Robot hand

Abstract

To grip an object by a gripping mechanism with simple control.SOLUTION: A robot hand 1 includes: a gripping mechanism HK including a gripping member H-1 and a gripping member H-2 and configured to grip an object Obj disposed between the gripping member H-1 and the gripping member H-2; and a magnetic force generating member MG which is attached to the gripping mechanism HK and generates magnetic force acting as attraction or repulsion between the gripping member H-1 and the gripping member H-2.SELECTED DRAWING: Figure 2

Description

Technical Field

[0001] The present invention relates to a robot hand.

Background Art

[0002] Conventionally, a robot hand having a gripping mechanism for gripping an object is known. For example, Patent Document 1 describes a so-called force control robot hand that includes a force sensor that detects a force applied to the gripping mechanism when gripping an object, and controls the force with which the gripping mechanism grips the object based on the detection result of the force sensor.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, when the gripping mechanism provided in the robot hand is force-controlled to grip an object as in the conventional technology, there is a problem that the control of the gripping mechanism becomes more complicated compared to the mode of position control of the gripping mechanism.

[0005] The present invention has been made in view of the above circumstances, and one of the problems to be solved is to provide a technology that enables an object to be gripped by a gripping mechanism with simple control in a robot hand provided with the gripping mechanism as compared with the conventional technology.

Means for Solving the Problems

[0006] To solve the above problems, the robot hand according to the present invention is characterized by comprising a gripping mechanism that includes a first gripping member and a second gripping member for gripping an object placed between the first gripping member and the second gripping member, and a magnetic force generating member attached to the gripping mechanism for generating a magnetic force that acts as an attractive or repulsive force between the first gripping member and the second gripping member. [Effects of the Invention]

[0007] According to the present invention, compared to conventional technology, it becomes possible to grip an object using a gripping mechanism with simpler control. [Brief explanation of the drawing]

[0008] [Figure 1] This is an explanatory diagram showing an example of the overview of the robot system Sys according to the first embodiment of the present invention. [Figure 2] This is a cross-sectional view showing an example of the configuration of the robot hand 1. [Figure 3] This is a plan view showing an example of the configuration of the gripping member Hq. [Figure 4] This is a cross-sectional view showing an example of the relationship between the gripping member Hq and the magnet MQ[r]. [Figure 5] This is a cross-sectional view showing an example of the configuration of the robot hand 1. [Figure 6] This is a cross-sectional view showing an example of the configuration of the robot hand 1. [Figure 7] This is a cross-sectional view showing an example of the configuration of the robot hand 1. [Figure 8] This is a cross-sectional view showing an example of the configuration of a robot hand 1B according to a second embodiment of the present invention. [Figure 9] This is a cross-sectional view showing an example of the configuration of a robot hand 1C according to the third embodiment of the present invention. [Figure 10] This is a cross-sectional view showing an example of the configuration of robot hand 1C. [Figure 11] A cross-sectional view showing an example of the configuration of a robot hand 1D according to Modification 1 of the present invention. [Figure 12]It is a cross-sectional view showing an example of the relationship between the gripping member H-q and the magnet M-q according to Modification 2 of the present invention.

Embodiments for Carrying out the Invention

[0009] Hereinafter, embodiments for carrying out the present invention will be described with reference to the drawings. In each figure, the dimensions and scales of each part are appropriately different from the actual ones. Also, the embodiments described below are preferred specific examples of the present invention, and thus various technically preferable limitations are imposed. However, the scope of the present invention is not limited to these embodiments unless there is a description specifically limiting the present invention in the following description.

[0010] <1. First Embodiment> Hereinafter, the first embodiment of the present invention will be described.

[0011] <U <1.1. Outline of the Robot> Hereinafter, while referring to FIGURE 1, the outline of the robot system Sys will be described.

[0012] FIGURE 1 is an explanatory diagram for explaining an example of the outline of the robot system Sys.

[0013] As illustrated in FIGURE 1, in the present embodiment, the robot system Sys includes a robot 2, a robot hand 1 attached to the tip of the robot 2, and a robot controller 3 that controls the robot hand 1 and the robot 2.

[0014] The robot 2 is, for example, a vertical articulated robot. In the present embodiment, the case where the robot 2 is a vertical six-axis articulated robot will be illustrated and described. However, the present invention is not limited to the robot 2 being a vertical articulated robot. As the robot 2, an arm-type robot other than a vertical articulated robot may be adopted. For example, as the robot 2, a horizontal articulated robot may be adopted, a parallel link robot may be adopted, or an orthogonal robot may be adopted.

[0015] The robot hand 1 is an end effector for gripping an object Obj that is an operation target of the robot system Sys. Hereinafter, for convenience of explanation, a hand coordinate system ΣH fixed to the robot hand 1 is introduced. Here, the hand coordinate system ΣH has an X-axis extending in the X1 direction, which is the direction from the tip of the robot 2 toward the tip of the robot hand 1, a Y-axis extending in the Y1 direction, which is a direction intersecting the X1 direction, and a Z-axis extending in the Z1 direction, which is a direction intersecting the X1 direction and the Y1 direction, and is a three-axis coordinate system. In the present embodiment, it is assumed that the Y1 direction is perpendicular to the X1 direction, and the Z1 direction is perpendicular to the X1 direction and the Y1 direction. That is, in the present embodiment, it is assumed that the hand coordinate system ΣH is a three-axis orthogonal coordinate system. Further, hereinafter, the X1 direction and the X2 direction, which is the opposite direction of the X1 direction, may be collectively referred to as the X-axis direction, the Y1 direction and the Y2 direction, which is the opposite direction of the Y1 direction, may be collectively referred to as the Y-axis direction, and the Z1 direction and the Z2 direction, which is the opposite direction of the Z1 direction, may be collectively referred to as the Z-axis direction. The details of the robot hand 1 will be described later in FIG. 2.

[0016] The robot controller 3 controls the robot hand 1 and the robot 2. Specifically, the robot controller 3 includes a control device that controls each part of the robot system Sys, a storage device that stores various information, a communication device for communicating with an external device such as the robot hand 1 or the robot 2 existing outside the robot controller 3, an operation device that receives an operation by the user of the robot system Sys, and a display device that displays various information.

[0017] Among these, the storage device includes a volatile memory such as a RAM (Random Access Memory) and a non-volatile memory such as an EEPROM (Electrically Erasable Programmable Read-Only Memory) that stores various information. Further, the storage device stores a control program for controlling each part of the robot system Sys.

[0018] Furthermore, the control device is configured to include, for example, one or more CPUs (Central Processing Units). The control device executes a control program stored in a memory device and controls the robot hand 1 and robot 2 by operating according to the control program. Specifically, the control device controls robot 2 so that the position and orientation of the robot hand 1 attached to the tip of robot 2 are such that the robot hand 1 can grasp the object Obj. The control device also controls the robot hand 1 so that the robot hand 1 grasps the object Obj. In addition to one or more CPUs, or in place of some or all of one or more CPUs, the control device may be configured to include hardware such as a GPU (Graphics Processing Unit), DSP (Digital Signal Processor), or FPGA (Field Programmable Gate Array).

[0019] <1.2. Overview of the Robot Hand> The following is an overview of the robot hand 1, with reference to Figures 2 and 3.

[0020] Figure 2 is a cross-sectional view of the robot hand 1, obtained by cutting the robot hand 1 with a plane passing through the Ee line in Figure 1 and normalized to the Z1 direction.

[0021] As illustrated in Figure 2, the robot hand 1 comprises a gripping mechanism HK including a gripping member H-1 (an example of a "first gripping member") and a gripping member H-2 (an example of a "second gripping member"), a drive mechanism 10 for driving the gripping mechanism HK, and a magnetic force generating member MG including a plurality of magnets M attached to the gripping mechanism HK. In this embodiment, it is assumed that the magnets M are permanent magnets.

[0022] Hereinafter, gripping members H-1 and H-2 will be collectively referred to as gripping member Hq. Here, the variable q is a natural number satisfying 1 ≤ q ≤ 2. In this embodiment, the object Obj is gripped by gripping members H-1 and H-2 provided on the gripping mechanism HK. Hereinafter, when the gripping mechanism HK grips the object Obj, the surface of gripping member Hq that contacts the object Obj will be referred to as the contact surface WH-q.

[0023] Furthermore, in this embodiment, we assume that R magnets M are attached to the gripping member Hq. Here, the value R is a natural number greater than or equal to 1. Below, we will refer to the r-th magnet M among the R magnets M provided on the gripping member Hq as magnet Mq[r]. That is, in this embodiment, we assume that R magnets Mq[1] to Mq[R] are attached to the gripping member Hq. Here, the variable r is a natural number satisfying 1 ≤ r ≤ R. Note that in this embodiment, we will explain the case where "R = 3" is assumed, as illustrated in Figure 2.

[0024] Furthermore, for the convenience of explaining the position of the magnet Mq[r], a representative point Pq[r] is set with respect to the magnet Mq[r]. Here, the representative point Pq[r] may be a point located at any position inside the magnet Mq[r], or it may be a point located at any position on the surface of the magnet Mq[r]. For example, the representative point Pq[r] may be the centroid of the magnet Mq[r], or it may be the geometric center of one of the multiple faces that make up the surface of the magnet Mq[r]. In this embodiment, as an example, the representative point Pq[r] is set at the geometric center of the face of the magnet Mq[r] on the contact surface WH-q side.

[0025] As described above, the gripping member Hq extends in the X1 direction. In this embodiment, we assume that the gripping member H-2 is located in the Y1 direction when viewed from the gripping member H-1. Hereafter, the position of the contact surface WH-q in the Y-axis direction (i.e., the left-right position in Figure 2) will be referred to as position YH-q. In other words, in this embodiment, position YH-2 is located in the Y1 direction more than position YH-1 (i.e., it is located to the right in Figure 2).

[0026] Furthermore, in the following, the distance between the representative point P-1[r1] of the magnet M-1[r1] provided on the gripping member H-1 and the representative point P-2[r2] of the magnet M-2[r2] provided on the gripping member H-2 will be referred to as distance L[r1][r2]. Here, the variable r1 is a natural number satisfying 1≦r1≦R, and the variable r2 is a natural number satisfying 1≦r2≦R. In this embodiment, we assume that distance L[r0][r0] and distance L[1+r0][1+r0] are approximately the same distance. Here, the variable r0 is a natural number satisfying 1≦r0≦R-1. More specifically, in this embodiment, we assume that distance L[1][1], distance L[2][2], and distance L[3][3] are approximately the same distance.

[0027] Here, "approximately identical" is a concept that includes not only cases where they are completely identical, but also cases where they can be considered identical when errors are taken into account. For example, "approximately identical" may include cases where they are identical in terms of design and can be considered identical when manufacturing errors are taken into account. For example, "approximately identical" may include cases where they can be made identical by eliminating errors of 10 percent or less.

[0028] Figure 3 is a plan view of the gripping member Hq when the contact surface WH-q of the gripping member Hq is viewed from above. In Figure 3, for illustrative purposes, the hand coordinate system ΣH is drawn using the case where "q=1" as an example. In this embodiment, it is assumed that gripping members H-1 and H-2 have approximately the same size and shape.

[0029] As illustrated in Figure 3, R magnets Mq[1] to Mq[R] are attached to the contact surface WH-q of the gripping member Hq. In this embodiment, the area of ​​the magnets Mq[r] when the contact surface WH-q of the gripping member Hq is viewed from above is referred to as the area Sq[r]. In this embodiment, we assume that area Sq[1+r0] is larger than area Sq[r0]. That is, in this embodiment, as illustrated in Figure 3, area Sq[2] is larger than area Sq[1], and area Sq[3] is larger than area Sq[2].

[0030] Furthermore, in the following, the distance between the representative point Pq[r0] of the magnet Mq[r0] provided on the gripping member Hq and the representative point Pq[1+r0] of the magnet Mq[1+r0] provided on the gripping member Hq will be referred to as the distance Eq[r0][1+r0]. In this embodiment, we assume that distances Eq[1][2] and Eq[2][3] are approximately the same, as illustrated in Figure 3. However, the present invention is not limited to this embodiment. Distances Eq[1][2] and Eq[2][3] may be different distances.

[0031] Furthermore, in the following, the distance in the X-axis direction between magnets Mq[r0] and Mq[1+r0] provided on the gripping member Hq will be referred to as the distance Gq[r0][1+r0]. In this embodiment, as illustrated in Figure 3, we assume that the interval Gq[1][2] is greater than the interval Gq[2][3]. However, the present invention is not limited to this embodiment. The interval Gq[1][2] may be less than or equal to the interval Gq[2][3].

[0032] In other words, in the gripping member Hq according to this embodiment, the magnets M can be arranged on the gripping member Hq such that the density of magnets M increases as the direction toward X1 increases.

[0033] <1.3. Attaching magnets to gripping members> The attachment of the magnet M to the gripping member Hq will be explained below with reference to Figure 4.

[0034] Figure 4 is an enlarged view of the gripping member Hq and magnet Mq[r] in the cross-sectional view shown in Figure 2. Note that in Figure 4, for illustrative purposes, the hand coordinate system ΣH is drawn using the case where "q=1" as an example.

[0035] In the following, the contact surface WH-q of the gripping member Hq, near the magnet Mq[r], will be referred to as the contact surface WH-q[r] (an example of a "gripping surface"). Furthermore, in the following, when the gripping mechanism HK grips the object Obj, the surface of the magnet Mq[r] that may come into contact with the object Obj will be referred to as the contact surface WM-q[r] (an example of a "first surface").

[0036] As illustrated in Figure 4, a mounting groove HV-q[r] is provided on the contact surface WH-q[r] of the contact surface WH-q. The mounting groove HV-q[r] (an example of a "groove") is a recess provided on the contact surface WH-q[r] for attaching a magnet Mq[r], and is a recess having approximately the same size and shape as the magnet Mq[r]. A mounting magnet MT-q[r] is also provided on the mounting groove HV-q[r]. Here, the mounting magnet MT-q[r] (an example of a "mounting magnet") is a magnet that generates a magnetic force that acts as an attractive force between the magnet Mq[r] and the mounting groove HV-q[r] when the magnet Mq[r] is attached to the mounting groove HV-q[r].

[0037] In this embodiment, the mounting magnet MT-q[r] is provided such that when the magnet Mq[r] is attached to the mounting groove HV-q[r], it contacts one of the multiple surfaces of the magnet Mq[r] that is opposite to the contact surface WM-q[r]. However, the present invention is not limited to this embodiment. The mounting magnet MT-q[r] may be provided such that when the magnet Mq[r] is attached to the mounting groove HV-q[r], it contacts one or more of the multiple surfaces of the magnet Mq[r] that are different from the contact surface WM-q[r].

[0038] In this embodiment, the magnetic force generated between the magnet Mq[r] and the mounting magnet MT-q[r] provided in the mounting groove HV-q[r] causes the magnet Mq[r] to be attracted to the mounting magnet MT-q[r]. Therefore, in this embodiment, it is possible to prevent the magnet Mq[r] from coming off the mounting groove HV-q[r] of the gripping member Hq.

[0039] Furthermore, in this embodiment, when a magnet Mq[r] is attached to a mounting groove HV-q[r] provided on the gripping member Hq, the size and shape of the mounting groove HV-q[r] and the magnet Mq[r] are determined such that the step difference G-HM in the Y-axis direction between the contact surface WH-q[r] of the gripping member Hq and the contact surface WM-q[r] of the magnet Mq[r] is less than or equal to a reference amount Gth. Here, the reference amount Gth may be a value predetermined based on, for example, the size of the robot hand 1, the size of the gripping member Hq, or the size of the object Obj that is expected to be operated by the robot hand 1. In this embodiment, when the step difference G-HM between the contact surface WH-q[r] and the contact surface WM-q[r] is less than or equal to the reference amount Gth, the contact surface WH-q[r] and the contact surface WM-q[r] are considered to be the same surface.

[0040] Thus, in this embodiment, the magnet Mq[r] is provided such that the step difference G-HM between the contact surface WH-q[r] and the contact surface WM-q[r] is less than or equal to the reference amount Gth, and the contact surface WH-q[r] and the contact surface WM-q[r] are on the same plane. Therefore, according to this embodiment, compared to the embodiment in which the step difference G-HM is greater than the reference amount Gth, the possibility of the object Obj being damaged due to the step difference G-HM between the contact surface WH-q[r] and the contact surface WM-q[r] when the object Obj is gripped by the gripping mechanism HK can be suppressed.

[0041] Figure 4 illustrates an example in which the magnet Mq[r] is provided such that it protrudes from the contact surface WH-q. In other words, Figure 4 illustrates an example in which, when the gripping mechanism HK grips the object Obj, the magnet Mq[r] is provided such that, in the Y-axis direction, the contact surface WM-q[r] is closer to the object Obj than the contact surface WH-q[r]. However, the present invention is not limited to this example. For example, when the gripping mechanism HK grips the object Obj, the magnet Mq[r] may be provided such that, in the Y-axis direction, the contact surface WM-q[r] is further away from the object Obj than the contact surface WH-q[r]. In this case as well, it is sufficient that the size and shape of the mounting groove HV-q[r] and the magnet Mq[r] are determined such that the step difference G-HM between the contact surface WH-q[r] and the contact surface WM-q[r] is less than or equal to a reference amount Gth.

[0042] <1.4. Grasping an object using a robotic hand> The following describes how the robot hand 1 grasps the object Obj, referring to Figures 5 through 7.

[0043] Figure 5 is an explanatory diagram illustrating the contact surface WH-q of the gripping member Hq in the cross-sectional view shown in Figure 2. Figure 5, like Figure 2, shows a cross-section of the robot hand 1 obtained by cutting the robot hand 1 through a plane passing through the line Ee in Figure 1.

[0044] As illustrated in Figure 5, when the gripping member Hq is viewed in a plan view in the direction of the Y-axis, the region of the contact surface WH-q of the gripping member Hq that overlaps with the magnet Mq[r] is called the magnet contact region AM-q[r].

[0045] Furthermore, when the gripping member Hq is viewed in a plan view in the direction of the Y-axis, the region of the contact surface WH-q of the gripping member Hq that does not overlap with the magnet Mq[r] is called the member contact region AH-q[s]. Here, the variable s is a natural number satisfying 0≦s≦R. That is, the member contact region AH-q[s] that is in contact with the magnet contact region AM-q[r] and located in the X2 direction of the magnet contact region AM-q[r] can also be expressed as the member contact region AH-q[r-1]. Similarly, the member contact region AH-q[s] that is in contact with the magnet contact region AM-q[r] and located in the X1 direction of the magnet contact region AM-q[r] can also be expressed as the member contact region AH-q[r].

[0046] In this embodiment, when the object Obj is gripped by the gripping mechanism HK, two contact patterns are assumed: a first contact pattern in which the object Obj comes into contact with the magnetic contact area AM-1[r] and the magnetic contact area AM-2[r], and a second contact pattern in which the object Obj comes into contact with the member contact area AH-1[s] and the member contact area AH-2[s].

[0047] In this embodiment, the drive mechanism 10 controls the position of the gripping member Hq and moves the gripping member Hq so that its position is suitable for gripping the object Obj, thereby allowing the gripping mechanism HK to grip the object Obj. Specifically, when the robot hand 1 grips the object Obj with the gripping mechanism HK, the drive mechanism 10 moves the gripping member H-1 in the Y1 direction as shown by arrow MV-1 in Figure 5, and moves the gripping member H-2 in the Y2 direction as shown by arrow MV-2 in Figure 5, thereby setting the position YH-1 of the contact surface WH-1 of the gripping member H-1 in the Y-axis direction and the position YH-2 of the contact surface WH-2 of the gripping member H-2 in the Y-axis direction to a position where the distance between the gripping members H-1 and H-2 is suitable for gripping the object Obj. As a result, the robot hand 1 grasps the object Obj with gripping members H-1 and H-2.

[0048] Figures 6 and 7 are explanatory diagrams illustrating the gripping of object Obj by the gripping mechanism HK. Figures 6 and 7, like Figure 2, show a cross-section of the robot hand 1 obtained by cutting the robot hand 1 through a plane passing through the line Ee in Figure 1.

[0049] Of these, Figure 6 illustrates a case in which three magnets Mq[1] to Mq[3] are attached to three mounting grooves HV-q[1] to HV-q[3] of the gripping member Hq. In contrast, Figure 7 illustrates a case in which, of the three mounting grooves HV-q[1] to HV-q[3] of the gripping member Hq, magnets Mq[1] and Mq[2] are removed from mounting grooves HV-q[1] and HV-q[2], and magnet Mq[3] is attached only to mounting groove HV-q[3].

[0050] Hereinafter, the magnetic force acting between magnet M-1[r1] provided on gripping member H-1 and magnet M-2[r2] provided on gripping member H-2 will be referred to as magnetic force F[r1][r2]. Furthermore, hereinafter, the magnetic force acting between one or more magnets M provided on gripping member H-1 and one or more magnets M provided on gripping member H-2 will be referred to as magnetic force Fsum. Here, magnetic force Fsum is the resultant force of all magnetic forces F[r1][r2] generated between gripping member H-1 and gripping member H-2 when the variable r1 is varied between 1 ≤ r1 ≤ R and the variable r2 is varied between 1 ≤ r2 ≤ R.

[0051] Furthermore, in the following, the force with which gripping member H-1 and gripping member H-2 grips the object Obj will be referred to as the gripping force FH. Furthermore, in the following, the gripping force FH when the magnet M is not attached to the gripping mechanism HK will be referred to as the reference gripping force FH0.

[0052] In this embodiment, the gripping force FH is the resultant force of the reference gripping force FH0 and the magnetic force Fsum. In other words, if the gripping force FH, the reference gripping force FH0, and the magnetic force Fsum are all three-dimensional vectors, then the relationship between these three vectors is "FH = FH0 + Fsum".

[0053] In the examples shown in Figures 6 and 7, we assume, as an example, that the magnetic force F[r1][r2] is a repulsive force. For example, in the examples shown in Figures 6 and 7, we assume that the magnetic pole at the Y1 direction end of the magnet M-1[r1] provided on the gripping member H-1 and the magnetic pole at the Y2 direction end of the magnet M-2[r2] provided on the gripping member H-2 are the same magnetic pole. Furthermore, the reference gripping force FH0 is the force acting as an attractive force between the gripping members H-1 and H-2. Therefore, in the examples shown in Figures 6 and 7, the magnitude of the gripping force FH is smaller than the magnitude of the reference gripping force FH0.

[0054] More specifically, in the examples shown in Figures 6 and 7, we assume that each of the magnetic forces F[1][1], F[1][2], F[1][3], F[2][1], F[2][2], F[2][3], F[3][1], F[3][2], and F[3][3] is a repulsive force. In the example shown in Figure 6, the magnetic force Fsum satisfies "Fsum = F[1][1] + F[1][2] + F[1][3] + F[2][1] + F[2][2] + F[2][3] + F[3][1] + F[3][2] + F[3][3]". On the other hand, in the example shown in Figure 7, the magnetic force Fsum satisfies "Fsum = F[3][3]". Therefore, when magnets Mq[1] and Mq[2] are attached to the gripping mechanism HK as shown in Figure 6, the gripping force FH is smaller compared to when magnets Mq[1] and Mq[2] are removed from the gripping mechanism HK as shown in Figure 7.

[0055] In other words, by attaching magnets MQ[1] and MQ[2] to the gripping mechanism HK as shown in Figure 6, the possibility of the object Obj being damaged due to the gripping force FH when gripping a low-strength object Obj can be reduced compared to the case where magnets MQ[1] and MQ[2] are removed from the gripping mechanism HK as shown in Figure 7. On the other hand, by removing magnets MQ[1] and MQ[2] from the gripping mechanism HK as shown in Figure 7, the possibility of the object Obj falling from the gripping mechanism HK when gripping a heavy object Obj can be reduced compared to the case where magnets MQ[1] and MQ[2] are attached to the gripping mechanism HK as shown in Figure 6.

[0056] Furthermore, in the examples shown in Figures 6 and 7, we assume, as an example, that magnet Mq[1+r0] has a stronger magnetic force than magnet Mq[r0]. Specifically, in the examples shown in Figures 6 and 7, we assume, as an example, that magnetic force F[2][r2] acts as a stronger repulsive force than magnetic force F[1][r2], and magnetic force F[3][r2] acts as a stronger repulsive force than magnetic force F[2][r2]. Furthermore, in the examples shown in Figures 6 and 7, we assume, as an example, that magnetic force F[r1][2] acts as a stronger repulsive force than magnetic force F[r1][1], and magnetic force F[r1][3] acts as a stronger repulsive force than magnetic force F[r1][2]. Therefore, in the examples shown in Figures 6 and 7, by selecting one or more magnets M from among magnets M-1[1], M-1[2], M-1[3], M-2[1], M-2[2], and M-2[3], and attaching the selected magnets M to the gripping mechanism HK, it becomes possible to finely set the gripping force FH to a force of a size suitable for gripping the object Obj.

[0057] Furthermore, in this embodiment, when the gripping mechanism HK grips the object Obj in the magnetic contact area AM-q[r], a portion of the magnetic force acting as a repulsive force between magnets M-1[r] and M-2[r] may be blocked by the object Obj. Therefore, in this embodiment, for example, the gripping force FH applied to the object Obj can be adjusted by appropriately using either gripping the object Obj in the magnetic contact area AM-q[r] or gripping the object Obj in the member contact area AH-q[s], depending on some or all of the permeability, shape, and size of the object Obj.

[0058] Furthermore, in this embodiment, as described above, the density of the magnets M provided on the gripping member Hq increases as it moves in the X1 direction. In other words, in this embodiment, the gripping force FH when the gripping mechanism HK grips the object Obj may vary depending on the gripping position of the object Obj by the gripping mechanism HK. Specifically, in this embodiment, for example, as the gripping position of the object Obj moves in the X1 direction, the gripping force FH when the gripping mechanism HK grips the object Obj may increase. Therefore, in this embodiment, for example, the gripping force FH applied to the object Obj can be adjusted based on the gripping position of the object Obj by the gripping mechanism HK and the mounting position of the magnets M in the gripping mechanism HK.

[0059] <1.5. Conclusion of the First Embodiment> As described above, in this embodiment, the gripping force FH can be adjusted by attaching one or more magnets M (an example of "gripping force adjustment magnets") selected from among a plurality of magnets M to the gripping mechanism HK. Furthermore, in this embodiment, the gripping force FH can be adjusted by switching between gripping the object Obj in the magnet contact area AM-q[r] or gripping the object Obj in the member contact area AH-q[s]. In addition, in this embodiment, the gripping force FH can be adjusted based on the gripping position of the object Obj in the gripping mechanism HK and the mounting position of the magnets M in the gripping mechanism HK. As a result, in this embodiment, it is possible to finely adjust the gripping force FH.

[0060] Furthermore, according to this embodiment, the gripping force FH applied to the object Obj from the gripping mechanism HK is adjusted by attaching or detaching the magnet M to the gripping mechanism HK. Therefore, according to this embodiment, the object Obj can be gripped with a gripping force FH suitable for the object Obj, compared to a method in which the object Obj is gripped by only controlling the position YH-q of the gripping member Hq by the drive mechanism 10, without attaching or detaching the magnet M to the gripping mechanism HK and without adjusting the gripping force FH by the magnetic force Fsum from the magnetic force generating member MG. On the other hand, according to this embodiment, the control of the robot hand 1 can be simplified compared to a method in which the gripping force FH applied to the object Obj from the gripping mechanism HK is determined based on the detected value from a force sensor that detects the force applied to the object Obj from the gripping mechanism HK. In other words, according to this embodiment, finer adjustment of the gripping force FH is possible compared to when the robot hand 1 is controlled by position control, and control is simplified compared to when the robot hand 1 is controlled by force control or compliance control.

[0061] In this embodiment, a configuration in which a repulsive magnetic force is generated between magnet M-1[r1] and magnet M-2[r2] has been described as an example, but the present invention is not limited to this configuration. A magnetic force acting as an attractive force may also be generated between magnet M-1[r1] and magnet M-2[r2].

[0062] For example, one or more magnets M attached to gripping member H-1 may include magnets M capable of generating a magnetic force that acts as an attractive force between some or all of the one or more magnets M attached to gripping member H-2. Similarly, one or more magnets M attached to gripping member H-2 may include magnets M capable of generating a magnetic force that acts as an attractive force between some or all of the one or more magnets M attached to gripping member H-1.

[0063] Furthermore, for example, a magnet M capable of generating a magnetic force that acts as a repulsive force between itself and the magnet M-2[r2] may be selectively attached to the mounting groove HV-1[r1] of the gripping member H-1, and a magnet M capable of generating a magnetic force that acts as an attractive force between itself and the magnet M-2[r2]. Similarly, a magnet M capable of generating a magnetic force that acts as a repulsive force between itself and the magnet M-1[r1] may be selectively attached to the mounting groove HV-2[r2] of the gripping member H-2, and a magnet M capable of generating a magnetic force that acts as an attractive force between itself and the magnet M-1[r1].

[0064] In this embodiment, the magnet M-1[3] attached to the gripping member H-1 is an example of a "first magnet," the magnet M-2[3] attached to the gripping member H-2 is an example of a "second magnet," the magnet M-1[2] attached to the gripping member H-1 is an example of a "third magnet," and the magnet M-2[2] attached to the gripping member H-2 is an example of a "fourth magnet."

[0065] As described above, in this embodiment, as shown in Figures 6 and 7, magnet M-1[3] has a different size from magnet M-1[2]. In other words, in this embodiment, magnet M-1[3] has a different magnetic force than magnet M-1[2]. Therefore, in this embodiment, by selectively attaching magnet M-1[3] and magnet M-1[2] to the gripping mechanism HK, it becomes possible to finely adjust the gripping force FH.

[0066] Furthermore, in this embodiment, the magnetic force F[3][3] generated between magnet M-1[3] and magnet M-2[3] is of a different magnitude than the magnetic force F[2][3] generated between magnet M-1[2] and magnet M-2[3]. Therefore, in this embodiment, by selectively attaching magnet M-1[3] and magnet M-1[2] to the gripping mechanism HK, it becomes possible to finely adjust the gripping force FH.

[0067] Furthermore, as described above, in this embodiment, when the gripping mechanism HK grips the object Obj, the gripping force FH is, strictly speaking, affected by the gripping position of the object Obj in the gripping mechanism HK. For example, consider the case shown in Figure 7, where magnets Mq[1] and Mq[2] are removed from the gripping mechanism HK, and magnets M-1[3] and M-2[3] are attached to the gripping mechanism HK. In this case, if the object Obj is gripped in the magnetic contact area AM-q[3], the magnetic force Fsum applied to the object Obj will be approximately the same as the magnetic force F[3][3] generated between magnets M-1[3] and M-2[3]. However, if the object Obj is gripped at a position different from the magnetic contact area AM-q[3], the magnetic force Fsum applied to the object Obj may be a different force from the magnetic force F[3][3]. In other words, if a magnet M-1[r] is attached to gripping member H-1 and a magnet M-2[r] is attached to gripping member H-2, then if the object Obj is gripped in the magnet contact area AM-1[r] (an example of the "first gripping area") and the magnet contact area AM-2[r] (an example of the "first corresponding area"), the magnetic force Fsum applied to the object Obj will be approximately the same as the magnetic force F[r][r] generated between magnets M-1[r] and M-2[r]. However, even if a magnet M-1[r] is attached to gripping member H-1 and a magnet M-2[r] is attached to gripping member H-2, if the object Obj is gripped at a position different from the magnet contact region AM-q[r], for example, in member contact region AH-1[s] (an example of a "second gripping region") and member contact region AH-2[s] (an example of a "second corresponding region"), the magnetic force Fsum applied to the object Obj may be a different force from the magnetic force F[r][r]. Thus, according to this embodiment, the gripping force FH may change depending on the gripping position of the object Obj by the gripping mechanism HK and the mounting position of the magnet M in the gripping mechanism HK. Therefore, according to this embodiment, the gripping force FH applied to the object Obj can be adjusted based on the gripping position of the object Obj by the gripping mechanism HK and the mounting position of the magnet M in the gripping mechanism HK.

[0068] <2. Second Embodiment> A second embodiment of the present invention will be described below. In each of the embodiments illustrated below, for elements whose operation or function is the same as in the first embodiment, the reference numerals used in the first embodiment will be reused, and detailed descriptions of such elements will be omitted as appropriate.

[0069] In the first embodiment described above, the case where distance L[r0][r0] and distance L[1+r0][1+r0] are approximately the same was illustrated as an example, but the present invention is not limited to this embodiment. For example, distance L[r0][r0] and distance L[1+r0][1+r0] may be different distances.

[0070] Figure 8 is a cross-sectional view showing the robot hand 1B according to this embodiment. The robot system according to this embodiment is the same as the robot system Sys according to the first embodiment shown in Figure 1, except that it is equipped with robot hand 1B instead of robot hand 1. Figure 8 is a cross-sectional view of the robot hand 1B obtained by cutting the robot hand 1B with a plane passing through line Ee in Figure 1, when the robot hand 1B is attached to the tip of the robot 2 in place of robot hand 1 in Figure 1.

[0071] As illustrated in Figure 8, the robot hand 1B differs from the robot hand 1 according to the first embodiment in that it is equipped with a gripping mechanism HKB instead of a gripping mechanism HK. The gripping mechanism HKB differs from the gripping mechanism HK according to the first embodiment in that it is equipped with a gripping member HB-q instead of a gripping member Hq. The gripping members HB-1 and HB-2 differ from the gripping members H-1 and H-2 according to the first embodiment, which are equipped with distances L[r0][r0] and L[1+r0][1+r0] being approximately the same, in that the distances L[r0][r0] and L[1+r0][1+r0] are different.

[0072] More specifically, in this embodiment, as an example, we assume the case where distance L[r0][r0] is longer than distance L[1+r0][1+r0]. That is, in this embodiment, we assume the case where distance L[1][1] is longer than distance L[2][2], and distance L[2][2] is longer than distance L[3][3].

[0073] Furthermore, in this embodiment, as an example, we assume that magnets Mq[1] to Mq[R] have approximately the same magnetic force. Specifically, in this embodiment, we assume that magnets Mq[1] to Mq[R] have approximately the same size and approximately the same shape. Moreover, in this embodiment, as an example, we assume that areas Sq[1] to Sq[R] are approximately the same area, and the distance between them Gq[1][2] to Gq[R-1][R] is approximately the same distance.

[0074] Generally, when the distance L[r1][r2] between the representative point P-1[r1] of magnet M-1[r1] and the representative point P-2[r2] of magnet M-2[r2] is short, the magnetic force F[r1][r2] between magnet M-1[r1] and magnet M-2[r2] is greater than when the distance is long. Therefore, in this embodiment, the magnetic force F[1+r0][1+r0] is greater than the magnetic force F[r0][r0]. More specifically, in this embodiment, the magnetic force F[2][2] is greater than the magnetic force F[1][1], and the magnetic force F[3][3] is greater than the magnetic force F[2][2].

[0075] Therefore, in this embodiment as well, similar to the first embodiment, one or more magnets M can be selected from magnets M-1[1], M-1[2], M-1[3], M-2[1], M-2[2], and M-2[3], and the selected magnets M can be attached to the gripping mechanism HK, making it possible to finely set the gripping force FH to a force suitable for gripping the object Obj. Furthermore, in this embodiment, as described above, the magnetic force Fsum acting between gripping members HB-1 and HB-2 is adjusted by utilizing the geometric property of the gripping mechanism HKB, where the distance L[r0][r0] and the distance L[1+r0][1+r0] are different. In other words, in this embodiment, the magnetic force F[r1][r2] between magnet M-1[r1] attached to gripping member HB-1 and magnet M-2[r2] attached to gripping member HB-2 is determined based on the distance L[r1][r2] between magnet M-1[r1] and magnet M-2[r2], and the magnetic force Fsum is adjusted by utilizing this property. To put it another way, in this embodiment, the magnetic force Fsum is adjusted by the distance L[r1][r2] between magnet M-1[r1] and magnet M-2[r2]. Therefore, in this embodiment, the magnetic force Fsum can be adjusted regardless of the size, shape, or magnetic force of magnet M-1[r1] or magnet M-2[r2]. Thus, in this embodiment, as described above, it is possible to make multiple magnets Mq[1] to Mq[R] approximately the same size and shape. Hereinafter, each of the multiple magnets Mq[1] to Mq[R] that can be attached to the gripping mechanism HKB and are approximately the same size and shape will be referred to as "magnet MB". In other words, in this embodiment, the desired magnetic force Fsum can be achieved by attaching one or more magnets MB selected from the multiple magnets MB to the gripping mechanism HKB. Thus, according to this embodiment, multiple magnets MB can be used as multiple magnets Mq[1] to Mq[R], each having approximately the same size and shape. Therefore, according to this embodiment, compared to cases where there are two magnets Mq[r] of different sizes or two magnets Mq[r] of different shapes among the multiple magnets Mq[1] to Mq[R], the manufacturing of the multiple magnets Mq[1] to Mq[R] becomes easier, and the manufacturing cost of the multiple magnets Mq[1] to Mq[R] can be reduced. Furthermore, according to this embodiment, any magnet MB can be attached to the mounting groove HV-q[r] provided in the gripping mechanism HKB from among the multiple magnets MB adopted as multiple magnets Mq[1] to Mq[R]. Therefore, according to this embodiment, compared to the method of finding a magnet Mq[r] that corresponds to the size and shape of the mounting groove HV-q[r] from among the multiple magnets Mq[1] to Mq[R] and attaching the found magnet Mq[r] to the mounting groove HV-q[r], the effort required to attach the magnet M to the gripping mechanism HKB can be reduced, and furthermore, errors in the work of attaching the magnet M to the gripping mechanism HKB can be reduced.

[0076] In this embodiment, gripping member HB-1 is an example of a "first gripping member," gripping member HB-2 is an example of a "second gripping member," magnet M-1[3] is an example of a "first magnet," magnet M-2[3] is an example of a "second magnet," magnet M-1[2] is an example of a "third magnet," and magnet M-2[2] is an example of a "fourth magnet."

[0077] <3. Third Embodiment> A third embodiment of the present invention will be described below.

[0078] In the first and second embodiments described above, the gripping force FH was adjusted by attaching or removing the magnet M to the gripping mechanism HK (or gripping mechanism HKB), but the present invention is not limited to these embodiments. For example, the gripping force FH may be adjusted by attaching a shielding plate to the magnet M attached to the gripping mechanism HK to block the magnetic force from the magnet M.

[0079] Figures 9 and 10 are cross-sectional views showing the robot hand 1C according to this embodiment. The robot system according to this embodiment is the same as the robot system Sys according to the first embodiment shown in Figure 1, except that it is equipped with robot hand 1C instead of robot hand 1. Figures 9 and 10 are diagrams showing a cross-section of the robot hand 1C, obtained by cutting the robot hand 1C with a plane passing through line Ee in Figure 1, when the robot hand 1C is attached to the tip of the robot 2 in place of robot hand 1 in Figure 1.

[0080] As illustrated in Figures 9 and 10, the robot hand 1C differs from the robot hand 1 according to the first embodiment in that it is equipped with a gripping mechanism HKC instead of a gripping mechanism HK. The gripping mechanism HKC differs from the gripping mechanism HK according to the first embodiment in that it is equipped with a gripping member HC-q instead of a gripping member Hq. The gripping member HC-q differs from the gripping member Hq according to the first embodiment in that it is equipped with one magnet ML-q instead of one or more magnets Mq[r], and that a shield plate SH-q is provided between the magnet ML-q and the object Obj.

[0081] In the following, when the gripping member HC-q is viewed in plan along the Y-axis, the region of the magnet ML-q where the shield plate SH-q is not provided and the magnet ML-q is exposed will be referred to as the magnet exposure region BM-q, and the region where the shield plate SH-q is provided will be referred to as the magnetic field shielding region BH-q.

[0082] In this embodiment, as an example, we assume that the shield plate SH-q is arranged such that R magnet exposure regions BM-q are provided on the gripping member HC-q. Below, the r-th magnet exposure region BM-q among the R magnet exposure regions BM-q will be referred to as magnet exposure region BM-q[r]. Below, the r0th magnetic force shielding region BH-q among the R-1 magnetic force shielding regions BH-q that separate the R magnet exposure regions BM-q[1] to BM-q[R] will be referred to as magnetic force shielding region BH-q[r0]. Below, the shield plate SH-q that covers magnetic force shielding region BH-q[r0] among the shield plates SH-q provided on the gripping member HC-q will be referred to as shield plate SH-q[r0].

[0083] In this embodiment, the shield plate SH-q is composed of a magnetic material and blocks at least a portion of the magnetic force generated from the magnet ML-q. Specifically, in this embodiment, the shield plate SH-q[r0] blocks at least a portion of the magnetic force generated from the magnetic force blocking region BH-q[r0] of the magnet ML-q. Furthermore, in this embodiment, it is assumed that the shield plate SH-q[1]~SH-q[R-1] is a single plate-shaped member. Specifically, in this embodiment, it is assumed that the shield plate SH-q is a single plate-shaped member having R openings that correspond one-to-one with R magnet exposure regions BM-q[1]~BM-q[R] when attached to the magnet ML-q provided on the gripping member HC-q. However, the present invention is not limited to this embodiment. The shield plate SH-q may be a collection of R-1 shield plates SH-q[1]~SH-q[R-1] that correspond one-to-one with R-1 magnetic field shielding regions BH-q[1]~BH-q[R-1].

[0084] Furthermore, in this embodiment, as illustrated in Figure 10, a shield plate SM-q[r] can be attached to the magnet exposed region BM-q[r] of the magnet ML-q provided on the gripping member HC-q. Here, the shield plate SM-q[r] is a plate-shaped structure containing a magnetic material for blocking at least a portion of the magnetic force generated from the magnet ML-q, similar to the shield plate SH-q[r0]. In other words, in this embodiment, the shield plate SM-q[r] blocks at least a portion of the magnetic force generated from the magnet exposed region BM-q[r] of the magnet ML-q.

[0085] In this embodiment, the gripping force FH when the gripping mechanism HKC grips the object Obj is adjusted by the magnetic force generated by the magnet ML-q. In this embodiment, the magnetic force generated between magnet ML-1 exposed from magnet exposure region BM-1[r1] and magnet ML-2 exposed from magnet exposure region BM-2[r2] is referred to as magnetic force F[r1][r2]. Furthermore, below, the resultant force of the magnetic forces generated between magnet ML-1 and magnet ML-2 is referred to as magnetic force Fsum. In this embodiment as well, similar to the first embodiment described above, the gripping force FH is the resultant force of the reference gripping force FH0 and magnetic force Fsum.

[0086] As described above, when a shield plate SM-1[r1] is attached to the magnet exposed area BM-1[r1], or when a shield plate SM-2[r2] is attached to the magnet exposed area BM-2[r2], at least a portion of the magnetic force F[r1][r2] is blocked by the shield plate SM-1[r1] or the shield plate SM-2[r2]. For example, in the example shown in Figure 9, the magnetic force Fsum is "Fsum = F[1][1] + F[1][2] + F[1][3] + F[2][1] + F[2][2] + F[2][3] + F[3][1] + F[3][2] + F[3][3]". On the other hand, in the example shown in Figure 10, the magnetic force Fsum is "Fsum = F[3][3]". In other words, in this embodiment, the magnetic force Fsum can be adjusted by attaching the shield plate SM-q[r] to the exposed magnet region BM-q[r] of the magnet ML-q, or by removing the shield plate SM-q[r] from the exposed magnet region BM-q[r] of the magnet ML-q. In other words, in this embodiment, the gripping force FH applied to the object Obj can be adjusted by attaching or removing the shield plate SM-q[r] to or from the exposed magnet region BM-q[r] of the magnet ML-q.

[0087] In this embodiment, the magnet ML-q, shield plate SH-q, and shield plate SM-q[r] will be referred to as the magnetic force generating member MG. Also in this embodiment, the gripping member HC-1 is an example of the "first gripping member," the gripping member HC-2 is an example of the "second gripping member," the magnet ML-1 is an example of the "first magnet," and the shield plate SH-q and shield plate SM-q[r] are examples of the "shielding member."

[0088] <4. Variation> Each of the above forms can be modified in various ways. Specific examples of modifications are given below. Two or more forms arbitrarily selected from the following examples can be combined as appropriate, within the bounds of mutual consistency. In the modified examples given below, for elements whose function or action is equivalent to that of the embodiments, the same reference numerals used in the above description will be reused, and detailed explanations of each will be omitted as appropriate.

[0089] <Example 1> In the embodiments described above, an example was given in which magnets MQ[r] (or magnets ML-q) are provided on both gripping member H-1 (or gripping member HB-1, or gripping member HC-1) and gripping member H-2 (or gripping member HB-2, or gripping member HC-2). However, the present invention is not limited to such embodiments. For example, magnets MQ[r] may be attached to only one of the gripping members, Hq, of gripping member H-1 and gripping member H-2.

[0090] Figure 11 is a cross-sectional view showing the robot hand 1D according to this modified example. The robot system according to this modified example is the same as the robot system Sys according to the first embodiment shown in Figure 1, except that it is equipped with robot hand 1D instead of robot hand 1. Figure 11 is a cross-sectional view of the robot hand 1D obtained by cutting the robot hand 1D with a plane passing through line Ee in Figure 1, when the robot hand 1D is attached to the tip of the robot 2 in place of robot hand 1.

[0091] As illustrated in Figure 11, the robot hand 1D differs from the robot hand 1 according to the first embodiment in that it is equipped with a gripping mechanism HKD instead of a gripping mechanism HK. The gripping mechanism HKD differs from the gripping mechanism HK according to the first embodiment in that it is equipped with a gripping member HD-2 instead of a gripping member H-2. The gripping member HD-2 differs from the gripping member H-2 according to the first embodiment in that it is equipped with an opposing member MS instead of one or more magnets Mq[r]. Here, the opposing member MS is a soft magnetic material such as iron. When the opposing member MS is receiving a magnetic force from the magnet M provided on the gripping member H-1, it generates a magnetic force that acts as an attractive force between itself and the magnet M.

[0092] In this modified example, the magnetic force generated between the magnet M-1[r] provided on the gripping member H-1 and the opposing member MS provided on the gripping member HD-2 is referred to as the magnetic force F[r]. Furthermore, in the following description, the magnetic force acting between one or more magnets M provided on the gripping member H-1 and the opposing member MS provided on the gripping member HD-2 is referred to as the magnetic force Fsum. In this modified example, as in the first embodiment described above, the gripping force FH is the resultant force of the reference gripping force FH0 and the magnetic force Fsum.

[0093] In other words, in this modified example, the magnetic force Fsum can be adjusted by attaching or removing the magnet M-1[r] from the gripping member H-1.

[0094] <Modification 2> In the embodiments and modified example 1 described above, it is assumed that when the gripping mechanism HK (or gripping mechanism HKB or gripping mechanism HKD) grips the object Obj, the contact surface WM-q[r] of the magnet MQ[r] comes into contact with the object Obj. However, the present invention is not limited to these embodiments.

[0095] Figure 12 shows the gripping member Hq and magnet Mq[r] of the gripping mechanism HK according to this modified example. In Figure 12, as with Figure 4, the hand coordinate system ΣH is drawn using the case where "q=1" as an example.

[0096] As illustrated in Figure 12, the gripping mechanism HK according to this modified example differs from the gripping mechanism HK according to the first embodiment shown in Figure 4 in that a cover member CV-q[r] is provided between the magnet Mq[r] attached to the mounting groove HV-q[r] and the object Obj.

[0097] Here, the cover member CV-q[r] is a plate-shaped member formed from a material that allows magnetism to pass through. The magnetic force emitted by the magnet Mq[r] passes through the cover member CV-q[r]. In the following, when the gripping mechanism HK grips the object Obj, the surface of the cover member CV-q[r] that may come into contact with the object Obj will be referred to as the contact surface WC-q[r].

[0098] In this modified example, the size and shape of the mounting groove HV-q[r] and the cover member CV-q[r] are determined such that the step difference G-HC in the Y-axis direction between the contact surface WH-q[r] of the gripping member Hq and the contact surface WC-q[r] of the cover member CV-q[r] is less than or equal to the standard amount Gth. In other words, in this modified example, the contact surface WH-q[r] and the contact surface WC-q[r] can be considered to be the same surface.

[0099] As described above, in this modified example, a cover member CV-q[r] is provided between the magnet MQ[r] and the object Obj. Therefore, in this modified example, it is possible to prevent the magnet MQ[r] from coming off the gripping member Hq.

[0100] Furthermore, in this modified version, when the gripping mechanism HK grips the object Obj, the magnet MQ[r] and the object Obj are protected by the cover member CV-q[r]. Therefore, in this modified version, it is possible to reduce the possibility of damage to the magnet MQ[r] and the object Obj when the gripping mechanism HK grips the object Obj.

[0101] Furthermore, in this modified example, even when the magnet MQ[r] is removed from the mounting groove HV-q[r], the cover member CV-q[r] is provided so that the contact surface WH-q[r] and the contact surface WC-q[r] are on the same plane, just as when the magnet MQ[r] is attached to the mounting groove HV-q[r]. Therefore, in this modified example, when the magnet MQ[r] is removed from the mounting groove HV-q[r], the possibility of the object Obj being damaged due to contact with the mounting groove HV-q[r] can be suppressed.

[0102] In the embodiments and modifications described above, the magnet Mq[r] is attached to the gripping member Hq by being fitted into a mounting groove HV-q[r] provided on the gripping member Hq. However, the present invention is not limited to this embodiment. For example, the magnet Mq[r] may be attached to the gripping member Hq by being inserted into a through hole provided on the gripping member Hq that extends in the Z-axis direction.

[0103] <Variation 3> In the embodiments and modifications described above, the case in which the magnet M is a permanent magnet was used as an example, but the present invention is not limited to such embodiments. For example, the magnet M may be an electromagnet. In this case, the robot controller 3 may include a magnetic force control unit that switches whether or not to energize one or more magnets M of the magnetic force generating member MG to generate a magnetic force in the magnet M.

[0104] <Modification 4> In the embodiments and modifications described above, an example was given of a configuration in which the magnet M (or shield plate SM-q) can be attached to and detached from the gripping mechanism HK (or gripping mechanism HKB, gripping mechanism HKC, or gripping mechanism HKD). However, the present invention is not limited to such configurations. The magnet M or shield plate SM-q may be provided in a configuration fixed to the gripping mechanism HK (or gripping mechanism HKB, gripping mechanism HKC, or gripping mechanism HKD).

[0105] <5. Addendum> From the above-described embodiments and modifications, the present invention can be understood, for example, as follows. For the sake of easier understanding of each embodiment, reference numerals in the drawings are conveniently added in parentheses below, but this does not mean that the present invention is limited to the illustrated embodiments.

[0106] <Note 1> A robot hand according to one aspect of the present invention is characterized by comprising: a gripping mechanism (e.g., gripping mechanism HK) that grips an object (e.g., object Obj) placed between a first gripping member (e.g., gripping member H-1) and a second gripping member (e.g., gripping member H-2); and a magnetic force generating member (e.g., magnetic force generating member MG) attached to the gripping mechanism that generates a magnetic force that acts as an attractive or repulsive force between the first gripping member and the second gripping member.

[0107] According to this embodiment, in addition to a gripping mechanism comprising a first gripping member and a second gripping member, the robot hand is also equipped with a magnetic force generating member that generates a magnetic force acting as an attractive or repulsive force between the first gripping member and the second gripping member. Therefore, when the robot hand grips an object, the object is gripped by both the gripping force from the gripping mechanism and the magnetic force from the magnetic force generating member. Thus, according to this embodiment, compared to an embodiment in which the robot hand is not equipped with a magnetic force generating member, it is possible to finely adjust the gripping force applied to the object when the object is gripped by the gripping mechanism.

[0108] <Note 2> Another embodiment of the present invention is a robot hand as described in Appendix 1, characterized in that the magnetic force generating member includes a first magnet (e.g., magnet M-1[3]) attached to the first gripping member, which generates a magnetic force that acts as an attractive or repulsive force between the first gripping member and the second gripping member.

[0109] According to this embodiment, compared to an embodiment in which the robot hand does not have a first magnet, it becomes possible to finely adjust the gripping force applied to the object when the object is gripped by the gripping mechanism.

[0110] <Note 3> Another embodiment of the present invention is a robot hand as described in Appendix 1, characterized in that the magnetic force generating member includes a first magnet (e.g., magnet M-1[3]) attached to the first gripping member and a second magnet (e.g., magnet M-2[3]) attached to the second gripping member that generates a magnetic force that acts as an attractive or repulsive force between itself and the first magnet.

[0111] According to this embodiment, compared to an embodiment in which the robot hand does not have the first and second magnets, it becomes possible to finely adjust the gripping force applied to the object when the object is gripped by the gripping mechanism.

[0112] <Note 4> Another aspect of the present invention is a robot hand as described in Appendix 3, wherein the magnetic force generating member includes a third magnet (e.g., magnet M-1[2]) attached to the first gripping member and generating a magnetic force that acts as an attractive or repulsive force with respect to the second magnet, and the magnitude of the magnetic force generated between the first magnet and the second magnet is different from the magnitude of the magnetic force generated between the third magnet and the second magnet.

[0113] According to this embodiment, the magnitude of the magnetic force acting as an attractive or repulsive force between the first gripping member and the second gripping member will differ depending on whether the first magnet, the second magnet, and the third magnet are attached to the gripping mechanism, whether the first magnet and the second magnet are attached to the gripping mechanism, or whether the third magnet and the second magnet are attached to the gripping mechanism. Therefore, according to this embodiment, for example, by attaching the second magnet to the gripping mechanism and then selectively attaching the first magnet and the third magnet, it becomes possible to finely adjust the gripping force when the robot hand grips an object.

[0114] <Note 5> Another embodiment of the present invention is the robot hand described in Appendix 4, characterized in that the first magnet has a different size from the third magnet.

[0115] According to this embodiment, for example, by attaching a second magnet to the gripping mechanism and then selectively attaching the first and third magnets, it becomes possible to finely adjust the gripping force when the robot hand grips an object. Furthermore, according to this embodiment, for example, when the operator of the robot hand selectively attaches the first and third magnets to the gripping mechanism, it becomes possible to visually and intuitively predict the gripping force when the robot hand grips an object.

[0116] <Note 6> Another aspect of the present invention is a robot hand as described in Appendix 3, wherein the magnetic force generating member comprises a third magnet (e.g., magnet M-1[2]) attached to the first gripping member and a fourth magnet (e.g., magnet M-2[2]) attached to the second gripping member and generating a magnetic force that acts as an attractive or repulsive force between itself and the third magnet, characterized in that the distance between the first magnet and the third magnet and the distance between the second magnet and the fourth magnet are different.

[0117] According to this embodiment, the magnitude of the magnetic force generated between the first magnet and the third magnet is different from the magnitude of the magnetic force generated between the second magnet and the fourth magnet. In other words, according to this embodiment, for example, the magnitude of the magnetic force acting as an attractive or repulsive force between the first gripping member and the second gripping member will be different depending on whether the first magnet and the third magnet and the second magnet and the fourth magnet are attached to the gripping mechanism or whether the first magnet and the third magnet are attached to the gripping mechanism. Therefore, according to this embodiment, for example, by selecting one or more magnets from the first magnet, the second magnet, the third magnet, and the fourth magnet and attaching the selected magnets to the gripping mechanism, it becomes possible to finely adjust the gripping force when the robot hand grips an object.

[0118] <Note 7> Another aspect of the present invention is a robot hand as described in Appendix 1, characterized in that it comprises a drive mechanism (for example, a drive mechanism 10) that drives the gripping mechanism so that the position of one or both of the first gripping member and the second gripping member is in a desired position.

[0119] According to this embodiment, the gripping mechanism is driven by the drive mechanism to move the first gripping member and the second gripping member to a position suitable for gripping the object, thereby enabling the gripping mechanism to grip the object.

[0120] <Note 8> Another aspect of the present invention is a robot hand as described in Appendix 1, wherein the first gripping member has a first gripping region (e.g., a magnetic contact region AM-1[r]) and a second gripping region (e.g., a member contact region AH-1[s]), the second gripping member has a first corresponding region corresponding to the first gripping region (e.g., a magnetic contact region AM-2[r]) and a second corresponding region corresponding to the second gripping region (e.g., a member contact region AH-2[s]), and the magnetic force generating member generates the magnetic force such that the gripping force applied to the object by the first gripping member and the second gripping member when the object is gripped between the first gripping region and the first corresponding region of the gripping mechanism is different from the gripping force applied to the object by the first gripping member and the second gripping member when the object is gripped between the second gripping region and the second corresponding region of the gripping mechanism.

[0121] According to this embodiment, the gripping force applied by the gripping mechanism to an object changes depending on the gripping position of the object by the gripping mechanism. Therefore, according to this embodiment, it is possible to finely adjust the gripping force applied by the robot hand to an object based on the gripping position of the object by the gripping mechanism.

[0122] <Note 9> Another aspect of the present invention is a robot hand as described in Appendix 1, wherein the magnetic force generating member includes one or more magnets (e.g., magnet M) attached to the gripping mechanism, and the gripping mechanism is equipped with one or more magnets selected from among the gripping force adjusting magnets, such that the gripping force applied to the object by the first gripping member and the second gripping member becomes a desired force.

[0123] According to this embodiment, for example, by selecting one or more magnets from a plurality of gripping force adjustment magnets for the gripping mechanism and attaching the selected magnets to the gripping mechanism, it becomes possible to finely adjust the gripping force when the robot hand grips an object.

[0124] <Note 10> Another embodiment of the present invention is a robot hand as described in Appendix 1, wherein the magnetic force generating member includes a first magnet (e.g., magnet Mq[r]) attached to the first gripping member (e.g., gripping member Hq) that generates a magnetic force acting as an attractive or repulsive force between the first gripping member and the second gripping member, the first gripping member has a gripping surface (e.g., contact surface WH-q[r]) for gripping the object between itself and the second gripping member, and the gripping surface is provided with a groove (e.g., mounting groove HV-q[r]) for attaching the first magnet.

[0125] According to this embodiment, for example, compared to an embodiment in which grooves are not provided on the gripping surface, the possibility of the first magnet attached to the first gripping member falling off the first gripping member can be reduced.

[0126] <Note 11> Another aspect of the present invention is a robot hand as described in Appendix 10, characterized in that the groove portion is provided with a mounting magnet (for example, a mounting magnet MT-q[r]) that generates an attractive force between itself and the first magnet when the first magnet is attached to the groove portion.

[0127] According to this embodiment, for example, compared to an embodiment in which a mounting magnet is not provided in the groove, the possibility of the first magnet attached to the first gripping member falling off the first gripping member can be reduced.

[0128] <Note 12> Another embodiment of the present invention is a robot hand as described in Appendix 1, characterized in that the magnetic force generating member comprises a first magnet (e.g., magnet ML-q) attached to the first gripping member (e.g., gripping member Hq) that generates a magnetic force acting as an attractive or repulsive force between the first gripping member and the second gripping member, and a shielding member (e.g., shielding plate SH-q[r0] or shielding plate SM-q[r]) that covers a part of the first magnet so as to block at least a part of the magnetic force.

[0129] According to this embodiment, since the magnetic force generating member includes a shielding member that covers a part of the first magnet, it becomes possible to finely adjust the gripping force when the robot hand grips an object, compared to an embodiment in which the magnetic force generating member does not include a shielding member that covers a part of the first magnet.

[0130] <Note 13> Another aspect of the present invention is a robot hand as described in Appendix 10, characterized in that the first magnet has a first surface (e.g., a contact surface WM-q[r]) that is on the same plane as the gripping surface when the first magnet is attached to the groove (e.g., the mounting groove HV-q[r]).

[0131] According to this embodiment, the gripping surface and the first surface are located on the same plane, and it can be considered that there is no step between the gripping surface and the first surface. Therefore, compared to an embodiment in which there is a step between the gripping surface and the first surface, for example, the possibility of the object being damaged due to the step between the gripping surface and the first surface when the gripping mechanism grips the object can be reduced.

[0132] <Note 14> Another embodiment of the present invention is a robot hand as described in Appendix 13, characterized in that the first gripping member has a cover member (for example, cover member CV-q[r]) that covers the groove and is located on the same plane as the gripping surface when the first magnet is removed from the groove.

[0133] According to this embodiment, since a cover member is provided to cover the groove, even when the first magnet is removed from the groove, the possibility of the object being damaged due to the difference in height between the gripping surface and the groove can be reduced.

[0134] <Note 15> Another aspect of the present invention is a robot hand as described in Appendix 1, wherein the magnetic force generating member includes a first magnet (e.g., magnet Mq[r]) attached to the first gripping member (e.g., gripping member Hq) that generates a magnetic force acting as an attractive or repulsive force between the first gripping member and the second gripping member, the first gripping member has a gripping surface (e.g., contact surface WH-q[r]) for gripping the object with the second gripping member, the gripping surface is provided with a groove (e.g., mounting groove HV-q[r]) for attaching the first magnet, and a cover member (e.g., cover member CV-q[r]) located on the same plane as the gripping surface and covering the first magnet when the first magnet is attached to the groove.

[0135] According to this embodiment, for example, compared to an embodiment in which a cover member is not provided on the gripping surface, the possibility of the first magnet attached to the first gripping member falling off the first gripping member can be reduced. [Explanation of Symbols]

[0136] 1...Robot hand, 2...Robot, 3...Robot controller, HK...Gripping mechanism, Hq...Gripping member, M...Magnet, MG...Magnetic force generating member, Sys...Robot system, WH-q...Contact surface.

Claims

1. a gripping mechanism including a first gripping member and a second gripping member, the gripping mechanism gripping an object disposed between the first gripping member and the second gripping member; a magnetic force generating member provided on the first gripping member and the second gripping member, the magnetic force generating member generating a magnetic force acting as an attractive force or a repulsive force between the first gripping member and the second gripping member; Equipped with A robot hand characterized by

2. The magnetic force generating member is a first magnet attached to the first gripping member and a second magnet attached to the second gripping member; adjusting a gripping force of the object gripped by the first gripping member and the second gripping member using an attractive force or a repulsive force generated by the first magnet and the second magnet; The robot hand according to claim 1 .

3. The magnetic force generating member includes a plurality of magnets attached to the first gripping member and a plurality of magnets attached to the second gripping member, The plurality of magnets attached to the first gripping member include two magnets having different sizes, The plurality of magnets attached to the second gripping member include two magnets having different sizes. The robot hand according to claim 1 .

4. The magnetic force generating member includes a plurality of magnets attached to the first gripping member and a plurality of magnets attached to the second gripping member, Each of the plurality of magnets attached to the first gripping member is disposed opposite one of the plurality of magnets attached to the second gripping member to form a plurality of pairs, and the distance between the opposing magnets of at least one pair is different from the distance between the opposing magnets of the other pairs. The robot hand according to claim 1 .

5. The magnetic force generating member includes a first magnet attached to the first gripping member and a second magnet attached to the second gripping member; At least one of the first gripping member and the second gripping member is provided with a shield member that covers at least a portion of the first magnet and the second magnet so as to block at least a portion of the magnetism between the first magnet and the second magnet. The robot hand according to claim 1 .

Images