Hand, holding device, and cargo-handling system
A hand includes a first holding unit, and a second holding unit. The first holding unit includes a plurality of first holding portions capable of holding an article. A plurality of the first holding units is provided in a second direction and is movable independently of each other in a first direction crossing the second direction. The second holding unit is movable in a third direction crossing a plane parallel to the first direction and the second direction. The second holding unit includes a plurality of second holding portions capable of holding the article.
1 . A hand comprising:
a first holding unit including a plurality of first holding portions capable of holding an object, each of the plurality of first holding portions includes a first rod extending along a first direction and a first suction pad provided at a tip end of the first rod, the first direction being along a vertical direction, a plurality of the first holding units being provided in a second direction and being movable independently of each other in the first direction, the second direction crossing the first direction; and
a second holding unit being movable in a third direction crossing a plane parallel to the first direction and the second direction, the second holding unit including a plurality of second holding portions capable of holding the object, each of the plurality of second holding portions includes a second rod extending along the third direction and a second suction pad provided at a tip end of the second rod, a plurality of the second holding units are provided in the second direction,
wherein, each of the plurality of second holding units is connected, via a respective link mechanism, to a corresponding one of the plurality of first holding units, such that a position in the first direction of each of the plurality of second holding units varies in accordance with a position in the first direction of the corresponding first holding unit, and
wherein, if the plurality of first holding units respectively contact objects at different heights, positions in the first direction of the first holding units are mutually different, thereby causing positions in the first direction of the second holding units to be mutually different.
2 . The hand according to claim 1 , wherein
a plurality of the second holding units are provided in the second direction.
3 . The hand according to claim 2 , further comprising:
a plurality of actuators configured to drive the plurality of second holding units in the third direction, respectively.
4 . The hand according to claim 2 , further comprising:
a plurality of drive mechanisms each including a cylinder and being configured to change the position of each of the plurality of second holding units in the first direction with respect to the plurality of first holding units, respectively.
5 . The hand according to claim 4 ,
wherein each of the plurality of link mechanisms including a link and a rotation shaft,
wherein the plurality of second holding units are respectively coupled to the plurality of link mechanisms so as to be rotatable around the second direction, and
wherein the plurality of drive mechanisms are configured to change the position of each of the plurality of second holding units in the first direction by rotating each of the plurality of link mechanisms around the second direction.
6 . The hand according to claim 5 , wherein
the plurality of drive mechanisms include a plurality of cylinders respectively connected to the plurality of link mechanisms.
7 . The hand according to claim 1 , further comprising:
an inclination mechanism including a cylinder and being configured to incline the plurality of first holding units and the second holding unit with respect to a plane along the second direction and the third direction.
8 . The hand according to claim 1 , further comprising:
a plurality of fixing mechanisms including a cylinder and being configured to fix positions of the plurality of first holding units in the first direction, respectively.
9 . A holding device comprising:
the hand according to claim 1 ; and
an actuator configured to move the hand along the first direction, the second direction, or the third direction.
10 . A cargo-handling system comprising:
the hand according to claim 1 ;
an actuator configured to move the hand along the first direction, the second direction, or the third direction; and
a conveyor on which an article held by the hand is placed, the conveyor including a motor and being configured to move the placed article using the motor.
11 . The system according to claim 10 , further comprising:
a lifting-and-lowering device configured to move the conveyor along the first direction.
12 . The system according to claim 10 , further comprising:
a camera configured to capture an image of a plurality of the articles placed in a stacked manner.