Robot hand, robot control system, function recovery processing system, robot control program, and function recovery processing program

Abstract

In the first invention, since a grip portion 20 is covered with a soft material 102, the soft material 102 is brought into close contact with a package 100 at the time of suction by plural suction pads 24, whereby it is possible to reliably hold the package 100 by being used as an auxiliary holding force at the time of suctioning the package 100 in an air suction structure of the suction pad 24, for example. In the second invention, a management server operating in cooperation with a robot control unit includes a function recovery processing unit that executes a function recovery process for recovering a function of the soft material as a part of the maintenance process in a case where the robot is docked in a dock station, whereby the soft material 102 attached to the grip portion 20 can recover the function by executing the replacement process or the cleaning process according to the frequency of the function decrease when the function as the assistance of the suction of the suction pad 24 decreases at the time of gripping the package 100 by the grip portion 20. In the third invention, a robot includes plural grip portions 20 that grip an object, a palm sensor unit 26 that is provided in each of the plural grip portions 20 and detects object information including a shape and a position of the object, and a control unit 142. The control unit 142 causes control for monitoring the palm sensor 26 to be interrupted periodically or irregularly, grasps accuracy of detection information of the palm sensor 26, and determines pass or fail of the accuracy. In a case of fail, the palm sensor 26 of the grip portion 20 that has not been selected is used. In addition to the grip portion 20 that is to grip the package 100, a grip portion 20 that functions as a support sensor faces the package 100, and the grip control of the grip portion 20L is executed on the basis of the detection information of the palm sensor 26 of the grip portion 20S, whereby a series of operations of confirming the position, gripping, and holding of the package by the grip portion can be quickly and reliably performed. In the fourth invention, provided are plural grip portions 20 attached to a robot and griping an object 100, a sensor group 12G having a first function of acquiring external information for controlling an operation of the robot and a second function of acquiring object information from the object 100, and a control unit 142 that moves the robot to a predetermined position on the basis of the external information and the object information, and controls the grip portions to grip the object by the grip portions. When a special object is selected by the second function of the sensor group, the control unit 142 grips the special object on the basis of a predetermined gripping form for the special object, whereby a series of operations of confirming the position and the type of the package, gripping, and holding and movement after gripping of the package by the grip portion can be quickly and reliably performed. In the fifth invention, provided are a grip portion 20 serving as a base for holding the object, an actuator provided in the grip portion and having a vacuum function for suctioning the object and sucking dust attached to the object, a palm sensor unit that is provided in the grip portion and detects object information including a shape and a position of the object, a first control unit that activates the vacuum function of the actuator as necessary on a basis of a detection result of the palm sensor unit and controls an operation of holding the object, and a second control unit that activates the vacuum function of the actuator prior to the operation of holding the object by the first control unit, whereby reduces the adverse effects of dust attached on the object in a series of operations of confirming the position, gripping, and holding of the package by the grip portion, and the operations can be quickly and reliably performed.

Dependencies are inferred from the claim text.