JP-2026074635-A - A robotic hand, a method for controlling a robotic hand, a robotic system, a method for manufacturing an article using a robotic system, a control program, and a recording medium.

JP2026074635AJP 2026074635 AJP2026074635 AJP 2026074635AJP-2026074635-A

Abstract

[Problem] To improve versatility in workpiece assembly. [Solution] A robot hand is provided having a first finger portion and a second finger portion that grip a workpiece by moving closer to or further apart from each other, wherein each of the first finger portion and the second finger portion is provided with at least two ends that come into contact with the workpiece, and in the direction of approaching or separating the first finger portion and the second finger portion, the end on the side opposite to the workpiece assembly direction is located closer to the center than the end on the side in the workpiece assembly direction, with reference to the center of the arc passing through at least three of the ends. [Selection Diagram] Figure 5

Inventors

西川浩介

Assignees

キヤノン株式会社

Dates

Publication Date: 20260507
Application Date: 20241021

Claims (20)

A robot hand having a first finger portion and a second finger portion that grip a workpiece by moving closer to or further apart from each other, Each of the first and second finger portions is provided with at least two ends that contact the workpiece. In the direction of approach or separation between the first finger portion and the second finger portion, the end portion on the side opposite to the workpiece assembly direction is located closer to the center than the end portion on the workpiece assembly direction side, with respect to the center, with respect to the center. A robotic hand characterized by the following features.
In the robot hand according to claim 1, In the direction of approach or separation between the first finger portion and the second finger portion, the end portion on the side opposite to the assembly direction of the workpiece with respect to the center and the end portion on the side in the assembly direction of the workpiece with respect to the center are located closer to the center than the furthest part of the first finger portion or the second finger portion from the center. A robotic hand characterized by the following features.
In the robot hand according to claim 1, In the assembly direction of the workpiece, the midpoint between the end on the side opposite to the assembly direction of the workpiece with respect to the center and the end on the side of the workpiece in the assembly direction with respect to the center is located on the side opposite to the assembly direction of the workpiece with respect to the center. A robotic hand characterized by the following features.
In the robot hand according to claim 1, The first angle formed by a first line segment passing through the center and in a direction parallel to the approach or separation direction of the first and second finger portions, and a second line segment connecting the center and the end portion positioned on the first finger portion on the side of the workpiece assembly direction with respect to the center, is smaller than the second angle formed by the first line segment and a third line segment connecting the center and the end portion positioned on the first finger portion on the side opposite to the workpiece assembly direction with respect to the center. A robotic hand characterized by the following features.
In the robot hand according to claim 1, When the aforementioned workpiece is brought into contact with another workpiece, the first and second finger portions have relief portions to avoid interference between the other workpiece and the first and second finger portions. A robotic hand characterized by the following features.
In the robot hand according to claim 1, The first finger portion includes a first surface that connects at least two of the ends provided on the first finger portion, The second finger portion includes a second surface that connects at least two of the ends provided on the second finger portion. A robotic hand characterized by the following features.
In the robot hand according to claim 6, The first finger portion has a third surface, which is different from the first surface, that supports the workpiece. The second finger portion has a fourth surface, which is different from the second surface, that supports the workpiece. A robotic hand characterized by the following features.
In the robot hand according to claim 7, The third surface has a length less than or equal to the thickness of the workpiece, extending from the first surface. The fourth surface has a length from the second surface that is less than or equal to the thickness of the workpiece. A robotic hand characterized by the following features.
In the robot hand according to claim 7, The first and second surfaces are gripping surfaces for gripping the workpiece, and the third and fourth surfaces are support surfaces for supporting the workpiece in a gripped state. A robotic hand characterized by the following features.
In the robot hand according to claim 6, The first surface and the second surface include at least one shape, such as an arc shape or a rectangular shape. A robotic hand characterized by the following features.
In the robot hand according to claim 1, The at least two ends include an end that receives a force generated by the deformation of the workpiece and an end that receives a force generated when assembling the workpiece. A robotic hand characterized by the following features.
In the robot hand according to claim 1, When the workpiece is gripped by the first and second finger portions and the workpiece is brought into contact with another workpiece, the device is provided with a third finger portion that contacts the other workpiece. A robotic hand characterized by the following features.
In the robot hand according to claim 1, When the workpiece is gripped by the first and second finger portions and the workpiece is brought into contact with another workpiece, the device is provided with a third finger portion that contacts the workpiece. A robotic hand characterized by the following features.
In the robot hand according to claim 1, The workpiece includes at least one E-ring and a U-shaped retaining ring. A robotic hand characterized by the following features.
A robot hand having a first finger portion and a second finger portion that grip a workpiece by moving closer to or further apart from each other, The contact portion where the first finger portion and the workpiece come into contact, and the contact portion where the second finger portion and the workpiece come into contact, are located on the opposite side of the assembly direction of the workpiece, with respect to the center of the workpiece. A robotic hand characterized by the following features.
A robotic system comprising a robotic hand and a robotic arm according to any one of claims 1 to 15.
A method for manufacturing an article, characterized by using the robot system described in claim 16 to manufacture the article.
A control method for a robot hand having a first finger portion and a second finger portion that grip a workpiece by moving closer to or further apart from each other, Each of the first and second finger portions is provided with at least two ends that come into contact with the workpiece. In the direction of approach or separation between the first finger portion and the second finger portion, with respect to the center of the arc passing through at least three of the ends, the end on the side opposite to the workpiece assembly direction is located closer to the center than the end on the workpiece assembly direction side with respect to the center. The workpiece is gripped using the first finger portion and the second finger portion. A control method characterized by the following:
A control method for a robot hand having a first finger portion and a second finger portion that grip a workpiece by moving closer to or further apart from each other, The contact portion where the first finger portion and the workpiece come into contact, and the contact portion where the second finger portion and the workpiece come into contact, are located on the opposite side of the assembly direction of the workpiece, with respect to the center of the workpiece. The workpiece is gripped using the first finger portion and the second finger portion. A robotic hand characterized by the following features.
A control program capable of executing the control method described in claim 18 or 19.

Description

This invention relates to a robotic hand. Generally, shaft components mounted on industrial products and equipment require retaining rings to prevent the shaft from slipping out along its longitudinal direction. Among these, ring-shaped E-rings, which are fitted into grooves cut into the edge of the shaft, are widely used. Products with paper handling mechanisms, such as printers, have many shaft components, and E-rings are frequently used in such products. The general method of assembling an E-ring involves grasping the E-ring with needle-nose pliers, placing the opening of the E-ring in the groove of the shaft, and then releasing the E-ring. Then, using the needle-nose pliers, the E-ring and shaft are gripped together in a direction perpendicular to the longitudinal direction of the shaft (the direction of the E-ring's opening), and the E-ring is deformed while being fitted into the groove of the shaft. The standard for E-rings is specified in JIS B 2085, but most are less than 1 mm thick, making them difficult to grip with needle-nose pliers. Also, because E-rings are circular in shape, care must be taken when gripping them with needle-nose pliers, otherwise the pliers will slip along the circular shape. As described above, E-ring assembly is considered a difficult task, and automation of assembly is desired. Patent Document 1 discloses a robotic hand that grips a specialized tool for assembling E-rings. The specialized tool in Patent Document 1 is shaped to hold the E-ring on the opposite side of the assembly direction (the opening direction of the E-ring), and has a fork-like shape extending in the opposite direction of the E-ring's assembly. Patent Document 1 discloses a method of gripping the E-ring with the specialized tool and assembling it from above the groove on the shaft in the E-ring assembly direction, which is perpendicular to the longitudinal direction of the shaft. Japanese Patent Publication No. 2015-96290 This is a diagram illustrating the assembly of the E-ring in the embodiment.This is a schematic diagram of the robot system 1000 in an embodiment.This is a block diagram of the robot system 1000 in an embodiment.This is a schematic diagram of the robot hand 300 in the embodiment.This figure shows a comparison between the state in which the E-ring is gripped by the fingers 311 and 312 in the embodiment and the state in which the E-ring is gripped by the fingers 711 and 712 in the comparative example.This is a control flowchart in the embodiment.This is a diagram illustrating the assembly of the E-ring in the embodiment.This is a diagram illustrating the assembly of the E-ring in the embodiment.This is a diagram illustrating the assembly of the E-ring in the embodiment.This is a diagram illustrating the assembly of the E-ring in the embodiment.This is a diagram illustrating the assembly of the E-ring in the embodiment.This figure shows the state in which the E-ring is gripped by the finger portions 311 and 312 in the embodiment.This is a diagram illustrating the assembly of the E-ring in the embodiment.This is a diagram illustrating the assembly of the E-ring in the embodiment.This is a schematic diagram of the shapes of the finger portions 311 and 312 in the embodiment.This is a schematic diagram of the shapes of the finger portions 311 and 312 in the embodiment. The following description will explain embodiments for carrying out the present invention with reference to the examples shown in the attached drawings. Note that the following embodiments are merely examples, and for example, the detailed configuration can be appropriately modified by those skilled in the art without departing from the spirit of the present invention. Furthermore, the numerical values discussed in these embodiments are for reference only and do not limit the present invention. In the following drawings, the arrows X, Y, and Z indicate the overall coordinate system of the robot system. Generally, the XYZ three-dimensional coordinate system represents the world coordinate system of the entire installation environment. In addition, a local coordinate system may be used for the robot hand, fingers, joints, etc., depending on control considerations. Furthermore, in describing the robot hand according to this embodiment, an embodiment of the robot hand in a parts holding device that performs parts picking, transferring, and assembly will be used as an example. However, the use of the robot hand according to this embodiment is not limited to a parts holding device. (First embodiment) First, the problems with the present invention will be described in detail. Figure 1 illustrates a case where the assembly space for the E-ring is narrow. Figure 1(a) is a perspective view, and Figure 1(b) is a cross-sectional view of AA shown in Figure 1(a). From Figures 1(a) and (b), a shaft is supported by a sheet metal part via a shaft support part, and a groove into which the E-ring is assembled is formed in the shaft. Furthermore, a