Hand device and control method of the same

Abstract

To obtain a hand device which achieves high convenience.SOLUTION: A hand device 1 includes a first hand 10 and a second hand 20 which are configured so that a front-back direction is set to its longitudinal direction and may be disposed so as to be arranged sandwiching an object 900 therebetween in a lateral direction orthogonal to the front-back direction. The first hand 10 has: an insertion part 11 which is disposed at a front end and used to be inserted between the side surface of the object 900 and the surface of the other member facing the side surface; and a holding part which is provided rearward of the insertion part 11 and used to sandwich the object 900. The hand device 1 is configured to sandwich the object 900 between the holding part and the second hand 20 by the first hand 10 relatively moving close to the second hand 20 in a state that the holding part contacts with the side surface of the object 900.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to a hand device capable of holding an object between two hands and a method for controlling the hand device. [Background technology]

[0002] Conventionally, there are robot systems used for transporting objects in manufacturing sites, warehouses, etc., and devices such as robots that handle objects on manufacturing lines. These types of devices may be provided with a hand device that is configured to be able to clamp the object.

[0003] The following Patent Document 1 describes a hand device that has clamping claws that can extend from one vertical arm to the other vertical arm and is operated by the biasing force of a coil spring. This makes it easy to stack and unstack parts boxes.

[0004] The following Patent Document 2 describes a robot hand that has a first claw portion and a second clamping portion for clamping an article, and a drive device for moving them closer to or apart, and that can be inserted into a gap between articles. This makes it possible to easily remove adjacent articles.

[0005] The following Patent Document 3 describes a loading and unloading device that has a device that sucks up the top and sides of a load and moves them, and a processor that controls them, and moves the suction part upwards while sucking up the top and sides of the load. This enables efficient unloading of the load.

[0006] The following Patent Document 4 describes a linear telescopic mechanism that has multiple aligned structures, a member that rotatably connects them, and a member that fixes and releases them, and that extends and retracts the structures through these. This makes it possible to prevent an increase in the number of parts and to reduce the size and weight. [Prior art documents] [Patent documents]

[0007] [Patent Document 1] JP 2012-200806 A [Patent Document 2] JP 2020-172358 A [Patent Document 3] Patent Publication No. 2021-066578 [Patent Document 4] JP 2017-057929 A Summary of the Invention [Problem to be solved by the invention]

[0008] There are various situations in which actual hand devices are used and situations in which they are expected to be used in the future. There is a demand for highly convenient hand devices that can be used particularly effectively in one situation, and highly convenient hand devices that can be used effectively in multiple situations.

[0009] An object of the present invention is to provide a highly convenient hand device and a method for controlling the hand device. [Means for solving the problem]

[0010] The hand device of the first invention is a hand device capable of clamping an object, each configured so that the front-to-rear direction is the longitudinal direction, and comprising a first hand and a second hand that can be arranged side by side in a left-to-right direction perpendicular to the front-to-rear direction, with the first hand being located at the front end and having an insertion portion for inserting between the side of the object and the surface of another member facing the side, and a gripping portion provided rearward of the insertion portion for clamping the object, and configured so that the position of at least one of the first hand and the second hand changes so that the first hand moves relatively closer to the second hand with the gripping portion in contact with the side of the object, thereby allowing the object to be clamped between the gripping portion and the second hand.

[0011] With this configuration, the insertion portion can be inserted between the side of the object and the surface of another member facing that side, making the object capable of being clamped by the gripping portion, thereby increasing the convenience of the hand device.

[0012] In addition, the hand device of the second invention is a hand device in which, compared to the first invention, the insertion portion has an insertion tapered portion formed so that the thickness in the left-right direction decreases as it approaches the front end.

[0013] With this configuration, the insertion portion can be inserted even when the gap between the side surface of the object and the surface of another member facing that side surface is narrow.

[0014] In addition, the hand device of the third invention is a hand device in which, compared to the second invention, the insertion taper portion is formed so that the distance from the second hand in the left-right direction increases as it approaches the front end portion.

[0015] With this configuration, the position or posture of the object can be changed while the insertion portion is inserted between the side surface of the object and the surface of another member facing the side surface.

[0016] Furthermore, the hand device of the fourth invention is a hand device in which, compared to any of the first to third inventions, the gripping portion has a gripping surface facing the side of the object, and a protrusion provided at the lower end of the gripping portion so as to protrude from the lower part of the gripping surface in the direction of the second hand, and the upper surface of the protrusion is inclined so as to become lower as it moves away from the gripping surface, and is configured so that when the object is clamped between the gripping portion and the second hand, the protrusion is located below the object.

[0017] With this configuration, an object placed on a placement surface or the like can be reliably maintained elevated above the placement surface.

[0018] Furthermore, the control method for a hand device of the fifth invention is a control method for any of the above-mentioned hand devices that is configured to be able to change the position of at least one of the first hand and the second hand using a power source, and includes an insertion step of inserting an insertion portion between a side surface of an object and a surface of another member facing the side surface, a positioning step of positioning the first hand so that the gripping portion faces the side surface of the object, and a clamping step of changing the position of at least one of the first hand and the second hand so that the first hand comes relatively closer to the second hand while the second hand is in contact with a side surface of the object that is away from the first hand in the left-right direction, and bringing the object into contact with the gripping portion to clamp the object between the first hand and the second hand.

[0019] With this configuration, the insertion portion can be inserted between the side of the object and the surface of another member facing that side, making the object capable of being clamped by the gripping portion, thereby increasing the convenience of the hand device.

[0020] In addition, the control method of a hand device of the sixth invention is a method of controlling a hand device that, compared to the fifth invention, includes a temporary gripping step in which, after the insertion step, the insertion portion is brought into contact with the side of the object to grasp the object with the insertion portion and the second hand to change the position of the object, and after the temporary gripping step, the gripping of the object by the insertion portion and the second hand is released and a placement step is performed.

[0021] With this configuration, the position of the object can be changed using the insertion portion, so that the object can be more reliably held by the gripping portion. Effect of the Invention

[0022] According to the hand device and the method for controlling the hand device according to the present invention, the convenience of the hand device can be improved. [Brief description of the drawings]

[0023] [Figure 1] FIG. 1 is a perspective view showing a robot system using a hand device according to an embodiment of the present invention; [Diagram 2] FIG. 4 is a plan view illustrating the configuration of the first hand and the second hand. [Diagram 3] FIG. 2 is a perspective view illustrating the configuration of the first hand and the second hand. [Figure 4] FIG. 2 is a front view illustrating the functions of the first hand and the second hand. [Diagram 5] FIG. 1 is a diagram showing an example of the use of the hand device in a disassembly operation. [Figure 6] FIG. 2 is a second diagram showing an example of use of the hand device in a disassembly task. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0024] Hereinafter, an embodiment of the hand device will be described with reference to the drawings.

[0025] The coordinates shown in the following drawings indicate directions and are common to each drawing. The Z direction of the coordinate system is perpendicular to the horizontal plane. The X direction is perpendicular to the Z direction, and the Y direction is perpendicular to the Z direction and perpendicular to the X direction. The Z direction is sometimes called the up-down direction (the positive direction on the Z axis when viewed from the origin of the illustrated coordinate system is up), the Y direction is sometimes called the left-right direction (the positive direction on the Y axis when viewed from the origin of the illustrated coordinate system is right), and the X direction is sometimes called the front-back direction (the positive direction on the X axis when viewed from the origin of the illustrated coordinate system is back or front).

[0026] In the following description, the shapes and positional relationships of the various parts may be explained by indicating each direction in this way, but the specified directions are merely for the convenience of explanation and do not limit the orientation or posture of each device, etc., according to the present invention when used. Furthermore, expressions indicating directions and expressions indicating states such as horizontal, vertical, orthogonal, etc., only indicate that they can be roughly understood as such and should not necessarily be interpreted strictly as such expressions.

[0027] (Embodiment)

[0028] The outline of this embodiment is as follows. The hand device includes a first hand and a second hand arranged side by side in the left-right direction. The hand device 1 is configured to be able to hold an object between the first hand and the second hand. The first hand has an insertion portion for inserting between a side surface of the object and a surface of another member facing the side surface, and a gripping portion provided behind the insertion portion. The position of at least one of the first hand and the second hand changes so that the first hand approaches the second hand relatively with the gripping portion in contact with the side surface of the object, thereby making it possible to hold the object between the gripping portion and the second hand.

[0029] The hand device is capable of changing the position and posture of the object by causing the insertion portion of the first hand to act on the object so as to be able to pinch the object by inserting the insertion portion between the side surface of the object and the surface of another member facing the side surface. For example, even if the gap between the side surface of the object and the surface of another member facing the side surface is narrow, the object can be pinched by inserting the insertion portion.

[0030] The configuration of the hand device thus constructed and the configuration of a robot system, which is one example of the use of the hand device, will be described below.

[0031] FIG. 1 is a perspective view showing a robot system 100 using a hand device 1 according to the present embodiment.

[0032] The robot system 100 includes a hand device 1, a first moving section 110, a second moving section 120, a third moving section 130, and a carriage 140.

[0033] 1 shows the robot system 100 in a state in which an object 900 is clamped by the hand device 1. The hand device 1 used in this embodiment is used particularly for clamping a transport object (hereinafter, referred to as the object 900).

[0034] The object 900 is not particularly limited. For example, the object 900 may be a baggage to be transported, but may also be an object used at a manufacturing site, such as a plasma power source or a welding jig. The weight of the object 900 is not particularly limited, but may be a weight that is difficult for a person to carry, for example, 30 kg or more, or 50 kg or more.

[0035] FIG. 1 shows, as an example, a case where an object 900 having a substantially rectangular box shape is clamped. The object 900 may have a three-dimensional shape or may be a plate-like member. The shape of the object 900 is not limited to a rectangular parallelepiped shape, and may be a columnar shape, a pyramid shape, or the like. A part of the side surface of the object 900 has an outer shape that can be contacted by a member to be clamped. The object 900 can be placed on the ground, for example, on a placement surface, but is not limited thereto.

[0036] In this embodiment, the hand device 1 has two hands 10, 20 (a first hand 10 and a second hand 20). The two hands 10, 20 are arranged apart from each other in a first direction in a horizontal plane. In the following, the left-right direction is described as the first direction. The two hands 10, 20 are arranged apart from each other in the left-right direction. The two hands 10, 20 are arranged side by side in the left-right direction. In the following description, the first hand 10 is arranged to the left of the second hand 20. The second hand 20 is arranged to the right of the first hand 10. That is, the first hand 10 is on the left side, and the second hand 20 is on the right side. Note that the left-right positional relationship of the two hands 10, 20 is not limited to this, and may be reversed, or may be configured to be appropriately changeable.

[0037] The hand device 1 is attached so as to be movable relative to the cart 140, for example, by the moving units 110, 120, and 130. The hand device 1 is movable in a first direction and a second direction in a horizontal plane, and is movable in the vertical direction. The second direction is a direction perpendicular to the first direction, i.e., the X direction. The hand device 1 is moved in each of the three axial directions in a Cartesian coordinate system. The configuration of the hand device 1 may be understood as including any one of the moving units 110, 120, and 130 in the hand device 1. At least one of the moving units 110, 120, and 130 may not be provided.

[0038] The first moving unit 110 supports the hand device 1. The first moving unit 110 displaces the hand device 1 in a first direction. In addition, the robot system 100 can move the object 900 held by the hand device 1 in the first direction by moving the hand device 1 by the first moving unit 110. As an example, the first moving unit 110 has a first support unit 111 that supports the hand device 1 and a linear actuator that moves the hand device 1 in the first direction relative to the first support unit 111. More specifically, for example, a guide along the first direction may be provided on the bottom surface of the first support unit 111 extending in the first direction, and a slider may be assembled to the guide so as to be slidable in the first direction. Then, the hand device 1 may be fixed to the slider.

[0039] The second moving part 120 supports the first moving part 110 and moves the first moving part 110 in the second direction. Therefore, the hand device 1 is moved in the second direction by the second moving part 120. As an example, the second moving part 120 has a second support part 121 that supports the first support part 111 of the first moving part 110, and a linear actuator that moves the first support part 111 in the second direction relative to the second support part 121. More specifically, for example, a guide along the second direction may be provided on the bottom surface of the second support part 121 extending in the second direction, and a slider may be assembled to the guide so as to be slidable in the second direction. Then, the upper surface of the first support part 111 may be fixed to the slider.

[0040] The third moving section 130 supports the second moving section 120 and moves the second moving section 120 in the vertical direction. Therefore, the hand device 1 is moved in the vertical direction by the third moving section 130. As an example, the third moving section 130 has a pair of support columns 131, 132 arranged at a distance in the first direction, an upper surface plate 133 connecting the upper end sides of the support columns 131, 132, a lifting section 134 whose end is supported by the pair of support columns 131, 132 and supports the second support section 121 of the second moving section 120, and a pair of linear actuators that move the lifting section 134 in the vertical direction in synchronization with the pair of support columns 131, 132. More specifically, guides along the vertical direction are provided on the surfaces of the lifting section 134 side of the vertically extending support columns 131, 132, and a slider may be assembled to the guides so as to be slidable in the vertical direction. Both ends of the lifting section 134 in the first direction may be fixed to sliders.

[0041] In the moving parts 110, 120, and 130, for example, the slider may be assembled to two or more guides provided in parallel. Also, the linear actuators of the moving parts 110, 120, and 130 may each independently have, for example, a rack-and-pinion mechanism and a driving means for rotating the pinion, a ball screw mechanism and a driving means for rotating the screw shaft of the ball screw mechanism, a pair of pulleys, an endless belt stretched over the pair of pulleys, and a driving means for rotating the pulleys, a sprocket and a chain may be used instead of the pulleys and the belt, or other configurations may be used. Note that a mechanism for moving a support object in a linear direction using a guide, a slider, a linear actuator, and the like is already known, and detailed description thereof will be omitted. In FIG. 1, illustration of the guide, slider, and linear actuator is omitted.

[0042] The third moving part 130 is fixed to the cart 140. The base end side of the third moving part 130, i.e., the end on the lower side, may be fixed to the cart 140. The cart 140 may have, as an example, a base 141 to which the base end side of the third moving part 130 is fixed, and a plurality of running means 142 fixed to the base 141 and capable of running on a running surface such as a floor surface. The base 141 may be, as an example, a plate-shaped member. The running means 142 are usually wheels, but may be rollers other than wheels, caterpillars, ball casters having balls, etc. In addition, the cart 140 may or may not have a driving means for driving the running means 142. In the latter case, the cart 140 may be moved manually. Furthermore, the manually moved dolly 140 may have a fixing means for fixing the traveling means 142 so that the dolly 140 does not move when the moving units 110, 120, 130 locally transport the object 900. The fixing means may be, for example, a wheel stopper. While the moving units 110, 120, 130 locally transport the object 900, the dolly 140 transports the object 900 over a larger area.

[0043] The robot system 100 includes a reception unit (not shown) for receiving operations and instructions from a user, and a system control unit (not shown) for controlling the operations of the moving units 110, 120, and .

[0044] The reception unit may, for example, receive operations and instructions related to the moving units 110, 120, and 130, or may receive operations and instructions related to the cart 140. It may also receive operations and instructions related to the hand device 1. The reception may be, for example, reception of information input from an input device (for example, a keyboard, a mouse, a touch panel, etc.), or reception of information transmitted via a wired or wireless communication line. The reception unit may or may not include a device for performing reception (for example, an input device, a communication device, etc.). The reception unit may be realized by hardware, or may be realized by software such as a driver that drives a specific device.

[0045] The system control unit controls the first moving unit 110, the second moving unit 120, and the third moving unit 130. By the control by this system control unit, for example, local transportation such as moving or positioning the object 900 held by the hand device 1 is performed. In addition, for example, when the cart 140 has a driving means, the system control unit may also perform movement control of the cart 140. These controls may be performed, for example, in response to an operation or instruction accepted by the reception unit. The movement control of the cart 140 may be, for example, movement control regarding a movement direction or a movement speed in response to an operation accepted by the reception unit, or may be autonomous movement control from a predetermined starting point to a destination. The system control unit may be configured to function as a hand control unit 90 of the hand device 1, as described later.

[0046] Next, the configuration of the hand device 1 will be described.

[0047] In the present embodiment, the hand device 1 includes a first hand 10, a second hand 20, a base 50, a power source 80, and a hand control unit 90.

[0048] The base 50 supports the first hand 10 and the second hand 20. The base 50 is attached to a first support portion 111. Note that the base 50 may be a portion that is grasped as the first support portion 111.

[0049] The first hand 10 and the second hand 20 are each attached to the base 50 such that the second direction is the longitudinal direction. In other words, the first hand 10 and the second hand 20 are provided so as to protrude forward from the base 50. The first hand 10 and the second hand 20 are each formed in a columnar shape extending forward (rearward) from a base end portion attached to the base 50. It may be said that the first hand 10 and the second hand 20 are each configured to form a beam shape as a whole.

[0050] The first hand 10 and the second hand 20 are configured to be able to be arranged side by side in the left-right direction with an object 900 sandwiched therebetween. The hand device 1 is configured to be able to grasp the object 900 by sandwiching the object 900 between the first hand 10 and the second hand 20 as described below.

[0051] In this embodiment, the first hand 10 and the second hand 20 have shapes that are symmetrical to each other. In other words, the second hand 20 has a shape that is symmetrical to the first hand 10 with respect to a plane parallel to the XZ plane.

[0052] Fig. 2 is a plan view illustrating the configuration of the first hand 10 and the second hand 20. Fig. 3 is a perspective view illustrating the configuration of the first hand 10 and the second hand 20.

[0053] The first hand 10 is formed into a plate shape having a relatively small thickness in the left-right direction as a whole. The first hand 10 has an insertion portion 11 located at the front end portion thereof, and a grip portion 16 provided behind the insertion portion 11. The first hand 10 is supported at its base end portion (rear end portion) by a base 50. The first hand 10 is configured to be rotatable around an axis parallel to the front-rear direction with respect to the base 50, and the orientation of the plate can be changed according to the posture of the target object 900, but is not limited thereto.

[0054] As described below, the insertion portion 11 is formed so that the first hand 10 can be inserted between a side surface of the target object 900 and a surface of another member facing the side surface. The insertion portion 11 has a plate-shaped temporary gripping portion 12 and an insertion tapered portion 13. The temporary gripping portion 12 is located behind the insertion tapered portion 13. It may be said that the temporary gripping portion 12 is a portion provided between the insertion tapered portion 13 and the gripping portion 16.

[0055] The plug-in tapered portion 13 is formed so that its thickness in the left-right direction decreases toward the front end. It may be said that the plug-in tapered portion 13 is tapered in plan view. The dimensions of the plug-in tapered portion 13 in the up-down direction are approximately the same at different positions in the front and back, but are not limited to this. For example, the plug-in tapered portion 13 may be formed so that its thickness in the up-down direction decreases toward the front end.

[0056] As shown in FIG. 2, the insertion tapered portion 13 is formed so that the distance from the second hand 20 in the left-right direction increases as it approaches the front end. That is, the insertion tapered portion 13 is formed so that the dimension D1 between the insertion tapered portion 13 and the second hand 20 in the left-right direction at a position closer to the front end is larger than the dimension D2 between the insertion tapered portion 13 and the second hand 20 in the left-right direction at a position behind the position. In this embodiment, the insertion tapered portion 13 is formed so that the outer surface in the left-right direction (the surface exposed to the left side, the left side surface) is approximately perpendicular to the first direction, and the inner surface in the left-right direction (the right side surface, the surface facing the second hand 20) has an inclined surface that widens outward as it approaches the front end. It can be said that the insertion tapered portion 13 has a tapered inclined surface on the inside.

[0057] The inner surface of the temporary gripping portion 12 is formed approximately perpendicular to the first direction so as to extend rearward from the rear end of the insertion tapered portion 13. In this embodiment, the inner surface of the temporary gripping portion 12 is provided with, for example, a contact portion formed to have an anti-slip function between the temporary gripping portion 12 and the object 900. The contact portion may be, for example, a portion formed of a rubber sheet, or may be a portion formed to have irregularities. The contact portion blade may not be supported.

[0058] The gripping portion 16 has a gripping surface 17 and a protruding portion 18. The gripping portion 16 is a portion for clamping the object 900. Since the gripping portion 16 is located in the vicinity of the base end portion, the object 900 can be firmly clamped by using the gripping portion 16.

[0059] The gripping surface 17 is arranged so as to be exposed on the inner surface of the first hand 10, i.e., the surface facing the second hand 20. That is, the gripping surface 17 is configured so as to face the side surface of the object 900. The gripping surface 17 is arranged so as to face the second hand 20. The gripping surface 17 is approximately perpendicular to the first direction. When the object 900 is clamped, the gripping surface 17 is configured so as to mainly come into contact with the side surface of the object 900. The gripping surface 17 and the inner surface of the temporary gripping portion 12 are approximately parallel to each other.

[0060] The protrusion 18 is provided at the lower end of the gripping part 16. The protrusion 18 is a portion that protrudes from the gripping surface 17 to the right, i.e., in the direction toward the second hand 20. The protrusion 18 is provided at the lower end of the first hand 10.

[0061] In this embodiment, the upper surface of protrusion 18 is inclined so as to become lower with increasing distance from gripping surface 17. The bottom surface of protrusion 18 is, for example, approximately horizontal. That is, in this embodiment, protrusion 18 has a tapered shape in which the width dimension in the vertical direction becomes smaller toward the inside.

[0062] Grip portion 16 is configured to have a substantially L-shape in a cross section perpendicular to the front-rear direction due to a structure having grip surface 17 and protrusion 18. That is, grip portion 16 has a plate-like portion having grip surface 17 with a relatively small thickness in the left-right direction, and protrusion 18 protruding inward from the plate-like portion.

[0063] In this embodiment, the second hand 20 has the same portions as the first hand 10, but has a symmetrical shape to the first hand 10. That is, the second hand 20 has an insertion portion 21 and a gripping portion 26. The insertion portion 21 has a temporary gripping portion 22 and an insertion tapered portion 23. The gripping portion 26 has a plate-shaped portion having a gripping surface 27 on its left side, and a protruding portion 28 that protrudes from its lower portion toward the first hand 10.

[0064] It should be noted that the shape of the second hand 20 is not limited to this. For example, the second hand 20 may have a plate-like beam portion as a whole that does not have the insertion portion 21, the protrusion 28, or the like.

[0065] Here, in the present embodiment, the first hand 10 and the second hand 20 each have a force sensor (not shown). The force sensor is provided, for example, between the first hand 10 and the second hand 20 and the base 50, and is configured to be able to detect a force acting on each of the first hand 10 and the second hand 20, but is not limited thereto. Each force sensor may be, for example, a sensor for detecting an external force, or may be a weight sensor. The sensor for detecting an external force may be, for example, a three-axis or six-axis force sensor. When each force sensor is a sensor for detecting an external force, it is preferable that the sensor is disposed so as to be able to measure a load in the direction of gravity acting on the object 900 held between the first hand 10 and the second hand 20.

[0066] The mounting position of the force sensor is not limited to the above. For example, in each of the first hand 10 and the second hand 20, the force sensor may be embedded inside the gripping parts 16, 26 so as to be able to detect the force applied to the gripping surfaces 17, 27, or may be disposed so as to be able to detect the force applied to the insertion parts 11, 21. The force sensor may also be attached to a member constituting the plate-like parts of the first hand 10 and the second hand 20, and may be a sensor (e.g., a strain gauge) capable of detecting the distortion of the member. One or both of the first hand 10 and the second hand 20 may not have a force sensor.

[0067] The first hand 10 and the second hand 20 are each independently movable in a first direction. That is, the hand device 1 is configured to, for example, hold an object 900 between the first hand 10 and the second hand 20 and release the hold by moving the first hand 10 and the second hand 20. In addition, the hand device 1 can also move the object 900 held by the first hand 10 and the second hand 20 in the first direction by, for example, simultaneously moving the first hand 10 and the second hand 20 in the same direction.

[0068] In this embodiment, in order to move the first hand 10 and the second hand 20 independently in the first direction, the hand device 1 is provided with, for example, a linear actuator for moving the first hand 10 and a linear actuator for moving the second hand 20. Each actuator is driven by a power source 80. Each linear actuator may be independent of the others, for example, and may have a rack and pinion mechanism and a driving means for rotating the pinion, a ball screw mechanism and a driving means for rotating the screw shaft of the ball screw mechanism, a pair of pulleys, an endless belt stretched around the pair of pulleys, and a driving means for rotating the pulleys, a sprocket and a chain may be used instead of the pulleys and the belt, or another configuration may be used. Note that a mechanism for moving a support object in a linear direction using a guide, a slider, a linear actuator, or the like is already known, and a detailed description thereof will be omitted. In FIG. 1, illustration of the linear actuator, etc. is omitted.

[0069] It may be said that the power source 80 is a drive unit. The power source 80 is, for example, but is not limited to, a motor. Any type of motor may be used. There may be one power source 80, or two or more power sources. The power source 80 is configured to be driven based on the control of the hand control unit 90. The power source 80 is used as a power source when moving the first hand 10 and the second hand 20 in the left-right direction or when changing the strength with which the object 900 is clamped.

[0070] In the present embodiment, the linear actuator uses a transmission mechanism that transmits the force of the power source 80 to the first hand 10 and the second hand 20 together with the power source 80. The transmission mechanism is configured using gears, for example, but the type of mechanism is not important. For example, the transmission mechanism may be a mechanism using a belt or a mechanism using a ball screw or the like.

[0071] The hand control unit 90 is configured to control the operation of the power source 80. For example, the control by the hand control unit 90 causes the object 900 to be clamped by the first hand 10 and the second hand 20, or the clamping is released. This control also causes local transportation, such as positioning of the object 900, to be performed. The hand control unit 90 may be configured to perform control according to an operation accepted by a accepting unit, or may be configured to perform autonomous control to perform a predetermined task.

[0072] In this embodiment, the hand control unit 90 is configured to be able to control the up-down and front-rear positions of the first hand 10 and the second hand 20 in cooperation with the system control unit. Note that the control of these positions may be regarded as being performed by the hand control unit 90 or may be regarded as being performed by the system control unit.

[0073] In this embodiment, the hand control unit 90 is configured to control the power source 80 based on the detection result of the force sensor. For example, when the first hand 10 and the second hand 20 pinch the object 900, the hand control unit 90 determines that the pinching force has reached a predetermined magnitude based on the detection result of the force sensor of each of the first hand 10 and the second hand 20 while moving at least one of the first hand 10 and the second hand 20. Then, the hand control unit 90 stops the movement of at least one of the first hand 10 and the second hand 20 according to the determination result. In this way, the object 900 can be pinched so that the magnitude of the force with which the hand device 1 pinches the object 900 becomes a desired magnitude.

[0074] The force sensor does not necessarily have to be used for the control of the operation of the first hand 10 and the second hand 20 by the hand control unit 90. For example, when an object 900 having a predetermined shape and size is clamped, the positional relationship between the first hand 10 and the second hand 20 may be controlled to be a positional relationship preset according to the size of the object 900. In addition, a sensor using a camera or laser light or the like provided on the hand device 1 or the robot system 100 may be provided, and control may be performed so that the positional relationship between the first hand 10 and the second hand 20 is appropriate according to the detection result. By performing such control, the object 900 can be clamped reliably. Such control may be performed by the hand control unit 90.

[0075] In this embodiment, the hand device 1 configured as described above can clamp the object 900 and move the object 900. For example, as shown in FIG. 3, the object 900 is clamped, and the object 900 is held so as not to fall off due to friction between the object 900 and the first hand 10 and the second hand 20. In this state, the first hand 10 and the second hand 20 are moved in the same direction, so that the object 900 can be moved. Furthermore, the moving units 110, 120, and 130 are operated, so that the object 900 can be displaced up and down, forward and backward, and left and right. Furthermore, the cart 140 is driven, so that the object 900 can be moved over a wide area.

[0076] FIG. 4 is a front view illustrating the functions of the first hand 10 and the second hand 20. As shown in FIG.

[0077] 4, a cross section perpendicular to the front-rear direction of the first hand 10 and the second hand 20 is shown typically. The gripping portions 16 and 26 of the first hand 10 and the second hand 20 are mainly shown, and the insertion portions 11 and 21 are omitted from the illustration. In this embodiment, the hand device 1 can reliably maintain an object 900 placed on a placement surface 911 or the like while lifting it up from the placement surface 911. Here, for example, when the object 900 is placed on the placement surface 911 on a pallet 910 for transportation, the use of the hand device 1 when the object 900 is picked up from the pallet 910 will be described.

[0078] 4, the object 900 is sandwiched between the first hand 10 and the second hand 20 so as to be sandwiched between the opposing gripping surfaces 17, 27. In other words, the first hand 10 and the second hand 20 can contact the left and right side surfaces of the object 900 and sandwich the object 900.

[0079] Here, the protrusions 18, 28 provided on the gripping portions 16, 26 have a tapered shape in which the height in the up-down direction decreases toward the opposing hands 20, 10. Therefore, the hand device 1 can reliably clamp the object 900 placed on the placement surface 911 in a state where the object 900 is floating above the placement surface 911.

[0080] That is, first, the first hand 10 and the second hand 20 are arranged so that the target object 900 is located between the first hand 10 and the second hand 20 in the left-right direction. Then, the first hand 10 and the second hand 20 are positioned so that the bottoms of the respective protrusions 18, 28 are close to the placement surface 911 (step S11).

[0081] Next, the first hand 10 and the second hand 20 are brought closer to each other in the left-right direction. In other words, the first hand 10 and the second hand 20 are brought closer to both sides of the object 900. Then, as the first hand 10 and the second hand 20 come closer to each other, the lower part of the object 900 rides up on the upper surfaces of the protruding parts 18, 28, and the object 900 is displaced upward.

[0082] Thereafter, the first hand 10 and the second hand 20 are brought even closer to each other, and the gripping surfaces 17, 27 are brought into contact with the object 900. This makes it possible to clamp the object 900 between the first hand 10 and the second hand 20 (step S12).

[0083] When the object 900 is clamped in this manner, the bottom surface of the object 900 is located above the protruding portions 18, 28. Since parts of the first hand 10 and the second hand 20 are below the bottom surface of the object 900 in this manner, downward movement of the clamped object 900 relative to the first hand 10 and the second hand 20 is restricted. Therefore, the state in which the object 900 is clamped by the hand device 1 can be more reliably maintained, and the convenience of the hand device 1 is improved.

[0084] In this embodiment, the object 900 can be easily brought into a state in which it can be held by using the insertion portion 11 provided in the first hand 10, even when the object 900 is placed in a position close to another object or another structure, etc. This will be described below.

[0085] That is, in this embodiment, by inserting the insertion portion 11 between the side surface of the object 900 and the surface of another member facing the side surface, the position and posture of the object 900 can be changed so that the object 900 can be grasped using the gripping portion 16. For example, even in a case where there is only a small space between the side surface of the object 900 and the surface of another member facing the side surface, the object 900 can be clamped by inserting the insertion portion 11 into the space.

[0086] An application scene of such a hand device 1 is, for example, a work of removing some of the objects 900 when a plurality of objects 900 are closely arranged on a pallet 910 or a shelf.

[0087] Fig. 5 is a first diagram showing an example of use of the hand device 1 in a disassembly work, and Fig. 6 is a second diagram showing an example of use of the hand device 1 in a disassembly work.

[0088] 5 and 6, the progression of the movements of the first hand 10 and the second hand 20 is shown in a plan view as a schematic diagram when an object 900 and other luggage 900b are closely spaced in the left-right direction on a pallet 910.

[0089] The following operations can be executed, for example, by a control performed by a predetermined control method using the hand control unit 90. The control for moving the first hand 10 and the second hand 20 to an appropriate position without contacting the target object 900 or the like may be performed, for example, by storing preset values ​​related to the position or the like in the hand control unit 90 or the like in advance, or may be performed using the detection results of a sensor.

[0090] (Step S21) First, the hand control unit 90 sets the hand device 1 in front of the object 900. For example, the first hand 10 is placed on the left in front of the object 900, and the second hand 20 is placed on the right in front of the object 900.

[0091] Here, the hand control unit 90 detects a boundary 905 between the object 900 and another piece of luggage 900b to the left of the object 900. That is, when the object 900 and the other piece of luggage 900b are arranged side by side, at least the boundary 905 has an uneven portion on their side in the front-rear direction. The position of the boundary 905 can be specified using a setting value related thereto that is stored in advance in the hand control unit 90 or the like, but may be specified using the detection results of a camera or other sensor. In addition, the detection of the boundary 905 may be performed, for example, by monitoring the detection results of the force sensor of the first hand 10 while contacting the front end of the insertion unit 11 of the first hand 10 with the rear side of each object 900 or the like. When the front end of the first hand 10 is moved in the first direction while contacting the side, the detection result of the force sensor at the boundary 905 will fluctuate greatly. Therefore, when the detection result of the force sensor fluctuates greatly, the hand control unit 90 can detect the position of the boundary 905 based on the detection result.

[0092] (Step S22) Next, an insertion step is performed in which the insertion portion 11 is inserted between the left side surface of the target object 900 and the right side surface of the other baggage 900b facing the left side surface. That is, the hand control unit 90 changes the position of the first hand 10 so that the insertion tapered portion 13 enters forward from the detected boundary portion 905. The insertion tapered portion 13 moves forward while contacting the left side surface of the target object 900, causing the target object 900 to move rightward. Here, since the outer surface (left side surface) of the insertion portion 11 is approximately perpendicular to the first direction, it is possible to prevent the other baggage 900b from being substantially displaced.

[0093] (Step S23) After that, a temporary gripping step is performed in which the insertion portion 11 contacts the left side surface of the object 900, grips the object 900 with the insertion portion 11 and the second hand 20, and changes the position of the object 900. That is, the hand control portion 90 first brings the first hand 10 and the second hand 20 closer to each other, and clamps the object 900 with the temporary grippers 12, 22. For example, by bringing the second hand 20 closer to the first hand 10, the position of the object 900 can be adjusted so that the object 900, which has been displaced along the insertion tapered portion 13 as it is pushed forward, contacts the temporary gripper 12 perpendicular to the first direction.

[0094] (Step S24) When the object 900 is temporarily clamped between the temporary grippers 12, 22, the hand control unit 90 displaces the first hand 10 and the second hand 20 to the right so that the object 900 moves away from the other luggage 900b. This moves the object 900 away from the other luggage 900b, and makes it possible to secure a space for arranging the gripper 16 of the first hand 10 on the left side of the object 900.

[0095] (Step S25) Next, a placement step is performed in which the first hand 10 is placed so that the gripping portion 16 faces the left side surface of the object 900. That is, the hand control portion 90 releases the object 900 from the temporary gripping portions 12, 22, and slightly widens the gap in the left-right direction between the first hand 10 and the second hand 20. Then, the first hand 10 and the second hand 20 are displaced forward so that the object 900 is positioned between the gripping portions 16, 26.

[0096] (Step S26) Then, the hand control unit 90 brings the first hand 10 and the second hand 20 closer to each other, and clamps the object 900 with the gripping units 16, 26. That is, in a state where the second hand 20 is in contact with the right side surface of the object 900 that is far from the first hand 10 in the left-right direction, the positions of the first hand 10 and the second hand 20 are changed so that the first hand 10 comes relatively closer to the second hand 20, and a clamping step is performed in which the object 900 is brought into contact with the gripping unit 16 and clamped between the first hand 10 and the second hand 20. As described above, by bringing the first hand 10 and the second hand 20 closer to each other with the protruding units 18, 28 in close proximity to the upper surface of the placement surface 911, the object 900 can be gripped in a state where the object 900 is displaced upward by utilizing the upper surfaces of the protruding units 18, 28.

[0097] In the clamping step, the position of at least one of the first hand 10 and the second hand 20 may be changed so that the first hand 10 approaches the second hand 20 relatively.

[0098] (Step S27) After that, the hand control unit 90, while holding the object 900 between the first hand 10 and the second hand 20, displaces the first hand 10 and the second hand 20 backward, thereby drawing the object 900 backward.

[0099] By performing the control as described above, the object 900 can be made movable while reliably maintaining the clamped state. In the present embodiment, since the insertion portion 11 is provided in the first hand 10, the position of the object 900 can be adjusted so that the object 900 can be clamped by the gripping portion 16 that can stably clamp the object 900 even when the gap between the left side surface of the object 900 and another object is narrow.

[0100] The provisional gripping step does not have to be performed. In other words, in a state where the insertion portion 11 is inserted between the target object 900 and another piece of luggage 900b, the first hand 10 may be displaced in the left-right direction to displace the target object 900 on the placement surface 911, thereby securing a space for gripping the target object 900 using the gripping portion 16.

[0101] As described above, according to this embodiment, it is possible to realize a highly convenient hand device 1 with a simple configuration.

[0102] In this embodiment, since the first hand 10 and the second hand 20 are symmetrical, the insertion portion 21 of the second hand 20 may be mainly used to make the object 900 graspable. Since both hands 10, 20 have the insertion portions 11, 21, the hand device 1 can be applied in a wider variety of situations, making the hand device 1 more convenient.

[0103] The processing in this embodiment may be realized by software. This software may be distributed by software download or the like. This software may be recorded on a recording medium such as an optical disk and distributed. The software for executing the control method by the hand control unit or the like in this embodiment is a program as follows. That is, this program is executed by a computer used with a robot system or a hand device, and causes the computer to execute an insertion step of inserting an insertion portion between a side surface of an object and a surface of another member facing the side surface, an arrangement step of arranging a first hand so that the gripping portion faces the side surface of the object, and a clamping step of changing the position of at least one of the first hand and the second hand so that the first hand approaches the second hand relatively while the second hand is in contact with the side surface of the object that is distant from the first hand in the left-right direction, and bringing the object into contact with the gripping portion and clamping the object between the first hand and the second hand.

[0104] (others)

[0105] In the above-described embodiments, two or more components present in one device may be physically realized on one medium.

[0106] In the above embodiment, the components of the hand control unit 90 that controls the hand device 1 may be configured with dedicated hardware, or the components that can be realized by software may be realized by executing a program. For example, each component may be realized by a program execution unit such as a CPU reading and executing a software program recorded on a recording medium such as a hard disk or a semiconductor memory. During execution, the program execution unit may execute the program while accessing a storage unit or a recording medium. The program may be executed by being downloaded from a server or the like, or may be executed by reading a program recorded on a predetermined recording medium (for example, an optical disk, a magnetic disk, a semiconductor memory, etc.). The program may be used as a program constituting a program product. The computer that executes the program may be a single computer or a plurality of computers. That is, centralized processing may be performed, or distributed processing may be performed.

[0107] Furthermore, in the above embodiments, each process (each function) may be realized by centralized processing by a single device (system), or may be realized by distributed processing by multiple devices (in this case, the entire system made up of multiple devices performing distributed processing can be considered as a single "device").

[0108] In addition, in the above embodiments, the transfer of information between each component may be performed, for example, by one component outputting information and the other component receiving information if the two components transferring the information are physically different, or, if the two components transferring the information are physically the same, by shifting from a processing phase corresponding to one component to a processing phase corresponding to the other component.

[0109] In the above embodiment, information related to the processing performed by each component, such as information accepted, acquired, selected, generated, transmitted, or received by each component, and information such as thresholds, formulas, and addresses used by each component in processing, may be temporarily or long-term stored in a recording medium (not shown) even if not specified in the above description. Furthermore, each component or a storage unit (not shown) may store information in the recording medium (not shown). Furthermore, each component or a reading unit (not shown) may read information from the recording medium (not shown).

[0110] In the above embodiment, if the information used by each component, such as the thresholds, addresses, and various setting values ​​used by each component in processing, may be changed by the user, the user may or may not be able to change the information as appropriate, even if not specified in the above description. If the information is changeable by the user, the change may be realized, for example, by a reception unit (not shown) that receives a change instruction from the user, and a change unit (not shown) that changes the information in response to the change instruction. The reception unit (not shown) may receive the change instruction from an input device, may receive information transmitted via a communication line, or may receive information read from a predetermined recording medium.

[0111] The present invention is not limited to the above-described embodiment, and various modifications are possible, which are also included within the scope of the present invention.

[0112] The components of the above-described embodiment and modified examples may be replaced with or combined with other components as appropriate. In addition, some of the components or functions of the above-described embodiment and modified examples may be omitted.

[0113] The robot system is not limited to the above-mentioned conveying device. The robot system may not have a dolly. For example, the robot system may be fixed to a fixed base or the like. [Industrial Applicability]

[0114] INDUSTRIAL APPLICABILITY As described above, the hand device according to the present invention is highly convenient and useful as a hand device, etc. [Explanation of symbols]

[0115] REFERENCE SIGNS LIST 1 hand device, 10 first hand, 11 insertion portion, 12 temporary gripping portion, 13 insertion tapered portion, 16 gripping portion, 17 gripping surface, 18 protrusion, 20 second hand, 80 power source, 90 hand control portion, 100 robot system, 900 object, 911 placement surface

Claims

1. A hand device capable of gripping an object, a first hand and a second hand configured such that a front-to-rear direction is a longitudinal direction thereof and capable of being arranged side by side with the object therebetween in a left-to-right direction perpendicular to the front-to-rear direction; The first hand is An insertion portion located at a front end portion for insertion between a side surface of the object and a surface of another member facing the side surface; a gripping portion provided behind the insertion portion and configured to grip the object; A hand device configured to be able to clamp the object between the gripper and the second hand by changing the position of at least one of the first hand and the second hand so that the first hand approaches the second hand relatively while the gripper is in contact with the side of the object.

2. The hand device according to claim 1 , wherein the insertion portion has an insertion tapered portion formed so that the thickness in the left-right direction decreases toward the front end portion.

3. The hand device according to claim 2 , wherein the insertion tapered portion is formed such that a distance from the second hand in the left-right direction increases toward a front end portion.

4. The gripping portion is A gripping surface facing a side of the object; a protrusion provided at a lower end of the gripping portion so as to protrude in a direction toward the second hand from a lower portion of the gripping surface; The upper surface of the protrusion is inclined so as to become lower as it moves away from the gripping surface, The hand device according to claim 1 , wherein the protrusion is configured to be located below the object when the object is held between the gripper and the second hand.

5. 2. The method for controlling a hand device according to claim 1, wherein a position of at least one of the first hand and the second hand is changeable by using a power source, an inserting step of inserting the insert portion between a side surface of the object and a surface of another member facing the side surface; a positioning step of positioning the first hand such that the gripping portion faces a side surface of the object; a clamping step of changing a position of at least one of the first hand and the second hand so that the first hand moves relatively closer to the second hand while the second hand is brought into contact with a side of the object that is away from the first hand in the left-right direction, and bringing the object into contact with the gripping portion to clamp the object between the first hand and the second hand.

6. A temporary gripping step of contacting the insertion portion with a side surface of the object after the insertion step, gripping the object with the insertion portion and the second hand to change the position of the object, The method for controlling a hand device according to claim 5 , further comprising the steps of: releasing the grip of the object by the insertion portion and the second hand after the provisional gripping step; and performing the placing step.

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