Manipulator and method for operating manipulator

Abstract

This robot hand is provided with: a first finger member; an intermediate member rotatably coupled to the first finger member; a second finger member rotatably coupled to the intermediate member; and a guide member rotatably connected to the second finger member and having a first guide portion, the first finger member having a first guided portion, and the first guided portion being rotatably and movably disposed in the first guide portion.

Description

Technical Field

[0001] The present disclosure relates to a robot and a method for operating the robot. Background Art

[0002] In the past, a manipulator using an underactuated mechanism has been proposed. By using an underactuated mechanism in a manipulator, a plurality of joints can be moved with a small number of actuators, and the overall structure of the manipulator can be simplified. For example, according to the manipulator disclosed in Patent Document 1, a finger composed of a base link, a front link, a rear link, and a fingertip link can be made to conform to the shape of an object to grasp an object.

[0003] Prior art literature

[0004] Patent Literature

[0005] Patent Document 1: Japanese Patent No. 6689872 Summary of the invention

[0006] Problem that the invention aims to solve

[0007] While adopting the under-actuated mechanism, it is also required to improve the usability of the manipulator.

[0008] The technical problem to be solved by the present disclosure is to improve the convenience of using the robot.

[0009] Solutions to the problem

[0010] The robot arm disclosed in the present invention has:

[0011] First finger component;

[0012] An intermediate member rotatably connected to the first finger member;

[0013] A second finger member rotatably connected to the middle member; and

[0014] The guide member is rotatably connected to the second finger member and includes a first guide portion.

[0015] The first finger member includes a first guided portion, and the first guided portion is rotatably and movably arranged in the first guide portion.

[0016] The action method of the robot disclosed in the present invention comprises the following steps:

[0017] The first finger member, the intermediate member, the second finger member, and the guide member are arranged along a straight line, wherein the first finger member includes a first guided portion, the intermediate member is rotatably connected to the first finger member, the second finger member is rotatably connected to the intermediate member, and the guide member is rotatably connected to the second finger member and includes a first guide portion;

[0018] while moving the first guided portion along the first guide portion, rotating the first finger member in a first rotation direction relative to the intermediate member; and

[0019] The second finger member is rotated relative to the intermediate member in a second rotational direction, the second rotational direction being opposite to the first rotational direction.

[0020] Effects of the Invention

[0021] According to the present disclosure, the usability of the robot can be improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 is a side view of the robot in insertion mode.

[0023] Figure 2 is a side view of the manipulator during mode transition.

[0024] Figure 3 This is a side view of the robot in a state where the transition to the gripping mode is completed.

[0025] Figure 4 It is a side view of the robot arm in a grasping action.

[0026] Figure 5 This is a state transition diagram of the manipulator when an external force is applied to the second finger component.

[0027] Figure 6 This is a state transition diagram of the manipulator when an external force is applied to the second finger component.

[0028] Figure 7 This is a state transition diagram of the manipulator when an external force is applied to the second finger component.

[0029] Figure 7 This is a state transition diagram of the manipulator when an external force is applied to the second finger component.

[0030] Fig. 9 This is a state transition diagram that explains the gripping operation of the robot while inserting into a narrow gap.

[0031] Fig.10 This is a state transition diagram that explains the gripping operation of the robot while inserting into a narrow gap.

[0032] Fig.11 A state transition diagram illustrating the gripping operation of the robot while inserting into a narrow gap.

[0033] Fig.12 A state transition diagram illustrating the gripping operation of the robot while inserting into a narrow gap.

[0034] Fig.13 A state transition diagram illustrating the gripping operation of the robot while inserting into a narrow gap.

[0035] Fig.14 It is an enlarged view of the first finger component and the middle component.

[0036] Fig.15 It is an enlarged view of the first finger component and the connecting rod component.

[0037] Fig.16 It is an enlarged view of the first finger component and the connecting rod component. DETAILED DESCRIPTION

[0038] Hereinafter, embodiments of the present disclosure will be described based on the drawings.

[0039] (Structure and operation example)

[0040] Figure 1 This is a side view of a robot 100 according to one embodiment of the present disclosure. Figure 1 The robot 100 is in the insertion mode. The robot 100 includes a guide member 1 , a first finger member 2 , an intermediate member 3 , a second finger member 4 , a link member 5 , a drive unit 6 , and a stopper 7 .

[0041] The guide member 1 is a long member extending in one direction. Hereinafter, the direction in which the guide member 1 extends is referred to as the Z direction. In addition, a direction orthogonal to the Z direction is referred to as the X direction, and a direction orthogonal to the Z direction and the X direction is referred to as the Y direction. The X direction, the Y direction, and the Z direction are directions along the X axis, the Y axis, and the Z axis, respectively, which constitute an orthogonal coordinate system.

[0042] The guide member 1 may be a rod-shaped member extending in the Z direction, or may be a flat plate-shaped member along the YZ plane.

[0043] The guide member 1 includes a first guide portion 1a extending linearly in the direction (ie, Z direction) in which the guide member 1 extends. The first guide portion 1a is, for example, an elongated groove having a bottom, or an elongated through hole, ie, a slot.

[0044] The first finger member 2 is a long member extending in one direction. The first finger member 2 is arranged so as to overlap with the guide member 1 in the Y direction in the insertion mode. The first finger member 2 may be a rod-shaped member or a flat plate-shaped member.

[0045] The first finger member 2 includes a first guided portion 2a protruding in the Y direction. The first guided portion 2a is rotatably and movably disposed in the first guide portion 1a. The first guided portion 2a is, for example, a pin.

[0046] The first finger member 2 includes a second guided portion 2b protruding in the Y direction. The second guided portion 2b is, for example, a pin.

[0047] The intermediate member 3 is a long member extending in one direction. The intermediate member 3 is arranged so as to overlap with the guide member 1 in the Y direction in the insertion mode. The intermediate member 3 may be a rod-shaped member or a flat plate-shaped member.

[0048] The intermediate member 3 includes a second guide portion 3a extending linearly in the extending direction of the intermediate member 3. The second guide portion 3a is, for example, an elongated groove having a bottom, or an elongated through hole, that is, a slot.

[0049] The second guided portion 2b is rotatably and movably arranged in the second guide portion 3a. By rotatably arranging the second guided portion 2b in the second guide portion 3a, the intermediate member 3 is rotatably connected to the first finger member 2. The intermediate member 3 is connected to one end of the first finger member 2.

[0050] The first finger member 2 and the intermediate member 3 are configured in such a manner that when the first finger member 2 and the intermediate member 3 are arranged along a straight line (see Figure 1 ), the second guided portion 2b is restrained from moving in the second guide portion 3a. Figure 1 In the state shown in FIG. 1 , the first finger member 2 cannot move relative to the intermediate member 3 in the Z direction. In addition, when the first finger member 2 and the intermediate member 3 are arranged in a manner orthogonal to each other (see FIG. 1 ), the first finger member 2 and the intermediate member 3 are arranged in a manner orthogonal to each other (see FIG. 1 ). Figure 3 ), allowing the second guided portion 2b to move in the second guide portion 3a. Figure 3 In the state shown, the first finger component 2 can move relative to the intermediate component 3 in the Z direction.

[0051] The second finger member 4 is a long member extending in one direction. The second finger member 4 is arranged so that a part of the second finger member 4 overlaps with the guide member 1 in the Y direction in the insertion mode. The second finger member 4 may be a rod-shaped member or a flat plate-shaped member.

[0052] The second finger member 4 is rotatably connected to the intermediate member 3. The second finger member 4 is connected to an end of the intermediate member 3 at an end of the second finger member 4.

[0053] The connection mechanism between the second finger member 4 and the intermediate member 3 may be any mechanism as long as the second finger member 4 and the intermediate member 3 are rotatable relative to each other. The connection mechanism may be formed, for example, by inserting a pin 4a extending from the second finger member 4 in the Y direction into a through hole formed in the intermediate member 3 and extending in the Y direction.

[0054] The second finger member 4 is rotatably connected to the guide member 1. The portion of the second finger member 4 between the ends of the second finger member 4, that is, the middle portion of the second finger member 4, is connected to the end of the guide member 1.

[0055] The connection mechanism between the second finger member 4 and the guide member 1 may be any mechanism as long as the second finger member 4 and the guide member 1 are rotatable relative to each other. The connection mechanism may be formed, for example, by inserting a pin 4b extending from the second finger member 4 in the Y direction into a through hole formed in the guide member 1 and extending in the Y direction.

[0056] The link member 5 is a long member extending in one direction. The link member 5 is arranged so as to overlap with the guide member 1 in the Y direction in the insertion mode. The link member 5 may be a rod-shaped member or a flat plate-shaped member.

[0057] The link member 5 includes a third guided portion 5a protruding in the Y direction. The third guided portion 5a is rotatably and movably disposed in the first guide portion 1a. The third guided portion 5a is, for example, a pin.

[0058] The link member 5 is rotatably connected to the first finger member 2. The link member 5 is connected to the end of the first finger member 2 at the end of the link member 5.

[0059] The connection mechanism between the link member 5 and the first finger member 2 may be any mechanism as long as the link member 5 and the first finger member 2 are rotatable relative to each other. The connection mechanism may be formed, for example, by inserting a pin 5b extending from the link member 5 in the Y direction into a through hole formed in the first finger member 2 and extending in the Y direction.

[0060] The driving part 6 is a long member extending in one direction. The driving part 6 is arranged so that a part of the driving part 6 overlaps with the guide member 1 in the Y direction in the insertion mode. The driving part 6 may be a rod-shaped member or a flat plate-shaped member.

[0061] The driving unit 6 is configured to move linearly along the direction (i.e., Z direction) in which the guide member 1 extends by means of an actuator. The actuator that moves the driving unit 6 may have, for example, a rack-and-pinion mechanism operated by means of a motor or a fluid pressure cylinder operated by means of a working fluid such as air or oil.

[0062] The driving portion 6 is rotatably connected to the link member 5. The driving portion 6 is connected to the end of the link member 5 at the end of the driving portion 6.

[0063] The connection mechanism between the driving part 6 and the connecting rod member 5 may be any mechanism as long as the driving part 6 and the connecting rod member 5 are rotatable relative to each other. The connection mechanism may be formed, for example, by inserting a pin extending from the driving part 6 in the Y direction into a through hole formed in the connecting rod member 5 and extending in the Y direction. The pin may be formed by the third guided portion 5a. In other words, the connecting rod member 5 and the driving part 6 may be rotatably connected by the third guided portion 5a disposed in the first guide portion 1a.

[0064] The stopper 7 is a block-shaped or thick plate-shaped component extending in the direction in which the guide member 1 extends (i.e., the Z direction). The stopper 7 is configured to overlap with the guide member 1 in the X direction. The stopper 7 can be configured to contact the guide member 1. The stopper 7 is fixed in a manner that at least a part of it does not move relative to the guide member 1. The thickness of the stopper 7 (i.e., the dimension in the direction in which the guide member 1 overlaps with the stopper 7, i.e., the X direction) is set so that the distance from the center of the first guided portion 2a to the back of the stopper 7 is greater than the center-to-center distance between the first guided portion 2a and the second guided portion 2b. The back of the stopper 7 is a surface located on the back side of a surface of the stopper 7 that is opposite to the guide member 1.

[0065] The stopper 7 is made of an elastically deformable material, such as rubber. When an external force is applied in the direction in which the guide member 1 and the stopper 7 overlap (i.e., the X direction), the stopper 7 is easily bent and deformed, and when the external force is not applied, the stopper 7 returns to its original shape (i.e., the X direction). Figure 1 On the other hand, when an external force is applied in the direction in which the stopper 7 extends (ie, the Z direction), the stopper 7 is hardly deformed, and even if it is deformed, the amount of deformation is small.

[0066] The robot 100 configured as described above operates as follows.

[0067] First, if Figure 1 As shown, the guide member 1, the first finger member 2, the intermediate member 3, the second finger member 4, the link member 5, and the driving unit 6 are arranged along a straight line. If the direction in which the guide member 1 extends is defined as the Z direction, the guide member 1, the first finger member 2, the intermediate member 3, the second finger member 4, the link member 5, and the driving unit 6 are arranged so as to be arranged on a straight line extending along the Z direction. Such an arrangement can be achieved by using an actuator that moves the driving unit 6 to move the driving unit 6 in a direction away from the first finger member 2 and the second finger member 4.

[0068] In this state, the actuator is operated to move the driving unit 6 in the Z direction. Specifically, the driving unit 6 is relatively moved with respect to the guide member 1 so as to approach the first finger member 2 and the second finger member 4. Then, the driving unit 6 presses the link member 5 in the Z direction via the connection mechanism between the driving unit 6 and the link member 5 (which may be the third guided portion 5a). The link member 5 presses the first finger member 2 in the Z direction via the pin 5b. The first finger member 2 presses the intermediate member 3 in the Z direction via the second guided portion 2b whose movement is restricted in the second guide portion 3a. The intermediate member 3 presses the second finger member 4 in the Z direction via the pin 4a.

[0069] The second finger member 4 is rotatably connected to the guide member 1 via a pin 4 b , but the second finger member 4 cannot move relative to the guide member 1 in the Z direction.

[0070] Therefore, at least one of the first finger member 2 , the second finger member 4 , and the link member 5 rotates relative to the guide member 1 .

[0071] Then, the driving unit 6 further moves in the Z direction, so that the robot 100 becomes Figure 2 Status shown. Figure 2 The state in which the robot 100 is in mode switching is shown.

[0072] At this time, the driving portion 6 , the link member 5 , the first finger member 2 , the intermediate member 3 , and the second finger member 4 are in a state where bending occurs between the members connected to themselves.

[0073] Specifically, the first finger member 2 is rotated in the first rotation direction relative to the intermediate member 3 while the first guided portion 2a is moved along the first guide portion 1a. Figure 2 In the state shown, the first rotation direction is counterclockwise. The rotation center of the first finger member 2 relative to the intermediate member 3 is the second guided portion 2b.

[0074] In addition, the second finger member 4 rotates in the second rotation direction relative to the intermediate member 3. The second rotation direction is the direction opposite to the first rotation direction. Figure 2 In the state shown, it is clockwise. The rotation center of the second finger member 4 relative to the intermediate member 3 is the pin 4a. In addition, the second finger member 4 also rotates in the second rotation direction relative to the guide member 1. The rotation center of the second finger member 4 relative to the guide member 1 is the pin 4b.

[0075] In addition, while the third guided portion 5a is moved along the first guide portion 1a, the link member 5 is rotated in the second rotation direction relative to the first finger member 2 and the drive portion 6. The rotation center of the link member 5 relative to the first finger member 2 is the pin 5b. The rotation center of the link member 5 relative to the drive portion 6 is the connection mechanism between the drive portion 6 and the link member 5 (which may be the third guided portion 5a).

[0076] When the first finger member 2 moves while rotating, at least one of the first finger member 2 and the intermediate member 3 presses the side surface of the stopper 7 that is opposite to the guide member 1. The force pressing the stopper 7 has a component in the X direction. Therefore, the stopper 7 is elastically deformed in a manner of bending in the X direction. Since the stopper 7 is flexible, one end of the first finger member 2 (the end where the second guided portion 2b is arranged) can move to a position on the opposite side of the other end of the first finger member 2 (the end where the pin 5b is arranged) across the guide member 1. That is, since the stopper 7 is flexible, the first finger member 2 can easily rotate with the first guided portion 2a as the rotation center, and can move while sliding on the front surface of the stopper 7 while contacting the stopper 7.

[0077] In addition, the stopper 7 may have a long strip shape extending along the guide member 1 in a manner to prevent the link member 5 from rotating in the first rotation direction relative to the drive unit 6. In addition, the stopper 7 may be configured to prevent the drive unit 6 from rotating around the third guided portion 5a relative to the guide member 1. That is, the stopper 7 may be configured to guide the drive unit 6 in a manner to enable the drive unit 6 to move in the Z direction. For example, the stopper 7 may have a shape that is in line contact or surface contact with the drive unit 6, and may be configured to be in line contact or surface contact with the drive unit 6.

[0078] When the first finger member 2 rotates around the first guided portion 2a, the intermediate member 3 moves in the X direction in coordination with the movement of the second guided portion 2b in the X direction. As a result, the end portion of the first finger member 2 corresponding to the fingertip, that is, the end portion where the pin 5b is arranged, moves in the -X direction. In other words, the fingertip of the first finger member 2 protrudes.

[0079] The second finger member 4 rotates in conjunction with the rotation and movement of the first finger member 2 and the movement of the intermediate member 3. As a result, the end portion of the second finger member 4 corresponding to the fingertip, that is, the end portion different from the end portion where the pin 4a is arranged, moves in the -X direction. In other words, the fingertip of the second finger member 4 protrudes.

[0080] In addition, the rotation of the first finger member 2 and the rotation of the second finger member 4 are closely related to each other, and there is no master-slave relationship between these rotations. That is, the first finger member 2 rotates in conjunction with the rotation of the second finger member 4, and the second finger member 4 rotates in conjunction with the rotation of the first finger member 2.

[0081] When the first finger part 2 and the second finger part 4 are Figure 1 When the state shown is rotated 90 degrees, the rotation of the first finger member 2 and the second finger member 4 is completed, and the mode conversion from the insertion mode to the conversion mode is completed. In other words, the transition to the conversion mode is essentially to arrange the first finger member 2 and the second finger member parallel to each other.

[0082] Figure 3 This shows a state in which the robot 100 has completed the transition to the gripping mode, that is, a state in which the first finger member 2 and the second finger member 4 have completed the rotation.

[0083] The distance from the connection portion between the first finger member 2 and the link member 5 (i.e., the pin 5b) to the first guided portion 2a is set to a size such that three line segments connecting the following three points, namely, the first guided portion 2a, the connection portion between the first finger member and the link member (i.e., the pin 5b), and the third guided portion 5a, can describe a right triangle. When the third guided portion 5a is moved along the first guide portion 1a while the link member 5 is rotated in the second rotation direction relative to the first finger member 2, a state is achieved in which the three line segments connecting the third guided portion 5a, the pin 5b, and the second guided portion 2b describe a right triangle. At this time, the first finger member 2 cannot be further rotated relative to the link member 5. In addition, the first finger member 2 is in a state of being orthogonal to the guide member 1. Therefore, the first finger member 2 can be easily made orthogonal to the guide member 1 by simply moving the drive unit 6. In addition, at the same time, the second finger member 4 can be made orthogonal to the guide member 1.

[0084] The distance from the connection portion between the first finger member 2 and the intermediate member 3 (i.e., the second guided portion 2b) to the first guided portion 2a is equal to the distance from the connection portion between the intermediate member 3 and the second finger member 4 (i.e., the pin 4b) to the connection portion between the second finger member 4 and the guide member 1 (i.e., the pin 4b). Therefore, when the rotation of the first finger member 2 and the second finger member 4 is completed, the intermediate member 3 is parallel to the guide member 1. In addition, the intermediate member 3 and the stopper 7 are configured so that one end of the intermediate member 3 is in contact with the end surface of the stopper 7 in the Z direction.

[0085] In addition, after the rotation of the first finger member 2 and the second finger member 4 is completed, the force applied from the driving unit 6 is not consumed in rotating the respective members. Therefore, after the rotation of the first finger member 2 and the second finger member 4 is completed, the driving unit 6 can apply a larger force in the Z direction to the first finger member 2 via the link member 5 than before the rotation of the first finger member 2 and the second finger member 4 is completed. If a large force is applied to the first finger member 2, the restraint of the second guided portion 2b in the second guide portion 3a is released, and the second guided portion 2b becomes a state of being freely movable in the second guide portion 3a. That is, the first finger member 2 is freely movable in the Z direction.

[0086] In addition, the three line segments connecting the third guided portion 5a, the pin 5b and the second guided portion 2b describe a right triangle. Therefore, if a force in the Z direction is applied to the third guided portion 5a, the link member 5 and the first finger member 2 can be moved in the Z direction while maintaining the right triangle. That is, the first finger member 2 can be moved relative to the guide member 1 while maintaining the posture of the first finger member 2 being orthogonal to the guide member 1.

[0087] Therefore, in Figure 3 In the state shown, when a force in the Z direction is further applied to the driving unit 6, the driving unit 6 moves in the Z direction. When the driving unit 6 moves in the Z direction, the first finger member 2 maintains a posture perpendicular to the guide member 1, in other words, maintains a posture arranged parallel to the second finger member 4, and moves in a manner approaching the second finger member 4 (i.e., a translational movement).

[0088] In addition, before the rotation of the first finger member 2 is completed, the movement of the second guided portion 2b in the second guide portion 3a is restricted. On the other hand, if the rotation of the first finger member 2 is completed, the movement of the second guided portion 2b in the second guide portion 3a is allowed. Figure 1 and Figure 2 As shown, in the moving mode or mode switching, the second guided portion 2b does not move in the second guide portion 3a, so the portions can be smoothly bent relative to each other, so that the manipulator 100 can be smoothly switched to the holding mode. In addition, in the switching mode, the first finger member 2 can be moved closer to the second finger member 4 or away from the second finger member 4.

[0089] Figure 4 The state of the robot 100 in the gripping operation is shown, that is, the first finger member 2 moves so as to approach the second finger member 4, or the movement of the first finger member 2 is completed. The intermediate member 3 and the guide member 1 are arranged parallel to each other, and the first finger member 2 approaches the second finger member 4. Through such an operation, the robot 100 can grip the object by clamping the first finger member 2 and the second finger member 4.

[0090] The manipulator 100 can be used in various postures, for example, it can be used in a posture in which the second finger member 4 is at a lower position than the first finger member 2. In this case, the second finger member 4 supports the opposing object from the lower side. For example, when the Z direction is a vertical direction, the second finger member 4 supports the opposing object from directly below. In this case, the opposing object presses the second finger member 4 in the Z direction (i.e., downward). Therefore, a force that rotates the second finger member 4 in the first rotation direction with the pin 4b as the rotation center, that is, a force that causes the second finger member 4 to be in a drooping state, is applied to the second finger member 4.

[0091] However, regarding the intermediate component 3 connected to the second finger component 4 via the pin 4a, one end portion of the intermediate component 3 (the end portion located on the upper side) contacts the stopper 7. When a force that rotates the second finger component 4 in the first rotation direction (counterclockwise direction) with the pin 4b as the rotation center is applied to the second finger component, the intermediate component 3 is pressed against the stopper 7 by the force. At this time, the stopper 7 presses the intermediate component 3 in such a manner that the intermediate component 3 does not move relative to the guide component 1. That is, a reaction force is applied to the intermediate component 3. Therefore, the second finger component 4 does not rotate. That is, the second finger component 4 can support the opposing object without rotating with the pin 4b as the rotation center. Further, the manipulator 100 can reliably hold the opposing object through the first finger component 2 and the second finger component 4.

[0092] (Other action examples)

[0093] Next, refer to Figures 5 to 8 Another operation example of the robot 100 will be described. Figures 5 to 8 In some cases, the Z direction is described as the up-down direction, the X direction is described as the front-back direction, and the Y direction is described as the left-right direction.

[0094] Figure 5 The state in which the robot 100 is arranged on the floor 200 is shown. By lowering the robot 100 from this state, the fingertips of the second finger member 4 located at the lower end of the robot 100 can be brought into contact with the floor 200, thereby applying an external force to the second finger member 4. By bringing the fingertips of the second finger member 4 into contact with the floor 200 at an angle, an external force can be applied to the second finger member 4 so as to rotate in the second direction ( Figure 5 External force that rotates in the clockwise direction (as shown).

[0095] By applying such external forces, Figure 6 As shown, the second finger member 4 can be rotated relative to the guide member 1 in the second rotation direction ( Figure 6 (clockwise in the state shown).

[0096] Then, one end of the second finger member 4 (i.e., the end where the pin 4a is arranged) moves backward (in the X direction). With the movement of one end of the second finger member 4, the lower end of the intermediate member 3 moves backward. That is, the intermediate member 3 is pulled backward from the state where it overlaps with the guide member 1 in the left-right direction (in the Y direction). In addition, at this time, the link member 5 may be pressed down by the driving unit 6.

[0097] If from Figure 6 In the state shown in FIG. 1 , the robot 100 is further lowered, and the drive unit 6 is relatively lowered relative to the guide member 1, so that the robot 100 becomes Figure 7 That is, after the second finger member 4 has completed its rotation, it is in contact with the floor 200 in a state extending in a direction perpendicular to the guide member 1. On the other hand, the first finger member 2 has not yet started to rotate, and the first finger member 2, the guide member 1, the link member 5, and the drive unit 6 are arranged on a straight line extending in the Z direction.

[0098] If from Figure 7 The state shown in FIG. 1 further causes the driving unit 6 to descend, and the robot 100 becomes Figure 8 That is, the first finger member 2 rotates in the first rotation direction ( Figure 8 counterclockwise as shown).

[0099] When the first finger member 2 rotates to a state where three line segments connecting the third guided portion 5a, the pin 5b, and the second guided portion 2b describe a right triangle, the rotation of the first finger member 2 is completed. Figure 3 The state of the robot 100 shown is the same. By further lowering the drive unit 6 from this state, the first finger member 2 and the second finger member 4 can be brought close to each other, and the first finger member 2 and the second finger member 4 can grip the object.

[0100] (Another action example)

[0101] Next, refer to Figures 9 to 13 Another operation example of the robot 100 will be described. Figures 9 to 13 In some cases, the Z direction is described as the up-down direction, the X direction is described as the front-back direction, and the Y direction is described as the left-right direction.

[0102] When Fig. 9 As shown, when the object 400 is placed on the floor 200 near the wall 300 , the robot 100 can operate as follows to grip the object 400 .

[0103] First, if Fig. 9As shown, when the robot 100 is in the insertion mode, the second finger member 4 is inserted into the gap between the wall 300 and the opposing object 400. When the robot 100 is in the insertion mode, the guide member 1, the first finger member 2, the intermediate member 3, the second finger member 4, the link member 5 and the driving part 6 are arranged on a straight line extending in the Z direction. That is, by being in the insertion mode, the robot 100 can reduce its own thickness in the X direction and enter a narrow gap.

[0104] Next, by pressing the second finger member 4 against the floor 200, the second finger member 4 is rotated in the second rotation direction ( Fig. 9 At this time, the finger tip of the second finger member 4 enters between the floor 200 and the opposing object 400.

[0105] Fig.10 The state after the rotation of the second finger member 4 is completed is shown. The second finger member 4 extends below the opposing object 400 in the front-rear direction.

[0106] When the center-to-center distance between the pins 4a and 4b is larger than the gap between the wall 300 and the opposing object 400, the guide member 1 moves forward (in the -X direction) while bringing the connecting portion between the second finger member 4 and the intermediate member 3 into contact with the wall 300. At this time, the guide member 1 can press the opposing object 400 forward.

[0107] If from Fig.10 The state shown in FIG. 1 further causes the driving unit 6 to descend, and the robot 100 becomes Fig.11 That is, the first finger member 2 rotates in the first rotation direction ( Fig.11 counterclockwise as shown).

[0108] If from Fig.11 The state shown in FIG. 1 further causes the driving unit 6 to descend, and the robot 100 becomes Fig.12 The state shown. At this time, the three line segments connecting the third guided portion 5a, the pin 5b and the second guided portion 2b describe a right triangle. Therefore, the first finger member 2 cannot rotate further. That is, the rotation of the first finger member 2 ends. At this time, the first finger member 2 becomes parallel to the second finger member 4 and is located above the opposing object 400.

[0109] By Fig.12 In the state shown in FIG. 1 , the driving unit 6 is further lowered to make the first finger member 2 and the second finger member 4 approach each other, and as shown in FIG. Fig.13 As shown, the first finger member 2 and the second finger member 4 are used to hold the opposing object 400 .

[0110] (Restraint on the Second Guided Part)

[0111] Next, referring to the enlarged view of the first finger member 2 and the intermediate member 3, Fig.14 , the restraint of the second guided portion 2b in the second guiding portion 3a will be described.

[0112] like Fig.14 As shown, the intermediate member 3 has a pair of protrusions 3b protruding toward each other in the second guide portion 3a. The pair of protrusions 3b are formed of an elastically deformable material. The distance between the pair of protrusions 3b is, for example, smaller than the diameter of the second guided portion 2b, which is a cylindrical pin. Therefore, for example, Figure 1 or Figure 2 In the state shown, the second guided portion 2b cannot pass between the pair of protrusions 3b. That is, the second guided portion 2b is restrained in the second guide portion 3a.

[0113] On the other hand, Figure 3 and Fig.14 As shown in FIG. 1 , when the rotation of the first finger member 2 is completed and a strong force is applied to the first finger member 2, the pair of protrusions 3b are pushed by the second guided portion 2b entering between the pair of protrusions 3b and elastically deformed. That is, the distance between the pair of protrusions 3b is expanded. Then, the second guided portion 2b can pass between the pair of protrusions 3b. That is, the restraint of the second guided portion 2b in the second guide portion 3a is released.

[0114] In addition, the restraint of the second guided portion 2b by the second guiding portion 3a may also be achieved by other structures.

[0115] For example, the second guided portion 2b may be elastically deformed instead of the pair of protrusions 3b.

[0116] Alternatively, the second guided portion 2b may be shaped like an ellipse having a major axis and a minor axis. In this case, the second guided portion 2b is mounted on the first finger member 2 in such a manner that the minor axis of the second guided portion 2b is along the direction in which the first finger member 2 extends, and the major axis is along a direction orthogonal to the direction in which the first finger member 2 extends. The length of the major axis is greater than the distance between the pair of protrusions 3b, and the length of the minor axis is less than the distance between the pair of protrusions 3b. If the second guided portion 2b has such a shape, the first finger member 2 and the intermediate member 3 are connected as shown in FIG. Figure 1 When the first finger member 2 and the intermediate member 3 are arranged in a straight line as shown in FIG. 1 , the second guided portion 2b cannot pass between the pair of protrusions 3b. That is, the second guided portion 2b is restrained in the second guide portion 3a. On the other hand, when the first finger member 2 and the intermediate member 3 are arranged in a straight line as shown in FIG. Figure 3 and Fig.14 When the two projections 3a and 3b are perpendicular to each other as shown in the figure, the second guided portion 2b can pass between the pair of projections 3b. That is, the restraint of the second guided portion 2b by the second guide portion 3a is released.

[0117] In the present specification, the elliptical shape includes not only a mathematical ellipse but also a semicircle, an oval, and a shape obtained by chamfering the corners of a rectangle into rounded corners.

[0118] (Fixation of the first finger member and the link member)

[0119] Alternatively, when the first finger member 2 ends its rotation, the robot 100 may become Figure 3 or Fig.12 In the state shown, the first finger member 2 and the link member 5 are fixed relative to each other. That is, the first finger member 2 and the link member 5 may be fixed relative to each other when the following three line segments describe a right triangle, which are three line segments connecting the first guided portion 2a, the connecting portion between the first finger member and the link member (i.e., the pin 5b), and the third guided portion 5a.

[0120] Referring to FIG. 1 which is an enlarged view of the first finger member 2 and the link member 5 Fig.15 and Fig.16 An example of how the first finger member 2 and the link member 5 are fixed to each other will be described. Fig.15 Indicates the state of mode transition. Fig.16 Indicates the status of the holding mode.

[0121] When the first finger member 2 and the link member 5 are fixed to each other, the link member 5 may include the engaging portion 5 c and the first finger member 2 may include the engaged portion 2 c. The engaging portion 5 c and the engaged portion 2 c constitute the fixing portion 8 .

[0122] In the insertion mode or the mode switching state, the engaging portion 5c is not engaged with the engaged portion 2c. Therefore, the first finger member 2 and the link member 5 are rotatable relative to each other about the pin 5b as the rotation center.

[0123] On the other hand, when the rotation of the first finger member 2 is completed and the three line segments that connect the first guided portion 2a, the connecting portion between the first finger member and the link member (i.e., the pin 5b), and the third guided portion 5a are drawn to form a right triangle, the engaging portion 5c is engaged with the engaged portion 2c. That is, the fixing portion 8 functions to fix the first finger member 2 and the link member 5 relative to each other.

[0124] Such fixing can prevent the first finger member 2 from changing its angle relative to the link member 5. Furthermore, the first finger member 2 can be moved closer to or farther from the second finger member 4 while preventing the first finger member 2 from becoming non-orthogonal to the guide member 1.

[0125] When the robot 100 includes the fixing portion 8 , the stopper 7 may be arranged at a position offset relative to the link member 5 (at least the engaging portion 5 c ) in the Y direction. This arrangement can prevent the engaging portion 5 c from contacting or colliding with the stopper 7 .

[0126] (Variation Example)

[0127] The robot arm and its operation method disclosed in the present invention are not limited to the embodiments specifically described above, and include various modified embodiments without departing from the spirit and scope thereof.

[0128] For example, the robot 100 of the present disclosure may not include the driving unit 6 and the link member 5. Alternatively, the first finger member 2 may be directly mounted on a robot arm to which the robot 100 is mounted, and the first finger member 2 may be moved and rotated by the robot arm.

[0129] In addition, the robot 100 of the present disclosure may also include an actuator such as a motor that rotates the pin 4b instead of the long drive unit 6. Such an actuator is operated to rotate the second finger member 4 relative to the guide member 1, thereby enabling the robot 100 to function. In other words, the first finger member 2 and the second finger member 4 can be arranged in a straight line together with the guide member 1, or can be arranged to be orthogonal to the guide member 1.

[0130] In addition, in the robot 100 of the present disclosure, the following actuator may be provided instead of the long drive unit 6, and the actuator may include a cam mechanism or the like that moves the intermediate member 3 relatively in the X direction while maintaining a posture parallel to the guide member 1. Such an actuator is operated to move the intermediate member 3 from a position overlapping with the guide member 1 to a position not overlapping with the guide member 1, thereby enabling the robot 100 to function. In other words, the first finger member 2 and the second finger member 4 may be arranged in a straight line together with the guide member 1, or may be arranged to be orthogonal to the guide member 1.

[0131] In addition, the robot 100 of the present disclosure may include the link member 5 instead of the drive unit 6. Alternatively, the link member 5 may be directly attached to a robot arm to which the robot 100 is attached, and the link member 5 may be moved and rotated by the robot arm.

[0132] The disclosure contents of the specification, drawings, and abstract contained in the Japanese patent application No. 2022-88819 filed on May 31, 2022 are incorporated herein by reference in their entirety.

[0133] Industrial Applicability

[0134] The present disclosure can be applied to devices for automating manufacturing processes in various fields.

[0135] Description of Reference Numerals

[0136] 100 Robots

[0137] 1 Guide component

[0138] 1a First guide part

[0139] 2First finger component

[0140] 2a First guided portion

[0141] 2b Second guided portion

[0142] 2c Engaged portion

[0143] 3 Middle parts

[0144] 3a Second guide part

[0145] 3b protrusion

[0146] 4 Second finger component

[0147] 4a, 4b pins

[0148] 5 connecting rod parts

[0149] 5a Third guided portion

[0150] 5b pin

[0151] 5c snap-fit ​​part

[0152] 6. Drive unit

[0153] 7 Stopper

[0154] 8Fixed part

[0155] 200 Floor

[0156] 300 wall

[0157] 400 Opposite

Claims

1. A robot, characterized in that: have: First finger component; an intermediate member rotatably connected to the first finger member; A second finger member rotatably connected to the intermediate member; and a guide member rotatably connected to the second finger member and having a first guide portion, The first finger member includes a first guided portion, and the first guided portion is rotatably and movably arranged in the first guide portion.

2. The robot according to claim 1, wherein: A distance from a connection portion between the first finger member and the intermediate member to the first guided portion is equal to a distance from a connection portion between the intermediate member and the second finger member to a connection portion between the second finger member and the guide member.

3. The robot according to claim 1, wherein: The intermediate member includes a second guide portion, The first finger member includes a second guided portion, and the second guided portion is rotatably and movably arranged in the second guide portion.

4. The robot according to claim 3, wherein: The first finger member and the intermediate member are configured in such a manner that, when the first finger member and the intermediate member are arranged along a straight line, the first finger member and the intermediate member restrict movement of the second guided portion in the second guide portion, and when the first finger member and the intermediate member are arranged in a manner orthogonal to each other, the first finger member and the intermediate member allow movement of the second guided portion in the second guide portion.

5. The robot according to claim 1, wherein: A stopper is further provided, and when the first finger member and the second finger member face each other, the stopper comes into contact with the intermediate member to press the intermediate member.

6. The robot according to claim 1, wherein: The invention further comprises a link member rotatably connected to the first finger member and a third guided portion rotatably and movably arranged in the first guide portion. The distance from the connecting portion between the first finger member and the link member to the first guided portion is set to a size that allows three line segments connecting the following three points, namely, the first guided portion, the connecting portion between the first finger member and the link member, and the third guided portion to describe a right triangle.

7. The robot arm according to claim 6, wherein: The invention further includes a fixing portion for fixing the first finger member and the link member relative to each other when the three line segments describe a right triangle.

8. A method for operating a robot, characterized in that: The following steps are involved: The first finger member, the intermediate member, the second finger member, and the guide member are arranged along a straight line, wherein the first finger member includes a first guided portion, the intermediate member is rotatably connected to the first finger member, the second finger member is rotatably connected to the intermediate member, and the guide member is rotatably connected to the second finger member and includes a first guide portion; while moving the first guided portion along the first guide portion, rotating the first finger member relative to the intermediate member in a first rotation direction; as well as The second finger member is rotated relative to the intermediate member in a second rotational direction, the second rotational direction being an opposite direction to the first rotational direction.

9. The method for operating a robot according to claim 8, wherein: The method further includes the step of arranging the first finger member and the second finger member in parallel with each other.

10. The method for operating a robot according to claim 8, wherein: The following steps are also included: disposing the intermediate member and the guide member parallel to each other; as well as The first finger member is moved closer to the second finger member.

11. The method for operating a robot according to claim 10, wherein: The following steps are also included: releasing the restraint of the second guided portion of the first finger member by the intermediate member; as well as The second guided portion is moved along the second guide portion provided on the intermediate member.

12. The method for operating a robot according to claim 10, wherein: The step of pressing the intermediate member in such a manner that the intermediate member does not move relative to the guide member is also included.

13. The method for operating a robot according to claim 8, wherein: The following steps are also included: In addition to the first finger member, the intermediate member, the second finger member, and the guide member, a link member is further arranged along the straight line, the link member is rotatably connected to the first finger member, and has a third guided portion; and The link member is rotated in the second rotation direction relative to the first finger member while the third guided portion is moved along the first guide portion.

14. The method for operating a robot according to claim 13, wherein: The method further includes the step of fixing the first finger member and the link member relative to each other when the following state is reached, wherein three line segments connecting the first guided portion, the connecting portion between the first finger member and the link member, and the third guided portion describe a right triangle.

15. The method for operating a robot according to claim 8, wherein: The step of applying an external force to the second finger member in such a manner as to rotate the second finger member in the second rotational direction relative to the intermediate member is also included.

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