Hand device, support unit, and control method of hand device

Abstract

To provide a hand device which achieves high convenience.SOLUTION: A hand device 1 includes: a first hand 10 and a second hand 20 which may be disposed so as to be arranged side by side while sandwiching an object 900 in a lateral direction; a first fixed part 31 fixed to the first hand 10; a second fixed part 32 fixed to the second hand 20; and a soft lashing member 35 which is disposed spanning the first fixed part 31 and the second fixed part 32. A length of the lashing member 35 from the first fixed part 31 to the second fixed part 32 may be changed. The hand device is configured so that the object 900 located between the first hand 10 and the second hand 20 can be sandwiched or lifted with at least one of the first hand 10 and the second hand 20 in a state where a part of the lashing member 35 is located at a higher position than the object 900. The object 900 can be stably sandwiched or lifted by the hand device.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a hand device capable of holding an object between two hands, a support unit, 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 equipped with a hand device that is configured to be able to clamp or lift the object.

[0003] Patent Document 1 below describes a robot system that transports cardboard boxes using a pinching-type hand. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Laid-Open No. 2014-100755 Summary of the Invention [Problem to be solved by the invention]

[0005] Hand devices have a variety of uses. For example, hand device uses may include tasks such as transporting an object consisting of two or more stacked components, or an object with a shape that is difficult to stabilize by simply gripping it. A hand device that can handle such situations is even more useful.

[0006] An object of the present invention is to provide a highly convenient hand device, a support unit, and a method for controlling the hand device. [Means for solving the problem]

[0007] The hand device of the first invention comprises a first hand and a second hand that can be arranged side by side in the left-right direction with an object sandwiched between them, a first fixed part fixed to the first hand, a second fixed part fixed to the second hand, and a flexible lashing member arranged across the first fixed part and the second fixed part, wherein the length of the lashing member from the first fixed part to the second fixed part is configured to be changeable, and an object between the first hand and the second hand can be clamped or lifted using at least one of the first hand and the second hand with a portion of the lashing member positioned above the object.

[0008] With this configuration, the lashing member can hold down the object from above, allowing the object to be stably clamped or lifted, thereby increasing the convenience of the hand device.

[0009] In addition, the hand device of the second invention is a hand device in which, compared to the first invention, at least one of the first fixed portion and the second fixed portion has a member length changing means configured to be able to wind up and pay out the lashing member from the first fixed portion to the second fixed portion.

[0010] With this configuration, the lashing member can be wound up to hold down the object, and the object can be stably clamped or lifted.

[0011] The hand device of the third invention differs from the hand device of the second invention in that the member length changing means has an actuator for winding up the lashing member.

[0012] With this configuration, the lashing member can be reliably wound up to hold down the object, and the object can be stably clamped or lifted.

[0013] Furthermore, the hand device of the fourth invention is a hand device in which, compared to the first invention, the lashing member is stretchable, so that the length from the first fixing portion to the second fixing portion can be changed.

[0014] With this configuration, the object can be securely held down using the stretchable lashing member, and the object can be stably clamped or lifted.

[0015] Furthermore, the support unit of the fifth invention is a support unit that is attached to a hand device having a first hand and a second hand that can be arranged side by side in the left-right direction with an object sandwiched between them, and is used by contacting an object when the object is clamped or lifted using at least one of the first hand and the second hand, and is provided with a first fixing part fixed to the first hand, a second fixing part fixed to the second hand, and a flexible lashing member that is arranged across the first fixing part and the second fixing part, and is configured so that the length of the lashing member from the first fixing part to the second fixing part is changeable.

[0016] With this configuration, the lashing member can hold down the object from above, allowing the object to be stably clamped or lifted. [Effects of the Invention]

[0017] According to the present invention, an object can be stably held or lifted, and the convenience of the hand device is improved. [Brief explanation of the drawings]

[0018] [Figure 1] FIG. 1 is a perspective view showing a robot system using a hand device according to an embodiment of the present invention; [Figure 2] FIG. 2 is a plan view illustrating the configuration of the first hand, the second hand, and the supporting unit. [Figure 3] FIG. 1 is a first diagram showing an example of the function of the hand device; [Figure 4] FIG. 2 is a second diagram showing an example of the function of the hand device. [Figure 5] FIG. 3 is a third diagram showing an example of the function of the hand device. DETAILED DESCRIPTION OF THE INVENTION

[0019] Hereinafter, an embodiment of the hand device will be described with reference to the drawings.

[0020] The coordinates shown in the following drawings indicate directions and are common to all the drawings. 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 referred to as the up-down direction (the positive direction on the Z axis as viewed from the origin of the coordinate system shown is up), the Y direction is sometimes referred to as the left-right direction (the positive direction on the Y axis as viewed from the origin of the coordinate system shown is right), and the X direction is sometimes referred to as the front-to-back direction (the positive direction on the X axis as viewed from the origin of the coordinate system shown is back or front).

[0021] In the following description, the shape and positional relationship of each part 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., when used according to the present invention. Furthermore, expressions indicating directions and expressions indicating states such as horizontal, vertical, orthogonal only indicate that they can be roughly understood as such and should not necessarily be interpreted strictly as such.

[0022] (Embodiment)

[0023] 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 is configured to be able to clamp or lift an object between the first hand and the second hand using at least one of the first hand and the second hand, with a portion of a flexible, length-variable lashing member positioned above the object.

[0024] The hand device may have a member length adjusting means configured to be able to wind and unwind the lashing member. For example, the lashing member may be wound using an actuator. The lashing member may be stretchable so that its length can be adjusted.

[0025] 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.

[0026] FIG. 1 is a perspective view showing a robot system 100 using a hand device 1 according to the present embodiment.

[0027] The robot system 100 includes a hand device 1, a first moving unit 110, a second moving unit 120, a third moving unit 130, and a carriage 140.

[0028] 1 shows the robot system 100 in a state in which an object 900 is held by the hand device 1. The hand device 1 used in this embodiment is used particularly to hold an object to be transported (hereinafter referred to as the object 900).

[0029] There is no particular limitation on the object 900. For example, the object 900 may be a transported load or the like, but the object 900 may also be an object used in a manufacturing site, such as a plasma power source or a welding jig.

[0030] FIG. 1 shows, as an example, a case in which an object 900 having a substantially rectangular box shape is clamped. In this embodiment, the object 900 includes two boxes 901 and 902 stacked one on top of the other. Box 902 is stacked on top of box 901. Note that the object 900 is not limited to this and may be, for example, three or more boxes stacked on top of each other, or may be a single box. Furthermore, the objects included in the object 900 are not limited to boxes and may have other three-dimensional shapes. In other words, the shape of the object 900 is not limited to a rectangular parallelepiped but may be columnar, conical, or the like. Parts of the side surfaces of the object 900 have an outer shape that can be contacted by a clamping member. The object 900 can be placed on a placement surface, for example, but is not limited to this.

[0031] 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 spaced apart in a first direction in a horizontal plane. In the following description, the left-right direction is assumed to be the first direction. The two hands 10, 20 are arranged spaced 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. In other words, 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 changeable as appropriate.

[0032] The hand device 1 is attached so as to be movable relative to the carriage 140, for example, by 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 also 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 interpreted as including any of the moving units 110, 120, and 130. At least one of the moving units 110, 120, and 130 may not be provided.

[0033] The first moving unit 110 supports the hand device 1. The first moving unit 110 displaces the hand device 1 in a first direction. Furthermore, 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 using the first moving unit 110. As an example, the first moving unit 110 includes 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 attached to the guide so as to be slidable in the first direction. The hand device 1 may then be fixed to the slider.

[0034] The second moving unit 120 supports the first moving unit 110 and moves the first moving unit 110 in the second direction. Therefore, the hand device 1 is moved in the second direction by the second moving unit 120. As an example, the second moving unit 120 includes a second support unit 121 that supports the first support unit 111 of the first moving unit 110, and a linear actuator that moves the first support unit 111 in the second direction relative to the second support unit 121. More specifically, for example, a guide along the second direction may be provided on the bottom surface of the second support unit 121 extending in the second direction, and a slider may be attached to the guide so as to be slidable in the second direction. The top surface of the first support unit 111 may be fixed to the slider.

[0035] The third moving unit 130 supports the second moving unit 120 and moves the second moving unit 120 in the vertical direction. Therefore, the hand device 1 is moved in the vertical direction by the third moving unit 130. As an example, the third moving unit 130 includes a pair of support columns 131, 132 spaced apart in the first direction, an upper surface plate 133 connecting the upper ends of the support columns 131, 132, an elevating unit 134 whose end is supported by the pair of support columns 131, 132 and supports the second support portion 121 of the second moving unit 120, and a pair of linear actuators that move the elevating unit 134 in the vertical direction in synchronization with the pair of support columns 131, 132. More specifically, guides along the vertical direction may be provided on the surfaces of the vertically extending support columns 131, 132 facing the elevating unit 134, and a slider may be attached to the guides so as to be slidable in the vertical direction. Both ends of the lifting unit 134 in the first direction may be fixed to sliders.

[0036] In the moving units 110, 120, and 130, for example, the slider may be attached to two or more guides arranged in parallel. Furthermore, the linear actuators of the moving units 110, 120, and 130 may each independently include, for example, a rack-and-pinion mechanism and a drive means for rotating the pinion, a ball screw mechanism and a drive means for rotating the screw shaft of the ball screw mechanism, a pair of pulleys, an endless belt stretched between the pair of pulleys, and a drive means for rotating the pulleys, or a sprocket and chain may be used instead of the pulleys and belt, or other configurations may be used. Note that mechanisms for linearly moving a supported object using guides, sliders, linear actuators, etc. are already known, and detailed description thereof will be omitted. The guides, sliders, and linear actuators are not shown in FIG. 1.

[0037] The third moving unit 130 is fixed to the carriage 140. Note that the base end side, i.e., the lower end side, of the third moving unit 130 may be fixed to the carriage 140. For example, the carriage 140 may have a base 141 to which the base end side of the third moving unit 130 is fixed, and a plurality of traveling means 142 fixed to the base 141 and capable of traveling on a traveling surface such as a floor. For example, the base 141 may be a plate-shaped member. The traveling means 142 are typically wheels, but may also be rollers, caterpillars, ball casters, or the like other than wheels. Furthermore, the carriage 140 may or may not have a driving means for driving the traveling means 142. In the latter case, the carriage 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, and 130 locally transport the object 900. The fixing means may be, for example, a wheel stopper. While the moving units 110, 120, and 130 locally transport the object 900, the dolly 140 transports the object 900 over a larger area.

[0038] 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 .

[0039] 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 (e.g., 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 receiving the information (e.g., 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 predetermined device.

[0040] The system control unit controls the first moving unit 110, the second moving unit 120, and the third moving unit 130. The control by the system control unit results in local transportation, such as moving or positioning the object 900 held by the hand device 1. Furthermore, for example, if the cart 140 has a driving means, the system control unit may also control the movement of the cart 140. These controls may be performed, for example, in response to operations or instructions received by the reception unit. The movement control of the cart 140 may be, for example, movement control regarding the movement direction and movement speed in response to operations received by the reception unit, or 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 below.

[0041] Next, the configuration of the hand device 1 will be described.

[0042] In this embodiment, the hand device 1 includes a first hand 10, a second hand 20, a support unit 30, a base 50, a power source 80, and a hand control unit 90.

[0043] 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 the portion that is grasped as the first support portion 111.

[0044] The first hand 10 and the second hand 20 are each attached to the base 50 so 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 attached to the base 50. It can be said that the first hand 10 and the second hand 20 are each configured to form a beam shape as a whole.

[0045] The first hand 10 and the second hand 20 are configured to be arrangable side by side in the left-right direction with the 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.

[0046] The supporting unit 30 is attached to the first hand 10 and the second hand 20. The configuration of the supporting unit 30 will be described later.

[0047] FIG. 2 is a plan view illustrating the configuration of the first hand 10, the second hand 20, and the supporting unit 30. As shown in FIG.

[0048] The first hand 10 is formed as a plate having a relatively small thickness in the left-right direction as a whole. The first hand 10 is supported at its base end (rear end) by the base 50. The first hand 10 is configured to be rotatable about an axis parallel to the front-rear direction with respect to the base 50, and the orientation of the plate can be changed depending on the posture of the target object 900, but is not limited to this.

[0049] The first hand 10 has a gripping surface 17 and a protrusion 18. 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. In other words, 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.

[0050] The protrusion 18 is provided at the lower end of the first hand 10. The protrusion 18 is a portion that protrudes from the gripping surface 17 to the right, i.e., in the direction of the second hand 20. The protrusion 18 is provided at the lower end of the first hand 10.

[0051] In this embodiment, the upper surface of protrusion 18 is inclined so as to become lower with increasing distance from grip surface 17. The bottom surface of protrusion 18 is, for example, approximately horizontal. That is, in this embodiment, protrusion 18 can be said to have a tapered shape in which the vertical width dimension decreases toward the inside.

[0052] The first hand 10 has a structure including the gripping surface 17 and the protrusion 18, and is configured to have a substantially L-shape in cross section perpendicular to the front-to-rear direction. That is, the first hand 10 has a plate-like portion having a relatively small thickness in the left-to-right direction and including the gripping surface 17, and the protrusion 18 protruding inward from the plate-like portion.

[0053] In this embodiment, the second hand 20 has the same components as the first hand 10, but has a bilaterally symmetrical shape to the first hand 10. That is, the second hand 20 has a plate-shaped component having a gripping surface 27 on its left side, and a protruding portion 28 that protrudes from the bottom of the plate-shaped component toward the first hand 10.

[0054] The shapes of the first hand 10 and the second hand 20 are not limited to these. For example, one or both of the hands 10, 20 may have a plate-shaped beam portion as a whole, without the protrusions 18, 28, etc. Furthermore, the first hand 10 and the second hand 20 do not have to have the same or symmetrical shapes.

[0055] The support unit 30 has a first fixing portion 31, a second fixing portion 32, and a lashing member 35. For example, the first fixing portion 31 and the second fixing portion 32 are detachably fixed to the hands 10, 20, so that the support unit 30 can be removed from or attached to the hand device 1. Note that the support unit 30 may also be fixed to the hand device 1 so that it cannot be detached.

[0056] The lashing member 35 is disposed across the first fixed portion 31 and the second fixed portion 32. The lashing member 35 is a member connected to the first fixed portion 31 and the second fixed portion 32. A part of the lashing member 35 may be the first fixed portion 31, or a part of the lashing member 35 may be the second fixed portion 32.

[0057] The lashing member 35 is a flexible member. It may also be said that the lashing member 35 is a deformable member. As will be described later, the lashing member 35 is capable of coming into contact with the upper surface of the object 90 and deforming so as to conform to the surface of the object 90. The lashing member 35 may be a member that is flexible as a whole, formed by combining parts that are not individually flexible.

[0058] In this embodiment, the lashing member 35 is a belt-shaped member. The lashing member 35 may also be called a belt. More specifically, the lashing member 35 is, for example, a belt made of woven fibers, but it may also be a steel belt or a belt made of paper or resin. It may also be a belt made of multiple members connected to each other in one or two directions in a chain shape, and which is flexible as a whole. However, the lashing member 35 is not limited to these.

[0059] The first fixing part 31 is fixed to the first hand 10. The first fixing part 31 is fixed, for example, to the left side surface of the first hand 10, i.e., the surface of the first hand 10 that does not face the second hand 20. The first fixing part 31 is provided so as not to interfere with the function of the first hand 10 to grip the object 900. The part that fixes the lashing member 35 to the first hand 10 can be called the first fixing part 31.

[0060] The second fixing part 32 is fixed to the second hand 20. The second fixing part 32 is fixed, for example, to the right side surface of the second hand 20, i.e., the surface of the second hand 20 that does not face the first hand 10. The second fixing part 32 is provided so as not to interfere with the function of the second hand 20 to grip the object 900. The part that fixes the lashing member 35 to the second hand 20 can be called the second fixing part 32.

[0061] The lashing member 35 is disposed so as to extend between the first hand 10 and the second hand 20, passing above the upper ends of both hands 10, 20. The lashing member 35 is disposed, for example, so as to pass through a position in the front-rear direction where the object 900 is grasped. In this embodiment, the support unit 30 is disposed, for example, so as to pass through approximately the center of the hands 10, 20 in the front-rear direction.

[0062] In this embodiment, the first fixed part 31 has a member length changing part (one example of member length changing means) 311. The member length changing part 311 accommodates, for example, a belt that becomes the lashing member 35 so that it can be wound up and unwound. Specifically, for example, in the member length changing part 311, a portion of the belt that functions as the lashing member 35 and that is not exposed between the first fixed part 31 and the second fixed part 32 is wound around a rotatable reel part and accommodated. As the reel part rotates, the belt wound around the reel part is exposed to the outside from the member length changing part 311 and becomes the lashing member 35, or an external belt is wound around the outer periphery of the reel part.

[0063] The member length changing portion 311 is not limited to being provided in the first fixing portion 31, and may be provided in the second fixing portion 32. That is, at least one of the first fixing portion 31 and the second fixing portion 32 may have the member length changing portion 311 configured to be able to wind up and pay out the lashing member 35 from the first fixing portion 31 to the second fixing portion 32. In this embodiment, by providing the member length changing portion 311, the length of the lashing member 35 from the first fixing portion 31 to the second fixing portion 32 is configured to be changeable.

[0064] In this embodiment, the member length change unit 311 includes an actuator 312. The actuator 312 is, for example, a motor. The actuator 312 is used as a power source for winding the lashing member 35 onto the reel unit. That is, when the actuator 312 rotates the reel unit, the member length change unit 311 winds the belt, which is the lashing member 35, inside the member length change unit 311, thereby shortening the length of the lashing member 35 from the first fastening part 31 to the second fastening part 32. The actuator 312 may be configured to be driven when the belt is unwound. The actuator 312 may also have a clutch mechanism or the like that switches whether the reel unit is rotatable or not. The actuator 312 is not limited to a motor and may have another power source.

[0065] The member length changing unit 311 does not necessarily have to include the actuator 312. For example, the member length changing unit 311 may include a retractor mechanism that attempts to retract the belt, which is the lashing member 35, with a certain amount of force. In this case, when a force greater than the force with which the retractor mechanism attempts to retract the lashing member 35 is applied to the lashing member 35, the member length changing unit 311 lengthens the length of the lashing member 35 from the first fastening portion 31 to the second fastening portion 32. Otherwise, the member length changing unit 311 retracts the lashing member 35 so as to shorten the length of the lashing member 35 from the first fastening portion 31 to the second fastening portion 32.

[0066] In this 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 forces acting on the first hand 10 and the second hand 20, respectively, but is not limited to this. Each force sensor may be, for example, a sensor for detecting external forces or a weight sensor. The sensor for detecting external forces may be, for example, a three-axis or six-axis force sensor. When each force sensor is a sensor for detecting external forces, it is preferable that the sensor be arranged so as to be able to measure the load acting in the direction of gravity on the object 900 held between the first hand 10 and the second hand 20.

[0067] The mounting position of the force sensor is not limited to the above. For example, the force sensor may be embedded inside each of the first hand 10 and the second hand 20 so as to be able to detect the force applied to the gripping surfaces 17, 27. Alternatively, the force sensor may be a sensor (e.g., a strain gauge) attached to a member constituting the plate-like portion of the first hand 10 and the second hand 20, capable of detecting distortion of the member. Alternatively, one or both of the first hand 10 and the second hand 20 may not have a force sensor.

[0068] The first hand 10 and the second hand 20 are capable of moving independently in a first direction. That is, the hand device 1 is configured to, for example, clamp the object 900 with the first hand 10 and the second hand 20 or release the clamping thereof by moving the first hand 10 and the second hand 20. Furthermore, the hand device 1 can also move the object 900 clamped 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.

[0069] In this embodiment, 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 to independently move the first hand 10 and the second hand 20 in the first direction. Each actuator is driven by a power source 80. Each linear actuator may independently include, for example, a rack-and-pinion mechanism and a drive means for rotating the pinion, a ball screw mechanism and a drive means for rotating the screw shaft of the ball screw mechanism, a pair of pulleys, an endless belt stretched between the pair of pulleys, and a drive means for rotating the pulleys, or a sprocket and a chain may be used instead of the pulleys and belt, or other configurations may be used. Note that mechanisms for linearly moving a supported object using a guide, slider, linear actuator, etc. are already known, and detailed description thereof will be omitted. Linear actuators and other components are not shown in FIG. 1 .

[0070] As the first hand 10 and the second hand 20 move in the first direction, the distance between the first fixed portion 31 and the second fixed portion 32 changes. In this embodiment, the member length change unit 311 can change the length of the lashing member 35 from the first fixed portion 31 to the second fixed portion 32. The length of the lashing member 35 can be changed in accordance with changes in the distance between the first fixed portion 31 and the second fixed portion 32. The length of the lashing member 35 from the first fixed portion 31 to the second fixed portion 32 may be maintained constant regardless of changes in the distance between the first fixed portion 31 and the second fixed portion 32. For example, when the lashing member 35 from the first fixed portion 31 to the second fixed portion 32 is sufficiently long, the distance between the first fixed portion 31 and the second fixed portion 32 can be increased even if the length of the lashing member 35 does not change.

[0071] The power source 80 may be said to be a drive unit. The power source 80 is, for example, a motor, but is not limited to this. The type of motor is not important. There may be one power source 80, or two or more power sources 80. 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 gripped.

[0072] In this 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.

[0073] 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 between 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 in response to an operation accepted by a accepting unit, or may be configured to perform autonomous control to perform a predetermined task.

[0074] The hand control unit 90 may further be configured to control the operation of the actuator 312. In this case, the hand control unit 90 controls the reeling of the belt that will become the lashing member 35, or the belt to be able to be pulled out from the member length changing unit 311. The hand control unit 90 may also be configured to control the actuator 312 so that the tension of the lashing member 35 is at a predetermined level. For example, if a motor is used as the actuator 312, the tension of the lashing member 35 can be adjusted by controlling the torque of the motor.

[0075] In this embodiment, the hand control unit 90 is configured to be able to work in conjunction with the system control unit to control the up-down and down-direction positions and the front-rear direction positions of the first hand 10 and the second hand 20. Note that the control of these positions may be considered to be performed by the hand control unit 90 or the system control unit.

[0076] In the present embodiment, the hand control unit 90 is configured to control the power source 80 based on the detection results of the force sensors. For example, when the first hand 10 and the second hand 20 are to clamp the object 900, the hand control unit 90 determines, while moving at least one of the first hand 10 and the second hand 20, that the clamping force has reached a predetermined magnitude based on the detection results of the force sensors 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 in accordance with the determination result. In this way, the object 900 can be clamped such that the magnitude of the force clamping the object 900 by the hand device 1 becomes a desired magnitude.

[0077] The force sensor does not necessarily have to be used for control of the operation of the first hand 10 and the second hand 20 by the hand control unit 90. For example, when clamping an object 900 having a predetermined shape and dimensions, the positional relationship between the first hand 10 and the second hand 20 may be controlled to be a predetermined positional relationship depending on the dimensions of the object 900. Alternatively, a sensor using a camera or laser light may be provided in the hand device 1 or the robot system 100, and control may be performed based on the detection results to ensure that the positional relationship between the first hand 10 and the second hand 20 is appropriate. By performing such control, the object 900 can be clamped reliably. Such control may be performed by the hand control unit 90.

[0078] In this embodiment, the hand device 1 configured as described above can clamp the object 900 and move the object 900. That is, by clamping the object 900 between the first hand 10 and the second hand 20, 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 object 900 can be moved by moving both the first hand 10 and the second hand 20 in the same direction. Furthermore, by operating the moving units 110, 120, and 130, the object 900 can be displaced up and down, front and back, and left and right. Furthermore, by driving the cart 140, the object 900 can be moved over a wide area.

[0079] Here, the hand device 1 is configured to be able to sandwich the object 900 between the first hand 10 and the second hand 20 with the lashing members 35 draped over it from above. By supporting the object 900 using the lashing members 35 in this way, it is possible to prevent the object 900 from collapsing. In other words, it is possible to prevent the object 900 from losing balance while it is being moved.

[0080] An example of an operation of holding an object 900 using the hand device 1 according to this embodiment will be described below. Such an operation can be realized, for example, by the hand control unit 90 controlling the operation of the power source 80 and the like.

[0081] Fig. 3 is a first diagram showing an example of the function of the hand device 1. Fig. 4 is a second diagram showing an example of the function of the hand device 1. Fig. 5 is a third diagram showing an example of the function of the hand device 1.

[0082] Each figure simply shows the first hand 10, the second hand 20, and the supporting unit 30 of the hand device 1. The actuator 312 of the supporting unit 30 is omitted from the illustration. Also, Fig. 3 is a plan view, and Figs. 4 and 5 are rear views.

[0083] Here, we will explain how to use the hand device 1 when picking up an object 900 consisting of two boxes 901, 902 stacked one on top of the other, which is placed on a loading surface 911 on a transport pallet.

[0084] 3, first, the first hand 10 and the second hand 20 are positioned in front of the object 900. Then, the positions of the first hand 10 and the second hand 20 in the first direction are changed so that the object 900 is positioned between the first hand 10 and the second hand 20 in the first direction (step S11).

[0085] Next, the position of the hand device 1 is changed so that the object 900 is located between the first hand 10 and the second hand 20 in a plan view. Here, the lashing member 35 is positioned above the object 900 (step S12). That is, at least one of the first hand 10 and the second hand 20 is disposed above the object 900 so that the object 900 is located between the first hand 10 and the second hand 20 in the left-right direction and the lashing member 35 is located above the object 900. "Above the object 900" may be above the object 900 or near the top of the object 900.

[0086] In step S12, in this embodiment, the positions of the first hand 10 and the second hand 20 are adjusted so that the upper ends of the hands 10, 20 onto which the lashing members 35 are hung are higher than the upper end of the object 900. This is not necessarily limited to this, and the height of the upper end of one of the hands 10, 20 may be lower than the upper end of the object 900. Note that if a separate means is provided for positioning the lashing members 35 higher than the upper end of the object 900, the positions of the hands 10, 20 are not limited to this.

[0087] Thereafter, either the first hand 10 or the second hand 20, whichever is above the object 900, is displaced downward, so that a portion of the lashing member 35 comes into contact with the upper portion of the object 900. In this embodiment, as shown in FIG. 4, the first hand 10 and the second hand 20 are displaced downward. This brings the lashing member 35 closer to the upper surface of the object 900 (step S13). Then, the first hand 10 and the second hand 20 are further displaced downward, so that a portion of the lashing member 35 comes into contact with the upper surface of the object 900 (step S14).

[0088] Thereafter, the first hand 10 and the second hand 20 are displaced downward. With a portion of the lashing member 35 remaining in contact with the upper surface of the target object 900, the lashing member 35 is unwound from the member length changing portion 311, and the length of the lashing member 35 between the first fixing portion 31 and the second fixing portion 32 increases.

[0089] Then, the first hand 10 and the second hand 20 are brought into contact with the side surfaces of the object 900, and the object 900 is sandwiched between the first hand 10 and the second hand 20 with a portion of the lashing member 35 in contact with the top of the object 900. In this embodiment, as shown in FIG. 5 , the first hand 10 and the second hand 20 are lowered until they are positioned beside the lower box 901. That is, the first hand 10 and the second hand 20 are positioned so that the box 901 is positioned between the first hand 10 and the second hand 20. In this example, 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 S15).

[0090] Thereafter, 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 each of the two sides of the target object 900. As the hands 10 and 20 move, the member length changing unit 311 also performs an operation of winding up the lashing member 35 so that the slack in the lashing member 35 is reduced (step S16).

[0091] As a result of this operation, as the first hand 10 and the second hand 20 approach each other, the lower part of the object 900 rides up onto the upper surfaces of the protrusions 18, 28, and the object 900 is displaced upward. As the first hand 10 and the second hand 20 further approach each other, the gripping surfaces 17, 27 come into contact with the side surfaces of the lower box 901, and the box 901 is clamped between the hands 10, 20. By continuing to displace the hands 10, 20 upward, the object 900 can be further lifted from the placement surface 911.

[0092] As described above, according to this embodiment, the object 900 can be clamped or lifted by displacing at least one of the first hand 10 and the second hand 20 while a portion of the lashing member 35, whose length between the first fixing portion 31 and the second fixing portion 32 is variable, is positioned above the object 900. When the object 900 is clamped between the hands 10 and 20, the lashing member 35 is hung from above the upper box 902, and the lashing member 35 can be adjusted to reduce slack, making it difficult for the box 902 to shift position relative to the box 901. Therefore, the object 900 can be held in a state where it is unlikely to collapse. It can also be said that the object 900 can be reliably restrained. Even if the object 900 is not divided into two boxes 901, 902, etc., but is a single unit, the posture of the object 900 can be maintained by supporting it using the lashing member 35, thereby enabling the object 900 to be held more stably.

[0093] Note that the member length changing unit 311 may be configured to retract the lashing member 35 so that a predetermined tension is generated in the lashing member 35 while the box 901 is clamped between the hands 10 and 20. In this case, in addition to gravity, a force pressing the box 902 against the box 901 can be generated, making it even more difficult for the box 902 to collapse relative to the box 901. In particular, when the object 900 is clamped in this manner, the bottom surface of the object 900 is located above the protrusions 18 and 28. Since the lashing member 35 can press the object 900 downward while restricting downward movement of the object 900 relative to the first hand 10 and the second hand 20, the object 900 can be more reliably held in a state where it is less likely to collapse, thereby improving the convenience of the hand device 1. Furthermore, since the lashing member 35 and the protrusions 18, 28 can restrain the object 900 in the vertical direction, the object 900 can be stably held without increasing the force with which the hands 10, 20 clamp the object 900. In other words, since the force with which the hands 10, 20 clamp the object 900 can be kept small, the amount of energy consumed when the hand device 1 securely holds the object 900 can be reduced.

[0094] As an example, the hand device 1 according to the present embodiment can be used for the following specific applications. That is, for example, the hand device 1 can be used to perform tasks such as transporting an object made up of two or more components stacked on top of each other, or an object having a shape that is difficult to stabilize by simply clamping, etc. In such applications, an object made up of two or more components or an object that is difficult to stably clamp can be held in a more securely restrained state so that its posture does not change. Since it is possible to transport multiple components simultaneously or at a moving speed that causes a relatively large acceleration to be applied to the object, it is possible to reduce the takt time required to perform a task.

[0095] It is desirable that the length of the lashing member 35 spanning the hands 10, 20 is constantly adjusted so that slack in the lashing member 35 is minimized. For example, it is desirable that the member length changing unit 311 is configured to appropriately wind up the lashing member 35 using an actuator 312 or a retractor mechanism. This reduces the amount of movement of the hands 10, 20 required to position the lashing member 35 above the object 900 before gripping the object 900, making it possible to hold the object 900 easily and in a short time.

[0096] (others)

[0097] In the above-described embodiment, the lashing member may be stretchable so that the length from the first fixing portion to the second fixing portion can be changed. Such a lashing member may be, for example, a rubber belt or rubber cord. It may also be configured to be flexible and stretchable by including, for example, a coil spring. Furthermore, a flexible lashing member that is stretchable as a whole may be configured by combining members that are not stretchable themselves. For example, a belt or the like woven with a stretchable thread that is not stretchable itself may be used as the lashing member.

[0098] The lashing member may also be a film-like member or a sheet-like member. The lashing member may also be a string-like member. The lashing member may also be a rope. The lashing member may also be a wire.

[0099] Furthermore, in the above-described embodiments, two or more components present in one device may be physically realized on one medium.

[0100] 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 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 semiconductor memory. During execution, the program execution unit may execute the program while accessing a storage unit or recording medium. The program may also be executed by being downloaded from a server or the like, or by being read from a predetermined recording medium (e.g., an optical disk, a magnetic disk, a semiconductor memory, etc.). The program may also be used as a program constituting a program product. The program may be executed by a single computer or multiple computers. That is, centralized processing or distributed processing may be performed.

[0101] 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 consisting of multiple devices performing distributed processing can be understood as a single "device").

[0102] Furthermore, in the above embodiments, the transfer of information between components 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 by moving from a processing phase corresponding to one component to a processing phase corresponding to the other component if the two components transferring the information are physically the same.

[0103] Furthermore, in the above-described embodiments, 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 in processing by each component, may be temporarily or long-term stored in a recording medium (not shown), even if not explicitly stated in the above description. Furthermore, the storage of information in the recording medium (not shown) may be performed by each component or a storage unit (not shown). Furthermore, the reading of information from the recording medium (not shown) may be performed by each component or a reading unit (not shown).

[0104] Furthermore, in the above-described embodiments, if the information used by each component, such as 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 explicitly stated in the above description. If the information is changeable by the user, the change may be realized, for example, by a receiving unit (not shown) that receives a change instruction from the user and a changing unit (not shown) that changes the information in accordance with the change instruction. The change instruction may be received by the receiving unit (not shown), for example, from an input device, by receiving information transmitted via a communication line, or by receiving information read from a predetermined recording medium.

[0105] The present invention is not limited to the above-described embodiment, and various modifications are possible, and these modifications are also included within the scope of the present invention.

[0106] The components of the above-described embodiments and modifications may be replaced with or combined with other components as appropriate. Also, some of the components and functions of the above-described embodiments and modifications may be omitted.

[0107] The robot system is not limited to the above-described conveying device. The robot system may not have a carriage. For example, the robot system may be fixed to a fixed base or the like. [Industrial Applicability]

[0108] As described above, the hand device according to the present invention is highly convenient and useful as a hand device or the like. [Explanation of symbols]

[0109] 1 hand device, 10 first hand, 20 second hand, 30 support unit, 31 first fixing part, 32 second fixing part, 35 lashing member, 80 power source, 90 hand control part, 100 robot system, 311 member length changing means, 312 actuator, 900 object

Claims

1. a first hand and a second hand that can be arranged side by side in the left-right direction with an object sandwiched therebetween; a first fixing portion fixed to the first hand; a second fixing portion fixed to the second hand; a flexible lashing member disposed across the first fixing portion and the second fixing portion, The length of the lashing member from the first fixing portion to the second fixing portion is variable, A hand device configured to be able to clamp or lift an object between the first hand and the second hand using at least one of the first hand and the second hand while a portion of the lashing member is positioned above the object.

2. 2. The hand device according to claim 1, wherein at least one of the first fixed portion and the second fixed portion has a member length changing means configured to be able to wind up and pay out the lashing member from the first fixed portion to the second fixed portion.

3. 3. The hand device according to claim 2, wherein said member length changing means has an actuator for winding up said lashing member.

4. The hand device according to claim 1 , wherein the lashing member has flexibility, so that the length from the first fixing portion to the second fixing portion can be changed.

5. A support unit is attached to a hand device having a first hand and a second hand that can be arranged side by side in the left-right direction with an object sandwiched therebetween, and is used by contacting an object when the object is to be held or lifted using at least one of the first hand and the second hand, a first fixing portion fixed to the first hand; a second fixing portion fixed to the second hand; a flexible lashing member disposed across the first fixing portion and the second fixing portion, A support unit configured so that the length of the lashing member from the first fixing portion to the second fixing portion is variable.

6. 2. The method for controlling a hand device according to claim 1, wherein the position of at least one of the first hand and the second hand is changeable using a power source, a positioning step of positioning at least one of the first hand and the second hand above the object so that the object is located between the first hand and the second hand in the left-right direction and the lashing member is located above the object; a contact step of displacing one of the first hand and the second hand that is above the object downward and bringing a part of the lashing member into contact with an upper part of the object; a holding step of contacting the first hand and the second hand with the sides of the object and clamping or lifting the object between the first hand and the second hand with a portion of the lashing member in contact with the top of the object.

Images