Robotic Hands and Robots

Abstract

To provide a robot hand that can be attached and detached with a simpler mechanism, and a robot equipped with the robot hand.SOLUTION: A robot hand 31 comprises a hand part 311 and a mounting part 312. The hand part 311 grips an object. The mounting part 312 mounts the hand part 311 on a part to be mounted. The hand part 311 has a first motion range and a second motion range. The first motion range is used for gripping the object. The second motion range is used for demounting the hand part 311 from the part to be mounted. The mounting part 312 enables the mounting part 312 to be fixed to the part to be mounted, in the first motion range. Further the mounting part 312 enables the mounting part 312 to be demounted from the part to be mounted, in the second motion range.SELECTED DRAWING: Figure 2

Description

[Technical Field]

[0001] The present invention relates to a robot hand and a robot, and more particularly to an exchangeable robot hand and a robot equipped with the robot hand. [Background technology]

[0002] In recent years, attempts have been made to have robots grasp tools used by humans and perform various tasks. In such cases, the robot hand, which is the part of the robot that grasps the tool, may be replaced to enable the robot to perform various tasks. For example, if the robot hand itself is replaced with one that has the same function as a tool, such as a cleaning nozzle, it will be possible to perform cleaning. Such robot hands have been introduced in some markets, such as industrial and research and development.

[0003] Patent Document 1 discloses an air chuck. The air chuck has a finger support portion, a chuck body portion, and a connecting mechanism. The finger support portion has a pair of fingers and a pair of lock shafts. The chuck body portion has an operating mechanism for operating the fingers to open and close. The connecting mechanism separably connects the chuck body portion and the finger support portion. When the finger support portion is connected to the chuck body portion, the connecting mechanism displaces the lock shaft to an unlocked position. The connecting mechanism then allows the pair of fingers to be opened and closed. When the finger support portion is separated from the chuck body portion, the connecting mechanism displaces the lock shaft to a locked position. The connecting mechanism then locks the pair of fingers so that they cannot be opened or closed.

[0004] Patent Document 2 discloses an air chuck. The air chuck has a connecting member and a guide member. The connecting member forms a recess in the manipulator-side gripping portion that is open in the axial direction of the tool driving portion and on one side. The connecting member is provided with a fixing means for fixing the tool-side gripping portion near the lateral open end. The connecting member fits the tool-side gripping portion from the open end of the recess. The connecting member fixes the driven portion of the gripping portion with the fixing means at a position where it faces the driving portion. The connecting member connects the driving portion and the driven portion between the connecting member and the gripping portion. The guide member guides the fitting of the gripping portion to the gripping portion and locks it in the fitted position. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] Patent Publication No. 2021-197937 [Patent Document 2] Japanese Patent Application Publication No. 11-207676 Summary of the Invention [Problem to be solved by the invention]

[0006] Conventionally, interchangeable robotic hands have required the provision of an actuator or other mechanism for attaching and detaching the robotic hand. This makes the structure of the robotic hand complex and increases the number of parts. As a result, such robotic hands tend to be expensive. Furthermore, such robotic hands tend to be large and heavy. This makes them difficult to introduce into, for example, household use. An object of the present invention is to provide a robot hand that can be attached and detached using a simpler mechanism, and a robot equipped with this robot hand. [Means for solving the problem]

[0007] The robot hand of the present invention comprises a gripping portion and an attachment portion. The gripping portion grips an object. The attachment portion attaches the gripping portion to an attachment portion. The gripping portion has a first range of motion and a second range of motion. The first range of motion is used when gripping an object. The second range of motion is used when removing the gripping portion from the attachment portion. The attachment portion fixes the attachment portion to the attachment portion in the first range of motion. Furthermore, the attachment portion enables the attachment portion to be removed from the attachment portion in the second range of motion.

[0008] Here, the attachment portion may include a slide portion that slides in conjunction with the movement of the grip portion. The sliding movement of the slide portion causes the slide portion to fit into the attachment portion in a first range of motion. This fixes the attachment portion to the attachment portion. Meanwhile, in a second range of motion, the slide portion is released from its engagement with the attachment portion. This enables the attachment portion to be removed from the attachment portion. The sliding portion may be configured to perform a sliding movement by transmitting a force from a cam that rotates in conjunction with the movement of the gripping portion. Furthermore, the slide portion may move in conjunction with the movement of the grip portion, and a force may be transmitted by a link portion connected to the slide portion to cause the slide portion to perform a sliding movement.

[0009] Also, the entire exterior, including the portion that joins to the mounting portion, may be covered with a waterproof portion that provides waterproofing. Furthermore, the waterproof part may include a first cover and a second cover. The first cover covers the articulated part of the grip part. The second cover covers the non-articulated part of the grip part other than the articulated part. Furthermore, a sealing portion may be provided between the first cover and the second cover to provide waterproofing. The second cover may be flexible and may be configured to deform in accordance with the movement of the joint portion.

[0010] The gripping device may further include a transmission unit that transmits the driving force of the motor to the gripping unit. The motor drives the gripping unit. The transmission unit transmits the driving force of the motor via a magnetic coupling mechanism. The gripping unit is then detached from the mounting portion by separating the motor and the gripping unit at the magnetic coupling mechanism. Furthermore, the magnetic coupling mechanism may be configured so that a first magnetic rotating part and a second magnetic rotating part are joined by magnetic force. The first magnetic rotating part is provided on the mounting part. The second magnetic rotating part is provided on the transmission part. The first magnetic rotating part and the second magnetic rotating part transmit the driving force of the motor. The waterproof part is disposed between the first magnetic rotating part and the second magnetic rotating part.

[0011] In addition, a suction unit for suctioning an object may be further provided. Furthermore, the gripping unit may include a pair of hands, in which the suction unit is provided on at least one of one of the pair of hands, the other of the pair of hands, and a part between the pair of hands. Furthermore, the suction portion may be provided at the tip of one of the pair of hands, and not provided at the other hand. The number of suction parts provided at the tip of one of the pair of hands may be plural. The suction unit may include a suction pad, a pump, and a first waterproof filter. The suction pad adheres to the object. The pump sucks air. The first waterproof filter prevents water from entering the interior along with the air sucked into the pump. Furthermore, the suction unit may be provided with an exhaust port for exhausting the air sucked by the pump. The exhaust port is fitted with a second waterproof filter for preventing water from entering the interior through the exhaust port. Furthermore, a film may be further provided to cover at least a portion of the suction pad. A pressing mechanism for pressing the suction pad may be further provided on the side of the suction pad opposite to the side that suctions the object.

[0012] The robot of the present invention includes the robot hand and a mounting portion to which the robot hand is attached. Furthermore, the robot of the present invention comprises a gripping unit, an attached unit, a motor, and a control unit. The gripping unit grips an object. The attached unit attaches the gripping unit. The motor drives the gripping unit. The control unit controls the motor. The gripping unit has a first range of motion and a second range of motion. The first range of motion is used when gripping an object. The second range of motion is used when removing the gripping unit from the attached unit. When gripping an object, the control unit drives the gripping unit to have the first range of motion. This causes the gripping unit to be fixed to the attached unit. When removing the gripping unit from the attaching unit, the control unit drives the gripping unit to have the second range of motion. This causes the gripping unit to be able to be removed from the attached unit.

[0013] The control unit can further control a suction unit that suctions the object. The control unit can also control the gripping unit to grip the object, and the suction unit to suck the object. Furthermore, the control unit can recognize the object. When the recognized object is a registered object, the control unit controls at least one of grasping and suction using the method registered for the registered object. Gripping refers to grasping the registered object with the grasping unit. Suction refers to suctioning the registered object with the suction unit. Furthermore, there are cases where the recognized object is an unregistered object. In this case, the control unit can control at least one of grasping and suction. "Gripping" refers to grasping the registered object with the grasping unit. "Suction" refers to suctioning the registered object with the suction unit. The control unit then associates at least one of the methods of successfully grasping and suctioning the unregistered object with the unregistered object and registers it. The gripping unit may include a pair of hands. In this case, the suction unit is provided in at least one of one of the pair of hands, the other of the pair of hands, and a position between the pair of hands. The control unit controls the suction unit to suction the object. The suction unit can include a suction pad, a pump, and a first waterproof filter. The suction pad adheres to the object. The pump sucks air. The first waterproof filter prevents water from entering the interior along with the air sucked into the pump. The control unit controls the operation of the pump to cause the suction pad to adhere to the object. [Effects of the Invention]

[0014] According to the present invention, it is possible to provide a robot hand that can be attached and detached using a simpler mechanism, and a robot equipped with this robot hand. [Brief explanation of the drawings]

[0015] [Figure 1] 1 is a diagram showing an example of the overall configuration of a robot system to which the present embodiment is applied. [Figure 2] 1(a) and 1(b) are diagrams showing a first embodiment of a mechanism for attaching and detaching a robot hand. [Figure 3] 1(a) and 1(b) are diagrams showing a first embodiment of a mechanism for attaching and detaching a robot hand. [Figure 4] FIG. 1 is a diagram showing a first embodiment of a mechanism for attaching and detaching a robot hand. [Figure 5] 10(a) and 10(b) are diagrams showing a second embodiment of a mechanism for attaching and detaching a robot hand. [Figure 6] 10(a) and 10(b) are diagrams showing a second embodiment of a mechanism for attaching and detaching a robot hand. [Figure 7] FIG. 10 is a diagram showing a second embodiment of a mechanism for attaching and detaching a robot hand. [Figure 8] 10(a) and 10(b) are diagrams showing a case where the mounting portion is a rack and pinion. [Figure 9] 10(a) and 10(b) are diagrams showing a case where the attachment portion is a feed screw. [Figure 10] (a) shows the state where the motor is not left on the arm side but has been removed together with the hand unit, while (b) shows the state where the motor is left on the arm side but the hand unit has been removed. [Figure 11] 10(a) and 10(b) are diagrams illustrating the waterproof mechanism of the robot hand. [Figure 12] 10(a) and 10(b) are diagrams showing the sealing portion. [Figure 13] 3A and 3B are diagrams illustrating a magnetic coupling mechanism used in the present embodiment. [Figure 14] 3A and 3B are diagrams illustrating a magnetic coupling mechanism used in the present embodiment. [Figure 15] FIG. 2 is a diagram showing a cross-sectional structure of a hand. [Figure 16] 16(a) and 16(b) are enlarged views of the suction part shown in FIG. 15. [Figure 17] FIG. [Figure 18] 10(a) to 10(c) are diagrams showing the operation of the suction unit. [Figure 19] 10(a) and 10(b) are diagrams showing a configuration in which the thin film partially covers the suction pad. [Figure 20] 10 is a flowchart illustrating a method for controlling a robot. DETAILED DESCRIPTION OF THE INVENTION

[0016] Hereinafter, embodiments for carrying out the present invention will be described in detail. However, the present invention is not limited to the following embodiments. Furthermore, various modifications can be made within the scope of the gist of the present invention. Furthermore, the drawings used are for the purpose of explaining the present embodiments and do not represent the actual size.

[0017] <Explanation of the overall configuration of Robot 1> Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings. FIG. 1 is a diagram showing an example of the overall configuration of a robot 1 to which this embodiment is applied. The illustrated robot 1 includes an imaging device 10, a control device 20, and a robot main body 30. Although not constituting the robot 1, the illustration also shows the presence of a plurality of objects B. The objects B are objects to be grasped by the robot main body 30. Here, as an example, a case is shown in which the robot 1 washes dishes, etc. In this case, the objects B are dishes, etc., and more specifically, the objects B are plates, cups, bowls, spoons, etc. Furthermore, the objects B are detergents, sponges, etc. used to wash the dishes. The robot main body 30 can grasp these objects and wash the dishes, etc.

[0018] The photographing device 10 photographs an image of the object B. The photographing device 10 is, for example, a camera. In this embodiment, the photographing device 10 is attached to the tip of the robot body 30. The photographing device 10 photographs the object B from above and creates a photographed image. The control device 20 determines the position and posture of the object B based on the image captured by the image capturing device 10. The control device 20 also controls the operation of the robot body 30. The robot body 30 grasps the object B. The robot body 30 includes a robot hand 31 that actually grasps the object B, and an arm 32 that positions the robot hand 31. Furthermore, the robot body 30 includes an actuator 34 that performs a rotational operation under the control of the control device 20. The robot body 30 of this embodiment is mobile, and includes a moving unit 35 for self-propelled movement.

[0019] The robot 1 described above operates as follows. First, the image capture device 10 captures an image of object B. The captured image is acquired by the control device 20. The control device 20 then determines the type, position, and orientation of object B based on the captured image. The type of object B is, for example, the above-mentioned type of plate, cup, bowl, spoon, etc. The position and orientation of object B are the position that object B occupies in three-dimensional space and the orientation that object B takes in three-dimensional space. Then, based on the type, position, and orientation of object B, the control device 20 controls the robot hand 31 and arm 32 to grasp object B. The robot main body 30 can rotate in the direction of the double arrow indicated by the solid line using the actuator 34 shown in the figure. By rotating the actuator 34, the robot hand 31 and arm 32 can be moved to a position where they can grasp object B. After object B has been grasped, the robot main body 30, for example, cleans object B. At this time, the robot main body 30 can clean object B itself. Alternatively, the robot body 30 may place the object B in a washing machine, and the actual washing may be performed by the washing machine. In this case, the washing machine is a dishwasher.

[0020] In this case, the purpose of the robot 1 is to clean the object B, but this is not limited to this. For example, the robot 1 may be a cleaning robot that performs cleaning. The robot 1 may also be an assembly robot that assembles parts. Furthermore, the robot 1 may be a welding robot that performs welding. Furthermore, for example, the robot 1 may be a transport robot that performs transportation or a painting robot that performs painting. Note that the robot hand 31 in this embodiment is detachable and therefore replaceable, as will be described in detail later. Therefore, by replacing the robot hand 31, it can be used for purposes other than cleaning the object B. Furthermore, the robot 1 may be not only a mobile type that runs on its own, but also a fixed type that is fixed to a predetermined location.

[0021] <Explanation of the mechanism for attaching and detaching the robot hand 31> Next, a mechanism for attaching and detaching the robot hand 31 of this embodiment will be described. Here, the mechanism for attaching and detaching the robot hand 31 will be described using a first embodiment and a second embodiment.

[0022] [First embodiment] First, the first embodiment will be described. In the first embodiment, the robot hand 31 is attached and detached using a cam mechanism. At this time, in a normal use state, the robot hand 31 is fixed (locked) to the arm 32 by the cam mechanism. The cam mechanism also releases (unlocks) the lock on the robot hand 31, making it detachable from the arm 32. This allows the robot hand 31 to be replaced. Note that the "normal use state" is a state in which the robot hand 31 can grasp the object B and perform the intended task, such as cleaning.

[0023] 2(a) to 2(b), 3(a) to 3(b), and 4 are diagrams showing a first embodiment of a mechanism for attaching and detaching the robot hand 31. FIG. 2(a) and 2(b) show the state in which the robot hand 31 is attached. FIG. 2(a) is a diagram showing the robot hand 31 in normal use. In this state, the robot hand 31 is fixed (locked) to the arm 32. FIG. 2(b) is a diagram showing the state in which the robot hand 31 is detached. In this state, the robot hand 31 can be detached from the arm 32. Furthermore, Fig. 3(a) is an enlarged view of IIIa in Fig. 2(a), and Fig. 3(b) is an enlarged view of IIIb in Fig. 2(b). 4 is a diagram showing a state in which the robot hand 31 has been removed. That is, FIG. 4 is a diagram showing a state in which the robot hand 31 has been separated from the arm 32.

[0024] 2(a) and 2(b), the robot hand 31 includes a hand portion 311, a mounting portion 312, a reducer 313, a suction portion 314R1 (314R2), and a suction portion 314M. Although not a component constituting the robot hand 31, some of the components on the arm 32 side are also shown.

[0025] The hand unit 311 is an example of a gripping unit. The hand unit 311 is driven by a motor and grips an object B. In this case, the hand unit 311 includes a hand 311L and a hand 311R. The hand 311L and the hand 311R are paired members. The hand 311L and the hand 311R can grip the object B at their tip portions 311c. This can also be said as the hand 311L and the hand 311R being able to grasp the object B. The hand 311L and the hand 311R are provided with joint portions 311d1 to 311d4, respectively. The joint portions 311d1 to 311d4 rotate in conjunction with each other. As a result, the distance between the hand 311L and the hand 311R changes at the tip portion 311c. Then, the object B is pinched between the hands 311L and 311R at the tip portions 311c to grasp the object B. Then, the object B grasped by the hands 311L and 311R can be moved.

[0026] The hand unit 311 has a first range of motion that is used when gripping the object B. The hand unit 311 also has a second range of motion that is used when detaching the hand unit 311 from the attachment unit. The attachment unit is the object to which the hand unit 311 is attached, and is the arm 32. FIG. 2(b) illustrates the first and second ranges of motion. Here, the vertical direction from the point where the hand 311L and the hand 311R meet at the tip 311c is defined as the center line C, and this angle is defined as 0°. Here, the first range of motion of the hand 311L is in the range of 0° to α° in the counterclockwise rotation direction. The first range of motion of the hand 311R is in the range of 0° to α° in the clockwise rotation direction. The second range of motion of the hand 311L is in the range of α° to (α+β)° in the counterclockwise rotation direction. The second range of motion of the hand 311R is in the range of α° to (α+β)° in the clockwise rotation direction. Note that the vertical, leftward, and rightward directions are directions in the figure, and the hand 311 does not necessarily move in these directions in reality.

[0027] The attachment portion 312 attaches the hand unit 311 to an attachment target portion. In this case, the attachment target portion is the object to which the hand unit 311 is attached, which is the arm 32. In other words, the attachment portion 312 is a mechanism for fixing the hand unit 311 to the arm 32. In the first range of motion, the attachment portion 312 is fixed to the arm 32. On the other hand, in the second range of motion, the attachment portion 312 is detachable from the arm 32. Note that the attachment portion 312 may be detachable from the arm 32 at any point within the second range of motion. For example, this can be achieved when the hand 311L is moved by (α+β)° in the counterclockwise rotation direction of the joint 311d1. Also, this can be achieved when the hand 311R is moved by (α+β)° in the clockwise rotation direction of the joint 311d2. In other words, the attachment portion 312 can be detached from the arm 32 when the hands 311L and 311R are fully opened.

[0028] Next, the attachment portion 312 of the first embodiment will be described in detail with reference to Figures 3(a) and 3(b). Figures 3(a) and 3(b) are enlarged views of the attachment portion 312. The mounting portion 312 includes a slide portion 312a that slides in conjunction with the movement of the hand portion 311. The mounting portion 312 also includes a cam 312b that rotates in conjunction with the movement of the hand portion 311. The mounting portion 312 also includes a pressing portion 312c that presses the slide portion 312a. The pressing portion 312c is, for example, a coil spring.

[0029] FIG. 3(a) shows a state in which the attachment portion 312 is fixed to the arm 32. At this time, the hand portion 311 is in the first range of motion. The cam 312b is in the rotation position shown in the figure and is not engaged with the slide portion 312a. At this time, the slide portion 312a is pressed to the right in the figure by the pressing portion 312c and enters the hole 321 of the arm 32. As a result, the slide portion 312a and the hole 321 fit together. This causes the attachment portion 312 to be fixed to the arm 32, and the robot hand 31 can be fixed to the arm 32.

[0030] In contrast, FIG. 3(b) shows a state in which the attachment portion 312 can be removed from the arm 32. At this time, the hand portion 311 is in the second range of motion. The cam 312b rotates clockwise from the state shown in FIG. 3(a) to the rotation position shown in the figure. The cam 312b engages with the slide portion 312a. At this time, a force is transmitted to the slide portion 312a by the cam 312b, and the slide portion 312a is pressed to the left in the figure. This causes the slide portion 312a to slide to the left in the figure. The slide portion 312a then moves to a position where it does not enter the hole 321 of the arm 32. As a result, the engagement between the slide portion 312a and the hole 321 is released. This allows the attachment portion 312 to be removed from the arm 32, and the robot hand 31 can be removed from the arm 32.

[0031] In this case, the sliding movement of the sliding portion 312a causes the sliding portion 312a to fit into the hole 321 of the arm 32 in the first range of motion. This causes the attachment portion 312 to be fixed to the arm 32. As a result, the robot hand 31 is fixed to the arm 32. On the other hand, in the second range of motion, the slide portion 312a is released from the arm 32. This allows the attachment portion 312 to be removed from the arm 32. As a result, the robot hand 31 is allowed to be removed from the arm 32. When the attachment portion 312 is removed from the arm 32, the robot hand 31 is separated from the arm 32 as shown in FIG.

[0032] The reducer 313 is an example of a transmission unit that transmits the driving force of the motor to the hand unit 311. The reducer 313 is a device that reduces the rotation speed of the motor. The reducer 313 is composed of gears (cogwheels) and the like. The rotation speed is reduced by the reducer 313 at a predetermined reduction ratio. Then, the hand unit 311 is operated by the driving force output from the reducer 313.

[0033] The suction unit 314R1 (314R2) and the suction unit 314M have the function of suctioning the target B. The suction unit 314R1 (314R2) and the suction unit 314M suction the target B by using negative pressure generated by sucking air with a pump. This allows the target B that has been sucked by the hand 311L and the hand 311R to be moved. The suction unit 314R1 (314R2) is made up of a plurality of suction units, namely, suction unit 314R1 and suction unit 314R2. A specific form of this will be described later with reference to FIGS. 15 to 17. In the following description, when there is no need to distinguish between the suction units 314R1, 314R2, and 314M, they may be simply referred to as "suction unit 314."

[0034] Second Embodiment Next, a second embodiment will be described. In the second embodiment, the robot hand 31 is attached and detached using a link mechanism. At this time, in a normal use state, the robot hand 31 is fixed (locked) to the arm 32 by the link mechanism. Also, the robot hand 31 is unlocked by the link mechanism, so that it can be detached from the arm 32.

[0035] 5(a) to 5(b), 6(a) to 6(b), and 7 are diagrams showing a second embodiment of the mechanism for attaching and detaching the robot hand 31. FIG. 5(a) and 5(b) show a state in which the robot hand 31 is attached. Also, Fig. 5(a) is a diagram showing a state in which the robot hand 31 is normally used. And Fig. 5(b) is a diagram showing a state in which the robot hand 31 is detached. Furthermore, Fig. 6(a) is an enlarged view of VIa in Fig. 5(a), and Fig. 6(b) is an enlarged view of VIb in Fig. 5(b). FIG. 7 is a diagram showing the robot hand 31 in a separated state.

[0036] As shown in FIGS. 5(a) and 5(b), the robot hand 31 includes a hand unit 311, an attachment unit 312, and a reducer 313, similar to the first embodiment. In the second embodiment, the configurations of the hand unit 311 and the reducer 313 are similar to those of the first embodiment. However, the second embodiment differs from the first embodiment in the configuration of the attachment unit 312.

[0037] Next, the attachment portion 312 of the second embodiment will be described in detail with reference to Figures 6(a) and 6(b). Figures 6(a) and 6(b) are enlarged views of the attachment portion 312. Similar to the first embodiment, the attachment portion 312 includes a slide portion 312a and a pressing portion 312c. The slide portion 312a slides in conjunction with the movement of the hand portion 311. The pressing portion 312c presses the slide portion 312a. On the other hand, the mounting portion 312 includes a link portion 312d1 that is joined to the sliding portion 312a. One end of the link portion 312d1 is rotatably joined to the sliding portion 312a. The other end of the link portion 312d1 is joined to the rotating portion 312e in a fixed and non-rotatable state. The mounting portion 312 also includes link portions 312d2 and 312d3. One end of the link portion 312d2 is rotatably joined to the sliding portion 312a. One end of the link portion 312d3 is rotatably joined to the rotating portion 312e. The other end of the link portion 312d2 and the other end of the link portion 312d3 are rotatably joined. Similarly to the cam 312b in the first embodiment, the rotating portion 312e rotates in conjunction with the operation of the hand portion 311. When the rotating portion 312e rotates, a force is transmitted to the sliding portion 312a by the link portions 312d1 to 312d3, causing the sliding portion 312a to perform a sliding operation.

[0038] FIG. 6(a) shows a state in which the attachment portion 312 is fixed to the arm 32. At this time, the hand portion 311 is in the first range of motion. The rotating portion 312e is in the rotation position shown in the figure. At this time, the sliding portion 312a is positioned to the right in the figure by the link portions 312d1 to 312d3, and enters the hole 321 of the arm 32. As a result, the sliding portion 312a and the hole 321 fit together. This causes the attachment portion 312 to be fixed to the arm 32, and the robot hand 31 can be fixed to the arm 32.

[0039] 6(b) shows a state in which the attachment portion 312 can be removed from the arm 32. At this time, the hand portion 311 is in the second range of motion. The rotating portion 312e rotates clockwise from the state shown in FIG. 6(a) to the rotated position shown in the figure. At this time, a force is transmitted to the sliding portion 312a by the link portions 312d1 to 312d3, and the sliding portion 312a is pressed leftward in the figure. As a result, the sliding portion 312a slides leftward in the figure by the link portions 312d1 to 312d3. The sliding portion 312a then moves to a position where it does not enter the hole 321 of the arm 32. As a result, the sliding portion 312a is disengaged from the hole 321. This allows the attachment portion 312 to be removed from the arm 32, and the robot hand 31 can be removed from the arm 32. When the attachment portion 312 is removed from the arm 32, the robot hand 31 is separated from the arm 32 as shown in FIG.

[0040] In the first and second embodiments, the sliding portion 312a performs a sliding operation. By this sliding movement, in the first range of motion, the sliding portion 312a fits into the hole 321 of the arm 32. Then, the attachment portion 312 is fixed to the arm 32. As a result, the robot hand 31 is fixed to the arm 32. On the other hand, in the second range of motion, the slide portion 312a is released from the arm 32. Then, the attachment portion 312 is brought into a state where it can be removed from the arm 32. This brings the robot hand 31 into a state where it can be removed from the arm 32.

[0041] The mechanism for attaching and detaching the robot hand 31 is not limited to the first and second embodiments. Other examples will be described below as modified examples 1 and 2.

[0042] [Variation 1] 8(a) and 8(b) are diagrams showing a case where the mounting portion 312 is a rack and pinion. The attachment portion 312 includes a slide portion 312a, as in the first embodiment. The slide portion 312a slides in conjunction with the movement of the hand portion 311. On the other hand, the mounting portion 312 is provided with a pinion 312f. The slide portion 312a is formed as a rack. The slide portion 312a is combined with the pinion 312f. The pinion 312f rotates in conjunction with the operation of the hand portion 311, similar to the cam 312b in the first embodiment. When the pinion 312f rotates, a force is transmitted to the slide portion 312a, causing it to slide.

[0043] FIG. 8(a) shows a state in which the attachment portion 312 is fixed to the arm 32. At this time, the hand portion 311 is in the first range of motion. The pinion 312f is in the rotation position shown in the figure. At this time, the slide portion 312a is positioned to the right in the figure by the pinion 312f and enters the hole portion 321 of the arm 32. As a result, the slide portion 312a and the hole portion 321 fit together. This causes the attachment portion 312 to be fixed to the arm 32, and the robot hand 31 can be fixed to the arm 32.

[0044] 8(b) shows a state in which the attachment unit 312 can be removed from the arm 32. At this time, the hand unit 311 is in the second range of motion. The pinion 312f rotates clockwise from the state shown in FIG. 8(a) to the rotation position shown in the figure. At this time, a force is transmitted to the slide unit 312a by the pinion 312f, and the slide unit 312a is pressed leftward in the figure. As a result, the slide unit 312a slides leftward in the figure due to the pinion 312f. The slide unit 312a then moves to a position where it does not enter the hole 321 of the arm 32. As a result, the engagement between the slide unit 312a and the hole 321 is released. This allows the attachment unit 312 to be removed from the arm 32, and the robot hand 31 can be removed from the arm 32.

[0045] [Variation 2] 9(a) and 9(b) are diagrams showing a case where the attachment portion 312 is a feed screw. The attachment portion 312 includes a slide portion 312a, as in the first embodiment. The slide portion 312a slides in conjunction with the movement of the hand portion 311. On the other hand, the mounting portion 312 is provided with a feed screw 312g. Furthermore, the slide portion 312a has a protrusion 312a1. The protrusion 312a1 has a through-hole 312a2 through which the feed screw passes, and a female thread is formed on the inside. On the other hand, the feed screw 312g is formed with a male thread. Therefore, when the feed screw 312g is rotated around its axis, a force is transmitted to the slide portion 312a, causing it to slide.

[0046] 9(a) shows a state in which the attachment portion 312 is fixed to the arm 32. At this time, the hand portion 311 is in the first range of motion. At this time, the slide portion 312a is positioned to the right in the figure by the feed screw 312g and enters the hole 321 of the arm 32. As a result, the slide portion 312a and the hole 321 fit together. This causes the attachment portion 312 to be fixed to the arm 32, and the robot hand 31 can be fixed to the arm 32.

[0047] 9(b) shows a state in which the attachment portion 312 can be removed from the arm 32. At this time, the hand portion 311 is in the second range of motion. The feed screw 312g rotates from the state shown in FIG. 9(a). At this time, a force is transmitted to the slide portion 312a by the feed screw 312g, and the slide portion 312a is pressed to the left in the figure. As a result, the slide portion 312a slides to the left in the figure by the feed screw 312g. The slide portion 312a then moves to a position where it does not enter the hole 321 of the arm 32. As a result, the engagement between the slide portion 312a and the hole 321 is released. This allows the attachment portion 312 to be removed from the arm 32, and the robot hand 31 can be removed from the arm 32.

[0048] In the above-described case, the motor 322 is left on the arm 32 side, and the hand unit 311 is removed. However, this is not limitative. 10(a) shows a state in which the motor 322 is not left on the arm 32 side but is removed together with the hand unit 311. In this case, the motor 322 is inside the hand unit 311. FIG. 10(b) shows a state in which the motor 322 remains on the arm 32 side and the hand unit 311 has been removed. In this case, the motor 322 is on the arm 32 side as shown in the figure. In this case, even when the hand unit 311 is washed, water does not get into the motor 322 or the control board. In addition, the robot hand 31 can be easily made small and lightweight. Furthermore, the robot hand 31 can be made inexpensively.

[0049] <Explanation of the waterproof mechanism of Robot Hand 31> Next, a waterproof mechanism for the robot hand 31 will be described. It is preferable that the robot hand 31 can be washed after being removed. For example, when the robot hand 31 is used to wash dishes, it is placed in a dishwasher for washing. Therefore, a case where a waterproof mechanism is provided for the robot hand 31 will be described below.

[0050] 11(a) and 11(b) are diagrams illustrating the waterproof mechanism of the robot hand 31. Of these, Fig. 11(a) is a front view of the robot hand 31. Fig. 11(b) is a side view seen from the XIb direction in Fig. 11(a).

[0051] In this case, the waterproof mechanism of the robot hand 31 is made up of waterproof covers 361L to 364L and 361R to 364R. The waterproof covers 361L to 364L and 361R to 364R are an example of a waterproof section that waterproofs the entire outside of the robot hand 31. In other words, the waterproof covers 361L to 364L and 361R to 364R cover the entire outside of the robot hand 31. This prevents water from entering the robot hand 31.

[0052] As shown in the figure, a waterproof cover 361L is provided at the joint 311d1 of the hand 311L. A waterproof cover 362L is provided at the middle portion 311m of the hand 311L. A waterproof cover 363L is provided at the joint 311d3 of the hand 311L. A waterproof cover 364L is also provided at the tip 311c of the hand 311L.

[0053] Meanwhile, a waterproof cover 361R is provided at the joint 311d2 of the hand 311R. A waterproof cover 362R is provided at the middle portion 311m of the hand 311R. A waterproof cover 363R is provided at the joint 311d4 of the hand 311R. A waterproof cover 364R is also provided at the tip portion 311c of the hand 311R. In the following description, when there is no need to distinguish between the waterproof covers, they may simply be referred to as "waterproof cover 36."

[0054] The waterproof covers 361L, 361R, 363L, and 363R are an example of a first cover that covers the joints 311d1 to 311d4. The waterproof covers 361L, 361R, 363L, and 363R are flexible covers. That is, the waterproof covers 361L, 361R, 363L, and 363R are flexible. As a result, the waterproof covers 361L, 361R, 363L, and 363R deform in accordance with the movement of the joints 311d1 to 311d4. As a result, no gaps are created even when the joints 311d1 to 311d4 move, and waterproofness can be maintained. The waterproof covers 362L, 362R, 364L, and 364R are an example of a second cover that covers areas other than the joints 311d1 to 311d4. The waterproof covers 362L, 362R, 364L, and 364R are rigid covers. The material of the waterproof cover 36 is not particularly limited as long as it is impermeable to water, and may be, for example, polyvinyl chloride (PVC), polyester (PEs), rubber material, or the like.

[0055] The waterproof mechanism of the robot hand 31 also has a sealing part that provides waterproofing between the first cover and the second cover. The sealing part is, for example, an O-ring. 12(a) and 12(b) are diagrams showing the sealing portion. Here, for example, an O-ring 365 that seals the boundary between the waterproof covers 361L and 362L is illustrated. Fig. 12(b) shows the boundary between the waterproof covers 361L and 362L. As shown in Fig. 12(a), an O-ring 365 is fitted into this boundary. The O-ring 365 prevents gaps from occurring between the waterproof covers 361L and 362L, thereby maintaining waterproofness.

[0056] The use of such a waterproof cover 36 and O-ring 365 improves waterproofing. Furthermore, it has a superior design compared to a waterproof cover shaped like a glove. Also, it becomes easier to attach the waterproof cover 36 to the robot hand 31. In addition, other screwed parts are also sealed with O-rings, etc. This eliminates gaps in screwed parts and maintains waterproofing.

[0057] The waterproof cover 36 also waterproofs the area where the robot hand 31 is joined to the arm 32. In other words, the waterproof cover 36 also waterproofs the boundary area between the robot hand 31 and the arm 32. However, as shown in Figure 10(b), there are cases where the motor 322 is provided on the arm 32 side. In this case, a problem arises in terms of a mechanism for transmitting the driving force of the motor 322 to the robot hand 31. In this embodiment, this problem is solved by a magnetic coupling mechanism (magnetic joint).

[0058] 13 and 14 are diagrams showing the magnetic coupling mechanism used in this embodiment. As described above, the waterproof cover 36 is provided on the outside of the robot hand 31. In this case, as shown in FIG. 13 , the waterproof cover 36 is positioned between the robot hand 31 and the arm 32. A magnetic coupling mechanism Jc is provided sandwiching the waterproof cover 36. The magnetic coupling mechanism Jc is composed of a magnet 323 and a magnet 313a. The magnet 323 is connected to the motor 322 and rotates. The magnet 323 and the magnet 313a are connected by magnetic force, and the magnet 313a rotates in the same manner as the magnet 323. The magnet 313a is a part of the reducer 313, and the reducer 313 operates in conjunction with the magnet 313a. In other words, the driving force of the motor 322 is transmitted in the following order: magnet 323, magnet 313a, and reducer 313. As a result, the robot hand 31 operates due to the driving force of the motor 322. Here, the magnet 323 is an example of a first magnetic rotating unit. Magnet 313a is an example of a second magnetic rotating part.

[0059] The magnet 323 and the magnet 313a are connected simply by magnetic force through the waterproof cover 36. Therefore, it is possible to remove the robot hand 31 by separating them in the direction of the arrow in Figure 13. Therefore, by using the magnetic coupling mechanism Jc, it is possible to remove the robot hand 31 while maintaining the waterproofness provided by the waterproof cover 36. In this case, the driving force of the motor 322 is transmitted to the reducer 313 by a magnetic coupling mechanism Jc. The robot hand 311 is detached from the arm 32 by separating them at the magnetic coupling mechanism Jc. The magnetic coupling mechanism Jc also magnetically joins a magnet 323 provided on the arm 32 and a magnet 313a provided on the reducer 313, thereby transmitting the driving force of the motor 322. The waterproof cover 36 is disposed between the magnet 323 and the magnet 313a.

[0060] The motor 322 is controlled by the control device 20. The control device 20 is an example of a control unit. In practice, a user inputs a command to the robot 1 to detach the robot hand 31 from a control panel or a mobile terminal (not shown). In response, the control device 20 controls the motor 322 to move the hand unit 311 from the first range of motion to the second range of motion. This allows the robot hand 31 to be detached.

[0061] <Explanation of the adsorption part 314> Next, the adsorption unit 314 will be described in more detail. 15 to 20 are diagrams illustrating the adsorption section 314. FIG. Of these, Fig. 15 is a diagram showing the cross-sectional structure of hand 311R. Note that Fig. 15 does not show the cross-sectional structure of hand 311L. Also, Fig. 16(a) is an enlarged view of suction unit 314R1 (314R2) shown in Fig. 15. Furthermore, Fig. 16(b) is an enlarged view of suction unit 314M shown in Fig. 15. And Fig. 17 is a perspective view of hand unit 311. Note that Figs. 15 to 17 are views of hand unit 311 as viewed from the rear side of Fig. 2. Therefore, compared to Fig. 2, hands 311R and 311L are shown reversed left to right. The illustrated suction portion 314 is made up of suction portion 314R1 (314R2) and suction portion 314M.

[0062] As shown in FIG. 15, the suction unit 314R1 (314R2) is provided at the tip 311c of the hand 311R. As shown in FIG. 17, two suction units 314 are provided at the tip 311c of the hand 311R. These two suction units 314 are suction unit 314R1 and suction unit 314R2. The suction units 314R1 and 314R2 are arranged in parallel in a direction perpendicular to the direction in which the hand 311R moves. By providing two suction units 314R1 and 314R2, suction becomes more stable when suctioning a large object B. When suctioning a small object B, one of the suction units 314R1 and 314R2 may be used. On the other hand, the suction unit 314 is not provided on the hand 311L. This can also be said to mean that the suction unit 314 is provided on the tip 311c of one of the paired hands 311R and 311L. In this case, one of the paired hands 311R and 311L is the hand 311R. It can also be said that the suction unit 314 is not provided on the tip 311c of the other of the paired hands 311R and 311L. In this case, the other of the paired hands 311R and 311L is the hand 311L. This configuration prevents the suction unit 314 from getting in the way of the object B. For example, if the object B is a plate placed on a table or the like, there may be a case where it is desired to slide one of the hands 311R and 311L under the plate to grasp it. The space between the table and the plate is narrow. At this time, if hand 311R is used, suction part 314 gets in the way and it is difficult to slide the hand in. On the other hand, if hand 311L, which does not have suction part 314, is used, it is easy to slide the hand under the dish.

[0063] The suction portions 314R1 and 314R2 are used when the tip 311c of the hand 311R suctions the object B. Examples of the object B to be suctioned include tableware, food, a board, a plate, and paper. It should be noted that the suction unit 314 provided on the tip 311c of the hand 311R is not limited to this form. For example, the suction unit 314 may be provided on both the hand 311R and the hand 311L. Also, the number of suction units 314 provided on the hand 311R or the hand 311L may be one. Alternatively, as shown in FIG. 17, there may be multiple suction units 314, and the number may be three or more instead of two.

[0064] The adsorption portions 314R1 and 314R2 have the following structure. 16(a) is a diagram showing the structure of the adsorption portions 314R1 and 314R2. Note that the adsorption portions 314R1 and 314R2 have the same structure. In the drawing, the adsorption portions 314R1 and 314R2 are illustrated as the adsorption portion 314R1 (314R2). As shown in Fig. 16(a), the suction units 314R1 and 314R2 each include a suction pad 314k1, a suction pump 314p1, and a waterproof filter 314f1. The suction units 314R1 and 314R2 also include an exhaust port for discharging the sucked air to the outside. As shown in Fig. 17, a waterproof filter 314f2 is attached to the exhaust port.

[0065] The suction pad 314k1 adheres to the target B due to the negative pressure generated by sucking the air. The suction pump 314p1 is an example of a pump that sucks air. The suction pump 314p1 is, for example, a piezo pump. Use of a piezo pump improves quietness. The waterproof filter 314f1 is an example of a first waterproof filter that has the function of blocking water but allowing air to pass through, thereby preventing water from entering the interior along with the air when the suction pump 314p1 sucks in air. The waterproof filter 314f2 is an example of a second waterproof filter, and like the waterproof filter 314f1, it has the function of blocking water but allowing air to pass through, thereby preventing water from entering the interior through the exhaust port.

[0066] 15, the suction unit 314M is provided between the hand 331R and the hand 311L. This can also be said to mean that the suction unit 314M is provided between the pair of hands 331R and 311L. Furthermore, it can also be said that the suction unit 314M is provided between the rear ends of the hands 331R and 311L. Furthermore, it can also be said that the suction unit 314M is located adjacent to the joints 311d1 and 311d2 and is provided between the joints 311d1 and 311d2. The suction unit 314M is used, for example, to adhere to a drawer when opening or closing it. The suction unit 314M is also used, for example, to adhere to a cover when opening or closing it. Examples of covers include the document cover and front cover of a copying machine. Another example is the lid of a washing machine. The suction unit 314M is also used to adhere to a door when opening or closing it. When using the suction unit 314M, the hands 331R and 311L are set to the most open position within the first range of motion. This also means that the hands 331R and 311L are fully opened within the first range of motion. In the example of FIG. 2(b), the hands 331R and 311L are moved to an angle of α°. This prevents the hands 331R and 311L from getting in the way when the suction unit 314M adsorbs the target B.

[0067] The adsorption portion 314M has the following structure. FIG. 16(b) is a diagram showing the structure of the adsorption portion 314M. 16(b), the suction portion 314M includes a suction pad 314k2, a suction pump 314p2, and a waterproof filter 314f3, and has a structure similar to that of the suction portions 314R1 and 314R2. The suction pad 314k2 adheres to the object B due to the negative pressure generated by sucking the air. The adsorption pump 314p2 is an example of a pump that sucks air. The adsorption pump 314p2 may also be, for example, a piezo pump. The waterproof filter 314f3 is an example of a first waterproof filter that allows air to pass through but not water, thereby preventing water from entering the interior along with the air when the suction pump 314p2 sucks in the air.

[0068] In the example described above, three suction units 314 are provided: suction unit 314R1, suction unit 314R2, and suction unit M. However, there do not need to be three; at least one of these suction units 314 is sufficient. That is, suction unit 314 can be provided on one of the pair of hands 311L, 311R. Also, suction unit 314 can be provided on the other of the pair of hands 311L, 311R. Furthermore, suction unit 314 can be provided between the pair of hands 311L, 311R. At least one of these three installation methods is adopted.

[0069] 18(a) to 18(c) are diagrams showing the operation of the adsorption unit 314. FIG. Note that while the description will be given here using the adsorption units 314R1 and 314R2 as an example, the operation of the adsorption unit 314M is similar. Also, the description will be given here of a case where a thin film 314h1 is further added to the configuration described in FIG. The thin film 314h1 is an example of a film. The thin film 314h1 prevents dirt from adhering to the suction pad 314k1 and the waterproof filter 314f1. In other words, when oily or other soiled dishes are adsorbed, dirt may adhere to the suction pad 314k1 and the waterproof filter 314f1. In this case, the adsorption performance of the adsorption portions 314R1 and 314R2 decreases. Furthermore, the dishes or other dishes become difficult to wash. Therefore, the thin film 314h1 is provided to prevent dirt from adhering to the suction pad 314k1 and the waterproof filter 314f1. In this case, the thin film 314h1 covers the entire suction pad 314k1.

[0070] Figure 18(a) shows the state of 314R1 and 314R2 before the target B is adsorbed. In the state of Figure 18(a), the adsorption pump 314p1 is not operating and is not sucking air. In this state, a space exists between the adsorption pad 314k1 and the thin film 314h1. Air is present in this space, and its air pressure is the same as the air pressure on the target B side. FIG. 18(b) shows the state of 314R1 and 314R2 when suctioning target B. In the state shown in FIG. 18(b), suction pump 314p1 operates to suck in air. This causes the air present in the space between suction pad 314k1 and thin film 314h1 to be sucked in. Then, suction pad 314k1 and thin film 314h1 deform, reducing the size of this space. As a result, negative pressure is generated, allowing suction pad 314k1 to suction target B. Figure 18(c) shows the state of 314R1 and 314R2 when moving the target B. In the state of Figure 18(b), the suction pump 314p1 operates to suck in air. This maintains the negative pressure generated in Figure 18(b), allowing the target B to be moved while being held by the suction pad 314k1.

[0071] Note that the thin film 314h1 does not necessarily have to be provided. Also, in Fig. 18, the thin film 314h1 covers the entire suction pad 314k1, but it may cover only a portion of the suction pad 314k1.

[0072] 19(a) and 19(b) are diagrams showing a configuration in which the thin film 314h1 partially covers the suction pad 314k1. Figure 19(a) shows the state of 314R1 and 314R2 before suction of target B. In the state of Figure 19(a), suction pump 314p1 is not operating and is not sucking air. This state is the same as the state of Figure 18(a). FIG. 19(b) shows the state of 314R1 and 314R2 when suctioning target B. In the state shown in FIG. 19(b), suction pump 314p1 operates to suck in air. This sucks in the air that was in the space between suction pad 314k1 and thin film 314h1. Then, thin film 314h1 deforms, reducing the size of this space. As a result, negative pressure is generated, allowing suction pad 314k1 to suction target B.

[0073] In this way, the suction portion 314 can be provided with a mechanism for preventing the object B from slipping off. That is, suction pads 314k1 and 314k2 and suction pumps 314p1 and 314p2 are provided on the tip portion 311c. The suction pads 314k1 and 314k2 adsorb the object B by the negative pressure generated by the suction pumps 314p1 and 314p2. Such a mechanism prevents the object B from slipping off. Furthermore, a pressing mechanism such as a spring can be provided on the surface of the suction pads 314k1, 314k2 opposite to the surface that adsorbs the object B. That is, a pressing mechanism such as a spring is provided on the back side of the suction pads 314k1, 314k2 to press the suction pads 314k1, 314k2 against the object B. At this time, the orientation of the suction pumps 314p1, 314p2 can be changed by the pressing mechanism. In this case, even if the surface of the object B is uneven, the orientation of the suction pads 314k1, 314k2 can be changed to follow the uneven shape. In other words, the orientation of the suction pads 314k1, 314k2 can be changed to match the shape of the surface of the object B. Such a pressing mechanism makes it even more difficult for the object B to slip off.

[0074] <Explanation of Robot 1 Control> Next, a more detailed description will be given of the control of the robot 1. The robot 1 is controlled by a control device 20. The method by which the control device 20 controls the robot 1 will be described below. FIG. 20 is a flowchart illustrating a method for controlling the robot 1. First, the photographing device 10 photographs the object B (step 101). The image of the object B photographed by the photographing device 10 is sent to the control device 20. Next, the control device 20 recognizes the object B (step 102). The control device 20 can recognize the object B by using an existing method. For example, the shape, spatial position, and direction of the object B are calculated. Then, the object B is recognized by matching it with objects registered in advance.

[0075] Then, the control device 20 determines whether the recognized object B is registered or not (step 103). As a result, if object B is a registered object (Yes in step 103), the control device 20 performs the following control. That is, the control device 20 controls at least one of gripping and suction of object B according to the method registered for the registered object (step 104). That is, the method for gripping or suctioning the registered object is determined in advance. Then, the registered object is gripped or suctioned according to the predetermined method. In this case, only gripping or suctioning may be performed, or both may be performed in combination. When gripping a registered object, the control device 20 controls the opening and closing of the hand portion 311 of the robot hand 31. The control device 20 also controls the arm 32 to adjust the position and orientation of the robot hand 31. Through this control, the hand portion 311 grips the registered object. Furthermore, when suctioning the registration object, the control device 20 controls the opening and closing of the hand portion 311 of the robot hand 31. The control device 20 then controls the suction unit 34. Specifically, it controls the operation of the suction pumps 314p1 and 314p2 of the suction unit 34. Note that the control device 20 also controls the arm 32 to adjust the position and orientation of the robot hand 31. This controls the suction pads 314k1 and 314k2 to suction the registration object. With this control, the registration object is suctioned by the suction unit 314M.

[0076] On the other hand, if the object B is an unregistered object that has not been registered (No in step 103), the control device 20 performs the following control. That is, the control device 20 controls at least one of grasping and suction of the unregistered object (step 105). In this case, only one of grasping and suction may be performed, or both may be performed in combination. In other words, the method for grasping or suction of an unregistered object is not determined in advance. Therefore, the control device 20 attempts to determine whether or not it is possible to grasp or suction the unregistered object. When attempting to grasp or suction, the control device 20 determines which method to select based on the size, orientation, shape, etc. of the unregistered object. The control device 20 also determines the posture of the hand unit 311 based on the size, orientation, shape, etc. of the unregistered object. Even if grasping or suction fails, the control device 20 attempts again using another method. That is, the control device 20 repeats the attempt.

[0077] Then, the control device 20 registers the procedure that was successful after the trial (step 106). That is, the control device 20 registers at least one of the methods by which the unregistered object was successfully grasped and attracted, in association with the unregistered object. Thereby, the unregistered object can be treated as a registered object thereafter.

[0078] According to the embodiment described above in detail, the driving force of the motor 322 is used to attach and detach the robot hand 31. Therefore, no other actuators are required to attach and detach the robot hand 31. In other words, it is possible to provide a robot hand that can be attached and detached with a simpler mechanism. It is also possible to provide a robot equipped with this robot hand. Furthermore, it is possible to reduce the number of parts, making it easier to make the robot hand 31 small and lightweight. Furthermore, it is easier to make the robot hand 31 inexpensive. [Explanation of symbols]

[0079] 1...robot, 10...imaging device, 20...control device, 30...robot body, 31...robot hand, 32...arm, 34...actuator, 35...moving part, 36...waterproof cover, 311...hand part, 311L, 311R...hand, 311d1 to 311d4...joint part, 312...mounting part, 312a...slide part, 312b...cam, 312d1 to 312d3...link part, 313...reduction gear, 313a, 323...magnet, 314R1, 314R2, 314M...suction part, 314f1, 314f2, 314f3...waterproof filter, 314k1, 314k2...suction pad, 314p1, 314p2...suction pump, 321...hole part, 322...motor, 365...O-ring, B...object, Jc...magnetic coupling mechanism

Claims

1. a gripping unit that grips an object; an attachment portion that attaches the grip portion to an attachment portion; Equipped with the gripping portion has a first range of motion used when gripping an object and a second range of motion used when detaching the gripping portion from the attachment portion, the attachment portion is in a state where the attachment portion is fixed to the attached portion in the first range of motion, and in a state where the attachment portion is detachable from the attached portion in the second range of motion; The entire outer surface of the device, including the area where the device is joined to the mounting portion, is covered with a waterproofing portion that waterproofs the entire outer surface of the device, including the area where the device is joined to the mounting portion. a transmission unit that transmits a driving force of a motor that drives the grip unit to the grip unit, The transmission unit transmits the driving force of the motor through a magnetic coupling mechanism, and the robot hand detaches the gripping unit from the attached part by separating the driving force at the magnetic coupling mechanism.

2. the mounting portion includes a slide portion that slides in conjunction with the movement of the grip portion, 2. The robot hand of claim 1, wherein the sliding movement of the sliding portion causes the sliding portion to engage with the attached portion in the first range of motion, thereby fixing the attaching portion to the attached portion, and the sliding portion disengages from the attached portion in the second range of motion, thereby allowing the attaching portion to be removed from the attached portion.

3. The robot hand according to claim 2 , wherein the sliding portion performs a sliding movement by transmitting a force from a cam that rotates in conjunction with the movement of the gripping portion.

4. The robot hand according to claim 2 , wherein the sliding portion moves in conjunction with the movement of the gripping portion, and a force is transmitted to the sliding portion by a link portion joined to the sliding portion, thereby performing a sliding movement.

5. The robot hand according to claim 1 , wherein the waterproof portion includes a first cover that covers a joint portion of the gripping portion, and a second cover that covers a non-joint portion of the gripping portion other than the joint portion.

6. The robot hand according to claim 5 , further comprising a sealing portion for waterproofing between the first cover and the second cover.

7. The robot hand according to claim 5 , wherein the second cover is flexible and deforms in accordance with the movement of the joint portion.

8. the magnetic coupling mechanism transmits the driving force of the motor by magnetically joining a first magnetic rotating part provided on the mounting part and a second magnetic rotating part provided on the transmission part; The robot hand according to claim 1 , wherein the waterproof part is disposed between the first magnetic rotating part and the second magnetic rotating part.

9. The robot hand according to claim 1 , further comprising a suction portion that sucks an object.

10. The gripping portion includes a pair of hands, The robot hand according to claim 9 , wherein the suction portion is provided on at least one of one of the pair of hands, the other of the pair of hands, and between the pair of hands.

11. The robot hand according to claim 10 , wherein the suction portion is provided at a tip end of one of the pair of hands, and is not provided at the other hand.

12. The robot hand according to claim 11 , wherein the number of the suction parts provided at the tip of one of the pair of hands is plural.

13. 10. The robot hand according to claim 9, wherein the suction unit comprises a suction pad that suctions onto an object, a pump that sucks air, and a first waterproof filter that prevents water from entering the interior along with the air sucked into the pump.

14. 14. The robot hand according to claim 13, wherein the suction unit includes an exhaust port that exhausts air sucked by the pump, and the exhaust port is fitted with a second waterproof filter that prevents water from entering the interior through the exhaust port.

15. The robot hand according to claim 13 , further comprising a film covering at least a portion of the suction pad.

16. The robot hand according to claim 13 , further comprising a pressing mechanism for pressing the suction pad on a surface of the suction pad opposite to a surface that suctions an object.

17. A robot hand according to any one of claims 1 to 16; a mounting portion for mounting the robot hand; A robot equipped with:

Images