JP6988199B2 - Articulated one-finger hand and picking device - Google Patents

Description

The present invention relates to an articulated one-finger hand and a picking device.

For example, Patent Document 1 describes a picking device in which a multi-fingered articulated hand having at least three fingers is attached to the tip of a robot arm to pick a work (object). The picking device described in Patent Document 1 irradiates the work with a lighting device provided at the tip of each finger one by one, captures the reflected light from the work with a camera, and recognizes the shape, position, and posture of the work. The work can be gripped by driving each finger according to the recognition result.

Further, for example, Patent Document 2 describes a finger mechanism of a robot hand using a multi-stage linear acting actuator in which the same number of linear motion motors as the number of joints are combined. The finger mechanism of the robot hand described in Patent Document 2 can rotate each link by individually controlling a plurality of linear motion motors.

Japanese Unexamined Patent Publication No. 2010-058243 Japanese Unexamined Patent Publication No. 2012-016784

However, in the above-mentioned prior art, it is necessary to accurately recognize the position and posture of the work and drive the multi-fingered articulated hand based on the recognition result, so that the work recognition process and the drive control of the multi-fingered articulated hand are complicated. do. In addition, since the structure and linear motion mechanism of the multi-fingered multi-joint hand become complicated, there is a limit to cost reduction and improvement of maintainability.

The present invention has been made in view of the above problems, and is an articulated one-finger hand that can simplify the structure for gripping the work and facilitate recognition processing and drive control of the work, and picking. The purpose is to provide the device.

In order to achieve the above object, the articulated one-finger hand according to one aspect of the present invention has a plurality of joints, and a finger mechanism is provided with an urging force so that the plurality of joints maintain an extended state. And a drive unit that bends the finger mechanism against the urging force, and the finger mechanism is flexibly connected to the first link in the first direction with respect to the first link. One or more second links, and a third link flexibly connected to both the first direction and the second direction opposite to the first direction with respect to the second link. To prepare for.

As a result, the articulated one-finger hand can simplify the structure for gripping the work, and the work recognition process and drive control become easy. In addition, the extended state of each joint portion before the work is hooked and gripped can be maintained, and the shaking of the finger mechanism can be suppressed. Further, when an external force acts on the tip of the finger mechanism, it is possible to prevent damage due to the load applied to the finger mechanism.

As a desirable embodiment of the articulated one-finger hand, the drive unit is a linear actuator for driving a linear axis that moves linearly in the axial direction, and the third link is connected to the first link and the second link. It is preferably connected to the linear motion shaft via an inserted wire.

As a result, the articulated one-finger hand can hook and grip the work with a simple structure.

As a desirable embodiment of the articulated one-finger hand, it is preferable to have a claw portion curved in the first direction at the tip of the third link.

This makes it easier to catch the work in the initial movement of the picking operation.

In the picking device according to one aspect of the present invention, the above-mentioned articulated one-finger hand, the hand effect to which the articulated one-finger hand is attached and the articulated one-finger hand are rotated, and the hand effect are used. , An arm that supports the articulated one-finger hand.

As a result, it is possible to obtain a picking device that facilitates work recognition processing and drive control.

As a desirable aspect of the picking device, it is preferable that the tip of the articulated one-finger hand overlaps with the extension axis of the rotation axis of the hand effector in the extended state.

As a result, the picking device can suppress the deviation due to the rotation position of the hand effector, and the control becomes easy.

As a desirable embodiment of the picking device, it is preferable to include a force sensor for detecting a force acting on the articulated one-finger hand.

As a result, the picking device can detect the force acting on the articulated one-finger hand and perform highly reliable control.

According to the present invention, it is possible to provide an articulated one-finger hand and a picking device, which can simplify the structure for gripping the work and facilitate the recognition process and drive control of the work.

FIG. 1 is a diagram showing a schematic configuration of a picking device according to the first embodiment. FIG. 2 is a schematic structural diagram of the articulated one-finger hand according to the first embodiment in an extended state. FIG. 3 is a schematic structural diagram of an articulated one-finger hand in an extended state according to the first embodiment as viewed from the direction indicated by the broken line arrow shown in FIG. FIG. 4 is a schematic structural diagram of the articulated one-finger hand according to the first embodiment in a flexed state. FIG. 5 is a diagram showing a modified example of the joint portion of the articulated one-finger hand according to the first embodiment. FIG. 6 is a cross-sectional view of the link of the finger mechanism according to the first embodiment. FIG. 7 is a diagram showing a first modification of the drive unit according to the first embodiment. FIG. 8 is a diagram showing a second modification of the drive unit according to the first embodiment. FIG. 9 is a diagram showing a modified example of the schematic structure in the flexed state of the articulated one-finger hand according to the first embodiment. FIG. 10 is a diagram showing a specific shape example of the tip portion of the articulated one-finger hand according to the first embodiment. FIG. 11 is a view of the tip end portion of the articulated one-finger hand according to the first embodiment as viewed from the direction indicated by the solid line arrow shown in FIG. FIG. 12 is a view of the tip end portion of the articulated one-finger hand according to the first embodiment as viewed from the direction indicated by the broken line arrow shown in FIG. FIG. 13 is a diagram showing an example of a picking operation in the articulated one-finger hand according to the first embodiment. FIG. 14 is a second diagram showing an example of a picking operation in the articulated one-finger hand according to the first embodiment. FIG. 15 is a third diagram showing an example of a picking operation in the articulated one-finger hand according to the first embodiment. FIG. 16 is a diagram showing a specific example of the tip position of the articulated one-finger hand in the picking device according to the second embodiment. FIG. 17 is a diagram showing an example of a specific shape of the tip portion of the articulated one-finger hand shown in FIG. FIG. 18 is a diagram showing a comparative example of the tip position of the articulated one-finger hand. FIG. 19 is a diagram showing a schematic configuration of the picking device according to the third embodiment. FIG. 20 is a schematic structural diagram of the articulated one-finger hand according to the fourth embodiment in an extended state. FIG. 21 is a schematic structural diagram of the articulated one-finger hand according to the fourth embodiment in a flexed state. FIG. 22 is a schematic structural diagram of the articulated one-finger hand according to the fifth embodiment in a neutral state. FIG. 23 is a schematic structural diagram of the articulated one-finger hand according to the fifth embodiment when moving. FIG. 24 is a schematic structural diagram of the articulated one-finger hand according to the fifth embodiment at the time of picking operation.

Hereinafter, embodiments for carrying out the invention (hereinafter referred to as embodiments) will be described in detail with reference to the drawings. The present invention is not limited to the following embodiments. Further, the components in the following embodiments include those that can be easily assumed by those skilled in the art, those that are substantially the same, and those that are in a so-called equal range. Further, the components disclosed in the following embodiments can be appropriately combined.

(Embodiment 1)
FIG. 1 is a diagram showing a schematic configuration of a picking device according to the first embodiment. The picking device 100 according to the first embodiment picks and conveys a work (object) 15 randomly stacked and accommodated in a tray 13 in a work area 14. In this embodiment, an example in which the ring-shaped work 15 is targeted for picking and transporting work will be described.

As shown in FIG. 1, the picking device 100 is composed of, for example, an articulated arm 2 installed on a base 3 and an articulated one-finger hand 1 attached to the tip of the articulated arm 2. The positions and postures of the articulated arm 2 and the articulated one-finger hand 1 are controlled by the control device 4.

The articulated arm 2 has a first arm portion 21a, a second arm portion 21b, a third arm portion 21c, and a fourth arm portion 21d in this order from the base 3 side.

The first arm portion 21a is rotatably connected to the base 3 via the first shaft 22a.

The second arm portion 21b is rotatably connected to the first arm portion 21a via the second shaft 22b.

The third arm portion 21c is rotatably connected to the second arm portion 21b via the third shaft 22c.

The fourth arm portion 21d is rotatably connected to the third arm portion 21c via the fourth shaft 22d.

A hand effector 23 rotatably connected via a fifth shaft 22e is provided at the tip of the fourth arm portion 21d.

The first axis 22a, the second axis 22b, the third axis 22c, the fourth axis 22d, and the fifth axis 22e are each provided with a rotary actuator (not shown) as a drive unit.

The hand effector 23 is attached with an articulated one-finger hand 1 including a finger mechanism 11 having a plurality of joint portions and a drive portion 12 for driving the finger mechanism 11. That is, the articulated one-finger hand 1 is supported by the articulated arm 2 via the hand effector 23.

A bird's-eye view sensor 5 is provided at a predetermined position in the work area 14. As the bird's-eye view sensor 5, for example, a camera or an infrared sensor is used. The control device 4 can grasp the positions of the picking device 100 and the work 15 in the tray 13 by analyzing the image captured by the bird's-eye view sensor 5.

A hand eye sensor 6 is attached to the hand effector 23. As the hand eye sensor 6, for example, a stereo 3D camera or a laser scanner is used. The control device 4 can detect the three-dimensional shape of the work 15 by analyzing the image captured by the hand eye sensor 6.

FIG. 2 is a schematic structural diagram of the articulated one-finger hand according to the first embodiment in an extended state. FIG. 3 is a schematic structural diagram of an articulated one-finger hand in an extended state according to the first embodiment as viewed from the direction indicated by the broken line arrow shown in FIG. FIG. 4 is a schematic structural diagram of the articulated one-finger hand according to the first embodiment in a flexed state.

As shown in FIGS. 2 to 4, the finger mechanism 11 includes a first link 111a, a second link 111b, and a third link 111c.

In the example shown in FIGS. 2 to 4, an example including three second links 111b (111b-1, 111b-2, 111b-3) is shown. By having one or more second links 111b, the finger mechanism 11 can hook and grip the work 15 in the bent state. The number of the second links 111b may be one or more, and the present invention is not limited by the number of the second links 111b. Hereinafter, when it is not necessary to particularly distinguish the first link 111a, each second link 111b, and the third link 111c, it is also simply referred to as "link 111".

Each link 111 is flexibly connected via a joint portion 112. Each joint portion 112 is provided with its rotation axis parallel to each other. Each joint portion 112 is provided with an urging spring 115 so that each joint portion 112 maintains an extended state.

As a result, the finger mechanism 11 is in a state where the joint portions 112 are lined up in a row, and can maintain the extended state shown in FIGS. 2 and 3. Further, by providing the multi-joint one-finger hand 1 having the above-described configuration, the picking device 100 can maintain the extended state before the work 15 is hooked and gripped when the multi-joint one-finger hand 1 is moved. , The shaking of the finger mechanism 11 can be suppressed.

The finger mechanism 11 may be configured by using a leaf spring or another elastic member instead of the urging spring 115. Further, each link 111 may be connected by an elastic member to form a joint portion 112.

As shown in FIG. 2, the finger mechanism 11 is provided with a notch 116 on the inner side in the bent state shown in FIG. In the example shown in FIG. 2, a notch 116 is provided on one of the links 111 facing each other via each joint portion 112.

As a result, each link 111 can be bent in the first direction in which the finger mechanism 11 is in the bent state shown in FIG. More specifically, each second link 111b bends in the first direction with respect to the first link 111a, and the third link 111c bends in the first direction with respect to each second link 111b.

The aspect of the notch 116 is not limited to the above. FIG. 5 is a diagram showing a modified example of the joint portion of the articulated one-finger hand according to the first embodiment.

As shown in FIG. 5, both of the links 111 facing each other via the joints 112 may be cut out.

Further, a wire 113 is slidably inserted into each link on the inner side in the bent state of the finger mechanism 11 shown in FIG. One end 113a of the wire 113 is fixed to the wire fixing portion 114 provided on the third link 111c.

In the example shown in FIGS. 2 to 4, the drive unit 12 is a linear actuator that drives the linear axis 12a that moves linearly in the axial direction. The linear actuator converts the rotary motion of the motor into a linear motion by a ball screw or the like, and drives the linear motion shaft 12a. The structure of the linear actuator is not limited to the above, and may be, for example, a linear actuator, a linear servo, a piezoelectric actuator, or the like.

The other end of the wire 113 is joined to the linear motion shaft 12a of the linear motion actuator which is the drive unit 12. That is, the third link 111c is connected to the linear motion shaft 12a via the first link 111a and the wire 113 inserted through each of the second link 111b.

FIG. 6 is a cross-sectional view of the link of the finger mechanism according to the first embodiment. As shown in FIG. 6, it is preferable that each link 111 is provided with an insertion hole 117 through which the wire 113 is inserted. Further, the diameter of the insertion hole 117 provided in each link 111 may be slightly different for each link 111. By doing so, the frictional force generated between the insertion hole 117 and the wire 113 can be made different for each link. Thereby, the flexion priority of each joint portion 112 can be set.

FIG. 7 is a diagram showing a first modification of the drive unit according to the first embodiment. FIG. 8 is a diagram showing a second modification of the drive unit according to the first embodiment.

In the example shown in FIG. 7, an example in which the pulley 12b is provided and the axial direction of the linear motion shaft 12a in the drive unit 12 (linear actuator) is changed is shown. Further, in the example shown in FIG. 8, an example in which a roller 12c is provided on the rotating shaft of the driving unit 12 (rotating motor) and the wire 13 is wound up is shown. The configuration of the drive unit 12 may be any configuration as long as the wire 13 can be drawn in the direction indicated by the solid line, and the present invention is not limited by the configuration of the drive unit 12.

In the picking device 100 provided with the articulated one-finger hand 1 having the above-described configuration, when the articulated one-finger hand 1 is moved, the urging force of the urging spring 115 causes the finger mechanism 11 to be outward in the bent state shown in FIG. The end face of the first link 111a and the end face of the second link 111b-1 are abutting against each other. Further, the end face of the second link 111b-1 and the end face of the second link 111b-2 that face each other abut each other. Further, the end face of the second link 111b-2 and the end face of the second link 111b-3 that face each other abut each other. As a result, the articulated one-finger hand 1 is in the extended state shown in FIGS. 2 and 3.

Further, during the picking operation in which the work 15 is hooked and gripped, the wire 113 is pulled by the drive unit 12 in the direction indicated by the solid line shown in FIGS. 2 to 4, so that the urging spring 115 provided on each joint portion 112 The finger mechanism 11 gradually bends in the first direction against the urging force. Then, the end surface of the facing first link 111a and the end surface of the second link 111b-1 abut on the inner side in the bent state of the finger mechanism 11 shown in FIG. Further, the end face of the second link 111b-1 and the end face of the second link 111b-2 that face each other abut each other. Further, the end face of the second link 111b-2 and the end face of the second link 111b-3 that face each other abut each other. Further, the end faces of the second link 111b-3 and the end faces of the third link 111c that face each other abut each other. As a result, the articulated one-finger hand 1 is in the flexed state shown in FIG. In this flexed state, the articulated one-finger hand 1 can hook and grip the work 15.

Further, in the present embodiment, as shown in FIG. 2, the second link 111b-3 is also provided with a notch 116 on the outer side in the bent state of the finger mechanism 11 shown in FIG. Therefore, the third link 111c can be bent in both the bending direction of the finger mechanism 11, that is, the first direction and the second direction opposite to the first direction. As a result, when an external force is applied to the tip of the finger mechanism 11 by the work 15 or the tray 13 when the articulated one-finger hand 1 is moved, it is possible to prevent damage due to the load applied to the finger mechanism 11.

FIG. 9 is a diagram showing a modified example of the schematic structure in the flexed state of the articulated one-finger hand according to the first embodiment.

In the example shown in FIG. 9, the second links 111b-2 and 111b-3 have a large notch 116 provided on the inner side in the bent state. Specifically, the bending angle of each joint portion 112 between the second link 111b-2 and 111b-3 and between the second link 111b-3 and the third link 111c is set to be approximately 90 °. As a result, the work 15 can be sandwiched and gripped between the second link 111b-1 and the third link 111c, and the work 15 can be reliably gripped.

Further, the degree of bending of the other joint portions 112, specifically, the joint portions 112 between the first link 111a and the second link 111b-1, and between the second link 111b-1 and the second link 111b-2. May be large (eg, approximately 90 °). By doing so, the work 15 can be caught and gripped by the finger mechanism 11, and the work 15 can be gripped more reliably.

The degree of flexion in each joint portion 112 can be appropriately changed according to the size of the work 15, and the present invention is not limited by the degree of flexion in each joint portion 112.

FIG. 10 is a diagram showing a specific shape example of the tip portion of the articulated one-finger hand according to the first embodiment. FIG. 11 is a view of the tip end portion of the articulated one-finger hand according to the first embodiment as viewed from the direction indicated by the solid line arrow shown in FIG. FIG. 12 is a view of the tip end portion of the articulated one-finger hand according to the first embodiment as viewed from the direction indicated by the broken line arrow shown in FIG.

As shown in FIGS. 10 to 12, the tip of the third link 111c has a claw portion 111A curved in the bending direction of the finger mechanism 11, that is, in the first direction.

FIG. 13 is a diagram showing an example of a picking operation in the articulated one-finger hand according to the first embodiment. FIG. 14 is a second diagram showing an example of a picking operation in the articulated one-finger hand according to the first embodiment. FIG. 15 is a third diagram showing an example of a picking operation in the articulated one-finger hand according to the first embodiment. In FIG. 15, X indicates a rotation axis of the hand effector 23 of the picking device 100.

As shown in FIGS. 13 to 15, in the articulated one-finger hand 1 according to the first embodiment, first, the third link 111c is bent and the work 15 is moved by the claw portion 111A of the third link 111c during the picking operation. Hook (Fig. 13). Subsequently, the articulated one-finger hand 1 bends in the order of the second link 111b-3, the second link 111b-2, and the third link 111b-1 to grip the work 15 (FIGS. 14 and 15).

In the articulated one-finger hand 1 according to the present embodiment, since the claw portion 111A of the third link 111c is curved in the bending direction of the finger mechanism 11, the work 15 is easily hooked in the initial movement of the picking operation shown in FIG. ..

For example, even in a state where a plurality of works 15 are randomly stacked in the tray 13, the claw portion 111A easily enters the gap between the works 15. Further, even when the work 15 is placed flat in the tray 13, the work 15 can be hooked and lifted by the claw portion 111A.

Further, in the articulated one-finger hand 1 according to the present embodiment, the swing width of the tip of the finger mechanism 11 is large in the process of bending the finger mechanism 11 during the picking operation, so that the picking success rate of the work 15 is high. It gets higher.

For example, as shown in FIG. 15, when the work 15 is located at a position away from the rotation axis X of the hand effector 23 (in the example shown in FIG. 15, a position separated by L from the rotation axis X of the hand effector 23). However, it is easy to catch the work 15.

As described above, the articulated one-finger hand 1 according to the present embodiment passively complements the positional deviation between the work 15 and the articulated one-finger hand 1 during the picking operation by the vibration of the tip portion of the finger mechanism 11. This can increase the success rate of picking the work 15.

As described above, the multi-joint one-finger hand 1 and the picking device 100 according to the first embodiment have a plurality of joint portions 112, and an urging force is applied so that the plurality of joint portions 112 maintain an extended state. It is provided with a finger mechanism 11 and a drive unit 12 that bends the finger mechanism 11 against an urging force. The finger mechanism 11 has one or more second links 111b flexibly connected to the first link 111a and the first link 111a in the first direction, and the first direction with respect to the second link 111b. And a third link 111c flexibly connected to both of the second direction opposite to the first direction.

Further, the drive unit 12 is configured by using a linear actuator that drives the linear axis 12a in the axial direction. The third link 111c is connected to the linear motion shaft 12a via a wire 113 inserted through the first link 111a and the second link 111b.

In the articulated one-finger hand 1 configured as described above, the finger mechanism 11 is bent by operating the linear actuator which is the drive unit 12, and the work 15 can be hooked on the finger mechanism 11 and gripped. Further, when the articulated one-finger hand 1 is moved, the extended state before the work 15 is hooked and gripped can be maintained, and the shaking of the finger mechanism 11 can be suppressed. Further, when the articulated one-finger hand 1 is moved, when an external force is applied to the tip of the finger mechanism 11 by the work 15 or the tray 13, it is possible to prevent damage due to the load applied to the finger mechanism 11.

Further, by providing the claw portion 111A curved in the bending direction of the finger mechanism 11, that is, in the first direction, at the tip of the third link 111c, the work 15 can be easily hooked in the initial movement of the picking operation.

Further, in the articulated one-finger hand 1, the tip portion of the finger mechanism 11 swings greatly in the process of bending the finger mechanism 11 during the picking operation. Therefore, the positional deviation between the work 15 and the articulated one-finger hand 1 during the picking operation can be passively complemented by the swing of the tip of the finger mechanism 11, and the picking success rate of the work 15 can be increased. Can be done.

As described above, according to the present embodiment, the articulated one-finger hand 1 and the picking device 100, which can simplify the structure for gripping the work 15 and facilitate the recognition process and drive control of the work 15. can get.

(Embodiment 2)
FIG. 16 is a diagram showing a specific example of the tip position of the articulated one-finger hand in the picking device according to the second embodiment. FIG. 17 is a diagram showing an example of a specific shape of the tip portion of the articulated one-finger hand shown in FIG. FIG. 18 is a diagram showing a comparative example of the tip position of the articulated one-finger hand. The same components as those described in the first embodiment are designated by the same reference numerals, and duplicate description will be omitted.

As shown in FIGS. 16 and 17, in the articulated one-finger hand 1, the tip of the claw portion 111A of the third link 111c is on the extension axis of the rotation axis X of the hand effector 23 in the extended state of the finger mechanism 11. It is configured to be located.

As shown in FIG. 18, the tip of the claw portion 111A of the third link 111c is displaced with respect to the extension axis of the rotation axis X of the hand effector 23 (in the example shown in FIG. 18, the rotation axis of the hand effector 23). When the tip of the claw portion 111A of the third link 111c is deviated by the distance d with respect to the extension axis of X), it is necessary to correct by the amount deviated by the rotation position of the hand effector 23, which complicates control. Become.

In the present embodiment, in the extended state of the finger mechanism 11, the tip of the articulated one-finger hand 1 on the extension axis of the rotation axis X of the hand effector 23 to which the articulated one-finger hand 1 is attached, that is, the third link 111c By making the tip of the claw portion 111A overlap with each other, it is possible to suppress the deviation of the hand effector 23 due to the rotation position, and the control becomes easy.

(Embodiment 3)
FIG. 19 is a diagram showing a schematic configuration of the picking device according to the third embodiment. In the picking device 100a shown in FIG. 19, in addition to the configuration of the first embodiment shown in FIG. 1, a force sensor 7 is attached between the hand effector 23 and the articulated one-finger hand 1. Other components are the same as those in the first and second embodiments described above, and thus description thereof will be omitted here.

The force sensor 7 is, for example, a sensor configured by combining a strain gauge, a piezoelectric element, or the like, and determines the magnitude of the force acting in the directions of three axes orthogonal to each other and the magnitude of the moment acting around each axis. It can be detected at the same time. The control device 4a can detect the force acting on the articulated one-finger hand 1 by analyzing the input signal from the force sensor 7.

By providing the force sensor 7, the control device 4a detects the force acting on the articulated one-finger hand 1, such as the presence / absence of the work 15 and the force applied in the direction opposite to the bending direction of the finger mechanism 11. It enables highly reliable control.

(Embodiment 4)
FIG. 20 is a schematic structural diagram of the articulated one-finger hand according to the fourth embodiment in an extended state. FIG. 21 is a schematic structural diagram of the articulated one-finger hand according to the fourth embodiment in a flexed state.

In the example shown in FIGS. 20 and 21, the wire 113-1 is slidably inserted on the inner side in the bent state of the finger mechanism 11. One end 113a-1 of the wire 113-1 is fixed to the wire fixing portion 114-1 provided on the third link 111c.

Further, in the example shown in FIGS. 20 and 21, the wire 113-2 is slidably inserted on the outer side of the finger mechanism 11 in the bent state. One end 113a-2 of the wire 113-2 is fixed to the wire fixing portion 114-2 provided on the third link 111c.

In the example shown in FIGS. 20 and 21, in the drive unit 12, the other ends of the wires 113-1 and 113-2 are joined to both ends of the seesaw 120 that rotates around the fulcrum X1 as the axis, and the seesaw is joined by the motor 121. It is a seesaw mechanism that drives the finger mechanism 11 by rotating the 120.

In this embodiment, the first link 111a of the finger mechanism 11 is fixed to the base 126.

The seesaw 120 is rotatably provided on the seesaw base 127 fixed to the base 126 with the fulcrum X1 as the axis. Further, a seesaw pulley 122 is provided at the fulcrum X1 of the seesaw 120.

The motor 121 is fixed to the motor base 128 fixed to the base 126. A motor pulley 123 is provided at the axis X2 of the motor 121.

The belt 124 is wound around the seesaw pulley 122 and the motor pulley 123, and the driving force of the motor 121 is transmitted to the seesaw 120 via the motor pulley 123, the belt 124, and the seesaw pulley 122.

When the motor pulley 123 is rotated by the motor 121 in the direction indicated by the broken line arrow shown in FIG. 20, the driving force of the motor 121 is transmitted to the seesaw 120, and the solid line arrow shown in FIG. The wires 113-1 and 113-2 slide in the indicated direction. As a result, the articulated one-finger hand 1 is in the flexed state shown in FIG.

In the picking device 100 provided with the multi-joint one-finger hand 1 having the above-described configuration, when the multi-joint one-finger hand 1 is moved, the multi-joint one-finger hand 1 is in the extended state shown in FIG.

Further, during the picking operation in which the work 15 is hooked and gripped, the wires 113-1 and 113-2 are slid by the drive unit 12, so that the finger mechanism 11 is gradually bent in the first direction, and the articulated one-finger hand 1 Is in the bent state shown in FIG.

In this embodiment, as shown in FIG. 20, the tension applied to the wires 113-1 and 113-2 by the drive unit 12 (seesaw mechanism) keeps the articulated one-finger hand 1 in the extended state. As a result, the work 15 can be grasped more accurately without unintentionally bending the articulated one-finger hand 1 when the articulated one-finger hand 1 is moved.

(Embodiment 5)
FIG. 22 is a schematic structural diagram of the articulated one-finger hand according to the fifth embodiment in a neutral state. FIG. 23 is a schematic structural diagram of the articulated one-finger hand according to the fifth embodiment when moving. FIG. 24 is a schematic structural diagram of the articulated one-finger hand according to the fifth embodiment at the time of picking operation.

In this embodiment, the operation when a specific shape example of the tip portion of the articulated one-finger hand shown in FIG. 10 of the above-mentioned first embodiment is applied to the fourth embodiment will be described.

In the second embodiment described above, in the extended state of the finger mechanism 11, the tip of the articulated one-finger hand 1 overlaps with the extension axis of the rotation axis of the hand effector 23 to which the articulated one-finger hand 1 is attached. Although an example is shown, in the present embodiment, the neutral state shown in FIG. 22 is maintained by the urging force by the urging spring 115 in the state where the motor 121 does not generate the driving force.

When the articulated one-finger hand 1 is moved, the motor pulley 123 is rotated in the direction indicated by the broken line shown in FIG. 23 to slide the wires 113-1 and 113-2 in the direction indicated by the solid line shown in FIG. The tip of the multi-joint one-finger hand 1 is overlapped with the extension axis of the rotation shaft of the hand effector 23 to which the one-joint hand 1 is attached. As a result, as in the second embodiment, it is possible to suppress the deviation of the hand effector 23 due to the rotation position, and the control becomes easy.

Further, during the picking operation, by rotating the motor pulley 123 in the direction indicated by the broken line arrow shown in FIG. 24, the wires 113-1 and 113-2 are slid in the direction indicated by the solid line arrow shown in FIG. 24, and the finger mechanism 11 is bent. By setting the state, the work 15 is hooked and gripped.

In the present embodiment, as described above, since the posture control of the finger mechanism 11 can be actively performed during the movement and the picking operation, the finger mechanism 11 can be controlled more precisely.

1 articulated one-finger hand 2 articulated arm 3 base 4, 4a control device 5 bird's-eye view sensor 6 hand eye sensor 7 force sensor 11 finger mechanism 12 drive unit (linear actuator)
12a Linear shaft 12b Pulley 12c Roller 13 Tray 14 Work area 15 Work (object)
21a 1st arm 21b 2nd arm 21c 3rd arm 21d 4th arm 22a 1st axis 22b 2nd axis 22c 3rd axis 22d 4th axis 22e 5th axis 23 Hand effector 100, 100a Picking device 111 link 111A Claw portion 111a First link 111b, 111b-1, 111b-2, 111b-3 Second link 111c Third link 112 Joint portion 113, 113-1, 113-2 Wire 113a, 113a-1, 113a-2 On the other hand End (wire)
114 Wire fixing part 115 Bounce spring 116 Notch 117 Insertion hole 120 Seesaw 121 Motor 122 Seesaw pulley 123 Motor pulley 124 Belt 125-1, 125-2 Guide roller 126 Base 127 Seesaw base 128 Motor base

Claims (6)

A finger mechanism having a plurality of joints and being urged so that the plurality of joints maintain an extended state.
A drive unit that bends the finger mechanism against the urging force,
Equipped with
The finger mechanism is
The first link and
With respect to the first link, one or more second links flexibly connected in the first direction, and
A third link flexibly connected to both the first direction and the second direction opposite to the first direction with respect to the second link.
A first wire that is slidably inserted to the inner side in the bent state of the finger mechanism and one end of which is fixed to the third link.
A second wire that is slidably inserted to the outer side in the bent state of the finger mechanism and one end of which is fixed to the third link.
Equipped with
The drive unit
The other end of the first wire is joined to one end of the seesaw that rotates around the fulcrum, the other end of the second wire is joined to the other end of the seesaw, and the seesaw is rotated by a motor. This is a seesaw mechanism in which the first wire and the second wire slide to drive the finger mechanism.
The finger mechanism is
The bent state and the extended state are controlled by the rotation direction of the motor.
Articulated one-finger hand. The first link and the second link are provided with insertion holes through which the first wire and the second wire are inserted, respectively.
The diameter of the insertion hole is different for each of the first link and the second link.
The articulated one-finger hand according to claim 1. The articulated one-finger hand according to claim 1 or 2, which has a claw portion curved in the first direction at the tip of the third link. The articulated one-finger hand according to any one of claims 1 to 3.
The hand effect that the articulated one-finger hand is attached and rotates the articulated one-finger hand,
An arm that supports the articulated one-finger hand through the hand effect,
A picking device equipped with. The picking device according to claim 4, wherein the tip of the articulated one-finger hand overlaps on the extension axis of the rotation axis of the hand effect in the extended state. The picking device according to claim 4 or 5, further comprising a force sensor that detects a force acting on the articulated one-finger hand.

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