WO2022168643A1 - ハンド機構 - Google Patents
ハンド機構 Download PDFInfo
- Publication number
- WO2022168643A1 WO2022168643A1 PCT/JP2022/002245 JP2022002245W WO2022168643A1 WO 2022168643 A1 WO2022168643 A1 WO 2022168643A1 JP 2022002245 W JP2022002245 W JP 2022002245W WO 2022168643 A1 WO2022168643 A1 WO 2022168643A1
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- Prior art keywords
- finger
- pad
- link portion
- hand mechanism
- predetermined
- Prior art date
Links
- 230000007246 mechanism Effects 0.000 title claims abstract description 201
- 238000001179 sorption measurement Methods 0.000 claims description 68
- 238000000034 method Methods 0.000 abstract description 5
- 238000010586 diagram Methods 0.000 description 26
- 238000013459 approach Methods 0.000 description 16
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 description 6
- 230000008859 change Effects 0.000 description 5
- 238000005452 bending Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 230000002452 interceptive effect Effects 0.000 description 3
- 230000008602 contraction Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000000087 stabilizing effect Effects 0.000 description 2
- 210000001015 abdomen Anatomy 0.000 description 1
- 230000003187 abdominal effect Effects 0.000 description 1
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- 230000000903 blocking effect Effects 0.000 description 1
- 238000000605 extraction Methods 0.000 description 1
- 230000000704 physical effect Effects 0.000 description 1
- 229920002379 silicone rubber Polymers 0.000 description 1
- 239000004945 silicone rubber Substances 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
-
- 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
- B25J15/0009—Gripping heads and other end effectors comprising multi-articulated fingers, e.g. resembling a human hand
-
- 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
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
- B25J15/0625—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum provided with a valve
-
- 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
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
- B25J15/065—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum provided with separating means for releasing the gripped object after suction
- B25J15/0666—Other types, e.g. pins or springs
-
- 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
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
- B25J15/0683—Details of suction cup structure, e.g. grooves or ridges
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
- B25J15/10—Gripping heads and other end effectors having finger members with three or more finger members
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1612—Programme controls characterised by the hand, wrist, grip control
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
Definitions
- the present invention relates to technology for picking up an object with a plurality of fingers.
- Patent Literature 1 and Patent Literature 2 disclose a configuration in which a suction rod is provided in a base portion that supports a plurality of finger portions so as to move back and forth.
- Patent Literature 3 discloses a configuration in which a suction cup is attached to the abdomen of the finger.
- Patent Literature 4 discloses a configuration in which a suction cup of a suction mechanism is attached to a portion of the finger portion closer to the finger base than the first joint.
- JP 2019-209458 A Japanese Patent Application Laid-Open No. 2020-006490 Japanese Patent No. 5525587 Japanese Patent No. 6215029
- An object of the present invention is to provide a technique that can favorably achieve both gripping of an object and adsorption of the object.
- the present invention comprises a first finger link portion including a fingertip, a first joint portion provided at an end portion of the first finger link portion on the finger base side, and the first finger link portion via the first joint portion. and a second joint provided at the end of the second finger link on the finger base side.
- the hand mechanism is provided on the back surface of the first finger link portion of at least one predetermined finger portion among the plurality of finger portions, and has a suction mechanism that attracts and holds an object by generating a negative pressure.
- FIG. 1 is a perspective view of a hand mechanism according to an example
- FIG. FIG. 4 is a top view of the hand mechanism according to the example
- FIG. 4 is a side view of the finger portion of the hand mechanism according to the example
- FIG. 5 is a view of the distal end side of the finger portion of the hand mechanism according to the embodiment, viewed from the direction of arrow A in FIG. 4
- It is a figure which shows the movable range of the 2nd joint part in the finger
- FIG. 1 is a first diagram showing a configuration example of an adsorption mechanism according to an embodiment
- FIG. FIG. 4 is a second diagram showing a configuration example of the adsorption mechanism according to the embodiment
- FIG. 10 is a first diagram showing the positional relationship between the suction mechanism and the first finger link portion
- It is a second diagram showing the positional relationship between the suction mechanism and the first finger link portion.
- FIG. 10 is a diagram for explaining a basic operation example of the hand mechanism when picking up an object
- FIG. 5 is a diagram for explaining a basic operation example of the hand mechanism when gripping an object
- FIG. 10 is a first diagram for explaining an operation example of the hand mechanism when picking up an object from a storage box provided with a take-out opening on the side
- FIG. 11 is a second diagram for explaining an operation example of the hand mechanism when picking up an object from a storage box having a take-out opening provided on the side;
- FIG. 10 is a diagram for explaining an operation example of the hand mechanism when picking up an object placed near the wall inside the storage box;
- FIG. 10 is a first diagram for explaining an operation example of the hand mechanism when picking up an object placed at a corner of the storage box;
- FIG. 10 is a second diagram for explaining an operation example of the hand mechanism when picking up an object placed at a corner of the storage box;
- FIG. 10 is a first diagram for explaining an operation example of the hand mechanism when picking up an object stored in the storage box in an oblique state;
- FIG. 11 is a second diagram for explaining an operation example of the hand mechanism when picking up an object stored in the storage box in an oblique state;
- FIG. 11 is a third diagram for explaining an operation example of the hand mechanism when picking up an object stored in the storage box in an oblique state;
- FIG. 10 is a diagram for explaining an operation example of the hand mechanism when picking up a spherical object;
- FIG. 10 is a diagram for explaining an operation example of the hand mechanism when picking up two objects at the same time; It is a figure which shows the other structural example of a hand mechanism.
- a hand mechanism includes a plurality of fingers.
- Each of the plurality of finger portions includes a first finger link portion including the fingertip, a first joint portion provided at the end of the first finger link portion on the finger base side, and the first finger link portion via the first joint portion. It includes a second finger link portion to be connected, and a second joint portion provided at the end of the second finger link portion on the finger base side. That is, each of the plurality of fingers has at least two joints. Accordingly, it is possible to flexibly change the form of each finger according to the situation where the object is placed, the shape of the object, or the like. For example, when the hand mechanism approaches a position suitable for gripping an object, it becomes easy to change the form of each finger so as not to interfere with objects existing around the object. In addition, it becomes easy to change the form of each finger according to the shape or size of the object.
- the hand mechanism at least one finger (predetermined finger) among the plurality of finger portions is provided with a suction mechanism on the back surface of the first finger link portion. That is, the suction mechanism is provided on the back surface of the fingertip of the predetermined finger portion.
- the adsorption mechanism is a mechanism that adsorbs and holds an object by generating negative pressure.
- the grip can be performed by bringing the ventral surface of the first finger link portion of the predetermined finger into contact with the object. This makes it possible to grip the object without causing the adsorption mechanism to interfere with the object. Also, it is possible to grip the object using fingers other than the predetermined fingers. Therefore, it becomes possible to hold the object in a stable posture.
- the plurality of finger portions according to the present invention has at least two joint portions, when the hand mechanism is approached to a position suitable for gripping or sucking the object, the suction mechanism or the finger portions move around the object. It is also easy to change the form of a plurality of fingers so as not to interfere with objects or the like existing in the body. For example, when an object is housed in a storage box with a narrow frontage, a predetermined finger portion is formed into a substantially linear shape and inserted into the storage box, thereby moving the adsorption mechanism to a position suitable for adsorption of the object. can be approached.
- the fingers other than the predetermined fingers can be configured so that they can be inserted into the storage box without interfering with the walls of the storage box, or without interfering with the walls of the storage box. It is also possible to adopt a form in which it is not inserted into the storage box immediately. As a result, the object stored in the storage box with a narrow frontage can be sucked in a stable posture. Further, when an object is placed at a corner portion of the storage box, for example, by forming the predetermined fingers into a substantially crank-like shape, the adsorption mechanism can be made to approach a position suitable for the adsorption of the object. can. As a result, the object placed at the corner of the storage box can be sucked in a stable posture.
- the suction mechanism includes a suction nozzle extending from a finger base side of a first finger link portion toward a fingertip side of a predetermined finger portion; and a pad that is contractible from the side toward the finger base. At this time, in the axial direction of the first finger link portion, the suction mechanism moves the first finger link portion so that the tip of the suction nozzle is located closer to the finger base than the end of the first finger link portion on the fingertip side. may be attached to the
- the floor on which the object is placed is moved while the predetermined finger is approaching a position suitable for gripping the object.
- the pads may interfere with each other.
- the pad is formed to be contractible from the fingertip side of the first finger link portion toward the finger base side, even if the pad interferes with the floor or the like during the approach, the pad is contracted. By doing so, the above approach can be properly continued.
- the tip of the suction nozzle is recessed in the finger base direction from the end of the first finger link portion on the fingertip side, the tip of the suction nozzle may interfere with the floor or the like during the above-described approach. Suppressed. As a result, even when an object is gripped by a plurality of fingers including a predetermined finger, the predetermined finger can be made to approach a position suitable for gripping the object.
- the suction mechanism described above may be attached to the first finger link portion so as to be in the position where the finger link portion is positioned. Thereby, when the object is sucked by the suction mechanism, the tip surface of the pad can be brought into contact with the object before the tip of the first finger link portion.
- the adsorption mechanism is caused to approach a position suitable for adsorbing the object, the fingertip portion of the predetermined finger portion (the fingertip-side end portion of the first finger link portion) is prevented from interfering with the object. can be done. As a result, it is possible to attract the object in a more reliable and stable posture.
- the position of the tip surface of the pad in the axial direction of the first finger link protrudes in the fingertip direction from the end of the first finger link on the fingertip side.
- the suction mechanism is attached to the first finger link portion so as to be positioned so that the tip of the pad in the axial direction of the first finger link portion
- the pad may be formed so that the position of the surface shrinks to the same position as the end of the first finger link portion on the fingertip side.
- the hand mechanism according to the present invention includes a first mode for picking up an object by sucking it with a suction mechanism of predetermined finger portions, and a first mode for picking up an object by sucking and picking up an object with at least two fingers out of a plurality of finger portions.
- a second mode for gripping and picking up an object may be switchable. This makes it possible to efficiently pick up objects even in a site where objects suitable for picking up by gripping and objects suitable for picking up by suction coexist.
- the predetermined finger portion functions as a suction finger portion for attracting the object after the pad of the suction mechanism is brought into contact with the object
- the predetermined finger portion At least one of the fingers other than the finger may function as a holding finger for holding the posture of the object sucked by the predetermined finger.
- FIG. 1 is a diagram showing a schematic configuration of a robot arm according to this embodiment.
- a robot arm 1 includes a hand mechanism 2 , an arm mechanism 3 , and a pedestal 4 .
- the hand mechanism 2 is attached to one end of the arm mechanism 3 .
- the other end of the arm mechanism 3 is attached to the base portion 4 .
- the hand mechanism 2 includes a base portion 20 connected to the arm mechanism 3, a plurality of finger portions 21 (four finger portions 21 in the example shown in FIG. 1) movably supported by the base portion 20, It has A detailed configuration of the hand mechanism 2 will be described later.
- the arm mechanism 3 includes a first arm link portion 31 , a second arm link portion 32 , a third arm link portion 33 , a fourth arm link portion 34 , a fifth arm link portion 35 and a connecting member 36 .
- a base portion 20 of the hand mechanism 2 is connected to a first joint portion 30 a formed on one end side of a first arm link portion 31 of the arm mechanism 3 .
- a motor (not shown) for rotating the hand mechanism 2 around the axis of the first arm link portion 31 with respect to the first arm link portion 31 is provided in the first joint portion 30a.
- the other end side of the first arm link portion 31 is connected to one end side of the second arm link portion 32 at the second joint portion 30b.
- the first arm link portion 31 and the second arm link portion 32 are connected so that their central axes intersect perpendicularly.
- a motor for rotating the first arm link portion 31 about the axis of the second arm link portion 32 with respect to the second arm link portion 32 around the other end side is provided in the second joint portion 30b. (not shown) is provided.
- the other end side of the second arm link portion 32 is connected to one end side of the third arm link portion 33 at the third joint portion 30c.
- a motor (not shown) for rotating the second arm link portion 32 relative to the third arm link portion 33 is provided at the third joint portion 30c.
- the other end side of the third arm link portion 33 is connected to one end side of the fourth arm link portion 34 at the fourth joint portion 30d.
- the other end side of the fourth arm link portion 34 is connected to the fifth arm link portion 35 at the fifth joint portion 30e.
- a motor (not shown) for rotating the third arm link portion 33 relative to the fourth arm link portion 34 is provided at the fourth joint portion 30d.
- a motor (not shown) for rotating the fourth arm link portion 34 relative to the fifth arm link portion 35 is provided at the fifth joint portion 30e.
- the fifth arm link portion 35 is connected to a connection member 36 arranged vertically from the base portion 4 at a sixth joint portion 30f.
- the fifth arm link portion 35 and the connecting member 36 are connected so that their central axes are coaxial.
- a motor (not shown) for rotating the fifth arm link portion 35 about the axis of the fifth arm link portion 35 and the connecting member 36 is provided at the sixth joint portion 30f.
- the arm mechanism 3 can be a mechanism having six degrees of freedom.
- the hand mechanism 2 in this example is configured to be switchable between a mode (first mode) in which an object such as a workpiece is gripped and picked up, and a mode (second mode) in which an object is picked up by suction. be done.
- FIG. 2 is a perspective view of the hand mechanism 2.
- FIG. FIG. 3 is a top view of the hand mechanism 2.
- FIG. The arrows in FIG. 3 indicate the rotatable range of each finger 21.
- the four finger portions 21 on the base portion 20 are centered on the axis in the longitudinal direction of the hand mechanism 2 (the direction perpendicular to the paper surface in FIG. 3). They are arranged at equal angular intervals (that is, at intervals of 90 degrees) on the circumference.
- two finger portions 21 (predetermined finger portions) out of the four finger portions 21 are provided with suction mechanisms 600 . Structures other than the adsorption mechanism 600 are common to all four finger portions 21 . However, the operations of the four fingers 21 are independently controlled.
- FIG. 4 to 7 are diagrams for explaining the configuration of the finger portion 21.
- FIG. 4 to 7 show the configuration of a predetermined finger portion 21 out of the four finger portions 21.
- FIG. 4 is a side view of a given finger 21.
- FIG. 4 the base part 20 is illustrated in a transparent state.
- 5 is a view of the distal end side of the finger portion 21 viewed from the direction of arrow A in FIG. 4 and 5 show a part of the second finger link portion 212 of the finger portion 21, which will be described later, in a see-through state, and the internal structure of the second finger link portion 212 is also shown. .
- each finger portion 21 has a first finger link portion 211, a second finger link portion 212, and a proximal end portion 213.
- a first joint part 22 is provided which is formed to be bendable and extensible.
- a second joint portion 23 is provided which is formed to be bendable and extensible.
- a proximal end portion 213 of the finger portion 21 is connected to the base portion 20 so as to be rotatable around an axis in the longitudinal direction of the finger portion 21 (the direction perpendicular to the paper surface in FIG. 3).
- the base portion 20 incorporates a second motor 52 and a third motor 53 as shown in FIG.
- the second motor 52 is a motor for bending and extending the second joint portion 23, as shown in FIG.
- the third motor 53 is a motor for rotating the entire finger portion 21 within the range indicated by the arrow in FIG.
- the second finger link portion 212 incorporates the first motor 51 as shown in FIG.
- the first motor 51 is a motor for bending and extending the first joint portion 22, as shown in FIG.
- FIGS. 8 to 11 are diagrams for explaining the configuration of the suction mechanism 600 provided on the predetermined finger portion 21.
- FIG. 8 and 9 are side views of the adsorption mechanism 600.
- FIG. 8 a nozzle body 601, which will be described later, is illustrated in a see-through state.
- FIG. 9 also shows a pad 603, which will be described later, in a see-through state.
- the suction mechanism 600 is attached to the back surface of the fingertip of the predetermined finger portion 21 (the back surface 216 of the first finger link portion 211).
- the pad of the fingertip of the predetermined finger portion 21 (the pad surface 215 of the first finger link portion 211) can be used.
- Objects can be grasped.
- the adsorption mechanism 600 is a mechanism for adsorbing an object using negative pressure.
- Such a suction mechanism 600 includes a nozzle body 601, a suction nozzle 602, and a pad 603, as shown in FIGS.
- the nozzle body 601 is a housing in which a negative pressure passage 601A is formed, and is attached to the rear surface 216 of the first finger link portion 211 .
- the suction nozzle 602 is a cylindrical nozzle projecting from the nozzle body 601, and the inside of the suction nozzle 602 communicates with the negative pressure passage 601A.
- the suction nozzle 602 in this example is formed to extend from the finger base side toward the fingertip side along the axial direction of the first finger link portion 211 .
- the suction nozzle 602 may be molded integrally with the nozzle body 601, or may be fixed to the nozzle body 601 by a screw mechanism or the like. Also, the suction nozzle 602 is covered with a pad 603 .
- the pad 603 is a bellows-shaped cylinder and is made of a flexible material such as silicone rubber. As a result, when the suction mechanism 600 sucks the object, the tip surface of the pad 603 can be brought into close contact with the object. Such a pad 603 is detachable from the suction nozzle 602 as shown in FIG.
- the adsorption mechanism 600 configured as described above is connected to a vacuum pump via a vacuum pipe 610 as shown in FIG.
- the negative pressure passage 601A of the nozzle body 601 is connected to the vacuum pump via the vacuum pipe 610.
- a vacuum pump is a pump for sucking gas.
- the vacuum pump may be provided separately from the robot arm 1, or may be provided on the pedestal 4 or the like.
- the air inside the negative pressure passage 601A, the suction nozzle 602, and the pad 603 can be sucked by the vacuum pump through the vacuum pipe 610.
- FIG. As a result, negative pressure can be generated at the tip of the pad 603 .
- the object can be attracted to the tip of the pad 603 by generating a negative pressure at the tip of the pad 603 while the tip surface of the pad 603 is in close contact with the object.
- an electromagnetic valve hereinafter sometimes referred to as a "negative pressure electromagnetic valve” 620 for conducting (opening) or blocking (closing) the internal passage of the vacuum pipe 610.
- a negative pressure electromagnetic valve for conducting (opening) or blocking (closing) the internal passage of the vacuum pipe 610.
- FIG. 10 and 11 are diagrams for explaining the positional relationship between each part of the adsorption mechanism 600 and the first finger link part 211.
- FIG. FIG. 10 is a diagram showing a state in which the pad 603 of the adsorption mechanism 600 is not contracted.
- FIG. 11 is a diagram showing the case where the pad 603 of the adsorption mechanism 600 is in a predetermined contracted state.
- the "state in which the pad 603 is not contracted” here means a state in which no external force is applied to the pad 603, and the length of the pad 603 in the axial direction is free.
- the "predetermined contraction state” here means a state in which the pad 603 can contract most when attracting and holding an object. is small. Note that C1 in FIGS.
- Pc1 in FIGS. 10 and 11 is the center when the first finger link portion 211 is rotated in the bending direction and the extending direction as shown in FIG. 7 described above.
- Pc1 in FIGS. 10 and 11 is an imaginary circle centered at C1 and having a radius equal to the distance from C1 to the tip of the first finger link portion 211 (end on the fingertip side).
- the size of each part of the suction mechanism 600 in this example and/or the attachment position to the first finger link part 211 are determined so that the tip of the suction nozzle 602 is positioned inside the circle Pc1. be done. As a result, the position of the tip of the suction nozzle 602 in the axial direction of the first finger link portion 211 is recessed toward the finger base side from the tip of the first finger link portion 211 . Further, as shown in FIG. 10, the size of each part of the adsorption mechanism 600 in this example and/or the attachment position to the first finger link part 211 is determined by the tip of the pad 603 when the pad 603 is in a non-contracted state. A plane is defined to lie outside the circle Pc1.
- the tip surface of the pad 603 in the axial direction of the first finger link portion 211 protrudes from the tip of the first finger link portion 211.
- the size of each part of the adsorption mechanism 600 in this example and/or the attachment position to the first finger link part 211 is determined by the tip surface of the pad 603 when the pad 603 is in a predetermined contracted state. is determined to be positioned on the circumference of the circle Pc1 or outside the circle Pc1.
- the position of the tip surface of the pad 603 in the axial direction of the first finger link portion 211 is the same position as the tip of the first finger link portion 211 or in the fingertip direction. It will be a position that protrudes to
- the “predetermined contracted state” here means a state in which the degree of contraction is smaller than the state in which the pad 603 is contracted to the limit according to the physical properties of the pad 603, as described above. Therefore, the size of each part of the adsorption mechanism 600 and/or the attachment position to the first finger link part 211 are adjusted so that the tip end surface of the pad 603 is positioned outside the circle Pc1 when the pad 603 is in a predetermined contracted state.
- the pedestal portion 4 is a pedestal for supporting the arm mechanism 3 .
- Various control devices such as a control device for controlling the arm mechanism 3, a control device for controlling the hand mechanism 2, and a control device for controlling the adsorption mechanism 600 are incorporated in the base portion 4. .
- These controllers control the motors for driving the joints of the arm mechanism 3, the motors for driving the joints of the hand mechanism 2, the negative pressure solenoid valve 620 of the hand mechanism 2, and the like.
- the pedestal portion 4 may incorporate the above-described vacuum pump.
- FIG. 12 is a diagram for explaining a basic operation example of the hand mechanism 2 when picking up an object.
- an object 10 with a rectangular cross-section is placed on the bottom 70 of a container 80 .
- the first motor 51 and the second motor 52 of each finger 21 are adjusted so that the tip surface of the pad 603 on each of the two predetermined fingers 21 is parallel to the upper surface of the object 10 .
- the third motor 53 are controlled.
- the arm mechanism 3 is controlled so that the adsorption mechanism 600 descends to a position suitable for adsorption of the object 10 (for example, a position where the tip surface of the pad 603 is in close contact with the upper surface of the object 10).
- a position suitable for adsorption of the object 10 for example, a position where the tip surface of the pad 603 is in close contact with the upper surface of the object 10.
- the negative pressure electromagnetic valve 620 is opened.
- the air inside the pad 603 is sucked by the vacuum pump through the negative pressure passage 601A in the suction nozzle 602 and the vacuum pipe 610 .
- negative pressure is generated at the tip of the pad 603 .
- the object 10 is sucked toward the finger base side of the first finger link portion 211, and the pad 603 shrinks accordingly. not be hindered by This is because, as shown in FIG.
- the position of the tip surface of the pad 603 when the pad 603 is in a predetermined contracted state is the same position as the tip of the first finger link portion 211 or the position protruded in the fingertip direction. to become As a result, the adsorption mechanism 600 can be made to approach a position suitable for adsorption of the object 10 . Therefore, it is possible to suck and hold the object 10 in a stable posture.
- FIG. 13 a basic operation example of the hand mechanism 2 when gripping an object will be described based on FIG.
- an object 10 with a rectangular cross-section is placed on the bottom 70 of a container 80 .
- the distance between the flanks of the fingertips of the two predetermined finger portions 21 becomes wider than the width of the object 10, and the height of the fingertips increases.
- the first motor 51, the second motor 52 and the third motor 53 in each of the two predetermined fingers 21 are controlled to be the same.
- the arm mechanism 3 is controlled so that the positions of the fingertips of the two predetermined finger portions 21 are lowered to a position suitable for gripping the object 10 .
- each finger portion 21 is moved so that the distance between the fingertips of the two predetermined finger portions 21 is narrowed.
- the first motor 51, the second motor 52, and the third motor 53 are controlled.
- the flanks of the fingertips of the two predetermined finger portions 21 come into contact with the opposite sides of the object 10 . do.
- the adsorption mechanism 600 in this example is attached to the back surface of the fingertip of the predetermined finger portion 21 (the back surface 216 of the first finger link portion 211).
- the adsorption mechanism 600 does not interfere with the object 10 in the gripping operation described above.
- the pad 603 of the suction mechanism 600 comes into contact with the bottom 70 of the storage box while the hand mechanism 2 is being lowered to a position suitable for gripping the target object 10 .
- the pad 603 in this example is configured to be able to contract until the position of the tip surface of the pad 603 in the axial direction of the first finger link portion 211 becomes equivalent to the tip of the first finger link portion 211, The pad 603 does not interfere with the downward movement.
- the tip of the suction nozzle 602 is recessed in the finger base direction from the tip of the first finger link portion 211, so that the suction nozzle 602 is located in the storage box. does not interfere with the bottom 70 of .
- the finger portion 21 can be made to approach a position suitable for gripping the target object 10 . can. Therefore, it is possible to hold the object 10 in a stable posture.
- the target object 10 is housed in a housing box 80 having a take-out opening on its side surface.
- the arm mechanism 3 is controlled so that the base portion 20 faces sideways (horizontally).
- the first motor 51, the second motor 52, and the third motor 53 of the predetermined finger portion 21 are rotated so that the second finger link portion 212 is horizontal and the first finger link portion 211 is vertically downward. controlled.
- the first motor 51, the second motor 52, and the third motor are controlled so that the predetermined finger portion 21 has a substantially L-shaped configuration.
- the arm mechanism 3 is controlled to move the hand mechanism 2 horizontally.
- the tip of the predetermined finger portion 21 is inserted into the storage box 80 , and the tip surface of the pad 603 is moved above the object 10 .
- the arm mechanism 3 is controlled so that the hand mechanism 2 descends along the vertical direction.
- the adsorption mechanism 600 is moved to a position suitable for adsorption of the object 10 (position where the tip surface of the pad 603 is in close contact with the upper surface of the object 10).
- the negative pressure electromagnetic valve 620 is opened. Thereby, the object 10 can be adsorbed by the adsorption mechanism 600 .
- the arm mechanism 3 is controlled so that the hand mechanism 2 rises, and then the arm mechanism 3 is controlled so that the hand mechanism 2 moves horizontally in the direction opposite to the above. It is taken out from the storage box 80. Therefore, even when the target object 10 is stored in the storage box 80 having the extraction port provided on the side surface, the adsorption mechanism 600 can be made to approach a position suitable for adsorption of the target object 10 .
- the fingers 21 other than the predetermined finger 21 function as holding fingers for stabilizing the posture of the object 10.
- the fingertip (first finger link portion 211 ) of the finger portion 21 other than the predetermined finger portion 21 may be brought into contact with the lower surface of the target object 10 . This prevents the posture of the object 10 from becoming unstable while the object 10 being picked up is being moved to the place position.
- the object 10 is accommodated in contact with the side wall surface inside the accommodation box 80 .
- the first motor 51, the second motor 52, and the first motor 51, the second motor 52, and the second motor 52 of the predetermined finger portion 21 are adjusted so that the tip surface of the pad 603 is horizontal and the predetermined finger portion 21 has a substantially V-shaped configuration.
- the third motor 53 are controlled.
- the arm mechanism 3 is controlled so that the tip surface of the pad 603 moves above the object 10 .
- the arm mechanism 3 is controlled so that the hand mechanism 2 descends along the vertical direction.
- the adsorption mechanism 600 is moved to a position suitable for adsorption of the object 10 (position where the tip surface of the pad 603 is in close contact with the upper surface of the object 10).
- the negative pressure electromagnetic valve 620 is opened. Thereby, the object 10 can be adsorbed by the adsorption mechanism 600 .
- the arm mechanism 3 is controlled so that the hand mechanism 2 is lifted, and the object 10 placed near the wall of the storage box 80 is taken out from the storage box 80 . Therefore, even when the object 10 is placed near the wall inside the storage box 80 , the adsorption mechanism 600 can be made to approach a position suitable for the adsorption of the object 10 .
- the fingers 21 other than the predetermined finger 21 are made to function as holding fingers for stabilizing the posture of the object 10, as in FIG. 14B. may
- FIG. 16A is a side view of the hand mechanism 2 when picking up the object 10.
- FIG. 16B is a top view of the hand mechanism 2 when picking up the object 10.
- the object 10 in FIGS. 16A and 16B has an upper surface with a relatively large area.
- the object 10 in FIGS. 16A and 16B has a circular cross section, it may have a rectangular cross section.
- the object 10 is placed at a corner inside the container 80.
- a first motor 51, a second motor 52 and a third motor 53 of each finger 21 are controlled so as to form a mold.
- the arm mechanism 3 is controlled so that the tip surfaces of the pads 603 of the two predetermined fingers 21 move above the object 10 .
- the arm mechanism 3 is controlled so that the hand mechanism 2 descends along the vertical direction.
- two pads 603 are placed at positions suitable for adsorption of the object 10 (positions where the tip surfaces of both of the two pads 603 are in close contact with the upper surface of the object 10). is moved.
- the negative pressure electromagnetic valve 620 is opened.
- the object 10 can be adsorbed by the two adsorption mechanisms 600 attached to the two predetermined finger portions 21 .
- the arm mechanism 3 is controlled so that the hand mechanism 2 rises, so that the object 10 placed at the corner of the container 80 is taken out from the container 80 . Therefore, even when the object 10 is placed at the corner of the storage box 80 , the adsorption mechanism 600 can approach a position suitable for the adsorption of the object 10 .
- FIG. 17A is a diagram showing a state in which the object 10 is adsorbed by the adsorption mechanism 600.
- FIG. 17B is a diagram showing a state in which the object 10 taken out of the storage box is held only by the adsorption mechanism 600.
- FIG. 17C is a diagram showing a state in which the object 10 taken out of the storage box is held by the adsorption mechanism 600 and the holding fingers.
- the plate-shaped object 10 is stored in the storage box 80 in an oblique state.
- the arm mechanism 3 and the arm mechanism 3 are moved so that the tip surface of the pad 603 on the predetermined finger portion 21 contacts the upper surface of the object 10 in parallel with the upper surface of the object 10 .
- the hand mechanism 2 (the first motor 51, the second motor 52, and the third motor 53 of the predetermined finger portion 21) is controlled.
- the adsorption mechanism 600 is moved to a position suitable for adsorption of the object 10 (position where the tip surface of the pad 603 is in close contact with the upper surface of the object 10). be done.
- the negative pressure electromagnetic valve 620 is opened. Thereby, the object 10 can be adsorbed by the adsorption mechanism 600 .
- the arm mechanism 3 is controlled so that the hand mechanism 2 is lifted, so that the object 10 is taken out of the storage box 80 as shown in FIG. 17B.
- the hand mechanism 2 is controlled so as to bring the (first finger link portion 211) into contact. Thereby, the object 10 can be held by the suction by the suction mechanism 600 and the gripping by the finger portions 21 other than the predetermined finger portions 21 and the pad 603 .
- the adsorption mechanism 600 can be made to approach a position suitable for adsorption of the target object 10, and the storage box The object 10 taken out from 80 can be held more reliably.
- the object 10 has a spherical shape.
- the first motor 51, the second motor 52 and the third motor 53 of each finger 21 are controlled such that each of the two predetermined fingers 21 assumes a substantially V-shaped configuration. be.
- the fingertip (first finger link portion 211) of one finger portion 21 is bent toward the other finger portion 21, and the fingertip (first finger link portion 211) of the other finger portion 21 is bent toward the other finger portion 21.
- the first motor 51 , the second motor 52 and the third motor 53 of each finger 21 are controlled so as to bend toward the portion 21 .
- the two pads 603 of the predetermined finger portion 21 When the pad 603 of the predetermined finger portion 21 is brought into contact with the surface of the object 10 in the controlled state as described above, the two pads 603 can be brought into close contact with the surface of the object 10 . With the two pads 603 in close contact with the surface of the object 10 , when the negative pressure electromagnetic valves 620 of the respective fingers 21 are opened, the adsorption mechanisms 600 of the two predetermined fingers 21 move the object 10 . is adsorbed. As a result, even a spherical object 10 can be picked up in a stable posture.
- the hand mechanism 2 of the present embodiment it is possible to favorably achieve both gripping of the object and adsorption of the object.
- the suction mechanism 600 is provided for two predetermined finger portions 21 out of the four finger portions 21 included in the hand mechanism 2 has been described.
- the adsorption mechanism 600 may be provided on all of the finger portions 21 of .
- the adsorption mechanisms 600 of some of the four finger portions 21 are adsorbed to the upper surface of the target object 10 and the adsorption mechanisms 600 of the remaining finger portions 21 are adsorbed to the side surface of the target object 10. is also possible. It also becomes possible to pick up three or more objects 10 at the same time. Therefore, the method of picking up the object 10 can be flexibly changed according to various conditions including the above example.
- the hand mechanism having four fingers was exemplified, but the number of fingers is not limited to four. It can be changed as appropriate according to, for example. Further, in the above-described embodiment, the configuration in which two of the four fingers are provided with the suction mechanism is exemplified. , can be changed as appropriate according to the conditions of use of the hand mechanism.
Abstract
Description
以下、本発明の具体的な実施形態について図面に基づいて説明する。本実施形態に記載されている構成部品の寸法、材質、形状、その相対配置等は、特に記載がない限りは発明の技術的範囲をそれらのみに限定する趣旨のものではない。
アーム機構3は、第1アームリンク部31、第2アームリンク部32、第3アームリンク部33、第4アームリンク部34、第5アームリンク部35、及び接続部材36を備えている。そして、ハンド機構2のベース部20が、アーム機構3の第1アームリンク部31の一端側に形成された第1関節部30aに接続されている。第1関節部30aには、第1アームリンク部31に対してハンド機構2を該第1アームリンク部31の軸周りに回転させるためのモータ(図示略)が設けられている。第1アームリンク部31の他端側は、第2関節部30bで第2アームリンク部32の一端側に接続されている。第1アームリンク部31と第2アームリンク部32とはその中心軸が垂直に交わるように接続されている。そして、第2関節部30bには、第2アームリンク部32に対して、第1アームリンク部31を、その他端側を中心に該第2アームリンク部32の軸周りに回転させるためのモータ(図示略)が設けられている。また、第2アームリンク部32の他端側は、第3関節部30cで第3アームリンク部33の一端側に接続されている。第3関節部30cには、第3アームリンク部33に対して第2アームリンク部32を相対的に回転させるためのモータ(図示略)が設けられている。
次に、ハンド機構2の構成について図2から図11に基づいて説明する。本例におけるハンド機構2は、ワーク等の対象物を把持してピックアップするモード(第一のモード)と、対象物を吸着してピックアップするモード(第二のモード)と、を切替可能に構成される。
台座部4は、アーム機構3を支持するための台座である。台座部4には、アーム機構3を制御するための制御装置、ハンド機構2を制御するための制御装置、及び吸着機構600を制御するための制御装置等の各種の制御装置が内蔵されている。これらの制御装置により、アーム機構3の各関節部を駆動するためのモータ、ハンド機構2の各関節部を駆動するためのモータ、ハンド機構2の負圧電磁弁620等が制御される。なお、台座部4には、前述したバキュームポンプが内蔵されてもよい。
ここで、本実施形態の作用効果について、図12から図19に基づいて説明する。図12は、対象物を吸着する場合におけるハンド機構2の基本的な動作例を説明するための図である。図12に示す例では、矩形の断面を有する対象物10が、収容箱80の底70に置かれている。斯様な場合、先ず、2本の所定の指部21の各々におけるパッド603の先端面が対象物10の上面と平行になるように、各指部21の第1モータ51、第2モータ52、及び第3モータ53が制御される。次に、対象物10の吸着に適した位置(例えば、パッド603の先端面が対象物10の上面に密着する位置)まで吸着機構600が下降するように、アーム機構3が制御される。これらの制御が行われた場合、図12に示すように、吸着機構600のパッド603の先端面が、所定の指部21よりも先に対象物10の上面に接触する。これは、前述の図10に示したとおり、パッド603が収縮していない状態におけるパッド603の先端面の位置が、第1指リンク部211の先端よりも指先方向に突出した位置にあるためである。そして、対象物10の吸着に適した位置に吸着機構600が移動すると、負圧電磁弁620が開かれる。これにより、パッド603の内部の空気が、吸着ノズル602内の負圧通路601A及びバキュームパイプ610を通じてバキュームポンプに吸引される。その結果、パッド603の先端に負圧が発生する。パッド603の先端に負圧が発生すると、対象物10が第1指リンク部211の指元側へ吸引され、それに伴ってパッド603が収縮するが、斯様な吸引動作が所定の指部21によって阻害されることはない。これは、前述の図11に示したとおり、パッド603が所定の収縮状態あるときのパッド603の先端面の位置が、第1指リンク部211の先端と同等の位置又は指先方向に突出した位置になるためである。その結果、対象物10の吸着に適した位置へ吸着機構600をアプローチさせることができる。よって、対象物10を安定した姿勢で吸着及び保持することが可能となる。
前述した実施形態では、ハンド機構2が備える4本の指部21のうち、2本の所定の指部21に吸着機構600が設けられる例について述べたが、図20に示すように、4本の指部21の全てに吸着機構600が設けられてもよい。これにより、対象物を吸着する際の自由度を高めることができる。例えば、比較的重量の大きな対象物をピックアップする場合に、3本以上の指部21の吸着機構600を利用して、対象物10をピックアップすることも可能になる。その際、4本の指部21のうち、一部の指部21の吸着機構600を対象物10の上面に吸着させ、残りの指部21の吸着機構600を対象物10の側面に吸着させることも可能である。また、3つ以上の対象物10を、同時にピックアップすることも可能となる。よって、上記した例を含めた様々な条件に応じて、対象物10のピックアップ方法を柔軟に変更することができる。
Claims (6)
- 指先を含む第1指リンク部と、
前記第1指リンク部の指元側の端部に設けられる第1関節部と、
前記第1関節部を介して前記第1指リンク部に接続される第2指リンク部と、
前記第2指リンク部の指元側の端部に設けられる第2関節部と、
を含む指部を、複数備えるハンド機構であって、
複数の前記指部のうち少なくとも一本の所定の指部における前記第1指リンク部の背面に設けられ、負圧を発生させることで対象物を吸着及び保持する吸着機構を備える、
ハンド機構。 - 前記吸着機構は、
前記第1指リンク部の指元側から指先側へ向かって延在する吸着ノズルと、
前記吸着ノズルの先端に取り付けられ、前記第1指リンク部の指先側から指元側へ向かって収縮可能に形成されるパッドと、
を備え、
前記第1指リンク部の軸方向において、前記吸着ノズルの先端の位置が前記第1指リンク部の指先側の端部よりも指元側に位置するように、前記吸着機構が前記第1指リンク部に取り付けられる、
請求項1に記載のハンド機構。 - 前記パッドが収縮していない状態にあるときに、前記第1指リンク部の軸方向における該パッドの先端面の位置が前記第1指リンク部の指先側の端部よりも指先方向に突出した位置となるように、前記吸着機構が前記第1指リンク部に取り付けられる、
請求項2に記載のハンド機構。 - 対象物の吸着時とは異なる外力が前記パッドに加わった際に、前記第1指リンク部の軸方向における該パッドの先端面の位置が前記第1指リンク部の指先側の端部と同等の位置まで収縮するように、前記パッドが形成される、
請求項3に記載のハンド機構。 - 前記ハンド機構は、前記所定の指部の前記吸着機構によって対象物を吸着してピックアップするための第一のモードと、複数の指部のうち少なくとも2本の指部によって対象物を把持してピックアップするための第二のモードと、を切替可能に構成される、
請求項1から4の何れか1項に記載のハンド機構。 - 前記第一のモードにおいて、前記所定の指部が、前記パッドを対象物に接触させた上で該対象物を吸着するための吸着用指部として機能するとともに、前記所定の指部以外の指部のうち少なくとも1本の指部が、前記所定の指部によって吸着された対象物の姿勢を保持するための保持用指部として機能する、
請求項5に記載のハンド機構。
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CN202280012889.8A CN116847961A (zh) | 2021-02-03 | 2022-01-21 | 手机构 |
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CN102161232A (zh) * | 2010-02-23 | 2011-08-24 | 郭锡南 | 贴标取瓶双功能机械手 |
JP6215029B2 (ja) * | 2013-12-09 | 2017-10-18 | Thk株式会社 | ハンド機構 |
JP2017534466A (ja) * | 2014-09-26 | 2017-11-24 | テラダイン、 インコーポレイテッド | 把持用グリッパ |
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US20190168396A1 (en) * | 2017-12-01 | 2019-06-06 | Bastian Solutions, Llc | End effector |
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