Scooping member for robots and robot operation mechanism

Abstract

This scooping member for robots is configured from a flexible plate body, and the plate body is formed into a three-dimensional shape having a recessed portion by forming an overlapping section in which portions of the plate body overlap.

Description

Scooping member for robot and operating mechanism for robot

[0001] The present disclosure relates to a scooping member for a robot and an operating mechanism for a robot.

[0002] Japanese Patent Application Laid-Open No. 2022-13236 describes a loading device including a robot arm, a holding part attached to the tip of the robot arm and capable of holding a workpiece, a scooping processing part capable of executing a scooping process of operating the robot arm to scoop up the workpiece filled in a material container with the holding part and hold it in the holding part, a moving processing part capable of executing a moving process of operating the robot arm to move the holding part to a predetermined position while holding the workpiece scooped up by the holding part in the holding part, and a loading processing part capable of executing a loading process of operating the robot arm to rotate the holding part about a preset rotation axis and drop the workpiece held in the holding part from the holding part for loading.

[0003] When scooping up an object to be scooped, such as an amorphous object (e.g., powder or liquid), with a member attached to the tip of a robot arm, it is desired to scoop up these objects efficiently. For example, when using a highly rigid spoon-shaped member to scoop up an object, since the containers in which the objects are accommodated have various shapes (including sizes), it is difficult to efficiently scoop up the objects corresponding to the shape of the container. Also, in order to move the spoon-shaped member while contacting the inner surface of the container, complicated control is required for the operation of the robot.

[0004] An object of the present disclosure is to efficiently scoop up an object corresponding to the shape of a container without requiring complicated control.

[0005] One aspect of the present disclosure is a scooping member for a robot, which is formed of a flexible plate body, and a concave portion is provided in the plate body by forming an overlapping portion where a part of the plate body is joined to each other.

[0006] According to the present disclosure, an object can be efficiently scooped up corresponding to the shape of a container without requiring complicated control.

[0007] Figure 1 is a plan view showing the robot scooping member of the first embodiment in a flat state. Figure 2 is a plan view showing the robot scooping member of the first embodiment in a three-dimensional shape. Figure 3 is a perspective view showing the robot scooping member of the first embodiment in a three-dimensional shape. Figure 4 is an explanatory diagram showing the transformation of the robot scooping member of the first embodiment from a flat state to a three-dimensional shape. Figure 5 is a perspective view showing the robot scooping member of the first embodiment with a gap formed. Figure 6 is a perspective view showing the operating mechanism of the first embodiment with the robot scooping member in a flat state being held. Figure 7 is a side view showing the operating mechanism of the first embodiment with the robot scooping member in a flat state being held. Figure 8 is a perspective view showing the operating mechanism of the first embodiment with the robot scooping member in a three-dimensional shape being held. Figure 9 is a perspective view showing the operating mechanism of the first embodiment with the robot scooping member in a three-dimensional shape being held. Figure 10 is a perspective view showing the robot arm of the first embodiment. Figure 11 is a perspective view partially showing the operating mechanism of the first embodiment with a gap formed in the robot scooping member. Figure 12 is an explanatory diagram showing the operation mechanism of the first embodiment while holding a three-dimensional robot scooping member. Figure 13A is a perspective view showing the state of scooping an object from a container using the robot scooping member of the first embodiment. Figure 13B is a perspective view showing the state of scooping an object from a container using the robot scooping member of the first embodiment. Figure 14 is a perspective view showing the state of scooping an object from a container using the robot scooping member of the first embodiment. Figure 15 is a perspective view showing the state of scooping an object from a container using the robot scooping member of the first embodiment. Figure 16 is an explanatory diagram showing the relationship between the size of the robot scooping member and the container. Figure 17 is an explanatory diagram showing the relationship between the size of the robot scooping member and the container. Figure 18 is an explanatory diagram showing the relationship between the size of the robot scooping member and the container. Figure 19 is an explanatory diagram showing the direction of deformation due to external force acting on the robot scooping member. Figure 20 is an explanatory diagram showing the state of deformation due to external force acting on the robot scooping member. Figure 21 is an explanatory diagram showing the deformation state due to the frictional force from the container acting on the robot scooping member. Figure 22 is a perspective view showing the state in which the object is being moved to the bottle using the robot scooping member. Figure 23 is a perspective view showing the robot scooping member of the second embodiment in a flat state.Figure 24 is a perspective view showing the three-dimensional shape of the robot scooping member of the second embodiment. Figure 25 is a perspective view showing the three-dimensional shape of the robot scooping member of the second embodiment. Figure 26 is a perspective view showing the robot scooping member of the third embodiment in a flat state. Figure 27 is a perspective view showing the three-dimensional shape of the robot scooping member of the third embodiment. Figure 28 is a perspective view showing the robot scooping member of the fourth embodiment in a flat state. Figure 29 is a perspective view showing the three-dimensional shape of the robot scooping member of the fourth embodiment. Figure 30 is a perspective view showing the robot scooping member of the fifth embodiment in a flat state. Figure 31 is a perspective view showing the three-dimensional shape of the robot scooping member of the fifth embodiment.

[0008] Hereinafter, a robot scooping member (hereinafter abbreviated as "scooping member") 102, which is a first embodiment of the present disclosure, and a robot operating mechanism (hereinafter abbreviated as "operating mechanism") 12 to which the scooping member 102 is attached will be described with reference to the drawings. In each drawing, the same or substantially equivalent elements, members, and parts are given the same reference numerals. Also, the dimensions and proportions in the drawings are exaggerated for explanatory purposes and may differ from the actual proportions.

[0009] As shown in Figure 1, the scooping member 102 is formed in a plate shape by a flexible plate body 104. This "plate shape" does not necessarily mean a shape with a uniform thickness, but may also have locally thicker or thinner parts. For example, ribs may be formed to increase strength, and these rib parts may have a locally thicker structure.

[0010] In the first embodiment, the shape of the plate body 104 when viewed from above (in the thickness direction) in a flat state PS is circular. However, a part of the outer circumference of the plate body 104 is a straight chord portion 104S. In contrast, the part of the outer circumference of the plate body 104 other than the chord portion 104S is an arc portion 104A that forms part of a circle.

[0011] The "flexibility" of the scooping member 102 refers to the fact that the plate body 104 can easily bend due to an external force in the thickness direction. Furthermore, this "flexibility" also includes "elasticity," which means that when the external force on the scooping member 102 is removed, it returns to its shape before the external force was applied. As shown in Figure 2, let R be the radius of the circle in the flat state PS of the plate body 104.

[0012] In the first embodiment, a notch 106 is formed in the scooping member 102. This notch 106 is continuous from the center CP (or its vicinity) of the scooping member 102 to the outer circumference. In the example shown in Figure 1, the notch 106 is formed from the center CP toward the opposite side of the chord portion 104S. The notch 106 forms two edges 108A and 108B on the scooping member 102.

[0013] The notch 106 may be formed in a later step after the plate body 104 has been formed without the notch 106, or the plate body 104 may be formed with the notch 106 already formed. In short, it is sufficient that the plate body 104 has a notch 106 that is partially cut into it, and that this notch 106 forms two edges 108A and 108B.

[0014] As shown in Figures 3 and 4, the scooping member 102 can form an overlapping portion 110 by overlapping a portion of the plate body 104, including the edges 108A and 108B, in a fan shape. In the scooping member 102 in which the overlapping portion 110 is formed in this way, the plate body 104 has a conical shape CS with a recess 112. The conical shape CS is an example of a three-dimensional shape in the disclosed technology. The scooping member 102 can scoop up an object such as wheat flour FL (see Figures 13A to 15) using this recess 112.

[0015] Since the plate 104 is elastic, it retains its elasticity even when it is in the shape of a cone CS. As will be described later, for example, when an external force is applied to the outer circumference of the base of the cone CS, the base deforms in such a way that it becomes distorted (if the base is elliptical, the eccentricity increases), but when the external force is removed, it returns to the shape it was in before the external force was applied.

[0016] In the example shown in Figure 4, the scooping member 102 can adjust the range of the overlapping portion 110. Adjusting the range of the overlapping portion 110 also means relatively shifting two parts of the plate body 104, including the edges 108A and 108B, in the circumferential direction of the plate body 104. Furthermore, adjusting the range of the overlapping portion 110 also means adjusting the overlapping angle θ of the overlapping portion 110. The overlapping angle θ is also the central angle of the sector that forms the overlapping portion 110. This makes it possible to change the apex angle φ of the cone shape and the diameter d of the base. In this cone shape, the diameter d of the base is determined using the radius R of the plate body 104 and the overlapping angle θ. It is expressed as follows.

[0017] In Figure 4, an overlapping portion 110 is formed in the conical shape CS shown in the center and on the right, compared to the flat state PS shown on the left. In particular, the overlapping portion 110 is wider in the conical shape CS shown on the right compared to the conical shape CS shown in the center, and the apex angle φ of the cone (see Figure 3) is smaller. Note that the range of the overlapping portion 110 is not limited to the two stages shown in the center and on the right in Figure 4, but can be continuously changed.

[0018] Furthermore, with the scooping member 102 in a conical shape CS, as shown in Figure 5, it is possible to shift the plates 104 relative to each other in the overlapping portion 110. In this case, it is possible to shift the plates 104 relative to each other along the extending directions of the edges 108A and 108B (the direction of arrow C1 and the opposite direction). As a result, the portion of the plate 104 including one edge 108A separates from the portion of the plate 104 including the other edge 108B. Then, a gap GP is formed between the overlapping plates 104 in the overlapping portion 110.

[0019] As shown in Figure 1, a retaining hole 114 is formed in the plate body 104 near one edge 108A. In the example shown in Figure 1, there are two retaining holes 114, which are spaced apart in the radial direction of the plate body 104. The retaining holes 114 penetrate the plate body 104 in the thickness direction. As will be described later, a retaining pin 48 in the operating mechanism 12 is inserted into the retaining hole 114.

[0020] Figures 6 to 9 show the operating mechanism 12. Figure 10 shows the robot arm 60 to which this operating mechanism 12 is attached.

[0021] As shown in Figures 6 to 9, the operating mechanism 12 includes, in addition to the scooping member 102 described above, a first motor 14, a drive member 16, and a holding member 18. The first motor 14, the drive member 16, and the holding member 18 are integrated. The first motor 14 is fixed to the tip of the robot arm 60 by a bracket 20. As a result, the operating mechanism 12 as a whole is also fixed to the tip of the robot arm 60.

[0022] The drive member 16 has a housing 22. The housing 22 is a rectangular parallelepiped member that extends from the first motor 14. The first motor 14 is located at the base end of the housing 22. A drive shaft 24 is arranged inside the housing 22. The drive shaft 24 rotates due to the rotational driving force of the first motor 14.

[0023] The housing 22 has a predetermined length from the base end to the tip end. This allows the scooping member 102 to be inserted, for example, deep into a deep container (near the bottom).

[0024] A retaining member 18 is attached to the front end of the housing 22, that is, the side opposite the first motor 14. The retaining member 18 has an upper cover 26 and a lower cover 28. A gap wider than the thickness of the plate 104 of the scooping member 102 is formed between the upper cover 26 and the lower cover 28.

[0025] The lower cover 28 houses the drive roller 30. The drive roller 30 is made of an elastic material such as rubber and has a frustoconical shape with a tapered diameter that gradually decreases from the base end to the tip end. The base end of the drive roller 30 is connected to the drive shaft 24 via a universal joint 34.

[0026] The upper cover 26 houses the clamping roller 32. The clamping roller 32 is rotatably held relative to the upper cover 26. The clamping roller 32 can clamp the plate 104 of the scooping member 102 in the thickness direction between itself and the drive roller 30. With the plate 104 clamped in this manner, the rotation of the drive roller 30 allows the clamped portion of the plate 104 to be moved in the circumferential direction (direction of arrow R1). The drive roller 30 can adjust the range of the overlap 110, which is an example of an adjustment mechanism.

[0027] The drive member 16 includes a slide member 36. The slide member 36 has a fixed case 38 and a slide plate 40. The fixed case 38 is fixed to the side surface of the housing 22. The slide plate 40 is held relative to the housing 22 so as to be slidable in the longitudinal direction of the housing 22 (in the direction of arrow L1 and the opposite direction). The fixed case 38 is provided with a second motor 42 and a pinion 44. The slide plate 40 has a rack 46 that meshes with the pinion 44. The rotation of the pinion 44 by the drive of the second motor 42 causes the slide plate 40 to slide in the direction of arrow L1 or the opposite direction.

[0028] A retaining pin 48 is provided at the tip of the slide plate 40. The retaining pin 48 is inserted into the retaining hole 114 of the scooping member 102. In this state, as shown in Figure 11, when the slide plate 40 slides in the direction of arrow L1, the plate body 104 is partially curved downwards, and a gap GP is formed between the edge 108A and the edge 108B.

[0029] The housing 22 is provided with a vibration generating member 50 at the tip end (closer to the holding member 18). The vibration generating member 50 has a motor and a vibrator (not shown). The vibrator vibrates when the motor is driven. The vibrator is connected to the holding member 18, and the scooping member can be vibrated via the holding member 18.

[0030] Next, the operation of the first embodiment will be described.

[0031] As shown in Figures 6 and 7, in the first embodiment, the scooping member 102 is held by the holding member 18 of the operating mechanism 12. Specifically, the plate body 104 is partially clamped between the clamping roller 32 and the drive roller 30. In addition, a holding pin 48 is inserted into the holding hole 114 of the plate body 104.

[0032] In this state, the drive roller 30 can be rotated by the drive of the first motor 14. As shown in Figures 8 and 9, the portion of the plate 104 that is clamped between the clamping roller 32 and the drive roller 30 moves in the direction of arrow R1, forming an overlapping portion 110. The scooping member 102 as a whole takes on a conical shape with a recess 112. By adjusting the amount of rotation of the drive roller 30, the range in which the plate 104 overlaps as the overlapping portion 110 can be adjusted.

[0033] As shown in Figures 2 to 4, the larger the overlap angle θ, the smaller the diameter d of the conical base (see equation (1) above). In other words, it is possible to change the diameter d of the conical base while the scooping member 102 is held by the holding member 18 of the operating mechanism 12. Then, as shown in Figure 12, the scooping member 102, whose conical base diameter d has been adjusted to a predetermined size, can be moved by the robot arm 60.

[0034] Figures 13A to 15 show the process of scooping flour FL from containers 80 of various sizes. Flour FL is an example of an amorphous material, and also an example of the object to be scooped. Irregular materials may include not only granular materials such as flour FL, but also liquids and gels. Gels may have a viscosity high enough to be considered substantially solid. Furthermore, the object to be scooped is not limited to amorphous materials, but may also include solids (including jelly-like components).

[0035] Each of the containers 80 has a different inner diameter D1 of its opening edge 80E. Specifically, the container 80 shown in Figure 14 has a smaller inner diameter D1 of its opening edge 80E than the containers 80 shown in Figures 13A and 13B, and the container 80 shown in Figure 15 has a smaller inner diameter D1 of its opening edge 80E than the container 80 shown in Figure 14.

[0036] Furthermore, the shape of the container 80, particularly the shape of the inner surface 80N in which the object is contained, may differ. For example, the radius of curvature of the inner surface 80N of the container 80 may also take on different values, corresponding to the inner diameter D1 of the opening edge 80E. However, the curvature is smooth enough that there is no significant difference from the standpoint of scooping up the object using the scooping member 102.

[0037] The scooping member 102 has a conical shape with a recess 112, and its base diameter d can be adjusted to correspond to the sizes of the various containers 80 shown in Figures 13A to 15. This makes it easy to efficiently scoop out flour FL in a manner that corresponds to the size of the container, regardless of the container size.

[0038] Furthermore, the plate body 104 constituting the scooping member 102 is flexible. When an external force is applied from the container 80 while the scooping member 102 is in contact with the container 80, the plate body 104 deforms, so that a large force is not applied from the scooping member 102 to the container 80. Also, a large force is not applied as a reaction force from the container 80 to the scooping member 102. For this reason, damage to the scooping member 102 and the container 80 can be suppressed compared to a configuration in which the plate body 104 is not flexible. In a configuration in which the plate body 104 is not flexible, complex control of the operation of the scooping member 102 may be necessary to suppress damage to the scooping member 102 and the container 80, but in this embodiment, complex control of the operation of the scooping member is not necessary.

[0039] When actually scooping an object from the container 80 with the scooping member 102, it is preferable that the diameter d of the bottom surface of the scooping member 102 be smaller than the inner diameter D1 of the opening edge 80E of the container 80, as shown as an example in Figure 16. This allows the scooping member 102 to enter the inside of the container 80 without contacting the opening edge 80E of the container 80, as shown on the right side of Figure 16. This also ensures a wide contact area T1 of the scooping member 102 with the inner surface 80N of the container 80.

[0040] In the container 80 shown in Figure 17, the inner diameter D1 of the opening edge 80E is smaller than that of the container 80 shown in Figure 16. Even in this case, the present invention makes it possible to make the diameter d of the bottom surface of the scooping member 102 smaller than the inner diameter D1 of the opening edge 80E of the container 80. As a result, as shown on the right side of Figure 17, a wider contact range T1 of the scooping member 102 with respect to the inner surface 80N can be secured for the container 80 in which the inner diameter D1 of the opening edge 80E is relatively small.

[0041] However, the disclosed technology does not exclude the case in which the diameter d of the bottom surface of the scooping member 102 is larger than the inner diameter D1 of the opening edge 80E of the container 80, as shown in Figure 18. That is, even in this case, as shown on the right side of Figure 18, if the plate 104 is deformed and a part of the scooping member 102 enters the inside of the container 80, a contact range T1 of a certain width can be secured.

[0042] Furthermore, the flexibility of the plate body 104 of the scooping member 102 can be set from the following perspectives. As schematically shown in Figure 19, when an external force is applied to the outer circumference of the scooping member 102, it is relatively rigid and difficult to deform in the direction of arrow A1 (the direction of the generatrix of the cone shape), while it is relatively rigid and easily deformed in the direction of arrow B1 (the inner diameter direction of the base of the cone shape). As shown in Figure 20, if the external force acting on the outer circumference of the scooping member 102 is F1, the plate body 104 does not deform in the direction of arrow A1, but in the direction of arrow B1, the plate body 104 deforms such that the apex angle φ of the cone shape becomes smaller (the base of the cone shape is elliptical and the eccentricity becomes larger). In this way, the flexibility is set so that it does not deform in the direction of the generatrix of the cone shape, but deforms in the inner diameter direction of the base.

[0043] Further, as shown in FIG. 21, when the scooping member 102 is moved along the inner surface 80N of the container 80, a frictional force F2 acts on the contact portion of the scooping member 102 from the inner surface 80N of the container 80. If the rigidity of the plate body 104 is excessively low (too flexible), the plate body 104 may bend or buckle in an arch shape as indicated by the arrow B2 on the right side of FIG. 21. Therefore, the flexibility of the plate body 104 is set so that such buckling does not occur. In FIG. 21, the inner surface 80N of the container 80 is shown planar, and the plate body 104 is also shown flat, etc., and is illustrated in a simplified manner.

[0044] In the present embodiment, with the scooping member 102 held by the holding member 18, as shown in FIG. 11, by sliding the slide plate 40 in the direction of arrow L1, a gap GP (see FIG. 5) can be formed between the edge 108A and the edge 108B. For example, with an object such as flour FL in the recess 112, as shown in FIG. 22, the scooping member 102 is moved above a receiving bottle 82 or the like. At this time, the conical top of the scooping member 102 is adjusted to be positioned directly above the opening of the bottle 82. Then, by forming the gap GP in the scooping member 102, the flour FL in the recess 112 can be dropped and moved toward the bottle 82. The object can be easily moved to the bottle 82 without tilting the scooping member 102.

[0045] For example, if the size of the gap GP is made smaller than the inner diameter of the opening of the bottle 82, it is possible to prevent the flour moving from the scooping member 102 from spilling outside the bottle 82. The "size" of the gap GP in this case is the maximum value of the inner dimension when the gap GP is viewed in the vertical direction. For example, when the gap GP can be approximated by an elliptical shape, it is the major axis of this ellipse. Also, when the gap GP can be approximated by a polygon, it is the longest of the diagonals of this polygon.

[0046] Table 1 shows the evaluation results when an object is scooped from the container 80 using the operating mechanism 12 holding the scooping member 102 of the first embodiment. In this evaluation, four types of containers 80 with different inner diameters D1 of the opening edge 80E are used as the container 80. The depths and curvatures of these containers 80 are non-uniform, but they have in common that the inner peripheral surface is smoothly curved.

[0047] Also, as the scooping member 102, a polypropylene sheet with a diameter of 100 mm and a thickness of 0.2 mm in the state of a disc was used. And 10 g of flour was contained in each container 80, and the diameter d of the cone of the scooping member 102 was set to three types, and the result of scooping the flour from the container 80 is shown. The numerical values in the table are the ratios of the flour that could be scooped from the container 80 in the scooping operation, and are the average values per time when this experiment was conducted 10 times. Note that for the container 80 with the inner diameter D1 of the opening edge 80E being 67 mm, the scooping member 102 with a cone diameter d of 90 mm cannot be put inside the container.

[0048]

[0049] From this Table 1, when the inner diameter D1 of the opening edge 80E of the container 80 is 110 mm, 93 mm, and 82 mm, it can be seen that regardless of whether the diameter d of the cone of the scooping member 102 is 90 mm, 80 mm, or 71 mm, the flour in the container 80 can be scooped at a rate of 80% or more by one scooping operation. Also, even when the inner diameter D1 of the opening edge 80E of the container 80 is 67 mm, it can be seen that if the diameter d of the cone of the scooping member 102 is 80 mm or 71 mm, the flour in the container 80 can be scooped at a rate of 80% or more. In particular, under the conditions enclosed by a thick line in the table, the flour in the container 80 can be scooped at a rate of 95% or more.

[0050] The thickness of the plate body 104 constituting the scooping member 102 is not limited as long as the plate body 104 can be deformed as described above to have a three-dimensional shape with the concave portion 112. However, if it is too thick, it becomes difficult for the scooping member 102 to enter below the object in the container 80. On the contrary, if the thickness of the plate body 104 is too thin, as described above, it is likely to buckle due to the frictional force F2 with the inner surface of the container 80 (see FIG. 21). The thickness of the plate body 104 is set in consideration of the physical properties of the material of the plate body 104 so that such conditions are satisfied.

[0051] In the above, an example is shown of a plate body 104 in which a straight chord portion 104S is formed when the scooping member 102 is viewed from above. However, the plate body may not have such a chord portion 104S and may be entirely circular. When the chord portion 104S is formed, the plate body 104 is in a conical shape, and the radius of curvature of the chord portion 104S is larger than the radius of curvature of the arc portion 104A. For this reason, as shown in Figures 13A and 13B, a structure can be realized in which the chord portion 104S can easily come into contact with containers 80 with a large inner diameter D1, and furthermore, with containers in which the contact portion of the scooping member 102 is flat.

[0052] Next, a second embodiment will be described. In the following second to fourth embodiments, elements, components, etc., similar to those in the first embodiment will be denoted by the same reference numerals as in the first embodiment, and detailed descriptions will be omitted.

[0053] As shown in Figure 23, in the scooping member 202 of the second embodiment, the shape of the plate body 204 is such that a portion is cut out in a fan shape. That is, the plate body 204 has two non-parallel edges 108A and 108B. Although not shown in Figure 23, the plate body 104 has a holding hole 114 similar to that of the first embodiment.

[0054] In the scooping member 202 of the second embodiment, as shown in Figure 24, the portions of the plate body 204 including the edge 108A or edge 108B are overlapped to form an overlapping portion 110. As a result, the plate body 204 becomes a conical shape (three-dimensional shape) with a recess 112.

[0055] Furthermore, in the scooping member 202 of the second embodiment, as shown in Figure 25, the plate body 204 can also be made into a conical shape (three-dimensional shape) with a recess 112 by bringing the edges 108A and 108B into contact with each other. In this case, although the plate body 204 itself does not overlap in the thickness direction, it can be said that the edges 108A and 108B, which are part of the plate body 204, substantially overlap to form an overlapping portion 110.

[0056] Next, a third embodiment will be described.

[0057] As shown in Figure 26, in the third embodiment, the scooping member 302 has a plate body 304 that is rectangular (including square) in plan view. Also, in the example shown in Figure 26, similar to the second embodiment (see Figure 23), non-parallel edges 108A and 108B are formed on the plate body 304.

[0058] Even with the scooping member 202 of the third embodiment having this shape, as shown in Figure 27, the plate body 304 can be deformed so that the portion including edge 108A and the portion including edge 108B overlap, thereby forming an overlapping portion 110. In this state, the scooping member 302 has a three-dimensional shape with a recess 112, making it possible to scoop up an object. Furthermore, similar to the scooping member 102 of the first embodiment and the scooping member 202 of the second embodiment, the range of the overlapping portion 110 can be adjusted.

[0059] The operating mechanism corresponding to the scooping member 202 of the third embodiment, that is, the mechanism for adjusting the range of the overlapping portion 110, can be the same configuration as in the first embodiment.

[0060] Thus, the scooping member of the disclosed technology is not limited to a configuration in which the outer diameter of the plate body is circular, but may also have a polygonal shape or an outer shape that combines curves and straight lines.

[0061] Furthermore, in the scooping member 202 of the second embodiment and the scooping member 302 of the third embodiment, it is also possible to create a three-dimensional shape with a recess 112 without forming an overlap 110. For example, in the scooping member 202 of the second embodiment, even if the edges 108A and 108B are brought close together without contact, the plate body 204 can be deformed in the thickness direction to create a three-dimensional shape with a recess 112. In this case, a wedge-shaped gap is created in a part of the conical portion, i.e., between the edges 108A and 108B. However, if this gap is narrower than the particle size of the powder or granules, for example, if the target material is a powder or granule, the scooped powder or granules will not fall through the gap. By changing the width (spacing) of this gap, it is possible to change the diameter d of the base of the cone in the scooping member 202 of the second embodiment and the scooping member 302 of the third embodiment, as in the scooping member 102 of the first embodiment.

[0062] Next, a fourth embodiment will be described.

[0063] As shown in Figure 28, in the scooping member 402 of the fourth embodiment, the overall shape of the plate 404 is rectangular (including square) in plan view, similar to the plate 304 of the scooping member 302 of the third embodiment. However, the plate 404 does not have edges 108A and 108B, and instead, a first fold 406 is provided. The first fold 406 is formed in a straight line from the center or near the center of the plate 404 to the outer edge (side or vertex) of the plate 404. By folding the plate 404 so that the parts on both sides of this first fold 406 overlap, it is possible to form a three-dimensional shape with a recess 112. The first fold 406 is formed so that the plate 404 is easily folded at this first fold 406, for example, by making the plate 404 locally thinner.

[0064] In this case, a second fold 408 is formed at a position symmetrical to the first fold 406. In the plate 404, the portion between the first fold 406 and the second fold 408 is the overlapping portion 110. The position of the second fold 408, i.e., the range of the overlapping portion 110, can also be adjusted in the example shown in Figure 29.

[0065] The second fold 408 may be formed in the plate 404 in a locally thinned manner, similar to the first fold 406, so that the plate 404 is easily folded at this second fold 408. However, from the viewpoint of adjusting the range of the overlap 110, the position of the second fold 408 is uncertain. Therefore, the second fold 408 is not formed in advance as a thinned portion in this manner, but rather is a portion that arises as a result of the formation of the overlap 110 of the plate 404.

[0066] Furthermore, in the scooping member 402 of the fourth embodiment, it is possible to create a three-dimensional shape with a recess 112 without forming an overlap 110. That is, even if the plates 504 on both sides of the first fold 406 are bent to the extent that they do not come into contact, the plates 404 can be deformed in the thickness direction to create a three-dimensional shape with a recess 112.

[0067] As an operating mechanism corresponding to the scooping member 402 of the fourth embodiment, that is, a mechanism for adjusting the range of the overlapping portion 110, for example, a structure having two sets of combinations of the drive roller 30 and the clamping roller 32 in the operating mechanism 12 of the first embodiment can be applied. In this case, the plate body 404 is clamped on both sides of the first fold 406 by each set of the drive roller 30 and the clamping roller 32. Then, by rotating the drive roller 30 in opposite directions in sync, it is possible to fold the plate body 404 at the first fold 406 and form the overlapping portion 110.

[0068] In the disclosed technology, the operating mechanism may not include a vibration generating member 50. That is, even if vibration is not generated in the scooping member 102, it is still possible to drop the object from the scooping member 102 through the gap GP while the gap GP is formed.

[0069] Furthermore, in the disclosed technology, the operating mechanism may not have a sliding member 36. That is, even if the scooping member 102 does not have a gap GP, if the scooping member 102 has an overlapping portion 110, and the scooping member 102 has a three-dimensional shape with a recess 112 (desired bottom diameter d), it can efficiently scoop up objects according to the shape of various containers, and without requiring complex control.

[0070] Furthermore, the mechanism of the operating mechanism 12 for creating the gap GP in the scooping member 102 is not limited to having a sliding member 36. For example, a mechanism that can create a gap GP by separating at least one of the plate bodies 104 from the other in the thickness direction at the overlapping portion 110 is also acceptable. As such a mechanism, for example, a mechanism that adsorbs a part of the plate body 104 and bends it in the thickness direction can be applied.

[0071] Furthermore, the operating mechanism of the disclosed technology may also be configured without a drive member 16 and a first motor 14, that is, without adjusting the range of the overlapping portion 110 of the scooping member 102, simply by holding the scooping member 102 with a holding member 18. In this case, the scooping member 102 is formed into a predetermined three-dimensional shape having a recess 112 with a diameter d at the bottom corresponding to the shape of the container before being attached to the operating mechanism. Then, the scooping member 102, which has been formed into a three-dimensional shape, is held by the holding member 18.

[0072] Furthermore, the adjustment mechanism of the disclosed technology is not limited to a configuration having a drive roller 30. For example, the plate body 104 may be shifted in the circumferential direction by clamping each portion of the plate body 104, including the edges 108A and 108B, in the thickness direction and moving them relative to each other in the circumferential direction of the plate body 104 without rotation, thereby forming an overlapping portion 110.

[0073] Next, a fifth embodiment will be described.

[0074] As shown in Figure 30, in the scooping member 502 of the fifth embodiment, the plate body 504 is in a flat state PS and has a shape that unfolds a so-called tangent curved surface. Specifically, the plate body 504 is the shape of the movement trajectory of the tangents 508 when multiple tangents 508 of a predetermined virtual circle 506 move within a predetermined angular range in the circumferential direction (direction of arrow R2) while gradually decreasing the length of the line segments.

[0075] The plate body 504 of the fifth embodiment, which has this shape in a flat state, can become the three-dimensional shape CS shown in Figure 31. The plate body 504 of the three-dimensional shape CS is the shape of a tangent curved surface. Specifically, the plate body 504 is the shape of the movement trajectory of the tangents 508 when multiple tangents 508 move at a constant pitch in the axial direction of the virtual cylinder 510, which has a virtual circle 506 as its base, while also moving in the circumferential direction.

[0076] In the fifth embodiment of the scooping member 502, as shown in Figure 31, when it is in the state of having a three-dimensional shape CS, a recess 112 is formed by the plate body 504. In the plate body 504, an overlapping portion 110 is formed between the portion including edge 108A and the portion including edge 108B. By adjusting the overlapping range of this overlapping portion 110, it is possible to change the size of the scooping member 502.

[0077] The operating mechanism corresponding to the scooping member 502 of the fifth embodiment, that is, the mechanism for adjusting the range of the overlapping portion 110, can be the same configuration as in the first embodiment.

[0078] The following are additional notes relating to this disclosure. (Note 1) A scooping member for a robot, comprising a flexible plate body, wherein the plate body has a three-dimensional shape with a recess by forming an overlapping portion where a part of the plate body overlaps with each other. (Note 2) The scooping member for a robot according to Note 1, wherein the overlapping portion allows adjustment of the range in which the plate bodies overlap each other. (Note 3) The scooping member for a robot according to Note 1 or Note 2, wherein two edges, which are the edges of the overlapping portion, are formed from the inside of the plate body to the outer circumference, and a part of the plate body including the edges overlaps with each other to form the overlapping portion. (Note 4) The scooping member for a robot according to Note 3, wherein a gap can be formed between the edges by shifting the plate bodies relative to each other in the overlapping portion. (Note 5) The scooping member for a robot according to Note 3 or Note 4, wherein the plate bodies can be shifted relative to each other in the overlapping portion along the extending direction of the edges. (Note 6) A scooping member for a robot according to any one of Notes 1 to 5, wherein at least a part of the recess is conical in shape. (Note 7) A robot operating mechanism comprising: a scooping member for a robot, which is made of a flexible plate body, and the plate body is given a three-dimensional shape with a recess by forming overlapping portions where parts of the plate bodies overlap each other; and a holding member that holds the scooping member for a robot in the state in which the overlapping portions are formed. (Note 8) A robot operating mechanism for a robot according to Note 7, wherein the scooping member for a robot is adjustable in the range in which the plate bodies overlap each other, and the holding member has an adjustment mechanism for adjusting the range in which the overlapping portions overlap. (Note 9) The scooping member for the robot has two edges forming the edges of the overlapping portion from the inside of the plate body to the outer circumference, and a portion of the plate body including the edges overlaps with each other to form the overlapping portion, and the adjustment mechanism is the robot operating mechanism described in Note 8 which shifts the portion of the plate body including the edges from each other in the circumferential direction. (Note 10) The robot operating mechanism described in Note 9 which creates a gap between the edges by shifting the portion of the plate body including the edges from each other.(Note 11) The adjustment mechanism is a robot operating mechanism according to Note 9 or Note 10, wherein a portion of the plate body, including the edge, is shifted relative to one another along the extending direction of the edge. (Note 12) A scooping member for a robot, which is made of a flexible plate body, and the plate body is deformed in the thickness direction to form a three-dimensional shape with a recess.

[0079] The disclosure of Japanese Patent Application No. 2024-206612, filed on 27 November 2024, is incorporated herein by reference in its entirety. All documents, patent applications, and technical standards described herein are incorporated herein by reference to the same extent as if the incorporation of each individual document, patent application, and technical standard were specifically and individually noted.

Claims

1. A scooping member for a robot, comprising a flexible plate, wherein overlapping portions are formed where parts of the plate overlap each other, resulting in a three-dimensional shape with recesses.

2. The scooping member for a robot according to claim 1, wherein the overlapping portion is adjustable in the range in which the plates overlap each other.

3. The scooping member for a robot according to claim 2, wherein two edges, which are the edges of the overlapping portion, are formed from the inside of the plate body to the outer circumference, and a portion of the plate body including the edges overlaps with each other to form the overlapping portion.

4. The robot scooping member according to claim 3, wherein a gap can be formed between the edges by shifting the plates relative to each other at the overlapping portion.

5. The scooping member for a robot according to claim 4, wherein the plate bodies can be shifted relative to each other along the extending direction of the edges at the overlapping portion.

6. The scooping member for a robot according to any one of claims 1 to 5, wherein at least a portion of the recess is conical in shape.

7. A robotic scooping member, comprising a flexible plate body, wherein the plate body has a three-dimensional shape with a recess due to overlapping portions formed where parts of the plate body overlap each other; and a holding member for holding the robotic scooping member in the state in which the overlapping portions are formed.

8. The robot operating mechanism according to claim 7, wherein the scooping member for the robot is adjustable in the range in which the plates overlap each other, and the holding member has an adjustment mechanism for adjusting the range in which the overlapping portions overlap.

9. The robot scooping member is formed such that two edges, which are the edges of the overlapping portion, are formed from the inside of the plate body to the outer circumference, and a portion of the plate body including the edges is overlapped with each other to form the overlapping portion, and the adjustment mechanism is a robot operating mechanism according to claim 8, wherein the portion of the plate body including the edges is shifted relative to each other in the circumferential direction.

10. The robot operating mechanism according to claim 9, wherein the adjustment mechanism creates a gap between the edges by shifting a portion of the plate body, including the edges, relative to each other.

11. The robot operating mechanism according to claim 10, wherein the adjustment mechanism shifts a portion of the plate body, including the edge, relative to each other along the direction of extension of the edge.

12. A scooping member for a robot, comprising a flexible plate, wherein the plate is deformed in the thickness direction to form a three-dimensional shape with a recess.

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