JP2012236246A - Robot hand, and robot - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a robot hand capable of executing a work different from a work for gripping an object while gripping the object.SOLUTION: In this robot hand gripping the object by use of a plurality of finger parts, the plurality of finger parts grip the object on the axis of a bit tool erected from a palm part. The bit tool is provided slidably in the axial direction. Thereby, by sliding the bit tool to a position of the gripped object and operating the bit tool, the robot hand can execute the work different from the work for gripping the object while gripping the object.

Description

  The present invention relates to a robot hand capable of grasping an object.

Conventionally, robots that perform operations such as welding and painting have been widely used in industrial product manufacturing sites. In addition, a robot that carries a product assembling work by mounting a robot hand capable of gripping various objects of different sizes and shapes has been proposed today (Patent Document 1).

In general, parts assembled in an assembly operation are fixed by screw tightening.
Therefore, the robot hand mounted on the robot that performs the assembly work not only grips various objects and assembles parts, but also can execute screw tightening of the assembled parts, improving work efficiency. It is desirable from the point of making it.

JP 2010-201538 A

However, the work of tightening the parts is a complicated work that requires rotating the screw while pressing the screw against the screw hole with an appropriate force while holding the screw so that the screw is kept in the correct posture with respect to the screw hole. It is. For this reason, there is a problem that it is difficult for the robot hand performing the assembly work to perform the screw tightening. In addition to the screw tightening operation, the same problem may occur when an operation different from the operation of gripping the object is performed while the object is gripped.

The present invention has been made to solve at least a part of the above-described problems of the prior art, and is a robot hand capable of performing a task different from a task of gripping an object while gripping the object. The purpose is to provide.

In order to solve at least a part of the problems described above, the robot hand of the present invention employs the following configuration. That is, a plurality of finger parts for gripping an object, a palm part to which the plurality of finger parts are attached, and a bit tool erected from the palm part, wherein the plurality of finger parts are the object Is held on the axis of the bit tool, and the bit tool is slidable in the direction of the axis.

In the robot hand of the present invention having such a configuration, an assembly work is performed by gripping an object with a plurality of fingers. The object is gripped on the axis of the bit tool standing from the palm, and the bit tool is slidable in the direction of the axis.
Here, the “bit tool” is a tool for realizing a single function different from the function of the robot hand holding the object. The size of the bit tool is shorter than the length of the finger member and is set to a size that does not hinder the robot hand from gripping the object, realizing various screw tightening and welding functions. can do. Specific examples of such a bit tool include a tip shape of a screwdriver for a plus screw or a minus screw, a hexagon wrench, a socket, or a welding torch.

According to such a robot hand, the bit tool can be slid to the position of the grasped object while the object is grasped by the plurality of finger portions. Therefore, by operating the bit tool, it is possible to perform an operation different from the operation of grasping the object while grasping the object with the robot hand.

In the robot hand of the present invention described above, the palm portion may be provided so as to be rotatable around the axis of the bit tool.

According to such a robot hand, while holding the object such as a screw with the finger part of the robot hand, the bit tool is slid in the direction of the axis to be fitted to the object, and in this state, the bit is moved together with the palm part. The tool can be rotated. In this way, the screw can be rotated while keeping the screw in the correct posture with respect to the screw hole by the finger portion, and therefore it is possible to easily perform a complicated screw tightening operation with the robot hand. Furthermore, by rotating the bit tool in contact with the screw, the bit tool can be fitted with the head of the screw, so that the screw can be rotated with sufficient torque, and the screw can be tightened to the end. .

Further, in the robot hand of the present invention described above, a rotating part that rotates the bit tool about the axis may be provided in the palm part, and the bit tool may be provided in the palm part via the rotating part.

If the bit tool is rotated by the rotating portion, the bit tool can be rotated without rotating the palm portion or the plurality of finger portions attached to the palm portion when performing screw tightening. In this way, even when screw tightening is performed in a narrow work space where a space for rotating the finger part and palm part cannot be secured, it is possible to perform screw tightening with the robot hand.

In addition, the robot hand of the present invention described above can be applied to assembly work by grasping objects of various sizes and shapes, and can also screw the assembled object.
Therefore, if a robot is configured using these robot hands of the present invention, it is possible to configure a robot that can perform assembly work efficiently.

It is explanatory drawing which shows the structure of the robot hand of a present Example. It is explanatory drawing which showed a mode that the robot hand of a present Example tightens a screw. It is explanatory drawing which showed the second half of the screw fastening operation | work which a robot hand performs. For reference, it is an explanatory view showing a state in which a screw tightening operation is performed using a conventional robot hand. It is explanatory drawing which showed a mode that screwing was performed with the robot hand of a 1st modification. It is explanatory drawing which showed the structure of the screw fastening mechanism of a 2nd modification. It is explanatory drawing which shows the structure of the robot hand of a 3rd modification. It is explanatory drawing which shows the structure of the robot hand of a 4th modification. It is explanatory drawing which shows the robot provided with the robot hand.

Hereinafter, in order to clarify the contents of the present invention described above, examples will be described in the following order.
A. The structure of the robot hand of this embodiment:
B. Screw tightening operation of the robot hand of this embodiment:
C. Variations:
C-1. First modification:
C-2. Second modification:
C-3. Third modification:
C-4. Fourth modification:

A. The structure of the robot hand of this embodiment:
FIG. 1 is an explanatory diagram showing the structure of the robot hand 100 of the present embodiment. As shown in the figure, the robot hand 100 according to the present embodiment includes a palm member 110 (palm part) constituting a base part of the robot hand 100 and two finger members 120 and 130 (finger parts) attached to the palm member 110. And a screw tightening mechanism 160 provided at the center position of the palm member 110.

The finger members 120 and 130 are erected from the vicinity of the left and right ends of the palm member 110 on the paper surface. These finger members 120 and 130 are separated from each other by a mechanism inside the palm member 110.
The base positions 20 and 130 are movable in directions toward or away from each other. For this reason, by separating the position of the base of the finger member, as shown in FIG.
As the distance between the finger member 120 and the finger member 130 increases and the base position of the finger member approaches, as shown in FIG. 1B, the distance between the finger member 120 and the finger member 130 is increased. The distance is getting smaller.

The screw tightening mechanism 160 provided at the center of the palm member 110 is a substantially columnar support member 162 that is erected from the center position of the palm member 110 and is provided with a pedestal at the tip.
It consists of a bit tool 164 fixed to 62 pedestals. The bit tool 164 is a dedicated tool that realizes a single function different from the function of the robot hand 100 gripping the object, the length of which is shorter than the length of the finger members 120 and 130, and the robot hand 100. Is a tool having a size that does not hinder the operation of gripping the object. The function realized by the bit tool 164 can be a function of tightening various screws, a function of performing a welding operation, or the like. Therefore, specific examples of the bit tool 164 include the tip shape of a screwdriver for a plus screw or a minus screw, a hex wrench, a socket, or a welding torch. In this embodiment, as shown in FIG. 1, the tip shape of a screwdriver for a plus screw is used for the bit tool 164.

The support member 162 can be moved in the vertical direction on the paper surface by a moving mechanism (not shown) inside the palm member 110, whereby the bit tool 164 is moved to the base side and the tip side of the finger members 120 and 130. It is possible to move up and down. FIG. 1C shows a state in which the bit tool 164 is moved to the vicinity of the tips of the finger members 120 and 130 by the support member 162.

In the robot hand 100 of this embodiment, the size and shape of the object to be grasped can be increased by increasing or decreasing the distance between the left and right finger members 120 and 130 provided on the palm member 110. In addition, the distance between the finger members can be changed. Therefore, if the robot hand 100 is mounted on the robot, it is possible to grip various parts and assemble industrial products. Further, the robot hand 100 according to the present embodiment can perform not only the assembly work of the components but also the screws of the components by using the screw tightening mechanism 160 described above.

B. Screw tightening operation of the robot hand of this embodiment:
FIG. 2 is an explanatory diagram showing a state in which the robot hand 100 of this embodiment performs screw tightening. FIG. 2 shows the first half of the screw tightening operation performed by the robot hand 100.
When the robot hand 100 performs screw tightening, first, as shown in FIG.
The tips of the finger members 120 and 130 of the robot hand 100 are moved to the position of the head of the screw S held by the holder H, and in this state, the gap between the finger members 120 and 130 is reduced and the head of the screw S is gripped. In this way, the screw S is placed on the central axis of the robot hand 100 (that is, the bit tool 1
(On 64 axes). When the screw S is gripped in this way, as shown in FIG. 2B, the robot hand 100 is moved to the positions of the objects W1 and W2 to be screwed,
The tip of the screw S is attached to the screw hole Sh.

FIG. 3 is an explanatory diagram showing the second half of the screw tightening operation performed by the robot hand 100. When the tip of the screw S gripped by the robot hand 100 is attached to the screw hole Sh of the object, FIG.
As shown in a), a moving mechanism (not shown) in the palm member 110 is driven to move the bit tool 164 in the direction of the tips of the finger members 120 and 130. As described above, the screw S is held on the axis of the bit tool 164. In addition, the finger members 120 and 130 are configured to grip a predetermined position of the head of the screw S, whereby the tip shape of the bit tool 164 is extended to the fingertip side, and the head of the screw S that has just been gripped. Grooves come to come. Therefore, when the bit tool 164 is moved, the tip shape of the bit tool 164 and the groove of the head of the screw S are fitted.

When the bit tool 164 and the groove at the head of the screw S are thus fitted, as shown in FIG. 3B, a robot hand (not shown) is rotated to rotate the robot hand. Rotate the whole 100. As a result, the screw S is rotated and inserted into the screw hole Sh, so that the robot hand 100 is rotated while moving in the direction of the screw hole Sh by the inserted distance, thereby tightening the screw.

According to the robot hand 100 of the present embodiment as described above, not only the assembly work is performed,
The assembled parts can be screwed. Here, screw tightening is a work generally performed when assembling industrial products, but it is not always easy for a robot hand to perform screw tightening.

FIG. 4 is an explanatory view showing a state in which a screw tightening operation is performed using a conventional robot hand as a reference. In the illustrated conventional robot hand 200, two finger members 220 and 230 are attached to the palm member 210, and the finger member 220 and the finger member 230 are provided so as to be able to approach or separate from each other. When performing screw tightening using such a robot hand 200, as shown in FIG. 4A, the screws S are gripped by the finger members 220 and 230,
The screw S is moved to the position of the screw hole Sh of the objects W1 and W2. After that, the screw is tightened by using a screwdriver. For that purpose, the robot hand 200 needs to be moved to another position, so that the screw S falls down and cannot be tightened.

Further, as shown in FIG. 4B, it is also possible to perform screw tightening by rotating the entire robot hand 200 in a state where the screw S gripped by the robot hand 200 is moved to the position of the screw hole Sh. It is done. However, when the screw S is tightened to the component at the end of the screw tightening, a relatively large torque is required. Therefore, when the screw is simply held by the finger members 220 and 230, the screw cannot be sufficiently tightened. Therefore, eventually, it is necessary to perform final screw tightening using a screwdriver 300 or the like as shown in FIG.

On the other hand, in the robot hand 100 of the present embodiment, as shown in FIG. 3, the screw S can be kept in the correct posture by the finger members 120 and 130 while the screw is tightened.
A sufficient torque can be obtained by rotating the screw S while pressing it against the screw hole Sh by the bit tool 164. As a result, the complicated screw tightening operation can be performed by the robot hand 10.
It can be easily executed by 0.

When the tip of the screw S gripped by the robot hand 100 is moved to the position of the screw hole Sh, the screw tightening operation can be started immediately by rotating the robot hand 100. Therefore, it is possible to reduce the time required for screw tightening, and as a result, it is possible to reduce the assembly time of the product. Furthermore, in the robot hand 100 of the present embodiment,
In performing the screw tightening, simple operations such as an operation of moving the bit tool 164 from the base of the finger members 120 and 130 toward the tip and an operation of rotating the palm member 110 are merely performed. Therefore, even if screws are tightened with the robot hand 100, the control of the robot hand 100 is not complicated. In addition, finger members 120 and 13 for gripping the object.
By setting 2 to 0, the structure of the robot hand 100 can be simplified.

C. Modified example:
Several modifications can be considered in the embodiment described above. Hereinafter, these modified examples will be briefly described. Note that, in the modification described below, the same components as those in the above-described embodiment are denoted by the same reference numerals as those in the embodiment, and detailed description thereof is omitted.

C-1. First modification:
In the robot hand 100 of the above-described embodiment, it has been described that the screw tightening is performed by rotating the entire robot hand 100 in a state where the screw S is held by the finger members 120 and 130. However, when screw tightening is performed, the bit tool 164 may be rotated without rotating the finger members 120 and 130.

FIG. 5 is an explanatory view showing a state where screws are tightened by the robot hand 100 of the first modification. Also in the illustrated robot hand 100 of the first modification, the robot hand 10
The operation until the screw S gripped by 0 is inserted into the screw hole Sh and the tip of the bit tool 164 is fitted to the head of the screw S is the same as the operation performed by the robot hand 100 of the above-described embodiment (FIG. 3). On the other hand, after the tip of the bit tool 164 is fitted to the head of the screw S, as shown in FIG. 5B, the bit tool 164 is lightly pressed in the direction of the screw hole Sh with the bit tool 164, The finger members 120 and 130 are slightly separated. This suppresses friction between the screw S and the finger members 120 and 130 when the screw S is rotated with the bit tool 164. Further, since the screw S is lightly pressed against the screw hole Sh by the bit tool 164, even if the finger members 120 and 130 are slightly separated from each other, the posture of the screw S is not inclined.

When the finger members 120 and 130 are slightly separated in this way, the finger members 120 and 130 are slightly moved in the direction of the screw holes Sh as shown in FIG. This is because when the bit tool 164 is rotated and screw tightened, the head of the screw S comes out immediately from the fingertips of the finger members 120 and 130, and as a result, the screw S can be kept in the correct posture. This is to prevent disappearance.

In addition, when the force with which the finger members 120 and 130 hold the object is not set so large, the friction between the finger members 120 and 130 and the screw S when the screw S is rotated is also reduced. it is conceivable that. Therefore, as described above with reference to FIG.
The operation of slightly separating 30 can be omitted.

As described above, the finger members 120 and 130 are slightly separated and the finger members 120 and 130 are separated.
Is slightly moved in the direction of the screw hole Sh (see FIGS. 5B and 5C), FIG. 5D
The bit tool 164 is moved by a moving mechanism (not shown) in the palm member 110 as shown in FIG.
The bit tool 1 is rotated by a rotating mechanism 166 (rotating portion) provided at the base of the support member 162 on the palm member 110 while moving the finger members 120 and 130 little by little.
Rotate 64 to tighten the screws.

By doing so, the screw members 120 and 130 can be tightened without rotating when the screws are tightened, so that the finger members 120 and 130 are prevented from rotating and hitting the periphery of the portion to be tightened. Can do. Therefore, even in a place where the periphery is narrow, it is possible to perform screw tightening without damaging the periphery. Further, since the bit tool 164 is rotated while being moved in the direction of the screw hole Sh, the screw member 1 is rotated when the screw S is tightened to the end.
The tip of 20, 130 does not hit the object. For this reason, it is possible to avoid damaging the object by the finger members 120 and 130.

C-2. Second modification:
In the robot hand 100 according to the above-described embodiment and the first modification, it has been described that the bit tool 164 for a plus screw is fixed to the distal end portion of the support member 162. However, in addition to the bit tool 164 for the plus screw, various bit tools may be prepared so that the bit tool 164 can be replaced with the tip of the support member 162.

FIG. 6 is an explanatory view showing the structure of the screw tightening mechanism of the second modified example. In the screw tightening mechanism 160 of the illustrated robot hand 100, a bit hole 162 is formed at the center of the tip of the support member 162.
h is provided, and the bit tool 164 is attached by inserting a convex portion provided on the base side of the bit tool 164 into the bit hole 162h. In such a robot hand 100, in addition to a bit tool 164 for a plus screw, a bit tool 164 for a minus screw, a bit tool 164 for a hexagon screw, a bit tool 164 for a socket, and the like are prepared. The bit tool 164 can be selected according to the application. As a result, the versatility of the robot hand 100 can be enhanced by increasing the types of screws to be tightened.

C-3. Third modification:
In the robot hand 100 of the above-described embodiment, the first modified example, and the second modified example, it has been described that the object such as the screw S is gripped by the two finger members 120 and 130. Here, the number of finger members holding the object may be three.

FIG. 6 is an explanatory view showing a state in which the robot hand 100 of the third modified example grips the screw S. 6A shows a state in which the robot hand 100 holds the screw S as viewed from above the robot hand 100. FIG. 6B shows the robot hand 100 holding the screw S. A state in which the gripped state is viewed from the side of the robot hand 100 is shown. In the robot hand 100 of the third modified example shown in the figure, three finger members (finger members 120, 130, and 140) are erected from three concentric circles as viewed from the center position of the palm member 110. The members 120, 130, and 140 are configured so that the finger member 120,
The base positions of 130 and 140 are movable toward or away from the center of the palm member 110.

According to the robot hand 100 of the third modified example, the central axis of the screw S is set on the axis of the bit tool 164 by bringing the finger members 120, 130, and 140 into contact with the screw S from three directions. Accurate positioning is possible. For this reason, it becomes possible to securely fit the tip shape of the bit tool 164 and the groove of the head of the screw S.

C-4. Fourth modification:
In the robot hand 100 of the third modified example described above, three finger members 120, 130, and 14 are used.
Although it has been described that the object such as the screw S is gripped by 0, the number of finger members that grip the object may be four.

FIG. 7 is an explanatory view showing a state in which the robot hand 100 of the fourth modified example grips the screw S. FIG. 7A shows a state in which the robot hand 100 grips the screw S as viewed from above the robot hand 100. FIG. 7B shows the robot hand 100 holding the screw S. A state in which the gripped state is viewed from the side of the robot hand 100 is shown. In the robot hand 100 of the fourth modified example shown in the figure, four finger members (finger members 120, 130, 140, 150) are erected from four locations on concentric circles when viewed from the center position of the palm member 110, These finger members 120, 130, 140, and 150 can be moved in a direction in which the base positions of the finger members 120, 130, and 140 approach or separate toward the center of the palm member 110 by a mechanism inside the palm member 110. It has become.

According to the robot hand 100 of the fourth modified example as described above, the finger members 120, 130, 140, and 150 can be brought into contact with the screw S from four directions. For this reason, for example, FIG.
As shown in FIG. 4, when the screw S having a central axis of the screw different from the central position of the screw head is gripped and tightened, four finger members (finger members 120 , 130, 1
40, 150) by adjusting the position of gripping the head of the screw S, the bit tool 1
The center axis of the screw can be accurately positioned on the 64 axes. For this reason, the tip shape of the bit tool 164 can be reliably fitted to a groove provided at a position different from the center of the screw head.

Although the robot hands of various embodiments have been described above, the present invention is not limited to the above embodiments and modifications, and can be implemented in various modes without departing from the scope of the invention. For example, in the above-described embodiments and modifications, the screw tightening mechanism is applied to a robot hand that grips an object by moving the base of the finger member in parallel to narrow the interval between the finger member and the finger member. As described above, a robot hand of a type in which a plurality of finger members project from the palm member, and the finger member is rotated with the base portion of the finger member as a fulcrum to grip the target object of the present invention. A screw tightening mechanism may be applied.

Further, the robot hands of the various embodiments and modifications described above are very simple in structure, and thus can be easily reduced in size and weight. Therefore, as shown in FIG. 9, if these robot hands are attached to the tip of the robot arm 400 to configure the robot 500, various objects can be handled and screw tightening can be performed. However, it is possible to obtain a high-performance robot 500 that is small and lightweight, and that is less likely to have reduced energy efficiency even if the cycle time is shortened.

100 ... Robot hand 110 ... Palm member 120 ... Finger member
130 ... finger member, 140 ... finger member, 150 ... finger member,
160 ... screw tightening mechanism, 162 ... support member, 162 h ... bit hole,
164 ... bit tool, 166 ... rotation mechanism, 200 ... robot hand,
210 ... Palm member, 220 ... Finger member, 230 ... Finger member,
300 ... Driver, 400 ... Robot arm, 500 ... Robot,

Claims (4)

A plurality of fingers to grip the object;
A palm portion to which the plurality of fingers are attached;
A bit tool erected from the palm part,
The plurality of fingers grip the object on the axis of the bit tool,
The robot tool according to claim 1, wherein the bit tool is slidable in the direction of the axis. The robot hand according to claim 1, wherein the palm portion is rotatable around the axis. The robot hand according to claim 1, wherein the bit tool is provided on the palm portion via a rotating portion that is rotatable about the axis. A robot comprising the robot hand according to any one of claims 1 to 3.

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