gripping one place such as chopsticks, and the object O is less likely to slip off. When the fingertip portion 21a and the fingertip portion 21b are each configured to include two loop-shaped wire rods, one object O is grasped at a total of four positions by the eight holding portions 20 of two pairs of wire rods. Therefore, the frictional force is further increased, and the object O is less likely to slide down.

Also, if the object O is elastic such as spaghetti, the object O will be depressed when pressed. Therefore, the frictional force between the pressing portion 20 of the wire and the object O is increased, and this occurs at a total of two places in one loop-shaped wire, so that the object O is less likely to slip off the pressing portion 20. When the pressing section 20 has a rounded shape such as a circular shape, the peripheral surface of the object O is pressed by the circular arc surface, so that the object is not damaged. Further, at the tip of the fingertip, the pressing portion 20 (the portion indicated by the arrow 20) that contacts the object O is formed widely, and the wire rod portion near the center line L also abuts the object O at the front, so the object O Is more difficult to slip off.

Also, for example, if the spaghetti that hangs left and right on the wire plane and is weighted left and right is tilted forward, the spaghetti will try to move forward on the wire. Then, the position of the recessed portion moves forward. However, since the wire has a loop-like shape, the action of moving it forward is such that the gap between the depressed depressions becomes narrow (expands depending on the site). This change hinders movement (resistance). As a result, even if it is tilted, it can move and does not come off the wire, and can be pinched stably. Also at this time, the support is generated at the portion where the pressing portion 20 (arrow portion 20) shown above is formed widely. Further, for example, the support effect is high even when the spaghetti is continuously held.

It is also effective when the object O is a large lump, but it is preferable to configure the fingertip part with multiple wires. When the object is made of wood, steel, or resin and is hard and does not have elasticity, a soft coating layer may be provided on the wire itself so that the pressing portion 20 is recessed to increase the frictional force.

Here, the finger portion 2a configured to include the wire rod group 40a having the two wire rods of the maximum wire rod 41a and the second large wire rod 42a is illustrated and described, but in the case of one wire rod or three fingers. The same applies to the above wire rods. Further, the shape of the loop portion may be a substantially elliptical shape or a balloon shape as shown in the drawing, or may be another shape such as a triangular shape, a quadrangular shape, or a rhombic shape.

<Fifth Embodiment>
FIG. 15 is a diagram showing a main part of the robot hand according to the embodiment of the present invention. FIG. 16 is a view showing a use state of the hand of FIG. 15, which is (a) a front view, (b) an AA sectional view, and (c) a BB sectional view. The hand 1 of this embodiment is configured such that each of the two finger portions includes a wire rod group including a plurality of wire rods. The lower limit of the number of wires in the wire group is, for example, two, and preferably three. The upper limit is, for example, 10 and is preferably 6. While the above-mentioned fingertip portion has a flat shape, the fingertip portion of the present embodiment has a concave shape.

As an example, the one finger portion 2a is configured to include the wire rod group 40a. The wire rod group 40a includes an elastic wire rod having four loop portions of a wire rod 46a, a wire rod 47a, a wire rod 48a, and a wire rod 49a. The shape of the loop portion of each wire is the same as that of the wire of FIG. 1, and is a substantially elliptical shape included in substantially the same plane. The loop portion of each wire preferably differs in size at least in part.

Each wire rod in the wire rod group 40a is arranged in a fixed order. As an example, here, the wire rods are arranged at a predetermined interval so as to overlap each other such that the size of the loop portion of the wire rod becomes smaller toward the inner side in the width direction (principal surface direction). The portions where the loop portions of each wire are arranged at a predetermined interval are substantially concentric, and the loop portions of these wires form the fingertip portion 2a. As shown in the drawing, the fingertip portion 21a has a gap between adjacent loop portions in the opening/closing direction, for example, a gap of at least the thickness (thickness or diameter) of the wire material. Further, the fingertip portion 21a has a gap between the adjacent loop portions in the width direction, which is at least equal to or larger than the thickness (width or wire diameter) of the wire. The fingertip portion 21a composed of the wires arranged in this way has a recessed shape. The extending portion 22a is composed of both end portions of these wire rods, and is fixed to the root portion collectively or in two or more groups.

More specifically, as shown in the drawing, in the fingertip portion 21a, the loop portion of the most proximal wire rod 46a arranged at the position (proximity) closest to the other (opposite side) finger portion 2b is the largest, and The loop portion of the second proximal wire 47a proximal to the other finger 2b is next larger, and then the loop portion of the third proximal wire 48a proximal to the other finger 2b is next. The loop portion of the most distal wire rod 49a arranged at the farthest position (distal) from the other finger portion 2b is the smallest.

By forming in this way, the fingertip portion 21a has a concave recess in the opening/closing direction, and has an internal space whose width gradually narrows as the depth of the recess deepens, and as shown in the figure, it is substantially half. It has an elliptical spherical shape. In addition, when the loop portion of each wire is circular, it has a substantially hemispherical shape. Further, the fingertip portion 2a can increase or decrease the number of loop portions that come into contact with the object.

For example, as shown in the figure, the most proximal wire 46a is bent from both end portions toward the other finger portion by a predetermined angle and then bent toward the opposite side by a predetermined angle to form a substantially Z shape in a front view. There is. Therefore, the most proximal wire rod 46a and the second proximal wire rod 47a do not have a gap between both ends in a front view, but have a gap between the central portions. As a result, as shown in FIG. 16, the central portion of the most proximate wire rod easily bends in a direction away from the object so as not to excessively act on the object. Further, when the object cannot be picked up by only the most recent wire rod 46a, the central portion 46a of the most recent wire rod bends toward the second proximal wire rod 47a, and the central portion of the most recent wire rod 46a and the second proximal wire rod 47a. The central part of the will collaborate to grab the object.

In addition, for example, the most distal wire 49a is bent from both end portions in a direction opposite to the direction of the other finger portion by a predetermined angle, and then bent toward the other finger portion by a predetermined angle, and has a substantially Z shape in a front view. Is doing. As a result, the most distal wire rod 49a and the third proximal wire rod 48a do not have a gap between both ends in a front view, but have a gap between the central portions.

The other finger 2b is configured symmetrically with the finger 2a, and the finger 2a and the finger 2b are concave with respect to each other. That is, the finger portion 2b is composed of a wire rod group 40b including four wire rods 46b, 47b, 48b, and 49b, the loop portion of the most recent wire rod 46b is the largest, and the loop of the most distal wire rod 49b is the loop. The portion is the smallest and is arranged so as to have a hollow shape as a whole.

The hand 1 is switched from a state in which both of the loop portions are not in contact with each other to a state in which the loop portions of the most proximal wire rods are in contact with each other, and the loop portions of the second proximal wire rods are in contact with each other. And the loop portions of the third proximal wire rod are brought into contact with each other, so that the loop portions can come into contact with each other sequentially.

With this configuration, it is possible to increase or decrease the number of loops that come into contact with the object in use. When the number of contacts with the object increases or decreases, the contact area with the object increases or decreases and the frictional force increases or decreases, so the object can be grasped with a force suitable for the object, and even the soft object loses its outer shape. It can be grabbed without damaging it.

Also, since the entire fingertip is made of wire, the contact area with the object is small. Therefore, for example, an oily and viscous thing such as a potato salad which is easily grasped can be easily detached without sticking to the fingertip portion and not being detached.

For example, as shown in FIG. 16A, when grasping the object O with the hand 1, a part of the loop portion of the most recent wire rods 46a and 46b intersects the object O and presses the object O, Part of the loop portions of the proximal wires 47a and 47b can also cross the object O and hold the object (hereinafter, the portion holding the object in the loop portion of each wire is referred to as a "holding portion"). ).

As shown in FIG. 16(b), the holding portions 20 of the loop portions of the most proximal wire rods 46a and 46b sandwich the object O on both sides, and the holding portions 20 of the loop portions of the second proximal wire rods 47a and 47b are pushed to each other. The object O is sandwiched on both sides. The loop portions of the most proximal wire rods 46a, 46b are on the outside, the loop portions of the second proximal wire rods 47a, 47b are on the inner side, and a total of four locations for one object O are sandwiched by eight holding portions 20, Holding down. As a result, the hand 1 can reliably grasp the target object.

As shown in FIG. 16C, in the hand 1, since the pressing portion 20 has a circular cross section and the peripheral surface of the object O is pressed by an arc surface, the object 1 is less likely to be damaged. In addition, since the recess O1 is formed in the center and the step O2 is formed on both sides of the portion of the object O that is pressed by the pressing portion 20, when the pressing portion 20 is sandwiched on both sides, it slips off. It's getting harder. Note that, here, for convenience of description, only a pair of wire rods out of the two pairs of wire rods is illustrated.

FIG. 17 is a diagram schematically showing an example of a usage state of the robot hand according to the embodiment of the present invention. The object O is, for example, spaghetti or the like (here, a cross section is shown). For example, when the spaghetti is pulled out from the hot water and picked up by the hand 1, the respective spaghetti hangs down on both sides of the hand 1 by its own weight. Although not shown here, for example, the spaghetti is partially held inside the fingertip portion of the hand 1 and hangs down. The hand 1 can grasp the object O while preparing the object O.

As shown in FIG. 17(a), a plurality of objects O are randomly placed. In this state, if both root parts are moved in the direction of the arrow, the gap between the fingertip parts is narrowed. As shown in FIG. 17B, when the gap between the fingertips is narrowed, the most proximate wire rods of the fingertips come into contact with a plurality of objects O, and these objects and the objects between them (hereinafter Also referred to as "object group"). Next, as shown in FIG. 17(c), when the gap between the fingertips is further narrowed, the second proximal wires also come into contact with the object group, and at least part of the object moves, Spread to. Next, as shown in FIG. 17(d), when the gap between the fingertips is further narrowed, the third proximal wires also come into contact with the object O, and the object O further moves to be aligned in one row. It

For example, if the grasped object group is lifted in the state shown in FIG. 17B, at least a part of the object may slip off. However, even if the object group is lifted and further moved in the state shown in FIG. 17D, the object does not slide down. As in this example, in the present embodiment, the plurality of loop portions sequentially come into contact with the object, and the object can be picked up while being aligned, and the object can be prevented from sliding down.

Note that each of the wire rods forming the fingertip may be a wire rod that easily bends toward the outside. As a result, it is possible to make it difficult to break the portion around the object by firmly grasping the inside and making the outside easily bendable. Alternatively, it may be a wire rod that is more flexible as it goes inside. This is because the wire rod located inside has a shorter length and thus tends to have higher rigidity. Therefore, by forming the wire rod toward the inner side so as to be easily bent, it is possible to obtain a finger portion that is easily bent in a concave shape. It becomes possible to grasp an object having a wide central portion so as to softly wrap it, and it becomes easy to bend. In this way, by changing the bending of each wire rod, it is possible to handle various objects and change the gripping method.

FIG. 18 is a diagram showing another example of the robot hand of FIG. The hand 1 may have a gap adjusting mechanism for adjusting the gap between the finger portions on both the finger portions 2. For example, as shown in the drawing, gap adjusting mechanisms 24a and 24b may be provided on both root portions 23a and 23b, respectively.

▽Because it is configured symmetrically, the gap adjusting mechanism 24a will be described as an example. The gap adjusting mechanism 24a is only required to be able to adjust the gap C between the finger portions, and the structure is not particularly limited, and a known technique is appropriately used. As an example, the gap adjusting mechanism 24a includes a collision unit 241a and an adjustment unit 242a connected to the collision unit 241a. The collision portion 241a is, for example, a rod-shaped member, one end thereof projects from the ventral side surface of the root portion 23a toward the other finger portion, and the adjustment portion 242a is directly or indirectly connected to the other end. The degree of protrusion of the collision portion 241a from the ventral side surface is changed by the adjustment portion 242a. The adjusting unit 242a is composed of, for example, a linear motion actuator having a motor, a ball screw, or the like.

FIG. 19 is a diagram showing another example of the robot hand shown in FIG. 15, which is (a) a front view and (b) a plan view. At least a part of the wire rods included in the wire rod group forming the finger portion may have a loop portion that spirally (swirlly) swirls.

As an example, as shown in the drawing, the second proximal wires (47a, 47b), the third proximal wires (48a, 48b), and the most distal wires (49a, 49b) are spirally formed. The number of turns of the spiral shape is 2 in the illustrated example, but may be 3 or more. By having the spiral loop portion, elasticity of the fingertip portion in the opening/closing direction is enhanced.

FIG. 20 is a diagram showing another example of the robot hand of FIG. Here, the hand 1 is configured such that one of the fingertips is concave with respect to the other and the other is convex with respect to the other. Specifically, the fingertip portion 21a is configured similarly to the above-described example, and the fingertip portion 21b is configured such that the loop portion of the most proximal wire rod 46b is the smallest and the loop portion of the most distal wire rod 49b is the largest. Therefore, one fingertip portion 21a can enter the inside of the other fingertip portion 21b and enter the inner space thereof.

FIG. 21 is a diagram showing another example of the robot hand of FIG. Here, the hand 1 is configured such that both fingertips are convex with respect to each other. In both fingertips, the loop part of the most proximal wire is the smallest and the loop part of the most distal wire is the largest. Therefore, the loop portions are sequentially brought into contact with each other such that the loop portions of the most proximal wires having the smallest loop portions are brought into contact with each other and the loop portions of the second proximal wire rod having the second smallest are brought into contact with each other.

FIG. 22 is a diagram showing another example of the robot hand of FIG. Here, in the hand 1, both fingertips are different from the example shown in FIG. 21 only in the loop portion of the most proximal wire rod, and the loop portion of the most proximal wire rod is configured to have a length equal to or longer than the most distal wire rod.

FIG. 23 is a diagram showing another example of the robot hand shown in FIG. 15, and is a diagram showing (a) a perspective view and (b) a wire rod group. Here, at least one finger portion of the hand 1 is configured to include two or more wire rod groups. In the following, an example including the two wire rod groups will be described by taking the finger portion 2a as an example.

The finger portion 2a includes a wire rod group 40a and a wire rod group 50a. The loop portion of the wire rod group 40a is configured similarly to the example of FIG. 15 and is concave with respect to the other finger portion.

The wire rod group 50a includes an elastic wire rod having four loop portions of a wire rod 51a, a wire rod 52a, a wire rod 53a, and a wire rod 54a. The shape of the loop portion of each wire is a substantially elliptical shape included in substantially the same plane. These wire rods are arranged in the opening/closing direction such that the gap between adjacent loop portions is equal to or larger than the thickness of the wire rod. The loop portion of the most proximal wire rod 51a is the smallest, the loop portion portion of the second proximal wire rod 52a is the next smallest, and the loop portion of the third proximal wire rod 53a is the next smallest, and the loop portion of the most distal wire rod 54a. Is the largest. Therefore, the loop portion of the wire rod group 50a has a depression and is convex as a whole with respect to the other finger portion. The loop portion of the wire rod group 50a is smaller than the loop portion of the wire rod group 40a as a whole.

The fingertip portion 21a of the finger portion 2a is formed by stacking the wire rod group 40a and the wire rod group 50a as shown in the drawing so that the wire rod group 50a is housed in the internal space of the wire rod group 40a. Preferably, each wire rod of the wire rod group 50a is more flexible than each wire rod of the wire rod group 40a. Further, each wire rod of the wire rod group 50a is thinner than each wire rod of the wire rod group 40a.

The wire rod group 50a may be formed in a concave shape with respect to the other finger portion. For example, by making the depth of the recess of the wire rod group 50a shallower than the depth of the recessed recess of the wire rod group 40a and further reducing the wire diameter of the wire rod, soft contact can be made when grasping food such as tomato. Further, for example, the case where the size and weight of tomatoes are different can be dealt with.

In addition, the wire rod group 50a and the wire rod group 40a may have the same outer shape size, the wire rod group 50a may have a larger outer wire size, or the wire rod group 50a and the wire rod group 40a may intersect with each other. Is also good.

In this way, a dedicated robot hand is formed by making the shape of the portion forming the ventral side of the wire rod group concave or convex according to the target object, making the main surface an inclined surface, or combining these. You can In addition, a plurality of these may be attached to the tip of the robot, switched to operate according to the purpose, or exchanged for operation.

Furthermore, for example, by using a shape memory alloy for the wire rod group 50a and deforming the outer shape of the object O at a temperature below the transformation point, the object O can be easily grasped properly. In addition, it can be restored to its original shape at a temperature above the transformation point and can be used on various desks.

FIG. 24 is a diagram showing another example of the robot hand of FIG. In the hand 1, at least a part of the wire rods included in the wire rod group forming the finger portion 2 may be provided with a bending portion that bends in a direction orthogonal to the main surface. Explaining the finger portion 2a as an example, of the wire rod group 40a forming the finger portion 2a, for example, the most proximal wire rod 46a and the second proximal wire rod 47a are concavely curved in a direction (opening and closing direction) orthogonal to the main surface. The curved portion 214a may be provided. This makes it easier to hold a cylindrical object (eg, ampoule, can, etc.).

FIG. 25 is a diagram showing another example of the robot hand of FIG. The hand 1 may be provided with a non-slip portion on at least a part of the wire rods included in the wire rod group forming the finger portion 2. The non-slip portion is configured by providing a step or a recess, for example. For example, as shown in the figure, a plurality of non-slip members, for example, of the wire rod group 40a forming the finger portion 2a, in which the most recent wire rod 46a is formed with a recess having a width smaller than the thickness of the wire rod in a direction orthogonal to the main surface. You may have the part 215a. Further, a part of the wire material may be crushed or ground so that the cross section has an elliptical shape or a flat surface is included.

<Sixth Embodiment>
FIG. 26 is a diagram showing a main part of the robot hand according to the embodiment of the present invention. As an example, the hand 1 has four finger portions, that is, a finger portion 2a, a finger portion 2b, a finger portion 2c, and a finger portion 2d, and the four finger portions include one of the finger portion 2a, the finger portion 2c, and the finger portion 2d. However, the finger portion 2b is arranged on the other side and the two pairs face each other. Further, the fingertips of the one finger portion 2a, the finger portion 2c, and the finger portion 2d and the fingertip portion of the other finger portion 2b face each other, and come to approach/separate from each other in the X direction to grasp an object. There is. The fingertips of the one finger portion 2a, the finger portion 2c, and the finger portion 2d are configured like the finger portion illustrated in FIG. 15, and the other finger portion 2b is configured like the finger portion illustrated in FIG. R. The other finger portion 2b may have a different shape, and for example, as illustrated, each wire may be formed in a substantially arrow shape. Preferably, the other finger portion 2b is formed to have a large width, and has a width that can abut on any one of the finger portions 2a, 2c and 2d. As described above, the hand 1 may have three or more finger portions, and a plurality of wire rod-type finger portions may be arranged on at least one of the fingers to synchronously grab an object.

FIG. 27 is a diagram showing another example of the robot hand of FIG. As an example, the hand 1 has four finger portions 2a, 2b, 2c and 2d, one of which is the finger portion 2a and 2c and the other of which is the finger portion 2b and 2d. 2d is arranged. Further, one finger portion 2a and the other finger portion 2b face each other, and one finger portion 2c and the other finger portion 2d face each other. In the hand 1, although one finger portion may operate in synchronization with each other or the other finger portions may operate in synchronization with each other, it is preferable that each of them operates independently, and first, the object portion is formed by the facing finger portions 2a and 2b. The operation is performed such that one portion of the object is grasped and firmly grasped, and then the other portion of the object is grasped by the finger portions 2c and 2d.

FIG. 28 is a diagram showing an example of a robot to which the present invention is applied. The robot 6 is, for example, a boxing robot that packs the foodstuff O3 (for example, a side dish) that is a target in a lunch box that is a target.

The configuration of the robot 6 to which the hand 1 is applied is not particularly limited, and may be a single-arm robot or a double-arm robot as illustrated. As illustrated, for example, the robot 6 has a base 61 and two arms, an arm 62 and an arm 63. For example, the hand 1 configured to include the elastic wire rod group illustrated in FIG. 15 is attached to the tip of the arm 62, and the hand 1 configured to include the single wire rod illustrated in FIG. The hand 1 is attached. A known technique can be appropriately used for the arm of the robot 6, and the description of the specific configuration will be omitted here.

As an example, the robot 6 stands on the boxing line, picks up the foodstuff O3 from the tray using the arm 62, moves it to a position above the front belt conveyor, and separates it into the lunch box P on the belt conveyor. Pack in a box. At this time, the hand 1 of the arm 62 is composed of a wire rod group having elastic fingertips as described above, and since the wire rod group bends according to the object, it is possible to pick up soft food items such as side dishes without damaging them. You can Further, since the hand 1 has the depression on the ventral side and stores and holds the rounded food material in the internal space thereof, the hand 1 is unlikely to slip down even when the arm 8 performs an ascending, descending or turning operation. In addition, since the hand 1 is made of a wire material, the food materials are unlikely to stick to each other and can be quickly released into the lunch box.

Also, the robot 6 moves, for example, a lunch box filled with food from the current belt conveyor to another line. At this time, the lunch box is the object O4, and the arm 63 picks up the lunch box O4, moves it to another line, and places it at a designated location. At this time, as described above, the hand 1 of the arm 63 is made of a wire material having elastic fingertips and bends according to the object, so that the hand 1 of the arm 63 can be grasped with an appropriate force without deforming the shape of the lunch box. Can be raised. Further, even when the lunch box O4 has a protruding edge, if the bent portion 214a is provided as shown in FIG. 24, it can be lifted and held without slipping off.

The robot 6 may hold the lunch box O4 with the hand 1 of one arm and box the foodstuffs O3 with the hand 1 of the other arm. Alternatively, both arms may be packed in a box.

As shown in FIG. 29, the hand 1 is not limited to the one in which the two sets of fingers linearly move to approach/separate and open/close as described above, but may rotate to approach/separate/open/close.

As an example, the tip end portion 60 of the robot 6 is provided with a servo motor 64 and a servo motor 65 that are rotary actuators. The attachment portion 3a for attaching the one finger portion 2a is connected to the servo motor 64 and can rotate in the W direction. Further, the attachment portion 3b for attaching the other finger portion 2b is connected to the servo motor 65 and can rotate in the W direction. As a result, the finger portions 2a and 2b arranged to face each other can rotate in the W direction and approach/separate from each other to open/close. As for the opening and closing of the finger portions, only one of the finger portions may rotate to open and close, or both of the finger portions may rotate to open and close.

Preferably, a servo motor 66 is provided at the center of the tip 60 so that the tip 60 can rotate in the V-axis direction. As a result, the entire hand 1 can be rotated in the V-axis direction. Also, by rotating the both fingers 180 degrees so that the current dorsal sides of the both fingers face each other and rotating the tip 60 by 180 degrees, the dorsal sides become the abdominal sides and grasp the object. You can

The robot hand 1 has been described above in which the wire rod in the finger portion is fixed in the root portion, but the robot hand 1 may be configured to be replaceable as described below.

FIG. 30 is a view showing a wire rod stop portion (hereinafter also referred to as a “stop portion”) of a robot hand according to an embodiment of the present invention. FIG. 30(a) shows the state after attachment and FIG. 30(b) shows the state before attachment. FIG.

The robot hand 1 includes a stopper portion 7 including a receiving portion 71 and a stopper 72. The receiving part 71 is a part of the above-mentioned root part 23 as an example. The receiving portion 71 is a part of the attachment portion 3 described above, and the wire 4 may be directly attached to the attachment portion 3. In other words, the robot hand 1 may be configured such that the finger portion 2 is directly attached to the attachment portion 3 without the root portion 23. Here, the receiving portion 71 is illustrated as a plate-shaped member, but the receiving portion 71 is not limited to this and may have an appropriate shape.

The stopper 72 includes, for example, two sandwich plates, a sandwich plate 721 and a sandwich plate 722, and a fastening portion 723 that fastens both sandwich plates. The sandwiching plate 721 and the sandwiching plate 722 include accommodating portions 7211 and 7221 that accommodate the end portion 401 of the wire 4. The accommodating portions 7211 and 7221 have a cross-sectional shape according to the cross-sectional shape of the wire 4 such as a semicircular shape. Fastening portions 723 are provided on the side portions 7212 and 7222 on both sides of the storage portions 7211 and 7221. The fastening portion 723 is, for example, a fastener such as a screw, a bolt, or a nut. The fastening portion 723 may be spot welding or the like. The sandwich plate 722 has a connecting portion 7223 for connecting to the receiving portion 71. As an example, the connecting portion 7233 is formed in a substantially L shape by extending in the longitudinal direction from the housing portion 7221 and then bending to the side opposite to the housing side. The width of the connecting portion 7223 is narrower than that of the accommodating portion 7221, and a substantially L-shaped notch is formed between them. The connection of the connecting portion 7223 to the receiving portion 71 is not particularly limited, and a known technique is appropriately used.

FIG. 31 is a diagram showing an example of the wire rod stop portion of FIG. In order to prevent the twist of the wire rod 4, the robot hand 1 may bend the end portion 401 to provide the bent portion 402. In this case, as shown in the figure, the sandwiching plate 721 is provided with an extending portion 7213 extending in the longitudinal direction from the accommodating portion 7211. The extending portion 7213 is narrower in width than the accommodating portion 7211, and a substantially L-shaped notch is formed between the two. The bent portion 402 of the wire 4 is an L-shaped notch formed by the accommodating portion 7211 of the sandwiching plate 721 and the extending portion 7213, and an L-shaped notch formed by the accommodating portion 7221 of the sandwiching plate 722 and the connecting portion 7223. It is fixed by being sandwiched between the letter-shaped notches. To prevent the twisting of the wire rod, a part of the end portion 401 is crushed so that a substantially circular cross-sectional shape has a substantially elliptical shape or a flat surface, and the accommodating portions 7211 and 7221 have a corresponding cross-sectional shape. May be realized. Further, the surface near the connection portion may be twisted by blasting it or by applying anti-slip such as hairline finishing.

FIG. 32 is a diagram showing a wire rod stopping portion of a robot hand according to an embodiment of the present invention. FIG. 32(a) is a diagram after attachment and FIG. 32(b) is a diagram before attachment.

The robot hand 1 includes a stopper 7 including a receiver 71 and a stopper 73. The receiving part 71 is different from the above example in that it has a hole 711. The hole 711 has a through hole penetrating through the center, and a peripheral wall portion around the hole is substantially tapered in cross section.

The stopper 73 has, as an example, a bolt member 731 that is inserted through the hole 711, a nut 732 that is screwed into a male screw portion of the bolt member 731, and a washer 733 between the bolt member 731 and the nut 732.

The bolt member 731 has a hexagonal hole in the head. Further, the portion of the head portion of the bolt member 731 adjacent to the shaft portion has a substantially tapered cross-sectional shape, and the tapered portion abuts the peripheral wall portion of the hole 711. A male screw is provided on the outer peripheral surface of the shaft portion of the bolt member 731, and the tip of the shaft portion has a shape in which the diameter thereof is reduced and gradually becomes thinner. Further, the bolt member 731 has a through hole that axially penetrates through the center of both the shaft portion and the head portion and the shaft portion, and a female screw is provided on the inner peripheral surface of the through hole. The wire 4 is provided with a male screw on the outer peripheral surface of the terminal portion 401, and the male screw of the terminal portion 401 and the female screw on the inner peripheral surface of the bolt member 731 are screwed together.

FIG. 33 is a diagram showing an example of the wire rod stop portion of FIG. 32. The wire rod 4 may be formed of, for example, a carbon fiber reinforced resin, and a portion of the terminal portion 401 where the male screw is provided may be formed thick to reinforce.

FIG. 34 is a diagram showing another example of the finger reinforcement portion of the robot hand according to the embodiment of the present invention. The reinforcing portion 211a may be provided across two or more wire rods. Further, one reinforcement part 211a may be provided for one finger part, or two or more reinforcement parts 211a may be provided. Here, as an example, an example in which the two reinforcing portions 211a straddle two wire rods will be described. The reinforcing portion 211a has, for example, a long plate shape, and has two holes arranged in the longitudinal direction in the front-rear direction and having through holes penetrating the plate surface. One of the through holes has an inner circumference that is substantially the same as or slightly larger than the outer circumference of the wire 41a so that the maximum wire 41a is just inserted, and the other through hole (play hole) is the second large wire 42a within the through hole. It has an inner circumference larger than the outer circumference of the wire 42a so that the wire 42a can be moved. The other through hole is, for example, a hole that is long in the longitudinal direction of the reinforcing portion 211a as illustrated.

FIG. 35 is a diagram showing an example of the reinforcing portion of FIG. 34. As another example, one block-shaped reinforcing portion 211a is provided between the two wire members as illustrated. Further, in the reinforcing portion 211a, a hole through which the maximum wire rod 41a is inserted is formed large so that the maximum wire rod 41a can move within the hole, and the hole through which the second large wire rod 42a is inserted is approximately the same as or slightly larger than the size of the outer circumference of the wire rod. It has an inner circumference.

It should be noted that, based on the above description, those skilled in the art may conceive of additional effects and various modifications of the present invention, but the aspects of the present invention are limited to the examples of the embodiments described above. is not. Various additions, changes and partial deletions can be made without departing from the conceptual idea and gist of the present invention derived from the contents defined in the claims and the equivalents thereof.

1 robot hand (hand), 2 fingers, 21 fingers, 211 reinforcements, 212 recesses, 213 corners, 214 curved parts, 215 anti-slip parts, 22 extended parts, 221 protruding parts, 222 twist prevention part, 23 roots Parts, 24 gap adjusting mechanism, 241 collision part, 242 adjusting part, 3 mounting part, 4 wire rod, 40 wire rod group, 5 wire rod, 50 wire rod group, 6 robot, 60 tip part, 61 base, 62 arm, 63 arm, 64 Servo motor, 65 servo motor, 66 servo motor.

Claims (11)

1. A robot hand for grasping an object,
   Has two or more fingers,
   The robot hand, wherein at least one of the finger portions is a wire rod type finger portion configured to include a wire rod having a loop-shaped elasticity.
2. The robot hand according to claim 1,
   The robot hand, wherein the fingertip portion of the wire rod type finger portion is configured to include a wire rod group formed by combining a plurality of the wire rods.
3. The robot hand according to claim 1 or 2, wherein
   The fingertip part of the wire rod type finger part has a recess and is formed in a substantially hemispherical shape or a substantially semielliptic spherical shape.
4. The robot hand according to claim 2 or 3, wherein
   Having the two wire-shaped finger portions arranged to face each other,
   The robot hand, wherein the fingertips of the wire rod type finger portions are configured such that the most proximal wire rods closest to the other party can contact each other.
5. The robot hand according to any one of claims 2 to 4,
   Having the two wire-shaped finger portions arranged to face each other,
   The fingertips of the wire-type fingers are configured such that the most proximal wires closest to each other abut on each other and then the second proximal wires second proximal to the other abut. A robot hand that is characterized.
6. The robot hand according to any one of claims 1 to 5,
   The fingertip portion of the wire rod type finger portion is configured by combining a plurality of wire rods having different thicknesses.
7. The robot hand according to any one of claims 1 to 6,
   The fingertip portion of the wire rod type finger portion has a reinforcing portion for reinforcing strength.
8. The robot hand according to any one of claims 1 to 7,
   The robot hand, wherein the wire has a coating layer.
9. The robot hand according to any one of claims 1 to 8,
   The robot hand according to claim 1, wherein the wire rod type finger portion includes a plurality of wire rod groups formed by combining a plurality of the wire rods.
10. The robot hand according to any one of claims 1 to 9,
    A robot hand having a gap adjusting mechanism for adjusting a gap between the finger portions.
11. The robot hand according to any one of claims 1 to 10,
    A robot hand characterized in that two or more finger portions are divided into two groups and are arranged facing each other.

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