Robot hand device and carrier apparatus using the robot hand device
A robot hand device according to an embodiment includes extensible arms which can be extended and shortened, a drive motor, and at least one clutch. The extensible arms support an object to be carried and are capable of being extended and shortened. The drive motor extends and shortens the extensible arms. The at least one clutch are capable of transmitting power of the motor to at least one of the extensible arms selected among the extensible arms to extend and shorten the selected at least one of the extensible arms.
1. A robot hand device comprising:
extensible arms which support an object and are capable of being extended and shortened in a first direction;
sprockets provided for the respective extensible arms to be arranged respectively in a second direction perpendicular to the sprockets and to extend and shorten the extensible arms by winding or feeding the extensible arms;
a drive motor;
rotating shafts which are driven by the drive motor to drive the sprockets; and
clutches which are capable of transmitting power of the motor to the extensible arms selected among the extensible arms to be extended and shortened, wherein
each of ones of the rotating shafts, each clutch, each of other ones of the rotating shafts, and each sprocket are connected in that order in the second direction, and the extensible arms are provided in a same plane at intervals in a width direction of the object and are extended and shortened in a direction crossing the width direction of the object.
2. The robot hand device according to claim 1 , wherein each of the extensible arms includes blocks, adjacent ones of the blocks being connected to each other by a shaft.
3. The robot hand device according to claim 1 , wherein the at least one clutch transmits power of the motor to at least one of the extensible arms which is selected among the extensible arms according to a width of the object.
4. The robot hand device according to claim 1 , wherein the at least one clutch transmits power of the motor to the at least one of extensible arms which are selected among the extensible arms according to a position of the object in a direction parallel to a width direction of the object.
5. The robot hand device according to claim 1 , wherein the extensible arms to be selected are at least two or more extensible arms.
6. A carrier apparatus comprising:
a holding device which holds an object to be carried and can carry the object in a vertical direction and a horizontal direction;
a robot hand device according to claim 1 which supports a lower surface of the object; and
a control device which controls operations of the holding device and the robot hand device so as to support the lower surface of the object by the robot hand device after holding the object by the holding device.
7. The carrier apparatus according to claim 6 , further comprising an multijoint arm, wherein the multijoint arm moves the holding device and the robot hand device.
8. The carrier apparatus according to claim 7 , wherein the control device controls to move the holding device to a predetermined holding position at which the object is capable of being held, by controlling operation of the multijoint arm.
9. The carrier apparatus according to claim 6 , wherein the control device makes the robot hand device support the lower surface of the object by controlling the operation of the robot hand device, after lifting the object which is held by the holding device by a predetermined height by controlling an operation of the multijoint arm.
10. The carrier apparatus according to claim 6 , further comprising a camera device, wherein the camera device obtains a photographed image of a loading state of the object in a conveying carriage on which the object is loaded.
11. The carrier apparatus according to claim 10 , wherein the control device controls operation of the robot hand device on the basis of information relating to the width of the object and the position of the object obtained from a photographed image which is output from the camera device.
12. The carrier apparatus according to claim 10 , wherein the control device determines a carrying order of the object which is to be carried from the conveying carriage by the holding device and the robot hand device, on the basis of an arrangement pattern of the object obtained from a photographed image which is output from the camera device.
13. The carrier apparatus according to claim 12 , further comprising a memory, wherein the memory stores reference arrangement patterns of the object and carrying orders according to the reference arrangement patterns previously, and the control device determines a carrying order through a comparison of an arrangement pattern obtained from the photographed image and the reference arrangement patterns stored in the memory.