Robotic Hand and Robotic System

Abstract

The present invention provides a robot hand and a robot system. The robot hand holds a wire harness (20) having a long wire harness body (21) and a connector (22) connected to the end of the wire harness body (21), and the robot hand comprises: a fixed holding portion (6) holding the wire harness body (21) near the end; a pressing portion (7) capable of moving relative to the fixed holding portion (6) along the long side direction of the wire harness body (21) held by the fixed holding portion (6); and a driving portion (8) moving the pressing portion (7) in a direction away from the fixed holding portion (6) so that the pressing portion (7) presses the connector (22) to the outside of the long side direction of the wire harness body (21).

Description

Technical Field

[0001] The present invention relates to a robot hand and a robot system, and in particular to a robot hand for a wire harness having a connector at the end thereof. Background Art

[0002] The assembly process of various devices includes a wiring operation of conveying a wire harness and connecting a connector of the wire harness to a connector on the other side. In recent years, automation of wiring operations has been promoted (for example, refer to patent documents 1 to 3). In patent documents 1 to 3, a robot hand holds a connector and moves the robot hand to connect the connector to the connector on the other side.

[0003] Prior art literature

[0004] Patent Literature

[0005] Patent Document 1: Japanese Patent Application Laid-Open No. 06-188061

[0006] Patent Document 2: Japanese Patent Application Publication No. 2014-176917

[0007] Patent Document 3: Japanese Patent Application Publication No. 2005-011580 Summary of the invention

[0008] Problems that the invention needs to solve

[0009] However, there are many types of harness connectors, and one robot hand cannot hold multiple types of connectors. Therefore, as in Patent Documents 1 to 3, when a robot hand holds the connector itself, a dedicated robot hand must be prepared for each type of connector, which results in a huge equipment cost.

[0010] The present invention has been made in view of the above-mentioned circumstances, and an object of the present invention is to provide a robot hand with high versatility suitable for automated wiring work of wire harnesses, and a robot system including the same.

[0011] Means of solving the problem

[0012] In order to achieve the above object, the present invention provides the following solutions.

[0013] A first aspect of the present invention is a robot arm for holding a wiring harness, wherein the wiring harness has a long wiring harness body and a connector connected to the end of the wiring harness body, and the robot arm includes: a fixed holding portion, which holds the wiring harness body near the end; a pressing portion, which can move relative to the fixed holding portion along the long side direction of the wiring harness body held by the fixed holding portion; and a driving portion, which moves the pressing portion in a direction away from the fixed holding portion so that the pressing portion presses the connector outward in the long side direction of the wiring harness body.

[0014] According to this aspect, in a state where the vicinity of the end of the wiring harness body is held by the fixed holding portion, the pressing portion is moved toward the connector by the driving portion, whereby the connector is pressed outward in the long side direction by the pressing portion. In a state where the connector is pressed, tension is applied to the end of the wiring harness body between the holding position of the fixed holding portion and the connector, so that the position and posture of the connector are stabilized. Therefore, the robot hand is moved while the connector is pressed by the pressing portion, whereby the connector can be connected to the connector on the other side.

[0015] In this way, the robot hand grasps the wire harness body instead of the connector, so the same robot hand can be used to connect various types of connectors. That is, a highly versatile robot hand suitable for automated wiring work of wire harnesses can be provided.

[0016] In the above aspect, the following method may also be adopted: the pressing portion is arranged with the fixed holding portion along the long side direction of the wire harness body held by the fixed holding portion, and is a movable holding portion that holds the wire harness body, and the movable holding portion is capable of holding the wire harness body in a fixed state where the wire harness body is held in a manner that it cannot be moved in the long side direction, or in a held state where the wire harness body is held in a manner that it can be moved in the long side direction.

[0017] According to this configuration, the end portion of the wire harness main body can be stably grasped at two positions spaced apart in the longitudinal direction by the fixed grasping portion and the movable grasping portion.

[0018] In the above aspect, the following method may be adopted: the robot hand includes: two groups of the fixed holding parts, the pressing parts and the driving parts, one group of the fixed holding parts holds the wiring harness body near the end of one side, and the other group of the fixed holding parts holds the wiring harness body near the end of the other side.

[0019] According to this structure, the two fixed gripping parts are used to grip the vicinity of the two ends of the wire harness body, so that the wire harness can be stably gripped. Moreover, the robot hand is moved, thereby conveying the wire harness. In addition, the positions and postures of the two connectors connected to the two ends of the wire harness body can be stabilized by each group of pressing parts and driving parts, and the two connectors can be connected to the counterpart side connector respectively.

[0020] A second aspect of the present invention is a robot arm that holds a wiring harness, wherein the wiring harness has a long wiring harness body and two connectors respectively connected to one end of the wiring harness body and the other end. The robot arm includes: a first holding portion that holds the wiring harness body near the end of one end; and a second holding portion that holds the wiring harness body near the end of the other end.

[0021] According to this aspect, the first gripping portion and the second gripping portion can grip the vicinity of both ends of the wire harness main body, thereby stably gripping the wire harness. Furthermore, the robot hand can be moved to convey the wire harness.

[0022] In this way, the robot hand grasps the wire harness body instead of the connector, so the same robot hand can be used to carry out various types of connector conveyance operations. In other words, a highly versatile robot hand suitable for automated wiring operations of wire harnesses can be provided.

[0023] In the above aspects, preferably, the robot hand includes an entirety detection unit configured to detect a position and a posture of the entire wire harness.

[0024] According to this configuration, the detection result of the entire detection unit can be used to determine the approximate position and posture of the robot hand relative to the connector.

[0025] In the above aspects, preferably, the robot hand includes a local detection unit that detects a position and a posture of an end portion of the wire harness including the connector.

[0026] According to this configuration, the detection result of the local detection unit can be used to accurately determine the position and posture of the fixed gripping portion, the first gripping portion, or the second gripping portion relative to the connector.

[0027] The third aspect of the present invention is a robot system, comprising: a robot; a robot hand of the first aspect, which is connected to the front end of the robot arm of the robot; and a robot control device, which controls the robot and the robot hand so that the robot and the robot hand perform a connector connection operation to connect the connector to the connector on the object side, and the connector connection operation includes: a process of holding the wiring harness body near the end by the fixed holding part; a process of pressing the connector by the pressing part through the action of the driving part; and a process of connecting the pressed connector to the connector on the object side through the action of the robot arm.

[0028] In the third aspect, the following method may also be adopted: the robot hand includes a local detection unit, and the local detection unit detects the position and posture of the end of the wiring harness including the connector; the robot control device is configured to, in the process of holding the wiring harness body, control the position and posture of the fixed holding unit relative to the wiring harness body based on the position and posture of the end of the wiring harness detected by the local detection unit; and in the process of connecting the connector, control the position and posture of the robot hand relative to the object side connector based on the position and posture of the connector detected by the local detection unit.

[0029] The fourth aspect of the present invention is a robot system, comprising: a robot; the robot hand described in the second aspect, which is connected to the front end of the robot arm of the robot; and a robot control device, which controls the robot and the robot hand so that the robot and the robot hand perform a conveying operation of conveying the wire harness, and the conveying operation includes: a process of grasping the wire harness body near the end of one side by the first grasping part; a process of grasping the wire harness body near the end of the other side by the second grasping part; and a process of conveying the wire harness grasped by the first grasping part and the second grasping part through the action of the robot arm.

[0030] In the fourth aspect, the following method may also be adopted: the robot hand includes: an overall detection unit, the overall detection unit detects the overall position and posture of the wiring harness, and the robot control device controls the position and posture of the robot hand relative to the wiring harness body based on the overall position and posture of the wiring harness detected by the overall detection unit during the process of holding the wiring harness body.

[0031] Effects of the Invention

[0032] According to the present invention, there is achieved an effect of being able to provide a highly versatile robot hand suitable for automating wiring work of a wire harness. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 This is a schematic diagram showing the overall configuration of a robot system according to one embodiment of the present invention.

[0034] Figure 2 This is a perspective view showing the overall structure of a robot hand according to an embodiment of the present invention when viewed from above.

[0035] Figure 3 It holds the wiring harness. Figure 2 A partial perspective view of a robot hand.

[0036] Figure 4This is an enlarged perspective view of the fixed chuck portion and the movable chuck portion as seen from above, and is a view showing a state in which the connector is pressed by the movable chuck portion.

[0037] Figure 5 It is the front view of the fixed chuck part.

[0038] Figure 6 It is a front view of the movable chuck portion.

[0039] Figure 7 Yes means Figure 1 Flowchart of the harness conveying operation and connector connection operation of the robot system.

[0040] Figure 8 The figure shows an image acquired by the camera of the gripping unit. DETAILED DESCRIPTION

[0041] Hereinafter, a robot hand 1 and a robot system 100 according to an embodiment of the present invention will be described with reference to the drawings.

[0042] like Figure 1 as well as Figure 2 As shown, the robot system 100 includes: a robot hand 1, a robot 30, and a robot control device 40 for controlling the robot 30 and the robot hand 1. Figure 3 As shown, the robot system 100 grasps the wire harness 20 , and conveys the wire harness 20 and connects the connector 22 to a counterpart connector.

[0043] The wire harness 20 includes a long and flexible wire harness body 21 and two connectors 22 disposed at both ends of the wire harness body 21. A plurality of electric wires 23 are accommodated inside the wire harness body 21. The plurality of electric wires 23 pass through the wire harness body 21 along the longitudinal direction, and the connectors 22 are connected to both ends of the plurality of electric wires 23. In the radial direction of the wire harness body 21, the connector 22 has an outer diameter larger than the outer diameter of the wire harness body 21, and the connector 22 protrudes radially outward compared to the wire harness body 21.

[0044] The robot 30 has a robot arm 30a including a plurality of joints, and a flange 30b for connecting the robot hand 1 is provided at the front end of the robot arm 30a. Figure 1In the figure, a vertical multi-joint robot having six joint axes J1 to J6 is shown as the robot 30. The robot 30 may also be other types of robots generally used for conveying objects, assembling devices, etc. The robot 30 is connected to a robot control device 40, and control instructions are supplied from the robot control device 40 to the servo motors of the joints of the robot arm 30a. The robot hand 1 is connected to the robot control device 40, and control instructions or driving forces (such as electricity or air pressure) are supplied from the robot control device 40 to the parts 4, 5, 6c, 7c, 8, and 9 of the robot hand 1.

[0045] like Figure 2 As shown, the robot hand 1 includes: a base portion 2 fixed to the flange 30b, three holding units 3 (31, 32, 33) supported by the base portion 2, three linear drive devices 4 that respectively move the three holding units 3 linearly in the direction along the central axis A of the robot hand 1, and a camera (overall detection unit) 5 that is fixed to the base portion 2 and detects the overall position and posture of the wiring harness 20. Figure 3 2 shows a state where the robot hand 1 holds the wire harness 20 .

[0046] The base portion 2 includes two flat plates 2a and 2b that are opposite to each other in the direction along the central axis A; and a plurality of pillars 2c that extend between the plates 2a and 2b and fix the plates 2a and 2b to each other. A mounting portion 2d that can be loaded and unloaded relative to the flange 30b is provided on the upper plate 2a. When the mounting portion 2d is installed on the flange 30b, the central axis A of the robot hand 1 is consistent with the central axis of the flange 30b (the sixth axis J6 in the case of a six-axis vertical multi-joint robot), and the plates 2a and 2b are arranged in a manner perpendicular to the central axis of the flange 30b. The lower plate 2b is in a Y shape with three ends. In a radial direction orthogonal to the central axis A, one end (first end) of the lower plate 2b is arranged on one side ( Figure 2 The two ends (second end and third end) of the lower plate 2b are arranged on the other side ( Figure 2 on the right side of the screen).

[0047] Hereinafter, the direction along the central axis A is defined as the up-down direction of the robot hand 1. In addition, the upper plate 2a side is defined as the upper side, and the lower plate 2b side is defined as the lower side.

[0048] The three holding units 3 (31, 32, 33) are fixed to the three ends of the lower plate 2b, respectively. Figure 2 to Figure 4As shown, each holding unit 3 includes: a pair of chuck parts 6, 7 for holding the wire harness body 21 in the radial direction, a linear drive device (drive part) 8 for linearly moving the chuck part 7, and a camera (local detection part) 9 for detecting the end of the wire harness 20 including the connector 22. The chuck parts 6, 7 and the linear drive device 8 are connected to the linear drive device 4 via a fixing plate 10.

[0049] A pair of chuck parts 6 and 7 are arranged on a plane orthogonal to the central axis A. The chuck part 6 on one side is a fixed chuck part (fixed holding part) that is fixed to the fixed plate 10 and can only move relative to the base part 2 in the direction along the central axis A. The chuck part 7 on the other side is a movable chuck part (pressing part, movable holding part) that can move relative to the fixed plate 10 and the fixed chuck part 6 along the arrangement direction of the pair of chuck parts 6 and 7. The movable chuck part 7 is arranged at a position radially outward of the fixed chuck part 6 (a position away from the central axis A), thereby, when the fixed chuck part 6 holds the wiring harness body 21, the movable chuck part 7 is arranged between the fixed chuck part 6 and the connector 22.

[0050] The fixed chuck part 6 includes: a pair of claws 6a, 6b facing each other; and an electric cylinder 6c for opening and closing the pair of claws 6a, 6b. The pair of claws 6a, 6b face each other in a direction orthogonal to the arrangement direction of the pair of chuck parts 6, 7. Figure 5 As shown, a groove 6d is formed on the inner surface of each claw 6a, 6b, extending along the arrangement direction of the pair of chuck parts 6, 7, and into which a part of the wire harness body 21 is inserted in the radial direction. The electric cylinder 6c moves the pair of claws 6a, 6b in the closing direction approaching each other, thereby the fixed chuck part 6 holds the wire harness body 21 between the pair of claws 6a, 6b in a state where the wire harness body 21 is stored in the groove 6d. On the other hand, the electric cylinder 6c moves the pair of claws 6a, 6b in the opening direction away from each other, thereby releasing the wire harness body 21 from the fixed chuck part 6.

[0051] The movable chuck part 7 includes: a pair of claws 7a, 7b facing each other; and an electric cylinder 7c for opening and closing the pair of claws 7a, 7b. The pair of claws 7a, 7b face each other in a direction orthogonal to the arrangement direction of the pair of chuck parts 6, 7. Figure 6 As shown, a groove 7d is formed on the inner surface of each claw 7a, 7b, extending along the arrangement direction of the pair of chuck parts 6, 7 and into which a part of the harness body 21 is radially inserted. The electric cylinder 7c moves the pair of claws 7a, 7b in the closing direction approaching each other, whereby the movable chuck part 7 holds the harness body 21 between the pair of claws 7a, 7b while the harness body 21 is stored in the groove 7d. On the other hand, the electric cylinder 7c moves the pair of claws 7a, 7b in the opening direction away from each other, whereby the movable chuck part 7 releases the harness body 21.

[0052] The robot control device 40 controls the positions of the claws 6a, 6b and the claws 7a, 7b through the electric cylinders 6c, 7c, thereby adjusting the holding force of each chuck part 6, 7 on the harness body 21. The fixed chuck part 6 holds the harness body 21 in a fixed state that cannot move in the long-side direction. The movable chuck part 7 selects one of the fixed state that cannot move in the long-side direction and the holding state that can move in the long-side direction to hold the harness body 21.

[0053] The linear drive device 8 is connected to the movable chuck portion 7 via the movable plate 11. The linear drive device 8 is, for example, an electric cylinder, and can control the movement amount and stop position of the movable chuck portion 7. The linear drive device 8 moves the movable chuck portion 7 linearly in a direction approaching the fixed chuck portion 6 and a direction away from the fixed chuck portion 6 along the arrangement direction of the pair of chuck portions 6 and 7.

[0054] The camera 9 is, for example, a two-dimensional camera. The camera 9 is fixed to the base portion 2 (the lower plate 2b in the example shown in the figure) and is arranged above the movable chuck portion 7. The camera 9 faces downward and has a field of view including the movable chuck portion 7 and its surroundings. The image obtained by the camera 9 is sent to the robot control device 40.

[0055] Each linear drive device 4 is fixed to the base 2 and supports a pair of chucks 6, 7 and a linear drive device 8 via a fixing plate 10. Each linear drive device 4 linearly moves the pair of chucks 6, 7 and the linear drive device 8 integrally in the vertical direction. The linear drive device 4 is, for example, an air cylinder or an electric cylinder.

[0056] The camera 5 is, for example, a two-dimensional camera. The camera 5 is fixed to the base 2 (in the example shown in the figure, the upper plate 2a) and faces downward. The focal length of the camera 5 is longer than that of the camera 9, and the camera 5 has a wide field of view including the entire wire harness 20 arranged below the robot hand 1. The image obtained by the camera 5 is sent to the robot control device 40.

[0057] The robot control device 40 includes: a control unit having a processor; and a storage unit having a RAM, a ROM, a non-volatile memory, etc. The storage unit stores an action program for causing the robot hand 1 and the robot 30 to perform the wiring operation of the wire harness 20. The control unit controls the robot hand 1 and the robot 30 according to the action program, thereby causing the robot hand 1 and the robot 30 to perform the wiring operation of the wire harness 20.

[0058] Next, the wiring operation of the wire harness 20 of the robot hand 1 and the robot 30 will be described.

[0059] like Figure 7As shown, the wiring operation of the wire harness 20 includes conveying operations S1 to S6 of grasping and conveying the wire harness 20 by the grasping units 31 and 32 and connector connecting operations S7 to S9 of connecting the connector 22 to a counterpart connector (eg, a connector provided in a device).

[0060] The wire harness 20 is supplied to a predetermined supply position by a supply device (not shown). First, the robot hand 1 is moved to above the wire harness 20 at the supply position by the operation of the robot arm 30a.

[0061] Next, in step S1 , the camera 5 acquires an image including the entire wire harness 20 disposed below the robot hand 1 , and the robot control device 40 detects the entire position and posture of the wire harness 20 and further detects the positions and postures of the two connectors 22 based on the image.

[0062] Next, in step S2 , the robot arm 30 a operates based on the detected position and posture of one connector 22 to move the robot hand 1 and position the first gripping unit 31 at the first end of the lower plate 2 b above the one connector 22 .

[0063] Next, in step S3, the camera 9 of the first holding unit 31 acquires an image including the connector 22 disposed below the first holding unit 31 and one end of the harness body 21 adjacent thereto. Figure 8 As shown, the robot control device 40 detects the positions and postures of the connector 22 and one end portion of the harness main body 21 based on an image.

[0064] Next, in step S4, the robot arm 30a and the linear drive device 4 operate based on the detected positions and postures of the connector 22 and one end of the harness body 21, whereby the pair of chuck portions 6 and 7 of the first gripping unit 31 are arranged at positions of the harness body 21 separated from the connector 22 by a predetermined distance along the long side direction of the harness body 21. At this time, the pair of chuck portions 6 and 7 are arranged along the long side direction of the harness body 21, and the movable chuck portion 7 is arranged between the fixed chuck portion 6 and one of the connectors 22. Next, as Figure 3 As shown, the fixed chuck part 6 (first gripping part) and the movable chuck part 7 grip the wire harness body 21 by a pair of claws 6a, 6b and claws 7a, 7b, respectively. Thus, the wire harness body 21 is gripped by the pair of chuck parts 6, 7 near one end.

[0065] Next, steps S2 to S4 are repeated. That is, in the second step S2, the robot arm 30a operates based on the position of the other connector 22 detected in step S1, thereby moving the robot hand 1 and placing the second gripping unit 32 at the second end of the lower plate 2b above the other connector 22.

[0066] Next, in the second step S3, the camera 9 of the second holding unit 32 obtains an image including the connector 22 on the other side arranged below the second holding unit 32 and the other end of the wiring harness body 21 adjacent thereto, and the robot control device 40 detects the positions of the connector 22 and the other end of the wiring harness body 21 based on the image.

[0067] Next, in the second step S4, the robot arm 30a and the linear drive device 4 operate based on the detected positions of the connector 22 and the other end of the harness body 21, whereby the pair of chuck parts 6 and 7 of the second holding unit 32 are positioned at positions of the harness body 21 separated from the connector 22 by a predetermined distance along the long side direction of the harness body 21. At this time, the pair of chuck parts 6 and 7 are arranged along the long side direction of the harness body 21, and the movable chuck part 7 is arranged between the fixed chuck part 6 and the other connector 22. Next, the fixed chuck part 6 (second holding part) and the movable chuck part 7 hold the harness body 21 by a pair of claws 6a and 6b and claws 7a and 7b, respectively. As a result, the harness body 21 is held by the pair of chuck parts 6 and 7 near the other end.

[0068] After both ends of the wire harness body 21 are grasped by the two grasping units 31 and 32 (Yes in step S5), in step S6, the robot hand 1 and the wire harness 20 are transported from the supply position to the connection position where the counterpart connector is arranged by the operation of the robot arm 30a.

[0069] Next, in step S7, the movable chuck portion 7 of the first holding unit 31 weakens the holding force to hold the harness body 21 in a state where it can move in the longitudinal direction. Next, while the fixed chuck portion 6 is holding the harness body 21 in a fixed state, the linear drive device 8 moves the movable chuck portion 7 in a direction away from the fixed chuck portion 6. Figure 4 As shown, the movable chuck portion 7 moves along the longitudinal direction of the harness body 21 to a position where the claws 7a and 7b press the end surface of the connector 22 on the harness body 21 side toward the outside of the longitudinal direction of the harness body 21. Figure 3As shown, when there is a gap between the end of the harness body 21 and the connector 22 and the highly flexible wire 23 is exposed, the position and posture of the connector 22 are easily changed by the bending of the exposed wire 23. By pressing the connector 22 on one side outward in the longitudinal direction by the movable chuck part 7, a tension is applied to the portion between the gripping position of the fixed chuck part 6 of the harness 20 and the connector 22, and the position and posture of the connector 22 on one side are stabilized.

[0070] Next, in step S8, the camera 9 of the first gripping unit 31 acquires an image of one connector 22, and the robot control device 40 detects the posture of one connector 22. Next, the robot arm 30a operates based on the detected posture of the connector 22, thereby connecting the one connector 22 gripped by the first gripping unit 31 to the counterpart connector.

[0071] Next, steps S7 and S8 are repeated. That is, in the second step S7, the movable chuck portion 7 of the second holding unit 32 holds the harness body 21 in a holding state by weakening the holding force, and the linear drive device 8 moves the movable chuck portion 7 in a direction away from the fixed chuck portion 6, and the claws 7a and 7b press the end surface of the other connector 22 on the harness body 21 side toward the outside in the long side direction of the harness body 21. As a result, the position and posture of the other connector 22 are stabilized.

[0072] Next, in the second step S8, the camera 9 of the second gripping unit 32 acquires an image of the other connector 22, and the robot control device 40 detects the posture of the other connector 22. Next, the robot arm 30a operates based on the detected posture of the connector 22, thereby connecting the other connector 22 gripped by the second gripping unit 32 to the counterpart connector.

[0073] After all the connectors 22 of the wire harness 20 are connected to the counterpart connector (Yes in step S9 ), the robot hand 1 returns to the supply position and steps S1 to S9 are repeated.

[0074] Thus, according to the present embodiment, the robot hand 1 is provided with at least two gripping units 31 and 32 disposed at positions separated from each other along the longitudinal direction of the wire harness body 21. Furthermore, by gripping both ends of the wire harness 20 with the two gripping units 31 and 32, the long and flexible wire harness 20 can be stably held. Thus, the conveyance of the wire harness 20 from the supply position to the connection position can be automated.

[0075] In addition, the position and posture of the chuck parts 6 and 7 at the supply position relative to the wire harness 20 are controlled based on the detection results of the cameras 5 and 9. Therefore, even if the positions and postures of the ends of the wire harness body 21 and the connectors 22 are uncertain at the supply position, the wire harness body 21 can be appropriately grasped by the chuck parts 6 and 7. As a result, the robot hand 1 can be set to a configuration more suitable for automatic conveyance of the wire harness 20.

[0076] In addition, each of the holding units 31, 32, and 33 is provided with a movable chuck portion 7 that presses the connector 22 in a state where the end of the wire harness body 21 is fixed by the fixed chuck portion 6. By pressing the connector 22 by the movable chuck portion 7, a state in which tension is applied to the wire harness body 21 and the electric wires 23 is maintained between the holding position of the wire harness body 21 by the fixed chuck portion 6 and the connector 22. Thus, the position and posture of the connector 22 can be stabilized, and the connection of the connector 22 to the connector on the other side can be automated.

[0077] In addition, each chuck part 6, 7 does not hold the connector 22 itself but holds the wire harness body 21. Therefore, regardless of the shape of the connector 22, the wire harness 20 can be held and conveyed by the robot hand 1, and the connector 22 can be connected to the connector on the other side. In addition, even if the connector 22 is a type of connector in which the connector 22 is inserted as a whole into the connector on the other side, the connector 22 can be connected to the connector on the other side by moving the robot hand 1. In this way, the same robot hand 1 can be used to automatically convey and automatically connect the wire harness 20 having various types of connectors 22, and a robot hand 1 with high versatility can be provided.

[0078] In this embodiment, although the conveyance and connection of the wire harness 20 having two connectors 22 are described, the robot hand 1 can also handle a Y-shaped wire harness 20 having three connectors 22. That is, the wire harness 20 may have a branch portion at a midway position in the long side direction of the wire harness body 21, a single connector 22 at one end side, and two connectors 22 at the other end side. In this case, the gripping and connection of the third connector 22 is performed by the third gripping unit 33 at the third end portion of the lower plate 2b.

[0079] In addition, the number of gripping units of the robot hand 1 can be appropriately changed according to the number of connectors 22 of the harness 20 to be gripped. For example, when a harness 20 having two connectors 22 is used, two gripping units are provided at the two ends of the I-shaped lower plate. When a harness 20 having four connectors 22 is used, four gripping units are provided at the four ends of the X-shaped lower plate.

[0080] In the present embodiment, the pressing part for pressing the connector 22 is the movable chuck part 7, but it may be replaced by other mechanisms. For example, the following component may be set as the pressing part, that is, a component that can support the wire harness body 21 and can be extended and retracted along the long side direction of the wire harness body 21 in the fixed chuck part 6.

[0081] In the present embodiment, the entire detection unit is a camera that acquires an image of the harness 20, but it may be another type of sensor instead. Similarly, the partial detection unit may be a sensor other than a camera.

[0082] In the present embodiment, the robot hand 1 is described as performing both conveyance of the wire harness 20 and connection of the connector 22 . However, the robot hand may be designed to perform only one of conveyance of the wire harness 20 and connection of the connector 22 .

[0083] For example, in the case of a robot hand dedicated to conveying the wire harness 20, the movable chuck portion 7 may not be included. In the case of a robot hand dedicated to connecting the connector 22, only one grasping unit may be included.

[0084] Reference numerals

[0085] 1: Robotic Hand

[0086] 2: Base

[0087] 3, 31, 32, 33: Holding unit

[0088] 4: Linear drive device

[0089] 5: Camera (overall detection unit)

[0090] 6: Fixed chuck part (fixed grip part)

[0091] 7: Movable chuck part (pressing part, movable gripping part)

[0092] 8: Linear drive device (drive unit)

[0093] 9: Camera (local detection unit)

[0094] 20: Harness

[0095] 21: Harness body

[0096] 22: Connector

[0097] 30: Robot

[0098] 30a: Robotic Arm

[0099] 40: Robot control device

[0100] 100: Robotic Systems

Claims

1. A robot hand for holding a wire harness, characterized in that: The wire harness comprises a long wire harness body and a connector connected to a terminal end of the wire harness body; The robot hand comprises: a fixed holding portion that holds the wire harness body near the end; a pressing portion that is movable relative to the fixed holding portion in the longitudinal direction of the wire harness main body held by the fixed holding portion; and a driving portion that moves the pressing portion in a direction away from the fixed holding portion so that the pressing portion presses the connector outward in the long side direction of the wiring harness body; The fixed gripping portion and the pressing portion are supported to move along a central axis of the robot hand relative to a base portion of the robot hand; The pressing portion is arranged with the fixed holding portion along the long side direction of the wire harness body held by the fixed holding portion, and holds the movable holding portion of the wire harness body; The movable gripping portion can grip the wire harness main body in a fixed state where the wire harness main body is gripped so as not to be movable in the longitudinal direction, or in a held state where the wire harness main body is gripped so as to be movable in the longitudinal direction.

2. The robot hand according to claim 1, It is characterized in that It comprises: two groups of the fixed holding parts, the pressing parts and the driving parts; One set of the fixed gripping parts grips the wire harness main body near one end, and the other set of the fixed gripping parts grips the wire harness main body near the other end.

3. A robot hand for holding a wire harness, characterized in that: The wire harness has a long wire harness body and two connectors connected to one end and the other end of the wire harness body respectively; The robot hand comprises: a first gripping portion that grips the wire harness body near the distal end of the one end; a second gripping portion that grips the wire harness main body near the other end; and a movable holding portion capable of moving along the long side direction of the wire harness body relative to at least one of the first holding portion and the second holding portion; The first gripping portion, the second gripping portion, and the movable gripping portion are supported relative to the base portion of the robot hand so as to be movable in a direction along the central axis of the robot hand; The movable gripping portion can grip the wire harness main body in a fixed state where the wire harness main body is gripped so as not to be movable in the longitudinal direction, or in a held state where the wire harness main body is gripped so as to be movable in the longitudinal direction.

4. The robot hand according to any one of claims 1 to 3, characterized in that: include: The entirety detection unit detects the position and posture of the entirety of the wire harness.

5. The robot hand according to any one of claims 1 to 3, characterized in that: include: A local detection unit detects a position and a posture of an end portion of the wire harness including the connector.

6. A robot system, characterized in that: include: robot; The robot hand according to any one of claims 1 to 3, connected to the front end of the robot arm of the robot; as well as a robot control device that controls the robot and the robot hand so that the robot and the robot hand perform a connector connection operation of connecting the connector to a counterpart connector; The connector connection operation includes: a process of holding the wiring harness body near the end by the fixed holding portion; a process of pressing the connector by the pressing portion through the action of the driving portion; and a process of connecting the pressed connector to the connector on the object side through the action of the robot arm.

7. The robot system according to claim 6, characterized in that: The robot hand includes: a local detection unit that detects a position and a posture of an end portion of the wire harness including the connector; The robot control device is configured as follows: In the step of holding the wire harness main body, based on the position and posture of the end of the wire harness detected by the local detection unit, the position and posture of the fixed holding unit relative to the wire harness main body are controlled; In the step of connecting the connector, the position and posture of the robot hand relative to the counterpart connector are controlled based on the position and posture of the connector detected by the local detection unit.

8. A robot system, characterized in that: include: robot; The robot hand of claim 3, connected to the front end of the robot arm of the robot; as well as a robot control device, which controls the robot and the robot hand so that the robot and the robot hand perform a conveying operation of conveying the wire harness; The conveying operation includes: a process of holding the wire harness body near the end of one side by the first holding part; a process of holding the wire harness body near the end of the other side by the second holding part; and a process of conveying the wire harness held by the first holding part and the second holding part by the action of the robot arm.

9. The robot system according to claim 8, characterized in that: The robot hand includes: an overall detection unit, the overall detection unit detects the overall position and posture of the wire harness; The robot control device controls the position and posture of the robot hand relative to the wire harness main body based on the overall position and posture of the wire harness detected by the overall detection unit in the step of grasping the wire harness main body.

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