WO2022163654A1 - Grasping apparatus and grasping method - Google Patents

Grasping apparatus and grasping method Download PDF

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Publication number
WO2022163654A1
WO2022163654A1 PCT/JP2022/002701 JP2022002701W WO2022163654A1 WO 2022163654 A1 WO2022163654 A1 WO 2022163654A1 JP 2022002701 W JP2022002701 W JP 2022002701W WO 2022163654 A1 WO2022163654 A1 WO 2022163654A1
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Prior art keywords
finger
gripping
fingers
release
grasping
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PCT/JP2022/002701
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French (fr)
Japanese (ja)
Inventor
英史 松井
耕一 反田
明宏 細川
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パナソニックＩｐマネジメント株式会社
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Publication of WO2022163654A1 publication Critical patent/WO2022163654A1/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/08—Gripping heads and other end effectors having finger members

Definitions

  • the present disclosure relates to a gripping device and gripping method for gripping an object.
  • the robot hand described in Patent Document 1 includes a coil spring that can be elastically deformed in a direction that intersects the extending direction of the fingers when the fingers grip an object. As a result, even when the object to be gripped is made of a fragile material, a soft material, or the like, the object can be gripped well.
  • Cited Document 1 With the robot hand described in Cited Document 1, it is difficult to estimate the deformation of the coil spring that grips the object, the grip surface is unstable, and it is difficult to accurately grip a specific position. Also, a soft object such as cloth may get caught in the coil spring.
  • the inventors of the present invention recognized that it is a problem to suppress these problems and realize a gripping device with higher performance, and came up with the gripping device of the present disclosure.
  • the present disclosure provides techniques for improving the performance of a gripping device that grips an object.
  • the gripping device includes a finger portion for gripping an object, a drive portion for driving the finger portion, and a finger portion that moves in a direction to grip the object while the finger portion is gripping the object.
  • a gripping method is a method for gripping an object with the above-described gripping device, comprising steps of controlling the drive unit to grip the object with the fingers; , stopping the drive.
  • FIG. 2 is a diagram schematically showing the configuration of a hand unit according to Embodiment 1;
  • FIG. 2 is a diagram schematically showing the configuration of a hand unit according to Embodiment 1;
  • FIG. 4 is a diagram showing a connecting portion between a driving portion and a finger of the hand portion according to Embodiment 1;
  • 4 is a flow chart showing a procedure of a method for controlling a hand unit according to the first embodiment;
  • 4A and 4B are diagrams showing a procedure of a method for holding the hand portion according to the first embodiment;
  • Embodiment 1 Embodiment 1 will be described below with reference to FIGS.
  • FIG. 1A and 1B schematically show the configuration of a hand section 3 as an example of a gripping device according to Embodiment 1.
  • FIG. 1A is a front view of the hand portion 3
  • FIG. 1B is a side view of the hand portion 3.
  • FIG. The hand section 3 is composed of two fingers 2 facing each other for holding an object, and a driving section 1 for opening and closing the fingers 2 .
  • the drive unit 1 rotates and opens and closes the two fingers 2 facing each other in conjunction with each other.
  • the hand portion 3 may have three or more fingers 2 .
  • FIG. 2 is a central sectional view of the hand portion 3 according to Embodiment 1.
  • the drive unit 1 includes a motor 4 , a reduction gear 5 , a torque limiter 6 , a locking device 7 and a reduction gear 8 . These components are housed in the gear case 16 .
  • the gear case 16 is covered with a gear case cover 17 .
  • the drive unit 1 is controlled by a control device 23 .
  • the finger 2 includes a leaf spring 9, a finger cover A10, a finger cover B11, and a contact portion 22.
  • the leaf spring 9 is covered with a finger cover A10 and a finger cover B11.
  • the contact portion 22 includes a spring bearing 12 , a spring 13 , a turntable 14 and an elastic body 15 .
  • the rotation of the motor 4 is reduced by the reduction gear 8 and transmitted to the finger 2 .
  • the finger 2 is composed of a plate spring 9 whose base portion fixed to the last reduction gear 8 bends in the opening/closing direction. That is, the leaf spring 9 urges the finger 2 in the direction of gripping the object while the finger 2 is gripping the object. As a result, it is possible to prevent an excessive load from being applied to the object to be gripped, and to grip the object with an appropriate load. In addition, even if the object is a flexible object, the leaf spring 9 bends only in the opening/closing direction according to the object and does not move in the other direction, so that the object can be gripped more securely.
  • the locking device 7 functions as a release restraining section that restrains the fingers 2 from moving in the direction of releasing the object while the fingers 2 are gripping the object.
  • the locking device 7 locks the rotation of the motor 4, the reduction gear 5, the reduction gear 8, or the finger 2 so that the finger 2 does not rotate in the opening direction.
  • the finger 2 can rotate slightly in the opening direction.
  • the leaf spring 9 biases the finger 2 so that the object is not released even if the finger 2 moves in the direction of releasing the object by the backlash. This allows the object to be gripped more reliably.
  • the leaf spring 9 urges the finger 2 so that the object is not released when the object is pulled out together with another member after gripping the object.
  • the biasing force of the leaf spring 9 causes the finger 2 to move the object. can be automatically closed by the thickness of the work plate, the object can be continuously gripped without further operating the motor 4.
  • the torque limiter 6 limits the torque of the motor 4 so that it does not exceed a predetermined value.
  • the object can be stably gripped with a constant clamping force without providing detection means such as a tactile sensor at the fingertip. Therefore, even if the size and thickness of the object are different, the object can be stably gripped without complicated control.
  • the predetermined value is, for example, when the finger 2 moves in the direction of releasing the object due to backlash in the drive unit 1, or when the member gripped together with the object is pulled out, and the like. is the value of torque that can be applied to prevent the object from releasing.
  • the plate spring 9 is used to provide a margin for the fingers 2 to rotate in the opening direction or to reduce the thickness of the gripped object.
  • the predetermined values are the spring constant, material, size, and shape of the leaf spring 9, the backlash of the reduction gear 5 or the reduction gear 8, the type, material, size, and shape of the object, the type and material of the member gripped together with the object, It is set in advance according to size, shape, and the like.
  • the contact portion 22 is provided at the tip portion of the finger 2 .
  • a spring bearing 12 is fixed inside the finger 2 .
  • One end of the spring 13 is fixed to the spring receiver 12, and the other end elastically supports the turntable 14 so as to be rotatable.
  • the elastic body 15 is fixed to the turntable 14 and comes into contact with the object when the object is gripped.
  • the connecting surfaces of the spring bearing 12 fixed to the finger 2 and the turntable 14 respectively have concave and convex shapes that are slidable relative to each other.
  • the turntable 14 is rotatable relative to the finger 2 by sliding on the connecting surface.
  • FIG. 3 shows a connecting portion between the driving portion 1 and the finger 2 of the hand portion 3 according to the first embodiment.
  • a finger fixing base 19 is fixed to the final reduction gear 8 or its rotating shaft 18 .
  • Finger 2 is fixed to finger fixing base 19 by fixing screw 20 and washer 21 .
  • FIG. 4 is a flow chart showing the procedure of the control method for the hand unit 3 according to the first embodiment.
  • the hand part 3 Before gripping the object, the hand part 3 is moved to a position where the fingers 2 can grip the object.
  • the controller 23 drives the motor 4 to rotate the fingers 2 in the closing direction (S10). After the fingers 2 have gripped the object (S12), the controller 23 further drives the motor 4 to bias the leaf spring 9 until the torque limiter 6 is activated (S14).
  • the controller 23 locks the rotation of the finger 2 in the opening direction by the lock device 7 (S16), and stops the motor 4 (S18).
  • the control device 23 can rotate the locking device 7 at an arbitrary timing until the motor 4 is stopped. may be activated. If the locking device 7 is a mechanism that locks not only the rotation of the fingers 2 in the opening direction but also the rotation in the closing direction, the control device 23 controls the time from the activation of the torque limiter 6 until the motor 4 is stopped. The locking device 7 may be actuated in the meantime.
  • FIG. 5 is a diagram showing a procedure of a method for gripping clothes by the hand portion 3 according to the first embodiment.
  • a single T-shirt 24, which is the object's clothing is folded in two and hung on the work plate 25, which is the placing portion.
  • the control device 23 lowers the two hands 3 with the fingers 2 open to both ends of the T-shirt 24 and grips the T-shirt 24 together with the working plate 25 with a predetermined torque (S20). Then, the control device 23 raises the two hand parts 3 while the fingers 2 are holding the T-shirt 24, and pulls the T-shirt 24 out of the working plate 25 (S22).
  • the finger 2 automatically closes by the thickness of the work plate 25 due to the biasing force of the plate spring 9, and continues to hold the T-shirt 24.
  • the hand part 3 can grip only the T-shirt 24 folded in two. Note that this operation is a polite gripping method for folding the T-shirt 24 in two, but one hand portion 3 may simply pull up the T-shirt 24 from the work plate 25 .
  • the hand section 3 includes the fingers 2 for gripping the object, the driving section 1 for driving the fingers 2, and when the fingers 2 are gripping the object, A leaf spring 9 for biasing the fingers 2 in the direction of gripping the object, and a locking device 7 for suppressing the movement of the fingers 2 in the direction of releasing the object while the fingers 2 are gripping the object.
  • the drive unit 1 includes a motor 4 that rotationally drives the finger 2, and the lock device 7 locks the finger 2 so that it does not rotate in the direction of releasing the object.
  • the hand unit 3 capable of maintaining the state of gripping the object even when the drive unit 1 is stopped after gripping the object can be realized with a simple configuration.
  • the leaf spring 9 keeps the object even if the fingers 2 move in the direction of releasing the object due to backlash in the drive unit 1 while the fingers 2 are gripping the object.
  • the finger 2 is biased so that the object is not released. This allows the object to be gripped more reliably.
  • the leaf spring 9 urges the fingers 2 so that the object is not released when the object is pulled out after gripping the object together with another member. As a result, the gripping state of the object can be maintained without further driving the driving unit 1 .
  • the drive unit 1 includes a motor 4 that rotationally drives the finger 2, and the hand unit 3 further includes a torque limiter 6 that limits the torque of the motor 4 so that it does not exceed a predetermined value.
  • the object can be stably gripped with a constant clamping force.
  • the predetermined value is set when the finger 2 moves in the direction of releasing the object due to backlash in the drive unit 1, or when the member gripped together with the object is pulled out. It is the torque value at which the leaf spring 9 can bias the finger 2 so that the object is not released. This allows the object to be gripped more reliably.
  • the hand portion 3 further includes a contact portion 22 that is provided at the end of the finger 2 and contacts the object when the object is gripped. respectively have concave and convex shapes that are slidable relative to each other, and the contact portion 22 is rotatable with respect to the finger 2 by sliding on the connecting surface.
  • the gripping method for gripping the object with the hand portion 3 includes the step of gripping the object with the fingers 2 by controlling the motor 4, and the step of gripping the object with the fingers 2. and a step of stopping the motor 4 afterwards.
  • the gripping state of the object can be maintained, so that vibration, noise, power consumption, and the like can be reduced.
  • the load on the drive unit 1 and the like can be reduced, the life of the hand unit 3 can be lengthened.
  • the gripping method includes, before stopping the motor 4, applying a biasing force to the leaf spring 9 so that the fingers 2 grip the object while the motor 4 is stopped. Prepare more. This allows the object to be gripped more reliably.
  • the gripping method for gripping an object with the hand portion 3 includes the steps of gripping the T-shirt 24 placed on the work plate 25 together with the work plate 25 with the fingers 2; and pulling the T-shirt 24 out of the working plate 25 after 2 has gripped the T-shirt 24 .
  • the fingers 2 are automatically closed by the thickness of the working plate 25 due to the urging force of the plate spring 9 and continue to hold the T-shirt 24, so that the hand portion 3 only holds the T-shirt 24 folded in half. can be grasped.
  • Embodiment 1 has been described as an example of the technology disclosed in the present application.
  • the technology in the present disclosure is not limited to this, and can also be applied to embodiments with modifications, replacements, additions, omissions, and the like.
  • the leaf spring 9 is illustrated as an urging portion, the present invention is not limited to this.
  • a hinge that rotates in the same direction as the deflection of the leaf spring 9, that is, two-dimensionally is provided, and the hinge is rotated.
  • a configuration in which a coil spring that requires a predetermined rotational torque is provided on the rotating shaft of the hinge may be used.
  • the present disclosure can be used for grasping devices.

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

A hand unit 3 as a grasping apparatus comprises: a finger 2 for grasping an object; a drive unit 1 that drives the finger 2; a plate spring 9 that, when the finger 2 is grasping the object, biases the finger 2 in a direction of grasping the object; and a lock device 7 that, when the finger 2 is grasping the object, prevents the finger 2 from moving in a direction of releasing the object.

Description

把持装置及び把持方法Gripping device and gripping method
　本開示は、対象物を把持するための把持装置及び把持方法に関する。 The present disclosure relates to a gripping device and gripping method for gripping an object.
　特許文献１に記載されたロボットハンドは、指部が対象物を把持したときに指部の延伸方向に交差する方向に弾性変形可能なコイルスプリングを含む。これにより、把持すべき対象物が脆い材料や軟らかい材料等である場合においても、対象物を良好に把持することができる。 The robot hand described in Patent Document 1 includes a coil spring that can be elastically deformed in a direction that intersects the extending direction of the fingers when the fingers grip an object. As a result, even when the object to be gripped is made of a fragile material, a soft material, or the like, the object can be gripped well.
国際公開第２０１９／１７６８０２号WO2019/176802
　しかしながら、引用文献１に記載のロボットハンドは、対象物を把持するコイルスプリングの変形が推測しづらく、把持面が安定せず、特定位置を正確に把持することが難しい。また、布などの柔らかい対象物がコイルスプリング内に噛み込む恐れがある。本発明者らは、これらの問題を抑制し、より性能の高い把持装置を実現することを課題として認識し、本開示の把持装置に想到した。 However, with the robot hand described in Cited Document 1, it is difficult to estimate the deformation of the coil spring that grips the object, the grip surface is unstable, and it is difficult to accurately grip a specific position. Also, a soft object such as cloth may get caught in the coil spring. The inventors of the present invention recognized that it is a problem to suppress these problems and realize a gripping device with higher performance, and came up with the gripping device of the present disclosure.
　本開示は、対象物を把持する把持装置の性能を向上させるための技術を提供する。 The present disclosure provides techniques for improving the performance of a gripping device that grips an object.
　本開示における把持装置は、対象物を把持するための指部と、指部を駆動する駆動部と、指部が対象物を把持しているときに、対象物を把持する方向に指部を付勢する付勢部と、指部が対象物を把持しているときに、対象物を解放する方向に指部が動くのを抑える解放抑止部と、を備える。 The gripping device according to the present disclosure includes a finger portion for gripping an object, a drive portion for driving the finger portion, and a finger portion that moves in a direction to grip the object while the finger portion is gripping the object. An urging part for urging and a release restraining part for restraining the fingers from moving in the direction of releasing the object when the fingers are gripping the object.
　本開示における把持方法は、上記の把持装置により対象物を把持するための方法であって、駆動部を制御して指部により対象物を把持するステップと、指部が対象物を把持した後、駆動部を停止するステップと、を備える。 A gripping method according to the present disclosure is a method for gripping an object with the above-described gripping device, comprising steps of controlling the drive unit to grip the object with the fingers; , stopping the drive.
　本開示の技術によれば、対象物を把持する把持装置の性能を向上させることができる。 According to the technology of the present disclosure, it is possible to improve the performance of a gripping device that grips an object.
実施の形態１に係るＨａｎｄ部の構成を概略的に示す図FIG. 2 is a diagram schematically showing the configuration of a hand unit according to Embodiment 1; 実施の形態１に係るＨａｎｄ部の構成を概略的に示す図FIG. 2 is a diagram schematically showing the configuration of a hand unit according to Embodiment 1; 実施の形態１に係るＨａｎｄ部の中央断面図Central cross-sectional view of the hand portion according to the first embodiment 実施の形態１に係るＨａｎｄ部の駆動部とフィンガとの連結部を示す図FIG. 4 is a diagram showing a connecting portion between a driving portion and a finger of the hand portion according to Embodiment 1; 実施の形態１に係るＨａｎｄ部の制御方法の手順を示すフローチャート4 is a flow chart showing a procedure of a method for controlling a hand unit according to the first embodiment; 実施の形態１に係るＨａｎｄ部の把持方法の手順を示す図4A and 4B are diagrams showing a procedure of a method for holding the hand portion according to the first embodiment;
　以下、図面を参照しながら実施の形態を詳細に説明する。但し、必要以上に詳細な説明は省略する場合がある。例えば、既によく知られた事項の詳細説明、または、実質的に同一の構成に対する重複説明を省略する場合がある。 Hereinafter, embodiments will be described in detail with reference to the drawings. However, more detailed description than necessary may be omitted. For example, detailed descriptions of well-known matters or redundant descriptions of substantially the same configurations may be omitted.
　なお、添付図面および以下の説明は、当業者が本開示を十分に理解するために提供されるのであって、これらにより特許請求の範囲に記載の主題を限定することを意図していない。 It should be noted that the accompanying drawings and the following description are provided to allow those skilled in the art to fully understand the present disclosure, and are not intended to limit the subject matter described in the claims.
　（実施の形態１）
　以下、図１～４を用いて、実施の形態１を説明する。 (Embodiment 1)
Embodiment 1 will be described below with reference to FIGS.
　［１－１．構成］
　図１Ａ及び図１Ｂは、実施の形態１に係る把持装置の一例であるＨａｎｄ部３の構成を概略的に示す。図１Ａは、Ｈａｎｄ部３の正面図であり、図１Ｂは、Ｈａｎｄ部３の側面図である。Ｈａｎｄ部３は、対象物を保持するために対向するように設けられた２本のフィンガ２と、フィンガ２を開閉する駆動部１とで構成される。駆動部１は、対向する２本のフィンガ２を連動させて回転駆動し、開閉させる。なお、Ｈａｎｄ部３は、３本以上のフィンガ２を備えてもよい。 [1-1. Constitution]
1A and 1B schematically show the configuration of a hand section 3 as an example of a gripping device according to Embodiment 1. FIG. 1A is a front view of the hand portion 3, and FIG. 1B is a side view of the hand portion 3. FIG. The hand section 3 is composed of two fingers 2 facing each other for holding an object, and a driving section 1 for opening and closing the fingers 2 . The drive unit 1 rotates and opens and closes the two fingers 2 facing each other in conjunction with each other. Note that the hand portion 3 may have three or more fingers 2 .
　図２は、実施の形態１に係るＨａｎｄ部３の中央断面図である。駆動部１は、モータ４、減速ギア５、トルクリミッター６、ロック装置７、及び減速ギア８を備える。これらの構成は、ギアケース１６に収納されている。ギアケース１６は、ギアケースカバー１７により覆われている。駆動部１は、制御装置２３により制御される。 FIG. 2 is a central sectional view of the hand portion 3 according to Embodiment 1. FIG. The drive unit 1 includes a motor 4 , a reduction gear 5 , a torque limiter 6 , a locking device 7 and a reduction gear 8 . These components are housed in the gear case 16 . The gear case 16 is covered with a gear case cover 17 . The drive unit 1 is controlled by a control device 23 .
　フィンガ２は、板バネ９、指カバーＡ１０、指カバーＢ１１、及び接触部２２を備える。板バネ９は、指カバーＡ１０及び指カバーＢ１１により覆われている。接触部２２は、バネ受け１２、バネ１３、回転台１４、及び弾性体１５を備える。 The finger 2 includes a leaf spring 9, a finger cover A10, a finger cover B11, and a contact portion 22. The leaf spring 9 is covered with a finger cover A10 and a finger cover B11. The contact portion 22 includes a spring bearing 12 , a spring 13 , a turntable 14 and an elastic body 15 .
　モータ４の回転は、減速ギア８により減速されてフィンガ２に伝達される。フィンガ２は、最後の減速ギア８に固定される付け根部分が開閉方向にたわむ板バネ９で構成される。つまり、板バネ９は、フィンガ２が対象物を把持しているときに、対象物を把持する方向にフィンガ２を付勢する。これにより、把持する対象物に必要以上の負荷をかけてしまうことを防止し、適切な負荷で対象物を把持できる。また、対象物が柔軟物であっても、板バネ９が対象物に応じて開閉方向のみにたわんで他方向にブレないので、より確実に対象物を把持することができる。 The rotation of the motor 4 is reduced by the reduction gear 8 and transmitted to the finger 2 . The finger 2 is composed of a plate spring 9 whose base portion fixed to the last reduction gear 8 bends in the opening/closing direction. That is, the leaf spring 9 urges the finger 2 in the direction of gripping the object while the finger 2 is gripping the object. As a result, it is possible to prevent an excessive load from being applied to the object to be gripped, and to grip the object with an appropriate load. In addition, even if the object is a flexible object, the leaf spring 9 bends only in the opening/closing direction according to the object and does not move in the other direction, so that the object can be gripped more securely.
　ロック装置７は、フィンガ２が対象物を把持しているときに、対象物を解放する方向にフィンガ２が動くのを抑える解放抑止部として機能する。ロック装置７は、フィンガ２が開く方向に回転しないように、モータ４、減速ギア５、減速ギア８、又はフィンガ２の回転をロックする。これにより、対象物を把持した後にモータ４を停止しても、対象物を把持した状態を維持することができるので、振動、音、消費電力などを低減させることができる。また、駆動部１などへの負荷を低減させることができるので、Ｈａｎｄ部３の寿命を長くすることができる。 The locking device 7 functions as a release restraining section that restrains the fingers 2 from moving in the direction of releasing the object while the fingers 2 are gripping the object. The locking device 7 locks the rotation of the motor 4, the reduction gear 5, the reduction gear 8, or the finger 2 so that the finger 2 does not rotate in the opening direction. As a result, even if the motor 4 is stopped after gripping the object, the gripping state of the object can be maintained, so that vibration, noise, power consumption, and the like can be reduced. Moreover, since the load on the drive unit 1 and the like can be reduced, the life of the hand unit 3 can be lengthened.
　フィンガ２が対象物を把持した状態でモータ４が停止されたとき、フィンガ２が開く方向の回転がロック装置７によりロックされていても、減速ギア５や減速ギア８などのバックラッシに起因して、フィンガ２が開く方向に若干回転しうる。本実施の形態のＨａｎｄ部３では、対象物を解放する方向にバックラッシ分だけフィンガ２が動いても対象物が解放されないように板バネ９によりフィンガ２を付勢する。これにより、対象物をより確実に把持することができる。 When the motor 4 is stopped while the finger 2 is gripping the object, even if the rotation of the finger 2 in the opening direction is locked by the lock device 7, the backlash of the reduction gear 5, the reduction gear 8, etc. , the finger 2 can rotate slightly in the opening direction. In the hand portion 3 of the present embodiment, the leaf spring 9 biases the finger 2 so that the object is not released even if the finger 2 moves in the direction of releasing the object by the backlash. This allows the object to be gripped more reliably.
　板バネ９は、対象物を別の部材とともに把持した後、その部材を引き抜いたときに、対象物が解放されないようにフィンガ２を付勢する。例えば、衣類などの対象物が置かれた作業板ごとフィンガ２で一旦把持し、次に作業板などの部材から対象物だけを把持した状態で引き抜くときに、板バネ９の付勢力によりフィンガ２を作業板の厚み分だけ自動的に閉じることができるので、モータ４を更に動作させなくても対象物を把持し続けることができる。 The leaf spring 9 urges the finger 2 so that the object is not released when the object is pulled out together with another member after gripping the object. For example, when an object such as clothing is once held by the fingers 2 together with the work plate placed thereon, and then the object is pulled out from a member such as the work plate while being held, the biasing force of the leaf spring 9 causes the finger 2 to move the object. can be automatically closed by the thickness of the work plate, the object can be continuously gripped without further operating the motor 4.例文帳に追加
　トルクリミッター６は、モータ４のトルクが所定値を超えないように制限する。これにより、指先に触覚センサ等の検出手段を設けなくても、一定の締付力で対象物を安定的に把持することができる。そのため、対象物の大きさや厚さが異なる場合でも、複雑な制御をすることなく対象物を安定的に把持することができる。 The torque limiter 6 limits the torque of the motor 4 so that it does not exceed a predetermined value. As a result, the object can be stably gripped with a constant clamping force without providing detection means such as a tactile sensor at the fingertip. Therefore, even if the size and thickness of the object are different, the object can be stably gripped without complicated control.
　所定値は、例えば、駆動部１におけるバックラッシに起因して対象物を解放する方向にフィンガ２が動いたときや、対象物とともに把持した部材が引き抜かれたときなどに、板バネ９がフィンガ２を付勢して対象物が解放されないようにすることが可能なトルクの値である。フィンガ２が対象物を把持した後、モータ４を停止する前に、フィンガ２が開く方向に回転したり把持している物の厚みが減少したりする分の余裕を持たせて板バネ９でフィンガ２を予め付勢しておくことにより、複雑な制御をすることなく対象物を安定的に把持することができる。所定値は、板バネ９のバネ定数、材質、サイズ、形状、減速ギア５又は減速ギア８のバックラッシ、対象物の種類、材質、サイズ、形状、対象物とともに把持される部材の種類、材質、サイズ、形状などに応じて予め設定される。 The predetermined value is, for example, when the finger 2 moves in the direction of releasing the object due to backlash in the drive unit 1, or when the member gripped together with the object is pulled out, and the like. is the value of torque that can be applied to prevent the object from releasing. After the fingers 2 have gripped the object and before the motor 4 is stopped, the plate spring 9 is used to provide a margin for the fingers 2 to rotate in the opening direction or to reduce the thickness of the gripped object. By energizing the fingers 2 in advance, the object can be stably gripped without complicated control. The predetermined values are the spring constant, material, size, and shape of the leaf spring 9, the backlash of the reduction gear 5 or the reduction gear 8, the type, material, size, and shape of the object, the type and material of the member gripped together with the object, It is set in advance according to size, shape, and the like.
　接触部２２は、フィンガ２の先端部に設けられる。バネ受け１２は、フィンガ２の内部に固定される。バネ１３は、一端がバネ受け１２に固定され、他端が回転台１４を回動可能に弾性支持する。弾性体１５は、回転台１４に固定され、対象物を把持したときに対象物に接する。フィンガ２に固定されたバネ受け１２と回転台１４との接続面は、それぞれ、互いに摺動可能な凹面と凸面の形状を有する。回転台１４は、接続面で摺動することによりフィンガ２に対して回動可能である。これにより、Ｈａｎｄ部３が回動して対象物が重力方向に回転した場合であっても、接触部２２の回動と振れ回りが可能となるので、対象物のねじれなどを抑えることができる。 The contact portion 22 is provided at the tip portion of the finger 2 . A spring bearing 12 is fixed inside the finger 2 . One end of the spring 13 is fixed to the spring receiver 12, and the other end elastically supports the turntable 14 so as to be rotatable. The elastic body 15 is fixed to the turntable 14 and comes into contact with the object when the object is gripped. The connecting surfaces of the spring bearing 12 fixed to the finger 2 and the turntable 14 respectively have concave and convex shapes that are slidable relative to each other. The turntable 14 is rotatable relative to the finger 2 by sliding on the connecting surface. As a result, even if the object rotates in the gravity direction due to the rotation of the hand part 3, the contact part 22 can be rotated and whirled, so that twisting of the object can be suppressed. .
　図３は、実施の形態１に係るＨａｎｄ部３の駆動部１とフィンガ２との連結部を示す。最後の減速ギア８もしくはその回転軸１８に、指固定台１９が固定される。フィンガ２は、固定ねじ２０及び座金２１により指固定台１９に固定される。 FIG. 3 shows a connecting portion between the driving portion 1 and the finger 2 of the hand portion 3 according to the first embodiment. A finger fixing base 19 is fixed to the final reduction gear 8 or its rotating shaft 18 . Finger 2 is fixed to finger fixing base 19 by fixing screw 20 and washer 21 .
　［１－２．動作］
　以上のように構成されたＨａｎｄ部３について、以下その動作、作用を説明する。 [1-2. motion]
The operation and function of the hand unit 3 configured as described above will be described below.
　図４は、実施の形態１に係るＨａｎｄ部３の制御方法の手順を示すフローチャートである。対象物を把持する前に、フィンガ２が対象物を把持可能な位置にＨａｎｄ部３が移動される。制御装置２３は、モータ４を駆動して、フィンガ２を閉方向に回転させる（Ｓ１０）。フィンガ２が対象物を把持した後（Ｓ１２）、制御装置２３は、トルクリミッター６が作動するまでモータ４を更に駆動して板バネ９を付勢する（Ｓ１４）。制御装置２３は、ロック装置７によりフィンガ２の開方向への回転をロックし（Ｓ１６）、モータ４を停止させる（Ｓ１８）。ロック装置７が、フィンガ２の開方向への回転をロックし、閉方向への回転を許容する機構である場合は、制御装置２３は、モータ４を停止させるまでの任意のタイミングでロック装置７を作動させてもよい。ロック装置７が、フィンガ２の開方向への回転だけでなく閉方向への回転もロックする機構である場合は、制御装置２３は、トルクリミッター６が作動してからモータ４を停止させるまでの間にロック装置７を作動させてもよい。 FIG. 4 is a flow chart showing the procedure of the control method for the hand unit 3 according to the first embodiment. Before gripping the object, the hand part 3 is moved to a position where the fingers 2 can grip the object. The controller 23 drives the motor 4 to rotate the fingers 2 in the closing direction (S10). After the fingers 2 have gripped the object (S12), the controller 23 further drives the motor 4 to bias the leaf spring 9 until the torque limiter 6 is activated (S14). The controller 23 locks the rotation of the finger 2 in the opening direction by the lock device 7 (S16), and stops the motor 4 (S18). If the locking device 7 is a mechanism that locks the rotation of the finger 2 in the opening direction and allows the rotation in the closing direction, the control device 23 can rotate the locking device 7 at an arbitrary timing until the motor 4 is stopped. may be activated. If the locking device 7 is a mechanism that locks not only the rotation of the fingers 2 in the opening direction but also the rotation in the closing direction, the control device 23 controls the time from the activation of the torque limiter 6 until the motor 4 is stopped. The locking device 7 may be actuated in the meantime.
　図５は、実施の形態１に係るＨａｎｄ部３の衣類の把持方法の手順を示す図である。例えば、対象物の衣類である１枚のＴシャツ２４が、２つ折りにして載置部である作業板２５に掛けられている。制御装置２３は、２つのＨａｎｄ部３をフィンガ２が開かれた状態でＴシャツ２４の両端に降下させ、Ｔシャツ２４を作業板２５ごと所定のトルクで把持する（Ｓ２０）。そして、制御装置２３は、フィンガ２がＴシャツ２４を把持した状態のまま、２つのＨａｎｄ部３を上昇させて、Ｔシャツ２４を作業板２５から引き抜く（Ｓ２２）。 FIG. 5 is a diagram showing a procedure of a method for gripping clothes by the hand portion 3 according to the first embodiment. For example, a single T-shirt 24, which is the object's clothing, is folded in two and hung on the work plate 25, which is the placing portion. The control device 23 lowers the two hands 3 with the fingers 2 open to both ends of the T-shirt 24 and grips the T-shirt 24 together with the working plate 25 with a predetermined torque (S20). Then, the control device 23 raises the two hand parts 3 while the fingers 2 are holding the T-shirt 24, and pulls the T-shirt 24 out of the working plate 25 (S22).
　このとき、フィンガ２は板バネ９の付勢力により、作業板２５の厚み分だけ自動的に閉じ、Ｔシャツ２４を保持し続ける。これにより、Ｈａｎｄ部３は、２つ折りになったＴシャツ２４だけを把持することができる。なお、この動作は、Ｔシャツ２４を２つ折りにする丁寧な把持方法であるが、単純に、１つのＨａｎｄ部３が、Ｔシャツ２４を作業板２５から引き上げるように動作してもよい。 At this time, the finger 2 automatically closes by the thickness of the work plate 25 due to the biasing force of the plate spring 9, and continues to hold the T-shirt 24. Thereby, the hand part 3 can grip only the T-shirt 24 folded in two. Note that this operation is a polite gripping method for folding the T-shirt 24 in two, but one hand portion 3 may simply pull up the T-shirt 24 from the work plate 25 .
　［１－３．効果等］
　以上のように、本実施の形態において、Ｈａｎｄ部３は、対象物を把持するためのフィンガ２と、フィンガ２を駆動する駆動部１と、フィンガ２が対象物を把持しているときに、対象物を把持する方向にフィンガ２を付勢する板バネ９と、フィンガ２が対象物を把持しているときに、対象物を解放する方向にフィンガ２が動くのを抑えるロック装置７とを備える。これにより、対象物を把持した後に駆動部１を停止しても対象物を把持した状態を維持することができる。また、対象物が柔軟物であっても適切に把持することができる。 [1-3. effects, etc.]
As described above, in the present embodiment, the hand section 3 includes the fingers 2 for gripping the object, the driving section 1 for driving the fingers 2, and when the fingers 2 are gripping the object, A leaf spring 9 for biasing the fingers 2 in the direction of gripping the object, and a locking device 7 for suppressing the movement of the fingers 2 in the direction of releasing the object while the fingers 2 are gripping the object. Prepare. Accordingly, even if the drive unit 1 is stopped after gripping the object, the gripped state of the object can be maintained. Also, even if the object is a flexible object, it can be properly gripped.
　また、本実施の形態において、駆動部１は、フィンガ２を回転駆動するモータ４を含み、ロック装置７は、フィンガ２が対象物を解放する方向に回転しないようにロックする。これにより、対象物を把持した後に駆動部１を停止しても対象物を把持した状態を維持することが可能なＨａｎｄ部３を、簡易な構成により実現することができる。 Further, in the present embodiment, the drive unit 1 includes a motor 4 that rotationally drives the finger 2, and the lock device 7 locks the finger 2 so that it does not rotate in the direction of releasing the object. As a result, the hand unit 3 capable of maintaining the state of gripping the object even when the drive unit 1 is stopped after gripping the object can be realized with a simple configuration.
　また、本実施の形態において、板バネ９は、フィンガ２が対象物を把持しているときに、駆動部１におけるバックラッシに起因して対象物を解放する方向にフィンガ２が動いても、対象物が解放されないようにフィンガ２を付勢する。これにより、対象物をより確実に把持することができる。 In addition, in the present embodiment, the leaf spring 9 keeps the object even if the fingers 2 move in the direction of releasing the object due to backlash in the drive unit 1 while the fingers 2 are gripping the object. The finger 2 is biased so that the object is not released. This allows the object to be gripped more reliably.
　また、本実施の形態において、板バネ９は、対象物を別の部材とともに把持した後、部材が引き抜かれたときに、対象物が解放されないようにフィンガ２を付勢する。これにより、駆動部１を更に駆動しなくても対象物を把持した状態を維持することができる。 Also, in this embodiment, the leaf spring 9 urges the fingers 2 so that the object is not released when the object is pulled out after gripping the object together with another member. As a result, the gripping state of the object can be maintained without further driving the driving unit 1 .
　また、本実施の形態において、駆動部１は、フィンガ２を回転駆動するモータ４を含み、Ｈａｎｄ部３は、モータ４のトルクが所定値を超えないように制限するトルクリミッター６を更に備える。これにより、一定の締付力で対象物を安定的に把持することができる。 In addition, in the present embodiment, the drive unit 1 includes a motor 4 that rotationally drives the finger 2, and the hand unit 3 further includes a torque limiter 6 that limits the torque of the motor 4 so that it does not exceed a predetermined value. As a result, the object can be stably gripped with a constant clamping force.
　また、本実施の形態において、所定値は、駆動部１におけるバックラッシに起因して対象物を解放する方向にフィンガ２が動いたとき、又は、対象物とともに把持した部材が引き抜かれたときに、対象物が解放されないように板バネ９がフィンガ２を付勢することが可能なトルクの値である。これにより、対象物をより確実に把持することができる。 In the present embodiment, the predetermined value is set when the finger 2 moves in the direction of releasing the object due to backlash in the drive unit 1, or when the member gripped together with the object is pulled out. It is the torque value at which the leaf spring 9 can bias the finger 2 so that the object is not released. This allows the object to be gripped more reliably.
　また、本実施の形態において、Ｈａｎｄ部３は、フィンガ２の端部に設けられ、対象物を把持したときに対象物に接する接触部２２を更に備え、フィンガ２と接触部２２との接続面は、それぞれ、互いに摺動可能な凹面と凸面の形状を有し、接触部２２は、接続面で摺動することによりフィンガ２に対して回動可能である。これにより、Ｈａｎｄ部３が回動して対象物が重力方向に回転した場合であっても、接触部２２の回動と振れ回りが可能となるので、対象物のねじれなどを抑えることができる。 In the present embodiment, the hand portion 3 further includes a contact portion 22 that is provided at the end of the finger 2 and contacts the object when the object is gripped. respectively have concave and convex shapes that are slidable relative to each other, and the contact portion 22 is rotatable with respect to the finger 2 by sliding on the connecting surface. As a result, even if the object rotates in the gravity direction due to the rotation of the hand part 3, the contact part 22 can be rotated and whirled, so that twisting of the object can be suppressed. .
　また、本実施の形態において、上記のＨａｎｄ部３により対象物を把持するための把持方法は、モータ４を制御してフィンガ２により対象物を把持するステップと、フィンガ２が対象物を把持した後、モータ４を停止するステップと、を備える。これにより、対象物を把持した後にモータ４を停止しても、対象物を把持した状態を維持することができるので、振動、音、消費電力などを低減させることができる。また、駆動部１などへの負荷を低減させることができるので、Ｈａｎｄ部３の寿命を長くすることができる。 In the present embodiment, the gripping method for gripping the object with the hand portion 3 includes the step of gripping the object with the fingers 2 by controlling the motor 4, and the step of gripping the object with the fingers 2. and a step of stopping the motor 4 afterwards. As a result, even if the motor 4 is stopped after gripping the object, the gripping state of the object can be maintained, so that vibration, noise, power consumption, and the like can be reduced. Moreover, since the load on the drive unit 1 and the like can be reduced, the life of the hand unit 3 can be lengthened.
　また、本実施の形態において、把持方法は、モータ４を停止させる前に、モータ４の停止中にフィンガ２が対象物を把持したまま維持するための付勢力を板バネ９に印加するステップを更に備える。これにより、対象物をより確実に把持することができる。 In this embodiment, the gripping method includes, before stopping the motor 4, applying a biasing force to the leaf spring 9 so that the fingers 2 grip the object while the motor 4 is stopped. Prepare more. This allows the object to be gripped more reliably.
　また、本実施の形態において、上記のＨａｎｄ部３により対象物を把持するための把持方法は、作業板２５に置かれたＴシャツ２４をフィンガ２により作業板２５部ごと把持するステップと、フィンガ２がＴシャツ２４を把持した後、Ｔシャツ２４を作業板２５から引き抜くステップと、を備える。このとき、フィンガ２は板バネ９の付勢力により、作業板２５の厚み分だけ自動的に閉じ、Ｔシャツ２４を保持し続けるので、Ｈａｎｄ部３は、２つ折りになったＴシャツ２４だけを把持することができる。 In this embodiment, the gripping method for gripping an object with the hand portion 3 includes the steps of gripping the T-shirt 24 placed on the work plate 25 together with the work plate 25 with the fingers 2; and pulling the T-shirt 24 out of the working plate 25 after 2 has gripped the T-shirt 24 . At this time, the fingers 2 are automatically closed by the thickness of the working plate 25 due to the urging force of the plate spring 9 and continue to hold the T-shirt 24, so that the hand portion 3 only holds the T-shirt 24 folded in half. can be grasped.
　以上のように、本出願において開示する技術の例示として、実施の形態１を説明した。しかしながら、本開示における技術は、これに限定されず、変更、置き換え、付加、省略などを行った実施の形態にも適用できる。また、上記実施の形態１で説明した各構成要素を組み合わせて、新たな実施の形態とすることも可能である。 As described above, Embodiment 1 has been described as an example of the technology disclosed in the present application. However, the technology in the present disclosure is not limited to this, and can also be applied to embodiments with modifications, replacements, additions, omissions, and the like. Also, it is possible to combine the constituent elements described in the first embodiment to form a new embodiment.
　例えば、付勢部として板バネ９を例示したが、これに限られず、図示しないが、板バネ９のたわみと同じ方向、つまり２次元的に回動する蝶番を設け、蝶番を回転させるために所定の回転トルクが必要となるコイルバネを蝶番の回転軸に備える構成でもよい。 For example, although the leaf spring 9 is illustrated as an urging portion, the present invention is not limited to this. Although not shown, a hinge that rotates in the same direction as the deflection of the leaf spring 9, that is, two-dimensionally is provided, and the hinge is rotated. A configuration in which a coil spring that requires a predetermined rotational torque is provided on the rotating shaft of the hinge may be used.
　なお、上述の実施の形態は、本開示における技術を例示するためのものであるから、特許請求の範囲またはその均等の範囲において種々の変更、置き換え、付加、省略などを行うことができる。 It should be noted that the above-described embodiment is for illustrating the technology in the present disclosure, and various modifications, replacements, additions, omissions, etc. can be made within the scope of the claims or equivalents thereof.
　本開示は、把持装置に利用可能である。 The present disclosure can be used for grasping devices.
　１…駆動部、２…フィンガ（指部）、３…Ｈａｎｄ部、４…モータ、５…減速ギア、６…トルクリミッター、７…ロック装置（解放抑止部）、８…減速ギア、９…板バネ（付勢部）、１０…指カバーＡ、１１…指カバーＢ、１２…バネ受け、１３…バネ、１４…回転台、１５…弾性体、１６…ギアケース、１７…ギアケースカバー、１８…回転軸、１９…指固定台、２０…固定ねじ、２１…座金、２２…接触部、２３…制御装置、２４…Ｔシャツ（対象物）、２５…作業板（載置部）。 DESCRIPTION OF SYMBOLS 1... Drive part 2... Finger (fingers) 3... Hand part 4... Motor 5... Reduction gear 6... Torque limiter 7... Lock device (release restraining part) 8... Reduction gear 9... Plate Spring (biasing portion) 10 Finger cover A 11 Finger cover B 12 Spring receiver 13 Spring 14 Turntable 15 Elastic body 16 Gear case 17 Gear case cover 18 Rotation shaft 19 Finger fixing base 20 Fixing screw 21 Washer 22 Contact portion 23 Control device 24 T-shirt (object) 25 Work plate (placement portion).

Claims (10)

  1. 　対象物を把持するための指部と、
    　前記指部を駆動する駆動部と、
    　前記指部が前記対象物を把持しているときに、前記対象物を把持する方向に前記指部を付勢する付勢部と、
    　前記指部が前記対象物を把持しているときに、前記対象物を解放する方向に前記指部が動くのを抑える解放抑止部と、
    を備える把持装置。     fingers for gripping an object;
    a drive unit for driving the finger;
    a biasing unit that biases the finger in a direction to grip the object when the finger is gripping the object;
    a release restraining unit that restrains the finger from moving in a direction to release the object when the finger is gripping the object;
    A grasping device comprising:
  2. 　前記駆動部は、前記指部を回転駆動するモータを含み、
    　前記解放抑止部は、前記指部が前記対象物を解放する方向に回転しないようにロックするロック機構を含む
    請求項１に記載の把持装置。     The driving unit includes a motor that rotationally drives the finger,
    2. The grasping device according to claim 1, wherein the release restraining portion includes a locking mechanism that locks the fingers so as not to rotate in a direction to release the object.
  3. 　前記付勢部は、前記指部が前記対象物を把持しているときに、前記駆動部におけるバックラッシに起因して前記対象物を解放する方向に前記指部が動いても、前記対象物が解放されないように前記指部を付勢する
    請求項１又は２に記載の把持装置。     The urging portion is adapted to hold the object even if the finger moves in a direction to release the object due to backlash in the driving portion while the finger is gripping the object. 3. A gripping device according to claim 1 or 2, wherein the fingers are biased against release.
  4. 　前記付勢部は、前記対象物を別の部材とともに把持した後、前記部材が引き抜かれたときに、前記対象物が解放されないように前記指部を付勢する
    請求項１から３のいずれかに記載の把持装置。     4. The urging part urges the fingers so that the object is not released when the member is pulled out after gripping the object with another member. The gripping device according to .
  5. 　前記駆動部は、前記指部を回転駆動するモータを含み、
    　前記モータのトルクが所定値を超えないように制限するトルク制限部を更に備える
    請求項１から４のいずれかに記載の把持装置。     The driving unit includes a motor that rotationally drives the finger,
    The gripping device according to any one of claims 1 to 4, further comprising a torque limiter that limits the torque of the motor so that it does not exceed a predetermined value.
  6. 　前記所定値は、前記駆動部におけるバックラッシに起因して前記対象物を解放する方向に前記指部が動いたとき、又は、前記対象物とともに把持した部材が引き抜かれたときに、前記対象物が解放されないように前記付勢部が前記指部を付勢することが可能なトルクの値である
    請求項５に記載の把持装置。     The predetermined value is set when the finger moves in a direction to release the object due to backlash in the drive unit, or when a member gripped together with the object is pulled out. 6. The gripping device of claim 5, wherein the bias is of a torque value capable of biasing the finger against release.
  7. 　前記指部の端部に設けられ、前記対象物を把持したときに前記対象物に接する接触部を更に備え、
    　前記指部と前記接触部との接続面は、それぞれ、互いに摺動可能な凹面と凸面の形状を有し、
    　前記接触部は、前記接続面で摺動することにより前記指部に対して回動可能である
    請求項１から６のいずれかに記載の把持装置。     further comprising a contact portion provided at an end of the finger portion and in contact with the object when the object is gripped;
    connecting surfaces of the finger portion and the contact portion respectively have concave and convex shapes that are slidable relative to each other;
    7. The gripping device according to any one of claims 1 to 6, wherein the contact portion is rotatable with respect to the finger portion by sliding on the connecting surface.
  8. 　請求項１から７のいずれかに記載の把持装置により対象物を把持するための把持方法であって、
    　前記駆動部を制御して前記指部により前記対象物を把持するステップと、
    　前記指部が前記対象物を把持した後、前記駆動部を停止するステップと、
    を備える把持方法。     A gripping method for gripping an object with the gripping device according to any one of claims 1 to 7,
    controlling the drive unit to grip the object with the fingers;
    stopping the driving unit after the finger grips the object;
    A grasping method comprising:
  9. 　前記駆動部を停止させる前に、前記駆動部の停止中に前記指部が前記対象物を把持したまま維持するための付勢力を前記付勢部に印加するステップを更に備える
    請求項８に記載の把持方法。     10. The method according to claim 8, further comprising, before stopping the driving part, applying a biasing force to the biasing part so that the fingers keep gripping the object while the driving part is stopped. gripping method.
  10. 　請求項１から７のいずれかに記載の把持装置により対象物を把持するための把持方法であって、
    　載置部に置かれた前記対象物を前記指部により前記載置部ごと把持するステップと、
    　前記指部が前記対象物を把持した後、前記対象物を前記載置部から引き抜くステップと、
    を備える把持方法。     A gripping method for gripping an object with the gripping device according to any one of claims 1 to 7,
    a step of gripping the object placed on the placing portion together with the placing portion by the fingers;
    After the fingers have gripped the object, pulling out the object from the placement unit;
    A grasping method comprising:
PCT/JP2022/002701 2021-01-28 2022-01-25 Grasping apparatus and grasping method WO2022163654A1 (en)

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JP2021012138A JP2022115513A (en) 2021-01-28 2021-01-28 Gripping device and gripping method
JP2021-012138 2021-01-28

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US4850631A (en) * 1987-05-22 1989-07-25 Martin Dotsko Article manipulator
JP2003080486A (en) * 2001-09-11 2003-03-18 Ricoh Co Ltd Robot hand, grasping method thereof and computer- readable recording medium recording control program thereof
JP2010064185A (en) * 2008-09-10 2010-03-25 Toyota Motor Corp Finger structure of robot hand
JP2010105125A (en) * 2008-10-30 2010-05-13 Denso Wave Inc Electric hand
JP2012171018A (en) * 2011-02-17 2012-09-10 Seiko Epson Corp Robot hand, and robot device
JP2016112661A (en) * 2014-12-17 2016-06-23 株式会社コガネイ Electric hand
CN111872970A (en) * 2020-08-04 2020-11-03 张家港江苏科技大学产业技术研究院 Self-adaptive rigid paw

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4850631A (en) * 1987-05-22 1989-07-25 Martin Dotsko Article manipulator
JP2003080486A (en) * 2001-09-11 2003-03-18 Ricoh Co Ltd Robot hand, grasping method thereof and computer- readable recording medium recording control program thereof
JP2010064185A (en) * 2008-09-10 2010-03-25 Toyota Motor Corp Finger structure of robot hand
JP2010105125A (en) * 2008-10-30 2010-05-13 Denso Wave Inc Electric hand
JP2012171018A (en) * 2011-02-17 2012-09-10 Seiko Epson Corp Robot hand, and robot device
JP2016112661A (en) * 2014-12-17 2016-06-23 株式会社コガネイ Electric hand
CN111872970A (en) * 2020-08-04 2020-11-03 张家港江苏科技大学产业技术研究院 Self-adaptive rigid paw

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