Robot hand and control method for the robot hand

Patent metadata

Field	Value
Publication number	US-11192263-B2
Application number	US-201816217512-A
Country	US
Kind code	B2
Filing date	Dec 12, 2018
Priority date	Dec 14, 2017
Publication date	Dec 7, 2021
Grant date	Dec 7, 2021

Abstract

A robot hand is provided and includes a robot hand control unit that has at least three gripping fingers on a base and controls the robot hand, a plurality of drive mechanisms that brings the three gripping fingers independently close to or separate from each other, a plurality of drive control units that individually controls each of a plurality of drive sources of the plurality of drive mechanisms, and a distribution control unit that is disposed on the base and distributes an instruction value from the robot hand control unit to the plurality of drive control units associated with the plurality of gripping fingers. At least one of the gripping fingers includes an integrally formed drive source and drive control unit.

First claim

What is claimed is:

1. A robot device comprising:
a robot hand configured to grip a target object, the robot hand including a plurality of finger portions on a base; and
a robot hand control unit configured to control the robot hand,
wherein the robot hand includes
a plurality of drive sources configured to bring the finger portions close to or separate from each other,
a plurality of first control units configured to control individually each of the plurality of drive sources; and
a second control unit configured to distribute a control value from the robot hand control unit to the plurality of first control units associated with the finger portions.

2. The robot device according to claim 1 , wherein at least one of the finger portions is configured so that the drive source and the drive control unit are integral with each other and are detachable from the base.

3. The robot device according to claim 2 , wherein a cable from the first control unit of one of the finger portions attachable to the base is removable from the base together with the at least one of the finger portions attachable to the base, the drive source and the first control unit.

4. The robot device according to claim 1 ,
wherein the plurality of finger portions is at least three finger portions,
wherein the base includes
a turning drive source configured to turn two of the three finger portions to change a position of the two of the three finger portions with respect to the target object such that the two of the three finger portions are positioned closer to or separate from the target object, and
a third control unit configured to control the turning drive source, and
wherein the second control unit distributes the control value from the robot hand control unit to the plurality of first control units associated with the respective three finger portions and to the third control unit.

5. The robot device according to claim 4 ,
wherein in the three finger portions, the finger portion that is not turned by the turning drive source has a force detection unit configured to detect a force applied to the finger portion, and
wherein the second control unit receives a detection result from the force detection unit and distributes the detection result to the plurality of first control units.

6. The robot device according to claim 5 , wherein the second control unit determines whether a detection result of the force detection unit is output to at least one of the plurality of first control units or to the robot hand control unit.

7. The robot device according to claim 5 , wherein the third control unit is disposed on the base and at a root of a finger portion that is not rotated by the turning drive source.

8. The robot device according to claim 4 , wherein the turning drive source drives two of the three finger portions using a gear mechanism.

9. The robot device according to claim 4 , wherein the base, the turning drive source, the second control unit and the third control unit are integrated.

10. The robot device according to claim 4 , wherein the robot hand includes a stopper to prevent two of the finger portions rotated by the turning drive source from interfering with each other.

11. The robot device according to claim 1 , wherein the robot hand control unit and the second control unit are connected to each other by serial communication.

12. The robot device according to claim 1 , wherein the plurality of drive sources drives the finger portions using bevel gears.

13. The robot device according to claim 1 , wherein the plurality of drive sources drives the finger portions using parallel link mechanisms.

14. The robot device according to claim 1 , wherein a wave reduction gear is connected to the plurality of drive sources.

15. The robot device according to claim 1 , wherein the second control unit is disposed on the base.

16. The robot device according to claim 1 ,
wherein each of the plurality of drive sources includes a position detection unit configured to detect a position of a rotation shaft, and
wherein the plurality of first control units executes feedback control on the plurality of drive sources corresponding to the plurality of first control units based on the position detection unit.

17. The robot device according to claim 1 , wherein cables from the plurality of first control units are connected to the second control unit and disposed on the base.

18. A control method for a robot device, the robot device including
a robot hand configured to grip a target object, the robot hand including a plurality of finger portions on a base, and
a robot hand control unit configured to control the robot hand,
wherein the robot hand includes
a plurality of drive sources configured to bring the finger portions close to or separate from each other,
a plurality of first control units configured to control individually each of the plurality of drive sources, and
wherein a second control unit configured to distribute a control value from the robot hand control unit to the plurality of first control units associated with the finger portions, the control method comprising:
causing the robot hand control unit to transmit control values associated with the respective plurality of first control units collectively to the second control unit;
causing the second control unit to distribute the control values from the second control unit to the plurality of first control units associated with the finger portions, respectively; and
causing the plurality of first control units to operate the plurality of drive sources, to move the finger portions based on the control values from the second control unit.

19. The control method according to claim 18 , further comprising:
causing the robot hand control unit to transmit, to the second control unit, control values for setting home positions of the plurality of drive sources;
causing the second control unit to distribute the control values for causing the plurality of drive sources to set the home positions from the robot hand control unit to the plurality of first control units associated with the finger portions; and
causing the plurality of first control units to abut abutment portions provided on the finger portions, respectively, against members included in the base and to set abutment positions as the home positions of the plurality of drive sources.

20. An assembly method for articles using a robot device, the robot device including
a robot hand configured to grip a target object, the robot hand including a plurality of finger portions on a base, and
a robot hand control unit configured to control the robot hand,
wherein the robot hand includes
a plurality of drive sources configured to bring the finger portions close to or separate from each other,
a plurality of first control units configured to control individually on each of the plurality of drive sources, and
wherein a second control unit configured to distribute a control value from the robot hand control unit to the plurality of first control units associated with the finger portions, the assembly method comprising:
causing the robot hand control unit to transmit, to the second control unit, control values that are associate with the plurality of the first control units and are for gripping the target object;
causing the second control unit to distribute the control values from the robot hand control unit to the plurality of first control units associated with the finger portions, respectively;
causing the plurality of

Assignees

• Canon Kk

Inventors

• Ueno Masamichi

Classifications

• B25J15/0266

  actuated by articulated links · CPC title

• B25J13/082 Primary

  Grasping-force detectors (in general G01L5/16, G01L5/22) · CPC title

• B25J9/08

  characterised by modular constructions · CPC title

• B25J15/0061

  mounted on a modular gripping structure · CPC title

• B25J15/00

  Gripping heads {and other end effectors (grippers used in machine tools B23Q7/04; gripping members fitted on cranes B66C1/42, B66C1/44; gripping means used for mounting electrical components H05K13/04; gripping means used in the manufacture of semiconductors H10P72/7602)} · CPC title