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WO2018212205A1 - Mécanisme de type main, système de préhension et programme de préhension - Google Patents

Mécanisme de type main, système de préhension et programme de préhension Download PDF

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Publication number
WO2018212205A1
WO2018212205A1 PCT/JP2018/018821 JP2018018821W WO2018212205A1 WO 2018212205 A1 WO2018212205 A1 WO 2018212205A1 JP 2018018821 W JP2018018821 W JP 2018018821W WO 2018212205 A1 WO2018212205 A1 WO 2018212205A1
Authority
WO
WIPO (PCT)
Prior art keywords
finger
hand mechanism
gripping
stopper
state
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/JP2018/018821
Other languages
English (en)
Japanese (ja)
Inventor
晋治 川畑
嘉将 遠藤
文哉 小泉
松尾　芳一
野村　祐樹
聖也 渡邉
健児 日高
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
THK Co Ltd
Original Assignee
THK Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from JP2018078983A external-priority patent/JP7155479B2/ja
Application filed by THK Co Ltd filed Critical THK Co Ltd
Priority to US16/613,235 priority Critical patent/US11389951B2/en
Priority to KR1020197036449A priority patent/KR20200007004A/ko
Priority to DE112018002486.5T priority patent/DE112018002486T5/de
Priority to CN201880031515.4A priority patent/CN110636926B/zh
Publication of WO2018212205A1 publication Critical patent/WO2018212205A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/08—Gripping heads and other end effectors having finger members

Definitions

  • the present invention relates to a hand mechanism for gripping an object with a plurality of fingers, a gripping system, and a gripping program.
  • Patent Document 1 discloses a hand mechanism including three fingers (finger).
  • the three fingers have the same structure.
  • a plate member with a free end protruding from the tip is provided at the tip of the finger.
  • the present invention has been made in view of the above problems, and provides a technique capable of more suitably gripping an object in a hand mechanism regardless of the posture of the object and its surroundings. With the goal.
  • the hand mechanism according to the present invention includes three or more fingers, and when gripping an object, at least one of the three or more fingers touches the object. While functioning as a state changing finger unit that changes the posture and / or position of the object above, at least two of the finger units other than the finger unit functioning as the state changing finger unit are: It functions as a gripping finger unit that grips the object in a state in which the posture and / or position has been changed by the state changing finger unit.
  • the object in the hand mechanism, the object can be more appropriately gripped regardless of the posture of the object and the surrounding situation.
  • FIG. 1 It is a figure which shows schematic structure of the robot arm which concerns on an Example. It is a perspective view of the hand mechanism which concerns on an Example. It is a top view of the hand mechanism which concerns on an Example. It is a side view of the finger
  • the hand mechanism according to the present invention includes three or more fingers.
  • a predetermined gripping portion which is a portion where the finger is brought into contact with the object in order to sandwich the object with the finger, can be contacted with the finger. It must be exposed in the state.
  • an object that becomes an obstacle when grasping an object such as a wall surface of a container that stores the object or other objects when a plurality of objects are arranged in contact with each other
  • a predetermined gripping position on the object may not be exposed in a state where the finger part can be contacted.
  • the posture or position of the object when gripping an object, the posture or position of the object after at least one of the three or more fingers touches the object. It functions as a state change finger part for changing Even when the predetermined gripping portion of the object is not exposed in a state where the finger part can be contacted, the state changing finger part can be brought into contact with the object. Furthermore, if the state change finger part is brought into contact with the object, the posture or position of the object can be changed by the state finger part. Then, by changing the posture or position of the object so that the distance between the object and the obstacle is increased, a predetermined gripping portion of the object can be exposed as described above.
  • the hand mechanism when gripping an object, at least two finger parts other than the finger parts functioning as the state change finger parts have the state change fingers. It functions as a gripping finger unit that grips an object whose posture or position has been changed by the unit. That is, when gripping the target object, the gripping finger part comes into contact with a predetermined gripping position of the target object exposed by changing the posture or position of the target object by the state changing finger part. Then, the object is gripped by the gripping fingers.
  • the hand mechanism includes the state changing finger part and the gripping finger part as described above, the object can be gripped by the hand mechanism regardless of the posture of the object and its surroundings. Become.
  • FIG. 1 is a diagram illustrating a schematic configuration of a robot arm according to the present embodiment.
  • the robot arm 1 includes a hand mechanism 2, an arm mechanism 3, and a pedestal portion 4.
  • a hand mechanism 2 is attached to one end of the arm mechanism 3.
  • the other end of the arm mechanism 3 is attached to the pedestal portion 4.
  • the hand mechanism 2 includes a base portion 20 connected to the arm mechanism 3 and four finger portions 21 provided on the base portion 20. The detailed configuration of the hand mechanism 2 will be described later.
  • the arm mechanism 3 includes a first arm link portion 31, a second arm link portion 32, a third arm link portion 33, a fourth arm link portion 34, a fifth arm link portion 35, and a connection member 36.
  • the base portion 20 of the hand mechanism 2 is connected to a first joint portion 30 a formed on one end side of the first arm link portion 31 of the arm mechanism 3.
  • the first joint portion 30 a is provided with a motor (not shown) for rotating the hand mechanism 2 around the axis of the first arm link portion 31 with respect to the first arm link portion 31.
  • the other end side of the first arm link portion 31 is connected to one end side of the second arm link portion 32 at the second joint portion 30b.
  • the first arm link part 31 and the second arm link part 32 are connected so that their central axes intersect perpendicularly.
  • a motor for rotating the first arm link part 31 around the axis of the second arm link part 32 around the other end side with respect to the second arm link part 32 is provided in the second joint part 30b. (Not shown) is provided. Further, the other end side of the second arm link portion 32 is connected to one end side of the third arm link portion 33 at the third joint portion 30c.
  • the third joint part 30 c is provided with a motor (not shown) for rotating the second arm link part 32 relative to the third arm link part 33.
  • the other end side of the third arm link portion 33 is connected to one end side of the fourth arm link portion 34 at the fourth joint portion 30d. Further, the other end side of the fourth arm link portion 34 is connected to the fifth arm link portion 35 by a fifth joint portion 30e.
  • the fourth joint portion 30d is provided with a motor (not shown) for rotating the third arm link portion 33 relative to the fourth arm link portion 34.
  • the fifth joint portion 30e is provided with a motor (not shown) for rotating the fourth arm link portion 34 relative to the fifth arm link portion 35.
  • the fifth arm link portion 35 is connected to a connection member 36 disposed vertically from the pedestal portion 4 by a sixth joint portion 30f. The fifth arm link portion 35 and the connection member 36 are connected so that their central axes are coaxial.
  • the sixth joint portion 30f is provided with a motor (not shown) for rotating the fifth arm link portion 35 around the axes of the fifth arm link portion 35 and the connection member 36.
  • a motor not shown
  • the arm mechanism 3 can be a mechanism having six degrees of freedom.
  • FIG. 2 is a perspective view of the hand mechanism 2.
  • FIG. 3 is a top view of the hand mechanism 2.
  • the arrows indicate the rotation movable ranges of the finger portions 21.
  • the four fingers 21 on the base 20 are centered on the axis in the longitudinal direction of the hand mechanism 2 (direction perpendicular to the paper surface in FIG. 3). On the circumference, they are arranged at equiangular intervals (ie, 90 deg intervals).
  • the four finger portions 21 all have the same structure and the same length. However, the operation of each finger 21 is controlled independently.
  • FIG. 4 to 10 are diagrams for explaining the configuration of the finger portion 21 of the hand mechanism 2 and its driving mechanism.
  • FIG. 4 is a side view of the finger part 21.
  • the base portion 20 is shown in a transparent state, and a part of the internal structure of the finger portion 21 located inside the base portion 20 is also shown.
  • FIG. 5 is a view of the distal end side of the finger portion 21 as viewed from the direction of arrow A in FIG. 4 and 5, a part of a second finger link part 212 of the finger part 21 to be described later is shown in a transparent state, and the internal structure of the second finger link part 212 is also shown. Yes.
  • each finger portion 21 has a first finger link portion 211, a second finger link portion 212, and a base end portion 213.
  • the base end portion 213 of the finger portion 21 is connected to the base portion 20.
  • the base end portion 213 is connected to the base portion 20 so as to be rotatable about the longitudinal axis of the finger portion 21 (direction perpendicular to the paper surface in FIG. 3) with respect to the base portion 20, as indicated by an arrow in FIG. Yes.
  • one end of the second finger link part 212 is connected to the base end part 213.
  • a second joint portion 23 is formed at a connection portion between the second finger link portion 212 and the base end portion 213.
  • FIG. 6 is a diagram illustrating an internal structure of the base portion 20 in the vicinity of the connection portion of the finger portion 21 and an internal structure of the proximal end portion 213 and the second joint portion 23 in the finger portion 21.
  • a gear 65, a gear 66, a second motor 52, and a third motor 53 are provided inside the base portion 20.
  • the gear 65 is a gear for rotating the entire finger portion 21, and is connected to the rotation shaft of the base end portion 213.
  • the gear 66 is connected to the rotation shaft of the third motor 53.
  • the gear 65 and the gear 66 are engaged with each other.
  • FIG. 7 is a diagram showing a movable range of the second joint portion 23 in the finger portion 21 realized by the driving force of the second motor 52.
  • the second joint portion 23 is formed to be able to bend and extend.
  • the driving force by the second motor 52 and the driving force by the third motor 53 are configured to be transmitted independently to the operation target.
  • FIG. 8 is a diagram illustrating an internal structure of the first joint portion 22 and the second finger link portion 212 in the finger portion 21.
  • Two bevel gears 61 and 62 meshing with each other are provided inside the first joint portion 22.
  • One bevel gear 61 is connected to the rotation shaft of the first finger link portion 211 in the first joint portion 22.
  • FIG. 9 is a diagram illustrating a movable range of the first joint portion 22 in the finger portion 21 realized by the driving force of the first motor 51. As shown in FIG. 9, the first joint portion 22 is formed to be able to bend and extend.
  • the finger portion 21 is based on the first joint portion 22 rather than the first finger link portion 211 on the distal end side of the first joint portion 22.
  • the second finger link part 212 on the part 20 side (base end part 213 side) is longer.
  • a pressure-sensitive sensor 70 is provided on the distal end side of the first finger link portion 211 of the finger portion 21.
  • the pressure-sensitive sensor 70 is a sensor that detects an external force (pressure) acting on the distal end portion of the first finger link portion 211.
  • the pressure-sensitive sensor 70 is a wall surface on the bending direction side of the first joint portion 22 in the first finger link portion 211 (hereinafter also referred to as “bending sidewall surface”) 215. Further, it is provided on both surfaces of the wall surface 216 on the extension direction side (hereinafter also referred to as “extension side wall surface”) 216.
  • the bent side wall surface 215 on the distal end side of the first finger link portion 211 is formed in a curved surface shape. Therefore, as shown in FIG. 10, a plurality of pressure-sensitive sensors 70 may be arranged side by side along the curved shape on the bent side wall surface 215 on the distal end side of the first finger link portion 211.
  • the pressure sensor 70 any known type of sensor such as a piezoelectric type, a strain gauge type, or a capacitance type may be used.
  • the pressure-sensitive sensor 70 corresponds to “contact pressure detecting means” according to the present invention.
  • the arm control device 42 is a control device for controlling the arm mechanism 3 of the robot arm 1.
  • the hand control device 43 is a control device for controlling the hand mechanism 2 of the robot arm 1.
  • FIG. 11 is a block diagram illustrating each functional unit included in the arm control device 42 and the hand control device 43.
  • the arm control device 42 includes a plurality of drivers that generate drive signals for driving the motors provided at the joints of the arm mechanism 3 so that the drive signals from the drivers are supplied to the corresponding motors. Configured.
  • the arm control device 42 includes a computer having an arithmetic processing device and a memory.
  • the arm control device 42 includes an arm control unit 420 and a motor state quantity acquisition unit 421 as functional units. These functional units are formed by executing a predetermined control program in a computer included in the arm control device 42.
  • the arm control unit 420 supplies each driver of the arm mechanism 3 by supplying a drive signal from each driver based on target information acquired by a target information acquisition unit 430 described later, which is a functional unit of the hand control device 43.
  • the motors provided in the joint portions 30a, 30b, 30c, 30d, 30e, and 30f are controlled.
  • the arm controller 420 moves the arm mechanism 3 by controlling each motor, thereby moving the hand mechanism 2 to a predetermined grippable position suitable for gripping the object.
  • the motors provided in the joint portions 30a, 30b, 30c, 30d, 30e, and 30f of the arm mechanism 3 detect state quantities (such as the rotational position and rotational speed of the rotation shaft of the motor) related to the respective rotational states.
  • An encoder (not shown) is provided. Then, the state quantity of each motor detected by the encoder of each motor is input to the motor state quantity acquisition unit 421 of the arm control device 42. Then, the arm control unit 420 servo-controls each motor so that, for example, the hand mechanism 2 moves to a predetermined grippable position based on the motor state quantity input to the motor state quantity acquisition unit 421.
  • the hand control device 43 includes a plurality of drivers that generate drive signals for driving the motors provided in the hand mechanism 2 so that the drive signals from the drivers are supplied to the corresponding motors. Composed.
  • the hand control device 43 includes a computer having an arithmetic processing device and a memory.
  • the hand control apparatus 43 has the target object information acquisition part 430, the hand control part 431, the motor state quantity acquisition part 432, and the sensor information acquisition part 433 as a function part. These functional units are formed by executing a predetermined control program in a computer included in the hand control device 43.
  • the object information acquisition unit 430 acquires object information that is information regarding an object to be gripped by the hand mechanism 2.
  • the object information includes information on the shape, dimensions, and position of the object, and environmental information around the object (information on objects other than the object existing around the object, for example, , Information on the shape of the container in which the object is stored and the arrangement of the objects in the container).
  • the object information acquisition unit 430 may acquire object information input by the user.
  • the object information acquisition unit 430 may acquire object information from an image captured by the visual sensor.
  • the hand control unit 431 supplies the driving signal from each driver based on the object information acquired by the object information acquiring unit 430, thereby driving each finger unit 21 of the hand mechanism 2.
  • 51, each 2nd motor 52, and each 3rd motor 53 are controlled.
  • the hand control unit 431 controls each of the first mechanisms of the hand mechanism 2 in order to grip the object by the hand mechanism 2 that has been moved to a predetermined grippable position by controlling the arm mechanism 3 by the arm control unit 420.
  • the motor 51, each second motor 52, and each third motor 53 are controlled.
  • the first motor 51, the second motor 52, and the third motor 53 of the hand mechanism 2 detect state quantities (such as the rotational position and rotational speed of the rotation shaft of the motor) related to the respective rotational states.
  • An encoder (not shown) is provided. Then, the state quantities of the motors 51, 52, 53 detected by the encoders of the motors 51, 52, 53 are input to the motor state quantity acquisition unit 432 of the hand control device 43. Then, based on the state quantities of the motors 51, 52, 53 input to the motor state quantity acquisition unit 432, the hand control unit 431, for example, moves each finger so as to hold the object with the plurality of finger parts 21. Servo-control each motor 51,52,53 in the part 21. FIG.
  • the hand control device 43 has a sensor information acquisition unit 433.
  • the sensor information acquisition unit 433 receives a detection value of the pressure sensor 70 provided in the first finger link unit 211 of each finger unit 21 of the hand mechanism 2.
  • the hand control part 431 can detect the contact to the target object of each finger
  • Each motor 51, 52, 53 in the finger part 21 can also be controlled.
  • FIG. 12 is a diagram illustrating an example of the shape of the object 10 held by the hand mechanism 2.
  • FIG. 13 is a diagram showing a state in which a plurality of objects 10 (10 ′) are arranged and arranged.
  • the object 10 is a rectangular parallelepiped having six surfaces (S1 to S6).
  • the shape of the object 10 shown in FIG. 12 is merely an example, and the shape of the object gripped by the hand mechanism 2 is not limited to a rectangular parallelepiped.
  • the object 10 when the object 10 is gripped by the hand mechanism 2, at least two of the six surfaces of the object 10 are defined as predetermined gripping surfaces (corresponding to predetermined gripping locations), and the predetermined gripping is performed.
  • One of the fingers 21 of the hand mechanism 2 needs to be brought into contact with each surface, and the object 10 needs to be sandwiched between the fingers 21.
  • the object 10 is gripped using the two surfaces S5 and S6 having the largest area among the six surfaces of the object 10 as predetermined gripping surfaces.
  • both of the surfaces S5 and S6 of the object 10 are connected to any of the finger portions 21 of the hand mechanism 2. It must be exposed so that it can be touched.
  • a predetermined grasping of the object 10 is performed in a state where a plurality of objects 10 (10 ′) to be grasped sequentially by the hand mechanism 2 are arranged and arranged in contact with each other.
  • the surface may be placed in contact with the adjacent object 10 '.
  • one of the two predetermined gripping surfaces S5 and S6 of the object 10 is in a state of being in contact with the adjacent object 10 ′.
  • the gripping surface S6 of the object 10 is not exposed. Therefore, if the target object 10 remains in the state shown in FIG. 13, the finger part 21 of the hand mechanism 2 cannot be brought into contact with the gripping surface S6 of the target object 10, so that the target object 10 is gripped by the hand mechanism 2. Can not do it.
  • the hand mechanism 2 when the hand mechanism 2 grips the target object 10 in the above-described situation, first, it functions as a state changing finger portion of the four finger portions 21 in the hand mechanism 2. The posture of the object 10 is changed by one finger part. After that, among the four finger portions 21 in the hand mechanism 2, the three finger portions other than the finger portions functioning as state changing finger portions and the finger portions functioning as gripping finger portions are targeted. Hold the object 10.
  • each finger part 21 of the hand mechanism 2 is referred to as a first finger part 21A, a second finger part 21B, a third finger part 21C, and a fourth finger part 21D, respectively.
  • the first finger portion 21A is used as a finger portion functioning as a state changing finger portion
  • the second to fourth finger portions 21B, 21C, and 21C are used as finger portions functioning as gripping finger portions.
  • FIG. 14 and 15 are diagrams illustrating an operation when the posture of the target object 10 is changed by the first finger portion 21A of the hand mechanism 2.
  • 16 and 17 are diagrams showing a state in which the object 10 is held by the second finger part 21B, the third finger part 21C, and the fourth finger part 21D of the hand mechanism 2.
  • the procedure of gripping the object 10 by the hand mechanism 2 as described below is performed after the hand mechanism 2 is moved to a predetermined grippable position by the arm mechanism 3 being controlled by the arm control device 42. This is realized by controlling the hand mechanism 2 by the control device 43.
  • the finger part 21 of the hand mechanism 2 can be brought into contact with the upper surface S4 of the object 10. Therefore, in the present embodiment, as shown in FIG. 14, first, the first finger link portion 211 ⁇ / b> A of the first finger portion 21 ⁇ / b> A that functions as a state change finger portion in the current gripping of the target object 10 is used as the upper surface of the target object 10. Contact S4.
  • the contact of the first finger link portion 211A to the object 10 of the first finger link portion 211A can be detected by the pressure-sensitive sensor 70 provided on the first finger link portion 211A.
  • the other finger parts 21 ⁇ / b> B, 21 ⁇ / b> C, 21 ⁇ / b> D in the hand mechanism 2 are not in contact with the object 10.
  • the object 10 is tilted forward by the first finger part 21 ⁇ / b> A in a state where the first finger link part 211 ⁇ / b> A is in contact with the upper surface S ⁇ b> 4 of the object 10. That is, the object 10 is tilted in a direction in which the gripping surface S6 of the object 10 is separated from the adjacent object 10 ′.
  • the first finger part 21A functioning as the state changing finger part
  • the interval between the object 10 and the adjacent object 10 ′ can be increased. .
  • the gripping surface S6 of the object 10 can be exposed.
  • predetermined This is referred to as a “gripable state”.
  • the object 10 of this time is set after the object 10 is tilted by the first finger portion 21 ⁇ / b> A so that the posture of the object 10 becomes a predetermined grippable state.
  • the object 10 is grasped by the second finger part 21B, the third finger part 21C, and the fourth finger part 21D that function as a grasping finger part.
  • the first finger link portion 211 ⁇ / b> B and the fourth finger portion 21 ⁇ / b> B of the second finger portion 21 ⁇ / b> B are formed on one gripping surface S ⁇ b> 6 of the target object 10 exposed by changing the posture of the target object 10.
  • the first finger link portion 211D of the finger portion 21D is brought into contact. Further, the first finger link portion 211C of the third finger portion 21C is brought into contact with the other gripping surface S5 of the object 10. However, it is not always necessary to bring two fingers into contact with one gripping surface S6 of the object 10. That is, one finger part is brought into contact with one gripping surface S6 of the object 10, and the two objects are brought into contact with the other gripping surface S5 of the object 10, It may be gripped.
  • the contact of the first finger link part 211B of the second finger part 21B, the first finger link part 211C of the third finger part 21C, and the first finger link part 211D of the fourth finger part 21D to the object 10 is as follows. , And can be detected by the pressure sensitive sensor 70 provided in each first finger link portion 211B, 211C, 211D.
  • the predetermined gripping surface of the target object 10 is exposed because the target object 10 is arranged in contact with the other target object 10 '. Even if the finger part 21 of the hand mechanism 2 cannot be brought into contact with the predetermined gripping surface of the object 10 in the state as it is, one of the four finger parts 21 , The posture of the object 10 can be changed to a predetermined grippable state. Then, the predetermined gripping surface of the target object 10 that has been in contact with the other target object 10 ′ is changed by changing the posture of the target object 10 to a predetermined grippable state by the finger part functioning as the state changing finger part. Can be exposed.
  • a finger unit other than the finger unit functioning as the state changing finger unit in the hand mechanism 2 and functioning as the gripping finger unit in the above example, The second finger 21B, the third finger 21C, and the fourth finger 21D
  • the object 10 can be sandwiched between the three finger portions that function as the gripping finger portions in the hand mechanism 2, and thus the object 10 can be gripped.
  • the hand mechanism 2 according to the present embodiment includes four finger portions 21, and the posture of the object 10 is changed by one finger portion functioning as a state changing finger portion. Also, the object 10 can be gripped by causing the other three fingers to function as gripping fingers. Note that the hand mechanism 2 according to the present embodiment does not necessarily include the four finger portions 21. In other words, if the hand mechanism 2 includes at least three finger portions 21, two fingers other than the one finger that functions as a state change finger can function as gripping fingers. The object 10 can be gripped. However, as described above, if the hand mechanism 2 includes the four finger portions 21, even if one finger portion 21 functions as a state change finger portion, The part 21 can function as a gripping finger part.
  • FIG.16 and FIG.17 it can suppress that a moment acts on the target object 10 of the hold
  • the four finger portions 21 are arranged at equiangular intervals in the circumferential direction in the base portion 20. And all of the four finger
  • the other finger parts including the first finger part 21A can also function as gripping finger parts. For this reason, when the object 10 is gripped by the gripping finger part after the posture of the object 10 is changed to a predetermined grippable state by the state changing finger part, the hand mechanism 2 with respect to the object 10 is It is possible to suppress as much as possible the restriction on the position and posture.
  • the single object mechanism 10 can be used to hold the object 10 while changing the posture of the object 10 to a predetermined holdable state. Therefore, unlike this embodiment, the posture of the object is changed to a predetermined gripping state using a device separate from the hand mechanism for gripping the object, and then the object is gripped by the hand mechanism. Compared to such a case, the tact time can be shortened.
  • the hand control unit 431 may select based on the object information acquired by the object information acquisition unit 430.
  • a configuration having five or more finger portions 21 may be adopted. Even in such a case, five or more finger parts 21 may be arranged at equiangular intervals in the circumferential direction in the base part 20, and any of the finger parts 21 may have the same structure. And any of the five or more finger parts 21 is good also as a structure which can function as a finger part for a state change, and a finger part for a holding
  • each finger unit is used both when the posture of the object 10 is changed to a predetermined grippable state by the state changing finger unit and when the object 10 is held by the gripping finger unit. It is necessary to detect the contact of the tip portion of 21 with the object 10 by the pressure sensor 70 provided on the first finger link portion 211 of each finger portion 21. For that purpose, the pressure-sensitive sensor 70 needs to be surely brought into contact with the object 10.
  • each finger portion 21 is attached to the base portion 20 so as to be rotatable around the axis of the finger portion 21.
  • Each finger portion 21 is formed with two joint portions 22 and 23. Furthermore, the two joint portions 22 and 23 are both formed to be able to bend and extend.
  • the finger portion 21 By configuring the finger portion 21 in this way, the finger portion 21 as a whole has a relatively high degree of freedom of movement and a relatively large movable range. Therefore, when the tip part of the finger part 21 is brought into contact with the object 10, the contact angle (contact direction) can be appropriately adjusted. Therefore, the pressure-sensitive sensor 70 provided in the first finger link portion 211 of the finger portion 21 can be brought into contact with the object 10 more reliably.
  • toe part 21 does not necessarily need to be two places, and may be one place.
  • the joint portion 21 by providing the joint portion at two locations in the finger portion 21, as compared with the case where the joint portion is only one location, the finger portion 21 as a whole can have a higher degree of freedom of movement and its movable range. Can be made larger.
  • the joint portion may be provided at three or more locations in the finger portion 21.
  • pressure-sensitive sensors 70 are provided on both the bent side wall surface 215 and the extended side wall surface 216 of the first finger link portion 211 of each finger portion 21.
  • the second finger link portion 212 is longer than the first finger link portion 211 in each finger portion 21.
  • the space between the target object 10 and the adjacent target object 10 ′ formed by changing the posture of the target object 10 ( The first finger link part 211 of the finger part that functions as the gripping finger part when the object 10 is to be gripped by the gripping finger part after the tip part of the gripping finger part is inserted into the gap) It becomes easier to put the in the space.
  • the object 10 is sandwiched between the three finger parts 21 in the hand mechanism 2, the object is compared with the configuration in which the first finger link part 211 is longer than the second finger link part 212. 10, the pressing force of each finger 21 can be applied more stably. Therefore, the object 10 can be gripped more stably by the hand mechanism 2.
  • the target object 10 was arrange
  • the case where the predetermined holding surface of the target object 10 was not exposed was demonstrated as an example.
  • an object that can be an obstacle when the finger portion 21 of the hand mechanism 2 is brought into contact with a predetermined gripping surface of the object 10 is not limited to the other object 10 ′.
  • the predetermined gripping surface of the object 10 is not exposed because the object 10 is arranged in contact with the wall surface of the container that stores the object 10, the wall surface of the container 10 is obstructed. It becomes. Even in such a case, the object 10 can be grasped by applying the same grasping procedure as described above when grasping the object 10 by the hand mechanism 2.
  • FIGS. 14 and 15 are diagrams illustrating a first other example of the operation of the hand mechanism 2.
  • 20 and 21 are diagrams illustrating a second other example of the operation of the hand mechanism 2.
  • the rectangular parallelepiped objects 11 are arranged side by side in contact with the other objects 11 ′.
  • a surface S5 that is in contact with the other object 11 ′ and a surface S6 opposite to the surface S5 are set as predetermined gripping surfaces. That is, one gripping surface S5 of the object 11 is not exposed. Therefore, in the state shown in FIG. 18, the finger part 21 of the hand mechanism 2 cannot be brought into contact with one gripping surface S5 of the object 11.
  • the first finger link portion 211A of the first finger portion 21A is brought into contact with the vicinity of the end portion on the other gripping surface S6 side of the upper surface S4 of the object 11. Then, by pressing the upper surface S4 of the object 11 with the first finger portion 21A as it is, the object 11 is turned in the direction indicated by the white arrow. By doing so, as shown in FIG. 19, the one gripping surface S5 side of the object 11 is lifted, and the object 11 is inclined. As a result, not only the other gripping surface S6 of the object 11 but also the one gripping surface S5 can be brought into contact with a finger portion that functions as a gripping finger portion in the hand mechanism 2. That is, the state of the object 11 becomes a predetermined grippable state. 18 and 19, even when the posture of the object 11 is changed, the finger portions other than the first finger portion 21A among the four finger portions 21 of the hand mechanism 2 are used as the state changing finger portions. Can also be used.
  • the rectangular parallelepiped objects 12 are arranged side by side in contact with the other objects 12 ′.
  • surface S5 which is contacting other target object 12 ', and surface S6 on the opposite side to this surface S5 are set as a predetermined
  • the position of the object 12 is changed using the first finger 21A among the four fingers 21 of the hand mechanism 2 as the state changing finger. 20 and 21, illustration of the hand mechanism 2 other than the first finger portion 21A is omitted.
  • the first finger link portion 211 ⁇ / b> A of the first finger portion 21 ⁇ / b> A is brought into contact with the upper portion of the other gripping surface S ⁇ b> 6 of the object 12.
  • the first finger 21A presses the other gripping surface S6 of the object 12 to press the object 12 against the object 12 ′, and the first finger 21A presses the object 12 ′. Shift the position in the direction indicated by the white arrow.
  • the position of the object 12 moves upward, and as a result, the object 12 protrudes above the height of the upper surface S4 of the object 12 ′. . That is, the upper part of one gripping surface S5 of the object 12 is exposed.
  • the four fingers 21 have a relatively high degree of freedom of movement and a relatively large movable range. Therefore, the state of the object can be changed to a predetermined grippable state by various operations using the finger part functioning as the state changing finger part. Furthermore, an object that has become a predetermined grippable state by each operation can be gripped by using a finger part that functions as a gripping finger part.
  • the finger part selected as the state changing finger part among the four finger parts 21 in the hand mechanism 2 is brought into contact with the object.
  • a wall surface that can be touched with the finger part in the current object is selected, and the wall surface of the selected object is selected. Touch the state change finger.
  • the state and / or position of the object is changed by the state change finger unit brought into contact with the object, thereby changing the state of the object to a predetermined grippable state.
  • an object that has become a predetermined grippable state by executing the process of S103 is a finger part other than the state change finger part among the four finger parts 21 in the hand mechanism 2. And gripping with the finger selected as the gripping finger. At this time, the gripping finger portion of the hand mechanism 2 is brought into contact with a predetermined gripping surface of the target object, and then the target finger is gripped by the gripping finger portion.
  • Each step in the control flow is executed by the arm control device 42 and the hand control device 43, so that the object can be gripped by the hand mechanism 2 regardless of the posture of the object and its surroundings. .
  • the hand mechanism 2 which concerns on a present Example, when the target object is arrange
  • the worm wheel 63 and the worm 64 meshed with the worm wheel 63 are provided in the second joint portion 23 as a screw mechanism.
  • the worm wheel 63 is connected to the rotation shaft of the second finger link part 212 in the second joint part 23.
  • a worm 64 is connected to the rotating shaft of the second motor 52 provided in the base portion 20.
  • FIG. 23 is a diagram showing a schematic configuration of the stopper 230.
  • the stopper 230 includes a first stopper 231 provided at the base end portion 213, a second stopper 232 provided at the second finger link portion 212, and a third stopper 233 provided at the base end portion 213. ing.
  • the first stopper 231 is an outer peripheral surface 631 that covers the outer side of the worm wheel 63 at the base end portion 213, and the outer peripheral surface 631 is formed on the outer peripheral surface 631 formed around the rotation axis of the second finger link portion 212. It is provided so as to protrude from.
  • the central axis of the outer peripheral surface 631 coincides with the central axis of the worm wheel 63.
  • the second stopper 232 is provided on a side surface of the second finger link portion 212 that faces the traveling direction when the second joint portion 23 extends. Further, the second stopper 232 is provided at a location that rotates along the outer peripheral surface 631 while being separated from the outer peripheral surface 631 of the base end portion 213 when the second joint portion 23 extends.
  • the distance between the second stopper 232 and the outer peripheral surface 631 is smaller than the protruding amount of the first stopper 231 from the outer peripheral surface 631.
  • the second stopper 232 is fixed to the second finger link portion 212 using bolts 234.
  • the first stopper 231 may be fixed to the outer peripheral surface 631 of the base end portion 213 by welding or bolts, or the first stopper 231 may be formed on the outer peripheral surface 631.
  • FIG. 24 is a cross-sectional view of the vicinity of the second joint portion 23 when the second joint portion 23 is most extended. Since the distance between the second stopper 232 and the outer peripheral surface 631 is smaller than the protruding amount of the first stopper 231 from the outer peripheral surface 631, when the second joint portion 23 extends most, the first of the second stopper 232 The abutting portion 2321 abuts on the first stopper 231.
  • the first contact portion 2321 is a surface formed at the end portion of the second stopper 232 on the proximal end portion 213 side in the axial direction of the second finger link portion 212, and the axial direction of the second finger link portion 212. It is an orthogonal plane.
  • the shape of the first contact portion 2321 is formed in accordance with the shape of the first stopper 231, and when the second joint portion 23 is extended most, the first contact portion 2321 has a flat surface and the first stopper 231. It forms so that the plane concerned may become parallel and contact. Thus, the first stopper 231 imposes a physical restriction so that the second joint portion 23 does not extend any further. With the second stopper 232 in contact with the first stopper 231, the second stopper 232 can be moved in the axial direction of the bolt 234 by removing the bolt 234.
  • FIG. 25 is a cross-sectional view of the vicinity of the second joint portion 23 when the second joint portion 23 is bent most.
  • a second contact portion 2322 different from the first contact portion 2321 of the second stopper 232 contacts the outer surface 632 of the base end portion 213.
  • the outer surface 632 is a top surface of the base end portion 213 protruding from the base portion 20, is formed so as to be parallel to the top surface of the base portion 20, and is formed on a tangent line of the outer peripheral surface 631. .
  • the outer surface 632 with which the second stopper 232 comes into contact is referred to as a third stopper 233.
  • the second contact portion 2322 is a surface formed so as to face the central axis side of the second finger link portion 212, and is a surface inclined with respect to the axial direction of the second finger link portion 212.
  • the shape of the second contact portion 2322 is formed in accordance with the shape of the third stopper 233.
  • the second contact portion 2322 has a flat surface and the third stopper 233. It forms so that the plane concerned may become parallel and contact. Thus, the third stopper 233 imposes physical restrictions so that the second joint portion 23 does not bend any more.
  • the second stopper 232 can be moved in the axial direction of the bolt 234 by removing the bolt 234 while the second stopper 232 is in contact with the third stopper 233.
  • the second stopper 232 contacts the first stopper 231, and when the second joint portion 23 is bent most, the second stopper 232 becomes the third stopper 233.
  • a stopper 230 is formed so as to abut against. These stoppers 230 can limit the movable range of bending and extension of the second joint portion 23.
  • the second stopper 232 is normally controlled by the hand control device 43 so as not to contact the first stopper 231 and the third stopper 233.
  • the hand control device 43 stores a reference position that is a position in which the second joint portion 23 is not bent or extended, and the rotation angle of the second finger link portion 212 from the reference position is determined by the second stopper.
  • the second motor 52 is controlled so that the rotation angle 232 does not contact the first stopper 231 and the third stopper 233.
  • the reference position of the second finger link unit 212 is erased from the memory, for example, when the power of the hand control device 43 is turned off, or the actual use position of the hand mechanism 2 is stored in the memory as the usage time of the hand mechanism 2 increases. There may be a deviation from the reference position. In such a case, the second stopper 232 may come into contact with the first stopper 231 or the third stopper 233.
  • driving force is supplied to the worm 64 with the second stopper 232 in contact with the first stopper 231 or the third stopper 233, the load at the contact portion between the worm 64 and the worm wheel 63 increases. This increases the frictional force. Therefore, it becomes difficult to rotate the worm 64 in the reverse direction, and the second joint portion 23 may be locked and it may be difficult to bend and extend the second joint portion 23.
  • the second stopper 232 is configured to be movable. In other words, by removing the bolt 234 that fixes the second stopper 232, the second stopper 232 can be attached and detached (that is, movable). By moving the second stopper 232 when the second joint portion 23 is locked, the second stopper 232 is not in contact with the first stopper 231 or the third stopper 233. As a result, the load at the contact portion between the worm 64 and the worm wheel 63 is reduced and the frictional force is reduced, so that the worm 64 can be rotated in the direction of releasing the lock. In this way, the lock of the second joint portion 23 can be released. After releasing the lock, the second stopper 232 is reattached to the second finger link portion 212 using the bolt 234.
  • the shape of the stopper 230 is not limited to the above shape, and the relative rotation of the second finger link portion 212 with respect to the proximal end portion 213 is physically limited on each of the bent side and the extended side of the second joint portion 23. Any shape can be used.
  • one second stopper 232 physically restricts the rotation of the second finger link portion 212 on each of the bending side and the extension side of the second joint portion 23.
  • two stoppers that restrict the rotation of the second finger link part 212 separately on the bending side and the extension side may be provided on the second finger link part 212, and each may be configured to be movable. In other words, different stoppers may contact the first stopper 231 and the third stopper 233.
  • the second stopper 232 is configured to be movable.
  • the first stopper 231 and the third stopper 233 may be configured to be movable.
  • all the stoppers 230 may be configured to be movable.
  • the rotation of the second finger link portion 212 is physically limited on each of the bent side and the extended side.
  • the rotation of the second finger link portion 212 is limited only on one of the bent side and the extended side. May be configured to physically limit the above. That is, one of the first stopper 231 or the third stopper 233 may be omitted.
  • the second stopper 232 can be moved by removing the bolt 234 that fixes the second stopper 232.
  • the structure that allows the second stopper 232 to move is not limited thereto.
  • the second stopper 232 may move as the second stopper 232 rotates or advances and retreats.
  • the second stopper 232 is not limited to the bolt 234, and other known fixing means can be used.
  • stopper 230 can also be applied to a hand mechanism in the case where the posture and / or position of the object is not changed when the object is gripped.
  • the stopper 230 is provided at the second joint portion 23.
  • a stopper can be provided at the indirect portion.
  • the worm wheel 63 and the worm 64 have been described as examples of the screw mechanism, but the screw mechanism can be applied to other than the worm wheel 63 and the worm 64 as long as the screw mechanism can be self-locked.

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

La présente invention concerne un mécanisme de type main, dans lequel, indépendamment de l'attitude et des circonstances environnantes d'un objet cible, l'objet cible est saisi de manière plus souhaitable. Dans ce mécanisme de type main ayant trois parties doigts ou plus, lors de la préhension d'un objet cible, au moins une partie doigt parmi les trois parties doigts ou plus fonctionne en tant que partie doigt pouvant changer d'état qui entre en contact avec l'objet cible et change ensuite l'attitude ou la position de l'objet cible. De plus, au moins deux des parties doigts autres que la partie doigt fonctionnant en tant que partie doigt pouvant changer d'état fonctionnent en tant que parties doigts de préhension qui saisissent l'objet cible dont la position ou l'attitude a été changée par la partie doigt pouvant changer d'état.
PCT/JP2018/018821 2017-05-15 2018-05-15 Mécanisme de type main, système de préhension et programme de préhension Ceased WO2018212205A1 (fr)

Priority Applications (4)

Application Number Priority Date Filing Date Title
US16/613,235 US11389951B2 (en) 2017-05-15 2018-05-15 Hand mechanism, gripping system, and non-transitory storage medium
KR1020197036449A KR20200007004A (ko) 2017-05-15 2018-05-15 핸드 기구, 파지 시스템 및 파지 프로그램
DE112018002486.5T DE112018002486T5 (de) 2017-05-15 2018-05-15 Handmechanismus, greifsystem und greifprogramm
CN201880031515.4A CN110636926B (zh) 2017-05-15 2018-05-15 机械手机构、把持系统、及存储有把持程序的计算机可读存储介质

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
JP2017-096830 2017-05-15
JP2017096830 2017-05-15
JP2018-078983 2018-04-17
JP2018078983A JP7155479B2 (ja) 2017-05-15 2018-04-17 ハンド機構、把持システム、および把持プログラム

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WO2018212205A1 true WO2018212205A1 (fr) 2018-11-22

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Citations (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH09323281A (ja) * 1996-05-31 1997-12-16 Shinko Electric Co Ltd 書籍取出し用のロボットハンド
JP2005349491A (ja) * 2004-06-08 2005-12-22 Sharp Corp ロボットハンドおよびロボットハンドにおける把持物体の把持状態変更方法
JP2006102920A (ja) * 2004-10-08 2006-04-20 Fanuc Ltd 把握型ハンド
JP2010064155A (ja) * 2008-09-08 2010-03-25 Toyota Motor Corp 把持装置
WO2011118646A1 (fr) * 2010-03-24 2011-09-29 株式会社安川電機 Main robot et dispositif robot
JP2012055999A (ja) * 2010-09-07 2012-03-22 Canon Inc 物体把持システム、物体把持方法、プログラム、およびロボットシステム
WO2012039479A1 (fr) * 2010-09-24 2012-03-29 国立大学法人岐阜大学 Main électrique humanoïde
JP2014097555A (ja) * 2012-11-15 2014-05-29 Precision Machinery Research Development Center エンドエフェクタ
JP2014172116A (ja) * 2013-03-07 2014-09-22 Seiko Epson Corp ロボットハンド用の把持部材、ロボットハンド、ロボットハンド用の把持部材の製造方法及びロボット装置
US20140324189A1 (en) * 2011-08-18 2014-10-30 Touch Emas Limited Prosthetics and orthotics
JP2015071207A (ja) * 2013-10-03 2015-04-16 株式会社豊田自動織機 ロボットハンドおよびその制御方法

Patent Citations (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH09323281A (ja) * 1996-05-31 1997-12-16 Shinko Electric Co Ltd 書籍取出し用のロボットハンド
JP2005349491A (ja) * 2004-06-08 2005-12-22 Sharp Corp ロボットハンドおよびロボットハンドにおける把持物体の把持状態変更方法
JP2006102920A (ja) * 2004-10-08 2006-04-20 Fanuc Ltd 把握型ハンド
JP2010064155A (ja) * 2008-09-08 2010-03-25 Toyota Motor Corp 把持装置
WO2011118646A1 (fr) * 2010-03-24 2011-09-29 株式会社安川電機 Main robot et dispositif robot
JP2012055999A (ja) * 2010-09-07 2012-03-22 Canon Inc 物体把持システム、物体把持方法、プログラム、およびロボットシステム
WO2012039479A1 (fr) * 2010-09-24 2012-03-29 国立大学法人岐阜大学 Main électrique humanoïde
US20140324189A1 (en) * 2011-08-18 2014-10-30 Touch Emas Limited Prosthetics and orthotics
JP2014097555A (ja) * 2012-11-15 2014-05-29 Precision Machinery Research Development Center エンドエフェクタ
JP2014172116A (ja) * 2013-03-07 2014-09-22 Seiko Epson Corp ロボットハンド用の把持部材、ロボットハンド、ロボットハンド用の把持部材の製造方法及びロボット装置
JP2015071207A (ja) * 2013-10-03 2015-04-16 株式会社豊田自動織機 ロボットハンドおよびその制御方法

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