Robot Hand

Abstract

To provide a robot hand that is allowed to perform various kinds of work.SOLUTION: The robot hand comprises: a first proximal end-side finger having a first protruding portion at a tip thereof; a first tip-side finger which is relatively movably connected to the first proximal end-side finger and has a first notch through which the first protruding portion can pass; a second proximal end-side finger having a second protruding portion at a tip thereof; a second tip-side finger which is relatively movably connected to the second proximal end-side finger and has a second notch through which the second protruding portion can pass; an opening / closing driving unit which moves the second proximal end-side finger relatively with respect to the first proximal end-side finger; a first rotating / driving unit which rotates the first tip-side finger relatively with respect to the first proximal end-side finger; a second rotating / driving unit which rotates the second tip-side finger relatively with respect to the second proximal end-side finger; and a control unit which activates the opening / closing driving unit, the first rotating / driving unit and the second rotating / driving unit.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to a robot hand. [Background technology]

[0002] With the recent advancement of robotics technology, automation using robot systems is progressing at industrial manufacturing sites. An example of a robot hand that constitutes a robot system is disclosed in Patent Document 1. This robot hand uses multiple types of fingers depending on the shape, size, and weight of the target object. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2011-240422 A Summary of the Invention [Problem to be solved by the invention]

[0004] There is a demand for one robot hand to perform various types of work. An object of the present disclosure is to provide a robot hand that can perform various types of work. [Means for solving the problem]

[0005] The robot hand according to the present disclosure includes a first base end finger having a first protrusion at a tip, a first tip end finger connected to the first base end finger so as to be rotatable relative to the first base end finger and having a first notch through which the first protrusion can pass, a second base end finger having a second protrusion at its tip, a second tip end finger connected to the second base end finger so as to be rotatable relative to the second base end finger and having a second notch through which the second protrusion can pass, an opening / closing drive unit that moves the second base end finger relative to the first base end finger, a first rotation drive unit that rotates the first tip end finger relative to the first base end finger, a second rotation drive unit that rotates the second tip end finger relative to the second base end finger, and a control unit that operates the opening / closing drive unit, the first rotation drive unit, and the second rotation drive unit. Effect of the Invention

[0006] According to the present disclosure, it is possible to provide a robot hand that can perform various types of tasks. [Brief description of the drawings]

[0007] [Figure 1] 1A and 1B are perspective and front views of a robot hand in a first state; [Diagram 2] 1 is a perspective view and a front view of a robot hand in a second state; [Diagram 3] 11A and 11B are perspective and front views of the robot hand in a third state; [Figure 4] A perspective view and a front view of a robot hand gripping an object [Diagram 5] A perspective view and a front view of a robot hand gripping an object [Figure 6] A perspective view and a front view of a robot hand gripping an object [Figure 7] FIG. 1 is a side view and a perspective view of the robot hand and its surroundings for explaining the operation when attaching a sticker. [Figure 8] FIG. 1 is a side view and a perspective view of the robot hand and its surroundings for explaining the operation when attaching a sticker. [Figure 9]FIG. 1 is a side view and a perspective view of the robot hand and its surroundings for explaining the operation when attaching a sticker. [Figure 10] FIG. 1 is a side view and a perspective view of the robot hand and its surroundings for explaining the operation when attaching a sticker. [Figure 11] FIG. 1 is a side view and a perspective view of the robot hand and its surroundings for explaining the operation when attaching a sticker. [Figure 12] FIG. 1 is a side view and a perspective view of the robot hand and its surroundings for explaining the operation when attaching a sticker. [Figure 13] FIG. 1 is a side view and a perspective view of the robot hand and its surroundings for explaining the operation when attaching a sticker. [Figure 14] A flow diagram explaining the operation of the robot hand and the robot arm when applying a sticker. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0008] Hereinafter, an embodiment of the present invention will be described with reference to the drawings.

[0009] Fig. 1 is a perspective view and a front view of a robot hand 100 according to an embodiment of the present disclosure. The diagram on the left side of Fig. 1 is a perspective view of the robot hand 100 in a first state, and the diagram on the right side of Fig. 1 is a front view of the robot hand 100 in the first state.

[0010] The robot hand 100 includes a first base end finger 11, a first tip end finger 12, a first rotation drive unit 13, a second base end finger 21, a second tip end finger 22, a second rotation drive unit 23, a hand unit 30, an opening / closing drive unit 31, and a control unit 40.

[0011] The first proximal finger 11 is attached to the hand 30 via an opening / closing drive unit 31 that is composed of a motor, a shaft, and the like.

[0012] The first distal finger 12 is attached to the distal end of the first proximal finger 11 so as to be rotatable relative to the first proximal finger 11. The first proximal finger 11 and the first distal finger 12 constitute one finger, and a first rotation drive unit 13 constituted by a motor or the like is disposed in this finger. When the first rotation drive unit 13 is operated, the first distal finger 12 rotates relative to the first proximal finger 11. The central axis of rotation of the first distal finger 12 by the first rotation drive unit 13 is parallel to the first proximal finger pad surface 11S described later.

[0013] The first base side finger 11 has a first protrusion 11A on the tip side of the first base side finger 11. The first tip side finger 12 has a first notch 12A on the end connected to the first base side finger 11. The size of the first notch 12A is such that the first protrusion 11A can pass through when the first tip side finger 12 rotates relative to the first base side finger 11. In other words, the width of the first protrusion 11A is smaller than the width of the first tip side finger 12 (i.e., the width of the first tip side finger pad surface 12S described later).

[0014] The second proximal finger 21 is fixed to the hand portion 30 .

[0015] The second distal finger 22 is attached to the distal end of the second proximal finger 21 so as to be rotatable relative to the second proximal finger 21. The second proximal finger 21 and the second distal finger 22 constitute one finger, and a second rotation drive unit 23 constituted by a motor or the like is disposed in this finger. When the second rotation drive unit 23 is operated, the second distal finger 22 rotates relative to the second proximal finger 21. The rotation center axis of the rotation operation of the second distal finger 22 by the second rotation drive unit 23 is parallel to the rotation center axis of the rotation operation of the first distal finger 12 by the first rotation drive unit 13.

[0016] The second base side finger 21 has a second protrusion 21A on the tip side of the second base side finger 21. The second tip side finger 22 has a second notch 22A on the end connected to the second base side finger 21. The size of the second notch 22A is such that the second protrusion 21A can pass through when the second tip side finger 22 rotates relative to the second base side finger 21. That is, the width of the second protrusion 21A is smaller than the width of the second tip side finger 22 (i.e., the width of the second tip side finger pad surface 22S described later).

[0017] When the opening / closing drive unit 31 is activated, the fingers consisting of the first base end finger 11 and the first tip end finger 12 move relative to the hand 30, and ultimately relative to the fingers consisting of the second base end finger 21 and the second tip end finger 22.

[0018] The first base end finger 11 has a first base end finger pad surface 11S on the side facing the second base end finger 21. The first base end finger pad surface 11S is a plane in this embodiment. The second base end finger 21 has a second base end finger pad surface 21S on the side facing the first base end finger 11. The second base end finger pad surface 21S is a plane parallel to the first base end finger pad surface 11S in this embodiment. The opening / closing drive unit 31 moves the first base end finger 11 relative to the second base end finger 21 in a direction perpendicular to the first base end finger pad surface 11S while keeping the first base end finger pad surface 11S and the second base end finger pad surface 21S parallel to each other. The shapes of the first base end finger pad surface 11S and the second base end finger pad surface 21S can be appropriately changed depending on the object to be grasped, and do not necessarily have to be flat.

[0019] The first tip side finger 12 has a first tip side finger pad surface 12S which is a plane. The second tip side finger 22 has a second tip side finger pad surface 22S which is a plane. In the state shown in FIG. 1, the first tip side finger pad surface 12S and the second tip side finger pad surface 22S face outward from the robot hand 100. In this state, the first protrusion 11A arranged on the tip side of the first base side finger 11 is located at the tip of one finger composed of the first base side finger 11 and the first tip side finger 12. In addition, the second protrusion 21A arranged on the tip side of the second base side finger 21 is located at the tip of one finger composed of the second base side finger 21 and the second tip side finger 22. The shapes of the first tip side finger pad surface 12S and the second tip side finger pad surface 22S can be appropriately changed depending on the object to be grasped, and do not necessarily have to be flat.

[0020] The control unit 40 is, for example, a CPU (Central Processing Unit), and controls the first rotation drive unit 13, the second rotation drive unit 23, and the opening / closing drive unit 31, thereby controlling the operation of the robot hand 100.

[0021] Fig. 2 is a perspective view and a front view of a robot hand 100 according to an embodiment of the present disclosure in a state different from the state shown in Fig. 1. The diagram on the left side of Fig. 2 is a perspective view of the robot hand 100 in the second state, and the diagram on the right side of Fig. 2 is a front view of the robot hand 100 in the second state.

[0022] 2 shows a state in which the first distal finger 12 and the second distal finger 22 are arranged to extend linearly toward the distal ends of the first base finger 11 and the second base finger 21 by the operation of the first rotary drive unit 13 and the second rotary drive unit 23. In this state, the first distal finger pad surface 12S forms the same plane as the first base finger pad surface 11S. The second distal finger pad surface 22S forms the same plane as the second base finger pad surface 21S. In this state, the first protrusion 11A is located in the first cutout 12A, and the second protrusion 21A is located in the second cutout 22A.

[0023] Fig. 3 is a perspective view and a front view of a robot hand 100 according to an embodiment of the present disclosure in a state different from the states shown in Fig. 1 and Fig. 2. The left side of Fig. 3 is a perspective view of the robot hand 100 in a third state, and the right side of Fig. 3 is a front view of the robot hand 100 in the third state.

[0024] 3 shows a state in which the first tip side finger 12 and the second tip side finger 22 are arranged to bend and extend toward the tip side of the first base side finger 11 and the second base side finger 21 by operating the first rotation drive unit 13 and the second rotation drive unit 23. In this state, the first tip side finger pad surface 12S intersects with the first base side finger pad surface 11S. The second tip side finger pad surface 22S intersects with the second base side finger pad surface 21S. In this state, the first tip side finger 12 and the second tip side finger 22 are located between the first base side finger pad surface 11S and the second base side finger pad surface 21S.

[0025] The robot hand 100 configured as above can operate as described below.

[0026] Fig. 4 is a perspective view and a front view of the robot hand 100 gripping an object 201 when the robot hand 100 is in the state shown in Fig. 1. The diagram on the left side of Fig. 4 is a perspective view of the robot hand 100, and the diagram on the right side of Fig. 4 is a front view of the robot hand 100.

[0027] 4, the robot hand 100 can precisely grip a relatively small object 201, and can move or work in a small space while gripping the object 201. At this time, the robot hand 100 is in the following state. That is, the back surface of the first base-side finger 11 and the back surface of the first tip-side finger 12 are in contact with each other, and the back surface of the second base-side finger 21 and the back surface of the second tip-side finger 22 are in contact with each other, so that the first protrusion 11A and the second protrusion 21A protrude. Therefore, by operating the opening / closing drive unit 31, the object 201 can be gripped between the first protrusion 11A (i.e., the first base-side finger pad surface 11S) and the second protrusion 21A (i.e., the second base-side finger pad surface 21S).

[0028] Fig. 5 is a perspective view and a front view of the robot hand 100 in a state where the robot hand 100 is gripping an object 202 when the robot hand 100 is in the state shown in Fig. 2. The diagram on the left side of Fig. 5 is a perspective view of the robot hand 100, and the diagram on the right side of Fig. 5 is a front view of the robot hand 100.

[0029] 5, the robot hand 100 can stably grasp a relatively large object 202. At this time, the robot hand 100 is in the following state. That is, the first tip side finger 12, which is wider than the first protrusion 11A, is located closer to the tip side of the first base side finger 11 than the first protrusion 11A, and the second tip side finger 22, which is wider than the second protrusion 21A, is located closer to the tip side of the second base side finger 21 than the second protrusion 21A. Therefore, by operating the opening / closing drive unit 31, the object 202 can be stably grasped over a wide area between the first tip side finger 12 (i.e., the first tip side finger pad surface 12S) and the second tip side finger 22 (i.e., the second tip side finger pad surface 22S). Furthermore, depending on the size and shape of the object, the object can be grasped more stably over a wider area between the first distal finger 12 and the first base end finger 11 (i.e., the first distal end finger pad surface 12S and the first base end finger pad surface 11S) and the second distal end finger 22 and the second base end finger 21 (i.e., the second distal end finger pad surface 22S and the second base end finger pad surface 21S).

[0030] Fig. 6 is a perspective view and a front view of the robot hand 100 gripping an object 203 when the robot hand 100 is in the state shown in Fig. 3. The left side of Fig. 6 is a perspective view of the robot hand 100, and the right side of Fig. 6 is a front view of the robot hand 100.

[0031] By putting the robot hand 100 in the state shown in FIG. 6, it is possible to stably grasp an object 203 that is relatively difficult to grasp by pinching it between two planes because it has a complex shape or is heavy. At this time, the state of the robot hand 100 is as follows. That is, the first tip side finger 12 and the second tip side finger 22 are positioned between the first base side finger pad surface 11S and the second base side finger pad surface 21S. Therefore, by operating the opening and closing drive unit 31, the object 203 is pinched between the first base side finger 11 and the second base side finger 21, so that the first tip side finger 12 and the second tip side finger 22 can be positioned below the object 203. That is, the object 203 can be supported from below by the first tip side finger 12 and the second tip side finger 22. Therefore, it is possible to stably grasp the object 203 that is relatively difficult to grasp by pinching it between two planes. Furthermore, as shown in FIG. 6, when the object 203 is relatively large, the object 203 can be more stably grasped by contacting the object 203 with the first base end side finger pad surface 11S, the first tip end side finger pad surface 12S, the second base end side finger pad surface 21S, the second tip end side finger pad surface 22S, and the palm surface 30S (pressing the object 203 toward the palm surface 30S to grasp the object 203).

[0032] As described above, the robot hand 100 according to this embodiment can switch between the combination of the first protrusion 11A and the second protrusion 21A, and the combination of the first tip-side finger 12 and the second tip-side finger 22. Therefore, by switching between these combinations depending on the object to be grasped and the working environment, it is possible to grasp various objects.

[0033] Furthermore, the first tip side finger 12 and the second tip side finger 22 can perform not only the action of grasping an object, but also the action of pressing the object grasped by the first protrusion 11A and the second protrusion 21A toward another object. By performing this action, an action such as sticking a sticker can be performed. Below, the action performed while pressing the object against another object will be described with reference to Figs. 7 to 14, taking as an example the action of sticking a sticker, which is an object, to an attachment surface, which is another object.

[0034] 7 to 13 are respectively a side view and a perspective view of the periphery of the robot hand 100 for explaining the operation during sticker application. In each figure, the figure on the left is a side view of the periphery of the robot hand 100, and the figure on the right is a perspective view of the periphery of the robot hand 100. As shown in Figs. 7 to 13, when sticker application is performed, the robot hand 100 is attached to the tip of the robot arm 101. Fig. 14 is an operation flow of the robot hand 100 and the robot arm 101, and shows a control algorithm by the control unit 40. That is, the control unit 40 controls the robot arm 101 in addition to the robot hand 100.

[0035] First, the first rotation drive unit 13 is operated so that the back surface of the first tip side finger 12 (the surface opposite to the first tip side finger pad surface 12S) and the back surface of the first base side finger 11 (the surface opposite to the first base side finger pad surface 11S) come into contact with each other. Also, the second rotation drive unit 23 is operated so that the back surface of the second tip side finger 22 (the surface opposite to the second tip side finger pad surface 22S) and the back surface of the second base side finger 21 (the surface opposite to the second base side finger pad surface 21S) come into contact with each other. That is, the first tip side finger 12 and the second tip side finger 22 are rotated outward, respectively, and the first protrusion 11A and the second protrusion 21A are protruded toward the tip side (S31 in FIG. 14).

[0036] Next, the robot arm 101 is moved to move the robot hand 100 so that the tip of the robot hand 100 is positioned near the labeler 205 that supplies the sticker 204 that is the object to be grasped and attached (S32).

[0037] Next, for example, the sticker 204 and the robot hand 100 are captured by a camera 206 arranged near the labeler 205, and the image is analyzed to detect the relative position of the robot hand 100 with respect to the labeler 205 (S33).

[0038] Next, the robot arm 101 is moved to move the robot hand 100 to a position where the sticker 204 can be gripped (S34).

[0039] Next, the opening / closing drive unit 31 is operated to grip the sticker 204 with the first protruding portion 11A and the second protruding portion 21A (S35). The state in which the sticker 204 is gripped is shown in Fig. 7. At this time, the robot hand 100 grips the sticker 204 so that the non-adhesive surface 204A of the sticker 204 contacts the first protruding portion 11A and the adhesive surface 204B contacts the second protruding portion 21A.

[0040] Then, by moving the robot arm 101, the robot hand 100 is moved so that the sticker 204 faces the attachment surface 208, which is the surface to which the sticker 204 is attached, and the posture of the robot hand 100 is adjusted so that the sticker 204 is oblique to the attachment surface 208 (S36). At this time, as shown in Fig. 8, the adhesive surface 204B faces the attachment surface 208, and the robot hand 100 assumes a posture that is oblique to the attachment surface 208.

[0041] From this state, the robot arm 101 is moved to move the robot hand 100 closer to the attachment surface 208 (S37). At this time, as shown in Fig. 9, the robot arm 101 is moved in a direction perpendicular to the attachment surface 208 until the tip of the sticker 204 comes into contact with the attachment surface 208. An arrow 301 in Fig. 9 indicates the movement of the robot hand 100.

[0042] At this time, for example, the camera 207 arranged near the attachment surface 208 captures an image of the sticker 204 and the attachment surface 208, and the image is analyzed to detect contact of the sticker 204 with the attachment surface 208 (S38). If no contact is detected (No in S38), the robot hand 100 continues to be moved closer to the attachment surface 208 (S37).

[0043] When contact is detected (Yes in S38), the first rotary drive unit 13 is operated to move the first distal finger 12 toward the distal end of the first proximal finger 11, thereby bringing the first distal finger 12 into contact with the seal 204 and pressing the seal 204 against the attachment surface 208 (S39). This state is shown in Figure 10. An arrow 302 in Figure 10 indicates the movement of the first distal finger 12.

[0044] The amount of pressure (pressing force) when the seal 204 is pressed against the attachment surface 208 is obtained by calculating the load from the current value of the motor of the first rotation drive unit 13 (S40). Note that the load may of course be obtained from a parameter other than the current value of the motor, such as a detection value of a pressure sensor.

[0045] If the predetermined load is not detected (No in S40), the operation of the first rotation drive unit 13 and the pressing of the seal 204 by the first tip side finger 12 (S39) continue.

[0046] When a predetermined load is detected (Yes in S40), the first distal finger 12 presses the seal 204 against the attachment surface 208 with an appropriate pressing amount (pressing force). At this time, by operating the opening / closing drive unit 31, the first proximal finger 11 moves slightly (a distance equal to or greater than the thickness of the seal 204) away from the second proximal finger 21, and the grip of the seal 204 by the robot hand 100 is released (S41). This state is shown in FIG. 11. An arrow 303 in FIG. 11 indicates the relative movement of the first proximal finger 11 and the second proximal finger 21 with respect to each other.

[0047] By moving the first base end finger 11 away from the second base end finger 21, the first tip end finger 12 may move away from the seal 204 or the force pressing the seal 204 against the attachment surface 208 may become weaker. Therefore, after moving the first base end finger 11, the first rotation drive unit 13 is operated again to bring the first tip end finger 12 into contact with the seal 204 and press the seal 204 against the attachment surface 208 (S42). This state is shown in FIG. 12. An arrow 304 in FIG. 12 indicates the movement of the first tip end finger 12.

[0048] The amount of pressure (pressing force) when the sticker 204 is pressed against the attachment surface 208 is acquired by calculating the load from the current value of the motor of the first rotation drive unit 13 (S43).

[0049] If the predetermined load is not detected (No in S43), the operation of the first rotation drive unit 13 and the pressing of the seal 204 by the first tip side finger 12 (S42) continue.

[0050] When a predetermined load is detected (Yes in S43), the first tip side finger 12 presses the sticker 204 against the attachment surface 208 with an appropriate pressing amount (pressing force).

[0051] From this state, the robot arm 101 is moved to move the robot hand 100 parallel to the attachment surface 208 (S44). This state is shown in Figure 13. An arrow 305 in Figure 13 indicates the movement of the robot hand 100.

[0052] Through the above flow, the operation of attaching the sticker 204 to the attachment surface 208 while pressing the first tip side finger 12 against the sticker 204 can be completed.

[0053] Needless to say, the technical scope of the present disclosure is not limited to the above-described embodiments, and various modified forms are also included in the technical scope of the present disclosure as long as they do not deviate from the spirit of the present disclosure.

[0054] For example, the control unit 40 may operate the opening / closing drive unit 31 to pinch an object between the first protruding portion 11A and the second protruding portion 21A, and operate the first rotation drive unit 13 to bring the first tip side finger pad surface 12S into contact with the object and press the object with the first tip side finger 12. By such an operation, when the object is, for example, a wire-like or thin plate-like member, the object can be bent. Also, when the object is a member having plasticity, the object can be deformed and shaped. Also, the second rotation drive unit 23 may be further operated to bring the second tip side finger pad surface 22S into contact with the object. That is, the first tip side finger 12 and the second tip side finger 22 may be brought into contact with the object pinched between the first protruding portion 11A and the second protruding portion 21A, and pressure may be applied to pinch the object from both sides, thereby deforming and shaping the object. [Industrial Applicability]

[0055] The robot hand disclosed herein can grasp objects of various sizes and perform various operations such as sticker application, and is therefore useful as a general-purpose robot hand in robot systems that automate product assembly processes in factories. [Explanation of symbols]

[0056] 11 First proximal finger 11A 1st protrusion 11S 1st proximal finger pad surface 12 First tip finger 12A First notch 12S 1st tip side finger pad surface 13 First rotary drive unit 21 Second proximal finger 21A 2nd protrusion 21S 2nd proximal finger pad surface 22 Second tip side finger 22A Second notch 22S 2nd tip side finger pad surface 23 Second Rotary Drive Unit 30 Hand part 30S palm surface 31 Opening and closing drive unit 40 Control section 100 Robot Hand 101 Robot Arm 201, 202, 203 Object 204 Seal 204A Non-adhesive surface 204B Adhesive side 205 Labeller 206, 207 Camera 208 Adhesive surface 301, 302, 303, 304, 305 Arrows

Claims

1. a first proximal finger having a first protrusion at a tip thereof; a first distal finger connected to the first proximal finger so as to be rotatable relative to the first proximal finger and having a first notch through which the first protrusion can pass; a second proximal finger having a second protrusion at a tip thereof; a second distal finger connected to the second proximal finger so as to be rotatable relative to the second proximal finger and having a second notch through which the second protrusion can pass; an opening / closing drive unit that moves the second base end finger relative to the first base end finger; a first rotation drive unit that rotates the first distal finger relative to the first proximal finger; a second rotation drive unit that rotates the second distal finger relative to the second proximal finger; a control unit that operates the opening / closing drive unit, the first rotation drive unit, and the second rotation drive unit; A robot hand comprising:

2. the first base-side finger has a first base-side finger pad surface that is a flat surface facing the second base-side finger, the second base-side finger has a second base-side finger pad surface that faces the first base-side finger and is a plane parallel to the first base-side finger pad surface, the opening / closing drive unit moves the first base-side finger relative to the second base-side finger in a direction perpendicular to the first base-side finger pad surface while keeping the first base-side finger pad surface parallel to the second base-side finger. The robot hand according to claim 1 .

3. the first distal finger has a first distal finger pad surface that is a plane that is flush with the first base finger pad surface when the first protrusion is positioned in the first notch, the second distal finger has a second distal finger pad surface that is a plane that is flush with the second base finger pad surface when the second protrusion is positioned in the second notch; The robot hand according to claim 2.

4. the control unit operates the opening / closing drive unit to pinch an object between the first protruding portion and the second protruding portion, and operates the first rotation drive unit to bring the first tip side finger pad surface into contact with the object and press the object toward another object with the first tip side finger. The robot hand according to claim 3.

5. the control unit operates the opening / closing drive unit to pinch an object between the first protruding portion and the second protruding portion, and operates the first rotation drive unit to bring the first tip side finger pad surface into contact with the object and press the object with the first tip side finger. The robot hand according to claim 3.

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