JP7523766B2 - Robot hand and robot hand system - Google Patents

Description

The present invention relates to a robot hand and a robot hand system.

Robot hands that have multiple moving parts and move like human hands are known (see, for example, Patent Document 1). Such robot hands are widely used in a variety of work fields, such as moving, assembling, manufacturing, placing, and packaging objects, as well as in the medical field, such as surgery.

JP 2015-145056 A

Robot hands are used in many fields, and the tasks required of robot hands tend to become more complex and precise. For example, one task required of a robot hand is to hold an object stably and move it to a specified position and place it there. In such tasks, it is desirable for a single robot hand to accurately hold and move multiple types of objects with different shapes, materials, etc.

Therefore, the present invention was made in consideration of these points, and aims to provide a robot hand that can easily handle objects of various shapes and materials.

In a first aspect of the present invention, a robot hand is provided that includes a main body having a first suction portion for adsorbing an object to be held, a plurality of finger portions provided on the main body for grasping the object, and a control unit that, when adsorbing the object to the first suction portion, moves the plurality of finger portions and moves the first suction portion so that the first suction portion protrudes from the main body.

The device may further include a drive unit that moves the first suction unit and the plurality of finger portions, and the control unit may control the drive unit to move the plurality of finger portions in a direction in which the first suction unit protrudes from the main body unit when the object is to be attracted to the first suction unit, until the distance between the tips of the plurality of finger portions and the object becomes greater than the distance between the end of the first suction unit on the object side and the object, and to move the first suction unit so that the first suction unit protrudes from the main body unit toward the object.

The plurality of finger portions may be arranged around the first suction portion. The control unit may move the plurality of finger portions and then cause the first suction portion to perform a suction operation. The control unit may move the first suction portion toward the object and then cause the first suction portion to perform a suction operation.

At least some of the multiple finger portions have fingertip plates that come into contact with the object, and the control unit may vary the distance between the multiple finger portions when gripping the object, and may cause the object to be attracted to the first suction portion in a state in which the first suction portion protrudes beyond the tips of the multiple fingertip plates and the multiple finger portions toward the object when attracting the object to the first suction portion.

At least some of the multiple finger portions further have a second suction portion different from the first suction portion for adsorbing the object, and the second suction portion is provided on the finger portion so as to be rotatable together with the fingertip plate about an axis perpendicular to the direction in which the first suction portion protrudes from the main body portion, and the control unit may switch between a state in which the fingertip plate is closer to the object than the second suction portion and a state in which the second suction portion is closer to the object than the fingertip plate.

The second suction portion may be smaller in shape than the first suction portion. When the control unit causes the object to be attracted to the second suction portion, the control unit may cause the object to be attracted to the second suction portion in a state in which the second suction portion is closer to the object than the fingertip plate.

At least one of the fingertip plates may be attached to the finger portion such that, upon contact with the object, the surface that contacts the object can be tilted in accordance with the shape of the object.

At least two of the finger portions each have a fingertip plate, and the at least two fingertip plates may be arranged to sandwich the object when grasping the object, and may be attached to the finger portions so that, when the fingertip plates come into contact with the object, the contact surface that comes into contact with the object is inclined in accordance with the shape of the object.

At least two of the finger portions may further have a protrusion protruding in the direction of the object on a first surface that faces the object when the object is pinched and grasped, and the fingertip plates of at least two of the finger portions may be attached to the protrusions so as to be rotatable about a rotation axis in a direction parallel to the first surface.

When the two finger portions grip the object, the two protrusions may be provided on each of the finger portions so as to face each other, and the two fingertip plates may be provided on each of the protrusions so that the rotation axes face in the same direction.

When grasping two objects arranged in a first direction and having different shapes, the at least two fingertip plates may be attached to the at least two finger portions such that the contact surfaces can be tilted in different directions to contact the two objects in accordance with the shapes and arrangements of the two objects.

In a second aspect of the present invention, a robot hand system is provided that includes the robot hand of the first aspect, an imaging device that images the plurality of finger portions or the first suction portion and the object, a display device that displays to a user an image captured by the imaging device, and an input device that receives instructions from the user to operate the robot hand, and the control unit moves the plurality of finger portions so that the end of the first suction portion is included in the field of view of the imaging device when the first suction portion is caused to protrude from the main body portion toward the object.

The present invention has the effect of enabling a robot hand to easily handle objects of various shapes and materials.

1 shows an example of the configuration of a robot hand system 10 according to the present embodiment. 1 shows a state in which the robot hand 100 according to this embodiment is operating in a gripping mode. 1 shows a state in which the robot hand 100 according to the present embodiment is operating in a first suction mode. 13 shows a state in which the robot hand 100 according to the present embodiment is operating in a second suction mode. FIG. 13 shows an example of a perspective view of the robot hand 100 according to the present embodiment in a state where the robot hand 100 is operating in a second suction mode. FIG. 6 shows an example of a front view of the robot hand 100 shown in FIG. FIG. 6 shows an example of a left side view of the robot hand 100 shown in FIG. FIG. 6 shows an example of a right side view of the robot hand 100 shown in FIG. 6 shows an example of a plan view of the robot hand 100 shown in FIG. 5 . FIG. 6 shows an example of a bottom view of the robot hand 100 shown in FIG. 5 . 6 shows an example of a rear view of the robot hand 100 shown in FIG. 5 . 1 shows a modified example of the robot hand 100 according to the present embodiment. An example is shown in which two fingertip plates 132 according to this embodiment are gripping two objects 30. 13 shows a modification of the finger portion 130 and fingertip plate 132 according to the present embodiment.

<Configuration Example of Robot Hand System 10>
FIG. 1 shows an example of the configuration of a robot hand system 10 according to this embodiment, together with a user 20 and an object 30 to be operated. The robot hand system 10 causes the robot hand 100 to execute an operation corresponding to an input from the user 20. In this embodiment, an example in which the user 20 operates the robot hand 100 so that the robot hand 100 holds and moves an object 30 will be described. In FIG. 1, the user 20 is shown near the robot, but the user 20 may operate the robot in a place where the robot cannot be seen. The robot hand system 10 includes an imaging device 40, a display device 50, an input device 60, a robot hand 100, and an arm 110. The imaging device 40, the display device 50, the input device 60, the robot hand 100, and the arm 110 are connected by dedicated wiring, a network, or the like.

The imaging device 40 is provided to capture images of the surroundings, and is capable of capturing images of the object 30 and at least a part of the robot hand 100. It is desirable for the imaging device 40 to generate moving images that enable the user 20 to determine the distance between the object 30 and the robot hand 100, changes in said distance over time, etc., so that the user 20 can handle the object 30 using the robot hand 100. It is desirable for the imaging device 40 to be positioned so that it can capture images of the part where the robot hand 100 and the object 30 come into contact.

It is preferable that the imaging device 40 is provided on the face of the robot. This allows the imaging range of the imaging device 40 to change according to the posture of the robot's face. By controlling the robot's face to move in conjunction with the movement of the user's face, the user 20 can feel as if he or she is looking at the imaging range captured by the robot's imaging device 40. The imaging device 40 may also have a function of tracking the subject so as to follow the subject's movement and continuously include the subject in the imaging range. In this case, the robot to which the imaging device 40 is attached may move the position of the imaging device 40 in response to the movement of the subject.

The display device 50 displays the image captured by the imaging device 40 to the user. The display device 50 is, for example, a goggle-type head-mounted display worn on the head of the user 20. Alternatively, the display device 50 may be a display installed on a desk or the like. The display device 50 displays, for example, two-dimensional or three-dimensional moving images. The user 20 operates the robot hand 100 while checking the image displayed on the display device 50.

The input device 60 receives instructions from the user 20 to operate the robot hand 100. The input device 60 is formed, for example, so that it can be worn by the user 20. The input device 60 receives instructions to operate the robot hand 100 in response to, for example, the user 20 moving the hand wearing the input device 60.

The input device 60 accepts, for example, instructions to cause the robotic hand 100 to reproduce a movement similar to the hand movement of the user 20. In this case, the input device 60 accepts an instruction to move the robotic hand 100 upward in response to the user 20 raising his/her hand upward. The input device 60 also accepts an instruction to cause the robotic hand 100 to perform a similar movement in response to the user 20 clasping his/her hand.

The input device 60 may also receive input of the operation mode of the robot hand 100 from the user 20. For example, the input device 60 is provided with an input device for inputting the operation mode. The user may also use the input device to input the operation to be performed by the robot hand 100. The input device is preferably a touch panel, input button, switch, or the like that the user 20 can operate while wearing the input device 60. In this way, the user 20 can operate the robot hand 100 by moving the hand on which the input device 60 is worn while switching the operation mode of the robot hand 100.

It is desirable that the robot hand 100 be able to hold and move objects 30 of various shapes and materials. As shown in FIG. 1, the robot hand 100 is provided on the hand of the robot formed in the shape of a human. FIG. 1 shows an example in which one robot hand 100 is provided as the right hand of the robot, but the robot may be provided with multiple robot hands 100. The robot hand 100 is connected to the robot by an arm 110.

The arm 110 moves the robot hand 100. The arm 110 is, for example, a member that corresponds to at least a portion of the area between the shoulder and wrist of the user 20. The arm 110 has multiple joints so that it can move in response to the movement of the user 20's arm, and moves the robot hand 100. Note that the arm 110 only needs to be able to move the robot hand 100, and may have a shape that is completely different from that of a human arm. The arm 110 may be constructed using known technology, and a detailed description will be omitted here.

The robot hand 100 has, as its operation modes, for example, a "grasping mode" for grasping the object 30 and a "suction mode" for suctioning the object 30, and is configured to handle the object 30 in the appropriate operation mode. Such a robot hand 100 will be described next.

<Configuration Example of the Robot Hand 100 in the Grasping Mode>
FIG. 2 shows a state in which the robot hand 100 according to this embodiment is operating in a gripping mode. The robot hand 100 shown in FIG. 2 shows an example of the robot hand 100 when the user 20 selects the gripping mode. In FIG. 2, three orthogonal axes are defined as an X-axis, a Y-axis, and a Z-axis. FIG. 2A shows an example of the robot hand 100 corresponding to an input of a motion in which the user 20 spreads his/her fingers. FIG. 2B shows an example of the robot hand 100 corresponding to an input of a motion in which the user 20 clenches his/her hand and grasps an object. The robot hand 100 includes a main body unit 120, a finger unit 130, a drive unit 140, and a control unit 150.

The arm 110 moves the main body 120. The arm 110 is, for example, a member that corresponds to at least a portion of the area between the shoulder and wrist of the user 20. The arm 110 has multiple joints so that it can move in response to the movement of the user 20's arm, and moves the main body 120. Note that the arm 110 only needs to be able to move the main body 120, and may have a shape that is completely different from that of a human arm. The arm 110 may be constructed using known technology, and a detailed description will be omitted here.

The main body unit 120 is a member that corresponds to the part of the user 20's hand including the palm from the wrist to the back of the hand. The main body unit 120 is connected to the arm unit 110 of the robot, and the arm unit 110 moves the main body unit 120. The main body unit 120 has a first suction unit 210 for suctioning the object 30 to be held. The first suction unit 210 will be described later.

A plurality of finger units 130 are provided on the main body unit 120 in order to grasp the object 30. It is preferable that the plurality of finger units 130 are arranged around the first suction unit 210. FIG. 2 shows an example in which the suction surface of the first suction unit 210 is a plane substantially parallel to the XY plane, and two finger units 130 are provided around the first suction unit 210 on the plane substantially parallel to the XY plane. Note that, as in the example of FIG. 2, when a plurality of finger units 130 are provided on the main body unit 120, it is preferable that at least two finger units 130 are provided so as to face each other. The finger unit 130 has a plurality of joints so that it can move in response to the movement of the user's 20 fingers.

At least some of the multiple finger portions 130 have fingertip plates 132 that come into contact with the object 30. The fingertip plates 132 are members that correspond to the fingertips of the user 20. FIG. 2 shows an example in which two finger portions each have fingertip plates 132 of approximately the same shape, and the two fingertip plates 132 come into contact with and grasp the object 30. Note that the fingertip plates 132 may be formed with a V-groove, a non-slip surface with an uneven shape, or the like, in order to grasp the object 30. The multiple fingertip plates 132 may each be formed in a different shape. Also, some of the finger portions 130 may not have such fingertip plates 132. In this case, the tip of the finger portion 130 may be processed into a finger shape, a shape with a V-groove, a plate shape, or the like, in order to grasp the object 30.

The drive unit 140 moves the first suction unit 210 and the multiple finger units 130. The drive unit 140 drives the multiple finger units 130 in response to a control signal from the control unit 150. It is desirable for the drive unit 140 to be able to drive the multiple finger units 130 with a smaller number of motors. The drive unit 140, for example, links the bending and straightening movements of the multiple drivable finger units 130. This allows the drive unit 140 to drive the multiple finger units 130 with a smaller number of motors (for example, with one motor). Such a drive unit 140 may be configured using technology known as a robot hand, and detailed descriptions of the motors, gears, drive circuits, etc. that configure the drive unit 140 will be omitted here.

The control unit 150 controls the arm 110 and the drive unit 140 in response to the movements of the user 20. The control unit 150 is connected to the imaging device 40, the display device 50, and the input device 60, and exchanges information with each unit. The control unit 150 may be configured as a control device that operates the entire robot. For example, the control unit 150 causes the display device 50 to display an image captured by the imaging device 40. The control unit 150 also operates the arm 110 and/or the drive unit 140 in response to an instruction input from the input device 60. Note that the control operation of the arm 110 by the control unit 150 is a known technique, and details will be omitted here.

The control unit 150 is composed of, for example, a CPU. The control unit 150 may be a computer such as a server. The control unit 150 may be separate from the arm unit 110 and the main body unit 120, or alternatively, at least a part of the control unit 150 may be provided in the arm unit 110 and/or the main body unit 120. In addition, at least a part of the control unit 150 may be provided in the torso portion of the robot.

The control unit 150 has a memory unit. The memory unit may store intermediate data, calculation results, thresholds, parameters, etc. that the robot hand 100 generates or uses in the course of its operation. The memory unit may supply the stored data to the requesting source in response to a request from each unit in the robot hand 100.

When a computer operates as control unit 150, the storage unit may store information about the OS (Operating System) and programs that function as control unit 150. The storage unit may also store various information including a database that is referenced when the program is executed. For example, the computer functions as control unit 150 by executing a program stored in the storage unit.

The storage unit includes, for example, a ROM (Read Only Memory) that stores a BIOS (Basic Input Output System) of a computer or the like, and a RAM (Random Access Memory) that serves as a working area. The storage unit may also include a large-capacity storage device such as a HDD (Hard Disk Drive) and/or an SSD (Solid State Drive). The computer may further include a GPU (Graphics Processing Unit) or the like.

When the control unit 150 is caused to grip the object 30 by the finger units 130, the control unit 150 changes the distance between the multiple finger units 130. For example, the control unit 150 increases the distance between the multiple finger units 130 in response to the action of the user 20 spreading his fingers. FIG. 2A shows a state in which the control unit 150 has increased the distance between the two finger units 130. FIG. 2A also shows a state in which the control unit 150 has spread the distance in the X-axis direction to a distance corresponding to the distance between the fingers of the user 20 while keeping the two fingertip plates 132 in a state approximately parallel to the YZ plane. Here, it is desirable that the YZ coordinates of the two fingertip plates 132 are approximately the same. It is desirable that at least the Z-axis positions of the ends of the two fingertip plates 132 that are farthest from the main body unit 120 are approximately the same.

The control unit 150 also reduces the distance between the multiple finger units 130, for example, in response to the user 20's action of grasping an object. FIG. 2B shows a state in which the control unit 150 has reduced the distance between two finger units 130. FIG. 2B shows a state in which the control unit 150 has moved the two fingertip plates 132 from the state of the robot hand 100 shown in FIG. 2A so as to reduce the distance between the two fingertip plates 132 in the X direction.

The control unit 150 may move the plurality of finger units 130 so that the distance between them becomes a predetermined distance in response to the object 30. For example, in the grip mode, when the user 20 inputs information on the object 30 to be gripped into the input device 60, the control unit 150 moves the plurality of finger units 130 so that the distance between them becomes a first distance that is preset for gripping the object 30. In this case, the control unit 150 may move the plurality of finger units 130 so that the distance becomes a second distance that is preset for gripping the object 30 in response to the action of the user 20 to grip an object. Here, it is preferable that the information on the first distance and the second distance is stored in a storage unit possessed by the control unit 150. In this way, the user 20 does not need to fine-tune the distance between the fingers to grip the object 30, improving operability. In addition, the risk of damage to the object 30 due to the distance between the finger units 130 becoming smaller than necessary when gripping the object 30 can be reduced.

As described above, the robot hand 100 is configured to be able to change the distance between the multiple fingertip plates 132. Therefore, the user 20 can make the robot hand 100 grasp the object 30 by moving the main body unit 120 to the position of the object 30 with the fingers spread and performing a grasping motion. The user 20 can then move the main body unit 120 to the destination of the object 30 while still grasping the object and spread their fingers, thereby causing the robot hand 100 to move the object 30 and then releasing the grasp.

As a result, the robot hand 100 can stably hold and move the object 30 that fits between the multiple finger parts 130. In addition, since the robot hand 100 adjusts the spacing between the multiple fingertip plates 132 to grasp the object 30, it can easily hold soft objects such as sponges, irregular objects, objects in bags or packages, etc. as the object 30.

On the other hand, the robot hand 100 may not be able to stably grasp relatively heavy objects such as bottles or cans containing liquids. Some plastic containers may become significantly deformed when grasped with the fingertip plates 132, making it impossible to hold them stably. Furthermore, objects that are too large to be grasped even when the multiple fingertip plates 132 are fully extended cannot be held in the grasp mode. Therefore, the robot hand 100 has a first suction portion 210 on the main body, which adsorbs and holds the object 30 instead of the finger portions 130. The operation of such a robot hand 100 will be described next.

<Configuration Example of the Robot Hand 100 in the First Adsorption Mode>
Fig. 3 shows a state in which the robot hand 100 according to this embodiment is operating in the first suction mode. In Fig. 3, three orthogonal axes are the X-axis, the Y-axis, and the Z-axis. The robot hand 100 in the first suction mode is an example in which the user 20 switches the state of the robot hand 100 in an operation mode different from the first suction mode such as Fig. 2 to the first suction mode.

In this case, for example, when the input device 60 receives an instruction from the user 20 to switch to the first suction mode, the control unit 150 switches to a configuration corresponding to the first suction mode. Note that the components of the robot hand 100 are similar to those of the robot hand 100 shown in FIG. 2, and therefore a description of each component will be omitted.

Figure 3 shows an example of a robot hand 100 in which, when an object 30 is to be attached to the first suction portion 210, the multiple fingers 130 are moved and the first suction portion 210 is moved so that the first suction portion 210 protrudes from the main body portion 120. In this case, the drive unit 140 drives the multiple fingers 130 and also drives the first suction portion 210 to protrude. Then, the control unit 150 controls the drive unit 140 to protrude the first suction portion 210.

It is preferable that the drive unit 140 is configured to protrude the first suction unit 210 using a drive system including a motor that drives the multiple finger units 130. In this case, the drive unit 140 drives the multiple finger units 130 and the first suction unit 210 in conjunction with each other using a common drive system. This allows the drive unit 140 to be configured with a smaller number of motors, and prevents the size of the main body unit 120 from becoming larger.

For example, the control unit 150 moves the multiple finger portions 130 and then protrudes the first suction portion 210. This makes it possible to prevent the protruding first suction portion 210 from contacting the finger portions 130. In other words, the control unit 150 moves the multiple finger portions 130 to a position where the first suction portion 210 does not contact the finger portions 130 even if the first suction portion 210 protrudes.

The control unit 150 may also move the multiple finger units 130 and then cause the first suction unit 210 to perform a suction operation. The user 20 can suction the object 30 to the first suction unit 210 by moving the robot hand 100 so that it approaches the object 30. This can prevent the fingers 130 from coming into contact with the object 30 when the object 30 is suctioned to the first suction unit 210. In other words, when the first suction unit 210 comes into contact with the object 30 and suctions it, the control unit 150 moves the multiple finger units 130 to a position where the object 30 and the fingers 130 do not come into contact with each other. The control unit 150 moves the multiple finger units 130, for example, in a direction opposite to the direction in which the first suction unit 210 protrudes.

In addition, when the control unit 150 adheres the object 30 to the first suction unit 210, the control unit 150 may move the multiple finger units 130 in a direction opposite to the protruding direction of the first suction unit 210 more. For example, the control unit 150 moves the multiple finger units 130 in the direction in which the first suction unit 210 protrudes from the main body unit 120 (Z-axis direction) until the distance between the tips of the multiple finger units 130 and the object 30 becomes greater than the distance between the end of the first suction unit 210 on the object 30 side and the object 30. Then, the control unit 150 controls the drive unit 140 to move the first suction unit 210 so that the first suction unit 210 protrudes from the main body unit 120 toward the object 30.

3 shows an example in which the control unit 150 moves the multiple finger portions 130 in the Z-axis direction until the distance between the tips of the multiple finger portions 130 and the object 30 becomes greater than the distance between the end of the main body portion 120 opposite the object 30 and the object 30. In this way, when the control unit 150 adsorbs the object 30 to the first adsorption unit 210, the first adsorption unit 210 adsorbs the object 30 to the first adsorption unit 210 in a state in which the first adsorption unit 210 protrudes from the object 30 beyond the multiple fingertip plates 132. Note that, as described later, the fingertip plate 132 may not be the tip of the finger portion 130. In this case, it is desirable for the control unit 150 to adsorb the object 30 to the first adsorption unit 210 in a state in which the first adsorption unit 210 protrudes from the object 30 beyond the multiple finger portions 130. The control unit 150 changes the direction in which the tip of the finger unit 130 faces, for example, by rotating the joint connecting the finger unit 130 and the main body unit 120 within a range of 90 degrees or more and less than 180 degrees.

As described above, the control unit 150 moves the multiple finger portions 130 to a position away from the first suction portion 210, thereby improving the visibility of the portion where the first suction portion 210 suctions the object 30. For example, in the gripping mode, the imaging device 40 captures an image of the multiple finger portions 130 and the object 30. In this case, even if an obstacle or the like is present between the imaging device 40 and the tips of the finger portions 130, the tips of the finger portions 130 and the object 30 can be included in the field of view of the imaging device 40 by moving the obstacle or by moving the position of the imaging device 40.

On the other hand, when the user 20 switches the operating mode to the first suction mode, the imaging device 40 captures an image of the multiple fingers 130 or the first suction portion 210 and the object 30. In this case, the finger portion 130 may be positioned between the imaging device 40 and the first suction portion 210. Therefore, when the control unit 150 protrudes the first suction portion 210 from the main body unit 120 toward the object 30, it moves the multiple fingers 130 so that the end of the first suction portion 210 is included in the field of view of the imaging device 40.

This reduces the risk of the finger portion 130 blocking the position where the first suction portion 210 and the object 30 come into contact with each other, creating a blind spot with poor visibility, when the user 20 uses the first suction portion 210 to suction the object 30. Therefore, the user 20 can easily operate the suction operation of the robot hand 100 while checking the object 30 and the first suction portion 210.

The control unit 150 moves the first suction unit 210 towards the object 30 and then causes the first suction unit 210 to perform a suction operation. For example, the user 20 moves the robot hand 100 so that it approaches the object 30, and then inputs an instruction to suction the object 30 into the input device 60. The control unit 150 then controls, for example, a valve such as a pump (not shown) to apply low pressure to the suction surface of the first suction unit 210 and cause it to suction the object 30. This allows the first suction unit 210 to stably hold the object 30.

When the user 20 moves the robot hand 100 close to the object 30, it is desirable for the control unit 150 to operate the arm unit 110 so that the robot hand 100 does not move at a speed faster than a predetermined speed. For example, the control unit 150 limits the movement speed of the robot hand 100 in response to switching to the first suction mode. Alternatively, the robot hand 100 may further include a distance sensor that measures the distance between the first suction unit 210 and the object 30, and the control unit 150 may limit the movement speed of the robot hand 100 in response to the result of the distance measurement by the distance sensor becoming equal to or smaller than a threshold value. This allows the first suction unit 210 to come into contact with the object 30 without giving a strong impact to the object 30, and the object 30 to be stably held.

When the first suction unit 210 is used to suction the object 30, it is preferable that the control unit 150 can adjust the suction surface of the first suction unit 210 in accordance with the orientation of the surface that holds the object 30. For example, the control unit 150 analyzes the image captured by the imaging device 40 to calculate the orientation of the surface of the object 30 that is close to the first suction unit 210. The control unit 150 may calculate the relative angle difference between the suction surface and the surface of the object 30. Then, the control unit 150 changes the angle of the main body unit 120 with respect to the object 30 so that the protruding direction of the first suction unit 210 is approximately perpendicular to the calculated orientation of the surface of the object 30. This allows the first suction unit 210 to smoothly contact the object 30 and stably hold the object 30.

In addition, with the object 30 adhered to the first suction unit 210, the user 20 moves his/her arm to the destination of the object 30 and inputs an instruction to the input device 60 to release the adhesion of the object 30. As a result, after the robot hand 100 moves the object 30 to the destination, the control unit 150 returns the adhesion surface of the first suction unit 210 to normal pressure to release the adhesion. As a result, the robot hand 100 can stably move an object 30 that is difficult to stably grasp in the grip mode, as long as the object 30 has a flat surface corresponding to the adhesion surface of the first suction unit 210.

As described above, the robot hand 100 according to this embodiment can easily handle objects of various shapes and materials. Furthermore, the robot hand 100 can improve the visibility of the state in which the object 30 is being handled, so that the user 20 can easily handle the object 30 using the robot hand 100.

In the above robot hand 100, it may be difficult to stably hold an object 30 that has a flat surface that does not correspond to the suction surface of the first suction unit 210. For example, when moving a larger and heavier object, it is better for the suction surface of the first suction unit 210 to be larger. However, when considering such an object, it becomes difficult to suction an object 30 that has only a flat surface with an area smaller than the suction surface of the first suction unit 210.

It is therefore conceivable to provide the main body 120 of the robot hand 100 with multiple suction parts equivalent to the first suction part 210, but in this case, the size of the main body 120 etc. would increase, making handling difficult. Therefore, next we will explain a robot hand 100 that has multiple types of suction parts while preventing the main body 120 from becoming too large.

<Configuration Example of the Second Adsorption Mode of the Robot Hand 100>
Fig. 4 shows an example of the configuration of the second suction mode of the robot hand 100 according to this embodiment. In Fig. 4, three orthogonal axes are the X-axis, the Y-axis, and the Z-axis. The robot hand 100 in the second suction mode is an example of the case where the user 20 switches the state of the robot hand 100 to the second suction mode from a state in which the robot hand 100 is in an operation mode different from the second suction mode such as Figs. 2 and 3 .

In this case, for example, in response to the input device 60 receiving an instruction to switch to the second suction mode from the user 20, the control unit 150 switches to a configuration corresponding to the second suction mode. The robot hand 100 that can be switched to the second suction mode further has a second suction unit 220.

The second suction portion 220 is a member for adsorbing the object 30, and is provided on at least a portion of the multiple finger portions 130. The second suction portion 220 is different from the first suction portion 210. For example, the area of the adsorption surface of the second suction portion 220 is different from that of the first suction portion 210. Figure 4 shows an example in which two finger portions 130 have second suction portions 220 that are smaller in shape than the first suction portion 210.

The second suction portion 220 is provided interchangeably with the fingertip plate 132 as a gripping means for the object 30. For example, the second suction portion 220 is provided on the finger portion 130 so as to be rotatable together with the fingertip plate 132 about an axis perpendicular to the direction in which the first suction portion 210 protrudes from the main body portion 120. FIG. 4 shows an example in which the fingertip plate 132 and the second suction portion 220 rotate about an axis approximately parallel to the Y axis perpendicular to the Z axis, and the tip of the finger portion 130 switches to the fingertip plate 132.

In this case, for example, the drive unit 140 rotates the fingertip plate 132 and the second suction unit 220. The control unit 150 then controls the drive unit 140 to switch between a state in which the fingertip plate 132 is closer to the object 30 than the second suction unit 220, and a state in which the second suction unit 220 is closer to the object 30 than the fingertip plate 132.

When the control unit 150 is to cause the second suction unit 220 to suction the object 30, the control unit 150 causes the second suction unit 220 to perform a suction operation when the second suction unit 220 is closer to the object 30 than the fingertip plate 132. For example, the input device 60 receives an instruction from the user 20 to suction the object 30. The control unit 150 then controls, for example, a valve such as a pump (not shown) to apply low pressure to the suction surface of the second suction unit 220 to suction the object 30. This allows the second suction unit 220 to stably hold the object 30.

Furthermore, with the object 30 adhered to the second suction unit 220, the user 20 moves his/her arm to the destination of the object 30 and inputs an instruction to the input device 60 to release the adhesion of the object 30. As a result, after the robot hand 100 moves the object 30 to the destination, the control unit 150 returns the adhesion surface of the second suction unit 220 to normal pressure to release the adhesion. As described above, the robot hand 100 can stably move an object 30 that is difficult to hold stably in the grip mode and the first suction mode, as long as the object 30 has a flat surface corresponding to the adhesion surface of the second suction unit 220.

The second suction unit 220 has an adsorption surface with a different shape from the first suction unit 210, and is therefore capable of adsorbing an object 30 that is difficult to adsorb using the first suction unit 210. For example, the second suction unit 220 adsorbs an object 30 having a surface with a relatively small surface area, such as the top surface of a bottle cap containing liquid. In this case, it is desirable for the first suction unit 210 to adsorb an object 30 having a surface area larger than the top surface of a bottle cap, an object 30 that is too large to be grasped even when the multiple fingertip plates 132 are fully spread out, and the like.

When multiple finger portions 130 have second suction portions 220, the multiple finger portions 130 may each have a second suction portion 220 of a different size. Also, one finger portion 130 may have multiple second suction portions 220. This allows, for example, one robot hand 100 to hold and move multiple bottles.

The robot hand 100 according to the present embodiment has been described above as having a plurality of fingers 130 for grasping the object 30, and a first suction unit 210 and a second suction unit 220 for suctioning the object 30, but is not limited to this. For example, the first suction unit 210 provided on the main body 120 is an example of a member that holds the object 30 with a different action from the finger units 130, and may have other configurations as long as it is a member that can hold the object 30. For example, it may be a tweezers-shaped member that is smaller than the finger units 130, or a member that fits into and holds the object 30.

As described above, the robot hand 100 has a first suction portion 210 for use in the first suction mode provided on the main body 120, a plurality of finger portions 130 for use in the gripping mode provided around the first suction portion 210, and a second suction portion 220 for use in the second suction mode provided at the tip of the finger portion 130 so as to be replaceable with the fingertip plate 132. In this way, the robot hand 100 has different types of suction portions arranged on the main body 120 and the finger portions 130, and can hold a plurality of types of objects 30 while preventing the main body 120 from becoming too large.

In the robot hand 100 described above, it is desirable that at least one of the main body 120 and the first suction part 210 is configured to be rotatable around the axis of the protruding direction of the first suction part 210. In other words, it is desirable that the robot hand 100 has a function of rotating the object 30 while holding it. As a result, even if the object 30 faces in various directions, for example, the robot hand 100 can change the object 30 to a predetermined arrangement direction by holding and rotating the object 30 and then releasing the hold. Therefore, it is effective, for example, when displaying products on a shelf by aligning the orientation of product labels attached to the products.

It is desirable for the robot hand 100 according to the present embodiment to be able to process the object 30 in almost real time in response to instructions from the user 20, but this is not limited to the present embodiment. For example, the instructions from the user 20 may be stored in a storage unit or the like in advance, and the instructions from the user 20 may be read out at a predetermined time different from the time when the instructions were given by the user 20, and the object 30 may be processed.

In the above embodiment of the robot hand 100, an example has been described in which the first suction unit 210 and the second suction unit 220 are connected to a pump or the like, and the object 30 is suctioned and held. In this case, it is desirable to provide a pressure sensor between the suction surface of the first suction unit 210 and/or the suction surface of the second suction unit 220 and the pump. It is also desirable that the control unit 150 is configured to receive the detection result of the pressure sensor. Thereby, for example, the control unit 150 can determine whether the suction surface is in close contact with the object 30 and can stably suction it by comparing the pressure detection result with a threshold value.

In this case, the control unit 150 may display the result of the determination of the suction state of the suction surface on the display device 50, or may notify by voice or the like. Then, it is desirable for the control unit 150 to continue the suction operation without proceeding to the next operation corresponding to the instruction of the user 20 until the determination result of the suction state of the suction surface is good. In this case, the control unit 150 may display on the display device 50 that it is not possible to proceed to the next operation, or may notify by voice or the like.

Furthermore, it is desirable for the control unit 150 to continuously monitor changes in the detection results of the pressure sensor when the robot hand 100 continues to have the object 30 adsorbed. This allows the control unit 150 to quickly detect, for example, when the object 30 falls from the robot hand 100 or when the object 30 shifts from the adsorption surface, and also to notify the user 20.

The control unit 150 may also check the detection result of the pressure sensor when returning the suction surface to normal pressure and releasing the suction. For example, the control unit 150 will not proceed to the next operation corresponding to the instruction of the user 20 until the detection result of the pressure sensor returns to normal pressure. Here, if the detection result of the pressure sensor has not returned to normal pressure even after a predetermined time has passed, it is desirable for the control unit 150 to notify the user 20 of an abnormality.

In the above embodiment of the robot hand 100, an example has been described in which the control unit 150 checks the holding state of the object 30 using the detection results of a pressure sensor, but this is not limiting. For example, a contact sensor may be provided on the suction surface, or a distance sensor may be provided on the main body unit 120. The control unit 150 can check the holding state of the object 30 by using the detection results of such sensors.

In the above embodiment of the robot hand 100, an example has been described in which the user 20 holds the object 30 by switching between the grip mode and the suction mode in response to the object 30, but the present invention is not limited to this. For example, the robot hand 100 may grip the object 30 with the multiple fingers 130 while suctioning the object 30 with the first suction unit 210. For example, after gripping the object 30 with the multiple fingers 130, the control unit 150 protrudes the first suction unit 210 to perform a suction operation. This allows the object 30 to be held more stably than when the object 30 is held in either the grip mode or the suction mode, and the robot hand 100 can handle a greater variety of objects 30.

<Example of six-sided view of the robot hand 100>
5 to 11 show a perspective view and six-sided views of the robot hand 100 according to the present embodiment when it is actually designed and manufactured. FIG. 5 shows an example of a perspective view in a state where the robot hand 100 according to the present embodiment is operating in the second suction mode. FIG. 6 shows an example of a front view of the robot hand 100 shown in FIG. 5. Here, the surface of the robot hand 100 facing the object 30 is set as the front. FIG. 7 shows an example of a left side view of the robot hand 100 shown in FIG. 5. FIG. 8 shows an example of a right side view of the robot hand 100 shown in FIG. 5. FIG. 9 shows an example of a plan view of the robot hand 100 shown in FIG. 5. FIG. 10 shows an example of a bottom view of the robot hand 100 shown in FIG. 5. FIG. 11 shows an example of a rear view of the robot hand 100 shown in FIG. 5.

<Modifications of the Robot Hand 100>
In the above, an example has been described in which the fingertip plate 132 comes into contact with and grasps the object 30 in the robot hand 100 according to the present embodiment. Here, the fingertip plate 132 may be provided on the finger portion 130 so as to swing in response to the shape of the object 30 when it comes into contact with the object 30. Next, a robot hand 100 including such a fingertip plate 132 will be described.

Figure 12 shows a modified version of the robot hand 100 according to this embodiment. In the robot hand 100 of this modification, parts that perform substantially the same operations as those of the robot hand 100 according to this embodiment shown in Figures 2 to 4 are given the same reference numerals, and descriptions thereof are omitted. Figure 12A shows an example of the overall configuration of the robot hand 100 of this modification. Also, Figure 12B shows an example of the finger portion 130 and fingertip plate 132 of the robot hand 100 of this modification as viewed from the +Z direction indicated by the arrow in Figure 12A.

In the robot hand 100 of this modified example, at least one fingertip plate 132 is attached to the finger portion so that when it comes into contact with the object 30, the surface in contact with the object 30 can be tilted in accordance with the shape of the object 30. For example, part of the shape of the object 30 may be tilted. In such a case, even if only one fingertip plate 132 is tilted in accordance with the shape of the object 30, the robot hand 100 can grasp the object 30 while increasing the contact surface with the object 30. Therefore, the robot hand 100 can more stably grasp objects 30 of various shapes.

The robot hand 100 may also have multiple fingertip plates 132 that are tilted in response to the shape of the object 30. For example, at least two finger portions 130 each have a fingertip plate 132. The at least two fingertip plates 132 are arranged to sandwich the object 30 when grasping the object 30, and are attached to the finger portions so that when the object 30 is contacted, the contact surface that contacts the object 30 is tilted in response to the shape of the object 30. FIG. 12 shows an example in which two fingertip plates 132a and 132b are provided on each of the finger portions 130a and 130b so that they can be tilted in response to the shape of the object 30.

In this case, for example, the two fingers 130 further have a protrusion 136 that protrudes toward the object 30 on the first surface 134 that faces the object 30 when the two fingers 130 pinch and grasp the object 30. FIG. 12 shows an example in which the finger 130a has a protrusion 136a on the first surface 134a, and the finger 130b has a protrusion 136b on the first surface 134b.

The fingertip plate 132 is attached to the protrusion 136. For example, in the finger portion 130a, the fingertip plate 132a is attached to the protrusion 136a so as to be rotatable around a rotation axis in a direction parallel to the first surface 134a. Similarly, in the finger portion 130b, the fingertip plate 132b is attached to the protrusion 136b so as to be rotatable around a rotation axis in a direction parallel to the first surface 134b. For example, the protrusion 136 is fixed to the finger portion 130, and the fingertip plate 132 and the protrusion 136 are combined in a hinge shape so that the fingertip plate 132 is movable.

Figure 12 also shows an example in which, when two finger portions 130 pinch and grasp an object 30, two protrusions 136 are provided on each finger portion 130 so as to face each other. The two fingertip plates 132 are provided on each protrusion 136 so that the rotation axes face the same direction. Figure 12 shows an example in which the rotation axes of the two fingertip plates 132 face approximately the same direction as the Z direction. In this case, the robot hand 100 can stably grasp an object 30 with a more complex shape. The above robot hand 100 can also grasp multiple objects 30 of different sizes.

Figure 13 shows an example in which two fingertip plates 132 according to this embodiment are gripping two objects 30. In this case, the two fingertip plates 132a and 132b are attached to the two finger portions 130a and 130b, respectively, so that the contact surfaces can be tilted in different directions in response to the shapes and arrangements of the two objects 30a and 30b. This allows the two fingertip plates 132a and 132b to contact the two objects 30a and 30b that are arranged in the first direction and have different shapes, and to grip the two objects 30a and 30b. In FIG. 13, the first direction is approximately parallel to the Y-axis direction.

The range of angles within which the fingertip plate 132 can be tilted is preferably a predetermined range of angles. For example, the fingertip plate 132 is provided so as to be tiltable within a range in which the surface opposite to the surface that contacts the object 30 hits the first surface 134 of the finger portion 130. It is more preferable that the range of angles within which the fingertip plate 132 can be tilted is adjustable. In addition, the fingertip plate 132 may be provided so as to be switchable between a state in which the tilt angle is fixed at a predetermined angle and a state in which the tilt angle is adjustable.

For example, the first surface 134 of the finger portion 130 is provided with one or more adjustment portions 138 that protrude in approximately the same direction as the protrusion portion 136. In this case, the fingertip plate 132 is provided so as to be tiltable in the range where it abuts against the adjustment portion 138. Here, it is desirable that the distance by which the adjustment portion 138 protrudes from the first surface 134 is adjustable manually or by the drive unit 140 or the like. Then, for example, the distance (height) by which the protrusion portion 136 protrudes from the first surface 134 and the distance (height) by which the adjustment portion 138 protrudes from the first surface 134 are approximately equal to each other, so that the fingertip plate 132 can be fixed in a state where the inclination angle is 0 degrees. FIG. 13 shows an example in which two adjustment portions 138a are provided on the finger portion 130a and two adjustment portions 138b are provided on the finger portion 130b.

Alternatively or in addition, the distance by which the protrusion 136 of the finger portion 130 protrudes from the first surface 134 may be adjustable. In other words, the protrusion 136 is provided with an adjustable height from the first surface 134, thereby making it possible to adjust the distance between the rotation axis of the fingertip plate 132 and the first surface 134 of the finger portion 130. For example, if the height of the protrusion 136 is increased, the tiltable angle range of the fingertip plate 132 becomes larger, and if the height of the protrusion 136 is decreased, the tiltable angle range of the fingertip plate 132 becomes smaller. It is preferable that the height of the protrusion 136 is set to the lowest possible height so that at least a part of the fingertip plate 132 is in close contact with the finger portion 130 and the fingertip plate 132 can be fixed in a state of a tilt angle of 0 degrees. It is preferable that the height of the protrusion 136 is adjustable manually or by the drive unit 140 or the like.

The above-described operation of the fingertip plate 132 is not limited to the case where the robot hand 100 is operating in the gripping mode. For example, when the robot hand 100 is operating in the first suction mode and/or the second suction mode, the fingertip plate 132 may be fixed to the finger portion 130 with a predetermined inclination angle. This allows the robot hand 100 to perform an operation of adsorbing the object 30 with the fingertip plate 132 fixed and stabilized. In particular, by storing the protrusion 136 in the finger portion 130 (setting the height of the protrusion 136 to 0) and bringing the fingertip plate 132 into close contact with the finger portion 130 (fixing it at an inclination angle of 0 degrees), the fingertip plate 132 does not protrude outward when performing the adsorption operation, improving operability.

In the above embodiment of the robot hand 100, an example has been described in which the rotation axis of the fingertip plate 132 faces in approximately the same direction as the Z direction, but this is not limited to this. The rotation axis of the fingertip plate 132 is preferably parallel to the first surface 134a, and may face in approximately the same direction as the Y direction, for example.

In the above embodiment of the robot hand 100, an example has been described in which the fingertip plate 132 is tiltably attached to the protrusion 136 of the finger portion 130, but the present invention is not limited to this. When the fingertip plate 132 comes into contact with the object 30, it is sufficient that the surface that contacts the object can be tilted in accordance with the shape of the object 30. For example, an elastic material may be provided between the fingertip plate 132 and the finger portion 130.

Figure 14 shows a modified example of the finger portion 130 and fingertip plate 132 according to this embodiment. Figure 14 shows an example in which multiple springs are provided between the fingertip plate 132 and the finger portion 130. The multiple springs may be arranged in the Y direction or the Z direction, or may be arranged in the Y direction and the Z direction. In this way, by providing an elastic material between the fingertip plate 132 and the finger portion 130, when the fingertip plate 132 comes into contact with the object 30, the fingertip plate 132 can tilt in various directions in response to the shape of the object 30.

The multiple springs may be arranged so that the elastic coefficient of some of the springs is different from the elastic coefficient of the other springs. For example, in the example of FIG. 14, among the multiple springs arranged in the Y direction, the elastic coefficient of the spring arranged in the center is set to be greater than the elastic coefficient of the outer springs on the +Y side and -Y side. This makes it easier for the fingertip plate 132 to tilt in a predetermined direction. Note that FIG. 14 shows an example in which multiple springs are provided as an elastic material, but this is not limited to this. The elastic material may be a leaf spring, rubber, a low-resilience material, etc.

Although the present invention has been described above using embodiments, the technical scope of the present invention is not limited to the scope described in the above embodiments, and various modifications and changes are possible within the scope of the gist of the invention. For example, all or part of the device can be configured by distributing or integrating functionally or physically in any unit. In addition, new embodiments resulting from any combination of multiple embodiments are also included in the embodiments of the present invention. The effect of the new embodiment resulting from the combination also has the effect of the original embodiment.

REFERENCE SIGNS LIST 10 Robot hand system 20 User 30 Object 40 Imaging device 50 Display device 60 Input device 100 Robot hand 110 Arm 120 Main body 130 Finger 132 Fingertip plate 134 First surface 136 Protrusion 138 Adjustment section 140 Driving section 150 Control section 210 First suction section 220 Second suction section

Claims (13)

a main body having a first suction portion for suctioning an object to be held;
A plurality of fingers provided on the main body for gripping the object;
a control unit that moves the plurality of finger units and moves the first suction units so that the first suction units protrude from the main body unit when the object is to be suctioned by the first suction units ,
At least some of the plurality of finger portions have fingertip plates that come into contact with the object,
The control unit is
When the object is to be grasped, a distance between the plurality of fingers is changed,
When the object is attracted to the first suction portion, the object is attracted to the first suction portion in a state in which the first suction portion protrudes beyond the tips of the fingertip plates and the finger portions, and
At least some of the plurality of finger portions further include a second suction portion different from the first suction portion for suctioning the object,
the second suction portion is provided on the finger portion so as to be rotatable together with the fingertip plate about an axis perpendicular to a direction in which the first suction portion protrudes from the main body portion,
The control unit switches between a state in which the fingertip plate is closer to the object than the second suction portion and a state in which the second suction portion is closer to the object than the fingertip plate . A drive unit that moves the first suction portion and the plurality of finger portions,
the control unit, when causing the first suction unit to suction the object, moves the plurality of finger portions in a direction in which the first suction unit protrudes from the main body unit until a distance between tips of the plurality of finger portions and the object becomes greater than a distance between an end portion of the first suction unit on the object side and the object, and controls the drive unit to move the first suction unit so that the first suction unit protrudes from the main body unit toward the object.
The robot hand according to claim 1 . The robot hand according to claim 1 or 2, wherein the plurality of finger portions are arranged around the first suction portion. The control unit causes the first suction unit to perform a suction operation after the plurality of finger units are moved.
The robot hand according to any one of claims 1 to 3. The control unit moves the first suction unit toward the object and then causes the first suction unit to perform a suction operation.
The robot hand according to any one of claims 1 to 4. The robot hand according to claim 1 , wherein the second suction portion is smaller in shape than the first suction portion. 2. The robot hand according to claim 1, wherein, when the control unit is configured to adsorb the object to the second suction portion, the control unit adsorbs the object to the second suction portion in a state in which the second suction portion is closer to the object than the fingertip plate. At least one of the fingertip plates is attached to the finger portion such that, when the fingertip plate comes into contact with the object, a surface that contacts the object can be tilted in accordance with the shape of the object.
The robot hand according to claim 1 . At least two of the fingers each have a fingertip plate;
At least two of the fingertip plates include:
The object is grasped by the pair of grippers, and the pair of grippers is disposed to pinch the object when grasping the object.
When the object is contacted, the contact surface in contact with the object is inclined in accordance with the shape of the object.
Attached to the finger portion,
The robot hand according to claim 8 . At least two of the finger portions further have a protrusion portion protruding toward the object on a first surface facing the object when the object is pinched and grasped,
In at least two of the finger portions, the fingertip plates are attached to the protrusions so as to be rotatable about a rotation axis in a direction parallel to the first surface.
The robot hand according to claim 9 . When the two finger portions pinch and grasp the object,
The two protrusions are provided on the respective finger portions so as to face each other,
The two fingertip plates are provided on the respective protrusions so that the rotation axes face in the same direction.
The robot hand according to claim 10 . 12. The robot hand according to claim 9, wherein the at least two fingertip plates are attached to the at least two finger portions, respectively, such that the contact surfaces can be tilted in different directions from each other so as to contact the two objects in accordance with the shapes and arrangements of the two objects when the at least two fingertip plates are arranged in a first direction and have different shapes and are gripped by the two objects. The robot hand according to any one of claims 1 to 12 ,
an imaging device that images a plurality of the finger portions or the first suction portions and the object;
a display device that displays an image captured by the imaging device to a user;
an input device that receives an instruction from the user to operate the robot hand,
the control unit, when causing the first suction portion to protrude from the main body toward the object, moves the plurality of finger portions so that an end of the first suction portion is included in a field of view of the imaging device.
Robotic hand system.

Images