Robot hand and robot control method

Abstract

A robot hand with a simple configuration turns the workpiece upside down. [Solution] A robot hand for picking up a specified workpiece comprises a base portion including a first wall portion extending in a first direction and a second wall portion arranged opposite the first wall portion and extending in the first direction, a first pin having a predetermined length that allows it to move from the first wall portion toward the second wall portion and inside the first wall portion, and a second pin coaxial with the first pin and having a predetermined length that allows it to move from the second wall portion toward the first wall portion and inside the second wall portion.

Description

[Technical Field]

[0001] The present disclosure relates to a robot hand and a robot control method. [Background technology]

[0002] Patent Document 1 discloses a container robot system that handles containers, comprising a robot hand attached to a robot body and a control unit that controls the robot hand, and the control unit executes the steps of gripping a container with the robot hand, turning the container gripped by the robot hand upside down in the gripping step, and releasing the container gripped by the robot hand in the gripping step. The robot hand comprises a first support part that grips the periphery of the container, and a second support part that supports the container at a position away from the position gripped by the first support part in a horizontal plane when viewed from above the container. In this way, the container robot system turns the container upside down. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Publication No. 2022-124023 Summary of the Invention [Problem to be solved by the invention]

[0004] As disclosed in Patent Document 1, there is a need to turn a workpiece upside down. However, from the viewpoint of improving production efficiency and / or reducing costs, when turning a workpiece upside down with a robot hand, it is preferable that the robot hand have a simple configuration.

[0005] An object of the present disclosure is to provide a technology related to a robot hand that turns a workpiece upside down. [Means for solving the problem]

[0006] One aspect of the present disclosure provides a robot hand for picking up a predetermined workpiece, the robot hand comprising: a base portion including a first wall portion extending in a first direction and a second wall portion arranged opposite the first wall portion and extending in the first direction; a first pin having a predetermined length that enables it to move from the first wall portion to the second wall portion and toward the inside of the first wall portion; and a second pin coaxial with the first pin and having a predetermined length that enables it to move from the second wall portion to the first wall portion and toward the inside of the second wall portion.

[0007] One aspect of the present disclosure is a robot control method for controlling the operation of a robot hand that picks up a predetermined workpiece, the robot hand comprising: a base portion including a first wall portion extending in a first direction; and a second wall portion disposed opposite the first wall portion and extending in the first direction; a first pin having a predetermined length that allows it to move from the first wall portion toward the second wall portion and toward an inside of the first wall portion; and a second pin that is coaxial with the first pin and has a predetermined length that allows it to move from the second wall portion toward the inside of the first wall portion and toward an inside of the second wall portion; the workpiece has a first hole and a second hole at a first end and a second end in a longitudinal direction, respectively; and the workpiece, before being picked by the robot hand, has a first hole and a second hole at a first end and a second end in a longitudinal direction, The robot hand is placed so that the second hole is positioned below the center of gravity of the workpiece, and as a first action, the robot hand is lowered so that the first wall portion is aligned with the first end of the workpiece and the second wall portion is aligned with the second end of the workpiece, and as a second action after the first action, the first pin is moved toward the second wall portion and the inside of the first wall portion to be inserted into the first hole of the workpiece, and the second pin is moved toward the first wall portion and the inside of the second wall portion to be inserted into the second hole of the workpiece, and as a third action after the second action, the robot hand is raised in a state where the first pin is inserted into the first hole of the workpiece and the second pin is inserted into the second hole of the workpiece.

[0008] One aspect of the present disclosure provides a robot hand for picking up a predetermined workpiece, the robot hand comprising a first turntable and a second turntable, wherein the first turntable is movable from a first predetermined position toward the second turntable and rotatable around an axis extending from the first predetermined position toward the second turntable, and the second turntable is movable from a second predetermined position toward the first turntable and rotatable around an axis extending from the second predetermined position toward the first turntable.

[0009] One aspect of the present disclosure is a robot control method for controlling the operation of a robot hand that picks up a predetermined workpiece, the robot hand comprising a first turntable and a second turntable, the first turntable being movable from a first predetermined position toward the second turntable and rotatable about an axis extending from the first predetermined position toward the second turntable, the second turntable being movable from a second predetermined position toward the first turntable and rotatable about an axis extending from the second predetermined position toward the first turntable, and a first operation including moving the robot hand toward the placed workpiece so that the first turntable is in a forward position. a second turntable being lowered along a first end of the workpiece in the longitudinal direction and a second end of the workpiece in the longitudinal direction, and as a second operation after the first operation, the first turntable being moved from the first predetermined position toward the second turntable, and the second turntable being moved from the second predetermined position toward the first turntable to clamp the workpiece at a position below the center of gravity of the workpiece at the first end and the second end of the workpiece, and as a third operation after the second operation, the robot hand being raised with the workpiece clamped between the first turntable and the second turntable. .

[0010] These comprehensive or specific aspects may be realized as a system, an apparatus, a method, an integrated circuit, a computer program, or a recording medium, or may be realized as any combination of a system, an apparatus, a method, an integrated circuit, a computer program, and a recording medium. [Effects of the Invention]

[0011] According to the present disclosure, a technology related to a robot hand that turns a workpiece upside down can be provided. [Brief explanation of the drawings]

[0012] [Figure 1] FIG. 1 is a block diagram showing a configuration example of a robot system according to a first embodiment. [Figure 2] FIG. 1 is a schematic diagram illustrating a configuration example of a robot device according to a first embodiment; [Figure 3] FIG. 1 is a perspective view showing a configuration example of a robot hand according to a first embodiment; [Figure 4A] FIG. 1 is a perspective view showing a state before a first pin and a second pin of a robot hand according to a first embodiment are protruded; [Figure 4B] FIG. 10 is a perspective view showing a state after the first pin and the second pin of the robot hand according to the first embodiment have been protruded; [Figure 5A] FIG. 1 is a perspective view showing a state in which a robot hand according to the first embodiment is positioned above a workpiece; [Figure 5B] A diagram showing the workpiece according to the first embodiment as seen from the side (Y direction) [Figure 6A] FIG. 1 is a perspective view showing a state in which the robot hand according to the first embodiment is lowered; [Figure 6B] FIG. 6B is an enlarged perspective view of the second pin in the state of FIG. 6A; [Figure 7A] FIG. 1 is a perspective view showing a state in which an opening / closing unit of a robot hand according to a first embodiment is closed; [Figure 7B] FIG. 7B is an enlarged perspective view of the second pin in the state of FIG. 7A; [Figure 8A] FIG. 1 is a perspective view showing a state in which a first pin is inserted into a first hole in a workpiece and a second pin is inserted into a second hole in the workpiece according to the first embodiment; [Figure 8B] A side view of the state of FIG. 8A. [Figure 9A] FIG. 10 is a perspective view showing a state in which the robot hand according to the first embodiment has risen with the first pin and the second pin inserted into the first hole and the second hole of the workpiece, respectively, and the workpiece has started to rotate. [Figure 9B] A side view of the state of FIG. 9A. [Figure 10A] FIG. 9B is a perspective view showing a state in which the workpiece is further rotated from the state of FIG. 9A; [Figure 10B] A side view of the state of FIG. 10A. [Figure 11A] FIG. 10B is a perspective view showing a state in which the workpiece is further rotated from the state of FIG. 10A and turned upside down; [Figure 11B] 11B is a side view of the state of FIG. 11A. [Figure 12A] FIG. 1 is a perspective view showing a state in which the robot hand according to the first embodiment is positioned above the workplace unit. [Figure 12B] 12B is a perspective view showing a state in which the robot hand is slightly lowered from the state shown in FIG. 12A. [Figure 13A] FIG. 1 is a perspective view showing a state in which an opening / closing unit of a robot hand according to a first embodiment is open; [Figure 13B] FIG. 1 is a perspective view showing a state in which a workpiece according to the first embodiment is placed on a workplace section; [Figure 14A] FIG. 10 is a perspective view showing a configuration example of a robot hand according to a second embodiment. [Figure 14B] FIG. 14B is an enlarged perspective view of the rotating disk portion of the robot hand shown in FIG. 14A. [Figure 15A] 14B is a perspective view showing a state in which the robot hand shown in FIG. 14A has clamped both ends of the workpiece between the first and second turntables; [Figure 15B] 14B is a perspective view showing an example in which the robot hand shown in FIG. 14A is raised in a state in which a workpiece is sandwiched between the first and second turntables; DETAILED DESCRIPTION OF THE INVENTION

[0013] Hereinafter, embodiments of the present disclosure will be described in detail with appropriate reference to the drawings. However, more detailed description than necessary may be omitted. For example, detailed descriptions of already well-known matters and redundant descriptions of substantially identical configurations may be omitted. This is to avoid unnecessary redundancy in the following description and to facilitate understanding by those skilled in the art. Note that the accompanying drawings and the following description are provided to enable those skilled in the art to fully understand the present disclosure and are not intended to limit the subject matter of the claims. Furthermore, the function of one configuration shown in the present embodiment may be realized by two or more physical configurations, or the functions of two or more configurations may be realized by, for example, one physical configuration.

[0014] (Embodiment 1) FIG. 1 is a block diagram showing an example of the configuration of a robot system 1 according to the first embodiment.

[0015] The robot system 1 includes a robot device 20 and a robot control device 200. The robot control device 200 is a device that controls the behavior of the robot device 20. The robot device 20 will be described in detail later.

[0016] The robot control device 200 includes a processing unit 201, a storage unit 202, an external I / F 203, a communication unit 204, an operation unit 205, and a display unit 206. I / F is an abbreviation for Interface.

[0017] The processing unit 201 reads and processes programs and data from the storage unit 202 to control the behavior of the robot device 20. The processing unit 201 may be configured with a central processing unit (CPU), a large scale integration (LSI), a field programmable gate array (FPGA), or the like.

[0018] The storage unit 202 stores programs and data and may be configured by a volatile storage medium and / or a non-volatile storage medium.

[0019] The external I / F 203 is an interface for connecting the robot control device 200 to the robot device 20. The external I / F 203 may be connected to the robot device 20 by a wired cable or by wireless communication.

[0020] The communication unit 204 is an interface for connecting the robot control device 200 to an external communication network (not shown). Examples of the communication network include a wired LAN, a wireless LAN, the Internet, a mobile communication network, and Bluetooth (registered trademark).

[0021] The operation unit 205 is a device that accepts operations from a user. Examples of the operation unit 205 include a lever, a button, a trigger, a keyboard, a mouse, and a touch panel.

[0022] The display unit 206 is a device that displays images. Examples of the display unit 206 include a liquid crystal display, an organic EL display, and a head mounted display (HMD).

[0023] In the following description, the behavior of each part of the robot device 20 may be based on an instruction from the processing unit 201 of the robot control device 200. In other words, in the following description, an operation mainly performed by each part of the robot device 20 may be interpreted as a process mainly performed by the processing unit 201 of the robot control device 200.

[0024] FIG. 2 is a schematic diagram showing an example of the configuration of the robot device 20 according to the first embodiment.

[0025] The robot device 20 is a device that picks up a workpiece 10 placed on the workpiece pick unit 2, moves it to the workplace unit 3, and places it there. The robot device 20 includes a base 21, a robot arm 30, and a robot hand 40. The robot hand 40 may be interpreted as an end effector.

[0026] The base 21 is placed on or fixed to a workbench.

[0027] The robot arm 30 has a first rotating section 31 at its first end that is horizontally rotatable, and the first rotating section 31 is connected to the upper surface of the base 21. The robot arm 30 has a second rotating section 32 at its second end that is horizontally rotatable, and a robot hand 40 is connected to the second rotating section 32. The robot arm 30 has a first rotating joint 33, a second rotating joint 34, and a third rotating joint 35 between its first end and second end.

[0028] The robot control device 200 controls the driving of the first swivel unit 31, the first rotary joint unit 33, the second rotary joint unit 34, and the third rotary joint unit 35 of the robot arm 30 through motors and actuators (not shown), thereby allowing the robot hand 40 to move to a desired position in three-dimensional space within a physically reachable range.

[0029] In this embodiment, a robot hand 40 with a simple configuration will be described, which can pick up a workpiece 10 placed on the work pick unit 2, turn it upside down, and then move it to the workplace unit 3 to place it. Specifically, a robot hand 40 will be described which does not have a dedicated device for turning the workpiece 10 upside down. As a result, this embodiment can achieve improved production efficiency and / or reduced costs. This will be described in detail below.

[0030] Fig. 3 is a perspective view showing an example of the configuration of the robot hand 40 according to embodiment 1. Fig. 4A is a perspective view showing a state before the first pin 71 and the second pin 72 of the robot hand 40 according to embodiment 1 protrude. Fig. 4B is a perspective view showing a state after the first pin 71 and the second pin 72 of the robot hand 40 according to embodiment 1 protrude.

[0031] In the first embodiment, for convenience of explanation, as shown in FIG. 3 etc., the axis in the height direction is defined as the Z axis, the axis in the horizontal plane along (e.g., parallel to) the first wall 51 or the second wall 52 of the base 50 is defined as the X axis, and the axis in the horizontal plane intersecting (e.g., perpendicular to) the first wall 51 or the second wall 52 of the base 50 is defined as the Y axis. Also, for convenience of explanation, the positive direction of the Z axis may be referred to as "up," the negative direction of the Z axis as "down," the positive direction of the Y axis as "right," the negative direction of the Y axis as "left," the positive direction of the X axis as "front," and the negative direction of the X axis as "rear." Note that these directional expressions are used for convenience of explanation and are not intended to limit the orientation of the structure during actual use.

[0032] As shown in FIGS. 3, 4A, and 4B, the robot hand 40 includes an actuator 41, a base unit 50, an opening / closing unit 60, a first pin 71, and a second pin 72.

[0033] The base portion 50 includes a first wall portion 51 and a second wall portion 52 extending in the height direction (first direction), and an upper frame portion 53 connecting the upper ends of the first wall portion 51 and the second wall portion 52. The first wall portion 51 and the second wall portion 52 are disposed opposite each other with a predetermined distance between them.

[0034] The opening / closing unit 60 includes a first moving unit 61 and a second moving unit 62 that extend in the height direction (first direction). The first moving unit 61 can be moved by the actuator 41 from a position outside the first wall unit 51 (i.e., on the left side of the first wall unit 51) so as to approach the first wall unit 51. The second moving unit 62 can be moved by the actuator 41 from a position outside the second wall unit 52 (i.e., on the right side of the second wall unit 52) ​​so as to approach the second wall unit 52.

[0035] Hereinafter, the movement of the first moving part 61 toward the first wall part 51 and the movement of the second moving part 62 toward the second wall part 52 by the actuator 41 may be expressed as closing the opening / closing part 60. The movement of the first moving part 61 away from the first wall part 51 and the movement of the second moving part 62 away from the second wall part 52 by the actuator 41 may be expressed as opening the opening / closing part 60.

[0036] 3, 4A, and 4B, a slit of a predetermined width may be formed in the vertical center of the first wall portion 51. When the opening / closing unit 60 is closed, at least a portion of the first moving portion 61 may fit into the slit of the first wall portion 51. Similarly, a slit of a predetermined width may be formed in the vertical center of the second wall portion 52. When the opening / closing unit 60 is closed, at least a portion of the second moving portion 62 may fit into the slit of the second wall portion 52.

[0037] The first pin 71 is a pin of a predetermined length that is connected to the lower end of the first moving portion 61 and extends toward the second wall portion 52. The second pin 72 is a pin of a predetermined length that is connected to the lower end of the second moving portion 62 and extends toward the first wall portion 51. The first pin 71 and the second pin 72 are arranged coaxially (in the Y-axis direction in the drawing).

[0038] As shown in Fig. 4A, when the opening / closing unit 60 is in an open state, the first pin 71 does not protrude from the inside of the first wall portion 51, and the second pin 72 does not protrude from the inside of the second wall portion 52. As shown in Fig. 4B, when the opening / closing unit 60 is in a closed state, the first pin 71 protrudes from the inside of the first wall portion 51 toward the second wall portion 52, and the second pin 72 protrudes from the inside of the second wall portion 52 toward the first wall portion 51.

[0039] The above-described configuration in which the first pin 71 and the second pin 72 move by moving the first moving unit 61 and the second moving unit 62 using the opening / closing unit 60 is one example, and the present embodiment may have a configuration different from this configuration. For example, the first pin 71 itself may be operable to protrude from the first wall 51, and the second pin 72 itself may be operable to protrude from the second wall 52.

[0040] <Robot hand movement> Next, the operation of the robot hand 40 will be described in order with reference to the drawings.

[0041] Fig. 5A is a perspective view showing a state in which the robot hand 40 according to the first embodiment is positioned above the workpiece 10. Fig. 5B is a view of the workpiece 10 according to the first embodiment as seen from the side (Y direction).

[0042] 5A and 5B, the workpiece 10 has a substantially rectangular parallelepiped shape, and is formed at a first end in the longitudinal direction (Y direction in FIGS. 5A and 5B) with a first hole 11 into which a first pin 71 can be inserted, and at a second end in the longitudinal direction with a second hole 12 into which a second pin 72 can be inserted. When the workpiece 10 is placed on the workpiece pick unit 2, the first hole 11 and the second hole 12 of the workpiece 10 are located below the center of gravity G of the workpiece 10. In this embodiment, the state of the workpiece 10 is referred to as being upward.

[0043] 5A, with the opening / closing unit 60 of the robot hand 40 open, the robot control device 200 controls the robot arm 30 to move the robot hand 40 onto one workpiece 10 placed on the workpiece pick unit 2. At this time, the robot control device 200 may control the second swivel unit 32 to control the posture of the robot hand 40 so that the longitudinal direction of the workpiece 10 fits into the space between the first wall unit 51 and the second wall unit 52 of the robot hand 40.

[0044] Fig. 6A is a perspective view showing a state in which the robot hand 40 according to embodiment 1 is lowered. Fig. 6B is an enlarged perspective view of the second pin 72 in the state of Fig. 6A.

[0045] 5A toward the placed workpiece 10 so that the inside of the first wall portion 51 is aligned with the first edge of the workpiece 10 and the inside of the second wall portion 52 is aligned with the second edge of the workpiece 10. At this time, the robot control device 200 lowers the robot hand 40 to a position where the first pin 71 and the second pin 72 can be inserted into the first hole 11 and the second hole 12 of the workpiece 10, respectively.

[0046] 6A, the longitudinal direction of the workpiece 10 is accommodated in the space between the first wall portion 51 and the second wall portion 52 of the robot hand 40. In other words, the distance between the inside of the first wall portion 51 and the inside of the second wall portion 52 may be configured to be slightly longer than the length of the workpiece 10 in the longitudinal direction.

[0047] As shown in FIG. 6B, since the opening / closing unit 60 is in an open state, the first pin 71 and the second pin 72 do not come into contact with the workpiece 10 when the robot hand 40 descends.

[0048] Fig. 7A is a perspective view showing a state in which the opening / closing unit 60 of the robot hand 40 according to embodiment 1 is closed. Fig. 7B is an enlarged perspective view of the second pin 72 in the state of Fig. 7A.

[0049] The robot control device 200 closes the opening / closing unit 60 from the state shown in Fig. 6A. As a result, as shown in Fig. 7A and Fig. 7B, the first pin 71 moves toward the second wall portion 52 and the inside of the first wall portion 51 and is inserted into the first hole 11 of the workpiece 10, and the second pin 72 moves toward the inside of the first wall portion 51 and the second wall portion 52 and is inserted into the second hole 12 of the workpiece 10.

[0050] Fig. 8A is a perspective view showing a state in which the first pin 71 according to the first embodiment is inserted into the first hole 11 of the workpiece 10, and the second pin 72 is inserted into the second hole 12 of the workpiece 10. Fig. 8B is a side view of the state of Fig. 8A as seen from the side.

[0051] Fig. 9A is a perspective view showing a state in which the robot hand 40 according to embodiment 1 has risen with the first pin 71 and the second pin 72 inserted into the first hole 11 and the second hole 12 of the workpiece 10, respectively, and the workpiece 10 has started to rotate. Fig. 9B is a side view of the state shown in Fig. 9A as seen from the side.

[0052] Fig. 10A is a perspective view showing a state in which the workpiece 10 has been further rotated from the state in Fig. 9A, and Fig. 10B is a side view of the state in Fig. 10A as seen from the side.

[0053] Fig. 11A is a perspective view showing a state in which the workpiece 10 has been further rotated from the state of Fig. 10A and is turned upside down. Fig. 11B is a side view of the state of Fig. 11A as seen from the side.

[0054] The robot control device 200 raises the robot hand 40 in a state in which the first pin 71 shown in FIGS. 8A and 8B is inserted into the first hole 11 of the workpiece 10 and the second pin 72 is inserted into the second hole 12 of the workpiece 10. Then, the center of gravity G of the workpiece 10 is positioned above the first hole 11 and the second hole 12. Therefore, as shown in FIGS. 9A, 9B, 10A, and 10B, the workpiece 10 begins to rotate due to its own weight around the first pin 71 and the second pin 72, which are positioned coaxially, as a rotation axis (the Y-axis), so that the center of gravity G moves below the first hole 11 and the second hole 12. As shown in FIGS. 11A and 11B, the workpiece 10 is turned upside down. Additionally, the first end of the workpiece 10 is aligned with the inside of the first wall portion 51, and the second end of the workpiece 10 is aligned with the inside of the second wall portion 52. Therefore, the workpiece 10 can rotate smoothly without being biased to either the left or right.

[0055] That is, according to this embodiment, the robot hand 40 can turn the workpiece 10 upside down simply by inserting the first pin 71 and the second pin 72 into the first hole 11 and the second hole 12 of the workpiece 10, respectively, and lifting it up. That is, according to this embodiment, the robot hand 40, which has a simple configuration, can turn the workpiece 10 upside down without providing a dedicated device for turning the workpiece 10 upside down. Therefore, this embodiment can achieve cost reduction and / or improvement in production efficiency.

[0056] The robot control device 200 moves the robot hand 40 to above the workplace section 3 in the state shown in FIGS. 11A and 11B.

[0057] Fig. 12A is a perspective view showing a state in which the robot hand 40 according to the first embodiment is positioned above the workplace unit 3. Fig. 12B is a perspective view showing a state in which the robot hand 40 has slightly lowered from the state shown in Fig. 12A.

[0058] As shown in FIG. 12A, the robot control device 200 controls the second turning unit 32 to move the robot hand 40 above the position in the workplace unit 3 where the workpiece 10 is to be placed, while adjusting the posture of the robot hand 40.

[0059] Next, as shown in FIG. 12B, the robot control device 200 slightly lowers the robot hand 40 so that it approaches the workplace unit 3.

[0060] Fig. 13A is a perspective view showing a state in which the opening / closing unit 60 of the robot hand 40 according to embodiment 1 is open. Fig. 13B is a perspective view showing a state in which the workpiece 10 according to embodiment 1 is placed on the workplace unit 3.

[0061] The robot control device 200 opens the opening / closing unit 60 of the robot hand 40 from the state shown in FIG. 12B . As a result, the first pin 71 moves from the second wall portion 52 toward the outside of the first wall portion 51, and the second pin 72 moves from the first wall portion 51 toward the outside of the second wall portion 52. As a result, the first pin 71 and the second pin 72 are simultaneously removed from the first hole 11 and the second hole 12 of the workpiece 10, respectively, and the workpiece 10 falls freely upside down. If either the first pin 71 or the second pin 72 were to be removed first, the workpiece 10 would fall at an angle and would not land stably at the target point. In contrast, in this embodiment, the first end of the workpiece 10 is aligned along the inside of the first wall portion 51, and the second end of the workpiece 10 is aligned along the inside of the second wall portion 52. This prevents the workpiece 10 from being biased to either the left or right, causing either the first pin 71 or the second pin 72 to be removed first. Therefore, the robot hand 40 according to this embodiment can stably drop the workpiece 10 at the target point (for example, directly below). As a result, as shown in Fig. 13B, the workpiece 10 is stably placed upside down at the target point on the workplace unit 3.

[0062] Through the above operations and controls, the robot hand 40 can turn the workpiece 10 placed on the workpiece pick section 2 upside down, and move and place it on the workplace section 3.

[0063] According to the configuration of the robot hand 40 of this embodiment, when the workpiece 10 is picked up, the workpiece 10 is automatically turned upside down due to its own weight. In other words, according to this embodiment, it is possible to realize a robot hand 40 that can pick up and turn upside down the workpiece 10 with a simple configuration, without providing the robot hand 40 with a dedicated device for turning upside down the workpiece 10.

[0064] (Embodiment 2) In the second embodiment, a modified example of the robot hand 40 according to the first embodiment will be described. In the second embodiment, the same reference numerals will be used for the components already described in the first embodiment, and the description thereof may be omitted.

[0065] Fig. 14A is a perspective view showing a configuration example of a robot hand 40 according to embodiment 2. Fig. 14B is an enlarged perspective view of a turntable portion of the robot hand 40 shown in Fig. 14A.

[0066] As shown in FIG. 14A, the robot hand 40 according to embodiment 2 includes, in addition to the components described in embodiment 1, a first turntable 81 at the tip of the first pin 71 and a second turntable 82 at the tip of the second pin 72.

[0067] The first turntable 81 has a disk shape that can rotate around the first pin 71 as a rotation axis. The second turntable 82 has a disk shape that can rotate around the second pin 72 as a rotation axis. The first pin 71 and the second pin 72 are positioned coaxially. The first turntable 81 and the second turntable 82 may be provided with elastic members to prevent slippage.

[0068] The first turntable 81 and the second turntable 82 move in accordance with the opening and closing of the opening / closing unit 60. In other words, the first turntable 81 is movable from a first predetermined position toward the second turntable 82, and is rotatable around an axis extending from the first predetermined position toward the second turntable 82. The second turntable 82 is movable from a second predetermined position toward the first turntable 81, and is rotatable around an axis extending from the second predetermined position toward the first turntable 81.

[0069] Fig. 15A is a perspective view showing a state in which the robot hand 40 shown in Fig. 14A has sandwiched both ends of the workpiece 10 between the first turntable 81 and the second turntable 82. Fig. 15B is a perspective view showing an example in which the robot hand 40 shown in Fig. 14A has risen in a state in which the workpiece 10 is sandwiched between the first turntable 81 and the second turntable 82.

[0070] The robot hand 40 according to embodiment 2 operates in the same manner as in embodiment 1. However, instead of the operation of the robot hand 40 according to embodiment 1 in which the opening / closing unit 60 is closed and the first pin 71 and the second pin 72 are inserted into the first hole 11 and the second hole 12 of the workpiece 10, the robot hand 40 according to embodiment 2 closes the opening / closing unit 60 and clamps both ends of the workpiece 10 between the first turntable 81 and the second turntable 82.

[0071] In other words, the robot hand 40 clamps the workpiece 10 placed on the workpiece pick unit 2 at a position below the center of gravity G at the first and second longitudinal ends between the first and second turntables 81 and 82.

[0072] Then, the robot control device 200 raises the robot hand 40 with both ends of the workpiece 10 sandwiched between the first turntable 81 and the second turntable 82. As a result, the workpiece 10 starts to rotate due to its own weight, with the first pin 71 of the first turntable 81 and the second pin 72 of the second turntable 82 as the rotation axis (the Y-axis as the rotation axis), so that the center of gravity G moves downward from the position where the first turntable 81 and the second turntable 82 are in contact, and the workpiece 10 becomes upside down as shown in FIG. 15B. In addition, because the first end of the workpiece 10 is along the inside of the first wall portion 51 and the second end of the workpiece 10 is along the inside of the second wall portion 52, the workpiece 10 can rotate smoothly without being biased to either the left or right.

[0073] In this way, the robot hand 40 according to the second embodiment can also easily turn the workpiece 10 upside down, similarly to the first embodiment.

[0074] Furthermore, the robot hand 40 according to embodiment 1 requires that the workpiece 10 has a first hole 11 and a second hole 12 formed at both ends thereof through which the first pin 71 and the second pin 72 pass, but the robot hand 40 according to embodiment 2 can also be applied to a workpiece 10 that does not have such holes at both ends thereof.

[0075] The robot hand 40 according to the second embodiment may not have the first wall portion 51 and the second wall portion 52.

[0076] Summary of the Disclosure Based on the above description of the present disclosure, the following techniques are disclosed.

[0077] <Technology 1> According to one embodiment of the present disclosure, a robot hand (40) for picking up a predetermined work (10) comprises a base portion (50) including a first wall portion (51) extending in a first direction and a second wall portion (52) arranged opposite the first wall portion and extending in the first direction, a first pin (71) having a predetermined length that enables it to move from the first wall portion toward the second wall portion and toward the inside of the first wall portion, and a second pin (72) that is coaxial with the first pin and has a predetermined length that enables it to move from the second wall portion toward the first wall portion and toward the inside of the second wall portion. As a result, the robot hand can insert the first pin and the second pin into the holes at both ends of the workpiece and move up, thereby turning the workpiece upside down around the first pin and the second pin as the axis of rotation.

[0078] <Technology 2> In the robot hand described in Technology 1, the workpiece has a first hole (11) and a second hole (12) at a first end and a second end in the longitudinal direction, respectively, and before being picked up by the robot hand, the workpiece is placed so that the first hole and the second hole are located below the center of gravity (G) of the workpiece, and as a first operation, the base portion descends toward the placed workpiece so that the first wall portion follows the first end of the workpiece and the second wall portion follows the second end, and as a second operation after the first operation, the first pin moves toward the second wall portion and the inside of the first wall portion to be inserted into the first hole of the workpiece, and the second pin moves toward the first wall portion and the inside of the second wall portion to be inserted into the second hole of the workpiece. This allows the robot hand to insert the first pin and the second pin into the first hole and the second hole at both ends of the placed workpiece, respectively.

[0079] <Technology 3> In the robot hand described in Technology 2, as a third operation after the second operation, the base portion rises with the first pin inserted into the first hole of the workpiece and the second pin inserted into the second hole of the workpiece. As a result, the workpiece rotates under its own weight with the first pin and the second pin as the rotation axis, and is turned upside down.

[0080] <Technology 4> In the robot hand described in Technology 3, as a fourth operation after the third operation, the first pin moves from the second wall portion toward the outside of the first wall portion, and the second pin moves from the first wall portion toward the outside of the second wall portion. As a result, the workpiece falls freely upside down to the target location. Furthermore, because the first end of the workpiece is along the inside of the first wall and the second end of the workpiece is along the inside of the second wall, the workpiece does not lean toward either pin and either the first pin or the second pin is removed first. Therefore, the robot hand can drop the workpiece stably to the target location.

[0081] <Technology 5> In a robot control method according to one aspect of the present disclosure, the robot hand includes a base portion (50) including a first wall portion (51) extending in a first direction and a second wall portion (52) disposed opposite the first wall portion and extending in the first direction, a first pin (71) having a predetermined length that allows it to move from the first wall portion toward the second wall portion and toward the inside of the first wall portion, and a second pin (72) coaxial with the first pin and having a predetermined length that allows it to move from the second wall portion toward the inside of the first wall portion and toward the inside of the second wall portion, and the work has a first hole (11) and a second hole (12) at a first end and a second end in a longitudinal direction, respectively, and the work is picked by the robot hand. In a state before being locked, the workpiece is placed so that the first hole and the second hole are positioned below the center of gravity (G) of the workpiece, and as a first operation, the robot hand is lowered so that the first wall portion is along the first end of the workpiece and the second wall portion is along the second end of the workpiece, and as a second operation after the first operation, the first pin is moved toward the second wall portion and the inside of the first wall portion to be inserted into the first hole of the workpiece, and the second pin is moved toward the first wall portion and the inside of the second wall portion to be inserted into the second hole of the workpiece, and as a third operation after the second operation, the robot hand is raised in a state in which the first pin is inserted into the first hole of the workpiece and the second pin is inserted into the second hole of the workpiece. As a result, the workpiece rotates under its own weight with the first pin and the second pin as the rotation axis, and is turned upside down.

[0082] <Technology 6> According to one embodiment of the present disclosure, a robot hand (40) for picking a predetermined work (10) comprises a first turntable (81) and a second turntable (82), wherein the first turntable is movable from a first predetermined position toward the second turntable and is rotatable around an axis extending from the first predetermined position toward the second turntable, and the second turntable is movable from a second predetermined position toward the first turntable and is rotatable around an axis extending from the second predetermined position toward the first turntable. This allows the robot hand to clamp both ends of the workpiece between the first and second turntables and rise, thereby turning the workpiece upside down.

[0083] <Technology 7> The robot hand described in Technology 6 further includes a base portion including a first wall portion extending in a first direction and a second wall portion disposed opposite the first wall portion and extending in the first direction, and as a first operation, the base portion descends toward the placed workpiece so that the first wall portion is aligned with a first end of the workpiece in the longitudinal direction and the second wall portion is aligned with a second end of the workpiece in the longitudinal direction, and as a second operation after the first operation, the first turntable moves from the first predetermined position toward the second turntable, and the second turntable moves from the second predetermined position toward the first turntable to clamp the workpiece at a position below the center of gravity of the workpiece at the first end and the second end of the workpiece. This allows the robot hand to clamp both ends of the workpiece between the first and second turntables.

[0084] <Technology 8> In the robot hand described in Technology 7, as a third operation following the second operation, the base part rises with the workpiece sandwiched between the first turntable and the second turntable. As a result, the workpiece rotates together with the first and second turntables due to its own weight and is turned upside down.

[0085] <Technology 9> In a robot control method for controlling an operation of a robot hand (40) that picks up a predetermined workpiece (10) according to one aspect of the present disclosure, the robot hand includes a first turntable (81) and a second turntable (82), the first turntable is movable from a first predetermined position toward the second turntable and is rotatable around an axis extending from the first predetermined position toward the second turntable, and the second turntable is movable from a second predetermined position toward the first turntable and is rotatable around an axis extending from the second predetermined position toward the first turntable, and as a first operation, the robot hand is moved to pick up the workpiece (10) placed thereon. the first turntable is lowered toward the workpiece so that it follows a first end of the workpiece in the longitudinal direction and the second turntable is lowered toward the workpiece so that it follows a second end of the workpiece in the longitudinal direction, and as a second operation after the first operation, the first turntable is moved from the first predetermined position toward the second turntable and the second turntable is moved from the second predetermined position toward the first turntable to clamp the workpiece at positions below the center of gravity of the workpiece at the first end and the second end of the workpiece, and as a third operation after the second operation, the robot hand is raised with the workpiece clamped between the first turntable and the second turntable. As a result, the workpiece rotates together with the first and second turntables due to its own weight and is turned upside down.

[0086] Although the embodiments have been described above with reference to the accompanying drawings, the present disclosure is not limited to such examples. It is clear that a person skilled in the art can conceive of various modifications, alterations, substitutions, additions, deletions, and equivalents within the scope of the claims, and it is understood that these also fall within the technical scope of the present disclosure. Furthermore, the components in the above-described embodiments may be combined in any manner without departing from the spirit of the invention. [Industrial Applicability]

[0087] The technology of the present disclosure is useful for a robot device that picks up a workpiece. [Explanation of symbols]

[0088] 1. Robot System 2 Work Pick Section 3. Workplace Department 10 Work 11 Hole 1 12 2nd hole 20 Robotic Device 21 Foundation 30 Robot Arm 31 1st turning section 32 2nd swing section 33 First rotational joint 34 Second rotational joint 35 Third rotational joint 40 Robot Hand 41 Actuator 50 base 51 1st wall 52 2nd wall section 53 Upper frame part 60 Opening and Closing Section 61 First Mobile Section 62 Second Mobile Section 71 First pin 72 2nd pin 81 First Turntable 82 Second Turntable 200 Robot control device 201 Processing section 202 Storage section 203 External I / F 204 Communications Department 205 Operation section 206 Display section

Claims

1. A robot hand that picks up a predetermined workpiece, a base portion including a first wall portion extending in a first direction and a second wall portion disposed opposite the first wall portion and extending in the first direction; a first pin having a predetermined length movable from the first wall portion toward the second wall portion and toward the inside of the first wall portion; a second pin that is coaxial with the first pin and has a predetermined length that allows it to move from the second wall portion toward the inside of the first wall portion and the second wall portion, Robot hand.

2. the workpiece has a first hole and a second hole at a first end and a second end in a longitudinal direction, respectively; the workpiece is placed such that the first hole and the second hole are located below the center of gravity of the workpiece before being picked up by the robot hand; As a first operation, the base portion is lowered toward the placed workpiece such that the first wall portion is along the first end of the workpiece and the second wall portion is along the second end of the workpiece; As a second operation after the first operation, the first pin moves toward the second wall portion and the inside of the first wall portion and is inserted into the first hole of the workpiece, and the second pin moves toward the first wall portion and the inside of the second wall portion and is inserted into the second hole of the workpiece. The robot hand according to claim 1 .

3. As a third operation after the second operation, the base portion is raised in a state in which the first pin is inserted into the first hole of the workpiece and the second pin is inserted into the second hole of the workpiece. The robot hand according to claim 2 .

4. As a fourth operation after the third operation, the first pin moves from the second wall portion toward the outside of the first wall portion, and the second pin moves from the first wall portion toward the outside of the second wall portion. The robot hand according to claim 3 .

5. A robot control method for controlling the operation of a robot hand that picks up a predetermined workpiece, comprising: The robot hand a base portion including a first wall portion extending in a first direction and a second wall portion disposed opposite the first wall portion and extending in the first direction; a first pin having a predetermined length movable from the first wall portion toward the second wall portion and toward the inside of the first wall portion; a second pin that is coaxial with the first pin and has a predetermined length that allows it to move from the second wall portion toward the inside of the first wall portion and the second wall portion, the workpiece has a first hole and a second hole at a first end and a second end in a longitudinal direction, respectively; the workpiece is placed such that the first hole and the second hole are located below the center of gravity of the workpiece before being picked up by the robot hand; As a first operation, the robot hand is lowered so that the first wall portion is along the first end of the workpiece and the second wall portion is along the second end of the workpiece; As a second operation after the first operation, the first pin is moved toward the second wall portion and the inside of the first wall portion to be inserted into the first hole of the workpiece, and the second pin is moved toward the first wall portion and the inside of the second wall portion to be inserted into the second hole of the workpiece; As a third operation after the second operation, the robot hand is raised in a state in which the first pin is inserted into the first hole of the workpiece and the second pin is inserted into the second hole of the workpiece. Robot control method.

6. A robot hand that picks up a predetermined workpiece, A first rotating disk and a second rotating disk are provided, the first rotating disk is movable from a first predetermined position toward the second rotating disk and is rotatable about an axis extending from the first predetermined position toward the second rotating disk; the second rotating disk is movable from a second predetermined position toward the first rotating disk and is rotatable about an axis extending from the second predetermined position toward the first rotating disk; Robot hand.

7. a base portion including a first wall portion extending in a first direction and a second wall portion disposed opposite the first wall portion and extending in the first direction; As a first operation, the base portion is lowered toward the placed workpiece such that the first wall portion is aligned along a first end of the workpiece in a longitudinal direction and the second wall portion is aligned along a second end of the workpiece in the longitudinal direction; As a second operation after the first operation, the first turntable moves from the first predetermined position toward the second turntable, and the second turntable moves from the second predetermined position toward the first turntable to clamp the workpiece at positions below the center of gravity of the workpiece at the first end and the second end of the workpiece. The robot hand according to claim 6.

8. As a third operation after the second operation, the base portion is raised in a state in which the workpiece is sandwiched between the first turntable and the second turntable. The robot hand according to claim 7.

9. A robot control method for controlling the operation of a robot hand that picks up a predetermined workpiece, comprising: the robot hand includes a first turntable and a second turntable; the first rotating disk is movable from a first predetermined position toward the second rotating disk and is rotatable about an axis extending from the first predetermined position toward the second rotating disk; the second rotating disk is movable from a second predetermined position toward the first rotating disk and is rotatable about an axis extending from the second predetermined position toward the first rotating disk; As a first operation, the robot hand is lowered toward the placed workpiece so that the first turntable is aligned along a first end of the workpiece in a longitudinal direction and the second turntable is aligned along a second end of the workpiece in the longitudinal direction; As a second operation after the first operation, the first turntable is moved from the first predetermined position toward the second turntable, and the second turntable is moved from the second predetermined position toward the first turntable to clamp the workpiece at a position below the center of gravity of the workpiece at the first end and the second end of the workpiece, As a third operation after the second operation, the robot hand is raised in a state in which the workpiece is sandwiched between the first turntable and the second turntable. Robot control method.

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