Robot hand and robot system

Abstract

Robot hand (1) holding a cable harness (20), the cable harness (20) having a long cable harness main body (21) and a connector (22) connected to one end of the cable harness main body (21), the robot hand (1) comprising: a fixed retaining section (6) that holds the main body of the cable harness (21) near its end; a press section (7) which is movable relative to the stationary holding section (6) in a longitudinal direction of the cable harness main body (21) held by the stationary holding section (6); and a drive unit (8) that moves the press section (7) in a direction away from the stationary holding section (6) so that the press section (7) pushes the connector (22) outwards in the longitudinal direction of the cable harness main body (21); wherein the pressing section (7) is a movable retaining section (7) which is arranged with the fixed retaining section (6) in the longitudinal direction of the cable harness main body (21) held by the fixed retaining section (6), wherein the movable retaining section (7) is designed to hold the cable harness main body (21), and the movable retaining section (7) is able to hold the cable harness main body (21) in a stationary state or a held state, wherein the stationary state is a state in which the cable harness main body (21) is held immovably in the longitudinal direction, and the held state is a state in which the cable harness main body (21) is held in a manner movable in the longitudinal direction, wherein the robot hand (1) comprises two sets, each comprising the fixed holding section (6), the pressing section (7) and the drive unit (8), and wherein the fixed holding section (6) of one of the two sets holds the cable harness main body (21) near one end of the cable harness main body (21), and the fixed holding section (6) of the other of the two sets holds the cable harness main body (21) near the other end of the cable harness main body (21).

Description

[0001] The present invention relates to a robot hand and a robot system, in particular a robot hand for a cable harness having a connector at its end.

[0002] An assembly process for various devices includes a connection operation in which a cable harness is transferred and a connector of the cable harness is connected to a mating connector. In recent years, the connection process has been increasingly automated (see patent documents PTL 1 to 3). According to patent documents PTL 1 to 3, the connector is connected to the mating connector by a robot hand holding the connector and moving the robot hand.

[0003] Furthermore, German patent application DE 10 2017 217 601 A1 describes a method for inserting an electrical plug in the insertion direction into a socket until a contact position is reached in which the plug's contact elements are in electrical contact with corresponding mating contact elements of the socket. Patent application US 2016 / 0 297 075 A1 describes a device for an assembly process for gripping a connecting cable in order to automatically connect the cable to a plug. Patent application US 2014 / 0 012 416 A1 describes a robot control device capable of attaching an object gripped by a robot to another object. Finally, patent application JP 2017-226 062 A describes a robot and a method for transporting a connector with a cable harness.Publication JP 2006 - 012 724 A describes an insertion device for an electrical wire connector for inserting an electrical wire connector, which is electrically connected to one end of an electrical wire, into a connector receiving chamber of a connector housing. Furthermore, JP 2000 - 228 267 A describes a cable harness fastening device. Patent literature PTL 1: Unexamined Japanese patent application, publication number JP H06 - 188 061 A PTL 2: Unexamined Japanese patent application, publication number JP 2014 - 176 917 A PTL 3: Unexamined Japanese patent application, publication number JP 2005 - 011 580 A

[0004] However, there are several types of connectors for a cable harness, and it is not possible for a single robot hand to hold different types of connectors. Therefore, in a case where a robot hand is used to hold a connector itself, as in patent documents PTL 1 to 3, robot hands designed for the corresponding connector types are required, which significantly increases the equipment costs.

[0005] The present invention was made taking into account the above circumstances, wherein an object of the present invention is to provide a versatile robotic hand suitable for automating the connection process of a cable harness, and a robotic system equipped with such a robotic hand.

[0006] It is an object of the present invention to provide a robot hand and a robot system that simplifies a connection process for connectors of various types. Solution to the problem

[0007] According to the invention, this problem is solved by a robot hand with the features of claim 1, by a robot hand with the features of claim 2, by a robot system with the features of claim 5, and by a robot system with the features of claim 7.

[0008] A first aspect of the present invention provides a robotic hand that holds a cable harness, wherein the cable harness has a long main body and a connector connected to one end of the main body, the robotic hand comprising: a fixed holding section that holds the main body of the cable harness near its end; a crimping section that is movable relative to the fixed holding section in the longitudinal direction of the main body of the cable harness held by the fixed holding section; and a drive unit that moves the crimping section in a direction away from the fixed holding section such that the crimping section pushes the connector outwards in the longitudinal direction of the main body of the cable harness.

[0009] According to this principle, the drive unit presses the crimping section outwards in a longitudinal direction while the main body of the cable harness is held near its end by the fixed holding section. During crimping, a tensile force is applied at the end of the main body of the cable harness between the fixed holding section and the connector, thus stabilizing its position and retention. Consequently, the connector can be mated with its counterpart by moving the robot arm while the crimping section is in place.

[0010] Since the robot hand holds the main body of the cable harness instead of the connector, it is possible, as described above, to perform a connection process for different types of connectors with the same robot hand. In other words, it is possible to provide a versatile robot hand suitable for automating a cable harness connection process.

[0011] In the above aspect, the pressing section is a movable retaining section arranged with the fixed retaining section in the longitudinal direction of the cable harness main body held by the fixed retaining section, wherein the movable retaining section is designed to hold the cable harness main body, and wherein the movable retaining section holds the cable harness main body in a fixed or a held state, wherein the fixed state is a state in which the cable harness main body is held immovably in the longitudinal direction, and wherein the held state is a state in which the cable harness main body is held movable in the longitudinal direction.

[0012] According to this configuration, it is possible to keep the cable harness more stable, since two longitudinally spaced ends of the cable harness main body are held by the fixed retaining section and the movable retaining section.

[0013] In the above aspect, two sets are provided, each comprising the fixed holding section, the pressing section and the drive unit, wherein the fixed holding section of one of the two sets holds the cable harness main body near one end of the cable harness main body, and the fixed holding section of the other of the two sets holds the cable harness main body near the other end of the cable harness main body.

[0014] With this configuration, the cable harness can be held more stably by securing the main body of the harness near both ends with two fixed holding sections. Furthermore, the cable harness can be transferred by moving the robot hand. Additionally, the positions and orientations of the two connectors attached to the main body of the cable harness can be stabilized by the crimping sections and drive units of both sets, allowing the two connectors to be connected to their respective mating connectors.

[0015] A second aspect of the present invention provides a robotic hand that holds a cable harness, wherein the cable harness has a long main body and two connectors, each connected to one end and the other end of the main body, the robotic hand comprising: a first holding section that holds the main body of the cable harness near one end; and a second holding section that holds the main body of the cable harness near the other end.

[0016] Based on this aspect, it is possible to hold the cable harness more stably by securing the main body of the harness near both ends with the first and second holding sections. Furthermore, it is possible to transfer the cable harness by moving the robot hand.

[0017] As described above, since the robot hand holds the main body of the cable harness instead of the connector, a transfer operation involving different types of connectors can be performed with the same robot hand. In other words, it is possible to provide a versatile robot hand suitable for automating the connection process of the cable harness.

[0018] Regarding the aspects mentioned above, preference is given to providing a whole-body sensing unit that captures the position and attitude of the entire body of the wiring harness.

[0019] According to this configuration, the acquisition result of the whole body acquisition unit can be used to roughly determine the position and attitude of the robot hand relative to the connector.

[0020] Regarding the aspects mentioned above, it is preferred to provide a partial detection unit that detects the position and orientation of the end of the cable harness, including the connector.

[0021] According to this configuration, the acquisition result of the partial acquisition unit can be used to accurately determine the position and attitude of the fixed holding section, the first holding section, or the second holding section in relation to the connector.

[0022] A third aspect of the present invention provides a robot system comprising: a robot; the robot hand according to the first aspect, wherein the robot hand is connected to a distal end of a robot arm of the robot; and a robot controller configured to control the robot and the robot hand to cause the robot and the robot hand to perform a connection operation to connect the connector to a connector mating part, wherein the connection operation comprises: holding the cable harness main body near one end using the fixed holding section; pressing the connector using the pressing section by an operation of the drive unit; and connecting the connector, which is pressed against the connector mating part by an operation of the robot arm.

[0023] In the third aspect, the robot hand can include a part-sensing unit that detects the position and attitude of the end of the cable harness, including the connector, wherein the robot controller can be configured to: control the position and attitude of the stationary holding section relative to the main body of the cable harness when it holds the main body, based on the position and attitude of the end of the cable harness detected by the part-sensing unit; and control the position and attitude of the robot hand relative to the connector counterpart when connecting to the connector, based on the position and attitude of the connector detected by the part-sensing unit.

[0024] A fourth aspect of the present invention provides a robot system comprising: a robot; the robot hand according to the second aspect, wherein the robot hand is connected to a distal end of a robot arm of the robot; and a robot controller that controls the robot and the robot hand to cause the robot and the robot hand to perform a transfer operation to transfer the cable harness, wherein the transfer operation comprises: holding the main body of the cable harness near one end thereof using the first holding section; holding the main body of the cable harness near the other end thereof using the second holding section; and transferring the cable harness, held by the first holding section and the second holding section, by an operation of the robot arm.

[0025] In the fourth aspect, the robot hand can include a whole-body sensing unit that detects the position and posture of the entire body of the cable harness and holds the main body of the cable harness, with the robot controller being able to control the position and posture of the robot hand relative to the main body of the cable harness when it holds the main body of the cable harness, based on the position and posture of the entire body of the cable harness detected by the whole-body sensing unit.

[0026] The present invention has an advantageous effect in that it provides a versatile robotic hand suitable for automating a connection process of a cable harness. Brief description of the drawings Fig. Figure 1 is a schematic view representing an entire configuration of a robot system according to an embodiment of the present invention. Fig. Figure 2 is a perspective view showing an entire configuration of a robot hand according to an embodiment of the present invention viewed from above. Fig. 3 is a partially perspective view of the in Fig. 2 depicted robot hand in a state where the robot hand is holding a cable harness. Fig. Figure 4 is an enlarged perspective view of a stationary chuck unit and a movable chuck unit seen from above and illustrates a state in which a connector is pressed through the movable chuck unit. Fig. Figure 5 is a front view of the stationary chuck unit. Fig. Figure 6 is a front view of the movable chuck unit. Fig. Figure 7 is a flowchart that shows a transmission process of the cable harness and a connection process of the connector through the [unclear text]. Fig. 1 shows the robot system. Fig. Figure 8 is a diagram illustrating an image taken by a camera on a holding unit. Description of the embodiment

[0027] In the following, a robot hand 1 and a robot system 100 according to an embodiment of the present invention are described with reference to the drawings.

[0028] As in Fig. 1 and Fig. As shown in Figure 2, the robot system 100 comprises the robot hand 1, a robot 30, and a robot controller 40, which controls the robot 30 and the robot hand 1. ... Fig. As shown in Figure 3, the robot system 100 holds a cable harness 20, the system transmits the cable harness 20 and connects a connector 22 to a connector counterpart.

[0029] The cable harness 20 comprises a flexible and long main body 21 and two connectors 22, each located at one end of the main body 21. The main body 21 contains a plurality of wires 23. The plurality of wires 23 run longitudinally through the main body 21, with both ends of each of the plurality of wires 23 connected to the connectors 22. In the radial direction of the main body 21, the connectors 22 have an outer diameter larger than that of the main body 21 and project radially outward from the main body 21.

[0030] The robot 30 comprises a robot arm 30a with a plurality of joints, wherein a flange 30b, to which the robot hand 1 is connected, is arranged at a distal end of the robot arm 30a. Fig. Figure 1 shows robot 30, a vertical articulated robot with joint axes J1-J6. Robot 30 could be a different type of robot commonly used for transferring objects or assembling equipment. Robot 30 is connected to the robot controller 40, which transmits a control command to each of the servo motors of the joints of robot arm 30a. Robot hand 1 is also connected to the robot controller 40, which supplies each of parts 4, 5, 6c, 7c, 8, and 9 of robot hand 1 with a control command or a driving force (e.g., electrical power or air pressure).

[0031] As in Fig. As shown in Figure 2, the robot hand 1 comprises: a base section 2 attached to the flange 30b; three holding units 3 (31 and 32, 33) supported by the base section 2; three linear drive units 4 moving the three holding units 3 linearly in one direction along a central axis A of the robot hand 1; and a camera (whole body capture unit) 5 attached to the base section 2 that captures the position and attitude of the cable harness 20 as a whole. Fig. Figure 3 shows the robot hand 1 holding the cable harness 20.

[0032] The base section 2 comprises: two flat plates 2a and 2b facing each other along the central axis A; and a plurality of support posts 2c extending between plates 2a and 2b and connecting them. The upper plate 2a is provided with a mounting section 2d that can be attached to and removed from the flange 30b. When the mounting section 2d is attached to the flange 30b, the central axis A of the robot hand 1 corresponds to a central axis of the flange 30b (a sixth axis J6 in the case of a 6-axis vertical articulated robot), with plates 2a and 2b arranged perpendicular to the central axis of the flange 30b. The lower plate 2b is Y-shaped with three ends. In a radial direction that runs orthogonally to the central axis A, one of the ends of the lower plate 2b (first end) is on one side (left side in Fig. 2) arranged, with two of the ends of the lower plate 2b (second end and third end) on the other side (right side in Fig. 2) are arranged.

[0033] In the following, the direction along the central axis A is defined as a vertical direction of the robot hand 1, furthermore, one side of the upper plate 2a is defined as a top side, and one side of the lower plate 2b is defined as a bottom side.

[0034] The three holding units 3 (31 and 32, 33) are each attached to the three ends of the lower plate 2b. As in Fig. 2 to Fig. As shown in Figure 4, each of the holding units 3 comprises: a pair of chuck sections 6 and 7 that hold the main body of the cable harness 21 in a radial direction; a linear drive unit 8 that moves the chuck section 7 linearly; and a camera (partial capture unit) 9 that captures one end of the cable harness 20, including the connectors 22. The chuck sections 6 and 7 and the linear drive unit 8 are connected to the linear drive units 4 via a fixed plate 10.

[0035] The two chuck sections 6 and 7 are arranged on a plane orthogonal to the central axis A. One chuck section 6 is a fixed chuck unit (fixed holding section) that is attached to the fixed plate 10 and is capable of moving relative to the base section 2 only in the direction of the central axis A. The other chuck section 7 is a movable chuck unit (pressing section or movable holding section) that can move relative to the fixed plate 10 and the fixed chuck unit 6 along a direction in which the two chuck sections 6 and 7 are arranged. The movable chuck unit 7 is located at a position outside the fixed chuck unit 6 in a radial direction (position further away from the central axis A).The movable chuck unit 7 is positioned between the fixed chuck unit 6 and the connectors 22 in a state in which the fixed chuck unit 6 holds the cable harness main body 21.

[0036] The stationary chuck unit 6 comprises: a pair of jaws 6a and 6b, which are opposite each other; and an electric cylinder 6c, which opens and closes the pair of jaws 6a and 6b. The two jaws 6a and 6b are oriented orthogonally to each other in a direction perpendicular to the direction in which the pair of chuck sections 6 and 7 is arranged. As shown in Fig. As shown in Figure 5, a groove 6d is located on the inner surfaces of each of the claws 6a and 6b, extending along the direction in which the pair of chuck sections 6 and 7 is arranged and into which a portion of the cable harness main body 21 fits radially. By moving the two claws 6a and 6b in a closing direction, in which the claws approach each other, the electric cylinder 6c holds the cable harness main body 21 between the two claws 6a and 6b in a state where the cable harness main body 21 is contained in the groove 6d. Conversely, by moving the two claws 6a and 6b in an opening direction, in which the claws move away from each other, the electric cylinder 6c releases the cable harness main body 21.

[0037] The movable chuck unit 7 comprises: a pair of jaws 7a and 7b, which are opposite each other; and an electric cylinder 7c, which opens and closes the pair of jaws 7a and 7b. The two jaws 7a and 7b are oriented orthogonally to each other in a direction in which the pair of chuck sections 6 and 7 is arranged. As shown in Fig. As shown in Figure 6, a groove 7d is located on the inner surfaces of each of the claws 7a and 7b. This groove extends along the direction in which the pair of chuck sections 6 and 7 is arranged and into which a portion of the cable harness main body 21 fits in a radial direction. By moving the two claws 7a and 7b in a closing direction, in which the claws approach each other, the movable chuck unit 7 holds the cable harness main body 21 between the pair of claws 7a and 7b in a state where the cable harness main body 21 is contained in the groove 7d. Conversely, by moving the two claws 7a and 7b in an opening direction, in which the claws move away from each other, the movable chuck unit 7 releases the cable harness main body 21.

[0038] The robot controller 40, which controls the positions of the claws 6a and 6b and 7a and 7b with the electric cylinders 6c and 7c, makes it possible to adjust the holding force of the cable harness main body 21 by each of the chuck sections 6 and 7. The fixed chuck unit 6 holds the cable harness main body 21 in a fixed state, preventing longitudinal movement. The movable chuck unit 7 alternatively holds the cable harness main body 21 in a fixed state, preventing longitudinal movement, and in a held state, allowing longitudinal movement.

[0039] The linear drive unit 8 is connected to the movable chuck unit 7 via a movable plate 11. The linear drive unit 8 is, for example, an electric cylinder and is capable of controlling the degree of movement and the stop position of the movable chuck unit 7. The linear drive unit 8 moves the movable chuck unit 7 linearly along the direction in which the pair of chuck sections 6 and 7 are arranged, in directions in which the movable chuck unit 7 moves closer to and away from the stationary chuck unit 6.

[0040] Camera 9, for example, is a two-dimensional camera. Camera 9 is attached to the base section 2 (the lower plate 2b in the illustrated example) and positioned above the movable chuck unit 7. Camera 9 is downward-facing and has a field of view that includes the movable chuck unit 7 and its surroundings. An image captured by camera 9 is transmitted to the robot controller 40.

[0041] Each of the linear actuators 4 is attached to the base section 2 and supports the two chuck sections 6 and 7 and the linear actuator 8 by means of the fixed plate 10. Each of the linear actuators 4 moves the two chuck sections 6 and 7 and the linear actuator 8 linearly in an integrated manner. The linear actuators 4 are, for example, an air cylinder or an electric cylinder.

[0042] Camera 5, for example, is a two-dimensional camera. Camera 5 is attached to the base section 2 (the upper plate 2a in the illustrated example) and points downwards. The focal length of camera 5 is longer than the focal length of camera 9, giving camera 5 a wide field of view, including the entire cable harness 20 positioned below the robot hand 1; an image captured by camera 5 is transmitted to the robot controller 40.

[0043] The robot controller 40 comprises a control unit with a processor and a memory unit with RAM, ROM, non-volatile memory, or the like. The memory unit stores an operating program to instruct robot hand 1 and robot 30 to perform a connection operation of the cable harness 20. The control unit instructs robot hand 1 and robot 30 to perform the connection operation of the cable harness 20 by controlling robot hand 1 and robot 30 according to the operating program.

[0044] Next, the connection process of the cable harness 20 using the robot hand 1 and the robot 30 will be described.

[0045] As in Fig. As shown in Figure 7, the connection process of the cable harness 20 comprises a transmission process S1 to S6 for holding and transmitting the cable harness 20 through the holding units 31 and 32, and a connection process S7 to S9 for connecting the connectors 22 to connector counterparts (e.g. connectors intended for other devices).

[0046] The cable harness 20 is fed to a predetermined feed position by a feed device (not shown). First, the robot hand 1 is moved to the feed position via the cable harness 20 by operating the robot arm 30a.

[0047] Subsequently, in step S1, the camera 5 takes an image of the entire cable harness 20, which is positioned under the robot hand 1, whereby the robot controller 40 uses the image to determine the position and attitude of the entire cable harness 20 and further detects the positions and attitudes of the two connectors 22.

[0048] Subsequently, in step S2, the robot hand 1 is moved by the robot arm 30a, which moves based on the position and attitude of one of the detected connectors 22, with the first holding unit 31 being positioned at the first end of the lower plate 2b above the one connector 22.

[0049] Next, in step S3, camera 9 of the first holding unit 31 captures an image encompassing the single connector 22 positioned below the first holding unit 31 and one end of the cable harness main body 21 adjacent to the single connector 22, and as shown in Fig. As shown in Figure 8, the robot controller recognizes 40 positions and postures of the connector 22 and one end of the cable harness main body 21 based on the image.

[0050] Subsequently, in step S4, the robot arm 30a and the linear drive units 4, operating based on the detected positions and orientations of the connector 22 and one end of the cable harness main body 21, position the two chuck sections 6 and 7 of the first holding unit 31 at positions on the cable harness main body 21 that are spaced a predetermined distance along the longitudinal direction of the cable harness main body 21 from the connector 22. At this point, the two chuck sections 6 and 7 are arranged along the longitudinal direction of the cable harness main body 21, and the movable chuck unit 7 is positioned between the stationary chuck unit 6 and the one connector 22. The stationary chuck unit 6 (first holding section) and the movable chuck unit 7 then hold the connector 22 as shown in the diagram. Fig. Figure 3 shows the main body of the cable harness 21 being held by the pairs of claws 6a and 6b and 7a and 7b, respectively. The main body of the cable harness 21 is held near one end by the pair of chuck sections 6 and 7.

[0051] Subsequently, steps S2-S4 are repeated. In particular, in a second iteration of step S2, the robot hand 1 is moved by the robot arm 30a, which moves based on the position of the other connector 22 detected in step S1, and the second holding unit 32 is positioned at the second end of the lower plate 2b above the other connector 22.

[0052] Next, in a second pass of step S3, the camera 9 of the second holding unit 32 takes an image that includes the other connector 22, which is positioned under the second holding unit 32, and the other end of the cable harness main body 21, which is adjacent to the other connector, with the robot controller recognizing 40 positions of the connector 22 and the other end of the cable harness main body 21 based on the image.

[0053] Subsequently, in a second iteration of step S4, the robot arm 30a and the linear drive units 4, operating based on the detected positions of connector 22 and the other end of the cable harness main body 21, position the two chuck sections 6 and 7 of the second holding unit 32 at positions on the cable harness main body 21 that are spaced a predetermined distance along the longitudinal direction of the cable harness main body 21 from connector 22. At this point, the two chuck sections 6 and 7 are arranged longitudinally along the cable harness main body 21, with the movable chuck unit 7 positioned between the stationary chuck unit 6 and the other connector 22. The stationary chuck unit 6 (second holding section) and the movable chuck unit 7 then hold the cable harness main body 21 by means of the claw pairs 6a and 6b and 7a and 7b, respectively.The main body of the cable harness 21 is held near the other end by the pair of chuck sections 6 and 7.

[0054] After the two ends of the cable harness main body 21 are held by the two holding units 31 and 32 (Yes in step S5), in step S6 the robot hand 1 and the cable harness 20 are transferred from the feed position to a connection position where connector counterparts are arranged by operation of the robot arm 30a.

[0055] Subsequently, in step S7, the movable chuck unit 7 of the first holding unit 31 holds the cable harness main body 21 in a held state in which longitudinal movement is permitted by reducing a holding force. Subsequently, the linear drive unit 8 moves the movable chuck unit 7 away from the stationary chuck unit 6 in a state in which the stationary chuck unit 6 holds the cable harness main body 21 in a stationary position. As in Fig. As shown in Figure 4, the movable chuck unit 7 moves along the longitudinal direction of the cable harness main body 21 until it reaches a position in which the claws 7a and 7b push one side of the connector 22 on one side of the cable harness main body 21 outwards in the longitudinal direction of the cable harness main body 21. As shown in Fig.As shown in Figure 3, if there is a gap between one end of the cable harness main body 21 and the connectors 22 and the highly flexible wire 23, the position and orientation of the connectors 22 change slightly due to bending of the exposed wire 23. By pressing one connector 22 outwards in the longitudinal direction through the movable chuck unit 7, a tensile force is applied between the position in which the cable harness 20 is held by the stationary chuck unit 6 and the connectors 22, and the position and orientation of the one connector 22.

[0056] Subsequently, in step S8, the camera 9 of the first holding unit 31 captures an image of one connector 22, with the robot controller 40 detecting the position of the connector 22. Then, based on the detected position of the connector 22, the robot arm 30a connects the connector 22, held by the first holding unit 31, to its counterpart.

[0057] Steps S7 and S8 are then repeated. In particular, during a second iteration of step S7, the movable chuck unit 7 of the second holding unit 32 holds the cable harness main body 21 in the held position by reducing a holding force; the linear drive unit 8 moves the movable chuck unit 7 away from the stationary chuck unit 6; and the claws 7a and 7b press one side of the other connector 22 outwards onto one side of the cable harness main body 21 in the longitudinal direction of the cable harness main body 21. This stabilizes the position and holding of the other connector 22.

[0058] Subsequently, in a second iteration of step S8, the camera 9 of the second holding unit 32 captures an image of the other connector 22, with the robot controller 40 detecting the position of the other connector 22. Then, based on the detected position of the connector 22, the robot arm 30a connects the other connector 22, held by the second holding unit 32, to its counterpart.

[0059] After all connectors 22 of the cable harness 20 are connected to their respective counterpart connectors (Yes in step S9), the robot hand 1 returns to the feed position and repeats steps S1-S9.

[0060] As described above, the robot hand 1 in this embodiment is provided with at least two holding units 31 and 32, which are arranged at positions separated from each other longitudinally along the main body of the cable harness 21. By holding the two ends of the cable harness 20 with the two holding units 31 and 32, it is possible to hold the flexible and long cable harness 20 stably. This allows the transfer of the cable harness 20 from the feed position to the connection position to be automated.

[0061] Furthermore, the positions and orientations of the chuck sections 6 and 7 relative to the cable harness 20 at the feed position are controlled based on the detection results from cameras 5 and 9. Even if the positions and orientations of the ends of the cable harness main body 21 and the connectors 22 at the feed position are undefined, it is therefore possible to hold the cable harness main body 21 appropriately using the chuck sections 6 and 7. This allows the robot hand 1 to have a configuration that is better suited for the automated transfer of the cable harness 20.

[0062] Furthermore, each of the holding units 31, 32, and 33 is equipped with the movable chuck unit 7, which presses the connectors 22 into a position in which the end of the cable harness main body 21 is fixed by the stationary chuck unit 6. The movable chuck unit 7, pressing on the connectors 22, holds the cable harness main body 21 and the wire 23 in a tensioned position between the cable harness main body 21, held by the stationary chuck unit 6, and the connectors 22. This makes it possible to stabilize the positions and orientations of the connectors 22 and to automate the connection of the connectors 22 with their respective mating connectors.

[0063] Furthermore, each of the chuck sections 6 and 7 holds the main body of the cable harness 21 instead of the connectors 22. Therefore, regardless of the shape of the connectors 22, it is possible for the robot hand 1 to hold and transfer the cable harness 20 and connect the connectors 22 to their respective mating connectors. Moreover, it is possible to establish the connection to a mating connector by moving the robot hand 1, even if the connector 22 is designed so that the entire connector 22 is inserted into the mating connector. As described above, it is possible for the same robot hand 1 to automatically transfer and connect the cable harness 20 with connectors 22 of different types, thus providing the robot hand 1 with exceptional versatility.

[0064] In this embodiment, the transmission and connection of the cable harness 20 with the two connectors 22 has been described, but the robot hand 1 can also be used with a Y-shaped cable harness 20 with three connectors 22. In particular, the cable harness 20 can have a branched section in a central position in the longitudinal direction of the main cable harness body 21, with one end having one connector 22 and the other end having two connectors 22. In this case, the holding and connection of the third connector 22 is carried out by the third holding units 33 at the third end of the lower plate 2b.

[0065] Furthermore, the number of holding units of the robot hand 1 can be changed as needed according to the number of connectors 22 of the cable harness 20 to be held. For example, if the cable harness 20 has two connectors 22, two holding units are provided for two ends of an I-shaped lower plate. When applied to the cable harness 20 with four connectors 22, four holding units are provided for four ends of an X-shaped lower plate.

[0066] In this embodiment, the pressing section that presses the connectors 22 is the movable chuck unit 7, although the pressing section can be a different means. For example, the pressing section for the stationary chuck unit 6 can be provided as an element that expands and contracts in the longitudinal direction of the cable harness main body 21 while supporting the cable harness main body 21.

[0067] In this embodiment, the whole-body detection unit is a camera that captures an image of the wiring harness 20, although the whole-body detection unit can be a sensor of a different type. Likewise, the partial detection unit can be a sensor of a different type instead of a camera.

[0068] In this embodiment, the robot hand 1 is described, which performs both the transfer of the cable harness 20 and the connection of the connectors 22. However, the robot hand can be designed to perform only the transfer of the cable harness 20 or the connection of the connectors 22.

[0069] For example, a robot hand intended for transferring the cable harness 20 does not need to include the movable chuck unit 7. A robot hand intended for connecting the connectors 22 may only include a holding unit. Reference symbol list 1 robot hand 2 Basic profile 3, 31 and 32, 33 Holding unit 4 Linear drive unit 5 cameras (whole body capture unit) 6 Fixed chuck unit (fixed holding section) 7 Movable chuck unit (press section, movable holding section) 8 Linear drive unit (drive unit) 9 Camera (partial capture unit) 20 wiring harness 21 Wiring harness main body 22 connectors 30 robots 30a robot arm 40 Robot control 100 robot systems

Claims

[1] Robot hand (1) holding a cable harness (20) wherein the cable harness (20) has a long cable harness main body (21) and a connector (22) connected to one end of the cable harness main body (21) wherein the robot hand (1) comprises: a fixed retaining section (6) that holds the main body of the cable harness (21) near its end; a press section (7) which is movable relative to the stationary holding section (6) in a longitudinal direction of the cable harness main body (21) held by the stationary holding section (6); and a drive unit (8) that moves the press section (7) in a direction away from the stationary holding section (6) so that the press section (7) pushes the connector (22) outwards in the longitudinal direction of the cable harness main body (21); wherein the pressing section (7) is a movable retaining section (7) which is arranged with the fixed retaining section (6) in the longitudinal direction of the cable harness main body (21) held by the fixed retaining section (6), wherein the movable retaining section (7) is designed to hold the cable harness main body (21), and the movable retaining section (7) is able to hold the cable harness main body (21) in a stationary state or a held state, wherein the stationary state is a state in which the cable harness main body (21) is held immovably in the longitudinal direction, and the held state is a state in which the cable harness main body (21) is held in a manner movable in the longitudinal direction, wherein the robot hand (1) comprises two sets, each comprising the fixed holding section (6), the pressing section (7) and the drive unit (8), and wherein the fixed holding section (6) of one of the two sets holds the cable harness main body (21) near one end of the cable harness main body (21), and the fixed holding section (6) of the other of the two sets holds the cable harness main body (21) near the other end of the cable harness main body (21). [2] Robot hand (1) holding a cable harness (20), the cable harness (20) comprising a long cable harness main body (21), a first connector (22) connected to one end of the cable harness main body (21), and a second connector (22) connected to the other end of the cable harness main body (21), the robot hand (1) comprising: a first retaining section (31) that holds a section of one end of the main body of the cable harness (21); and a second retaining section (32) which holds a section of the other end of the main body of the cable harness (21), the first stopping section (31) comprises: a fixed retaining section (6) which holds the section of one end of the main body of the cable harness (21); a movable retaining section (7) which is movable relative to the fixed retaining section (6) in a longitudinal direction of the cable harness main body (21) held by the fixed retaining section (6); and a drive unit (8) which moves the movable retaining section (7) in a direction away from the stationary retaining section (6) so that the movable retaining section (7) pushes the first connector (22) outwards in the longitudinal direction of the cable harness main body (21), the second stopping section (32) includes: a fixed retaining section (6) which holds the section of the other end of the main body of the cable harness (21); a movable retaining section (7) which is movable relative to the fixed retaining section (6) in a longitudinal direction of the cable harness main body (21) held by the fixed retaining section (6); and a drive unit (8) which moves the movable retaining section (7) in a direction away from the stationary retaining section (6) so that the movable retaining section (7) pushes the second connector (22) outwards in the longitudinal direction of the cable harness main body (21), wherein the respective movable retaining section (7) is able to hold the cable harness main body (21) in a stationary state or a held state, wherein the stationary state is a state in which the cable harness main body (21) is held immovably in the longitudinal direction, and the held state is a state in which the cable harness main body (21) is held in a manner movable in the longitudinal direction. [3] Robot hand (1) according to claim 1 or 2, comprising: a whole-body sensing unit (5) that senses the position and attitude of an entire body of the cable harness (20). [4] Robot hand (1) according to any one of claims 1 to 3, comprising: a partial detection unit (9) that detects the position and attitude of the end of the cable harness (20) including the connector (22). [5] Robot system, comprising: a robot (30); the robot hand (1) according to claim 1, wherein the robot hand (1) is connected to a distal end of a robot arm (30a) of the robot (30); and a robot controller (40) that controls the robot (30) and the robot hand (1) to cause the robot (30) and the robot hand (1) to perform a connection operation to connect the connector (22) to a connector counterpart, wherein The connection process includes: holding the cable harness main body (21) near one end thereof using the fixed holding section (6); pressing the connector (22) using the pressing section (7) by an operation of the drive unit (8); and connecting the connector (22) which is pressed against the connector counterpart by an operation of the robot arm (30a). [6] Robot system according to claim 5, wherein the robot hand (1) comprises a partial detection unit (9) that detects the position and attitude of the end of the cable harness (20) including the connector (22), and wherein the robot controller (40) is designed for: controlling the position and attitude of the stationary holding section (6) relative to the main body of the cable harness (21) while holding the main body of the cable harness (21), based on the position and attitude of the end of the cable harness (20) detected by the part detection unit (9); and controlling the position and attitude of the robot hand (1) in relation to the connector counterpart when connecting to the connector (22), based on the position and attitude of the connector (22) detected by the part detection unit (9). [7] Robot system, comprising: a robot (30); the robot hand (1) according to claim 2, wherein the robot hand (1) is connected to a distal end of a robot arm (30a) of the robot (30); and a robot controller (40) that controls the robot (30) and the robot hand (1) to cause the robot (30) and the robot hand (1) to perform a transmission operation to transfer the cable harness (20), wherein The transfer process comprises: holding the main body of the cable harness (21) near one end using the first holding section (31); holding the main body of the cable harness (21) near its other end using the second holding section (32); and transferring the cable harness (20), held by the first holding section (31) and the second holding section (32), by an operation of the robot arm (30a). [8] Robot system according to claim 7, wherein the robot hand (1) comprises a whole-body sensing unit (5) that detects the position and posture of an entire body of the cable harness (20), and wherein the robot controller (40) controls a position and attitude of the robot hand (1) relative to the cable harness main body (21) when holding the cable harness main body (21), based on the position and attitude of the entire body of the cable harness (20) which is detected by the whole body sensing unit (5).

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