JP5912474B2 - Robot hand device - Google Patents

Description

  The present invention relates to a robot hand device attached to the tip of a robot arm, and more particularly to a robot hand device having a plurality of extendable hands that grip and take out a plurality of workpieces.

  Conventionally, in a manufacturing factory or the like, various robot hand devices that can be attached to the wrist of the tip of an arm such as a vertical articulated robot or a horizontal articulated robot have been put into practical use. In these robot hand devices, in order to move workpieces of different types and postures from one place to another, a hand suitable for the workpiece is selected from a plurality of hands, and the hand In many cases, the work is gripped and moved to another location.

  Here, as the robot hand device having a plurality of arms described above, a turret equipped with a plurality of hands is rotatably provided at the tip of the robot arm, and a turret hand that switches hands by rotating the turret, a plurality of hands A tool changer hand, etc. that is installed on the tip of the robot arm by selecting a tool suitable for the workpiece to be gripped from the tool changer and placing it at a predetermined location near the robot. .

  As this type of robot hand device, Patent Document 1 discloses a parallel robot used for transferring a workpiece. In this parallel robot, a work pitch variable device is provided at the lower end of the parallel link mechanism, a plurality of moving blocks are supported in a single row on the work pitch variable device, and a pair of suction pads are provided on each moving block. The horizontal spacing of the plurality of moving blocks can be adjusted via the mechanism.

  Patent Document 2 discloses a work clamping device that can be securely attached to a robot hand and can be attached to a robot hand even when there is a step in the shape of the workpiece. This work clamping device includes a plurality of air cylinders and a plurality of suction pads provided at the tip of the piston rods of the air cylinders, and a plurality of piston rods are advanced to correspond to the shape of the work. A suction pad is used to suck and fix one workpiece.

JP 2011-25392 A JP 2008-87125 A

  When a workpiece is gripped or attracted and moved by a robot, the workpiece is stored in a stacked state in a storage case, and the workpiece may be taken out of the workpiece and set in an aligned state on a jig or the like.

  In the above turret hand, the turret can be rotated to select a hand from a plurality of hands according to the shape or posture of the work, and the work can be gripped. It will increase in size. For this reason, it may be difficult to take out the work at the back or corner of the storage case, or the storage case or the work in the storage case may interfere with the robot hand device.

  In the tool changer hand described above, since a corresponding hand is selected from the tool changer according to the shape or posture of the workpiece and this hand is attached to and detached from the tip of the robot arm, it takes time to select and attach and remove the hand. Since a single work is held by a single hand attached to the tip of the arm, it is very difficult to speed up the take-out operation, and the manufacturing cost of the tool changer is expensive.

  In the parallel robot of Patent Document 1, since the work pitch variable device equipped with a plurality of moving blocks becomes large, it is not suitable for taking out a work from a storage case, and the height positions of the plurality of moving blocks are not suitable. Since it is constant and cannot be changed according to the workpiece, it cannot deal with workpieces in bulk.

  The work clamp device attached to the robot arm of Patent Document 2 is one in which one work with a step is sucked and fixed with a plurality of hands, and two air cylinders are arranged in parallel. Therefore, since the work clamping device is equipped with a plurality of types of suction pads, it is not suitable for work such as taking out various works with different shapes and postures, but suitable for picking up multiple works at the same time. It is not a thing.

An object of the present invention is to provide a robot hand device that can hold a plurality of workpieces in a plurality of hands in order and move them by collectively removing them, and a plurality of expansion and contractions that can be independently extended and inserted into a narrow space. Providing a robot hand device in which a hand is provided at each end of a member;
For example, to provide a robot hand device that can be used in parallel by installing a plurality of types of hands capable of gripping a workpiece of a plurality of types and postures.

The robot hand device according to claim 1 is a robot hand device having a plurality of hands, and is fixed to an attachment surface orthogonal to the rotation axis of the wrist at the tip of the robot arm, and extends in a direction perpendicular to the attachment surface. a body member provided on a plurality of telescoping mechanism provided to be extendable in said body member extending direction each independently to said body member, respectively provided on the tip portion of the elastic member of the plurality of telescoping mechanism A plurality of hands , wherein the telescopic mechanism is a guide mechanism that guides the telescopic member and the main body member so that the telescopic member can move up and down and cannot move horizontally. A guide mechanism provided on the surface portion and drive cylinder means capable of moving the telescopic member up and down relative to the main body member are provided .

The robot hand apparatus according to claim 2, characterized in that in the invention of claim 1, expansion mechanism before Kifuku number is disposed to be at equal intervals around the rotation axis of the wrist portion to the body member in the circumferential direction It is characterized by that.

  According to a third aspect of the present invention, there is provided the robot hand apparatus according to the first or second aspect, wherein the plurality of hands include a plurality of types of hands corresponding to a plurality of types of shapes or postures.

Robot hand apparatus according to claim 4 is the invention of any one of claims 1 to 3, wherein the drive cylinder unit is characterized in that an air cylinder.

  According to a fifth aspect of the present invention, there is provided the robot hand device according to the fourth aspect, further comprising an elastic member that elastically biases the piston rod of the air cylinder toward the advance side or the retract side.

  A robot hand device according to a sixth aspect of the present invention is the robot hand device according to any one of the first to fifth aspects, wherein a drive control unit that independently drives and controls the plurality of expansion and contraction mechanisms and a gripping target that is gripped by the plurality of hands. Imaging means for imaging a storage area in which workpieces are stored in a stacked state, and each time the storage area is imaged by the imaging means, the plurality of drive control means based on image information received from the imaging means It is characterized by gripping a plurality of workpieces by a plurality of hands by independently driving and controlling the expansion and contraction mechanisms.

  A robot hand device according to a seventh aspect of the present invention is the robot hand device according to any one of the first to fifth aspects, wherein a drive control unit that independently drives and controls the plurality of expansion and contraction mechanisms and a gripping target that is gripped by the plurality of hands. Imaging means for imaging the conveyance state of the workpiece by the belt conveyor, imaging the conveyance state of the workpiece by the imaging means, and the drive control means storing storage information of the conveyance destination of conveyance of the workpiece by the robot arm; Based on the image information received from the imaging means, the plurality of extension mechanisms are independently driven and controlled while controlling the position and turning angle of the wrist, and the postures of the plurality of workpieces in plan view are controlled by the plurality of hands. It is characterized by gripping while aligning.

According to the first aspect of the present invention (robot hand device), the main body is fixed to an attachment surface orthogonal to the rotational axis of the wrist at the tip of the robot arm and is provided so as to extend in a direction perpendicular to the attachment surface. A member, a plurality of expansion / contraction mechanisms provided on the main body member independently of each other, and a plurality of hands provided respectively at the distal ends of the expansion / contraction members of the plurality of expansion / contraction mechanisms. A guide mechanism for guiding the expansion / contraction member to be movable up and down with respect to the main body member so as not to move in the horizontal direction, and a guide mechanism provided on the outer surface of the main body member, and driving the expansion / contraction member to the main body member. Since the drive cylinder means is provided , the operation of the expansion / contraction mechanism can be performed smoothly and with high precision. When performing work such as taking out a workpiece stacked in a storage case, the expansion / contraction of a plurality of expansion / contraction mechanisms can be performed. Element The work efficiency is improved by moving the robot arm while holding the workpiece in multiple hands by repeatedly extending and gripping the workpiece with the hand one by one. Can be significantly increased.

  On the tip side of the robot arm, there is only one hand at the tip of the extended telescopic member, and the other hands are held in the retracted position by the contracted elastic member. Interference with the internal work can be avoided, and the work can be taken out from a narrow space such as the back or corner of the storage case. In addition, since the plurality of hands can be a plurality of types of hands according to the shape and posture of the workpiece, the performance of gripping the workpiece with the robot hand device can be improved and the versatility can be improved.

According to the invention of claim 2, telescopic mechanism of multiple, so it arranged so as to be equally spaced circumferentially about the axis of rotation of the wrist portion to the body member, the compact as a whole number of telescopic mechanism This is advantageous in terms of controlling the position of the hand through the rotation of the wrist.

  According to the invention of claim 3, since the plurality of hands include a plurality of types of hands corresponding to a plurality of types or shapes of workpieces, the plurality of types of hands can be used to take out workpieces of a plurality of types or postures. Work can be done easily.

According to the invention of claim 4, since the drive cylinder means is an air cylinder, the telescopic member can be telescopically driven by the driving force of the air cylinder, and the operation of the telescopic mechanism can be smoothly performed with high accuracy and high speed. And the configuration can be simplified.

  According to the invention of claim 5, since the expansion / contraction mechanism includes an elastic member that elastically biases the piston rod of the air cylinder toward the advance side or the retreat side, the supply line of the pressurized air to the air cylinder is provided. One system can be reduced. Moreover, the operation of the telescopic member toward the advancing side or the retracting side can be speeded up.

  According to the invention of claim 6, each time the storage area is imaged by the imaging means, the drive control means independently drives and controls the plurality of expansion / contraction mechanisms based on the image information received from the imaging means. Therefore, it is possible to select an optimum area for taking out the work from the storage area based on the image information, and control to take out the work.

  According to the seventh aspect of the present invention, the image of the conveyance state of the workpiece is picked up by the imaging means, and the wrist control unit is based on the storage information of the conveyance destination of the conveyance by the robot arm of the workpiece and the image information received from the imaging means While controlling the position and the turning angle of each of the plurality of expansion and contraction mechanisms independently, and gripping while aligning the posture in a plan view of a plurality of workpieces by a plurality of hands, at the transfer destination of the transfer by the robot arm, It is not necessary to turn the wrist of the robot arm for each hand in the workpiece gripping state, and a plurality of workpieces can be quickly placed on the transfer destination.

It is a side view of the robot hand apparatus (expandable member contracted state) according to the first embodiment. It is a front view of a robot hand device (expandable member contraction state). It is the III-III sectional view taken on the line of FIG. It is a front view of hand 4B It is a side view of the hand 4B. It is a side view of hands 4A and 4B concerning a change form. It is a side view of the hand 4C. It is a rear view of the hand 4C. It is a front view of hand 4C. It is a side view of the hand 4C in a different use state. It is a front view of the robot hand apparatus which concerns on Example 2, and the some workpiece | work accommodated in the storage case in the piled-up state. It is a block diagram of the control system of a robot and a robot hand apparatus. 6 is a flowchart of workpiece removal control. It is a side view of the robot hand apparatus (expandable member contraction state) according to the third embodiment. It is a side view of a robot hand device (expandable member extended state). FIG. 6 is a side view of a robot hand apparatus according to a fourth embodiment. It is a block diagram of the control system of a robot and a robot hand apparatus. 6 is a flowchart of workpiece removal control. It is a state explanatory drawing explaining the taking-out operation | work of a workpiece | work, (a) is a top view of the some workpiece | work of a conveyor state with a belt conveyor, (b) is a top view of a some workpiece | work of a storage box and a accommodation state, (c). FIG. 9 is a diagram showing a modification of (b).

  Hereinafter, modes for carrying out the present invention will be described based on examples.

First, the overall configuration of the robot hand apparatus 1 will be described.
As shown in FIGS. 1 to 10, the robot hand device 1 includes a main body member 2, three sets of expansion / contraction mechanisms 3 of the same structure provided in the main body member 2, and expansion / contraction members of the three sets of expansion / contraction mechanisms 3. A plurality of types of hands 4A, 4B, and 4C capable of gripping a plurality of types of shapes or postures of workpieces W1 attached to the tip of 35 are provided. This robot hand device 1 is provided at the tip of a robot arm A such as a vertical articulated robot or a horizontal articulated robot so as to be rotatable around a rotation axis S via a wrist W.

  Below, the robot hand apparatus 1 demonstrates as an example the case where it is set as the vertical reference | standard attitude | position. 1 and 2, only one set of the expansion / contraction mechanism 3 and the hand 4A of the robot hand device 1 are shown, and the other expansion / contraction mechanism 3 and the hands 4B and 4C are not shown. Further, the number of the expansion / contraction mechanism 3 and the hands 4A, 4B, and 4C is not limited to three sets, and may be two sets or four or more sets. In this embodiment, the case of three sets will be described as an example. To do.

Next, the main body member 2 will be described.
As shown in FIGS. 1 to 3, the main body member 2 includes an upper end plate member 31 fixed to the attachment surface F of the wrist W of the robot arm A, and a triangular tube member 32 fixed to the lower surface of the upper end plate member 31. The three connecting plates 33 are fixed to the outer peripheral portion of the triangular tube member 32, and the annular member 34 is fixed to the lower end portions of the three connecting plates 33. The main body member 2 is provided to extend vertically downward (vertically downward) with respect to the attachment surface F of the wrist W of the robot arm A (perpendicular to the rotational axis S of the wrist W).

  The upper end plate member 31 is a disc. The upper end plate member 31 is fixed to the attachment surface F by a plurality of bolts 31a in a state of being brought into contact with the attachment surface F of the wrist W from below and positioned by a pin member. On the lower surface of the upper end plate member 31, an upper end flange portion 32c of the upper end portion of the triangular tube member 32 is fixed by a plurality of bolts 32d.

  The triangular cylinder member 32 has a length of about 40 to 50% of the entire length of the main body member 2. The outer shape of the triangular cylinder member 32 is a triangular shape in which the corners of a regular triangle are arcuate, and three fixed surfaces 32a corresponding to three sides are formed at equal intervals in the circumferential direction. . The triangular cylinder member 32 has a common axis with the rotation axis S of the wrist W. The fixed surface 32a is a vertical surface parallel to the rotation axis S. A cylindrical hole 32 b is formed in the central portion of the triangular cylinder member 32.

  The connecting plate 33 is a strip-shaped plate member having a length of about 2.5 times the total length of the triangular tube member 32 and substantially the same width as the fixed surface 32a. In each of the three connecting plates 33, the upper portion of the connecting plate 33 is in contact with the fixing surface 32 a, and is fixed to the fixing surface 32 a by a plurality of bolts 33 a and extends downward from the triangular cylinder member 32. In this way, the three connecting plates 33 are arranged at equal intervals in the circumferential direction. The annular member 34 has the same outer shape as the triangular tube member 32 and three fixed surfaces 34a. The fixing surface 32a and the fixing surface 34a of each side are on a common vertical surface, and the lower ends of the three connecting plates 33 are respectively fixed to the three fixing surfaces 34a with a plurality of bolts.

Next, the telescopic mechanism 3 will be described.
As shown in FIGS. 1 to 3, the three sets of expansion / contraction mechanisms 3 are provided on the main body member 2 so as to be independently expandable / contractable and are provided at three equal positions in the circumferential direction. These three sets of expansion / contraction mechanisms 3 are arranged on the main body member 2 at equal intervals in the circumferential direction around the rotation axis S of the wrist W of the robot arm A. These expansion and contraction mechanisms 3 are independently driven and controlled by a hand drive control unit (drive control means, not shown). Since all the three sets of expansion / contraction mechanisms 3 have the same configuration, only one set of the expansion / contraction mechanisms 3 will be described below.

  As shown in FIGS. 1 to 3, the expansion / contraction mechanism 3 includes an expansion / contraction member 35 extending in a direction parallel to the rotation axis S of the wrist W and a hand 4 </ b> A connected to the expansion / contraction member 35 and the distal end of the expansion / contraction member 35. Includes a linear guide 36 that guides the shaft in a direction parallel to the rotation axis S, an air cylinder 37 that drives the telescopic member 35 to extend and contract.

  The expandable member 35 is a plate member having substantially the same width as the connecting plate 33, is formed somewhat shorter than the guide rail 36a of the linear guide 36, and is disposed in parallel near the outside of the guide rail 36a. The upper end portion of the expansion / contraction member 35 is fixed to the slider 36b of the linear guide 36 with a bolt 35a, and the expansion / contraction member 35 is guided by the linear guide 36 so as to move smoothly with low friction in the direction parallel to the rotational axis S. A hand 4 </ b> A is attached to the distal end (lower end) of the elastic member 35.

  As shown in FIGS. 1 and 2, the linear guide 36 includes a guide rail 36a extending in a direction perpendicular to the attachment surface F of the wrist W and a slider 36b engaged with the guide rail 36a so as to be slidable in the vertical direction. And. The guide rail 36 a is fixed to the outer surface of the lower half portion of the connecting plate 33 with a plurality of bolts. The slider 36b is configured to be movable up and down over an upper limit position indicated by a solid line and a lower limit position indicated by a two-dot chain line in FIG. When the slider 36b is at the upper limit position, the elastic member 33 is in a contracted state, and when the slider 36b is at the lower limit position, the elastic member 33 is in an extended state.

Next, the air cylinder 37 will be described.
As shown in FIGS. 1 and 2, the double-acting air cylinder 37 includes a cylinder body 38 and a piston rod 39 that extends downward from the piston portion in the cylinder body 38 and protrudes from the cylinder body 38. Yes. The air cylinder 37 is disposed outside the upper half of the connecting plate 33 and in parallel with the rotation axis S with a space therebetween. A forward operation chamber is formed above the piston portion in the cylinder body 38, and a backward operation chamber is formed below the piston portion.

  The end wall member 38a at the upper end portion of the cylinder body 38 is formed with a pressurized air port 38c that communicates with the forward operation chamber, and the end wall member 38b at the lower end portion of the cylinder body 38 communicates with the return operation chamber. A pressurized air port 38d is formed, and these pressurized air ports 38c, 38d are connected to a pressurized air supply source by pressurized air supply hoses (not shown), respectively. When the piston rod 39 is extended, pressurized air is supplied to the forward operation chamber and the pressurized air in the backward operation chamber is discharged. Contrary to the above, when the piston rod 39 is extended, pressurized air is supplied to the backward operation chamber and the pressurized air in the forward operation chamber is discharged.

  An end wall member 38 a on the upper end side of the cylinder body 38 is fixed to the upper end portion of the connecting plate 33 via an L-shaped bracket 40 and a spacer 41, and an end wall member 38 b on the lower end side of the cylinder body 38 is fixed to the L-shaped bracket 42. And the spacer 43 through the spacer 43.

  In order to fix the lower end portion of the piston rod 39 to the expansion / contraction member 35, the connection base 44 is fixed to the outer surface of the expansion / contraction member 35 at the middle stage of the expansion / contraction member 35, and the connection block 45 is fixed to the horizontal upper surface of the connection base 44. The lower end of the piston rod 39 is connected to the connection block 45 by a screw connection 46 including a nut. The connection base 44 includes two brackets 44a and a horizontal plate 44b fixed to the upper ends of the brackets 44a.

Next, three types of hands 4A, 4B, and 4C will be described.
As shown in FIGS. 1 to 10, in the robot hand device 1 of the present embodiment, three types of hands 4 </ b> A and 4 </ b> B are used in order to hold the workpiece W <b> 1 in various postures in a stacked state in the storage case. , 4C are provided at the distal ends of the three sets of elastic members 35, respectively.

  The hand 4A is a hand capable of gripping the shaft portion W1a of the workpiece W1 in the vertical orientation, the hand 4B is a hand capable of gripping the shaft portion W1a of the workpiece W1 in the lateral orientation, and the hand 4C is a workpiece arranged sideways. This is a hand capable of gripping the large diameter portion W1b of W1.

  Since the hands 4A and 4B have the same configuration, the configuration of the hand 4A will be described first. As shown in FIGS. 1 to 5, the hand 4 </ b> A grips the workpiece W <b> 1 by being driven to open and close by the hand body 50, a hand drive mechanism (not shown) provided in the hand body 50, and the hand drive mechanism. A possible pair of claw members 51 and 52 are provided.

  The hand main body 50 is configured as a rectangular parallelepiped box, and the hand main body 50 is fixed to the outer surface of the lower end portion of the elastic member 35 with a plurality of bolts 50a. The hand drive mechanism inside the hand body 50 is configured to open and close the pair of claw members 51 and 52 by a small double-acting air cylinder. Two pressurized air ports 50b and 50c for supplying and discharging pressurized air to and from the air cylinder are provided in the hand main body 50, and these two pressurized air ports 50b and 50c are provided with a pressurized air supply hose (not shown). ) To the pressurized air supply source.

  A pair of parallel output members 53 and 54 that are opened and closed by a hand drive mechanism are provided so as to protrude vertically downward from the hand main body 50, and a pair of claw members are provided on the pair of output members 53 and 54. 51 and 52 are respectively fixed by a plurality of bolts 51a and 52a.

  The pair of claw members 51 and 52 are formed in an L shape in a side view, and fixing portions 51b and 52b fixed to the outer surfaces of the output members 53 and 54 are formed on the claw members 51 and 52. Claw portions 51c and 52c are formed at the lower portion of 52, projecting to the opposite side of the rotation axis S from the fixed portions 51b and 52b, and the inner surface on the workpiece gripping side being substantially flush with the inner surfaces of the output members 53 and 54. ing.

  In the pair of claw members 51, 52, on the inner surface portions of the claw portions 51c, 52c, V-groove shaped vertical groove portions 55, 56 capable of gripping the shaft portion W1a of the workpiece W1 in the vertical orientation, and the vertical groove portion 55 , 56 and transverse groove portions 57, 58 that are orthogonal to each other, and are capable of gripping the shaft portion W1a of the workpiece W1 in the lateral orientation.

  When gripping the workpiece W1 with these hands 4A and 4B, when the extended air cylinder is contracted by controlling supply / discharge of pressurized air to / from the air cylinder in the hand body 50, a pair of outputs The members 53 and 54 and the pair of claw members 51 and 52 are driven to close to each other, and the workpiece W1 can be gripped.

  When gripping the shaft portion W1a of the workpiece W1 in the vertical orientation, as shown in FIGS. 1 to 3, the workpiece W1 is held by sandwiching the vertical shaft portion W1a of the workpiece W1 between the longitudinal groove portions 55 and 56. Grab. When gripping the shaft portion W1a of the workpiece W1 in the lateral orientation, as shown in FIGS. 4 and 5, the workpiece W1 is gripped by sandwiching the lateral shaft portion W1a of the workpiece W1 between the lateral groove portions 57 and 58. .

  When releasing the gripping of the workpiece W1, when the contracted air cylinder is extended by controlling supply / discharge of pressurized air to the air cylinder, the pair of output members 53, 54 and The pair of claw members 51 and 52 are driven to open so as to be separated from each other, so that the gripping of the workpiece W1 can be released.

  In order to make it possible to hold the workpiece W1 in an oblique posture, as shown in FIG. 6, the hand 4A may be fixed to the telescopic member 35 in an inclined manner so that the claw portions 51c and 52c face obliquely upward. Similarly, the hand 4A may be fixed to the expansion / contraction member 35 in an inclined shape so that the claw portions 51c and 52c are inclined obliquely downward.

Next, the hand 4C will be described.
As shown in FIGS. 7 to 9, the hand 4 </ b> C includes a hand main body 60, a hand drive mechanism including an air cylinder provided in the hand main body 60, and a pair of output members that are driven to open and close by the hand drive mechanism. 61 and 62 and a pair of claw members 63 and 64 that can be opened and closed by the hand drive mechanism via the output members 61 and 62 and can grip the workpiece W1, and the large-diameter portion W1b of the workpiece W1 in the lateral orientation is provided. To grip. Since the hand main body 60, the output members 61 and 62, and the hand drive mechanism are the same as those of the hands 4A and 4B, description thereof will be omitted and only the pair of claw members 63 and 64 will be described. Note that the left-right direction in FIG. 7 will be described as the left-right direction.

  The pair of claw members 63 and 64 are formed in a substantially crank shape arranged in parallel. As shown in FIGS. 7 and 8, the right claw member 63 is configured integrally with an upper fixing portion 65, a horizontal plate portion 66, a vertical claw portion 67, a plurality of reinforcing ribs, and the like. Has been. The fixing portion 65 is made of a vertically oriented plate member, and the upper end portion thereof is fixed to the outer surface of the output member 61 by a plurality of bolts 65a. The right end portion of the horizontal plate portion 66 is fixed to the lower end of the fixing portion 65, and the claw portion 67 is fixed to the left end portion of the horizontal plate portion 66.

  The claw portion 67 is a vertical plate 67c having an arch-shaped opening 67a into which the shaft portion W1a of the workpiece W1 can be introduced from below and a pair of claw body bodies 67b on both sides thereof, and is a vertical plate parallel to the output member 61. The plate 67c includes a pair of reinforcing ribs 67d fixed to the right end surface of the pair of claw body 67b of the vertical plate 67c and the horizontal plate 66. In addition, the width | variety of the arch-shaped opening part 67a is larger than the diameter of the axial part W1a of the workpiece | work W1, and is smaller than the diameter of the large diameter part W1b.

  As shown in FIGS. 7 and 9, the left claw member 64 is configured integrally with an upper fixing portion 68, a horizontal plate portion 69, a vertical claw portion 70, a plurality of reinforcing ribs, and the like. Has been. The fixing portion 68 is made of a vertically oriented plate member, and the upper end portion thereof is fixed to the outer surface of the output member 62 by a plurality of bolts 68a. The right end portion of the horizontal plate portion 69 is fixed to the lower end portion of the fixing portion 68, and the claw portion 70 is fixed to the left end portion of the horizontal plate portion 69.

  The claw portion 70 is a vertical plate 70c having an arch-shaped opening 70a into which the shaft portion W1a of the work W1 can be introduced from below and a pair of claw portion main bodies 70b on both sides thereof, and is a vertical plate parallel to the output member 62. The plate 70c is composed of a pair of reinforcing ribs 70d fixed to the left end face of the pair of claw body 70b of the vertical plate 70c and the horizontal plate 69. In addition, the width | variety of the arch-shaped opening part 70a is larger than the diameter of the axial part W1a of the workpiece | work W1, and is smaller than the diameter of the large diameter part W1b.

  The horizontal plate portion 69 is disposed above the horizontal plate portion 66 of the claw member 63, the claw portion 70 faces the claw portion 67 of the claw member 63 from the left side, and the arch-shaped opening of the claw portion 70 The shaft part W1a of the work W1 is introduced into the part 70a from below, and the pair of claw members 63, 64 are provided by the hand drive mechanism with the large-diameter part W1b of the work W1 positioned between the claw parts 67, 70. As shown in FIG. 7, the claw portion 67 and the claw portion 70 can grip the large-diameter portion W1b of the workpiece W1, and the pair of claw members 63 and 64 are separated after the workpiece W1 is taken out. By being driven in the direction, the gripping of the workpiece W1 can be released.

In addition, since the arch-shaped opening 67a is also formed in the claw portion 67, the shaft portion W1a of the workpiece W1 is introduced into the opening 67a from below, and the workpiece is interposed between the claw portion 67 and the claw portion 70. Even when the large-diameter portion W1b of W1 is positioned, the workpiece W1 can be gripped.
As shown in FIG. 10, the workpiece W1 can be taken out by holding the large-diameter portion W1b of the workpiece W1 in an inclined posture by the claw portion 67 and the claw portion 70 of the hand 4C.

Next, operations and effects of the robot hand apparatus 1 of the present invention will be described.
First, the robot arm A is driven and controlled by a robot control unit (not shown), the robot arm A is moved to a standby position, and the robot hand device 1 is driven and controlled by a hand drive control unit (drive control means). As shown in FIG. 1, three sets of telescopic members 35 are provided by supplying pressurized air to the return operation chambers of each set of air cylinders 37 and discharging the pressurized air from each of the forward operation chambers. Return to the upper limit position.

  Next, when the robot and the robot hand device 1 take out the workpiece W1 in various postures in a state of being stacked in the storage case, the imaging device provided on the robot arm A side for each take-out. Then, the inside of the storage case is imaged, the workpiece W1 to be grasped is determined based on the image information, the position of the robot arm A is controlled, and the robot hand apparatus 1 is operated.

  In this case, the robot arm A is moved above the storage case, and the first workpiece W1 in the vertical orientation (or the lateral orientation) that can be gripped by the first hand 4A after the imaging by the imaging device is determined, Next, the wrist W of the robot arm A is rotationally driven to position the first hand 4A above the first workpiece W1 to be grasped.

  Next, while supplying pressurized air to the forward movement chamber of the first air cylinder 37, the first telescopic member 35 is extended while discharging the pressurized air of the backward movement chamber, and the first hand 4A. Thus, the shaft portion W1a of the first workpiece W1 is gripped.

  Next, after the first telescopic member 35 and the first hand 4A are lifted by the first air cylinder 37, the movement of the robot arm A and / or the rotation of the wrist W are performed as described above. The second hand 4B is positioned above the workpiece W1 in the horizontal posture (or vertical posture), the second air cylinder 37 is extended, and the shaft portion W1a of the second workpiece W1 is gripped by the second hand 4B. After that, the second elastic member 35 and the second hand 4B are raised.

  Similarly, the third hand 4C holds the large-diameter portion W1b of the work W1 disposed sideways and holds it in the raised position, and then the robot hand 1 is moved to the target position by the robot arm A. Then, the first to third workpieces W1 gripped by the first to third hands 4A, 4B, and 4C are placed in a state of being aligned on the pallet at the target position.

  In this way, since the work picking work can be performed in units of three works, the work picking work can be efficiently performed. That is, the work members W1 are gripped by the plurality of hands 4A, 4B, and 4C by repeatedly extending the telescopic members 35 of the plurality of telescopic mechanisms 3 in order and gripping the work W1 by the hands 4A, 4B, and 4C. By operating the robot arm A in the state, a plurality of workpieces W1 can be taken out by a single picking operation, so that the work efficiency can be remarkably improved.

  Here, a narrow space such as a corner of the storage case and / or the partition plate, such as when the plurality of workpieces W1 are stored in the storage case in a stacked state, or when the storage case is partitioned by the partition plate, etc. It is also necessary to insert and hold the hands 4A, 4B, 4C in a narrow space between the storage case and / or the partition plate and the work W1, a narrow space between the work W1 and the work W1, and the like.

  On the tip side of the robot arm A, there is only one hand 4A at the tip of the extended telescopic member 35, and the other hands 4B and 4C are held at the retracted positions by the contracted elastic member 35. It is possible to avoid interference between the other hands 4B and 4C and the storage case and the workpiece W1 therein, and the workpiece W1 can be taken out from a narrow space such as the back or corner of the storage case. In addition, since a plurality of types of hands 4A, 4B, and 4C corresponding to the shape and posture of the workpiece W1 can be adopted as the plurality of hands 4A, 4B, and 4C, the performance of gripping the workpiece W1 with the robot hand device 1 is improved. , Can increase versatility.

  Since the plurality of expansion / contraction mechanisms 3 are arranged at equal intervals in the circumferential direction around the rotation axis S of the wrist W on the main body member 2, the plurality of expansion / contraction mechanisms 3 can be arranged in a compact manner. The robot hand device 1 can be downsized, and the position of the expansion / contraction mechanism 3 can be controlled through the rotation of the wrist W, which is advantageous in terms of control.

  Since the robot hand device 1 includes a plurality of types of hands 4A, 4B, and 4C corresponding to a plurality of types or postures of the workpiece W1, a plurality of types of shapes can be obtained by the plurality of types of hands 4A, 4B, and 4C. The work of taking out the workpiece W1 in the (shaft portion, large diameter portion) or posture (vertical direction, horizontal direction, oblique direction) can be easily executed.

  The expansion / contraction mechanism 3 includes an expansion / contraction member 35, a linear guide 36 that guides the expansion / contraction member 35 and the hands 4 </ b> A, 4 </ b> B, and 4 </ b> C connected to the tip of the expansion / contraction member 35 in a direction parallel to the rotational axis S of the wrist W. Since the expansion / contraction member 35 is provided with an air cylinder 37 for extending / contracting driving, the expansion / contraction member 35 can be driven by the driving force of the air cylinder 37, and the operation of the expansion / contraction mechanism 3 can be smoothly performed with high accuracy and speed. Can simplify the configuration.

  Next, an example of the picking-up process of the workpieces in the stacked state that can be applied to the robot hand apparatus 1 of the first embodiment will be described.

  As shown in FIG. 11, the robot hand apparatus 1 </ b> A according to the present embodiment is provided with two sets of expansion / contraction mechanisms 3 </ b> A similar to the expansion / contraction mechanism 3 of the robot hand apparatus 1 on both sides of the main body member 2 </ b> A. Hands 4A and 4B are respectively attached to the distal end portions (lower end portions) of the elastic members 35A of the two sets of expansion mechanisms 3A.

  An imaging camera 70 (corresponding to imaging means) is provided downward at the center of the lower end of the main body member 2A, and the robot hand apparatus 1A is held at a predetermined height above the storage case 71. In this state, the camera 70 can image the entire storage area in the storage case 71. The mounting position of the camera 70 does not have to be limited to the lower end portion of the main body member 2A, and may be provided in the vicinity of the main body member 2A, or the entire storage area in the storage case 71 can be imaged. If there is, the mounting position is not particularly limited.

  As shown in FIG. 12, the robot drive control unit 72 for controlling the robot controls the first to seventh servo motors 72a, 72b,... Of the robot, and two hand drive control units 73 are provided. The air cylinder 37A of the telescopic mechanism 3A is independently driven and controlled, and the hands 4A and 4B are independently driven and controlled. The hand drive control unit 73 is connected to the robot drive control unit 72. The robot drive control unit 72 and the hand drive control unit 73 correspond to drive control means.

  The drive control of the air cylinder 37A of the expansion / contraction mechanism 3A is performed through control of valves of a pressurized air supply source. The driving control of the hands 4A and 4B is performed through control of valves of a pressurized air supply source and control of a vacuum pump and valves. Image data captured by the camera 70 is supplied to the robot drive control unit 72. The robot of this embodiment will be described by taking a 7-axis multi-joint robot as an example. However, the robot is not limited to a 7-axis robot, and may be a 5-axis or 6-axis robot, or a robot other than a multi-joint robot.

  Next, the picking-up control of the workpieces in the stacked state executed by the robot drive control unit 72 and the hand drive control unit 73 will be described based on the flowchart of FIG. The control program for the workpiece removal control is stored in advance in a computer storage unit (for example, ROM) of the robot drive control unit 72. In the figure, Si (i = 1, 2,...) Indicates each step.

  First, when the control for taking out the plurality of workpieces W2 in a stacked state by the robot hand device 1A is started, the position of the robot arm A is controlled to move the camera 70 directly above the storage case 71, and FIG. In the state where the camera 70 is held at a predetermined height position above the position shown in FIG. 2, the entire storage area in the storage case 71 storing a plurality of works W2 in a stacked state is imaged by the camera 70 (S1). Image data picked up by the camera 70 is supplied to the robot drive control unit 72 and temporarily stored in a volatile storage unit (for example, RAM) of the computer.

  Next, the robot drive control unit 72 analyzes and stores the shapes and postures of the plurality of workpieces W2 in the storage area from the image data supplied from the camera 73 (S2). Next, the storage area in the storage case 71 is divided into two divided areas A and B corresponding to the two hands 4A and 4B in association with the shapes and postures of the plurality of workpieces W2, and the divided areas A and Data relating to B is stored (S3).

  In this work take-out control, the work W2 is taken out from one divided area A because two sets of work W2 are taken out by the two sets of hands 4A and 4B based on one-time imaging information by the camera 70. In this case, there is a possibility that a part of the workpiece W2 in the divided area A in the stacked state may collapse. However, the storage area is divided so that the collapse of the workpiece W2 does not affect the other divided area B.

  Next, the robot drive control unit 72 drives and controls the first to seventh axis servo motors 72a, 72b... To control the position of the robot arm A, and moves the hand 4A above the divided area A. Further, the hand 4A is moved above the workpiece W2 to be grasped (S4).

  Next, in order to take out the work W2 from the divided area A, the hand drive control unit 73 extends the telescopic member 35A of the telescopic mechanism 3A toward the gripped work W2 (S5), and controls the hand drive control unit 73. The left hand 4A grips the work W2 (S6), and the retractable member 35A is then contracted upward to take out the work W2 from the divided area A (S7).

  Next, in S8, it is determined whether or not the work for taking out the workpiece W2 is completed. If No, the process proceeds to S9, and the servomotors 72a, 72b,. Then, the position of the robot arm A is controlled, the hand 4B is moved above the divided area B, and the hand 4B is moved above the workpiece W2 to be grasped (S4).

  Next, in order to take out the workpiece W2 in the divided area B with the hand 4B, the hand drive control unit 73 extends the expansion / contraction member 35A of the expansion / contraction mechanism 3A toward the workpiece W2 to be grasped (S5). Then, the right hand 4B grips the work W2 through the control (S6), and then the retractable member 35A is contracted upward to take out the work W2 from the divided area B (S7).

  Next, it is determined whether or not the plurality of workpieces W2 are taken out from the storage area by the hands 4A and 4B (S8). If Yes, the process proceeds to S10, and the first to seventh axis servo motors are moved. 72a, 72b,... Are controlled to control the position of the robot arm A, and the two workpieces W2 gripped by the left and right hands 4A, 4B are moved to a predetermined place and placed on a predetermined pallet. To do.

  Next, it is determined whether or not the work for taking out the work W2 has been completed (S11). If No, the process proceeds to S1 and S1 and the subsequent steps are repeated. If Yes, the work by the robot hand apparatus 1A is performed. The work of taking out W2 is finished.

  In addition, although the present Example demonstrated the taking-out operation | work of the some workpiece | work W2 from the storage area divided into 2 with the two hands 4A and 4B, not only 2 divisions but 3 sets of expansion-contraction mechanisms and hands are equipped. The storage area is divided into 3 parts, and when 5 sets of expansion / contraction mechanisms and hands are equipped, the storage area is divided into 5 parts according to the number of expansion / contraction mechanisms and hands. It shall be.

  As described above, in the workpiece W2 take-out control of this embodiment, every time the storage area is imaged by the camera 70, the storage area is divided into two areas A and B corresponding to the hands 4A and 4B. Based on the image data received from the camera 70, the robot drive control unit 72 controls the position of the robot hand apparatus 1A, and the hand drive control unit 73 controls the driving of the two expansion / contraction mechanisms 3A and the hands 4A and 4B independently. Since the two workpieces W2 are held by the two sets of hands 4A and 4B, the optimum area for taking out the workpiece W2 from the storage area is selected, and the hand 4B is not affected by the removal of the workpiece by the hand 4A. The workpiece can be taken out with.

  Next, a robot hand device 1B according to a third embodiment in which the robot hand device 1 according to the first embodiment is partially changed will be described.

  As shown in FIGS. 14 and 15, the robot hand apparatus 1B includes a main body member 2B shaped like a bag, a plurality of expansion / contraction mechanisms 3B provided on the main body member 2B, and expansion / contraction of the plurality of expansion / contraction mechanisms 3B. And a plurality of suction-type hands 4D attached to the tip of the member 35B. 14 and 15, only one set of the expansion / contraction mechanism 3B and the hand 4D of the robot hand apparatus 1B is shown, and the other expansion / contraction mechanism 3B and the hand 4D are not shown.

  The expansion / contraction mechanism 3B of the robot hand apparatus 1B includes a compressed elastic member 30 that elastically biases the piston rod 39B of the air cylinder 37B toward the advance side, but the main body member 2B, the expansion / contraction mechanism 3B, and the hand 4D are Although there are different parts from the main body member 2, the telescopic mechanism 3 and the hands 4A to 4C of the first embodiment, they are basically the same and will not be described in detail.

  The elastic member 30 is composed of a compression spring member, and is fitted on the piston rod 39B in a compression manner between the main body member 2B and the expansion / contraction member 35B. The elastic member 30 is set to be in a maximum compression state when the piston rod 39B is in a retracted state as shown in FIG. 14, and to be in a minimum compression state when the piston rod 39B shown in FIG. 15 is in an extended state. .

  According to this configuration, since the force in the extending direction of the expansion / contraction member 35B is obtained from the elastic biasing force (spring force), the supply line of the pressurized air for advancement to the air cylinder 37B can be reduced by one system, and the elasticity A buffering action by the urging force can be obtained. This buffering action eliminates the need for precise positioning of the hand 4D and the workpiece W3. Since the hand 4D is of a suction type, the hand 4D and the work W3 are brought into close contact with each other by pushing the hand 4D against the work W3 by an elastic biasing force, and air leakage from the hand 4D is prevented. Can be prevented.

  In the above description, the elastic member 30 elastically biases the expansion / contraction member 35B toward the advance side, but it is not necessary to be limited to this, and the elastic member 30 elastically biases the piston rod 39B of the air cylinder 37B toward the retreat side. The structure provided with a member may be sufficient. In this case as well, it is possible to reduce the number of lines for supplying pressurized air for retraction to the air cylinder 37B by one system. In some cases, one work may be held by a plurality of hands 4D. By doing in this way, a workpiece | work can be hold | gripped more firmly.

  Next, an example of a process of taking out a plurality of workpieces that are arranged and transported in a discrete state on a belt conveyor applicable to the robot hand devices 1 and 1B will be described.

  As shown in FIG. 16, the robot hand device 1C of the present embodiment has substantially the same configuration as the robot hand device 1B of the third embodiment, and includes a main body member 2B, four sets of expansion / contraction mechanisms 3B, And four sets of suction-type hands 4D respectively attached to the distal ends of the expansion and contraction members 35B of the expansion and contraction mechanism 3B. In FIG. 16, only two sets of the expansion / contraction mechanism 3B and the hand 4D of the robot hand apparatus 1C are illustrated, and the other two sets of the expansion / contraction mechanism 3B and the hand 4D are not shown.

  An imaging camera 70C (corresponding to imaging means) is provided downward at the center of the lower end of the main body member 2B, and the robot hand apparatus 1C is held at a predetermined height above the belt conveyor 80. In this state, the camera 70 </ b> C can image the conveyance state of the plurality of workpieces W <b> 4 on the belt conveyor 80. The mounting position of the camera 70C does not have to be limited to the lower end portion of the main body member 2B, and may be provided in the vicinity of the main body member 2B, and the conveyance state of the workpiece W4 on the belt conveyor 80 can be imaged. If so, the mounting position is not particularly limited. Image data captured by the camera 70C is supplied to the robot drive control unit 72C.

  As shown in FIG. 17, the robot drive control unit 72C for controlling the robot controls the first to seventh axis servo motors 72a, 72b, etc., and is connected to the robot drive control unit 72C. The hand drive control unit 73C independently drives and controls the air cylinders 37B of the four sets of expansion / contraction mechanisms 3B, and independently drives and controls the hand 4D. The robot drive control unit 72C and the hand drive control unit 73C correspond to drive control means. The control units 72C and 73C are substantially the same as the robot drive control unit 72 and the hand drive control unit 73 of the second embodiment.

  Next, a plurality of the same type of workpieces W4 that are arranged and conveyed on the belt conveyor 80 executed by the robot drive control unit 72C and the hand drive control unit 73C are taken out and taken out of the workpieces stored in the storage box. The control will be described based on the flowchart of FIG. The control program for the workpiece removal control is stored in advance in a storage unit (for example, ROM) of a computer of the robot drive control unit 72C. In the figure, Si (i = 21, 22,...) Indicates each step.

First, an outline of the workpiece removal control will be described.
In this workpiece take-out control, the camera 70 images the transfer state of the workpiece W4 on the conveyor 80, and receives from the camera 70 storage information of the transfer destination of transfer of the workpiece W4 by the robot arm A by the robot drive control unit 72C. While controlling the position and turning angle of the wrist W based on the image information, the plurality of telescopic mechanisms 3B are independently driven and controlled while the postures of the plurality of workpieces W4 in plan view are aligned by the plurality of hands 4D. Grip and store in storage box 81.

When the robot hand device 1C starts control to take out a plurality of workpieces W4 conveyed by the belt conveyor 80 shown in FIG. 19A, the position of the robot arm A is controlled, whereby the camera 70C is moved to the belt conveyor 80. A state in which the plurality of workpieces W4 are conveyed on the imaging target portion of the belt conveyor 80 by the camera 70C in a state where the wrist W is moved to a predetermined height position directly above the imaging target portion and the wrist W is held in a predetermined posture. Is imaged (S21).
Image data picked up by the camera 70C is supplied to the robot drive control unit 72C and temporarily stored in a volatile storage unit (eg, RAM) of the computer.

  In the robot drive control unit 72C, the postures of the four workpieces W4 to be grasped are analyzed from the image data supplied from the camera 73, and the storage information of the transfer destination of the transfer by the robot arm A stored in advance in the storage unit ( For example, the storage positions of the four workpieces W4 are analyzed based on the storage box 81 and the like (S22).

  Next, the soft counter C is initialized to “0” (S23). Next, the first to seventh servo motors 72a, 72b,... Are driven and controlled by the robot drive control unit 72C to grasp the current time while taking into account the elapsed time from the time of imaging and the conveyance speed of the conveyor 80. Of the wrist W of the robot arm A so that the posture of the workpiece W4 to be gripped is matched to the same posture according to the posture of the C-th workpiece (where C = 1, 2, 3, 4). While controlling the position and turning angle, the pair of hands 4D is moved above the C-th workpiece W4 to be gripped this time (S24).

  Next, in order to take out the C-th workpiece W4 from the belt conveyor 80, the hand drive control unit 73C extends the telescopic member 35B of the pair of telescopic mechanisms 3B toward the C-th workpiece W4 (S25), The suction pad 4Da of the hand 4D sucks and holds the vicinity of the center of gravity G of the workpiece W4 (S26). Next, the work W4 is taken out from the belt conveyor 80 by contracting the telescopic member 35B upward (S27). Next, the soft counter C is incremented by “1” (S28).

  Next, in S29, it is determined whether or not the work of taking out the four workpieces W4 with the four hands 4D is completed by determining whether or not the soft counter C = 4. If the determination is No, the process proceeds to S24 and S24 to S28 are repeated, and if the determination in S29 is Yes, the process proceeds to S30.

  Next, in S30, the first to seventh servo motors 72a, 72b,... Are driven to control the position of the robot arm A based on the storage information and the postures of the four gripped workpieces. The four workpieces W4 gripped by the four sets of hands 4D are moved above the transport destination storage box 81. Next, in S31, as shown in FIG. 19 (b), the wrist W is turned so as to fit the four storage portions of the storage box 81 through the control of the hand drive control unit 73C. The four workpieces W4 having the same posture are released from the four sets of hands 4D, and the four workpieces W4 are collectively stored in the storage portion of the storage box 81.

  Next, it is determined whether or not the work for taking out the work W4 has been completed (S31). If No, the process proceeds to S21 to repeat S21 and subsequent steps. If Yes, the work by the robot hand apparatus 1C is performed. The W4 removal control is terminated.

  In addition, although the present Example demonstrated the taking-out operation | work of the four workpiece | work W4 suitably arrange | positioned on the belt conveyor 80 with four hands 4D, it is not limited to four, 1 set-3 sets, 5 sets or more When the telescopic mechanism and hand are equipped and the transport destination can also store these numbers of workpieces, the workpiece W4 is gripped and transported while aligning the posture in plan view so as to correspond to these numbers. And may be accommodated together.

  Note that the relative position and orientation of the workpiece W4 attracted and held by the plurality of hands 4D only needs to match the storage information of the storage box 81 that is the transfer destination of the transfer by the robot arm A, and is shown in FIG. As described above, it is possible to hold the workpiece W4 in a state in which the center of gravity G of the workpiece W4 is shifted. In the present embodiment, the suction-type hand 4D has been described. However, the present invention is not particularly limited to this, and if the plurality of workpieces W4 can be held in a state in which the postures in the plan view are aligned, the implementation is performed. The hands 4A to 4C of Example 1 may be used.

  As described above, in the workpiece W4 take-out control of the present embodiment, the camera 70C images the conveyance state of the workpiece W4, and receives from the camera 70C the storage information of the conveyance destination of conveyance of the workpiece W4 by the robot arm A. Based on the image information, the robot drive control unit 72C controls the position and turning angle of the wrist W, while the hand drive control unit 73C independently drives and controls the plurality of expansion / contraction mechanisms 3B. Since the plurality of workpieces W4 are gripped while controlling the posture of the plurality of workpieces W4 in plan view by the hand 4D, it is necessary to turn the wrist W of the robot arm A for each hand 4D in the workpiece gripping state at the transfer destination of the robot arm A. The plurality of workpieces 4D can be quickly placed on the storage box 81.

  In addition, although the present Example demonstrates as an example gripping a some workpiece | work by applying the robot hand apparatus of this invention to a 7-axis articulated robot, it is not restricted to an articulated 7-axis robot, It is preferable to employ other robots, particularly parallel link robots (so-called delta robots). In this case, when the robot hand device of the present invention is applied to the parallel link robot, it is possible to provide a degree of freedom necessary for positioning in addition to one degree of freedom of the rotation axis of the wrist.

Next, a mode in which the above embodiment is partially changed will be described.
[1] In the robot hand device 1 of the first embodiment, three sets of the extension / contraction mechanism 3 and the hands 4A, 4B, and 4C are provided. The above telescopic mechanism and hand can also be provided. Moreover, you may employ | adopt the thing of all the same structures as a some hand.

[2] In the first to fourth embodiments, the air cylinders 37, 37A, 37B are used to expand and contract the expansion members of the expansion mechanisms 3, 3A, 3B, but instead of the air cylinders 37, 37A, 37B. Hydraulic cylinders, electric cylinders, etc. can also be used.

[3] The body members 2, 2A, 2B in the robot hand devices 1, 1A to 1C of the first to fourth embodiments are merely examples, and it is possible to adopt body members having various structures. The main body members 2, 2A, 2B may be made of steel, light alloy, or synthetic resin.

[4] The hands 4A to 4D of the first to fourth embodiments are gripping type or suction type hands, but the structure of the hand is not limited to the above, and a magnetic type that fixes the workpieces W1 to W4 with a magnetic force. You may employ | adopt the thing of other hand or structures other than these.

[5] The main body members 2, 2 </ b> A, 2 </ b> B of the first to fourth embodiments are provided so as to extend in a direction perpendicular to the attachment surface F of the wrist W, and the plurality of expansion / contraction mechanisms 3, 3 </ b> A, 3 </ b> B Although it arrange | positions so that it may become equal intervals in the circumferential direction centering on the rotating shaft center S of the wrist part W at the member 2, 2A, 2B, it is not necessary to specifically limit to these structures, A main body member is a wrist part. It may be provided at an arbitrary angle with respect to the mounting surface F of W, and the plurality of expansion / contraction mechanisms may not be arranged around the rotation axis S of the wrist W of the main body member. It does not have to be arranged at equal intervals in the direction.

[6] In addition, those skilled in the art can implement the embodiment in a partially modified form without departing from the gist of the present invention.

A Robot arm W Wrist part F Mounting surface S Rotation axis W1, W2, W3, W4 Work 1, 1A, 1B, 1C Robot hand device 2, 2A, 2B Main body member 3, 3A, 3B Telescopic mechanism 4A-4D Hand 30 Elastic member 35, 35A, 35B Extendable member 36 Linear guide 37, 37A, 37B Air cylinder 70, 70C Camera (imaging means)
72, 72C Robot drive control unit (drive control means)
73, 73C Hand drive control unit (drive control means)

Claims (7)

In a robot hand device having a plurality of hands,
A body member fixed to an attachment surface orthogonal to the rotational axis of the wrist at the tip of the robot arm and provided so as to extend in a direction perpendicular to the attachment surface ;
A plurality of telescopic mechanisms provided on the main body member so as to be stretchable in the direction in which the main body member extends ,
And a respective plurality of hand provided at the distal end portion of the elastic member of the plurality of extension mechanisms,
The expansion / contraction mechanism is a guide mechanism that guides the expansion / contraction member and the main body member so that the expansion / contraction member can move up and down and cannot move horizontally. The guide mechanism is provided on an outer surface of the main body member. And a drive cylinder means capable of driving the telescopic member up and down relative to the main body member . Before extension mechanism number Kifuku the robot hand device according to claim 1, characterized in that said arranged so as to be at equal intervals in the circumferential direction about the rotation axis of the wrist portion to the body member.   The robot hand apparatus according to claim 1, wherein the plurality of hands include a plurality of types of hands corresponding to a plurality of types of shapes or postures. It said drive cylinder means, the robot hand apparatus according to any one of claims 1-3, characterized in that an air cylinder.   5. The robot hand apparatus according to claim 4, further comprising an elastic member that elastically biases the piston rod of the air cylinder toward the advancing side or the retracting side. Drive control means for independently driving and controlling the plurality of expansion and contraction mechanisms;
Imaging means for imaging a storage area in which the workpieces to be gripped held by the plurality of hands are stored in a stacked state;
Each time the storage means images the storage area, the drive control means independently drives and controls the plurality of expansion / contraction mechanisms based on image information received from the imaging means, and grips a plurality of workpieces by a plurality of hands. The robot hand apparatus according to any one of claims 1 to 5, wherein Drive control means for independently driving and controlling the plurality of expansion and contraction mechanisms;
Imaging means for imaging the conveyance state of the workpiece to be grasped by the plurality of hands by a belt conveyor;
The imaging unit images the conveyance state of the workpiece, and the position of the wrist is determined based on the storage information of the conveyance destination of the conveyance by the robot arm of the workpiece and the image information received from the imaging unit. And a plurality of expansion / contraction mechanisms are independently driven and controlled while controlling the turning angle, and the plurality of hands are gripped while aligning the postures in a plan view of the plurality of workpieces. The robot hand apparatus according to item 1.