WO2021014828A1 - ロボットハンド - Google Patents

ロボットハンド Download PDF

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Publication number
WO2021014828A1
WO2021014828A1 PCT/JP2020/023524 JP2020023524W WO2021014828A1 WO 2021014828 A1 WO2021014828 A1 WO 2021014828A1 JP 2020023524 W JP2020023524 W JP 2020023524W WO 2021014828 A1 WO2021014828 A1 WO 2021014828A1
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WO
WIPO (PCT)
Prior art keywords
finger
robot hand
fixed
tip
movable
Prior art date
Application number
PCT/JP2020/023524
Other languages
English (en)
French (fr)
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
Priority to CA3139173A priority Critical patent/CA3139173C/en
Priority to CN202080046139.3A priority patent/CN114008695B/zh
Publication of WO2021014828A1 publication Critical patent/WO2021014828A1/ja

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H31/00—Pile receivers
    • B65H31/30—Arrangements for removing completed piles
    • B65H31/3036—Arrangements for removing completed piles by gripping the pile
    • B65H31/3045—Arrangements for removing completed piles by gripping the pile on the outermost articles of the pile for clamping the pile
    • 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
    • G07D11/009—Depositing devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • 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
    • 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
    • B25J15/0019—End effectors other than grippers
    • 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
    • G07D11/10—Mechanical details
    • G07D11/16—Handling of valuable papers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2701/00—Handled material; Storage means
    • B65H2701/10—Handled articles or webs
    • B65H2701/19—Specific article or web
    • B65H2701/1912—Banknotes, bills and cheques or the like

Definitions

  • the present invention relates to a robot hand.
  • a banknote processing device using an articulated robot arm with a robot hand (hereinafter sometimes referred to as an" arm with a hand ")" has been proposed (for example, Japanese Patent Application Laid-Open No. 62-92095). ..
  • a bundle of bills collected by the bill assortment unit is held by a robot hand of an arm with a hand, and is conveyed to a bill counting bill confirmation unit by an articulated robot arm, and is transported to the bill counting bill confirmation unit by the bill counting bill confirmation unit.
  • the number of banknotes is counted for each denomination while the banknote bundles are sorted by denomination.
  • the banknote bundles sorted by denomination are transported to a predetermined position by an arm with a hand different for each denomination.
  • the banknote bundle MT to be transported may be stored in the banknote containment vessel 400 as shown in FIG.
  • the arm with a hand needs to pull out the banknote bundle MT from the banknote containment vessel 400.
  • the exposed area on the upper side of the banknote bundle MT of the banknote containment vessel 400 is considerably small. Therefore, even if the robot hand grabs the banknote bundle MT with the tips of the upper and lower fingers and tries to pull out the banknote bundle MT from the banknote containment vessel 400 as it is, the banknote bundle MT cannot be pulled out well in many cases.
  • An object of the present invention is to provide a robot hand capable of pulling out an object such as a paper leaf (a bundle of banknotes) from a banknote storage container as described above with a high probability.
  • the robot hand includes a first finger, a second finger, and a finger moving mechanism.
  • the first finger extends in the first direction.
  • the second finger also extends in the first direction like the first finger.
  • the second finger is arranged so as to face the first finger.
  • the first finger and the second finger do not have to face each other in the plan view, and may face each other in the side view, but it is preferable that the first finger and the second finger face each other in the plan view.
  • the finger moving mechanism moves at least one of the first finger and the second finger along the opposite direction of the first finger and the second finger. Then, in the first direction, the tip position of the first finger is different from the tip position of the second finger.
  • the robot hand according to the second aspect of the present invention is the robot hand according to the first aspect, and at least one of the first finger and the second finger opposite to each other is anti-slip treated.
  • this robot hand can withdraw objects such as paper leaves from the banknote containment vessel with a higher probability.
  • Robot Hand 310 Movable Fingers (1st Finger, 2nd Finger) 320 Fixed finger (1st finger, 2nd finger) 330 Movable finger lifting mechanism (finger moving mechanism) Dy forward (first direction) Tip position of Tm movable finger (tip position of 1st finger, tip position of 2nd finger) Tip position of Ts fixed finger (tip position of 1st finger, tip position of 2nd finger)
  • the articulated robot arm 100 with a robot hand is mainly composed of an articulated robot arm 200 and a robot hand 300.
  • these components will be described in detail.
  • the articulated robot arm 200 according to the embodiment of the present invention is an existing articulated robot arm as shown in FIG.
  • the robot hand 300 is a two-finger type robot hand as shown in FIGS. 2 and 3, and is an articulated robot as shown in FIG. It is attached to the tip of the arm 200. Then, as shown in FIGS. 2 and 3, the robot hand 300 is mainly composed of a movable finger 310, a fixed finger 320, a movable finger elevating mechanism 330, a connecting portion 340, and an imaging unit 350.
  • a movable finger 310 a fixed finger 320
  • a movable finger elevating mechanism 330 a connecting portion 340
  • an imaging unit 350 an imaging unit 350.
  • the movable finger 310 is formed from a base portion 311, an intermediate portion 312, and a claw portion 313 as shown in FIGS. 2 and 3.
  • the base portion 311 is a substantially rectangular plank portion as shown in FIG.
  • the intermediate portion 312 is a substantially trapezoidal thick plate portion, and extends from the tip of the base portion 311 toward the front Dy.
  • the width of the intermediate portion 312 becomes narrower toward the front Dy.
  • the claw portion 313 is an elongated substantially rectangular plank portion, and extends from the tip of the intermediate portion 312 toward the front Dy. Further, here, the tip portion of the claw portion 313 has a shape protruding downward as shown in FIG.
  • this movable finger 310 As shown in FIG. 3, the upper surface of the movable finger 310 is lowered from the base end of the intermediate portion 312 to the tip of the claw portion 313 toward the tip of the claw portion 313 from the base end of the intermediate portion 312. It is tilted. Further, as shown in FIG. 3, a rubber sheet Sr is attached to the lower surface of the claw portion 313.
  • the movable finger 310 is fixed to the front elevating plate 332f (described later) of the movable finger elevating mechanism 330 on the base end side of the base 311. Further, a reinforcing plate 315 is arranged to increase the bonding strength between the movable finger 310 and the front elevating plate 332f (see FIGS. 2 and 3). The reinforcing plate 315 is fixed to both the movable finger 310 and the front elevating plate 332f.
  • the fixed finger 320 is formed of a base portion 321 and an intermediate portion 322, a claw portion 323, and a protruding portion 324, as shown in FIGS. 2 and 3.
  • the base portion 321 is a substantially rectangular plank portion as shown in FIG.
  • the intermediate portion 322 is a substantially trapezoidal thick plate portion, and extends from the tip end of the base portion 321 toward the front Dy.
  • the width of the intermediate portion 322 becomes narrower toward the front Dy.
  • the claw portion 323 is an elongated substantially rectangular thick plate portion, and extends from the center of the side surface on the distal end side of the intermediate portion 322 toward the front Dy.
  • a notch Cv is provided on the upper side of the claw portion 323 as shown in FIG.
  • the tip of the claw portion 323 has a shape protruding upward as shown in FIG.
  • the lower surface of the fixed finger 320 is inclined upward from the intermediate position to the tip of the claw portion 323 from the intermediate position to the tip as shown in FIG.
  • the protruding portion 324 is an elongated substantially rectangular thick plate portion having the same width as the claw portion 323, and extends from the tip of the claw portion 323 toward the front Dy. Further, as shown in FIG.
  • the tip position Ts of the protruding portion 324 is located on the front side of the tip position Tm of the claw portion 313 of the movable finger 310. That is, the protruding portion 324 of the fixed finger 320 protrudes forward Dy from the claw portion 313 of the movable finger 310. Further, a rubber sheet (rubber sheet) Sr as a non-slip is attached to the protruding portion 324. As shown in FIG. 3, the sticking portion of the rubber sheet Sr does not face the sticking position of the rubber sheet Sr of the movable finger 310.
  • the fixed finger 320 is fixed to the support plate 331 (described later) of the movable finger elevating mechanism 330.
  • a pair of reinforcing plates 325 are arranged on the left and right in order to increase the bonding strength between the fixed finger 320 and the support plate 331 (see FIGS. 2 and 3). These reinforcing plates 325 are fixed to both the fixed finger 320 and the support plate 331. Then, as shown in FIGS. 2 and 3, the fixed finger 320 faces the movable finger 310 in the elevating direction of the movable finger 310.
  • the movable finger elevating mechanism 330 is a two-stage stroke type elevating mechanism, and is mainly a support plate 331, a front elevating plate 332f, and a rear side. It is composed of an elevating plate 332r, a front air cylinder mechanism 333f, and a rear air cylinder mechanism 333r.
  • the support plate 331 supports the rear air cylinder mechanism 333r.
  • the rear air cylinder mechanism 333r is a double-acting type and is a drive source for raising and lowering the rear elevating plate 332r.
  • the rear air cylinder mechanism 333r is attached to the support plate 331 as described above.
  • a front air cylinder mechanism 333f is attached to the rear elevating plate 332r.
  • the front air cylinder mechanism 333f is a double-acting type and is a drive source for raising and lowering the front elevating plate 332f.
  • the movable finger 310 is attached to the front elevating plate 332f. That is, the rear air cylinder mechanism 333r raises and lowers the front air cylinder mechanism 333f, the front elevating plate 332f, and the movable finger 310 by raising and lowering the rear elevating plate 332r.
  • the front air cylinder mechanism 333f raises and lowers the movable finger 310 by raising and lowering the front elevating plate 332f. Further, as shown in FIGS.
  • the front air cylinder mechanism 333f and the rear air cylinder mechanism 333r are provided with air supply / exhaust ports 335 and 336, respectively.
  • Air supply / exhaust pipes (not shown) are connected to these air supply / exhaust ports 335 and 336.
  • the connecting portion 340 is a portion for connecting the robot hand 300 to the articulated robot arm 200, and is, for example, a flange or the like.
  • the imaging unit 350 is, for example, a small camera such as a CCD camera, and as shown in FIGS. 2 and 3, the movable finger raising and lowering is performed by a support arm SA extending from the support plate 331 of the movable finger raising and lowering mechanism 330. It is fixed to the right side of the mechanism 330.
  • the image pickup unit 350 transmits electronic data of an image taken while intermittently taking an image to a control device (not shown).
  • the banknote containment vessel 400 is mainly composed of a housing 410, a front lid 420, a holding plate 411, and support bases 412a and 412b.
  • the housing 410 is a rectangular parallelepiped box with an opening on the front side. The depth of the housing 410 is sufficiently longer than the length of the fixed finger 320.
  • the front lid 420 is a substantially rectangular plate member, and is pivotally supported on the upper side of the opening edge of the housing 410 via an opening / closing mechanism such as a hinge.
  • the holding plate 411 is a member that holds the banknote bundle MT in cooperation with the support bases 412a and 412b, and as shown in FIG.
  • the holding plate 411 can be moved up and down slightly upward from the center in the height direction of the housing 410. It is arranged. Further, as shown in FIGS. 4 and 5, a semicircular notch Rs is provided in the center of the front side of the holding plate 411.
  • the support bases 412a and 412b are left and right separated type support members that hold the banknote bundle MT in cooperation with the holding plate 411, and are fixed to the left and right below the housing 410 as shown in FIG. ing.
  • a slit Rt is formed between these support bases 412a and 412b. The slit Rt extends in the depth direction as shown in FIG.
  • the holding plate 411 is urged downward by an urging member (coil spring or the like) arranged above the holding plate 411. That is, the banknote bundle MT housed in the banknote containment vessel 400 is pressed toward the support bases 412a and 412b by the holding plate 411. Then, as shown in FIG. 4, the banknote containment vessel 400 stores the banknote bundle MT between the support bases 412a and 412b and the holding plate 411 so that the longitudinal direction of the banknotes is along the depth direction.
  • an urging member coil spring or the like
  • the articulated robot arm 100 with a robot hand pulls out the banknote bundle MT in the banknote storage container 400
  • the articulated robot arm 100 with a robot hand is operated as follows by the control device.
  • the control device controls the operation of the articulated robot arm 200 to move the robot hand 300 to a specified position and orient it in a specified direction (see FIG. 7).
  • the specified position is the position on the front side of the bill storage container 400
  • the specified direction is the direction in which the imaging unit 350 can image the front of the bill storage container 400.
  • the control device controls the articulated robot arm 200 and the robot hand 300 to pull up the movable finger 310 to the highest position, and then inserts the tip of the fixed finger 320 into the slits Rt of the support bases 412a and 412b ( 8 and 9).
  • the movable finger 310 is located above the notch Rs of the holding plate 411, and the fixed finger 320 is located directly below the banknote bundle MT (see FIG. 9).
  • the fixed finger 320 is inserted up to the intermediate position of the slit Rt, but the movable finger 310 is inserted only up to the position above the notch Rs of the holding plate 411 (see FIG. 9).
  • the fixed finger 320 contacts the lower side surface of the bill bundle MT for about half the length in the longitudinal direction of the bill bundle MT, while the movable finger 310 is on the upper side surface of the bill bundle MT on the front side of the bill bundle MT. Only contact (see FIG. 9).
  • control device moves the movable finger 310 downward and grips the banknote bundle MT together with the fixed finger 320.
  • the control device controls the operation of the articulated robot arm 200 to retract the robot hand 300 and pull out the banknote bundle MT from the banknote containment vessel 400.
  • the tip of the fixed finger 320 is located in front of the tip of the movable finger 310, and a rubber sheet Sr is attached to the tip of the fixed finger 320. Therefore, in the robot hand 300, when the banknote bundle MT is taken out from the banknote containment vessel 400 shown in FIG. 4, the contact area of the fixed finger 320 with respect to the banknote bundle MT can be widened, and the fixed finger 320 can be used. The lower side of the banknote bundle MT can be satisfactorily supported, and by extension, the banknote bundle MT can be stably gripped. Therefore, the robot hand 300 can withdraw the banknote bundle MT from the banknote containment vessel 400 as described above with high probability.
  • the movable finger 310 of the robot hand 300 In the movable finger 310 of the robot hand 300 according to the present embodiment, the upper surface of the movable finger 310 from the base end of the intermediate portion 312 to the tip of the claw portion 313 is lowered from the base end of the intermediate portion 312 toward the tip of the claw portion 313. It is tilted. Therefore, the movable finger 310 can reduce the stress applied to the root portion of the movable finger 310 when gripping a bundle of banknotes.
  • the lower surface of the fixed finger 320 of the robot hand 300 is inclined upward from the intermediate position to the tip of the claw portion 323 from the intermediate position to the tip. Therefore, the fixed finger 320 can reduce the stress applied to the root portion of the fixed finger 320 when gripping the banknote bundle.
  • the protruding portion 324 of the fixed finger 320 of the robot hand 300 has an elongated substantially rectangular thick plate portion having the same width as the width of the claw portion 323, that is, a taperless shape in a side view. Therefore, the protruding portion 324 can be easily inserted into the bill storage container 400, and the contact area with the bill bundle MT can be widened.
  • a notch Cv is provided on the upper side of the claw portion 323 of the fixed finger 320 of the robot hand 300 according to the present embodiment. Therefore, the claw portion 323 of the fixed finger 320 accommodates the tip portion of the bill bundle MT in a state of sandwiching the tip portion of the bill bundle MT in cooperation with the movable finger 310, and the tip portion of the bill bundle MT. Can absorb the variation of.
  • the tip of the claw portion 313 of the movable finger 310 has a shape protruding downward
  • the tip of the claw portion 323 of the fixed finger 320 has a shape protruding upward. ing. Therefore, in the robot hand 300, even if the vicinity of the central portion of the claws 313 and 323 comes into contact with the bill bundle MT and bends, the tip portion of the claws 313 and 323 comes into contact with the bill bundle MT and the bill bundle MT Can be firmly grasped.
  • the tip of the fixed finger 320 is located forward Dy from the tip of the movable finger 310, but this relationship may be reversed. That is, the tip of the movable finger 310 may be located in front of the tip of the fixed finger 320. In such a case, the robot hand 300 is in a state of being inverted by the articulated robot arm 200 when the banknote bundle MT is gripped.
  • the rubber sheet Sr of the movable finger 310 does not face the rubber sheet Sr of the fixed finger 320, but the rubber sheet Sr of the movable finger 310 is the rubber sheet Sr of the fixed finger 320.
  • a rubber sheet Sr may be attached to the inside of the claw portion 313 of the movable finger 310 and the protruding portion 324 of the fixed finger 320 so as to face each other. In such a case, it is preferable to extend the attachment portion of the rubber sheet Sr of the fixed finger 320 to the rear of the tip position Tm of the movable finger 310.
  • the rubber sheet Sr is attached to both the claw portion 313 of the movable finger 310 and the protruding portion 324 of the fixed finger 320, but either the movable finger 310 or the fixed finger 320 is attached.
  • a rubber sheet Sr may be attached to the surface.
  • a rubber sheet Sr is attached to the inside of the claw portion 313 of the movable finger 310 and the protruding portion 324 of the fixed finger 320 as a non-slip, but instead of this, the inside of the same portion.
  • the side surface may be roughened or the like.
  • this modification may be applied to modification (B) and (C).
  • the fixed finger 320 is fixed and only the movable finger 310 is movable, but the fixed finger 320 may be mobilized in the same manner as the movable finger 310.
  • an air cylinder mechanism is adopted as the movable finger elevating mechanism 330, but other known elevating mechanisms such as a rack and pinion mechanism and a ball screw mechanism are used as the movable finger elevating mechanism 330.
  • Motor cylinder mechanism, electric slider mechanism, belt slider mechanism, linear slider mechanism and the like may be adopted. In such a case, an electric motor may be used as the drive source.
  • the control device analyzes the front image of the banknote containment vessel 400 imaged by the image pickup unit 350, and the position of the notch Rs of the holding plate 411 and the support base 412a, The position of the slit Rt between 412b is specified, and then the position of the movable finger 310 is adjusted by controlling the articulated robot arm 200 and the robot hand 300, and the tip portion of the movable finger 310 is made into the notch Rs of the holding plate 411.
  • the tip of the fixed finger 320 may be inserted into the slit Rt between the support bases 412a and 412b.
  • the banknote bundle MT is shown as the gripping target of the robot hand 300, but the gripping target of the robot hand 300 may be other paper sheets, objects, or the like.
  • a protrusion 326 protruding upward may be provided at the tip of the protrusion 324 of the fixed finger 320.
  • the upper surface of the movable finger 310 extends downward from the base end of the intermediate portion 312 to the tip of the claw portion 313 toward the tip of the claw portion 313.
  • the upper surface of this portion may be a horizontal plane on the same plane as the upper surface of the base portion 311.
  • the lower surface of the fixed finger 320 is inclined upward from the intermediate position to the tip of the claw portion 323 from the intermediate position to the tip, as shown in FIG.
  • the lower surface of this portion may be a horizontal plane on the same surface as the lower surface of the base portion 321.
  • the protruding portion 324 of the fixed finger 320 is an elongated substantially rectangular thick plate portion having the same width as the width of the claw portion 323.
  • the protruding portion 324 is shown in FIG. As shown in 13, the lower surface may be inclined upward toward the tip in the side view.
  • the notch Cv is provided in the claw portion 323 of the fixed finger 320, but this notch Cv extends to the base end of the base portion 321 as shown in FIG. It doesn't matter if it is done.
  • extending the notch Cv in this way not only the rigidity of the fixed finger 320 can be increased, but also the contact area with respect to the banknote bundle MT can be widened.
  • the tip of the claw portion 313 of the movable finger 310 has a shape protruding downward, and the tip of the claw portion 323 of the fixed finger 320 protrudes upward.
  • the lower surface of the claw portion 313 of the movable finger 310 is a flat surface
  • the upper surface of the fixed finger 320 on the tip end side of the claw portion 323 is a flat surface. You may be.
  • the movable finger 310 and the fixed finger 320 are each composed of one rod-shaped member, but as shown in FIG. 16, the movable finger and the fixed finger are each having two rod-shaped members. It may be composed of members. In such a case, the contact area of the movable finger and the fixed finger with respect to the banknote bundle MT can be widened, and the certainty of gripping the banknote bundle MT by the movable finger and the fixed finger can be improved.
  • the hatched portion indicates a movable finger
  • the portion where the hatched portion and the non-hatched portion are combined indicates a fixed finger
  • the portion where the hatched portion and the non-hatched portion are combined is a movable finger.
  • the hatched portion may be used as a fixed finger. However, in the latter case, the above-mentioned modification (A) is applied.
  • the movable finger 310 and the fixed finger 320 are each composed of one rod-shaped member, but as shown in FIG. 17, the movable finger (hatched portion in FIG. 17) is 1. It may be composed of a book rod-shaped member, and the fixed finger (non-hatched portion in FIG. 17) may be composed of two rod-shaped members. In such a case, the contact area of the movable finger and the fixed finger with respect to the banknote bundle MT can be widened, and the certainty of gripping the banknote bundle MT by the movable finger and the fixed finger can be improved.
  • the movable finger is arranged at the center of the fixed finger in the width direction as shown in FIG.
  • the hatched portion may be a fixed finger and the non-hatched portion may be a movable finger.
  • the above-mentioned modification (A) will be applied.
  • the movable finger 310 and the fixed finger 320 are each composed of one rod-shaped member, but as shown in FIG. 18, the movable finger (hatched portion in FIG. 18) and the fixed finger are fixed. Each finger (non-hatched portion in FIG. 18) may be composed of two rod-shaped members.
  • the contact area of the movable finger and the fixed finger with respect to the banknote bundle MT can be widened, and the certainty of gripping the banknote bundle MT by the movable finger and the fixed finger can be improved.
  • the movable finger is arranged at the center of the fixed finger in the width direction as shown in FIG.
  • the hatched portion may be a fixed finger and the non-hatched portion may be a movable finger.
  • the above-mentioned modification (A) will be applied.
  • the movable finger 310 and the fixed finger 320 are each composed of one rod-shaped member, but as shown in FIG. 19, the movable finger (hatched portion in FIG. 19) is four. It may be composed of a book rod-shaped member, and a fixed finger (a portion where the hatched portions and non-hatched portions at both ends of FIG. 19 are combined) may be composed of two rod-shaped members. In such a case, the contact area of the movable finger and the fixed finger with respect to the banknote bundle MT can be widened, and the certainty of gripping the banknote bundle MT by the movable finger and the fixed finger can be improved.
  • the fixed fingers are arranged so as to overlap the fixed fingers at both ends of the four fixed fingers in a plan view as shown in FIG.
  • the hatched portion may be a fixed finger
  • the portion combined with the hatched portion and the non-hatched portion at both ends may be a movable finger.
  • the above-mentioned modification (A) will be applied.
  • the movable finger 310 and the fixed finger 320 are each composed of one rod-shaped member, but as shown in FIG. 20, the movable finger (hatched portion in FIG. 20) and the fixed finger are fixed. Each finger (non-hatched portion of FIG. 20) may be composed of two rod-shaped members.
  • the contact area of the movable finger and the fixed finger with respect to the banknote bundle MT can be widened, and the certainty of gripping the banknote bundle MT by the movable finger and the fixed finger can be improved.
  • the movable finger is arranged at the center of the fixed finger in the width direction as shown in FIG. In this modified example, since the movable finger is longer than the fixed finger, the above-mentioned modified example (A) is applied.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Manipulator (AREA)
PCT/JP2020/023524 2019-07-23 2020-06-16 ロボットハンド WO2021014828A1 (ja)

Priority Applications (2)

Application Number Priority Date Filing Date Title
CA3139173A CA3139173C (en) 2019-07-23 2020-06-16 Robotic hand
CN202080046139.3A CN114008695B (zh) 2019-07-23 2020-06-16 机械手

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2019-135154 2019-07-23
JP2019135154A JP6870040B2 (ja) 2019-07-23 2019-07-23 ロボットハンド

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WO2021014828A1 true WO2021014828A1 (ja) 2021-01-28

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CN (1) CN114008695B (zh)
CA (1) CA3139173C (zh)
WO (1) WO2021014828A1 (zh)

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JP2011131341A (ja) * 2009-12-25 2011-07-07 Sony Corp 把持装置
JP2014226759A (ja) * 2013-05-24 2014-12-08 株式会社ランズワーク 豆腐製品搬送装置
JP2016124064A (ja) * 2014-12-26 2016-07-11 オークラ輸送機株式会社 ハンド装置および物品移送装置
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CN107381028A (zh) * 2017-08-15 2017-11-24 广东紫晶信息存储技术股份有限公司 一种标准光盘夹持翻转装置及其方法
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