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WO2019193994A1 - Mécanisme de main et robot de préhension - Google Patents

Mécanisme de main et robot de préhension Download PDF

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Publication number
WO2019193994A1
WO2019193994A1 PCT/JP2019/012019 JP2019012019W WO2019193994A1 WO 2019193994 A1 WO2019193994 A1 WO 2019193994A1 JP 2019012019 W JP2019012019 W JP 2019012019W WO 2019193994 A1 WO2019193994 A1 WO 2019193994A1
Authority
WO
WIPO (PCT)
Prior art keywords
finger
finger link
hand mechanism
end portion
detachable
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/JP2019/012019
Other languages
English (en)
Japanese (ja)
Inventor
健児 日高
嘉将 遠藤
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
Application filed by THK Co Ltd filed Critical THK Co Ltd
Priority to DE112019001766.7T priority Critical patent/DE112019001766T5/de
Publication of WO2019193994A1 publication Critical patent/WO2019193994A1/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
    • B25J15/0009—Gripping heads and other end effectors comprising multi-articulated fingers, e.g. resembling a human hand
    • 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
    • B25J15/04—Gripping heads and other end effectors with provision for the remote detachment or exchange of the head or parts thereof
    • B25J15/0475—Exchangeable fingers

Definitions

  • the present invention relates to a hand mechanism and a picking robot.
  • Patent Document 1 discloses a robot apparatus including a hand mechanism having a plurality of finger parts (multi-finger hand part) and a robot arm having the hand mechanism attached to the tip.
  • a pressure sensor is provided at the fingertip of the finger portion, an actual contact position with respect to the object is detected based on the output of the pressure sensor, and position information of the object is detected based on the detected contact position information. It is described to correct.
  • the pressure sensor provided on the fingertip is less durable than other members in the hand mechanism and is easily damaged. Therefore, it may be necessary to replace the pressure sensor. However, if the relative position between the finger and the sensor is shifted when the pressure sensor is replaced, the position of the object is detected to be shifted, so that the position of the object may be misidentified. Therefore, when the user replaces only the pressure sensor, it is necessary to align the pressure sensor at the fingertip with high accuracy. Therefore, it is difficult for the user to replace only the pressure sensor. On the other hand, when the pressure sensor is replaced, if the entire finger portion or the entire hand mechanism is replaced, there is a risk of cost and labor.
  • the present invention has been made in view of various circumstances as described above, and an object thereof is to easily replace a sensor provided on a finger portion of a hand mechanism.
  • One aspect of the present invention is a hand mechanism having a plurality of finger parts, wherein the finger parts have a sensor and a first finger link part located on a distal end side of the finger parts; A second finger link portion that is located on the proximal end side and is connected to the first finger link portion, and a connection portion between the first finger link portion and the second finger link portion with respect to the second finger link portion. A joint part that connects the first finger link part and the second finger link part so that the first finger link part is relatively movable, and the first finger link part is formed from the joint part.
  • a hand mechanism that includes a detachable portion that is detachable on the tip side of the finger portion and includes the sensor.
  • One aspect of the present invention is a picking robot provided with the hand mechanism at the tip of an arm.
  • the sensor provided on the finger portion of the hand mechanism can be easily replaced.
  • the detachable part including the sensor is configured to be detachable from the finger part, the sensor can be replaced together with the detachable part when replacing the sensor. At this time, since it is not necessary to disassemble the joint portion, it is possible to reduce the labor required for replacement. Further, since the sensor can be exchanged together with the detachable part, the alignment becomes easy. Further, it is possible to suppress replacement of unnecessary parts.
  • the finger portion may include an electric wire through which a signal from the sensor passes
  • the attachment / detachment portion may include a connection portion capable of separating and connecting the electric wire.
  • the first finger link part may further include a base end part that detachably supports the attachment / detachment part and includes the joint part. Since the joint portion is included in the base end portion, it is not necessary to disassemble the joint portion when attaching / detaching the attachment / detachment portion from the base end portion.
  • the first finger link portion includes a cover that covers a fitting portion between the base end portion and the detachable portion in a state where the base end portion supports the detachable portion, and the base end portion is the detachable portion.
  • a second fastening member for fixing the cover to the base end portion or the attaching / detaching portion.
  • the first fastening member for fixing the attaching / detaching portion to the base end portion.
  • This cover may further cover the connection part or the electric wire. If it does so, a connection part or an electric wire can be protected. Moreover, attaching and detaching the cover is facilitated by fixing the cover to the base end part or the attaching / detaching part using the second fastening member.
  • FIG. 1 is a diagram showing a schematic configuration of a picking robot 1 according to the present embodiment.
  • the picking robot 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.
  • Each arm link portion is provided with a motor (not shown) for rotating around the axis.
  • the arm mechanism 3 can be a mechanism having six degrees of freedom.
  • the pedestal portion 4 incorporates a control device (not shown) for controlling the hand mechanism 2 and the arm mechanism 3.
  • the control device includes a plurality of drivers that generate drive signals for driving the motors provided in the hand mechanism 2 and the arm mechanism 3 so that the drive signals from the drivers are supplied to the corresponding motors. Composed.
  • a signal from a pressure sensor 70 described later is input to the control device.
  • the control device includes a computer having an arithmetic processing device and a memory. The control device stores a predetermined control program, and controls the hand mechanism 2 and the arm mechanism 3 by executing this program.
  • 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 portion 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 9 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 and a part of a second finger link portion 212 of the finger portion 21 to be described later are shown in a transparent state, and the internal structure thereof 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.
  • 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.
  • one end of the first finger link portion 211 is connected to the other end of the second finger link portion 212.
  • a first joint portion 22 is formed at a connection portion between the first finger link portion 211 and the second finger link portion 212.
  • a second motor 52 and a third motor 53 are provided inside the base portion 20.
  • the third motor 53 is a motor for rotating the base end portion 213 around its axis. The rotational force of the third motor 53 is transmitted to the rotation shaft of the base end portion 213 via the gear, so that the base end portion 213 is rotationally driven, and accordingly, the finger portion 21 is within the range indicated by the arrow in FIG. The whole is rotationally driven.
  • the second motor 52 is a motor for driving the second finger link part 212 to rotate relative to the base end part 213 in the second joint part 23. The rotational force of the second motor 52 is transmitted to the rotation shaft of the second finger link unit 212.
  • the second finger link portion 212 is rotationally driven relative to the base end portion 213 within the range indicated by the arrow in FIG.
  • 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. 7 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 that are fitted to 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.
  • a first motor 51 is provided inside the second finger link portion 212, and the other bevel gear 62 is connected to the rotation shaft of the first motor 51.
  • FIG. 8 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.
  • the first joint portion 22 is formed to be able to bend and extend. That is, the first finger link portion 211 is formed to be movable relative to the second finger link portion 212.
  • 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 sensor 70 is a sensor that detects an external force (pressure) acting on the distal end side of the first finger link portion 211.
  • the pressure-sensitive sensors 70 are provided on both surfaces of the wall surface 215 on the bending direction side and the wall surface 216 on the extension direction side of the first joint portion 22 on the distal end side of the first finger link portion 211. ing.
  • the wall surface 215 on the bending direction side of the first joint portion 22 on the distal end side of the first finger link portion 211 is formed in a curved surface shape. Therefore, as shown in FIG. 9, a plurality of pressure-sensitive sensors 70 are arranged side by side along the curved surface shape on the wall surface 215 on the bending direction side of the first joint portion 22 at the distal end side of the first finger link portion 211. May be.
  • the first finger link portion 211 is configured to be divided into a distal end portion 2111 located on the distal end side and a proximal end portion 2112 located on the proximal end side.
  • 10 and 11 are diagrams showing the structure of the first finger link portion 211.
  • FIG. FIG. 10 is a view of the first finger link portion 211 as viewed from the wall surface 216 side of the first joint portion 22 on the extending direction side, and is a view in a state where the distal end portion 2111 and the proximal end portion 2112 are divided.
  • FIG. 10 is a view of the first finger link portion 211 as viewed from the wall surface 216 side of the first joint portion 22 on the extending direction side, and is a view in a state where the distal end portion 2111 and the proximal end portion 2112 are divided.
  • FIG. 11 is a view of the first finger link portion 211 as viewed from the side of the wall surface 215 on the bending direction side of the first joint portion 22, and shows a state in which the distal end portion 2111 and the proximal end portion 2112 are divided.
  • FIG. 12 is a view of the first finger link portion 211 as viewed from the wall surface 216 side on the extending direction side of the first joint portion 22 in a state where the distal end portion 2111 and the proximal end portion 2112 are fitted.
  • FIG. 13 is a view of the first finger link portion 211 viewed from the side of the wall surface 215 on the bending direction side of the first joint portion 22 in a state where the distal end portion 2111 and the proximal end portion 2112 are fitted.
  • the first joint portion 22 is provided on the proximal end portion 2112 side, and the pressure sensor 70 is included in the distal end portion 2111.
  • tip part 2111 in this embodiment corresponds to the attachment / detachment part in this invention
  • the pressure-sensitive sensor 70 in this embodiment corresponds to the sensor in this invention.
  • a convex portion 80 that protrudes toward the proximal end portion 2112 side is provided on the wall surface 216 side of the distal end portion 2111 on the extending direction side. Further, on the wall surface 216 side of the proximal end portion 2112 on the extending direction side, a recessed portion 81 that is recessed from the distal end portion 2111 side toward the first joint portion 22 side so that the convex portion 80 of the distal end portion 2111 is fitted. Is provided. In addition, in the front-end
  • the distal end portion 2111 can be attached to the proximal end portion 2112 by moving the distal end portion 2111 from the distal end side of the first finger link portion 211 toward the proximal end side, and the distal end portion 2111 is attached to the first finger link portion 2112.
  • the distal end portion 2111 can be detached from the proximal end portion 2112. Therefore, the distal end portion 2111 is detachable on the distal end side of the finger portion 21 relative to the first joint portion 22.
  • the distal end portion 2111 is fixed to the proximal end portion 2112 using two male screws 90 in a state where the convex portion 80 is fitted to the concave portion 81 in the fitting portion 800.
  • the base end portion 2112 is provided with two through holes 91 penetrating from the wall surface 215 on the bending direction side to the wall surface 216 side on the extending direction side.
  • the through hole 91 opens in the recess 81.
  • Male screws 90 are inserted into the through holes 91 from the wall surface 215 side on the bending direction side.
  • a screw hole 82 is formed in the convex portion 80 of the tip portion 2111 at a position corresponding to the through hole 91 in a state where the convex portion 80 is fitted in the concave portion 81.
  • a female screw corresponding to the male screw 90 is formed in the screw hole 82.
  • the male screw 90 that has passed through the through hole 91 of the base end portion 2112 is fastened to the screw hole 82 of the front end portion 2111, whereby the front end portion 2111 is fixed to the base end portion 2112.
  • the male screw 90 corresponds to the first fastening member in the present invention.
  • the electric wire extending from each pressure sensor 70 is connected to the connector 85 via the flexible cable 71.
  • the flexible cable 71 is an electric wire in which flat conductors are arranged in parallel and covered with an insulator, and has flexibility.
  • the connector 85 is fixed to the substrate 86, and the substrate 86 is fixed to the wall surface 216 of the distal end portion 2111 on the extending direction side by a male screw 87.
  • a connector 92 that is paired with the connector 85 is connected to one end of a flexible cable 93 wired inside the second finger link portion 212.
  • the flexible cable 93 is wired from the second finger link part 212 to the pedestal part 4 inside the finger part 21, and the other end of the flexible cable 93 is connected to the control device.
  • the connector 85 corresponds to the connection portion in the present invention.
  • the first finger link portion 211 has a flexible cable 71 wired to the distal end portion 2111 and a flexible wire wired to the first finger link portion 211 with the distal end portion 2111 fixed to the proximal end portion 2112.
  • a cover 2113 that covers the cable 93, the connector 85, the connector 92, and the substrate 86 is attached.
  • the cover 2113 is fixed to the tip portion 2111 using a male screw 88.
  • a screw hole 89 corresponding to the male screw 88 is provided on the wall surface 216 side of the distal end portion 2111 on the extending direction side.
  • the cover 2113 is fixed by inserting the male screw 88 from the outside of the cover 2113 into the screw hole 89 and tightening it. Note that the cover 2113 is not always necessary.
  • the male screw 88 corresponds to the second fastening member in the present invention.
  • the distal end portion 2111 can be attached to and detached from the proximal end portion 2112. That is, the distal end portion 2111 can be removed from the finger portion 21 by removing the cover 2113 and the two male screws 90 and further removing the connector 92 on the second finger link portion 212 side from the connector 92 on the distal end portion 2111 side. .
  • the cover 2113 and the two male screws 90 are attached with the distal end portion 2111 fitted to the proximal end portion 2112, and the connector 92 on the second finger link portion 212 side is connected to the connector 92 on the distal end portion 2111 side. By doing so, the distal end portion 2111 can be attached to the finger portion 21.
  • the pressure-sensitive sensor 70 when exchanging the first finger link portion 211, it is necessary to disassemble the first joint portion 22, which is troublesome.
  • the pressure-sensitive sensor 70 may be replaced with the hand mechanism 2, but many parts other than the pressure sensor 70 are replaced, which increases costs.
  • the tip part 2111 is detachably provided, the pressure-sensitive sensor 70 can be exchanged by exchanging only the tip part 2111. Therefore, a part having a complicated structure such as the first joint part 22 is disassembled. This is unnecessary, and the pressure sensor 70 can be exchanged with a simple operation.
  • the convex part 80 and the recessed part 81 fit, and the front-end
  • the tip portion 2111 can be replaced not only when the pressure-sensitive sensor 70 is damaged or deteriorated.
  • the tip portion 2111 may be replaced when it is desired to replace with a pressure-sensitive sensor having different performance or when a sensor that detects a physical quantity other than pressure is desired.
  • a tip portion 2111 having a different shape may be prepared and replaced depending on the object. When a tip portion 2111 with higher performance is developed, the tip portion 2111 with higher performance is replaced. May be.
  • the connector 85 is fixed to the distal end portion 2111 and the flexible cable 93 is extended from the second finger link portion 212 side to connect the connector 92.
  • the method of connecting the wires is not limited to this.
  • the connector 92 on the second finger link portion 212 side may be fixed to the proximal end portion 2112 and the flexible cable 71 on the distal end portion 2111 side may be extended to connect the connector 85.
  • each of the convex portion 80 and the concave portion 81 may be provided with a contact leading to the flexible cable, and the electric wire may be connected so that the corresponding contact contacts when the convex portion 80 and the concave portion 81 are fitted. In this case, the contact provided on the convex portion 80 corresponds to the connecting portion in the present invention.
  • the respective shapes at the places where the distal end portion 2111 and the proximal end portion 2112 are fitted are not limited to the shapes of the convex portion 80 and the concave portion 81 shown in FIG.
  • the fixing method is not restricted to this.
  • it may be fixed using one screw or three or more screws, or may be fixed using a pin having no screw structure, or the convex portion 80 and the concave portion 81 are fitted. It may be fixed by having a structure that is automatically locked when it is done.

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

Abstract

Un capteur disposé sur une partie doigt de ce mécanisme de main se remplace facilement. L'invention concerne un mécanisme de main pourvu d'une pluralité de parties doigts, les parties doigts étant pourvues de premières parties de liaison de doigt qui comportent des capteurs et sont positionnées au niveau des côtés d'extrémité distale des parties doigts, des secondes parties de liaison de doigt qui sont positionnées au niveau des côtés d'extrémité proximale des parties doigts, et des parties articulations qui relient les premières parties de liaison de doigt et les secondes parties de liaison de doigt; et les premières parties de liaison de doigt sont pourvues de pièces détachables qui comprennent les capteurs et peuvent être détachées, les pièces détachables étant disposées plus près des côtés d'extrémité distale des parties doigts que ne le sont les parties articulations.
PCT/JP2019/012019 2018-04-03 2019-03-22 Mécanisme de main et robot de préhension Ceased WO2019193994A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
DE112019001766.7T DE112019001766T5 (de) 2018-04-03 2019-03-22 Handmechanismus und Greifroboter

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2018071577A JP7036303B2 (ja) 2018-04-03 2018-04-03 ハンド機構及びピッキングロボット
JP2018-071577 2018-04-03

Publications (1)

Publication Number Publication Date
WO2019193994A1 true WO2019193994A1 (fr) 2019-10-10

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ID=68100593

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2019/012019 Ceased WO2019193994A1 (fr) 2018-04-03 2019-03-22 Mécanisme de main et robot de préhension

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JP (1) JP7036303B2 (fr)
DE (1) DE112019001766T5 (fr)
WO (1) WO2019193994A1 (fr)

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2021122925A (ja) * 2020-02-10 2021-08-30 豊田合成株式会社 ロボットハンド
WO2022189456A1 (fr) * 2021-03-11 2022-09-15 Bimba Llc Dispositif de préhension robotique
JP2023043231A (ja) * 2021-09-16 2023-03-29 株式会社人機一体 ロボットの指機構および該指機構を備えたハンド機構

Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5200679A (en) * 1990-02-22 1993-04-06 Graham Douglas F Artificial hand and digit therefor
JPH06182688A (ja) * 1992-08-28 1994-07-05 Toshiba Corp 触覚センサ装置
JP2000334689A (ja) * 1999-05-28 2000-12-05 Nachi Fujikoshi Corp 産業用ロボットの手首装置
JP2008178968A (ja) * 2006-12-25 2008-08-07 Yaskawa Electric Corp ロボットハンド
JP2013123773A (ja) * 2011-12-15 2013-06-24 Hitachi Ltd ロボット装置、およびセンサの状態判定方法
JP2013212570A (ja) * 2012-03-05 2013-10-17 Toyota Industries Corp ロボットハンド
US20140323886A1 (en) * 2013-04-28 2014-10-30 Hong Kong Applied Science and Technology Research Institute Company Limited Methods and Device for Sensing a Person's Pulse in Traditional Chinese Medicine
JP2017507798A (ja) * 2014-03-17 2017-03-23 エフアンドピー ロボテックス アクチェンゲゼルシャフト グリッパ・フィンガ、グリッパ・チップ、グリッパ・ジョー及びロボット・システム
CN206170113U (zh) * 2016-10-28 2017-05-17 深圳蓝胖子机器人有限公司 手指机构及灵巧手

Patent Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5200679A (en) * 1990-02-22 1993-04-06 Graham Douglas F Artificial hand and digit therefor
JPH06182688A (ja) * 1992-08-28 1994-07-05 Toshiba Corp 触覚センサ装置
JP2000334689A (ja) * 1999-05-28 2000-12-05 Nachi Fujikoshi Corp 産業用ロボットの手首装置
JP2008178968A (ja) * 2006-12-25 2008-08-07 Yaskawa Electric Corp ロボットハンド
JP2013123773A (ja) * 2011-12-15 2013-06-24 Hitachi Ltd ロボット装置、およびセンサの状態判定方法
JP2013212570A (ja) * 2012-03-05 2013-10-17 Toyota Industries Corp ロボットハンド
US20140323886A1 (en) * 2013-04-28 2014-10-30 Hong Kong Applied Science and Technology Research Institute Company Limited Methods and Device for Sensing a Person's Pulse in Traditional Chinese Medicine
JP2017507798A (ja) * 2014-03-17 2017-03-23 エフアンドピー ロボテックス アクチェンゲゼルシャフト グリッパ・フィンガ、グリッパ・チップ、グリッパ・ジョー及びロボット・システム
CN206170113U (zh) * 2016-10-28 2017-05-17 深圳蓝胖子机器人有限公司 手指机构及灵巧手

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Publication number Publication date
DE112019001766T5 (de) 2021-06-24
JP7036303B2 (ja) 2022-03-15
JP2019181585A (ja) 2019-10-24

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