Thk Co., Ltd.

Yoshimasa Endo

Kenji Hidaka

Daisuke Kawabata

Yoshikazu Matsuo

Masaki Nagatsuka

Toshiya Watanabe

Shinji Kawabata

Fumiya Koizumi

Yuki Nomura

An object of the present invention is to ascertain parts of an object that are approachable by finger portions of a hand mechanism. In an image information processing device, a housing container is retrieved from an image by using a first retrieval frame, and an object is retrieved from the image by using a second retrieval frame. A plurality of determination points are set in advance on the second retrieval frame, and a predetermined approach direction is set for each determination point. A determination is then made as to whether or not the finger portions of the hand mechanism can be caused to approach parts of one object, existing within the second retrieval frame, that correspond respectively to the determination points set on the second retrieval frame from the predetermined approach directions set in relation to the determination points.

Image information processing device, gripping system, and image information processing method

Robot arm apparatus

In order to extend a life span of a flexible cable passing through a movable portion, provided is a hand mechanism which has a plurality of fingers and grips an object with the fingers, including: a flexible cable; a joint which flexes or extends with the grip of the object, has a path for the flexible cable, and has a first surface and a second surface that is a surface bending from the first surface at a bending portion in the path; and a sheet which is provided between the first surface and the flexible cable to have flexibility and is formed such that a gap is provided between the second surface and the sheet.

Hand mechanism

A hand mechanism grips an object more favorably, regardless of the attitude and surrounding conditions of the object. When an object is to be gripped by a hand mechanism having three or more finger portions, at least one finger portion among the three or more finger portions functions as a state-altering finger portion for altering the attitude or the position of the object while contacting the object, and at least two finger portions among the finger portions other than the finger portion functioning as the state-altering finger portion function as gripping finger portions for gripping the object in a state where the attitude or the position has been altered by the state-altering finger portion.

Hand mechanism, gripping system, and non-transitory storage medium

The present invention improves the stability while suppressing increases in the size and heat generation amount of motors used in a hand mechanism. The hand mechanism includes a first driving mechanism for driving a first joint portion of each finger portion and a second driving mechanism for driving a second joint portion of each finger portion, the second joint portion being positioned further away from a tip end portion of the finger portion than the first joint portion. Further, the second driving mechanism is a mechanism having smaller back-drivability than the first driving mechanism. When pressing force is to be exerted on the object from gripping finger portions that are in contact with the object, the motors of the first driving mechanisms are driven to rotate in a direction for bending the first joint portions while the motors of the second driving mechanisms are held in a stopped state.

Gripping system and gripping method

Robot hand

Provided is a robot hand that is capable of gripping an object and manipulating the gripped object in a manner similar to that of a human hand, and that makes it possible to reduce the number of actuators. This robot hand is provided with: a first actuator () that imparts driving force to a first finger link () so that the first finger link () pivots relative to a base section (); and a second actuator () that imparts driving force to at least one of a second finger link () and a third finger link () so that the second finger link () pivots relative to the first finger link () and the third finger link () pivots relative to the second finger link ().

An articulated mechanism system includes a plurality of fingers (articulated mechanisms) arranged in parallel, each of which has a mounting member, a first digital part rotatably connected to the mounting member by a first connecting part, a second digital part rotatably connected to the first digital part by a second connecting part, and a first driving part rotatably connected to the second digital part by a fourth connecting part and connected to a third connecting part. By extruding the third connecting part toward the fourth connecting part, the first digital part and the second digital part are integrally rotated about the first connecting part, or the second digital part is rotated about the second connecting part when the rotation of the first digital part is blocked. The third connecting parts are driven by a single driving mechanism for the same distance and in the same direction at a time.

Growing community of inventors

Tokyo, Japan

Yoshimasa Endo