KR-20260066140-A - Hand

KR20260066140AKR 20260066140 AKR20260066140 AKR 20260066140AKR-20260066140-A

Abstract

The hand (2) comprises a hand body (3) and a plurality of fingers (4) installed on the hand body (3) and capable of opening and closing. Each finger (4) of the plurality of fingers (4) has an endless belt (5) that is wrapped around at least the tip of the finger (4), rotated, and in contact with a workpiece (W). The fingers (4) are elastically displaceable in a first direction (X) in which the plurality of fingers (4) open and close, and are also elastically displaceable in a second direction (Y) in which they advance and retract relative to the hand body (3).

Inventors

무라세 요헤이
후쿠다 히로아키

Assignees

카와사키 주코교 카부시키 카이샤

Dates

Publication Date: 20260512
Application Date: 20240513
Priority Date: 20230907

Claims (9)

The hand body and, It is equipped with a plurality of fingers installed on the above-mentioned hand body that open and close, and Each finger of the above plurality of fingers has an endless belt that is wrapped around at least the tip of the finger, is rotationally driven, and contacts a workpiece. The finger is a hand that is elastically displaceable in a first direction in which the plurality of fingers open and close, and elastically displaceable in a second direction in which it moves in and out relative to the hand body.
In paragraph 1, The finger has a base supported by the hand body, and a finger body supported by the base so as to be elastically displaceable in the first direction and also supported by the base so as to be elastically displaceable in the second direction. The above infinite belt is a hand positioned on the finger body.
In paragraph 2, A transmitter for transmitting rotational driving force for the above-mentioned endless belt is additionally provided, The finger body has a first pulley and a second pulley around which the endless belt is wound, and The above transmission device is a hand that transmits the rotational driving force to the first pulley.
In paragraph 3, The above conveyor is, A first transmission pulley installed on the above base, and A second transmission pulley installed on the finger body, and A transmission belt wound around the first and second transmission pulleys, and A first idler pulley that applies tension to the above-mentioned power belt, and A second idler pulley that applies tension to the above-mentioned power belt, and A hand having a link mechanism connected to each of the base and the finger body, and supporting the first idler pulley and the second idler pulley.
In paragraph 4, The above link mechanism is, A first link that rotatably supports the first idler pulley and is also rotatably connected to the base around the axis of the first transmission pulley, and A second link that rotatably supports the first idler pulley and is also rotatably connected to the finger body around the axis of the second transmission pulley, and A third link that rotatably supports the second idler pulley and is also rotatably connected to the finger body around the axis of the second transmission pulley, and It includes a fourth link that rotatably supports the second idler pulley and is also rotatably connected to the base around the axis of the first transmission pulley. Hand, wherein the diameter of the pitch circle of each of the first transmission pulley, the second transmission pulley, the first idler pulley, and the second idler pulley is the same as each other.
In paragraph 4, The above link mechanism is, A first link that rotatably supports the first idler pulley and is also rotatably connected to the base around the axis of the first transmission pulley, and A second link that rotatably supports the first idler pulley and is also rotatably connected to the finger body around the axis of the second transmission pulley, and A third link that rotatably supports the second idler pulley and is also rotatably connected to the finger body around the axis of the second transmission pulley, and It includes a fourth link that rotatably supports the second idler pulley and is also rotatably connected to the base around the axis of the first transmission pulley. Hand, the lengths of the first link, the second link, the third link, and the fourth link are the same.
In paragraph 3, The finger body is supported on the base so as to be oscillating around the axis of the first pulley, and is a hand that is displaced in the first direction by oscillating around the axis of the first pulley.
In Paragraph 7, The finger body is additionally provided with a torsion spring that pushes the finger body in the first direction toward the closing direction of the finger, The axis of the above torsion spring is a hand located at an eccentric position relative to the axis of the first pulley.
In paragraph 1, The finger comprises a first pulley that is rotationally driven, a second pulley disposed at the tip of the finger, and a third pulley disposed between the first pulley and the second pulley. The above endless belt is wound around the first pulley, the second pulley, and the third pulley, and A hand in which the spacing between the third pulleys of the plurality of fingers is narrower than the spacing between the second pulleys of the plurality of fingers.

Description

Hand The technology disclosed herein relates to the hand. Conventionally, a hand equipped with fingers having a rotary-driven belt is known. For example, the hand described in Patent Document 1 has two fingers. Each finger has a rotary-driven belt. This hand pulls a workpiece between the two fingers by rotating the belt. When a workpiece is drawn between multiple fingers by a belt, the workpiece is drawn in by being properly sandwiched between the tips of the multiple fingers. If the positional precision of the tips of the multiple fingers relative to the workpiece is low, there is a risk that the workpiece cannot be drawn between the multiple fingers. Furthermore, if the spacing between the multiple fingers is not properly set relative to the workpiece, there is a risk that the workpiece cannot be drawn between the multiple fingers. Proper drawing of the workpiece can be achieved by improving the precision of the position and spacing of the multiple fingers. However, increasing the precision of the position and spacing of the multiple fingers raises the difficulty of control and causes the control operation to become slower. The technology disclosed herein is made in consideration of these points, and its purpose is to provide a hand that can facilitate the control of workpiece entry. The hand of the present disclosure comprises a hand body and a plurality of fingers installed on the hand body and capable of opening and closing, wherein each of the plurality of fingers has an endless belt that is wrapped around at least the tip of the finger, is rotatably driven, and contacts a workpiece, and wherein the fingers are elastically displaceable in a first direction in which the plurality of fingers open and close, and are also elastically displaceable in a second direction in which they advance and retract relative to the hand body. According to the above hand, control for the entry of the workpiece can be facilitated. Figure 1 is a schematic diagram showing the configuration of a robot system. Figure 2 is a front view of the hand. Figure 3 is a bottom view of the hand. Figure 4 is a cross-sectional view of the hand along the line IV-IV of Figure 3. Figure 5 is a cross-sectional view of the hand along the VV line of Figure 3. Figure 6 is a cross-sectional view of the hand along the line VI-VI of Figure 4. Fig. 7 is a perspective view of a finger. Figure 8 is a side view of the finger. Figure 9 is a cross-sectional view of a finger along the line IX-IX of Figure 8. Fig. 10 is a front view of the finger body and the support. Figure 11 is a cross-sectional view of a finger along the line XI-XI of Figure 8. Fig. 12 is a perspective view of a finger at a different angle from Fig. 7. Fig. 13 is a front view of the finger. FIG. 14 is a front view of a finger in a state where the finger body is displaced toward the second direction of retraction. Figure 15 is a diagram showing the schematic hardware configuration of the control device. Figure 16 is a block diagram showing the control system configuration of the processor. Figure 17 is a flowchart of the pick and place process. FIG. 18 is a schematic diagram illustrating an example of a search operation of a hand. Figure 19 is a schematic diagram of the case where the work is successfully inserted. Figure 20 is a schematic diagram illustrating the state of the finger when the work is inserted. Figure 21 is a schematic diagram illustrating another example of a hand's search operation. Figure 22 is a schematic diagram illustrating another example of a hand's search operation. Hereinafter, exemplary embodiments will be described in detail based on the drawings. FIG. 1 is a schematic diagram showing the configuration of a robot system (1000). In the present disclosure, parallel, orthogonal, identical, coincident, simultaneous, or central includes not only strictly parallel, orthogonal, identical, coincident, simultaneous, or central but also substantially parallel, orthogonal, identical, coincident, simultaneous, or central. A robot system (1000) comprises a hand (2), a robot arm (10) connected to the hand (2), and a control device (100) that controls the hand (2) and the robot arm (10). The hand (2) and the robot arm (10) are included in a robot (1). That is, the robot system (1000) comprises a robot (1) including the hand (2) and the robot arm (10). The robot system (1000) picks a work (W) by the hand (2). In this example, the robot system (1000) picks one work (W) from a plurality of work (W) bulk loaded in a container (19). However, the robot system (1000) may pick a specific work (W) that is placed alone. The robot (1) is, for example, an industrial robot. The robot (1) operates the hand (2) by means of a robot arm (10). The hand (2) is one of the so-called end effectors. The hand (2) grasps a workpiece (W). The robot arm (10) is configured to operate in a three-dimensional shape. Specifically, the robot arm (10) is configured to perform a motion including at least th