Hand

Abstract

To provide a hand capable of appropriately gripping an object while suppressing an increase in size.SOLUTION: The hand 10 includes a plurality of fingers 2 that can be opened and closed in the first direction X, a main body 3 that supports the plurality of fingers 2, a string 5 that is connected to the plurality of fingers 2, and an opening / closing actuator 6 that pulls the string 5. The string 5 is wound around the plurality of fingers 2 so that the tension from the opening / closing actuator 6 acts on the plurality of fingers 2 in the closing direction of the first direction X. The opening / closing actuator 6 closes the plurality of fingers 2 by pulling the string 5.SELECTED DRAWING: Figure 6

Description

[Technical Field]

[0001] The technology disclosed herein relates to a hand. [Background technology]

[0002] Tools for extracting connectors have been known for some time. For example, Patent Document 1 discloses a tool having a pair of movable pieces. Each movable piece has an elongated shape and is rotatably supported at a middle portion in the longitudinal direction. A spring is disposed at the rear end of each movable piece. The spring exerts an elastic force substantially parallel to the opening and closing direction of the pair of movable pieces. The elastic force of the spring causes the rear ends of the pair of movable pieces to open from each other, thereby closing the tip ends of the pair of movable pieces. As a result, an object is grasped by the tip ends of the pair of movable pieces. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2000-329946 Summary of the Invention [Problem to be solved by the invention]

[0004] In the case of the above-mentioned configuration, in order to firmly grip an object, it is necessary to increase the elastic force of the spring in the movable piece, i.e., the distance from the part that applies the pressing force to the rotation axis, which increases the size of the tool, which is disadvantageous when gripping an object located in a recessed position.

[0005] The technology disclosed herein has been made in consideration of these points, and its purpose is to provide a hand that can properly grasp an object while preventing it from becoming too large. [Means for solving the problem]

[0006] The hand of the present disclosure comprises a plurality of fingers that can be opened and closed in a first direction, a main body that supports the plurality of fingers, a string connected to the plurality of fingers, and an opening and closing actuator that pulls the string, wherein the string is wrapped around the plurality of fingers so that tension from the opening and closing actuator acts on the plurality of fingers in the closing direction of the first direction, and the opening and closing actuator closes the plurality of fingers by pulling the string. [Effects of the Invention]

[0007] According to the hand, it is possible to provide a hand that can appropriately grasp an object while suppressing an increase in size. [Brief explanation of the drawings]

[0008] [Figure 1] FIG. 1 is a schematic diagram showing the configuration of a robot system. [Figure 2] FIG. 2 is a perspective view of a connection board to which a cable is connected via a connector plug. [Figure 3] FIG. 3 is a cross-sectional view of the adapter with the connector plug inserted. [Figure 4] FIG. 4 is a cross-sectional view of the adapter with the cap attached. [Figure 5] FIG. 5 is a perspective view of the hand. [Figure 6] FIG. 6 is a bottom view of the hand. [Figure 7] FIG. 7 is a plan view of the hand. [Figure 8] FIG. 8 is a side view of the hand. [Figure 9] FIG. 9 is a cross-sectional view of the hand taken along line IX-IX in FIG. [Figure 10] FIG. 10 is a front view of the pawl. [Figure 11] FIG. 11 is a bottom view of the hand with the second string omitted. [Figure 12] FIG. 12 is a bottom view of the hand with the first string omitted. [Figure 13] FIG. 13 is a cross-sectional view of the hand showing a state in which the rotating body moves through the first section. [Figure 14] FIG. 14 is a bottom view of the hand showing a state in which the rotating body moves through the first section. [Figure 15] FIG. 15 is a cross-sectional view of the hand showing a state in which the rotating body moves through the second section. [Figure 16] FIG. 16 is a diagram illustrating a schematic hardware configuration of the control device. [Figure 17] FIG. 17 is a block diagram showing the configuration of a control system of the processor. [Figure 18] FIG. 18 is a flowchart showing the robot extraction operation. [Figure 19] FIG. 19 is a cross-sectional view of the hand in the ready position and in the ready posture. [Figure 20] FIG. 20 is a cross-sectional view of the hand in the middle of reaching the access position and the access posture. [Figure 21] FIG. 21 is a cross-sectional view of the hand at the access position and in the access posture. [Figure 22] FIG. 22 is a cross-sectional view of a hand that is misaligned with respect to a target adapter. [Figure 23] FIG. 23 is a cross-sectional view of the hand holding the connector plug. [Figure 24] FIG. 24 is a cross-sectional view of the hand with the connector plug pulled out. [Figure 25] FIG. 25 is a flowchart showing the robot insertion operation. [Figure 26] FIG. 26 is a flowchart of the robot's cleaning operation. [Figure 27] FIG. 27 is a cross-sectional view of the hand in a preparation position and a preparation posture for cleaning work. DETAILED DESCRIPTION OF THE INVENTION

[0009] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An exemplary embodiment will now be described in detail with reference to the accompanying drawings. 1 is a schematic diagram showing the configuration of a robot system 100. As shown in FIG.

[0010] The robot system 100 includes a robot 110 and a control device 150 that controls the robot 110. The robot 110 includes a base 130 and a robot arm 120 connected to the base 130. A hand 10 is attached to the tip of the robot arm 120. The base 130 has a plurality of wheels. In other words, the robot 110 is capable of moving. The robot 110 includes two robot arms 120. A hand 10 is attached to the tip of one of the robot arms 120. A hand 10 is not attached to the tip of the other robot arm 120. In this example, the robot 110 is an industrial robot.

[0011] FIG. 2 is a perspective view of a connection board 9 to which a cable is connected via a connector plug 92. For example, the connection board 9 has a plurality of adapters 91. The plurality of adapters 91 are arranged on a wall surface 90 of the connection board 9. The plurality of adapters 91 may be arranged vertically and horizontally in a matrix. A connector plug 92 can be inserted into the adapter 91. Furthermore, a cap 98 for protecting the adapter 91 may be inserted into the adapter 91. For example, the adapter 91 is an optical adapter, and the connector plug 92 is an optical connector plug. The adapter 91 and the connector plug 92 may be SC-type optical connectors specified in JIS C 5973 or the like.

[0012] In this example, the robot 110 pulls out the connector plug 92 from the adapter 91 with the hand 10. In addition, the robot 110 may insert the connector plug 92 into the adapter 91 with the hand 10.

[0013] FIG. 3 is a cross-sectional view of the adapter 91 with a connector plug 92 inserted. FIG. 4 is a cross-sectional view of the adapter 91 with a cap 98 attached. FIGS. 3 and 4 are cross-sectional views taken along a horizontal plane. The adapter 91 has an opening 91a extending in the direction of the adapter axis M. The adapter 91 has a housing 93 shaped like a rectangular tube with a square cross section that extends about the adapter axis M. The housing 93 has a flange 93a. The adapter 91 is attached to the wall surface 90 by screwing the flange 93a to the wall surface 90. A connector plug 92 can be inserted into the adapter 91 along the adapter axis M. That is, the direction of the adapter axis M is the insertion direction of the connector plug 92 into the adapter 91. The adapter axis M is approximately perpendicular to the wall surface 90. A cable 94 is connected to the connector plug 92. The connection end of the cable 94, which is the end connected to the connector plug 92, extends about the connection axis N. For example, the connection end of the cable 94 is covered with a boot. An optical fiber 94a is contained within the cable 94. A ferrule 96 protrudes from the connector plug 92. The ferrule 96 extends coaxially with the connection axis N. The connector plug 92 is inserted into the adapter 91 so that the connection axis N is aligned in a straight line with the adapter axis M. The housing 95 of the connector plug 92 has a convex portion 95a and a concave portion 95b. The convex portion 95a and the concave portion 95b are aligned in this order from the cable 94 toward the ferrule 96. When the connector plug 92 is inserted into the adapter 91, the convex portion 95a and the concave portion 95b are exposed to the outside from the adapter 91.

[0014] A cap 98 for protecting the adapter 91 can be inserted into an adapter 91 without a connector plug 92 inserted therein. The cap 98 has a protrusion 98a and a recess 98b. The protrusion 98a and the recess 98b are aligned in this order toward the adapter 91. When the cap 98 is inserted into the adapter 91, the protrusion 98a and the recess 98b are exposed to the outside from the adapter 91.

[0015] As shown in FIG. 1, the robot arm 120 has a plurality of links L and a plurality of joints J that connect the links L. The robot arm 120 is configured to operate in three dimensions. In this example, the robot arm 120 is a vertical multi-joint robot arm. The robot arm 120 is supported by a base 130.

[0016] The multiple links L include a first link L1 to an n-th link Ln (n is an integer equal to or greater than 2) arranged in order from the base 130. The multiple joints J include a first joint J1 to an n-th joint Jn arranged in order from the base 130. n is greater than the degrees of freedom of the position and orientation of the n-th link Ln. In other words, the robot arm 120 has redundancy. Redundancy is a characteristic in which the rotation angles of the first joint J1 to the n-th joint Jn corresponding to the position of the n-th link Ln are not uniquely determined. In this example, the degrees of freedom of the position and orientation of the n-th link Ln are six. Specifically, the position and orientation of the n-th link Ln have six degrees of freedom, which is the sum of the translational and rotational directions about each of three orthogonal axes. The robot arm 120 is a so-called seven-axis robot having seven joints J. In other words, n is seven.

[0017] Specifically, the multiple links L include a first link L1, a second link L2, a third link L3, a fourth link L4, a fifth link L5, a sixth link L6, and a seventh link L7, which are arranged in series in this order from the base 130 side. The seventh link L7 is located at the tip of the robot arm 120. The multiple joints J include a first joint J1, a second joint J2, a third joint J3, a fourth joint J4, a fifth joint J5, a sixth joint J6, and a seventh joint J7, which are arranged in series in this order from the base 130 side.

[0018] The base 130 and the first link L1 are rotatably connected by a first joint J1. The first link L1 and the second link L2 are rotatably connected by a second joint J2. The second link L2 and the third link L3 are rotatably connected by a third joint J3. The third link L3 and the fourth link L4 are rotatably connected by a fourth joint J4. The fourth link L4 and the fifth link L5 are rotatably connected by a fifth joint J5. The fifth link L5 and the sixth link L6 are rotatably connected by a sixth joint J6. The sixth link L6 and the seventh link L7 are rotatably connected by a seventh joint J7.

[0019] The hand 10 is connected to a seventh link L7 at the tip of the robot arm 120. In other words, the hand 10 is connected to the robot arm 120 so as to be rotatable around a rotation axis R7 of a seventh joint J7. The hand 10 is an end effector attached to the robot arm 120.

[0020] The robot arm 120 has a servo motor 121 (see FIG. 16) that rotationally drives each joint J. Each servo motor 121 has an encoder 122 (see FIG. 16).

[0021] The robot 110 further includes an imaging device 140 disposed on one link L of the multiple links L. In this example, the imaging device 140 is disposed on the sixth link L6. The imaging device 140 captures two-dimensional or three-dimensional images. The imaging device 140 outputs the captured image to the control device 150.

[0022] <Hand> FIG. 5 is a perspective view of the hand 10. FIG. 6 is a bottom view of the hand 10. FIG. 7 is a plan view of the hand 10. FIG. 8 is a side view of the hand 10. FIG. 9 is a cross-sectional view of the hand 10 taken along line IX-IX in FIG. 7. The hand 10 includes a plurality of fingers 2 that can open and close in a first direction X, and a body 3 that supports the plurality of fingers 2. The hand 10 may further include claws 4 disposed at the tips of the plurality of fingers 2. The plurality of fingers 2 extend in a second direction Y that intersects with the first direction X. Here, extending in the second direction Y includes not only extending strictly parallel to the second direction Y, but also extending generally in the second direction Y. Furthermore, extending in the second direction Y includes not only extending linearly, but also extending while curving or bending.

[0023] 6, the hand 10 may further include a string 5 connected to the plurality of fingers 2 and an opening / closing actuator 6 that pulls the string 5. The string 5 is wound around the plurality of fingers 2 so that tension from the opening / closing actuator 6 acts on the plurality of fingers 2 in a closing direction in the first direction X. The opening / closing actuator 6 pulls the string 5 to close the plurality of fingers 2.

[0024] The hand 10 may further include an advance / retract actuator 6 that moves the multiple fingers 2 forward and backward in the second direction Y relative to the main body 3. The multiple fingers 2 not only open and close in the first direction X, but also move in the second direction Y. In this example, the open / close actuator 6 and the advance / retract actuator 6 are a single common actuator 6.

[0025] 5, the hand 10 may include an attachment 7 for attachment to the robot arm 120. The attachment 7 supports the main body 3. The attachment 7 is attached to a seventh link L7.

[0026] In this example, the first direction X and the second direction Y are perpendicular to each other. The side from which the multiple fingers 2 advance relatively from the main body 3 in the second direction Y is called the advance side of the second direction Y. The side from which the multiple fingers 2 retreat relatively to the main body 3 in the second direction Y is called the retreat side of the second direction Y. The dimension in the first direction X is also called the width. The dimension in the second direction Y is also called the length. The direction perpendicular to both the first direction X and the second direction Y is called the third direction Z. The dimension in the third direction Z is also called the thickness.

[0027] <finger> As shown in FIG. 9 , the multiple fingers 2 include a first finger 2A and a second finger 2B arranged side by side in the first direction X. That is, the first finger 2A and the second finger 2B are spaced apart in the first direction X. The first finger 2A and the second finger 2B are arranged facing each other across a reference axis A extending in the second direction Y. The first finger 2A and the second finger 2B have shapes that are line-symmetrical with respect to the reference axis A. That is, the shape of the second finger 2B is the shape of the first finger 2A inverted with respect to the reference axis A. The reference axis A is aligned substantially in a straight line with the rotation axis R7 of the seventh joint J7. Hereinafter, when there is no need to distinguish between the first finger 2A and the second finger 2B, they will simply be referred to as "finger 2." The inside of a finger 2 refers to the closing side in the first direction X, i.e., the side toward another finger 2. The outside of a finger 2 refers to the opening side in the first direction X, i.e., the side opposite to another finger 2.

[0028] The finger 2 has an elongated shape extending in the second direction Y as its longitudinal direction. The finger 2 has two ends in the second direction Y. Of the two ends, the end on the advancing side in the second direction Y is referred to as the first end 21, and the end on the retreating side in the second direction Y is referred to as the second end 22. The second end 22 of the first finger 2A and the second end 22 of the second finger 2B are connected to each other and form a single second end 22.

[0029] The inside of the first end 21 of the finger 2 has a shape corresponding to the outer shape of the connector plug 92. More specifically, the first end 21 has a first recess 23 into which the protrusion 95a of the connector plug 92 fits, and a first protrusion 24 into which the recess 95b of the connector plug 92 fits. The first recess 23 and the first protrusion 24 are aligned in this order toward the advancing side in the second direction Y.

[0030] The middle portion 20 of the finger 2, i.e., the portion between the first end portion 21 and the second end portion 22, extends along the reference axis A, specifically, substantially parallel to the reference axis A. Note that "middle" does not mean the center, but rather the portion between the two ends.

[0031] The width of at least a portion of the second end 22 is larger than the overall width of the multiple fingers 2 at the intermediate portions 20, i.e., the dimension from the outside of the intermediate portion 20 of the first finger 2A to the outside of the intermediate portion 20 of the second finger 2B in the first direction X. Specifically, the second end 22 has an enlarged portion 22a. The width of the enlarged portion 22a is larger than the width of the portion of the second end 22 other than the enlarged portion 22a.

[0032] The fingers 2 open and close in a first direction X. The fingers 2, i.e., the first finger 2A and the second finger 2B, each have elasticity that allows them to bend in the first direction X. For example, the fingers 2 are made of resin. The fingers 2 elastically bend in the first direction X, which can change the spacing between the first ends 21 of the fingers 2 in the first direction X. The fingers 2 elastically bend and close in the first direction X when the string 5 is pulled by the common actuator 6. When the fingers 2 are closed, they generate an elastic force in an opening direction. When the tension on the string 5 from the common actuator 6 is released from the closed state, the fingers 2 open due to the elastic force. In other words, the driving force when the fingers 2 open is the elastic force of each of the fingers 2.

[0033] In particular, the middle portion 20 of the finger 2 is more easily bent by elastic deformation than the first end portion 21 or the second end portion 22. The middle portion 20 is thinner than the first end portion 21 or the second end portion 22. The second moment of area of ​​the middle portion 20 is smaller than the second moment of area of ​​the first end portion 21 or the second end portion 22.

[0034] <Main body> 9, the main body 3 has an accommodation space 33 that accommodates multiple fingers 2. By accommodating the multiple fingers 2 in the accommodation space 33, the main body 3 restricts movement of the multiple fingers 2 in a direction intersecting with the second direction Y.

[0035] Specifically, the main body 3 has an elongated shape in the second direction Y, as shown in Fig. 7. The dimension of the main body 3 in the first direction X is smaller than the dimension of the main body 3 in the second direction Y. The dimension of the main body 3 in the third direction Z is smaller than the dimension of the main body 3 in the second direction Y, as shown in Fig. 8.

[0036] Specifically, the main body 3 has a rectangular cylindrical shape extending in the second direction Y. A cross-sectional shape of the main body 3 perpendicular to the second direction Y is substantially rectangular. The main body 3 has a first side wall 31a, a second side wall 31b, a third side wall 31c, and a fourth side wall 31d. The first side wall 31a and the third side wall 31c face each other in the third direction Z. The second side wall 31b and the fourth side wall 31d face each other in the first direction X. The second side wall 31b is connected to the first side wall 31a and the third side wall 31c. The fourth side wall 31d is connected to the first side wall 31a and the third side wall 31c. The storage space 33 is defined by the first side wall 31a, the second side wall 31b, the third side wall 31c, and the fourth side wall 31d.

[0037] As shown in FIG. 9 , the accommodation space 33 extends in the second direction Y. The accommodation space 33 is open at the end of the main body 3 on the advancing side in the second direction Y. The accommodation space 33 has a first space 33A that accommodates at least the first end 21 of the finger 2, a second space 33B that accommodates the middle portion 20 of the finger 2, and a third space 33C that accommodates at least the second end 22 of the finger 2. The first space 33A, the second space 33B, and the third space 33C are arranged in this order toward the retreating side in the second direction Y. The first space 33A is open at the end of the main body 3 on the advancing side in the second direction Y.

[0038] The width of the first space 33A is slightly larger than the overall width of the first end 21 of the multiple fingers 2 in the closed state. The width of the second space 33B is slightly larger than the overall width of the intermediate portion 20 of the multiple fingers 2 when the intermediate portion 20 is not elastically deformed. The width of the third space 33C is slightly larger than the width of the second end 22. The width of the second space 33B is smaller than the width of the first space 33A and the width of the third space 33C. The width of the first space 33A is larger than the width of the third space 33C.

[0039] The multiple fingers 2 are movable in the second direction Y in the storage space 33. That is, the main body 3 supports the multiple fingers 2 so that they can slide in the second direction Y. The second end 22 moves in the second direction Y in the third space 33C. A majority of the middle portion 20 moves in the second direction Y in the second space 33B. A portion of the middle portion 20 also moves in the first space 33A or the third space 33C. The first end 21 moves in the second direction Y in the first space 33A. The first end 21 protrudes from the first space 33A to the outside of the main body 3 in the second direction Y.

[0040] The first side wall 31a, the second side wall 31b, the third side wall 31c, and the fourth side wall 31d restrict movement of the fingers 2 in a direction perpendicular to the second direction Y. More specifically, the first side wall 31a and the third side wall 31c restrict movement of the fingers 2 in the third direction Z. The second side wall 31b and the fourth side wall 31d restrict movement of the fingers 2 in the first direction X.

[0041] As shown in FIG. 5 , the main body 3 has a slit 35 extending in the second direction Y from an edge on the advancing side in the second direction Y. In this example, the first side wall 31a has the slit 35. The slit 35 extends in the second direction Y from an edge on the advancing side of the first side wall 31a in the second direction Y. The slit 35 penetrates the first side wall 31a in the thickness direction. With respect to a position in the first direction X, the slit 35 is disposed between the multiple fingers 2. That is, with respect to a position in the first direction X, the slit 35 coincides with the reference axis A.

[0042] <Claws> The claw 4 has a guide surface 43 that contacts the access target of the multiple fingers 2 to position the multiple fingers 2 in a plane intersecting the second direction Y. In this example, the claw 4 is a single unit. That is, the claws for each finger 2 are combined to form an integrated claw 4. The access target is, for example, an adapter 91. Note that a connector plug 92 or a cap 98 can also be the access target.

[0043] As shown in FIG. 5, the claw 4 has a claw body 41 on which a guide surface 43 is arranged, and a plurality of legs 42 extending from the claw body 41 and supported by a plurality of fingers 2.

[0044] FIG. 10 is a front view of the claw 4. The claw body 41 is cylindrical and extends in the second direction Y, with guide surfaces 43 disposed on its inner circumferential surface. Specifically, the claw body 41 is cylindrical and has an axis extending in the second direction Y. The axis of the cylindrical body 41 is approximately coaxial with the reference axis A. The claw body 41 has multiple guide surfaces 43. The multiple guide surfaces 43 position the multiple fingers 2 at least in the first direction X relative to the access target. In this example, the multiple guide surfaces 43 also position the multiple fingers 2 in the third direction Z relative to the access target. The number and arrangement of the guide surfaces 43 depend on the outer shape of the access target, specifically, the outer shape of the access target when viewed in the access direction to the access target.

[0045] In this example, the claw body 41 has four guide surfaces 43, specifically, a first guide surface 43a, a second guide surface 43b, a third guide surface 43c, and a fourth guide surface 43d. When the first guide surface 43a, the second guide surface 43b, the third guide surface 43c, and the fourth guide surface 43d are not distinguished from one another, they are simply referred to as "guide surfaces 43."

[0046] The first guide surface 43a and the third guide surface 43c are aligned in the third direction Z. The first guide surface 43a and the third guide surface 43c are inclined so that the distance between them in the third direction Z increases toward the entry side in the second direction Y. The first guide surface 43a and the third guide surface 43c position the multiple fingers 2 in the third direction Z relative to the access target. The second guide surface 43b and the fourth guide surface 43d are aligned in the first direction X. The second guide surface 43b and the fourth guide surface 43d are inclined so that the distance between them in the first direction X increases toward the entry side in the second direction Y. The second guide surface 43b and the fourth guide surface 43d position the multiple fingers 2 in the first direction X relative to the access target.

[0047] The claw body 41 has four restriction surfaces 44, specifically, a first restriction surface 44a, a second restriction surface 44b, a third restriction surface 44c, and a fourth restriction surface 44d. The first restriction surface 44a, the second restriction surface 44b, the third restriction surface 44c, and the fourth restriction surface 44d are located on the inner circumferential surface of the claw body 41. When the first restriction surface 44a, the second restriction surface 44b, the third restriction surface 44c, and the fourth restriction surface 44d are not to be distinguished from one another, they will be simply referred to as "restriction surfaces 44."

[0048] The first restriction surface 44a, the second restriction surface 44b, the third restriction surface 44c, and the fourth restriction surface 44d are surfaces substantially parallel to the second direction Y. The first restriction surface 44a is connected to the edge of the first guide surface 43a on the retreating side in the second direction Y. The second restriction surface 44b is connected to the edge of the second guide surface 43b on the retreating side in the second direction Y. The third restriction surface 44c is connected to the edge of the third guide surface 43c on the retreating side in the second direction Y. The fourth restriction surface 44d is connected to the edge of the fourth guide surface 43d on the retreating side in the second direction Y. The first restriction surface 44a and the third restriction surface 44c are aligned in the third direction Z. The first restriction surface 44a and the third restriction surface 44c are substantially parallel to each other and position the multiple fingers 2 in the third direction Z relative to the access target. The second restriction surface 44b and the fourth restriction surface 44d are aligned in the first direction X. The second restriction surface 44b and the fourth restriction surface 44d are substantially parallel to each other and position the multiple fingers 2 in the first direction X relative to the access target.

[0049] The distance between each of the two opposing pairs of restriction surfaces 44 is slightly larger than the corresponding dimension of the access target. Specifically, the distance between the first restriction surface 44a and the third restriction surface 44c is slightly larger than the dimension of the adapter 91 as the access target in the third direction Z. The distance between the second restriction surface 44b and the fourth restriction surface 44d is slightly larger than the dimension of the adapter 91 as the access target in the first direction X.

[0050] The claw body 41 has a slit 46 extending in the second direction Y. Therefore, the cross-sectional shape of the claw body 41 perpendicular to the second direction Y is not a closed cross-section but an open cross-section. More specifically, the slit 46 is disposed on a side wall of the tube body 41 that includes the first guide surface 43a and the first restriction surface 44a. The first guide surface 43a is divided by the slit 46. The first restriction surface 44a is also divided by the slit 46.

[0051] The claw 4 positions the multiple fingers 2 in the second direction Y by contacting the access target. Specifically, the tip surface 45 of the claw body 41 positions the multiple fingers 2 in the second direction Y by contacting the access target. The tip surface 45 of the claw body 41 is the end surface of the claw body 41 on the advancing side in the second direction Y.

[0052] In this example, the claw body 41 has four tip surfaces 45, specifically, a first tip surface 45a, a second tip surface 45b, a third tip surface 45c, and a fourth tip surface 45d. When the first tip surface 45a, the second tip surface 45b, the third tip surface 45c, and the fourth tip surface 45d are not distinguished from one another, they will be simply referred to as "tip surfaces 45."

[0053] The first tip surface 45a is connected to the first guide surface 43a. The second tip surface 45b is connected to the second guide surface 43b. The third tip surface 45c is connected to the third guide surface 43c. The fourth tip surface 45d is connected to the fourth guide surface 43d. Each of the second tip surface 45b and the fourth tip surface 45d has a notch 45e formed therein that is recessed toward the retreating side in the second direction Y.

[0054] As shown in FIG. 5, the multiple legs 42 extend generally in the second direction Y. More specifically, the multiple legs 42 extend from the claw body 41 toward the retreating side in the second direction Y. In this example, the claw 4 has two legs 42. One leg 42 is arranged on a side wall of the claw body 41 that includes the second guide surface 43b. The other leg 42 is arranged on a side wall of the claw body 41 that includes the fourth guide surface 43d. Each of the multiple legs 42 has elasticity that allows it to bend in the first direction X. For example, the legs 42 are made of resin. Note that in this example, the claw body 41 is also made of resin.

[0055] The multiple fingers 2 support the claw 4 so that it can be displaced in the second direction Y. More specifically, the multiple fingers 2 support the claw 4 at their tip portions. As shown in FIG. 9 , a guide hole 25 is arranged at the tip portion of each finger 2. The guide hole 25 extends from the tip surface of the finger 2 toward the retreating side in the second direction Y. The guide hole 25 has a bottom. The leg 42 of the claw 4 is inserted into the guide hole 25 of each finger 2. The leg 42 is slidable within the guide hole 25 in the second direction Y.

[0056] The ends of the legs 42 are thicker than the other parts. A setscrew 26 is attached to each finger 2 near the open end of the guide hole 25. The setscrew 26 protrudes into the guide hole 25. The ends of the legs 42 come into contact with the setscrew 26, preventing the legs 42 from slipping out of the guide hole 25.

[0057] More specifically, the fingers 2 support the claw 4 so that it can be elastically displaced in the second direction Y. Each finger 2 has a spring 27 disposed within the guide hole 25. For example, the spring 27 is a coil spring. The spring 27 is disposed within the guide hole 25 between the end face of the leg 42 and the bottom of the guide hole 25. The spring 27 is disposed in a compressed state and generates an elastic force in the direction of expansion. In other words, the spring 27 biases the leg 42, i.e., the claw 4, toward the advancing side in the second direction Y. Basically, the elastic force of the spring 27 causes the claw 4 to be in a state where it is most advanced from the guide hole 25 in the second direction Y. Note that when the claw 4 is most advanced, the end of the leg 42 contacts the set screw 26. The claw 4 can move relative to the finger 2 toward the retreating side in the second direction Y against the elastic force of the spring 27.

[0058] In this way, the first toe 2A supports one leg 42 of the claw 4, and the second toe 2B supports the other leg 42 of the claw 4. When the first toe 2A and the second toe 2B open and close, the distance between the first toe 2A and the second toe 2B changes. The legs 42 elastically flex to absorb the change in the distance between the first toe 2A and the second toe 2B. This allows the first toe 2A and the second toe 2B to open and close smoothly while supporting the multiple legs 42 of the claw 4.

[0059] <String> As shown in FIG. 6 , the strings 5 ​​include a first string 5A and a second string 5B. The strings 5 ​​may be made of any material, such as natural fiber, synthetic resin, or metal. The term "string" is synonymous with thread, rope, cord, and wire. The first string 5A has one end connected to the first finger 2A, the other end connected to the common actuator 6, and a middle portion wound around the second finger 2B. The second string 5B has one end connected to the second finger 2B, the other end connected to the common actuator 6, and a middle portion wound around the first finger 2A. When the first string 5A and the second string 5B are not distinguished from each other, they will be simply referred to as "strings 5."

[0060] More specifically, each finger 2 has a first guide 51, a second guide 52, and a third guide 53. The main body 3 has a fourth guide 54 and a fifth guide 55. The first guide 51, the second guide 52, and the third guide 53 are arranged at the first end 21 of the finger 2. One end of the string 5 is tied to the first guide 51. As shown in FIG. 5, the first guide 51 is substantially cylindrical. The first guide 51 is arranged on a side surface of the first end 21 facing outward in the first direction X. As shown in FIG. 8, the second guide 52 is a groove extending in the first direction X. The second guide 52 is arranged on a surface of the first end 21 on the same side as the third side wall 31c of the main body 3 in the third direction Z. The position of the first guide 51 in the second direction Y and the position of the second guide 52 in the second direction Y are substantially the same. As shown in Fig. 6, the second guide 52 for the first finger 2A and the second guide 52 for the second finger 2B form a linear groove extending in the first direction X. The third guide 53 is loop-shaped. The third guide 53 is located on the same surface of the first end 21 as the second guide 52 in the third direction Z. The third guide 53 is located further back than the second guide 52 in the second direction Y.

[0061] The fourth guide 54 is loop-shaped. The fourth guide 54 is disposed on the outer surface of the third side wall 31c of the main body 3. The fourth guide 54 is disposed approximately in the center of the third side wall 31c in the first direction X. The fifth guide 55 is disposed on the retreating side of the fourth guide 54 in the second direction Y. The fifth guide 55 is loop-shaped. The fifth guide 55 is disposed on the outer surface of the third side wall 31c of the main body 3. The fifth guide 55 is disposed approximately in the center of the third side wall 31c in the first direction X.

[0062] FIG. 11 is a bottom view of the hand 10, omitting the second string 5B. One end of the first string 5A is tied to the first guide 51 of the first finger 2A. The first string 5A passes from the first guide 51 of the first finger 2A through the second guide 52 of the first finger 2A and the second guide 52 of the second finger 2B, and is then wound around the first guide 51 of the second finger 2B. The first string 5A passes from the first guide 51 of the second finger 2B through the third guide 53 of the second finger 2B, the fourth guide 54 of the main body 3, and the fifth guide 55 of the main body 3, and is connected to the common actuator 6. The portion of the first string 5A between the first guide 51 of the first finger 2A and the first guide 51 of the second finger 2B is guided in the first direction X by the second guide 52 of the first finger 2A and the second guide 52 of the second finger 2B. The portion of the first string 5A between the first guide 51 of the second finger 2B and the common actuator 6 is guided to the center of the main body 3 in the first direction X by the third guide 53, the fourth guide 54, and the fifth guide 55.

[0063] FIG. 12 is a bottom view of the hand 10 without the first string 5A. One end of the second string 5B is tied to the first guide 51 of the second finger 2B. The second string 5B passes from the first guide 51 of the second finger 2B through the second guide 52 of the second finger 2B and the second guide 52 of the first finger 2A, and is wound around the first guide 51 of the first finger 2A. The second string 5B passes from the first guide 51 of the first finger 2A through the third guide 53 of the first finger 2A, the fourth guide 54 of the main body 3, and the fifth guide 55 of the main body 3, and is connected to the common actuator 6. The portion of the second string 5B between the first guide 51 of the second finger 2B and the first guide 51 of the first finger 2A is guided in the first direction X by the second guide 52 of the second finger 2B and the second guide 52 of the first finger 2A. The portion of the second string 5B between the first guide 51 of the first finger 2A and the common actuator 6 is guided to the center of the main body 3 in the first direction X by the third guide 53, the fourth guide 54, and the fifth guide 55.

[0064] <Common Actuator> The common actuator 6 serves as an opening / closing actuator and pulls the first string 5A and the second string 5B to move the first toe 2A and the second toe 2B closer to each other in the first direction X to close them.

[0065] As shown in FIG. 6, the common actuator 6 includes a motor 61, a rotating body 62, and a housing 63. The motor 61 is, for example, a servo motor. The motor 61 has an encoder 61a (see FIG. 16). The housing 63 accommodates the motor 61 and supports the rotating body 62. The common actuators 6 are arranged side by side on the retreating side of the multiple fingers 2 in the second direction Y. Specifically, the common actuators 6 are attached to the main body 3. The housing 63 is attached to the third side wall 31c of the main body 3. The housing 63 is arranged so that the output shaft of the motor 61 faces the third direction Z.

[0066] The rotating body 62 moves within a predetermined range of movement due to the driving force of the motor 61. Specifically, as shown in FIG. 9 , the rotating body 62 is supported by a housing 63 so as to be rotatable about a rotation axis B perpendicular to both the first direction X and the second direction Y. The rotation axis B is offset in the first direction X with respect to a reference axis A. That is, the rotation axis B is disposed in a twisted position with respect to the reference axis A. The rotating body 62 is, for example, plate-shaped. The rotating body 62 is coupled to an output shaft of the common actuator 6 so as to transmit a driving force. For example, the rotating body 62 is fixedly attached to the output shaft of the motor 61. Note that the rotating body 62 may be coupled to the output shaft of the common actuator 6 via one or more gears. The motor 61 outputs a rotational driving force to rotate the rotating body 62 around the rotation axis B. That is, the range of movement of the rotating body 62 is a predetermined range of rotation angles around the rotation axis B. The rotating body 62 is an example of a movable member.

[0067] The rotating body 62 has a pin 62a and a locking portion 62b. As shown in FIG. 9, the pin 62a extends from the rotating body 62 in the third direction Z. The pin 62a penetrates the third side wall 31c of the main body 3 and protrudes into the accommodation space 33. Specifically, the pin 62a is disposed within the third space 33C. As shown in FIG. 6, the locking portion 62b is provided on the opposite side of the rotating body 62 from the pin 62a. In this example, the pin 62a and the locking portion 62b are located at approximately the same position in the circumferential direction around the rotation axis B. A string 5 is tied to the locking portion 62b. When the rotating body 62 rotates, the pin 62a and the locking portion 62b rotate integrally with the rotating body 62 around the rotation axis B. The pin 62a moves approximately in an arc in the second direction Y within the accommodation space 33. The locking portion 62b also moves in an arc.

[0068] As shown in FIG. 9 , the finger 2 has a groove 28 into which the pin 62a fits. The depth direction of the groove 28 coincides with the thickness direction of the finger 2. The groove 28 may also penetrate the finger 2 in the thickness direction. The groove 28 is disposed at the second end 22 of the finger 2. More specifically, the groove 28 is disposed at the expanded portion 22a of the second end 22. The groove 28 has a first portion 28a extending in an arc and a second portion 28b extending in the first direction X. The first portion 28a and the second portion 28b are connected. The end of the first portion 28a opposite the second portion 28b opens from the second end 22 in the first direction X. The first portion 28a extends in an arc from the opening toward the retreating side in the second direction Y and inward in the first direction X. When the fingers 2 are relatively far from the main body 3 in the second direction Y, the center of curvature of the first portion 28a coincides with the rotation axis B. In other words, the first portion 28a extends in an arc shape centered on the rotation axis B. The second portion 28b extends from the end of the first portion 28a on the retracted side in the second direction Y toward the side away from the first portion 28a in the first direction X. The diameter of the pin 62a is slightly smaller than the width of the groove 28. The pin 62a is movable within the groove 28.

[0069] <Hand movements> Next, the operation of the hand 10 will be described. The common actuator 6 rotates the rotating body 62 within the movement section, thereby opening and closing and advancing and retreating the multiple fingers 2. In a first section of the movement section, the rotating body 62 changes the tension of the string 5 to open and close the multiple fingers 2 without applying a force in the second direction Y to the multiple fingers 2. In a second section of the movement section that is continuous with the first section, the rotating body 62 applies a force in the second direction Y to the multiple fingers 2, thereby advancing and retreating the multiple fingers 2 in the second direction Y.

[0070] Specifically, when the rotating body 62 moves between the first and second sections, the pin 62a moves in an arc within the accommodation space 33. When the rotating body 62 moves through the first section, the pin 62a moves through an area on the advancing side in the second direction Y within the accommodation space 33. When the rotating body 62 moves through the second section, the pin 62a moves through an area on the retreating side in the second direction Y within the accommodation space 33, compared to when the rotating body 62 moves through the first section.

[0071] FIG. 13 is a cross-sectional view of the hand 10 showing the rotating body 62 moving through the first section. When the rotating body 62 moves through the first section, the pin 62a moves within the first portion 28a of the groove 28. The rotational position of the rotating body 62 when the pin 62a is located at the end of the first portion 28a farther from the second portion 28b is defined as the first rotational position. The rotational position of the rotating body 62 when the pin 62a is located at the connection between the first portion 28a and the second portion 28b is defined as the second rotational position. In FIG. 13, the pin 62a when the rotating body 62 is located at the first rotational position is indicated by a dashed line. In FIG. 13, the pin 62a when the rotating body 62 is located at the second rotational position is indicated by a solid line. The first portion 28a extends in an arc similar to the movement trajectory of the pin 62a when the rotating body 62 moves through the first section. Therefore, when the pin 62a moves within the first portion 28a, the pin 62a does not apply an external force to the fingers 2. In other words, even if the pin 62a moves within the first portion 28a, the fingers 2 do not move in the second direction Y.

[0072] FIG. 14 is a bottom view of the hand 10 showing the rotating body 62 moving through the first section. The claw 4 is omitted from FIG. 14. When the rotating body 62 moves through the first section, the locking portion 62b also moves along an arc. The arc-like movement of the locking portion 62b changes the relative distance between the locking portion 62b and the fifth guide 55 of the main body 3. In FIG. 14, the locking portion 62b when the rotating body 62 is in the first rotation position is indicated by a dashed line. In FIG. 14, the locking portion 62b when the rotating body 62 is in the second rotation position is indicated by a broken line. When the rotating body 62 is in the first rotation position, the locking portion 62b is relatively close to the fifth guide 55. At this time, little tension is applied to the string 5. The fingers 2 are in a substantially unloaded state, i.e., in a natural state without bending in the first direction X. As shown in FIG. 6, the fingers 2 are in a fully open state.

[0073] When the rotating body 62 moves from the first rotation position to the second rotation position, the locking portion 62b moves in an arc away from the fifth guide 55. Because the fingers 2 do not move while the rotating body 62 moves through the first section, the relative distance between the locking portion 62b and the fingers 2 also changes. This pulls the string 5 backward in the second direction Y, increasing the tension in the string 5. The first string 5A extends from the first guide 51 for the first finger 2A in the first direction X to the first guide 51 for the second finger 2B. The tension in the first string 5A acts in a direction that moves the first finger 2A closer to the second finger 2B in the first direction X. The first finger 2A elastically bends in the first direction X and moves closer to the second finger 2B. The second string 5B extends from the first guide 51 for the second finger 2B in the first direction X to the first guide 51 for the first finger 2A. The tension of the second string 5B acts in a direction that moves the second toe 2B closer to the first toe 2A in the first direction X. The second toe 2B elastically bends in the first direction X and moves closer to the first toe 2A. As a result, the string 5 closes the first toe 2A and the second toe 2B. When the rotating body 62 is in the second rotation position, the first toe 2A and the second toe 2B are fully closed, as shown in FIG. 14.

[0074] On the other hand, when the rotating body 62 moves from the second rotation position toward the first rotation position, the locking portion 62b moves in an arc toward the fifth guide 55. This causes the locking portion 62b to release the tension on the string 5. When the tension on the string 5 is released, the first finger 2A moves in the first direction X away from the second finger 2B due to its own elastic force, and the second finger 2B moves in the first direction X away from the first finger 2A due to its own elastic force. As a result, the first finger 2A and the second finger 2B spread apart as shown in FIG. 6.

[0075] In this way, when the rotating body 62 moves through the first section, the pin 62a prevents the fingers 2 from moving in the second direction Y, and the locking portion 62b changes the tension of the string 5. This allows the fingers 2 to open and close without changing their position in the second direction Y. When the rotating body 62 moves through the first section, the common actuator 6 functions as an opening / closing actuator. The common actuator 6 pulls the string 5 to elastically bend the first finger 2A and the second finger 2B in the closing direction in the first direction X, thereby closing them, and releases the tension in the string 5 to open the first finger 2A and the second finger 2B using their respective elastic forces.

[0076] Each of the multiple fingers 2 supports a claw 4. Although the claw 4 is a single unit, it is supported by the multiple fingers 2 via multiple elastically deformable legs 42. Therefore, when the multiple fingers 2 open and close, the multiple legs 42 can bend elastically. As a result, the claw 4 does not hinder the opening and closing of the multiple fingers 2.

[0077] FIG. 15 is a cross-sectional view of the hand 10 showing the state in which the rotating body 62 moves through the second section. When the rotating body 62 moves through the second section, the pin 62a moves within the second portion 28b of the groove 28. The position in which the rotating body 62 rotates from the first rotation position toward the second rotation position to a position that exceeds the second rotation position by a predetermined angle is called the third rotation position. The first rotation position, second rotation position, and third rotation position of the rotating body 62 are arranged in this order. The section between the first rotation position and the second rotation position is the first section. The section between the second rotation position and the third rotation position is the second section. FIG. 15 shows the hand 10 when the rotating body 62 is located at the third rotation position. Since the second portion 28b extends in the first direction X, the pin 62a moving in an arc moves relatively in the first direction X within the second portion 28b, and applies an external force in the second direction Y to the multiple fingers 2, moving the second portion 28b in the second direction Y.

[0078] Specifically, the arcuate trajectory of the pin 62a in the second section has a larger movement range in the second direction Y than in the first direction X. When the position of the pin 62a in the second direction Y coincides with the position of the rotation axis B, the pin 62a is farthest from the rotation axis B in the first direction X. At this time, the pin 62a is closest to the end of the second portion 28b of the groove 28 opposite the end of the first portion 81a. In other words, when the rotating body 62 moves in the second section, the pin 62a relatively reciprocates within the second portion 28b.

[0079] When the rotating body 62 moves from the second rotation position to the third rotation position, the pin 62a presses against the groove wall on the retreating side of the second portion 28b in the second direction Y, moving the fingers 2 toward the retreating side in the second direction Y. As a result, the fingers 2 retreat into the main body 3 in the second direction Y. At this time, the locking portion 62b moves in an arc away from the fifth guide 55. However, because the fingers 2 retreat in the second direction Y, the first guide 51 of the fingers 2 approaches the fifth guide 55 of the main body 3. As a result, the tension of the string 5 does not change much, and the fingers 2 remain closed. In other words, the fingers 2 retreat in the second direction Y while remaining closed. When the rotating body 62 is located in the third rotation position, the fingers 2 retreat most toward the main body 3. This position of the fingers 2 is referred to as the retreated position.

[0080] When the rotating body 62 moves from the third rotation position toward the second rotation position, the pin 62a presses against the groove wall on the advancing side of the second portion 28b in the second direction Y, moving the fingers 2 toward the advancing side in the second direction Y. As a result, the fingers 2 advance from the main body 3 in the second direction Y. At this time, the locking portion 62b moves in an arc toward the fifth guide 55. However, as the fingers 2 advance in the second direction Y, the first guide 51 of the fingers 2 moves away from the fifth guide 55 of the main body 3. As a result, the tension of the string 5 does not change much, and the fingers 2 remain closed. In other words, the fingers 2 advance in the second direction Y while remaining closed. When the rotating body 62 is located in the second rotation position, the fingers 2 advance most far from the main body 3. This position of the fingers 2 is referred to as the advanced position.

[0081] In this way, when the rotating body 62 moves through the second section, the pin 62a moves the multiple fingers 2 in the second direction Y, and the locking portion 62b does not change the tension of the string 5 much. As a result, the multiple fingers 2 move in the second direction Y while remaining in the closed state. When the rotating body 62 moves through the second section, the common actuator 6 functions as an advance / retreat actuator. The common actuator 6 uses the pin 62a to press the multiple fingers 2 toward the retreating side of the second direction Y, thereby causing the multiple fingers 2 to retreat in the second direction Y, and uses the pin 62a to press the multiple fingers 2 toward the advancing side of the second direction Y, thereby causing the multiple fingers 2 to advance in the second direction Y.

[0082] FIG. 16 is a diagram illustrating a schematic hardware configuration of the control device 150. An image captured by the imaging device 140 is input to the control device 150. The control device 150 controls the servo motor 121 of the robot arm 120 and the hand 10. For example, the control device 150 supplies a current to the servo motor 121. At this time, the control device 150 feedback-controls the supplied current based on the output of the encoder 122. The control device 150 controls the common actuator 6 of the hand 10. Specifically, the control device 150 supplies a current to the motor 61 of the common actuator 6 and feedback-controls the supplied current based on the output of the encoder 61a of the motor 61. For example, the control device 150 moves the hand 10 to the connector plug 92 using the robot arm 120 and causes the hand 10 to pull out the connector plug 92 from the adapter 91. The control device 150 moves the hand 10 to the connector plug 92 using the robot arm 120 and causes the hand 10 to insert the connector plug 92 into the adapter 91.

[0083] The control device 150 includes a processor 151 , a storage device 152 , and a memory 153 .

[0084] The processor 151 controls the entire control device 150. The processor 151 performs various types of arithmetic processing. For example, the processor 151 is formed of a processor such as a CPU (Central Processing Unit). The processor 151 may also be formed of an MCU (Micro Controller Unit), an MPU (Micro Processor Unit), an FPGA (Field Programmable Gate Array), a PLC (Programmable Logic Controller), a system LSI, or the like.

[0085] The storage unit 152 stores programs to be executed by the processor 151 and various data. For example, the storage unit 152 stores a robot control program. The storage unit 152 is formed of a non-volatile memory, a hard disk drive (HDD), a solid state drive (SSD), or the like. The memory 153 temporarily stores data and the like. For example, the memory 153 is formed of a volatile memory.

[0086] 17 is a block diagram showing the configuration of the control system of the processor 151. The processor 151 realizes various functions by reading out a robot control program from the storage device 152 into the memory 153 and expanding it. Specifically, the processor 151 functions as a movement controller 155 that moves the robot arm 120, a hand controller 156 that controls the hand 10, and a position identifier 157 that identifies the position of the access target.

[0087] The movement controller 155 controls the current applied to the servo motor 121 to adjust the rotation angle of the joint J, thereby moving the robot arm 120. Hereinafter, unless otherwise specified, the movement of the robot arm 120 also includes deformation of the robot arm 120. When inserting or removing the connector plug 92, the movement controller 155 moves the hand 10 to the access target using the robot arm 120.

[0088] The hand controller 156 controls the current applied to the motor 61 to open and close the multiple fingers 2. In addition, the hand controller 156 controls the current applied to the motor 61 to move the multiple fingers 2 forward and backward relative to the main body 3. Specifically, the hand controller 156 calculates a rotation angle position command (or a torque command value) for the motor 61 that corresponds to a target state of the multiple fingers 2, and outputs the calculated rotation angle position command to a servo amplifier of the motor 61. The servo amplifier applies a current according to the rotation angle position command to the motor 61. When inserting or removing the connector plug 92, the hand controller 156 causes the hand 10 to grip the connector plug 92 or causes the hand 10 to release its grip of the connector plug 92.

[0089] The position identifier 157 identifies the position of the object from the image captured by the imaging device 140. Specifically, the position identifier 157 identifies the connector plug 92 or the cap 98 in the captured image by image processing the captured image, and identifies the position of the connector plug 92 or the cap 98. Since the imaging device 140 is moved by the robot arm 120, the position of the imaging device 140 is known. Therefore, the position identifier 157 can identify the position of the subject in the captured image. If the captured image is a two-dimensional image, the position identifier 157 identifies the two-dimensional position of the object. If the captured image is a three-dimensional image, the position identifier 157 identifies the three-dimensional position of the object. The position identifier 157 also controls the imaging device 140. That is, the position identifier 157 causes the imaging device 140 to capture an image.

[0090] Next, the control of the hand 10 will be specifically described. First, the extraction operation of the robot 110 will be described. FIG. 18 is a flowchart showing the extraction operation of the robot 110. In this example, the hand 10 extracts the target connector plug 92T. The robot 110 causes the hand 10 to access the target adapter 91T into which the target connector plug 92T is inserted. In other words, the access target is the target adapter 91T.

[0091] First, in step S101, the control device 150 causes the robot 110 to perform an imaging operation. The movement controller 155 and the position identifier 157 perform imaging of the target adapter 91T. Specifically, the movement controller 155 moves the robot arm 120 so that the imaging device 140 is positioned at a predetermined imaging position. The predetermined imaging position is a position determined in advance in accordance with the pull-out operation. For example, the imaging position is a position facing the connection board 9 and where the target adapter 91T is within the angle of view.

[0092] When the imaging device 140 is placed at the imaging position, the position identifier 157 causes the imaging device 140 to perform imaging. As a result, the target adapter 91T is imaged. The position identifier 157 identifies the position of the target adapter 91T from the image captured by the imaging device 140.

[0093] Next, in step S102, the control device 150 causes the robot 110 to perform a preparatory operation. The movement controller 155 causes the robot arm 120 to move the hand 10 to a preparatory position and a preparatory posture. FIG. 19 is a cross-sectional view of the hand 10 at the preparatory position and the preparatory posture. The preparatory position and the preparatory posture are the position and posture of the hand 10 immediately before it is moved in the access direction toward the target adapter 91T. As will be described in detail later, in the extraction operation, the hand 10 accesses the target adapter 91T with the tips of the multiple fingers 2 facing forward in the direction of travel and with the second direction Y aligned with the access direction. The access direction generally coincides with the direction of the adapter axis M. More specifically, the preparatory position is the position of the hand 10 when the tips of the claws 4 and the target adapter 91T face each other with a gap in the direction of the adapter axis M. The preparatory posture is the posture of the hand 10 in which the second direction Y, i.e., the reference axis A, is approximately parallel to the adapter axis M of the target adapter 91T.

[0094] At this time, the hand controller 156 puts the multiple fingers 2 in an open state. Specifically, the hand controller 156 operates the common actuator 6 to position the rotating body 62 at the first rotation position. The pin 62a is positioned at the end of the first portion 28a of the groove 28 that is farther from the second portion 28b. As a result, the multiple fingers 2 are positioned at the advanced position and in an open state.

[0095] In addition, the movement controller 155 moves the hand 10 to the ready position and the ready posture so that the cable 94 connected to the target connector plug 92T fits into the slit 35 of the main body 3. At this time, because the claw body 41 of the claw 4 also has a slit 46, the cable 94 also fits into the slit 46 of the claw 4. Specifically, the movement controller 155 moves the hand 10 closer to the adapter axis M with the slit 35 facing toward the adapter axis M. For example, the movement controller 155 moves the hand 10 to the ready position from a position slightly below the target connector plug 92T with the first side wall 31a facing upward. Alternatively, the movement controller 155 moves the hand 10 to the ready position from a position slightly above the target connector plug 92T with the first side wall 31a facing downward. This allows the hand 10 to move to the ready position and the ready posture without being obstructed by the cable 94 extending from the target connector plug 92T.

[0096] Next, in step S103, the control device 150 causes the robot 110 to perform an access operation. The movement controller 155 causes the robot arm 120 to move the hand 10 to an access position and an access posture. FIG. 20 is a cross-sectional view of the hand 10 on its way to the access position and the access posture. FIG. 21 is a cross-sectional view of the hand 10 at the access position and the access posture. The access position and the access posture are the position and posture of the hand 10 after access to the target adapter 91T is completed. The access position is the position of the hand 10 in which the target connector plug 92T is placed between the fingers 2. The access posture is the posture of the hand 10 in which the second direction Y, i.e., the reference axis A, is approximately parallel to the adapter axis M of the target adapter 91T, and is the same as the preparation posture. At the access position and the access posture, the position of the first recess 23 of each finger 2 in the second direction Y coincides with the protrusion 95a of the connector plug 92, and the position of the first protrusion 24 of each finger 2 in the second direction Y coincides with the recess 95b of the connector plug 92.

[0097] The hand 10 is moved in the access direction from the preparation position and preparation posture to reach the access position and access posture. As the hand 10 reaches the access position and access posture, the tip surfaces 45 of the claws 4 come into contact with the flange 93a of the target adapter 91T, as shown in FIG. 20 . At this time, the screws for attaching the flange 93a are received in the notches 45e of the tip surface 45. This allows the tip surfaces 45 of the claws 4 to properly come into contact with the flange 93a.

[0098] The hand 10 continues to move even after the claw 4 comes into contact with the flange 93a. Because the claw 4 is supported by the fingers 2 so as to be able to retract elastically in the second direction Y, the claw 4 retracts relatively into the guide holes 25 of the fingers 2 while compressing and deforming the spring 27. This enables the hand 10 to move. When the hand 10 reaches the access position and access posture, the target connector plug 92T is placed between the fingers 2, as shown in FIG. 21 .

[0099] Here, the position or posture of the hand 10 may deviate from the appropriate position or posture at the access position and access posture of the hand 10. For example, there is a limit to the positional accuracy of the robot arm 120, and an error may occur in the position or posture of the hand 10. If the position of the hand 10 is deviated relative to the target adapter 91T in a plane intersecting the second direction Y, the reference axis A of the hand 10 deviates from the adapter axis M of the target adapter 91T. Figure 22 is a cross-sectional view of the hand 10 that is misaligned relative to the target adapter 91T. In such a case, when the hand 10 moves from the ready position and posture to the access position and posture, the guide surface 43 of the claw 4 may come into contact with the target adapter 91T. Because the guide surface 43 is inclined with respect to the second direction Y, the guide surface 43 is pressed toward the retreating side in the second direction Y and outward in a direction intersecting the second direction Y by a reaction force from the target adapter 91T. When pressed toward the retreating side in the second direction Y, the claw 4 retreats relatively into the guide holes 25 of the fingers 2 while compressing and deforming the spring 27. When pressed outward in a direction intersecting the second direction Y, the hand 10, including the claw 4, moves outward in the direction intersecting the second direction Y. The hand 10 is able to move in the direction intersecting the second direction Y due to the elasticity of each component of the hand 10 and the robot arm 120 or play between components. When the claw 4 retreats and the claw body 41 comes into contact with the tips of the fingers 2, the claw 4 cannot retreat. In this case, the component of the reaction force from the target adapter 91T that presses the hand 10 outward in the direction intersecting the second direction Y increases. As the hand 10 moves in the second direction Y, the reference axis A gradually approaches the adapter axis M.

[0100] Eventually, the restriction surfaces 44 of the nails 4 come into contact with the target adapter 91T. In other words, the target adapter 91T is surrounded by the four restriction surfaces 44. The distance between each of the two pairs of opposing restriction surfaces 44 is slightly larger than the corresponding dimension of the target adapter 91T. The gap between the four restriction surfaces 44 and the target adapter 91T is small. Therefore, by surrounding the target adapter 91T with the four restriction surfaces 44, the reference axis A and the adapter axis M are aligned in a substantially straight line. In this way, the positions of the multiple fingers 2 are determined relative to the target adapter 91T in a plane intersecting with the second direction Y.

[0101] Depending on the position of the hand 10, the fingers 2 may not come into contact with the claw 4 when they reach the advanced position.

[0102] Next, in step S104, the control device 150 causes the robot 110 to perform a grasping operation. FIG. 23 is a cross-sectional view of the hand 10 grasping the connector plug 92. The hand controller 156 closes the fingers 2 using the common actuator 6. At this time, the hand 10 is maintained in the access position and access posture. Specifically, the hand controller 156 operates the common actuator 6 to move the rotor 62 from the first rotation position to the second rotation position. The pin 62a moves from the end of the first portion 28a in the groove 28 farther from the second portion 28b to the connection between the first portion 28a and the second portion 28b. As a result, the fingers 2 close while remaining in the advanced position. As a result, the fingers 2 grasp the target connector plug 92T. The first recess 23 of each finger 2 fits over the protrusion 95a of the target connector plug 92T, and the first protrusion 24 of each finger 2 fits over the recess 95b of the target connector plug 92T.

[0103] Next, in step S105, the control device 150 causes the robot 110 to perform a withdrawal operation. FIG. 24 is a cross-sectional view of the hand 10 in a state in which the connector plug 92 has been withdrawn. The hand controller 156 causes the common actuator 6 to retract the fingers 2 toward the main body 3, moving the fingers 2 to the retracted position. At this time, the hand 10 is maintained in the access position and access posture. More specifically, the hand controller 156 operates the common actuator 6 to move the rotating body 62 from the second rotation position to the third rotation position. The pin 62a moves to a position relatively farther retracted in the second direction Y. As a result, the fingers 2 move from the advanced position to the retracted position while remaining closed. Only the fingers 2 retract in the second direction Y. At this time, the fingers 2 retract while still gripping the target connector plug 92T. As a result, the target connector plug 92T is withdrawn from the target adapter 91T.

[0104] When the fingers 2 retract, the spring 27 expands, causing the claw 4 to advance relatively from the fingers 2. The claw 4 advances relatively from the fingers 2 until the end of the leg 42 contacts the set screw 26. Therefore, for a while after the fingers 2 retract, the four restriction surfaces 44 of the claw 4 maintain a state in which they surround the target adapter 91T. Therefore, the target connector plug 92T is pulled out while the positions of the fingers 2 are positioned relative to the target adapter 91T in a plane intersecting the second direction Y. This allows the fingers 2 to pull out the target connector plug 92T in as close to the adapter axis M as possible.

[0105] When the extraction operation is completed, the claw 4 reaches a state in which it has advanced furthest in the second direction Y from the multiple fingers 2. In this state, the claw 4 is positioned on the advancing side in the second direction Y of the target connector plug 92T held by the multiple fingers 2. Specifically, the ferrule 96 is positioned inside the claw body 41. Therefore, when the hand 10 holding the target connector plug 92T moves after the extraction operation, the ferrule 96 is prevented from interfering with other components.

[0106] Thereafter, in step S106, the control device 150 causes the robot 110 to perform a retreat operation. Specifically, the movement controller 155 causes the robot arm 120 to perform a retreat operation. The movement controller 155 causes the robot arm 120 to move the hand 10 in the second direction Y to a side away from the target adapter 91T.

[0107] Furthermore, if the target connector plug 92T is only partially pulled out from the target adapter 91T by the pulling-out operation by the hand 10 described above, the target connector plug 92T is completely pulled out from the target adapter 91T by the retraction operation of the robot arm 120.

[0108] Thus, the extraction operation of the robot 110 is completed.

[0109] The target of removal may be the cap 98. In that case, the target connector plug 92T in the above description is replaced with the cap 98. For example, the hand 10 moves to the cap 98 by the access operation in step S103, the multiple fingers 2 grasp the cap 98 by the gripping operation in step S104, and the multiple fingers 2 pull the cap 98 out of the target adapter 91T by the pulling operation in step S105. In steps S103 and S105, the positions of the multiple fingers 2 relative to the target adapter 91T are determined by the claws 4. As a result, each operation can be performed appropriately.

[0110] Next, the insertion operation of the robot 110 will be described. Figure 25 is a flowchart showing the insertion operation of the robot 110. In this example, the hand 10 inserts the connector plug 92 into the target adapter 91T. The robot 110 causes the hand 10, holding the connector plug 92, to access the target adapter 91T. In other words, the target to be accessed is the target adapter 91T.

[0111] First, in step S201, the control device 150 causes the robot 110 to perform a photographing operation. The movement controller 155 and the position identifier 157 photograph the target adapter 91T. The process of step S201 is the same as the process of step S101.

[0112] In step S202, the control device 150 causes the robot 110 to perform a preparatory operation. The movement controller 155 causes the robot arm 120 to move the hand 10 to a preparatory position and a preparatory posture. The preparatory position and the preparatory posture are the position and the posture of the hand 10 immediately before the fingers 2 are moved in the access direction toward the target adapter 91T. In FIG. 24, the position and the posture of the hand 10 after the removal of the connector plug 92 in the removal operation are the same as the preparatory position and the preparatory posture in the insertion operation. As will be described in detail later, in the insertion operation, the hand 10 does not move, and the fingers 2 access the target adapter 91T. The fingers 2 access the target adapter 91T with their tips facing forward in the direction of travel and with the second direction Y aligned with the access direction. The access direction generally coincides with the direction of the adapter axis M. Specifically, the preparatory position is the position of the hand 10 when the tips of the claws 4 and the target adapter 91T face each other with a gap in the direction of the adapter axis M. The preparation posture is a posture of the hand 10 in which the second direction Y, that is, the reference axis A, is approximately parallel to the adapter axis M of the target adapter 91T.

[0113] At this time, the multiple fingers 2 of the hand 10 are gripping the connector plug 92. Specifically, the hand controller 156 operates the common actuator 6 with the connector plug 92 positioned between the multiple fingers 2 to move the rotating body 62 from the first rotation position to the third rotation position. As a result, the multiple fingers 2 grip the connector plug 92 and move to the retracted position. Note that the cable 94 of the gripped connector plug 92 is fitted into the slit 35 of the main body 3. In this example, as shown in FIG. 24 , when the hand 10 is positioned at the ready position and the ready posture, the connector plug 92 gripped by the multiple fingers 2 is not in contact with the target adapter 91T.

[0114] Next, in step S203, the control device 150 causes the robot 110 to perform an insertion operation. The hand controller 156 causes the common actuator 6 to advance the multiple fingers 2 from the main body 3, moving the multiple fingers 2 to the advanced position. At this time, the hand 10 is maintained in the ready position and ready posture. More specifically, the hand controller 156 operates the common actuator 6 to move the rotating body 62 from the third rotation position to the second rotation position. The pin 62a moves to a position on the advanced side in the second direction Y relative to when the rotating body 62 is in the third rotation position. As a result, the multiple fingers 2 move from the retracted position to the advanced position while remaining in a closed state. Only the multiple fingers 2 advance in the second direction Y. At this time, the multiple fingers 2 advance while gripping the connector plug 92. As a result, the connector plug 92 is inserted into the target adapter 91T. In FIG. 23, the state of the hand 10 after completing the gripping of the connector plug 92 in the extraction operation is the same as the state of the hand 10 after completing the insertion of the connector plug 92 in the insertion operation.

[0115] Here, the position or posture of the hand 10 may deviate from the appropriate position or posture when the hand 10 is in the ready position or posture. For example, the reference axis A of the hand 10 may deviate from the adapter axis M of the target adapter 91T. In such a case, the guide surface 43 of the claw 4 may come into contact with the target adapter 91T when the fingers 2 advance. Because the guide surface 43 is inclined with respect to the second direction Y, the guide surface 43 is pressed toward the retreating side in the second direction Y and outward in a direction intersecting the second direction Y by a reaction force from the target adapter 91T. The pressure toward the retreating side in the second direction Y causes the claw 4 to retreat relatively into the guide hole 25 of the fingers 2 while compressing and deforming the spring 27. The outward pressure in the direction intersecting the second direction Y causes the hand 10, including the claw 4, to move outward in the direction intersecting the second direction Y. The hand 10 can move in a direction intersecting the second direction Y due to the elasticity of each component of the hand 10 and the robot arm 120 or the rattle between components. In addition, the multiple fingers 2 can bend in a direction intersecting the second direction Y due to their elasticity. When the claw 4 retracts and the claw body 41 comes into contact with the tips of the multiple fingers 2, the claw 4 can no longer retract. In this case, the component of the reaction force from the target adapter 91T that presses the hand 10 outward in a direction intersecting the second direction Y increases. As the multiple fingers 2 move in the second direction Y, the reference axis A gradually approaches the adapter axis M.

[0116] Finally, the restricting surfaces 44 of the claws 4 come into contact with the target adapter 91T. In other words, the target adapter 91T is surrounded by the four restricting surfaces 44. By surrounding the target adapter 91T with the four restricting surfaces 44, the reference axis A and the adapter axis M are aligned in a generally straight line. In this way, the positions of the multiple fingers 2 are determined relative to the target adapter 91T in a plane intersecting with the second direction Y. As a result, the connector plug 92 is properly inserted into the target adapter 91T.

[0117] Incidentally, while the connector plug 92 is being inserted into the target adapter 91T, the tip surface 45 of the claw 4 comes into contact with the flange 93a of the target adapter 91T. At this time, the screw for attaching the flange 93a is received in the notch 45e of the tip surface 45. The multiple fingers 2 continue to advance even after the claw 4 comes into contact with the flange 93a. Because the claw 4 is supported by the multiple fingers 2 so as to be able to retract elastically in the second direction Y, the claw 4 retracts relatively into the guide holes 25 of the multiple fingers 2 while compressing and deforming the spring 27. This allows the multiple fingers 2 to advance.

[0118] When the insertion of the connector plug 92 is completed, in step S204, the control device 150 causes the robot 110 to perform a grip release operation. The hand controller 156 causes the common actuator 6 to open the fingers 2. At this time, the hand 10 is maintained in the ready position and ready posture. In FIG. 21 , the state of the hand 10 before gripping the connector plug 92 in the extraction operation is the same as the state of the hand 10 after releasing the grip of the connector plug 92 in the insertion operation. More specifically, the hand controller 156 operates the common actuator 6 to move the rotor 62 from the second rotation position to the first rotation position. The pin 62a moves in the groove 28 from the connection between the first portion 28a and the second portion 28b to the end of the first portion 28a farther from the second portion 28b. As a result, the fingers 2 open while remaining in the advanced position. As a result, the fingers 2 release their grip on the connector plug 92.

[0119] Subsequently, in step S205, the control device 150 causes the robot 110 to perform a retreat operation. Specifically, the movement controller 155 causes the robot arm 120 to perform a retreat operation. The movement controller 155 causes the robot arm 120 to move the hand 10 in the second direction Y to a side away from the target adapter 91T.

[0120] The opening action of the multiple fingers 2 is achieved by the elastic force of the multiple fingers 2, not by the driving force of the common actuator 6. Therefore, there may be cases where the multiple fingers 2 are not fully opened. In other words, there may be cases where the grip of the connector plug 92 is not completely released. Even in such cases, the multiple fingers 2 can completely release their grip of the connector plug 92 by moving the multiple fingers 2 toward the retreating side in the second direction Y through a retraction action. More specifically, because the rotating body 62 is positioned at the first rotation position, the tension of the string 5 is small. Even if the multiple fingers 2 interfere with the connector plug 92 during the retraction action, the multiple fingers 2 can easily open, thereby eliminating the interference with the connector plug 92.

[0121] Thus, the insertion operation of the robot 110 is completed.

[0122] The insertion target may be a cap 98. In that case, the connector plug 92 in the above description is replaced with the cap 98. For example, the hand 10 gripping the cap moves to the preparation position and preparation posture in the preparation operation of step S202, the multiple fingers 2 insert the cap 98 into the target adapter 91T in the insertion operation of step S203, and the multiple fingers 2 release their grip on the cap 98 in the grip release operation of step S204. In step S203, the positions of the multiple fingers 2 relative to the target adapter 91T are determined by the claws 4. As a result, each operation can be performed appropriately.

[0123] Next, a description will be given of the cleaning work of the robot 110. Figure 26 is a flowchart of the cleaning work of the robot 110.

[0124] First, in step S301, the control device 150 causes the robot 110 to perform a preparation operation. The movement controller 155 causes the robot arm 120 to move the hand 10 to a preparation position and a preparation posture. FIG. 27 is a cross-sectional view of the hand 10 at the preparation position and preparation posture for cleaning work. The preparation position and preparation posture are the position and posture of the hand 10 when the tip of the ferrule 96 of the connector plug 92 is cleaned by the cleaner 910. Specifically, the preparation position is the position of the hand 10 when the tip of the ferrule 96 comes into contact with the cleaner 910. The preparation posture is the posture of the hand 10 in which the reference axis A is perpendicular to the cleaner 910.

[0125] At this time, the multiple fingers 2 of the hand 10 are gripping the connector plug 92. Specifically, the hand controller 156 operates the common actuator 6 with the connector plug 92 positioned between the multiple fingers 2 to move the rotating body 62 from the first rotation position to the third rotation position. As a result, the multiple fingers 2 grip the connector plug 92 and move to the retracted position. Note that the cable 94 of the gripped connector plug 92 is fitted into the slit 35 of the main body 3.

[0126] Since the claws 4 are disposed at the tips of the multiple fingers 2, the ferrule 96 is positioned on the retreating side of the claws 4 in the second direction Y. When the robot arm 120 moves the hand 10 to the ready position and the ready posture, the claws 4 first come into contact with the cleaner 910. As the hand 10 continues to move to the ready position and the ready posture, the claws 4 retreat relatively into the guide holes 25 of the multiple fingers 2 while compressing and deforming the springs 27. When the hand 10 reaches the ready position and the ready posture, the ferrule 96 comes into contact with the cleaner 910.

[0127] Next, in step S302, the control device 150 causes the robot 110 to perform a cleaning operation. Specifically, the movement controller 155 causes the robot arm 120 to clean the ferrule 96. The movement controller 155 rotates the seventh joint J7 to rotate the hand 10 around the rotation axis R7 as shown by the arrow in FIG. 27. This causes the tip of the ferrule 96 to slide on the cleaner 910. As a result, the tip of the ferrule 96 is cleaned by the cleaner 910. The rotation of the seventh joint J7 may be in one direction, or may alternately be between rotation in one direction and rotation in the opposite direction.

[0128] At this time, the fingers 2 are positioned in the retracted position, increasing the portion of the fingers 2 housed within the main body 3. The portions of the fingers 2 housed within the main body 3 are surrounded by the main body 3. Specifically, the portions of the fingers 2 housed within the main body 3 are surrounded by the first side wall 31a, the second side wall 31b, the third side wall 31c, and the fourth side wall 31d of the main body 3. Therefore, the movement of the fingers 2 in a direction intersecting the second direction Y is restricted by the main body 3. During cleaning, a bending moment acts on the fingers 2 as the ferrule 96 slides on the cleaner 910. By restricting the movement of the fingers 2 in a direction intersecting the second direction Y by the main body 3, deformation of the fingers 2 can be reduced. As a result, the ferrule 96 can be properly cleaned.

[0129] The cleaning operation is not limited to the rotation of the seventh joint J7. The movement controller 155 may move the hand 10 by the robot arm 120 along an arbitrary trajectory parallel to the surface of the cleaner 910. This also causes the tip of the ferrule 96 to slide on the cleaner 910 and be cleaned by the cleaner 910.

[0130] When cleaning is completed, in step S303, the control device 150 causes the robot 110 to perform a retreat operation. Specifically, the movement controller 155 causes the robot arm 120 to perform a retreat operation. The movement controller 155 causes the robot arm 120 to move the hand 10 away from the cleaner 910 and move it to a predetermined position after cleaning.

[0131] As described above, when the multiple fingers 2 move toward the access target, the claw 4 guide surfaces 43 arranged at the tips of the multiple fingers 2 come into contact with the access target, thereby positioning the multiple fingers 2 within a plane intersecting with the second direction Y. This allows the multiple fingers 2 to appropriately access the access target. Because the multiple fingers 2 are positioned by the guide surfaces 43, the required positioning accuracy of the hand 10 can be reduced. As a result, control of the robot arm 120 becomes easier.

[0132] Because the claw 4 is positioned on the advancing side of the tips of the multiple fingers 2 in the second direction Y, the claw 4 comes into contact with the target adapter 91T before the fingers 2. This allows guiding by the guide surface 43 to begin early. In addition, because the claw 4 is supported by the multiple fingers 2 so as to be elastically displaceable in the second direction Y, the claw 4 can move back relatively toward the multiple fingers 2. Even if the claw 4 is positioned on the advancing side of the multiple fingers 2 in the second direction Y, the claw 4 does not obstruct access of the multiple fingers 2 to the access target.

[0133] Furthermore, the claw 4 also positions the fingers 2 in the second direction Y. Specifically, when the fingers 2 advance in the second direction Y, the tip surface 45 of the claw 4 comes into contact with the access target or an object in the vicinity of the access target. As long as the fingers 2 are displaceable relative to the claw 4, the fingers 2 can continue advancing in the second direction Y. When the claw 4 retreats to a position where it cannot retreat relative to the claw 4, the advancement of the fingers 2 is restricted. In this example, the tips of the fingers 2 contact the claw body 41 of the claw 4, thereby restricting the advancement of the fingers 2 in the second direction Y. In other words, the tip surface 45 of the claw 4 comes into contact with the flange 93a of the target adapter 91T, and the fingers 2 contact the claw body 41 of the claw 4, preventing the fingers 2 from getting too close to the target adapter 91T. In this way, the position of the fingers 2 in the second direction Y is determined.

[0134] The claw 4 has a plurality of guide surfaces 43 arranged to surround the periphery of the access target. No matter in which direction the position of the hand 10 is shifted within a plane intersecting the second direction Y, the position of the plurality of fingers 2 is determined by one of the guide surfaces 43.

[0135] The claw 4 has a cylindrical claw body 41, and a guide surface 43 is disposed on the inner peripheral surface of the claw body 41. Because the claw body 41 is formed in a cylindrical shape, the shape of the claw body 41 is unlikely to deform even when multiple fingers 2 open and close. Therefore, opening and closing of multiple fingers 2 does not affect the arrangement of the guide surface 43. The claw 4 is supported by the multiple fingers 2 via elastically flexible legs 42. Therefore, the claw 4 can be prevented from interfering with the opening and closing of the multiple fingers 2. The elastic bending of the legs 42 can reduce deformation of the claw body 41.

[0136] Furthermore, the cylindrical claw body 41 has a slit 46 extending in the second direction Y. This makes it easier for the multiple fingers 2 to grip an object having a cable, such as a connector plug 92.

[0137] The hand 10 closes the fingers 2 by pulling a string 5 connected to the fingers 2 with a common actuator 6. The string 5 is wound around the fingers 2 so that tension from the common actuator 6 acts on the fingers 2 in the closing direction, i.e., the first direction X. Because the string 5 can be laid relatively flexibly, tension can be easily applied to the fingers 2 in the closing direction, i.e., the first direction X. Furthermore, the degree of freedom in the placement of the common actuator 6 can be increased. In other words, even when applying a force to the fingers 2 in the closing direction, i.e., the first direction X, the common actuators 6 do not need to be arranged side by side in the first direction X for the fingers 2. By flexibly changing the direction in which the string 5 extends, the common actuators 6 can be arranged side by side in the second direction Y for the fingers 2. As a result, an increase in the size of the hand 10 in a direction intersecting the second direction Y can be prevented. By reducing the size of the hand 10 in a direction intersecting the second direction Y, it becomes easier to access an area, such as a connection board 9, where multiple adapters 91, multiple connector plugs 92, and multiple cables 94 are densely packed.

[0138] Furthermore, the multiple fingers 2 open from a closed state due to the elasticity of the fingers 2. As a result, the common actuator 6 can open the multiple fingers 2 simply by releasing the tension. Because the common actuator 6 does not need to exert tension to open the multiple fingers 2, the configuration of the string 5 and the common actuator 6 is simplified.

[0139] In addition, the multiple fingers 2 can move forward and backward in the second direction Y relative to the main body 3. This allows the multiple fingers 2 to move in the second direction Y without moving the hand 10. As described above, the connector plug 92 can be inserted and removed in the second direction Y simply by moving the multiple fingers 2, without moving the hand 10.

[0140] Because the opening, closing, and advancing / retracting movements of the multiple fingers 2 are realized by the common actuator 6, the configuration of the hand 10 is simplified. Furthermore, despite the use of a single common actuator 6, when the multiple fingers 2 are opened and closed, the multiple fingers 2 are not advanced or retracted, and when the multiple fingers 2 are advanced and retracted, the multiple fingers 2 are not opened and closed. As a result, by individually performing the opening and closing of the multiple fingers 2 and the advancing and retracting of the multiple fingers 2, each can be performed appropriately. For example, if the multiple fingers 2 advance and retract when grasping an object with the multiple fingers 2, it is difficult to grasp the object appropriately. Alternatively, if the multiple fingers 2 spread apart when advancing and retracting the multiple fingers 2 grasping the object, it is difficult to move the object appropriately. By individually performing the opening, closing, and advancing / retracting movements of the multiple fingers 2 rather than simultaneously, the opening, closing, and advancing / retracting movements of the multiple fingers 2 can each be performed appropriately.

[0141] Other Embodiments As described above, the above embodiment has been described as an example of the technology disclosed in this application. However, the technology of the present disclosure is not limited to this and can be applied to embodiments in which modifications, substitutions, additions, omissions, etc. are made as appropriate. Furthermore, the components described in the above embodiment can be combined to create new embodiments. Furthermore, the components described in the accompanying drawings and detailed description may include not only components essential for solving the problem, but also components that are not essential for solving the problem in order to exemplify the technology. Therefore, the fact that these non-essential components are described in the accompanying drawings or detailed description should not be interpreted as immediately determining that these non-essential components are essential.

[0142] For example, the hand 10 does not have to be connected to the robot arm 120. For example, the user may hold the hand 10 in his / her hand. In this case, the hand 10 may be provided with a switch that activates the common actuator 6. The user can grasp the object with the multiple fingers 2 by moving the hand 10 to the object and activating the common actuator 6.

[0143] The robot to which the hand 10 is attached is not limited to the robot 110. For example, the robot 110 is not limited to a seven-axis robot, and may be a six-axis robot.

[0144] The hand 10 may be attached to the robot arm 120 without the attachment 7 .

[0145] The object to be grasped by the hand 10 is not limited to the connector plug 92 or the cap 98. The connector plug 92 is not limited to a connector plug for optical fibers, but may be a connector plug for various cables. The shapes of the adapter 91 and the connector plug 92 are not limited to those described above. For example, the connector plug 92 does not need to have a step that contacts the open end surface of the housing 93 of the adapter 91.

[0146] The configuration of the hand 10 is merely an example. For example, the second ends 22 of the multiple fingers 2 do not have to be joined together. The first ends 21 of the multiple fingers 2 may be inclined with respect to the reference axis A so that they open more in the first direction X toward the advancing side in the second direction Y.

[0147] The inner shape of the first ends 21 of the fingers 2 may also be formed arbitrarily. The first ends 21 of the fingers 2 may have general-purpose protrusions and recesses that can accommodate any object, rather than protrusions and recesses that are specific to the outer shape of the connector plug 92. Alternatively, the first ends 21 of the fingers 2 may further have protrusions and recesses that correspond to the outer shape of the cap 98.

[0148] The thickness of each part of the multiple fingers 2 is merely an example and can be set arbitrarily. The thickness of each finger 2 may be uniform along its length. The number of multiple fingers 2 is not limited to two, and may be three or more.

[0149] The main body 3 does not need to have the slit 35. When multiple fingers 2 grasp an object that does not have a cable, the slit 35 is unnecessary. Even when the object has a cable, the cable is usually flexible, so that the object can be grasped by multiple fingers 2 even without the slit 35.

[0150] The configuration of the nail 4 is merely an example. The nail body 41 does not have to be cylindrical. The nail 4 may be separated into multiple pieces and disposed independently on each of the multiple fingers 2.

[0151] The number of guide surfaces 43 is not limited to four. The number of guide surfaces 43 may be set arbitrarily depending on the purpose of positioning the multiple fingers 2. For example, if positioning in the first direction X is required only, the number of guide surfaces 43 may be two.

[0152] When the claw 4 positions the multiple fingers 2 in the second direction Y, the object that the tip surface 45 of the claw 4 comes into contact with does not have to be the flange 93a of the adapter 91. The tip surface 45 of the claw 4 may come into contact with the wall surface 90 of the connection board 9. The notch 45e of the tip surface 45 may be omitted.

[0153] The legs 42 of the nail 4 are slidably inserted into the guide holes 25 of the multiple fingers 2, but the support structure of the nail 4 is not limited to this. For example, guide holes may be formed in the legs 42, and the multiple fingers 2 may be slidably inserted into the guide holes of the legs 42.

[0154] The number of strings 5 ​​is not limited to two. There may be only one string 5. For example, the string 5 may include only the first string 5A and not the second string 5B. As shown in FIG. 1 , the first string 5A is connected to the first guide 51 of the first toe 2A and wound around the first guide 51 of the second toe 2B. Therefore, when the first string 5A is pulled by the common actuator 6, the tension of the first string 5A acts on both the first guide 51 of the first toe 2A and the first guide 51 of the second toe 2B. As a result, both the first toe 2A and the second toe 2B close in the first direction X. Furthermore, the way in which the string 5 is laid, i.e., the way in which it is wound around each toe 2 and the way in which it is guided by the guides, can be set arbitrarily.

[0155] The opening / closing actuator 6 and the advancing / retreating actuator 6 may be configured as separate actuators rather than as a common actuator 6. The opening / closing actuator 6 and the advancing / retreating actuator 6 are not limited to motors. The opening / closing actuator 6 and the advancing / retreating actuator 6 may be a cylinder, a feed screw, a link mechanism, etc.

[0156] The flowcharts are merely examples. Steps in the flowcharts may be changed, replaced, added, omitted, etc. as appropriate. The order of steps in the flowcharts may also be changed, and serial processing may be performed in parallel.

[0157] The functions performed by the components described herein may be implemented in circuitry or processing circuitry, including general-purpose processors, application-specific processors, integrated circuits, ASICs (Application Specific Integrated Circuits), a CPU (a Central Processing Unit), conventional circuits, and / or combinations thereof, programmed to perform the described functions. A processor includes transistors and other circuits and is considered a circuit or processing circuit. A processor may also be a programmable processor that executes a program stored in a memory.

[0158] In this specification, a circuit, unit, or means is hardware that is programmed to realize or performs the described functions, which may be any hardware disclosed herein or any hardware known to be programmed to realize or perform the described functions.

[0159] If the hardware is a processor considered to be a type of circuitry, the circuit, means, or unit is a combination of hardware and software used to configure the hardware and / or processor.

[0160] [Aspect] The above embodiments are specific examples of the following aspects.

[0161] (Mode 1) A hand 10 includes a plurality of fingers 2 that can be opened and closed in a first direction X, a main body 3 that supports the plurality of fingers 2, a string 5 connected to the plurality of fingers 2, and an opening / closing actuator 6 that pulls the string 5, the string 5 being wound around the plurality of fingers 2 so that tension from the opening / closing actuator 6 acts on the plurality of fingers 2 in a closing direction in the first direction X, and the opening / closing actuator 6 closes the plurality of fingers 2 by pulling the string 5.

[0162] According to this configuration, the multiple fingers 2 are closed by the tension of the string 5. Because the string 5 can be laid relatively freely, it is easy to lay the string 5 so that the tension acts on the multiple fingers 2 in the closing direction in the first direction X. Because the tension in the closing direction in the first direction X is realized by winding the string 5, the degree of freedom in the placement of the opening / closing actuator 6 can be increased. A closing force in the first direction X can be applied to the multiple fingers 2 without increasing the size of the hand 10 in the first direction X.

[0163] (Embodiment 2) In the hand 10 described in embodiment 1, the multiple fingers 2 generate an elastic force in the opening direction when in a closed state, and open due to the elastic force when the tension on the string 5 from the opening / closing actuator 6 is released from the closed state.

[0164] With this configuration, the force that causes the fingers 2 to open is not the driving force of the opening / closing actuator 6 but the elastic force of the fingers 2 themselves. This simplifies the configuration of the string 5 and the opening / closing actuator 6, and ultimately the configuration of the hand 10.

[0165] (Aspect 3) In the hand 10 described in aspect 1 or aspect 2, the plurality of fingers 2 include a first finger 2A and a second finger 2B arranged side by side in the first direction X, and the first finger 2A and the second finger 2B each have elasticity to bend in the first direction X, and the opening / closing actuator 6 pulls the string 5 to elastically bend the first finger 2A and the second finger 2B in a closing direction in the first direction X to close them, while releasing the tension in the string 5 to open the first finger 2A and the second finger 2B by their respective elastic forces.

[0166] With this configuration, the first and second toes 2A and 2B are elastically bent and closed in the first direction X by the tension of the string 5. Therefore, when the tension of the string 5 is released, the first and second toes 2A and 2B are opened by their respective elastic forces.

[0167] (Aspect 4) In the hand 10 according to any one of aspects 1 to 3, the plurality of fingers 2 include a first finger 2A and a second finger 2B arranged side by side in the first direction X, the string 5 includes a first string 5A and a second string 5B, one end of the first string 5A is connected to the first finger 2A, the other end is connected to the opening / closing actuator 6, and a middle portion is wound around the second finger 2B, the second string 5B is connected to the second finger 2B, the other end is connected to the opening / closing actuator 6, and a middle portion is wound around the first finger 2A, and the opening / closing actuator 6 pulls the first string 5A and the second string 5B to move the first finger 2A and the second finger 2B closer to each other in the first direction X and close them.

[0168] With this configuration, the tension of the first string 5A acts on the first toe 2A, and the tension of the second string 5B acts on the second toe 2B. Because the middle portion of the first string 5A connected to the first toe 2A is wrapped around the second toe 2B, when the other end of the first string 5A is pulled by the opening / closing actuator 6, the first string 5A moves the first toe 2A closer to the second toe 2B. Because the middle portion of the second string 5B connected to the second toe 2B is wrapped around the first toe 2A, when the other end of the second string 5B is pulled by the opening / closing actuator 6, the second string 5B moves the second toe 2B closer to the first toe 2A. In other words, the opening / closing actuator 6 pulls the first string 5A and the second string 5B, causing the first toe 2A and the second toe 2B to close.

[0169] (Embodiment 5) The hand 10 according to any one of embodiments 1 to 4 further includes an advancing / retracting actuator 6 that moves the fingers 2 forward and backward relative to the main body 3 in a second direction Y that intersects with the first direction X.

[0170] According to this configuration, the first finger 2A and the second finger 2B not only open and close, but also move forward and backward in the second direction Y.

[0171] (Aspect 6) In the hand 10 described in any one of aspects 1 to 5, the main body 3 has a storage space 33 that stores the multiple fingers 2, and by storing the multiple fingers 2 in the storage space 33, movement of the multiple fingers 2 in a direction intersecting the second direction Y is restricted.

[0172] According to this configuration, the plurality of fingers 2 are accommodated in the accommodation space 33 of the main body 3, and thus the substantial rigidity of the plurality of fingers 2 in a direction intersecting with the second direction Y is increased.

[0173] (Embodiment 7) In the hand 10 according to any one of embodiments 1 to 6, the opening / closing actuator 6 and the advancing / retreating actuator 6 are a single common actuator 6.

[0174] According to this configuration, the opening / closing actuator 6 and the advancing / retreating actuator 6 are configured as a single common actuator 6, which reduces the number of parts and simplifies the configuration of the hand 10.

[0175] (Embodiment 8) In the hand 10 described in any one of embodiments 1 to 7, the common actuator 6 has a rotating body 62 (movable member) that moves in a predetermined movement section by a driving force, and in a first section of the movement section, the rotating body 62 changes the tension of the string 5 to open and close the multiple fingers 2 without applying a force in the second direction Y to the multiple fingers 2, and in a second section of the movement section, applies a force in the second direction Y to the multiple fingers 2 to move the multiple fingers 2 back and forth in the second direction Y.

[0176] According to this configuration, even when the opening / closing and the advancing / retreating of the multiple fingers 2 are performed by the common actuator 6, the opening / closing and the advancing / retreating of the multiple fingers 2 can be performed independently, rather than simultaneously. Specifically, when the rotating body 62 moves in the first section, the multiple fingers 2 do not advance / retreat but open / close. When the rotating body 62 moves in the second section, the multiple fingers 2 advance / retreat but do not open / close. As a result, the opening / closing and the advancing / retreating of the multiple fingers 2 can be performed appropriately. [Explanation of symbols]

[0177] 10 hands 2 fingers 2A 1st finger 2B 2nd finger 3 Main unit 4 claws 41 Claw body 42 legs 43 Guide surface 46 Slit 5. String 5A 1st string 5B Second string 6 Common actuators (opening / closing actuators, forward / backward actuators) 62 Rotating body (movable part) X 1st direction Y Second direction

Claims

1. A plurality of fingers that can be opened and closed in a first direction; a main body supporting the plurality of fingers; a string connected to the plurality of fingers; an opening / closing actuator that pulls the string, the string is wound around the fingers so that tension from the opening / closing actuator acts on the fingers in the closing direction of the first direction, The opening / closing actuator is a hand that closes the fingers by pulling the string.

2. The hand according to claim 1, The plurality of fingers generate an elastic force in an opening direction when in a closed state, and the hand opens due to the elastic force when the tension in the string from the opening / closing actuator is released from the closed state.

3. The hand according to claim 2, the plurality of fingers includes a first finger and a second finger arranged side by side in the first direction, the first finger and the second finger each have elasticity to bend in the first direction, The opening / closing actuator is By pulling the string, the first finger and the second finger are elastically bent in the closing direction in the first direction to close, A hand in which the first finger and the second finger are opened by their respective elastic forces when the tension of the string is released.

4. The hand according to claim 1, the plurality of fingers includes a first finger and a second finger arranged side by side in the first direction, The laces include a first lace and a second lace, one end of the first string is connected to the first finger, the other end is connected to the opening / closing actuator, and a middle portion is wrapped around the second finger; one end of the second string is connected to the second finger, the other end is connected to the opening / closing actuator, and a middle portion of the second string is wrapped around the first finger; The opening / closing actuator pulls the first string and the second string to bring the first finger and the second finger closer to each other in the first direction and close them.

5. The hand according to any one of claims 1 to 4, The hand further includes an actuator for moving the fingers forward and backward relative to the main body in a second direction intersecting the first direction.

6. The hand according to claim 5, The main body has a storage space for storing the plurality of fingers, and the hand restricts movement of the plurality of fingers in a direction intersecting the second direction by storing the plurality of fingers in the storage space.

7. The hand according to claim 5, The opening / closing actuator and the advancing / retracting actuator are a single common actuator.

8. The hand according to claim 7, the common actuator has a movable member that moves within a predetermined movement range by a driving force; The movable member is In a first section of the movement sections, the tension of the string is changed to open and close the plurality of fingers without applying a force in the second direction to the plurality of fingers, In a second section of the movement section, a force in the second direction is applied to the plurality of fingers of the hand to move the plurality of fingers forward and backward in the second direction.

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