Patent Description:
A robot hand device drives a finger mechanism with a single motor. The finger mechanism includes a base linkage member and a distal linkage member. A work is gripped by a pair of finger mechanisms.

A known robotic device includes an end effector device and a robot hand device configured to drive the end effector device. The end effector device is exchangeably connected to a distal end of the robot hand device. An end effector device has two or three fingers to realize a work gripping function.

<CIT> discloses a robot with a manipulator assembly on a forearm comprising mechanical grippers; <CIT> discloses a grabbing mechanism comprising a fixed connecting plate, first and second power mechanism, and a tightening mechanism; <CIT> discloses a robot hand and a robot comprising four fingers forming a first finger pair and a second finger pair, which are driven in such a way that the four fingers move closer to or away from an object simultaneously at the same speed; <CIT> discloses a motor-driven hand including two cam members; and <CIT> discloses a holder including four expansible claw stanchions, holding claws attached to the tips of the stanchions, and auxiliary holding claws attached to the tips of the holding claws.

The present invention provides an end effector device according to claim <NUM> and a robotic device according to claim <NUM>. Preferred embodiments are described in the dependent claims.

The embodiment depicted in <FIG> is an embodiment according to the claimed invention. The embodiments depicted in <FIG> and the embodiment depicted in <FIG> are not according to the claimed invention.

The following describes an embodiment of the present disclosure with reference to <FIG>. Elements which are the same or equivalent are labeled with the same reference signs in the drawings and description thereof is not repeated.

First, a robotic device <NUM> according to the embodiment will be described with reference to <FIG> is a perspective view of an example of the robotic device <NUM> according to the embodiment.

As illustrated in <FIG>, the robotic device <NUM> includes a base <NUM>, a robot hand device <NUM>, and an end effector device <NUM>.

The robot hand device <NUM> is disposed on the base <NUM>. The robot hand device <NUM> has multiple axes to drive the end effector device <NUM>. The end effector device <NUM> is exchangeably connected to a distal end corresponding to a wrist of the robot hand device <NUM>.

Next, the end effector device <NUM> will be described with reference to <FIG>, <FIG> is a perspective view of an example of the end effector device <NUM>. <FIG> is a bottom view of the end effector device <NUM>.

As illustrated in <FIG>, the end effector device <NUM> includes a housing <NUM>, a first gripper <NUM>, and a second gripper <NUM>.

The housing <NUM> is formed in a substantially columnar shape around a central axis, and includes a peripheral side surface <NUM> and a bottom surface <NUM>. The bottom surface <NUM> includes an opening <NUM>. The opening <NUM> is formed in a cross shape so as to have two guide paths intersecting each other.

The first gripper <NUM> includes a first finger <NUM> and a second finger <NUM> facing each other and configured to open and close. The second gripper <NUM> includes a third finger <NUM> and a fourth finger <NUM> facing each other and configured to open and close in a direction intersecting the first gripper <NUM>. The first finger <NUM>, the second finger <NUM>, the third finger <NUM>, and the fourth finger <NUM> each protrude from the opening <NUM>.

The first finger <NUM> and the second finger <NUM> are in substantially symmetric positions about the center axis of the housing <NUM> and move linearly so that the distance therebetween is increased or reduced in one of the guide paths of the opening <NUM>. The housing <NUM> includes therewithin a first motor and a first drive mechanism not illustrated. The first drive mechanism includes for example a rack and a pinion for converting a rotational motion of the first motor into a linear motion. The first finger <NUM> and the second finger <NUM> are driven by the first drive mechanism.

The third finger <NUM> and the fourth finger <NUM> are in substantially symmetric positions about the center axis of the housing <NUM> and move linearly so that the distance therebetween is increased or reduced in the other guide path of the opening <NUM>. The housing <NUM> includes therewithin a second motor and a second drive mechanism not illustrated. The second drive mechanism includes for example a rack and a pinion for converting a rotational motion of the second motor into a linear motion. The third finger <NUM> and the fourth finger <NUM> are driven by the second drive mechanism independently of the first finger <NUM> and the second finger <NUM>. Note that the first motor and the second motor may be replaced with a common motor.

In the end effector device <NUM> illustrated in <FIG>, the length of the first finger <NUM> and the second finger <NUM> protruding from the opening <NUM> is substantially the same as the length of the third finger <NUM> and the fourth finger <NUM> protruding from the opening <NUM>. Further, the maximum distance between the first finger <NUM> and the second finger <NUM> is substantially the same as the maximum distance between the third finger <NUM> and the fourth finger <NUM>.

The first finger <NUM> is formed in a rod shape having a rectangular cross section, and has a work contact surface <NUM>, two side surfaces <NUM>, a back surface <NUM>, a sloping surface <NUM>, and a top surface <NUM>. The work contact surface <NUM> is formed in an elongated rectangular shape. Each of the side surfaces <NUM> is formed in an elongated pentagonal shape, and bounded by the work contact surface <NUM>, the back surface <NUM>, the sloping surface <NUM>, and the top surface <NUM>. The back surface <NUM> is formed in a rectangular shape smaller than the work contact surface <NUM>, and bounded by the two side surfaces <NUM> and the sloping surface <NUM>. The sloping surface <NUM> is bounded by the two side surfaces <NUM>, the back surface <NUM>, and the top surface <NUM>. The top surface <NUM> is bounded by the work contact surface <NUM>, the two side surfaces <NUM>, and the sloping surface <NUM>.

The second finger <NUM> is formed symmetrically with the first finger <NUM>, and has a work contact surface <NUM>, two side surfaces <NUM>, a back surface <NUM>, a sloping surface <NUM>, and a top surface <NUM>.

The third finger <NUM> is formed in an elongated hook shape and has a work contact surface <NUM>, two side surfaces <NUM>, a back surface <NUM>, a sloping surface <NUM>, and a facing surface <NUM>. The work contact surface <NUM> is formed in a small rectangular shape. Each of the side surfaces <NUM> is formed in an arc shape, and bounded by the work contact surface <NUM>, the back surface <NUM>, the sloping surface <NUM>, the top surface <NUM>, and the facing surface <NUM>. The back surface <NUM> is formed in a rectangular shape larger than the work contact surface <NUM>, and bounded by the two side surfaces <NUM> and the sloping surface <NUM>. The sloping surface <NUM> is bounded by the two side surfaces <NUM>, the back surface <NUM>, and the top surface <NUM>. The top surface <NUM> is bounded by the work contact surface <NUM>, the two side surfaces <NUM>, and the sloping surface <NUM>. The facing surface <NUM> is bounded by the work contact surface <NUM> and the two side surfaces <NUM>.

The fourth finger <NUM> is formed symmetrically with the third finger <NUM>, and has a work contact surface <NUM>, two side surfaces <NUM>, a back surface <NUM>, a sloping surface <NUM>, a top surface <NUM>, and a facing surface <NUM>.

Using the end effector device <NUM> illustrated in <FIG>, the first gripper <NUM> including the first finger <NUM> and the second finger <NUM> can grip a type of work. In addition, the second gripper <NUM> including the third finger <NUM> and the fourth finger <NUM> can grip another type of work. Further, the first gripper <NUM> and the second gripper <NUM> can be driven so as to simultaneously grip a common work.

The work contact surface <NUM> of the first finger <NUM> and the work contact surface <NUM> of the second finger <NUM> may be made of material different from that of the work contact surface <NUM> of the third finger <NUM> and the work contact surface <NUM> of the fourth finger <NUM>. For example, a member made of a soft and flexible material may be attached to only the work contact surface <NUM> of the first finger <NUM> and the work contact surface <NUM> of the second finger <NUM> in order to prevent the work from being damaged or slipping.

Next, a variation of the end effector device <NUM> will be described with reference to <FIG> and <FIG> is a perspective view illustrating a variation of the end effector device <NUM>.

The end effector device <NUM> illustrated in <FIG> is different from the end effector device <NUM> illustrated in <FIG> in that the length of the first finger <NUM> and the second finger <NUM> protruding from the opening <NUM> is longer than the length of the third finger <NUM> and the fourth finger <NUM> protruding from the opening <NUM>. The end effector device <NUM> illustrated in <FIG> can be realized by replacing only the first finger <NUM> and the second finger <NUM> of the end effector device <NUM> illustrated in <FIG>.

In the end effector device <NUM> illustrated in <FIG>, the first gripper <NUM> and the second gripper <NUM> are selectively used depending on the shape of the work to be gripped.

Next, the end effector device <NUM> according to the present invention will be described with reference to <FIG> and <FIG> is a perspective view illustrating another variation of the end effector device <NUM>.

The end effector device <NUM> illustrated in <FIG> is different from the end effector device <NUM> illustrated in <FIG> in that the maximum distance between the first finger <NUM> and the second finger <NUM> is shorter than the maximum distance between the third finger <NUM> and the fourth finger <NUM>. The end effector device <NUM> illustrated in <FIG> can be realized by replacing only the third finger <NUM> and the fourth finger <NUM> of the end effector device <NUM> illustrated in <FIG>.

The third finger <NUM> illustrated in <FIG> is different from the third finger <NUM> illustrated in <FIG> in that the third finger <NUM> in <FIG> has gently bent side surfaces <NUM> formed in an S-shape and an inwardly sloping surface <NUM> bounded by the side surfaces <NUM>. The fourth finger <NUM> illustrated in <FIG> is different from the fourth finger <NUM> illustrated in <FIG> in that the fourth finger <NUM> in <FIG> has gently bent side surfaces <NUM> formed in an S-shape and an inwardly sloping surface <NUM> bounded by the side surfaces <NUM>.

The fourth finger <NUM> illustrated in <FIG> is formed symmetrically with the third finger <NUM> illustrated in <FIG>. In the end effector device <NUM> illustrated in <FIG>, the height of the first finger <NUM> and the second finger <NUM> protruding from the opening <NUM> is substantially the same as the height of the third finger <NUM> and the fourth finger <NUM> protruding from the opening <NUM>.

In the end effector device <NUM> illustrated in <FIG>, the first gripper <NUM> and the second gripper <NUM> are selectively used depending on the dimensions of the work to be gripped.

According to the embodiment, a low-cost end effector device <NUM> enabled to handle a variety of works is provided.

In the description of the embodiment described above, various technically preferable limitations may be given to illustrate a preferred embodiment in the present disclosure. However, the technical scope of the present disclosure is not limited to the embodiment unless otherwise specified by descriptions limiting the pre-sent disclosure. That is, the elements of configuration in the above-described embodiments can be appropriately replaced with existing constituent elements or the like, and various variations including combinations with other existing constituent elements are possible. The descriptions of the above embodiment should not be construed as limitations on the contents of the disclosure described in the scope of claims.

Claim 1:
An end effector device (<NUM>) comprising:
a housing (<NUM>) having an opening (<NUM>);
a first gripper (<NUM>); and
a second gripper (<NUM>); wherein
the first gripper includes a first finger (<NUM>) and a second finger (<NUM>) facing each other and configured to open and close,
the second gripper includes a third finger (<NUM>) and a fourth finger (<NUM>) facing each other and configured to open and close in a direction intersecting the first gripper, the first finger, the second finger, the third finger, and the fourth finger each protrude from the opening,
a maximum distance between the first finger and the second finger is shorter than a maximum distance between the third finger and the fourth finger,
the first finger and the second finger each have first side surfaces (<NUM>, <NUM>) formed in an elongated pentagonal shape and a work contact surface (<NUM>) bounded by the first side surfaces, and
the third finger and the fourth finger each have gently bent second side surfaces (<NUM>, <NUM>) formed in an S-shape and an inwardly sloping surface (<NUM>, <NUM>) bounded by the second side surfaces.