ROBOT HAND, HANDLING SYSTEM, ROBOT HAND CONTROL DEVICE, ROBOT HAND CONTROL METHOD, PROGRAM, AND STORAGE MEDIUM

Abstract

To provide a robot hand, a handling system and a robot hand control device each of which can materialize faster communication with other devices, and to provide a robot hand control method, a program, and a storage medium.SOLUTION: A robot hand grips an object. The robot hand includes a first communication section, a second communication section, and a hand control section. The first communication section communicates grip data concerning a gripping operation with a first device. The second communication section can perform communication faster than the first communication section, and communicates with a second device, a start notification for starting the gripping operation and an end notification for indicating end of the gripping operation. The hand control section controls the gripping operation. The hand control section starts the gripping operation which is based on the grip data input to the first communication section according to the start notification input to the second communication section. Further, the hand control section executes output of the end notification from the second communication section to the second device and output of any one of a result of the gripping operation and a state of the robot hand from the first communication section to the first device.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] An embodiment of the present invention relates to a robot hand, a handling system, a robot hand control device, a control method for a robot hand, a program, and a storage medium. [Background technology]

[0002] There is a robot hand that grasps an object, and it is desirable for the robot hand to be able to communicate with other devices at a higher speed. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2013-33347 A Summary of the Invention [Problem to be solved by the invention]

[0004] The problem to be solved by the present invention is to provide a robot hand, a handling system, a robot hand control device, a robot hand control method, a program, and a storage medium that are capable of achieving faster communication with other devices. [Means for solving the problem]

[0005] A robot hand according to an embodiment grasps an object. The robot hand includes a first communication unit, a second communication unit, and a hand control unit. The first communication unit communicates grasp data related to a grasp operation with a first device. The second communication unit is capable of communication at a higher speed than the first communication unit, and communicates a start notification for starting the grasp operation and an end notification indicating the end of the grasp operation with a second device. The hand control unit controls the grasp operation. The hand control unit starts the grasp operation based on the grasp data input to the first communication unit in response to the start notification input to the second communication unit. Furthermore, in response to the end of the grasp operation, the hand control unit executes output of the end notification from the second communication unit to the second device and output of at least one of a result of the grasp operation or a state of the robot hand from the first communication unit to the first device. [Brief description of the drawings]

[0006] [Figure 1] FIG. 2 is a schematic diagram showing functions of a handling system according to an embodiment. [Diagram 2] FIG. 1 is a schematic diagram showing a configuration of a handling system according to an embodiment. [Diagram 3] FIG. 2 is a control sequence diagram of the handling system according to the embodiment. [Figure 4] 5 is a flowchart showing a process related to gripping start determination of the handling system according to the embodiment. [Diagram 5] 10 is a flowchart showing a gripping end determination of the handling system according to the embodiment. [Figure 6] 10 is a flowchart showing control at the end of a gripping operation of the handling system according to the embodiment. [Figure 7] FIG. 2 is a schematic diagram showing the function of a handling system according to a reference example. [Figure 8] FIG. 13 is a schematic diagram showing a configuration of a handling system according to a modified example of the embodiment. [Figure 9] FIG. 11 is a schematic diagram showing a robot hand according to a modified example of the embodiment. [Figure 10] 13 is a flowchart showing a gripping end determination of a handling system according to a modified example of the embodiment. [Figure 11] FIG. 1 is a schematic diagram showing a handling system according to an embodiment. [Figure 12] FIG. 2 is a schematic diagram showing the function of a processing device in the handling system according to the embodiment. [Figure 13] 1 is a flowchart showing a process performed by a handling system according to an embodiment. [Figure 14] FIG. 2 is a schematic diagram illustrating a hardware configuration. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0007] Hereinafter, embodiments of the present invention will be described with reference to the drawings. The drawings are schematic or conceptual, and the relationship between the thickness and width of each part, the size ratio between parts, etc. are not necessarily the same as those in reality. Even when the same part is shown, the dimensions and ratios of each part may be different depending on the drawing. In this specification and each drawing, elements similar to those already explained are given the same reference numerals and detailed explanations are omitted as appropriate.

[0008] FIG. 1 is a schematic diagram showing the function of a handling system according to an embodiment. 1, a handling system 1 according to an embodiment includes a robot hand 100, a robot arm 200, and a processing device 300. The handling system 1 performs handling of an object, including grasping the object, transporting the object, and releasing the grasped object.

[0009] The robot hand 100 grasps an object. The robot hand 100 includes a first communication unit 101, a second communication unit 102, and a hand control unit 105. The hand control unit 105 controls the operation of the robot hand 100. The first communication unit 101 communicates with the processing device 300.

[0010] The robot arm 200 moves the robot hand 100. The robot arm 200 includes a third communication unit 203, a fourth communication unit 204, and an arm control unit 205. The arm control unit 205 controls the operation of the robot arm 200. The third communication unit 203 communicates with the processing device 300. The fourth communication unit 204 communicates with the second communication unit 102.

[0011] The processing device 300 executes the generation of gripping data related to the gripping operation of the robot hand 100, the generation of control data for the robot arm 200, and the like. The gripping data, the result of the gripping operation, and the state of the robot hand 100 are communicated between the first communication unit 101 and the processing device 300. The control data for the robot arm 200 is communicated between the third communication unit 203 and the processing device 300. The signals related to the gripping operation and the signals related to the control of the robot arm 200 are communicated between the second communication unit 102 and the fourth communication unit 204. The second communication unit 102 can communicate at a higher speed than the first communication unit 101. The fourth communication unit 204 can communicate at a higher speed than the third communication unit 203. For example, the amount of data communicated between the second communication unit 102 and the fourth communication unit 204 is smaller than the amount of data communicated between the first communication unit 101 and the processing device 300 and the amount of data communicated between the third communication unit 203 and the processing device 300.

[0012] For example, the first communication unit 101 and the third communication unit 203 communicate with the processing device 300 via one or more selected from serial communication (RS-232C, RS-422, or RS-485), Serial Peripheral Interface (SPI), Inter-Integrated Circuit (I2C), Universal Serial Bus (USB), Ethernet, and Bluetooth (registered trademark). The first communication unit 101 and the third communication unit 203 are communication interfaces (I / F) compatible with any of the communication methods. By using communication by these methods, data with a relatively large volume, such as gripping data, can be stably communicated.

[0013] The second communication unit 102 and the fourth communication unit 204 communicate with each other via one or more selected from digital input output (I / O) and parallel communication. Examples of parallel communication include a bus connection, an Advanced Technology Attachment (ATA), and a Peripheral Component Interconnect (PCI). The second communication unit 102 and the fourth communication unit 204 are communication I / Fs compatible with any of the communication methods. By using communication according to these methods, the second communication unit 102 and the fourth communication unit 204 can communicate at a higher speed than the first communication unit 101 and the third communication unit 203.

[0014] Each of the hand control unit 105 and the arm control unit 205 has a control device including an arithmetic processing unit and a storage area. The hand control unit 105 and the arm control unit 205 operate according to a program stored in the respective storage areas. The first communication unit 101 and the second communication unit 102 may be provided separately from the hand control unit 105 and connected to the hand control unit 105. Alternatively, the first communication unit 101 and the second communication unit 102 may be incorporated into a control device that functions as the hand control unit 105. The third communication unit 203 and the fourth communication unit 204 may be provided separately from the arm control unit 205 and connected to the arm control unit 205. Alternatively, the third communication unit 203 and the fourth communication unit 204 may be incorporated into a control device that functions as the arm control unit 205.

[0015] FIG. 2 is a schematic diagram showing the configuration of a handling system according to the embodiment. 2, the robot arm 200 is a vertical articulated robot having six axes, a first axis 211 to a sixth axis 216. The robot arm 200 is fixed to a housing 210. An arm control unit 205 operates the first axis 211 to the sixth axis 216 to move the tip of the robot arm 200 and adjust the attitude of the tip of the robot arm 200.

[0016] Various components and devices of the handling system 1 are housed in the housing 210, such as a power supply device for driving an electric actuator such as a motor, a cylinder, a tank, and a compressor for driving a fluid actuator, various safety mechanisms, etc. The processing device 300 may be housed in the housing 210.

[0017] The robot hand 100 is attached to the tip of the robot arm 200 via a force sensor 217. The force sensor 217 detects a force applied to the robot arm 200 in a direction from the robot hand 100 toward the tip of the robot arm 200. In other words, the force sensor 217 detects a pressing force from the robot arm 200 (robot hand 100) to an object.

[0018] The "tip" of the robot arm 200 refers to a part of the robot arm 200 having six or more degrees of freedom defined by the first axis 211 to the sixth axis 216. Hereinafter, the "posture" refers to the posture of the tip of the robot arm 200 (in other words, the posture of the robot hand 100).

[0019] 2, the robot arm 200 may be a horizontal multi-joint robot, a linear motion robot, a Cartesian robot, or a parallel link robot instead of a vertical multi-joint robot. The robot arm 200 may include a combination of two or more robots selected from the vertical multi-joint robot, the horizontal multi-joint robot, the linear motion robot, the Cartesian robot, and the parallel link robot.

[0020] 2, the robot hand 100 grasps an object by pinching using a clamping mechanism 110. The clamping mechanism 110 includes two or more fingers. The robot hand 100 may grasp an object by suction or jamming in addition to pinching. Here, a control method for the robot hand 100 to pinch an object will be specifically described.

[0021] FIG. 3 is a control sequence diagram in the handling system according to the embodiment. First, the processing device 300 outputs (transmits) a control instruction S1 to the arm control unit 205. The control instruction S1 includes position control data related to the position control of the robot arm 200 and force control data related to the force control of the robot arm 200. As the position control data, a position target of the robot arm 200, a movement path of the robot arm 200 to the position target, a gripping posture at the position target, and the like are output. As the force control data, a force target during a gripping operation, and the like are output. The arm control unit 205 executes position control based on the position control data in response to the input (reception) of the control instruction S1. In the position control, movement of the tip of the robot arm 200 to the position target along the movement path and setting of the posture are executed.

[0022] After outputting the control instruction S1, the processing device 300 outputs a gripping operation instruction S3 to the hand control unit 105. The gripping operation instruction S3 includes gripping data related to the gripping operation. The gripping data includes the gripping width and gripping force when gripping (clamping) an object. The gripping width is the distance between the fingers of the clamping mechanism 110 when gripping an object, and corresponds to the length of the object in any one direction. The gripping force indicates the magnitude of force when the clamping mechanism 110 pinches an object.

[0023] When the gripping operation command S3 is input, the hand control unit 105 executes a gripping start determination. When a signal that triggers the start of gripping is input during the gripping start determination, the hand control unit 105 starts the gripping operation. Furthermore, during the gripping start determination, the hand control unit 105 outputs a force control continuation signal ON S5 to the arm control unit 205. The force control continuation signal ON S5 indicates that force control may be executed.

[0024] When the position control ends, the arm control unit 205 outputs a position target reached signal ON S7 to the hand control unit 105. The position target reached signal ON S7 indicates that the robot arm 200 has reached the position target and the posture of the robot arm 200 has been set to a gripping posture. When the position target reached signal ON S7 is input during gripping start determination, the hand control unit 105 starts the gripping operation of the robot hand 100. In other words, the position target reached signal ON S7 is a signal that serves as a trigger for starting the gripping operation. Furthermore, when the gripping operation starts, the hand control unit 105 executes gripping end determination.

[0025] On the condition that the force control continuation signal ON S5 is input and the target position arrival signal ON S7 is output, the arm control unit 205 starts force control. The arm control unit 205 moves the tip of the robot arm 200 toward the object until the force detected by the force sensor 217 reaches a preset value. This causes the robot hand 100 to be pressed against the object.

[0026] During a gripping operation, the hand control unit 105 acquires hand status data S9 of the robot hand 100. For example, the hand status data S9 includes a motor current value, a rotation amount, and the like, and indicates a gripping width and a gripping force.

[0027] During the gripping end determination, the hand control unit 105 determines whether the gripping width and gripping force indicated by the hand state data S9 have reached the values ​​instructed by the gripping operation instruction S3. When the instructed gripping width and gripping force are realized, the hand control unit 105 ends the gripping operation of the robotic hand 100. For example, when the gripping operation ends, the robotic hand 100 is gripping an object.

[0028] When the gripping operation is completed, the hand control unit 105 outputs a force control end signal ON S11 to the arm control unit 205. The force control end signal ON S11 indicates that the gripping operation is completed.

[0029] When a force control end signal ON S11 is input after a force control continue signal ON S5 is input, the arm control unit 205 ends the force control. When the arm control unit 205 receives the force control end signal ON S11 or when the detection value by the force sensor 217 reaches the force target, it outputs a force target reached signal ON S13 to the hand control unit 105. The force target reached signal ON S13 indicates that the detection value by the force sensor 217 has reached the force target value during force control, or that the force control has been ended.

[0030] When the force target reaching signal ON S13 is input, the hand control unit 105 outputs a force control continuation signal OFF S15 to the arm control unit 205. When the force control continuation signal OFF S15 is input after the force control continuation signal ON S5 is input, the arm control unit 205 operates the robot arm 200 to lift the robot hand 100 and the object. For example, after being lifted, the robot arm 200 transports the grasped object to a specified location.

[0031] After outputting the force control continuation signal OFF S15, the hand control unit 105 outputs the gripping operation result S17 and the hand status S19 to the processing device 300. The gripping operation result S17 indicates success or failure of the gripping operation by the robotic hand 100. The hand status S19 includes the position, speed, and current value of the motor that drives the robotic hand 100, the gripping operation result, etc. If the gripping operation fails, the hand status S19 may further include an error status that indicates the cause of the failure.

[0032] FIG. 4 is a flowchart showing a process related to gripping start determination of the handling system according to the embodiment. The arm control unit 205 determines whether the position target has been reached during position control (step St1). If the position target has not been reached, the arm control unit 205 determines whether the robot arm 200 has reached an area limit (step St3). The area limit is the limit of the operating area of ​​the robot arm 200. If the area limit has not been reached, the hand control unit 105 determines whether a pre-specified time has elapsed since the position control was started (step St5). The time is set in advance by the user as a time limit during which the position control can be executed. If the specified time has not elapsed, step St1 is executed again. When each of steps St1, 3, and 5 is executed, the determination results are appropriately communicated between the robot hand 100 and the robot arm 200 via the second communication unit 102 and the fourth communication unit 204.

[0033] When it is determined that the position target has been reached, the area limit has been reached, or the designated time has elapsed, the hand control unit 105 determines whether or not a position target reach signal ON S7 has been received (step St9). More specifically, when the arm control unit 205 determines that the position target has been reached or the area limit has been reached, the arm control unit 205 generates a position target reach signal ON S7. The arm control unit 205 transmits the position target reach signal ON S7 to the hand control unit 105, ends the position control, and transitions to force control. When the hand control unit 105 receives the position target reach signal ON S7, it causes the robot hand 100 to start a gripping operation (step St11). When the hand control unit 105 determines that a pre-designated time has elapsed, the hand control unit 105 generates a position control end signal ON and transmits it to the arm control unit 205. When the arm control unit 205 receives the position control end signal ON, it transmits the position target reach signal ON S7 to the hand control unit 105, ends the position control, and transitions to force control. When the hand control unit 105 receives the position target reach signal ON S7, it starts the gripping operation (step St11). Alternatively, when it is determined that a pre-specified time has elapsed, the hand control unit 105 may generate a position control end signal ON and start the gripping operation before receiving the position target reach signal ON S7. When communication is normally performed between the hand control unit 105 and the arm control unit 205, the hand control unit 105 receives the position target reach signal ON S7 in response to the generation and transmission of the position control end signal ON. This is because the generation of the position control end signal ON can be regarded as the reception of the position target reach signal ON S7.

[0034] FIG. 5 is a flowchart showing the gripping end determination of the handling system according to the embodiment. When the gripping operation is started, the hand control unit 105 calculates the gripping force based on the hand state data S9. For example, the robot hand 100 includes fingers that pinch an object. The finger joints are driven by a motor. The hand control unit 105 calculates the gripping force from the current value of the motor. The hand control unit 105 compares the calculated gripping force with a target gripping force instructed by the processing device 300. The hand control unit 105 determines whether the target gripping force has been maintained for a certain period of time (step St21).

[0035] If the target gripping force is not maintained for a certain period of time, the hand control unit 105 determines whether the operation of the robot hand 100 has stopped (step St23). The stop of the operation is determined based on the rotation amount of the motor. For example, if the rotation speed of the motor falls below a preset threshold, it is determined that the operation of the robot hand 100 has stopped. If the operation of the robot hand 100 has not stopped, the hand control unit 105 determines whether a timeout has occurred (step St25). In other words, it is determined whether a preset time has elapsed since the start of the gripping operation. If the timeout has not occurred, step St21 is executed again.

[0036] If the target gripping force is maintained for a certain period of time, the hand control unit 105 determines that the gripping has been successful and ends the gripping operation. If the operation of the robot hand 100 stops or a timeout occurs, the hand control unit 105 determines that the gripping has failed and ends the gripping operation. The result of success or failure is output from the hand control unit 105 to the processing device 300.

[0037] FIG. 6 is a flowchart showing control at the end of a gripping operation of the handling system according to the embodiment. The hand control unit 105 determines whether the gripping operation has ended (step St31). When the gripping operation has ended, the hand control unit 105 outputs a force control end signal ON S11 to the arm control unit 205 (step St33). The hand control unit 105 determines whether the force control has ended (step St35). That is, the hand control unit 105 determines whether a force target reach signal ON S13 has been input from the arm control unit 205. When the force control has ended, the hand control unit 105 outputs a force control continuation signal OFF S15 to the arm control unit 205 (step St37). The robot arm 200 lifts the robot hand 100 and the object.

[0038] In addition to the various signals described above, a stop signal instructing to stop the operation may be communicated between the second communication unit 102 and the fourth communication unit 204. When the detection value by the force sensor 217 exceeds a threshold value, the robot arm 200 determines that an excessive force is applied to the robot hand 100 or the robot arm 200. The arm control unit 205 stops the operation of the robot arm 200. In addition, a stop signal is communicated from the arm control unit 205 to the hand control unit 105 via the fourth communication unit 204 and the second communication unit 102. When the hand control unit 105 receives the stop signal, it stops the operation of the robot hand 100. For example, when the robot hand 100 or the robot arm 200 collides with something, the operation of the robot hand 100 and the robot arm 200 is immediately stopped.

[0039] Alternatively, when the current value of the motor exceeds a threshold value, the hand control unit 105 determines that an excessive current is flowing through the motor. The hand control unit 105 stops the operation of the robot hand 100. Also, a stop signal is communicated from the hand control unit 105 to the arm control unit 205 via the second communication unit 102 and the fourth communication unit 204. When the arm control unit 205 receives the stop signal, it stops the operation of the robot arm 200. For example, when an abnormality occurs in the robot hand 100, the operations of the robot hand 100 and the robot arm 200 are immediately stopped. According to these controls, the safety of the robot hand 100 and the robot arm 200 can be improved.

[0040] Advantages of the embodiment will be described. In order to grasp various objects, it is preferable to calculate grasping data such as the grasping force and the grasping width during the grasping operation, and to execute grasping based on this grasping data. In order to calculate the grasping data, it is preferable to provide a processing device 300 separately from the robot hand 100 and the robot arm 200. By providing the processing device 300, the robot hand 100 and the robot arm 200 can be made smaller than when the function of the processing device 300 is incorporated into the robot hand 100 or the robot arm 200. In addition, when the robot hand 100 and the robot arm 200 are used as modules, the robot hand 100 and the robot arm 200 can be combined with more types of other robot arms 200 and other robot hands 100, respectively. In other words, the modularity of the robot hand 100 and the robot arm 200 can be improved.

[0041] Furthermore, the grasping operation requires cooperation between the robot hand 100 and the robot arm 200. For example, after the robot arm 200 reaches a position target, the grasping operation by the robot hand 100 is started. After the grasping operation of the robot hand 100, the robot arm 200 rises. For the robot hand 100 and the robot arm 200 to cooperate with each other, it is preferable that signals related to the grasping operation and signals related to the control of the robot arm 200 are communicated between the robot hand 100 and the robot arm 200.

[0042] 7(a) and 7(b) are schematic diagrams showing the function of a handling system according to a reference example. For example, in the handling system R1 shown in Fig. 7(a), the robot hand 100r1 does not include the second communication unit 102 or the hand control unit 105. The robot arm 200r1 does not include the fourth communication unit 204. In the handling system R1, the processing device 300 is responsible for controlling the robot hand 100r1. According to the handling system R1, the modularity of the robot hand 100r1 can be improved.

[0043] 7(b), the robot hand 100r2 does not include the first communication unit 101. In the handling system R2, the robot arm 200r2 communicates with the robot hand 100r2 instructions such as gripping data in addition to signals related to the start and end of the gripping operation. According to the handling system R2, the communication between the robot hand 100r2 and the robot arm 200r2 can be made faster, and the operation of the handling system R2 can be executed more quickly.

[0044] 7(a), when the amount of calculation by the processing device 300 increases for accurate and efficient gripping operation, delays occur in communication between the robot hand 100r1 and the processing device 300 and in communication between the robot arm 200r1 and the processing device 300. As a result, the time required for handling by the robot hand 100r1 and the robot arm 200r1 becomes longer.

[0045] In the handling system R2 shown in FIG. 7(b), a unique control unit corresponding to the connected robot hand 100r2 is incorporated in the arm control unit 205 of the robot arm 200r2. For this reason, the robot hand 100r2 cannot be replaced with a different type of robot hand 100r2. In addition, when replacing the robot arm 200r2, the robot hand 100r2 must also be replaced with a robot hand 100r2 corresponding to the replaced robot arm 200r2. In the handling system R2, the modularity of the robot hand 100r2 and the robot arm 200r2 is impaired.

[0046] Regarding these issues, in the robot hand 100 according to the embodiment, the first communication unit 101 communicates gripping data related to the gripping operation with the processing device 300 (first device). The second communication unit 102 communicates a start notification and an end notification with the robot arm 200 (second device). The start notification is a notification for starting the gripping operation, and corresponds to the position target arrival signal ON S7 in the example shown in FIG. 3. The end notification is a notification indicating the end of the gripping operation, and corresponds to the force control end signal ON S11 in the example shown in FIG. 3.

[0047] The hand control unit 105 starts a gripping operation based on the gripping data input to the first communication unit 101 in response to the start notification input to the second communication unit 102. When the gripping operation ends, the hand control unit 105 outputs an end notification from the second communication unit 102 to the robot arm 200. In addition, the hand control unit 105 outputs the gripping operation result S17 or the hand state S19 from the first communication unit 101 to the processing device 300.

[0048] Robot arm according to an embodiment 200 According to the above, the second communication unit 102 communicates a start notification and an end notification regarding the start and end of a gripping operation with the robot arm 200. This allows the handling operation to be performed more quickly than when communication is performed between the robot hand 100 and the robot arm 200 via the processing device 300 as in the handling system R1. As a result, the handling of an object can be completed in a shorter time, improving the efficiency of handling.

[0049] Moreover, according to the robot arm 200 according to the embodiment, the first communication unit 101 communicates the gripping data, the gripping operation result, the hand state, and the like with the processing device 300. This eliminates the need to incorporate a control unit for the robot hand 100 into the arm control unit 205, as in the handling system R2. This makes it possible to suppress a decrease in modularity of the robot arm 200.

[0050] According to the embodiment, the modularity of the robot arm 200 can be improved while enabling faster communication between the robot hand 100 and the robot arm 200.

[0051] In addition to the start notification and end notification, the second communication unit 102 communicates with the robot arm 200 a notification indicating that the pressing force by the robot arm 200 has reached a force target (force target reached signal ON S13), a notification for starting to raise the robot arm 200 (force control continuation signal OFF S15), and the like. According to the embodiment, these notifications can also be communicated at higher speeds, further improving the efficiency of handling.

[0052] Like the robot hand 100, the robot arm 200 includes a third communication unit 203 and a fourth communication unit 204. A control instruction S1 is communicated between the third communication unit 203 and the processing device 300. A start notification and an end notification are communicated between the fourth communication unit 204 and the robot hand 100 (third device). In addition, a force target reaching signal ON S13 and a force control continuing signal OFF S15 are communicated between the fourth communication unit 204 and the robot hand 100 in association with the end notification. By providing the third communication unit 203 and the fourth communication unit 204, it is possible to perform faster communication with the robot hand 100 while suppressing a decrease in modularity of the robot arm 200.

[0053] In addition, by performing force control by the robot arm 200 in conjunction with the grasping operation by the robot hand 100, even the robot hand 100 that does not include high-performance sensors can perform complex tasks according to the load and contact conditions of the hand.

[0054] For example, the robot hand 100 can be positioned at an angle to an object, and can perform an action of scooping up and grasping the object. The robot hand 100 may also pinch the object while scooping it up. These actions require a "following action" in which the robot hand 100 moves while in contact with the floor surface. By controlling the robot arm 200 based on the detection value by the force sensor 217 when contacting the floor surface, the following action can be performed more stably.

[0055] Or, when objects are placed close to each other, the fingers of the clamping mechanism 110 can be inserted into the gap between them to grasp one of the objects. This operation requires an "insertion operation" to adjust the position of each finger. By controlling the robot hand 100 and the robot arm 200 according to the reaction force on the fingers detected by the force sensor 217, the insertion operation can be performed more stably.

[0056] (Modification) FIG. 8 is a schematic diagram showing the configuration of a handling system according to a modified example of the embodiment. The handling system 1a according to the modified example includes a robot hand 100a. The robot hand 100a includes a suction mechanism instead of the clamping mechanism 110. The robot hand 100 can suck and grip an object by operating the suction mechanism in a state where the robot hand 100 is in contact with the object.

[0057] FIG. 9 is a schematic diagram showing a robot hand according to a modified example of the embodiment. As shown in FIG. 9, the robot hand 100 a includes a base 121 , a rotating part 122 , a suction device 123 , a plurality of switching valves 124 , a plurality of suction pads 125 , a base tip portion 126 , and a rotating part 127 .

[0058] The base 121 has, for example, a rectangular parallelepiped outer shape and constitutes the outer shell of the robot hand 100a. The base 121 is connected to the robot arm 200 via a rotating part 122. The base 121 may be configured in a box shape, or may be configured only by a frame.

[0059] The rotating unit 122 rotatably connects the base 121 to the robot arm 200. A rotation center axis C of the rotating unit 122 is substantially parallel to the direction in which the tip of the robot arm 200 and the base 121 are aligned. The rotating unit 122 can rotate the base 121 of the robot hand 100a in the θ direction and the opposite direction relative to the robot arm 200. Note that the rotating unit 122 may be provided as part of the robot arm 200, rather than as part of the robot hand 100a.

[0060] The suction device 123 is provided inside the base 121. The suction device 123 is, for example, a vacuum pump. The suction device 123 is in communication with each of the plurality of suction pads 125 via a hose or the like. When the suction device 123 is driven, the pressure in each suction pad 125 becomes lower than atmospheric pressure, and the object is sucked by the suction pad 125. The pressure in the suction pad 125 is detected by a negative pressure sensor (not shown).

[0061] A plurality of switching valves 124 are provided corresponding to the plurality of suction pads 125, respectively. Each switching valve 124 is set to a first state or a second state. In the first state, the suction device 123 and the corresponding suction pad 125 are in communication with each other. In the second state, communication between the suction pad 125 and the suction device 123 is blocked, and the suction pad 125 is in communication with the outside (atmospheric pressure space) of the robot hand 100a. For example, the number of switching valves 124 set to the first state is adjusted according to the size of the object to be grasped.

[0062] The base tip portion 126 is connected to one end of the base 121 via a rotating portion 127. The suction pads 125 are arranged side by side at one end of the base tip portion 126. The rotating portion 127 is provided between the base tip portion 126 and the base 121, and connects the base tip portion 126 to the base 121 so as to be rotatable therewith.

[0063] By operating a suction mechanism including a suction device 123, a plurality of switching valves 124, and a plurality of suction pads 125, an object can be sucked and grasped.

[0064] In the handling system 1a according to the modified example, the control shown in the control sequence diagram of Fig. 3 is executed, similarly to the handling system 1. In the handling system 1a, the gripping data outputted in response to the gripping operation instruction S3 includes the suction pads 125 used for gripping and the pressure at the time of suction. The hand state data S9 includes the pressure of each suction pad 125 detected by the negative pressure sensor.

[0065] When an object is gripped by suction, suction by the suction pad 125 may be started during position control by the robot arm 200. That is, the hand control unit 105 may start the gripping operation after the gripping operation command S3 is input and before the target position arrival signal ON S7 is input. This allows the object to be gripped more quickly.

[0066] FIG. 10 is a flowchart showing the gripping end determination of a handling system according to a modified example of the embodiment. The hand control unit 105 acquires the value of the negative pressure sensor for any one of the suction pads 125 used for gripping (step St41). The hand control unit 105 converts the acquired value into pressure (step St43). The hand control unit 105 determines whether the pressure is less than a preset threshold value (step St45). The threshold value corresponds to the pressure included in the input gripping data. If the pressure is less than the threshold value, the hand control unit 105 determines that the object has been successfully gripped, and ends the determination process.

[0067] If the pressure is equal to or greater than the threshold, the hand control unit 105 repeats the processes of steps St41, St43, and St45 for another suction pad 125 to be used for gripping. If the pressure is equal to or greater than the threshold for any of the suction pads 125 to be used, the arm control unit 205 determines whether the detection value by the force sensor 217 has reached the force target or whether the robot arm 200 has reached the area limit (step St47). The arm control unit 205 transmits the determination result to the hand control unit 105. If the determination is No in step St47, the hand control unit 105 continues the gripping operation. That is, the process of the flowchart shown in FIG. 10 is executed again. If the determination is Yes in step St47, the hand control unit 105 determines that gripping of the object has failed, and ends the determination process.

[0068] In the handling system 1a, like the handling system 1, control at the end of the gripping operation is executed according to the flowchart shown in FIG.

[0069] According to the handling system 1a of the modified example, similarly to the handling system 1, it is possible to achieve faster communication between the robot hand 100a and the robot arm 200 while suppressing a decrease in modularity of the robot arm 200.

[0070] (Example) FIG. 11 is a schematic diagram showing a handling system according to the embodiment. As shown in Fig. 11, a handling system 2 according to the embodiment includes a robot hand 100a, a robot arm 200, a processing device 300, and cameras 401-404. The handling system 2 grasps an object OBJ at a grasping position HP, transports the object, and releases it at a release position RP. Such an operation is also called picking (transporting) the object OBJ. In this example, the robot hand 100a grasps the object by suction.

[0071] The cameras 401 to 404 are, for example, RGB image cameras, distance image cameras, laser range finders, laser imaging detection and ranging (LiDAR), etc., and are capable of acquiring image information and distance information (three-dimensional information). For example, the handling system 2 includes a camera 401 for gripping, a camera 402 for checking a gripping state or for calibration, a camera 403 for releasing, and a camera 404 for temporary placement.

[0072] At the gripping position HP, there is an object OBJ to be gripped (transported). At the gripping position HP, the gripping camera 401 captures and detects the object OBJ and its surrounding area. At the gripping position HP, for example, the object OBJ is contained in a container 451 such as a container or a pallet. In this case, the gripping camera 401 captures and detects a part or the whole of the inside of the container 451.

[0073] The calibration camera 402 captures and detects the object OBJ at a calibration position which is set above the gripping position HP outside the container 451.

[0074] The release camera 403 captures and detects the release position RP and its surrounding area at the release position RP where the object OBJ is released (carried in). At the release position RP, the object OBJ is housed in a container 452 such as a container or a pallet. In this case, the release camera 403 captures and detects a part or the whole of the inside of the container 452.

[0075] The temporary placement camera 404 captures and detects the temporary placement position Pt and its surrounding area. The temporary placement position Pt is a position different from the grip position HP and the release position RP. At the temporary placement position Pt, the object OBJ is temporarily placed on a temporary placement surface 453 such as a table or stage. In this case, the temporary placement camera 404 captures and detects a part or the whole of the temporary placement surface 453.

[0076] FIG. 12 is a schematic diagram showing the function of the processing device in the handling system according to the embodiment. The processing device 300 includes, for example, an integration unit 301, an image processing unit 302, a signal processing unit 303, a grip plan generation unit 304, a release plan generation unit 305, a motion plan generation unit 306, a robot control unit 307, a peripheral device / I / O control unit 308, a learning control unit 309, an error detection unit 310, and an internal DB 311.

[0077] The integration unit 301 generates, operates, and manages a work plan for the handling system 2 based on user input information from the external I / F 320, the state of the handling system 2, and the detection values ​​by the force sensor 217.

[0078] The image processing unit 302 processes images and information (detection values) obtained from the cameras 401 to 404, and generates information required for operation planning, operation control, error detection, learning, and the like.

[0079] The signal processing unit 303 processes information (detection values) obtained from the force sensor 217, and generates information required for operation planning, operation control, error detection, and the like.

[0080] The grip plan generating unit 304 calculates position control data, force control data, grip data, etc. That is, the grip plan generating unit 304 calculates the gripping method of the object OBJ, the gripping position HP, the gripping posture at the gripping position HP, the movement path to the gripping position HP, the gripping width, and the gripping force. The movement path is calculated so that the robot hand 100a and the robot arm 200 do not interfere with the surrounding environment.

[0081] The release plan generating unit 305 calculates the installation method of the object OBJ, the release position RP, the gripping method at the release position RP, the release method, the release posture, and the movement path to the release position RP. The installation method is a method for installing the object OBJ at a location where the gripped object OBJ is to be released. As an example, the installation method is pressing the object OBJ.

[0082] The motion plan generation unit 306 calculates robot motion information such as the motion method, motion speed, motion path, etc., so that the robot arm 200 moves from the current position to the gripping position HP, the temporary placement position Pt, the release position RP, etc. via a possible path (waypoint) in accordance with instructions from the integration unit 301.

[0083] The robot control unit 307 controls the handling system 2 according to information generated by the gripping plan generating unit 304, the release plan generating unit 305, or the motion plan generating unit 306 and various motion switching instructions from the integrating unit 301. The robot control unit 307 also controls the robot hand 100a and the robot arm 200 according to various posture information, trajectory planning information, position control data, force control data, gripping data, etc. acquired from the integrating unit 301.

[0084] The peripheral device / I / O control unit 308 executes I / O control for various controls such as control of various transport devices, control of peripheral devices 330 such as safety doors, and acquisition of information from various sensors.

[0085] The learning control unit 309 controls the learning function. The learning function includes robot model learning for improving the operation accuracy such as vibration suppression of the robot arm 200, grip control parameter learning and grip database learning for improving the grip performance of the object OBJ, and error detection learning for improving the execution performance of the work plan.

[0086] The error detection unit 310 detects an error based on the state of the handling system 2, the implementation state of the work plan, the drive control state, the grip state of the object OBJ, the transport state, etc. Error detection can be realized, for example, by determining that an error has occurred when a value obtained by converting the output of the force sensor 217 into a hand coordinate, or a value obtained by passing the converted value through a low-pass filter, exceeds a preset threshold value. As a result, it becomes possible to interrupt the work being processed and then move on to a recovery operation, for example.

[0087] The internal database (DB) 311 includes a robot database (robot DB), a hand database (hand DB), an object database (object DB), a gripping database (grippling DB), and an environment database (environment DB).

[0088] The robot DB stores the structure of the handling system 2, the dimensions and weight of each part, the moment of inertia, the operating range and speed of each drive part, and the torque performance.

[0089] The hand DB stores information about the functions of the robot hand 100a and the gripping characteristics of the robot hand 100a.

[0090] The object DB stores the name, identification number, category, full-surface image information, CAD model information, weight information, and characteristic information at the time of grasping of the object OBJ. The characteristic information is information that indicates the characteristics of the grasped object OBJ, such as softness, fragility, or shape change.

[0091] The grasping DB stores, for each grasping method of the robot hand 100a, a graspable position, a graspable posture, score information indicating the ease of grasping, a possible pressing amount when grasping, a judgment threshold for grasping judgment, and a judgment threshold for error detection. Examples of the grasping method include a suction method, a parallel two-finger method, a parallel four-finger method, and a multi-joint method.

[0092] The environment DB stores information about the work platform that the handling system 2 is compatible with, the operating range of the handling system 2, and surrounding environment information indicating surrounding obstacles.

[0093] The external I / F 320 executes input and output of data between the integration unit 301 (processing device 300) and an external device (not shown).

[0094] FIG. 13 is a flowchart showing a process performed by the handling system according to the embodiment. The integration unit 301 receives a transport instruction (handling instruction) for the object OBJ from an external device via the external I / F 321 (step St51).

[0095] The integration unit 301 detects that the object OBJ or a container 451 containing the object OBJ has reached the grasping position HP based on the image captured by the camera 401 and the detection values ​​of other sensors such as a photoelectric sensor or a microswitch (step St52).

[0096] The integration unit 301 controls the camera 401 to capture an image of the gripping position HP of the object OBJ and its surroundings (step St53). For example, the camera 401 captures an image of the inside of a container 451 in which the object OBJ is contained.

[0097] The image processing unit 302 determines the presence or absence of the object OBJ and identifies the graspable surface of the object OBJ from the image captured by the camera 401. Furthermore, the image processing unit 302 calculates graspable surface information such as the shape and size of the graspable surface of the object OBJ, and the position and orientation in three-dimensional space (step St54).

[0098] The gripping plan generating unit 304 calculates the peripheral information and additional information (step St55). The peripheral information is calculated based on the gripping surface information, and is information on objects (peripheral parts) other than the object OBJ in the container 451. The additional information is calculated based on the gripping surface information and information in the object DB, and indicates the moving direction, the magnitude of the pressing force, the allowable range of movement, etc. of the robot arm 200 when performing force control.

[0099] The grip plan generating unit 304 calculates a plurality of pieces of grip information for the robot arm 200 to grip the grippable surface of the object OBJ based on the grip surface information (step St56). The grip plan generating unit 304 selects the object OBJ to be gripped, the grip position HP, the grip posture, the force target, the grip width, and the grip force based on the calculated plurality of pieces of grip information. Then, the motion plan generating unit 306 generates movement information from the current position of the robot arm 200 to the grip position HP and the grip posture. In this case, the grip information includes the peripheral information and additional information calculated in step St55 in addition to the grip position information and the grip posture information.

[0100] In the process of step St56, when generating the gripping information and the movement information, the integration unit 301 selects a high-speed movement in a situation where there is no or low possibility of interference between the robot arm 200 and an object other than the object OBJ. On the other hand, the integration unit 301 selects a low-speed movement in a situation where there is a high possibility of interference between the robot hand 100a, the object OBJ, and other objects. Examples of situations where there is a high possibility of interference include when the robot hand 100a approaches the container 451, when the robot hand 100a enters the container 451, and the like. Furthermore, the motion plan generation unit 306 determines a target value of the force generated in the robot hand 100a in a situation where there is a high possibility of interference.

[0101] The robot control unit 307 outputs position control data and force control data to the robot arm 200. The position control data includes the gripping position HP, the gripping posture, and the movement path to the gripping position HP. The force control data includes a force target and an area limit. The robot control unit 307 also outputs a gripping operation instruction based on the gripping information to the robot hand 100a. The gripping operation instruction includes a gripping width and a gripping force. The robot arm 200 and the robot hand 100a operate according to the output instruction. As an example, in the peripheral area of ​​the gripping position HP of the object OBJ, a pressing operation of the robot hand 100a is performed only by force control, and a gripping operation such as suction is performed with the suction pad 125 in sufficient contact with the object OBJ (step St57).

[0102] In the area surrounding the gripping position HP, if the robot hand 100a interferes with an obstacle, the robot hand 100a executes an operation to escape from the interfered obstacle according to a given operation method and target force value. Also, if the gripping surface of the object OBJ has a relatively large inclination, the robot hand 100a executes an operation to make the robot hand 100a follow the gripping surface of the object OBJ.

[0103] The integration unit 301 or the robot control unit 307 acquires the result of the gripping operation from the robot hand 100a, and determines whether or not the gripping of the object OBJ has been successful (step St58).

[0104] If the grasping fails, the integration unit 301 executes a retry preparation operation such as a retreat operation of the robot arm 200 and a registration of information indicating the grasping failure in the object DB (step St59). Then, step St53 is executed again to perform a grasping retry operation.

[0105] If the gripping is successful, the robot control unit 307 controls the robot arm 200 to move to a position where an image of the robot hand 100a gripping the object OBJ can be captured. The integration unit 301 also controls the camera 402 to capture an image of the robot hand 100a gripping the object OBJ at that position (step St60).

[0106] The image processing unit 302 generates object information from the image captured by the camera 402 (step St61). The object information is information indicating the relative position of the object OBJ with respect to the robot hand 100a, the relative orientation of the object OBJ with respect to the robot hand 100a, and the state and shape of the object OBJ.

[0107] The integration unit 301 controls the camera 403 to capture an image of the release position RP of the object OBJ and its surroundings (step St62). For example, the camera 403 captures an image of the inside of a container 452 that contains the grasped object OBJ.

[0108] The image processing unit 302, in cooperation with the integration unit 301, calculates peripheral information from the image captured by the camera 403 (step St63). The peripheral information includes a determination result of the presence or absence of other objects other than the object OBJ at the release position RP and its periphery, the size and position of the other objects, the surface position of the other objects, etc.

[0109] The release plan generating unit 305 calculates release information of the object OBJ being gripped by the robot arm 200 based on the object information, grip DB information, peripheral information, etc. (step St64). The release information indicates the release position, release posture, via point position, via point posture, etc. At this time, the release plan generating unit 305 calculates additional information such as the pressing direction and magnitude of the pressing force of the robot hand 100a when force control is performed, and the allowable range of movement for force control. The release plan generating unit 305 adds the additional information to the release information.

[0110] The release plan generating unit 305 determines the release position RP and the release posture of the grasped object OBJ based on the release information (step St65).

[0111] The robot control unit 307 outputs the release information to the robot hand 100a and the robot arm 200. The robot hand 100a and the robot arm 200 operate according to the release information. As a result, the object OBJ moves to the release position RP and is released at the release position RP (step St66). In the peripheral area of ​​the release position RP of the object OBJ, the robot hand 100a executes an operation of pressing the object OBJ against the wall of the container 452 or the surface of the wall or object if there is a sufficiently large object. This allows the object OBJ to be arranged in the container 452 with a higher density. Even if the surface has a relatively large inclination, the object OBJ can be released in a state where it is in close contact with and conforms to the surface by a given pressing method and pressing force.

[0112] After releasing the object OBJ to be placed, the robot control unit 307 controls the robot hand 100a to exit the container 452, and controls the robot arm 200 to assume a standby posture (step St67).

[0113] The integration unit 301 determines whether or not the next transport instruction has been received from the external device via the external I / F 320 (step St68).

[0114] In the determination of step St68, if the integration unit 301 has received the next transport instruction, it executes step St52 again. This starts a series of controls for the next object OBJ. In the determination of step St68, if the integration unit 301 has not received the next transport instruction, it ends the series of controls.

[0115] According to the handling system 2, one or more selected from a plan regarding the transfer, gripping information, and movement information are calculated by the processing device 300. The plan regarding the transfer is one or more selected from a gripping plan, a release plan, an operation plan, and a work plan. According to the handling system 2, an object can be handled more efficiently. On the other hand, the calculation load on the processing device 300 increases. However, during the gripping operation, a signal regarding the gripping operation is communicated between the robot hand 100a and the robot arm 200. Therefore, even if the calculation load on the processing device 300 increases, a delay in the gripping operation can be suppressed. According to the embodiment, it is possible to realize more efficient handling of objects.

[0116] In the above, an example has been described in which the robot hand 100 or 100a is attached to the robot arm 200 and the second communication unit 102 communicates with the robot arm 200. The use of the robot hands 100 and 100a according to the embodiment is not limited to this example. The robot hand 100 or 100a may be provided on a moving body such as an automated guided vehicle (AGV) or a drone.

[0117] FIG. 14 is a schematic diagram showing a hardware configuration. The processing device 300 is realized by, for example, a computer 500 shown in Fig. 14. The computer 500 shown in Fig. 14 includes a CPU 501, a ROM 502, a RAM 503, a storage device 504, an input interface 505, an output interface 506, and a communication interface 507.

[0118] The ROM 502 stores a program that controls the operation of the computer 500. The ROM 502 stores a program necessary for causing the computer 500 to realize each of the above-mentioned processes. The RAM 503 functions as a storage area in which the programs stored in the ROM 502 are expanded.

[0119] The CPU 501 includes a processing circuit. The CPU 501 uses the RAM 503 as a work memory and executes a program stored in at least one of the ROM 502 and the storage device 504. During execution of the program, the CPU 501 controls each component via a system bus 508 and executes various processes.

[0120] The storage device 504 stores data necessary for executing the programs and data obtained by executing the programs.

[0121] The input interface (I / F) 505 connects the computer 500 and the input device 505a. The input I / F 505 is, for example, a serial bus interface such as USB. The CPU 501 can read various data from the input device 505a via the input I / F 505.

[0122] The output interface (I / F) 506 connects the computer 500 and the output device 506a. The output I / F 506 is, for example, a video output interface such as a Digital Visual Interface (DVI) or a High-Definition Multimedia Interface (HDMI (registered trademark)). The CPU 501 outputs data to the output device 506a via the output I / F 506, and can cause the output device 506a to output the data.

[0123] The communication interface (I / F) 507 connects the computer 500 to a server 507a external to the computer 500. The communication I / F 507 is, for example, a network card such as a LAN card. The CPU 501 can read various data from the server 507a via the communication I / F 507.

[0124] The storage device 504 includes one or more selected from a hard disk drive (HDD) and a solid state drive (SSD). The input device 505a includes one or more selected from a mouse, a keyboard, a microphone (audio input), and a touchpad. The output device 506a includes one or more selected from a monitor, a projector, a printer, and a speaker. A device having the functions of both the input device 505a and the output device 506a, such as a touch panel, may be used.

[0125] According to the handling system, the instruction device, the handling method, or the instruction method described above, the processes required for handling an article can be further automated, and manual work can be reduced. Also, the same effect can be obtained by using a program for operating a computer as the instruction device.

[0126] The various data processing operations described above may be recorded as a program that can be executed by a computer on a magnetic disk (such as a flexible disk or a hard disk), an optical disk (such as a CD-ROM, CD-R, CD-RW, DVD-ROM, DVD±R, DVD±RW), a semiconductor memory, or other non-transitory computer-readable storage medium.

[0127] For example, information recorded on a recording medium can be read by a computer (or an embedded system). The recording medium may have any recording format (storage format). For example, the computer reads a program from the recording medium and causes a CPU to execute instructions described in the program based on the program. The computer may acquire (or read) the program via a network.

[0128] Although some embodiments of the present invention have been illustrated above, these embodiments are presented as examples and are not intended to limit the scope of the invention. These novel embodiments can be implemented in various other forms, and various omissions, substitutions, modifications, etc. can be made without departing from the gist of the invention. These embodiments and their modifications are included in the scope and gist of the invention, and are included in the scope of the invention and its equivalents described in the claims. In addition, the above-mentioned embodiments can be implemented in combination with each other. [Explanation of symbols]

[0129] 1, 1a, 2, R1, R2: handling system, 10: robot arm, 100, 100a, 100r1, 100r2: robot hand, 101: first communication unit, 102: second communication unit, 105: hand control unit, 110: clamping mechanism, 121: base, 122: rotating unit, 123: suction device, 124: switching valve, 125: suction pad, 126: base tip, 127: rotating unit, 200, 200r1, 200r2: robot arm, 203: third communication unit, 204: fourth communication unit, 205: arm control unit, 210: housing, 217: force sensor, 300: processing device, 301: integration unit, 302: image processing unit, 303: signal processing unit, 304: Grasp plan generation unit, 305: Release plan generation unit, 306: Motion plan generation unit, 307: Robot control unit, 308: Peripheral device input output control unit, 309: Learning control unit, 310: Error detection unit, 320: External interface, 321: External interface, 330: Peripheral device, 401 to 404: Camera, 451, 452: Container, 453: Temporary placement surface, 500: Computer, 501: CPU, 502: ROM, 503: RAM, 504: Storage device, 505: Input interface, 505a: Input device, 506: Output interface, 506a: Output device, 507: Communication interface, 507a: Server, 508: System bus, C: Rotation center axis, DB311: Internal, HP: Grasp position, OBJ: Object, Pt: Temporary position, RP: Release position

Claims

1. A robot hand for grasping an object, A first communication unit that communicates gripping data related to a gripping operation with a first device; a second communication unit capable of communicating at a higher speed than the first communication unit and configured to communicate a start notification for starting the gripping operation and an end notification indicating an end of the gripping operation with a second device other than the first device; A hand control unit that controls the gripping operation, The hand control unit includes: The gripping action based on the gripping data input to the first communication unit is started in response to the start notification input to the second communication unit; In response to the end of the gripping operation, output of the end notification from the second communication unit to the second device, and output of at least one of a result of the gripping operation or information related to a drive source of the robot hand from the first communication unit to the first device. Robot hand.

2. Further comprising a clamping mechanism for clamping the object, The robot hand according to claim 1 , wherein the gripping data includes a gripping width and a gripping force when the object is gripped by the clamping mechanism.

3. The robot hand of claim 2, wherein when the gripping width and the gripping force are achieved by the clamping mechanism, the hand control unit determines that the gripping operation has ended, and executes the output of the end notification and the output of at least one of the result of the gripping operation or the information of the robot hand.

4. Further comprising an adsorption mechanism for adsorbing the object, The robot hand according to claim 1 , wherein the gripping data includes a pressure applied when gripping the object by the suction mechanism.

5. The robot hand of claim 4, wherein when the pressure is realized by the suction mechanism, the hand control unit determines that the gripping operation has ended, and executes the output of the end notification and the output of at least one of the result of the gripping operation or the information of the robot hand.

6. The robot hand according to any one of claims 1 to 5, wherein the hand control unit is incorporated into the robot hand.

7. A robot hand described in any one of claims 1 to 6, wherein the amount of data that can be communicated per unit time between the second communication unit and the second device is greater than the amount of data that can be communicated per unit time between the first communication unit and the first device.

8. The first communication unit communicates with the first device via one or more selected from serial communication (RS-232C, RS-422, or RS-485), a Serial Peripheral Interface (SPI), an Inter-Integrated Circuit (I2C), a Universal Serial Bus (USB), Ethernet, and Bluetooth (registered trademark); The robot hand according to any one of claims 1 to 7, wherein the second communication unit communicates with the second device via one or more selected from digital input output (I / O) and parallel communication.

9. A robot hand according to any one of claims 1 to 8; The first device; and A robot arm as the second device; Handling system equipped.

10. The robot arm includes: a third communication unit that communicates a control instruction including position control data with the first device; a fourth communication unit that communicates the start notification and the end notification with the second communication unit; an arm control unit that executes position control based on the position control data; The handling system of claim 9 , comprising:

11. the control instructions further include force control data; The handling system according to claim 10 , wherein the arm control section executes force control based on the force control data after the position control.

12. The robot arm further includes a force sensor that detects a force acting on the robot hand, The handling system according to claim 11 , wherein the arm control unit outputs the start notification from the fourth communication unit to the second communication unit when the detection value by the force sensor reaches a force target included in the force control data.

13. A handling system according to any one of claims 10 to 12, wherein a stop signal instructing the robot hand or the robot arm to stop operating is communicated between the second communication unit and the fourth communication unit.

14. The third communication unit communicates with the first device via one or more selected from serial communication (RS-232C, RS-422, or RS-485), a Serial Peripheral Interface (SPI), an Inter-Integrated Circuit (I2C), a Universal Serial Bus (USB), Ethernet, and Bluetooth (registered trademark); The robot hand according to any one of claims 10 to 13, wherein the second communication unit and the fourth communication unit communicate with each other via one or more selected from digital input output (I / O) and parallel communication.

15. The handling system according to any one of claims 9 to 14, wherein the robot arm moves in response to receiving the end notification.

16. A hand control device for controlling a robot hand that grasps an object, A first communication unit that communicates gripping data related to a gripping operation with a first device; a second communication unit capable of communicating at a higher speed than the first communication unit and configured to communicate a start notification for starting the gripping operation and an end notification indicating an end of the gripping operation with a second device other than the first device; Equipped with The gripping action based on the gripping data input to the first communication unit is started in response to the start notification input to the second communication unit; In response to the end of the gripping operation, output of the end notification from the second communication unit to the second device, and output of at least one of a result of the gripping operation or information related to a drive source of the robot hand from the first communication unit to the first device. Hand control device.

17. A method for controlling a robot hand that grasps an object, comprising: inputting gripping data relating to a gripping operation from a first device via a first communication unit; A start notification for starting the gripping operation is input from a second device different from the first device via a second communication unit capable of communicating at a higher speed than the first communication unit; Starting the gripping action based on the gripping data in response to the start notification; In response to the end of the gripping operation, an end notification indicating the end of the gripping operation is output to the second device via the second communication unit, and at least one of a result of the gripping operation and information regarding a drive source of the robot hand is output to the first device via the first communication unit. A method for controlling a robot hand.

18. The gripping data includes a gripping width and a gripping force when gripping the object by a clamping mechanism, 18. A method for controlling a robot hand as described in claim 17, further comprising: determining that the gripping operation has ended when the gripping width and the gripping force are achieved by the clamping mechanism; and outputting the end notification and outputting at least one of the result of the gripping operation or the information of the robot hand.

19. the gripping data includes a pressure when gripping the object by a suction mechanism; 18. A method for controlling a robot hand as described in claim 17, further comprising: determining that the gripping operation has ended when the pressure is realized by the suction mechanism; and outputting the end notification and outputting at least one of the result of the gripping operation or the information of the robot hand.

20. A program for causing a control device to execute the method for controlling a robot hand according to any one of claims 17 to 19.

21. A storage medium storing a program for causing a control device to execute the robot hand control method according to any one of claims 17 to 19.

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