CN106414004A - Wrist structure of robot hand - Google Patents
Wrist structure of robot hand Download PDFInfo
- Publication number
- CN106414004A CN106414004A CN201580027073.2A CN201580027073A CN106414004A CN 106414004 A CN106414004 A CN 106414004A CN 201580027073 A CN201580027073 A CN 201580027073A CN 106414004 A CN106414004 A CN 106414004A
- Authority
- CN
- China
- Prior art keywords
- handss
- wire harness
- wrist
- downside
- mechanical hand
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
This wrist structure of a robot hand (1) is provided with: a hollow outer wrist shaft (5) that extends along a common rotation axis (L) and is connected at the top to a lower hand (3); a hollow inner wrist shaft that extends along the common rotation axis (L) through the inside of the outer wrist shaft (5) and is connected at the top to an upper hand (2), said inner wrist shaft (4) having an opening part (8) opening to the inside of the lower hand (3); and a harness handling mechanism (9) that supports a harness (7) in a movable manner independently from the inner wrist shaft (4) and the lower hand (3), respectively, said harness extending from the inside of the inner wrist shaft (4) into the lower hand (3) through the opening part (8). According to this robot hand (1), the relative rotation angle between the upper hand (2) and the lower hand (3) can be increased more than before.
Description
Technical field
The present invention relates to a kind of wrist structure of the mechanical hand of upside handss comprising there are common rotation axiss and downside handss
Make, especially relate to a kind of wrist construction of mechanical hand of processing mechanism possessing the winding wire harness in mechanical hand.
Background technology
In general, mechanical hand introduces inside it the wire harness such as electric wiring or air line (patent documentation 1).In list
In the case of on the other hand, the upper end open introducing that wire harness can be connected to the wrist axis of tubular of mechanical hand from upper end is in one's hands interior
Portion.
On the other hand, in the case that there are the both hands of upside handss and downside handss, because the wrist axis of two handss become dual
Pipe constructs, cannot winding wire harness hence with simple structure as the situation of single handss.
Fig. 7 and Fig. 8 illustrates of the wrist construction of conventional both hands 50.Both hands 50 possess upside handss 51 and downside handss
52, upper end is connected to the inner side wrist axis 53 of tubular of upside handss 51 and upper end be connected to downside handss 52 tubular outside wrist
Axle 54 becomes dual pipe construction.
So, in both hands 50, because wrist axis become dual pipe construction, so introduce wire harness 55 to upside handss 51 can
Carry out in the same manner as single handss, but must be through being formed from the peristome 57 of inner side wrist axis 53 to downside handss 52 introducing wire harness 56
And carry out.
As shown in figure 9, peristome 57 is formed at the midway of the length direction of inner side wrist axis 53.Therefore, inner side wrist axis
53 become the link leaving part 53B of part 53A of upside and downside using peristome after peristome 57 is formed
The construction that portion 53C links.
Additionally, in the example shown in Fig. 7 and Fig. 8, the wire harness 56 being incorporated into downside handss 52 passes through and is fixed on downside handss 52
Extend front in one's hands in the internal wire harness protection pipe 58 of bottom surface.
In described conventional both hands 50, as shown in Figure 10, when upside handss 51 are rotated against with downside handss 52, inner side handss
The edge of the peristome 57 of wrist axis 53 is connected to wire harness protection pipe 58.Thus it is therefore prevented that the edge of peristome 57 is connected to wire harness
56 and so that wire harness 56 is broken.
Background technology document
Patent documentation
Patent documentation 1：Japanese Patent Laid-Open 2005-246532 publication
Content of the invention
[problems to be solved by the invention]
However, as noted previously, as wire harness protection pipe 58 is fixed on the bottom surface within the handss 52 of downside, so in inner side wrist
The edge of the peristome 57 of axle 53 is connected to during wire harness protection pipe 58 it is impossible to carry out the relative rotary motion of two handss 51,52.
So, in conventional both hands 50, due to the scope that rotates against of two handss 51,52 being defined to inner side wrist axis
The edge of 53 peristome 57 is connected to the scope till wire harness protection pipe 58, so cannot rotating against two handss 51,52
Angle be set to 180 ° or its more than.
If it is defined that two handss 51,52 rotate against scope, then the degree of freedom of action of machinery is restricted, therefore
In the case of for example only making mechanical action using wherein hands, there is the problem having to execute complicated action pattern.
The present invention is in view of described background technology problem points research is it is therefore intended that provide one kind can be by upside
The wrist construction of the mechanical hand that the relative rotation angle of handss and downside handss expands than ever.
[technological means of solve problem]
In order to solve described problem, the present invention of the 1st form is a kind of wrist construction of mechanical hand, comprises to have common
The upside handss of rotation axiss and downside handss are it is characterised in that possess：The outside wrist axis of hollow, along described common rotary shaft
Line and be extended, and upper end is connected to described downside handss；The inner side wrist axis of hollow, wear along described common rotation axiss
Cross the inside of described outside wrist axis and be extended and upper end is connected to described upside handss, and have with described downside handss
The peristome that the mode of inside opening is formed；And wire harness processing mechanism, in order to by from the inside of described inner side wrist axis via
Described peristome and be extended the inside of described downside handss wire harness support for can independent of described inner side wrist axis and
Each ground of described downside handss is mobile.
The present invention of the 2nd form be the present invention according to the 1st form it is characterised in that：Described wire harness processing mechanism has
Moveable support part, described moveable support part can revolve around described common rotation axiss independent of described inner side wrist axis
Turn.
The present invention of the 3rd form is the present invention according to the 2nd form it is characterised in that described moveable support part has：
The main part of ring-type, is configured at the inside of described inner side wrist axis；And wire harness supporting part, it is inserted through described ring-type to support
Main part and be extended described downside handss inside described wire harness, and be arranged at the main part of described ring-type.
The present invention of the 4th form is the present invention according to the 3rd form it is characterised in that described wire harness processing mechanism is with such as
Under type is constituted：By the relative rotary motion along with described upside handss and described downside handss, by described inner side wrist axis
The edge of described peristome is pressed into described wire harness supporting part, and makes described wire harness supporting part together with the main part of described ring-type
Around described common rotation axiss rotation.
The present invention of the 5th form be the present invention according to the 3rd or the 4th form it is characterised in that：The main part of described ring-type
Being supported for using the parts of bearings of the inside being configured at described inner side wrist axis can be around described common rotation axiss rotation
Turn.
The present invention of the 6th form is the present invention according to arbitrary form in the 3rd to the 5th form it is characterised in that described line
Bundle branch support part has：Extension, extends along radial direction from the main part of described ring-type；And maintaining part, be formed at described in prolong
Extending portion, and keep described wire harness.
The present invention of the 7th form be the present invention according to arbitrary form in the 1st to the 6th form it is characterised in that：On described
The scope that side handss and described downside handss can rotate against is more than 180 °.
The present invention of the 8th form is the wire harness in the wrist construction according to the mechanical hand of arbitrary form in the 1st to the 7th form
Processing mechanism.
In addition, in this manual, so-called " upper (upside) " and " under (downside) ", is the common rotary shaft along two handss
Line, observes from downside handss, and the direction that upside handss are located is referred to as " upper (upside) ", observes from upside handss, and downside handss are located
Direction is referred to as " under (downside) ", is not necessarily referring to upper and lower on gravity direction.
[invention effect]
In accordance with the invention it is possible to provide a kind of machine that the relative rotation angle of upside handss and downside handss can be expanded than ever
The wrist construction of tool handss.
Brief description
Fig. 1 is that the vertical profile being represented the wrist construction of the mechanical hand of one embodiment of the present invention together with mechanical hand is regarded
Figure.
Fig. 2 is the sectional elevation of the II-II line along Fig. 1.
Fig. 3 is the sectional axonometric drawing of a part for wrist construction for the mechanical hand shown in enlarged representation Fig. 1.
Fig. 4 A is the schematic diagram of the effect of wire harness processing mechanism of wrist construction that the mechanical hand shown in Fig. 1 is described.
Fig. 4 B is other signals of the effect of wire harness processing mechanism of wrist construction that the mechanical hand shown in Fig. 1 is described
Figure.
Fig. 4 C is other signals of the effect of wire harness processing mechanism of wrist construction that the mechanical hand shown in Fig. 1 is described
Figure.
Fig. 5 is to represent that in the mechanical hand shown in Fig. 1, upside handss and the relative rotation angle of downside handss become maximum shape
The schematic diagram of state.
Fig. 6 is that in the change case of wrist construction represent the mechanical hand shown in Fig. 1, upside handss are relative with downside handss
The anglec of rotation becomes the schematic diagram of maximum state.
Fig. 7 is the longitudinal section representing the wrist construction of conventional mechanical hand together with mechanical hand.
Fig. 8 is the sectional elevation of the XIII-XIII line along Fig. 7.
Fig. 9 is the axonometric chart of a part for wrist construction for the conventional mechanical hand shown in enlarged representation Fig. 7.
Figure 10 is to represent that in the conventional mechanical hand shown in Fig. 7, upside handss and the relative rotation angle of downside handss become
The schematic diagram of big state.
Specific embodiment
Hereinafter, the wrist construction to the mechanical hand of one embodiment of the present invention, is described with reference to the accompanying drawings.
As shown in Figures 1 and 2, the mechanical hand 1 of present embodiment possess the upside handss 2 with common rotation axiss L and
Downside handss 3.The wrist construction of mechanical hand 1 possesses：The inner side wrist axis 4 of hollow, upper end is connected to upside handss 2；And hollow
Outside wrist axis 5, upper end is connected to downside handss 3.Inner side wrist axis 4 are inserted through the inside of outside wrist axis 5, two wrist axis 4,5
It is extended along the common rotation axiss L of two handss 2,3.
Upside handss 2 possess：The handss base portion 2A of hollow；Blade part 2B, is installed on the fore-end of handss base portion 2A；And side
Edge lever 2C, is pressed against the edge of the substrate S (such as wafer for semiconductor manufacturing) being placed in blade part 2B.
Similarly, downside handss 3 also possess：The handss base portion 3A of hollow；Blade part 3B, is installed on the leading section of handss base portion 3A
Point；And edge lever 3C, it is pressed against the edge of the substrate S being placed in blade part 3B.
In the present embodiment, on the downside of inner side wrist axis 4 insertion the handss base portion 3A of handss 3 and extend upward, inner side wrist
The upper end of axle 4 is connected to the handss base portion 2A of upside handss 2.
In the inside of inner side wrist axis 4, upside handss wire harness 6 and downside handss wire harness 7 are inserted.Described wire harness 6,7 is
The electric wiring of drive motor (not shown) supply electric power for example to edge lever 2C, 3C.
Upside handss wire harness 6 is introduced in via the upper end open of inner side wrist axis 4 in the handss base portion 2A of upside handss 2
Portion.On the other hand, downside handss wire harness 7 is via inside being formed in the way of the inside opening in the handss base portion 3A of downside handss 3
The midway of the length direction from inner side wrist axis 4 for the peristome 8 of wrist axis 4 is introduced in the inside of the handss base portion 3A of downside handss 3.
As shown in Figures 1 and 3, the peristome 8 of the inner side wrist axis 4 inserted for downside handss wire harness 7 is formed at inner side handss
The midway of the length direction of wrist axis 4.Therefore, inner side wrist axis 4 become part 4B of part 4A of upside and downside across opening
Oral area 8 and construction that the linking part 4C that stays after being formed using peristome is linked.
As shown in Figure 1 to Figure 3, the wrist construction of the mechanical hand 1 of present embodiment is also equipped with wire harness processing mechanism 9, described
Wire harness processing mechanism 9 is extended the inside of downside handss 3 from the inside of inner side wrist axis 4 via peristome 8 in order to support
Wire harness 7.Described wire harness processing mechanism 9 by downside handss wire harness 7 support for can independently (float) in inner side wrist axis 4 and under
Each ground of side handss 3 is mobile.
As shown in figure 3, wire harness processing mechanism 9 possesses：The parts of bearings 10 of ring-type, configuration is being formed at inner side wrist axis 4
Inner peripheral surface order difference part；And moveable support part 11, being supported for using described parts of bearings 10 can be independently (floating
Dynamic) rotate around common rotation axiss L in inner side wrist axis 4 ground.Moveable support part 11 has：The main part 12 of ring-type, joins
It is placed in the inside of inner side wrist axis 4；And wire harness supporting part 13, it is integrally formed in the main part 12 of ring-type.
Wire harness supporting part 13 has：Extension 13A, extends along radial direction from the main part 12 of ring-type；And maintaining part
13B, is formed at extension 13A, and keeps wire harness 7.Maintaining part 13B is made up of a pair of jut being sandwiched there between wire harness 7.Insert
Lead in ring-type main part 12 and be extended downside handss 3 handss base portion 3A inside wire harness 7 by wire harness supporting part 13
Maintaining part 13B keeps.
The extension 13A of wire harness supporting part 13 extends to downside handss 3 with the peristome 8 through being formed from inner side wrist axis 4
The mode of the inside of handss base portion 3A formed.Therefore, when upside handss 2 and downside handss 3 rotate against, it is formed at inner side wrist axis
The edge of 4 peristome 8 is connected to the extension 13A of wire harness supporting part 13.
Herein, due to the main part 12 of the ring-type of moveable support part 11, be supported for using bearing 10 can be around common
Rotation axiss L rotation, so when the edge of the peristome 8 of inner side wrist axis 4 is pressed against the extension of wire harness supporting part 13
During 13A, wire harness supporting part 13 is rotated around common rotation axiss L together with the main part 12 of ring-type.
Fig. 4 A represents the state that upside handss 2 are constructed towards the wrist in the state of equidirectional arrangement with downside handss 3.When upper
, when described state rotates against, as shown in Figure 4 B, the edge of the peristome 8 of inner side wrist axis 4 abuts for side handss 2 and downside handss 3
Extension 13A in wire harness supporting part 13.
When state shown in from Fig. 4 B makes two handss 2,3 rotate against further, as shown in Figure 4 C, wire harness supporting part 13 with
The main part 12 of ring-type rotates around common rotation axiss L together.Herein, wire harness 7, can be as Fig. 4 C institute because of the flexibility of its own
Show deformation.When wire harness 7 being extended to the inside of downside handss 3, making the laying length of wire harness 7 reserve enough and to spare in advance, and making
The spinning movement that wire harness 7 can follow wire harness supporting part 13 is easily deformed.
As understand that from Fig. 4 C, due to the spinning movement along with wire harness supporting part 1, wire harness 7 is with relatively wide area
Between bend, so the deformation being applied to wire harness 7 tails off.Thereby, it is possible to avoid wire harness 7 moment to break, additionally it is possible to avoid growing
Phase broken string is such that it is able to extend the life-span of wire harness 7.
Fig. 5 represents that upside handss 2 and the relative rotation angle of downside handss 3 become maximum in the mechanical hand 1 of present embodiment
State, and learn compared with the conventional mechanical hand 50 shown in Figure 10, in the present embodiment, the maximum of two handss 2,3 is relatively
Angle expands.
Fig. 6 represents a change case of described embodiment, in described example, will be formed in the peristome 8 of inner side wrist axis 4
Circumferencial direction size be set to bigger than described embodiment.That is, the circumferencial direction of the linking part 4C of inner side wrist axis 4
Size (width) less than described embodiment.
And, in this example, the scope that upside handss 2 and downside handss 3 can be able to be rotated against be set to 180 ° or its more than.
As described above, the wrist construction of the mechanical hand 1 according to present embodiment, due to by from inner side wrist axis 4
Inside is extended the wire harness 7 of the inside of the handss base portion 3A of downside handss 3 via peristome 8, using wire harness processing mechanism 9
Support for independent (floating) in inner side wrist axis 4 and downside handss 3 each mobile, so can be by upside handss 2 and downside handss 3
The scope that can rotate against expands than ever.
By increasing the maximum relative angle of two handss 2,3, the degree of freedom that the action of mechanical hand 1 sets uprises, and can be not required to
It conventional machinery to be necessary complicated mechanical action.
Additionally, it is not necessary to big space is for wire harness 6,7 in the wrist construction of the mechanical hand 1 of present embodiment
Winding process, it can be avoided that the maximization of mechanical hand 1 or mechanical arm (not shown).
And then, the wrist construction of the mechanical hand 1 according to present embodiment, due to not needing the mechanism of complexity, so will not
Bring the increase of part number of packages or increasing such that it is able to be set to than ever the relative maximum angle of two handss 2,3 of assembling man-hour
Bigger.
In addition, the mechanical hand 1 of described embodiment and its change case is in order to keep substrate, and (for example semiconductor manufacturing is brilliant
Piece) S, but the mechanical hand that the wrist of the present invention constructs can be applied to be not limited to the mechanical hand of substrate holding, as long as possessing
The both hands type mechanical hand of so-called dual pipe construction, just can be widely applied for described wrist construction.
[explanation of symbol]
1 mechanical hand
2 upside handss
3 downside handss
4 inner side wrist axis
5 outside wrist axis
6 upside handss wire harness
7 downside handss wire harness
The peristome of 8 inner side wrist axis
9 wire harness processing mechanisms
10 parts of bearings
11 moveable support parts
The main part of 12 ring-types
13 wire harness supporting parts
The common rotation axiss of L two handss
S substrate (semiconductor wafer etc.)
Claims (8)
1. a kind of wrist construction of mechanical hand, comprises upside handss and the downside handss with common rotation axiss, and possesses：
The outside wrist axis of hollow, are extended along described common rotation axiss, and upper end are connected to described downside handss；
The inner side wrist axis of hollow, pass through the inside of described outside wrist axis to be extended along described common rotation axiss
And upper end is connected to described upside handss, and be there is the peristome being formed in the way of the inside opening in described downside handss；And
Wire harness processing mechanism, in order to by the inside from described inner side wrist axis be extended via described peristome described under
The wire harness of the inside of side handss supports as can be mobile independent of each of described inner side wrist axis and described downside handss.
2. the wrist construction of mechanical hand according to claim 1, wherein said wire harness processing mechanism has moveable support portion
Part, described moveable support part can rotate around described common rotation axiss independent of described inner side wrist axis.
3. the wrist construction of mechanical hand according to claim 2, wherein said moveable support part has：The main body of ring-type
Portion, is configured at the inside of described inner side wrist axis；And wire harness supporting part, in order to support the main part being inserted through described ring-type and
It is extended the described wire harness of the inside of described downside handss, and be arranged at the main part of described ring-type.
4. the wrist construction of mechanical hand according to claim 3, wherein said wire harness processing mechanism is structure as follows
Become：By the relative rotary motion along with described upside handss and described downside handss, by the described opening of described inner side wrist axis
The edge in portion is pressed into described wire harness supporting part, and makes described wire harness supporting part around described common together with the main part of described ring-type
Logical rotation axiss rotation.
5. the wrist construction of the mechanical hand according to claim 3 or 4, the main part of wherein said ring-type is using being configured at
State the parts of bearings of inside of inner side wrist axis and be supported for rotate around described common rotation axiss.
6. the wrist construction of the mechanical hand according to any one of claim 3 to 5, wherein said wire harness supporting part has：
Extension, extends along radial direction from the main part of described ring-type；And maintaining part, it is formed at described extension, and keep institute
State wire harness.
7. wrist construction, wherein said upside handss and the described downside of mechanical hand according to any one of claim 1 to 6
The scope that handss can rotate against is more than 180 °.
8. a kind of wire harness processing mechanism, it is in the wrist construction of the mechanical hand according to any one of claim 1 to 7
Wire harness processing mechanism.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2014099002A JP6619922B2 (en) | 2014-05-12 | 2014-05-12 | Robot hand wrist structure and harness processing mechanism |
| JP2014-099002 | 2014-05-12 | ||
| PCT/JP2015/060093 WO2015174152A1 (en) | 2014-05-12 | 2015-03-31 | Wrist structure of robot hand |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106414004A true CN106414004A (en) | 2017-02-15 |
Family
ID=54479697
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201580027073.2A Pending CN106414004A (en) | 2014-05-12 | 2015-03-31 | Wrist structure of robot hand |
Country Status (4)
| Country | Link |
|---|---|
| JP (1) | JP6619922B2 (en) |
| CN (1) | CN106414004A (en) |
| TW (1) | TWI696533B (en) |
| WO (1) | WO2015174152A1 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2023115652A1 (en) * | 2021-12-24 | 2023-06-29 | 上海果纳半导体技术有限公司 | Transport robot |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107303670A (en) * | 2016-04-19 | 2017-10-31 | 上海技美科技股份有限公司 | Common collaboration robot, robot system and common collaboration robot perform the control method of operation task |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2003094168A (en) * | 2001-09-25 | 2003-04-02 | Daihen Corp | Welding robot |
| US20040200304A1 (en) * | 2003-03-31 | 2004-10-14 | Fanuc Ltd | Laying device for laying line element |
| CN101003132A (en) * | 2006-01-17 | 2007-07-25 | 日本电产三协株式会社 | Robot |
| CN101088721A (en) * | 2007-07-11 | 2007-12-19 | 哈尔滨工业大学 | Finger-base joint mechanism for smart robot hand |
| CN204036472U (en) * | 2014-05-05 | 2014-12-24 | 张卫平 | Single-shaft mechanical arm hot extruded shapes utility structure |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP5771018B2 (en) * | 2011-02-04 | 2015-08-26 | 株式会社ダイヘン | Work transfer device |
-
2014
- 2014-05-12 JP JP2014099002A patent/JP6619922B2/en active Active
-
2015
- 2015-03-31 WO PCT/JP2015/060093 patent/WO2015174152A1/en active Application Filing
- 2015-03-31 CN CN201580027073.2A patent/CN106414004A/en active Pending
- 2015-05-08 TW TW104114788A patent/TWI696533B/en active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2003094168A (en) * | 2001-09-25 | 2003-04-02 | Daihen Corp | Welding robot |
| US20040200304A1 (en) * | 2003-03-31 | 2004-10-14 | Fanuc Ltd | Laying device for laying line element |
| CN101003132A (en) * | 2006-01-17 | 2007-07-25 | 日本电产三协株式会社 | Robot |
| CN101088721A (en) * | 2007-07-11 | 2007-12-19 | 哈尔滨工业大学 | Finger-base joint mechanism for smart robot hand |
| CN204036472U (en) * | 2014-05-05 | 2014-12-24 | 张卫平 | Single-shaft mechanical arm hot extruded shapes utility structure |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2023115652A1 (en) * | 2021-12-24 | 2023-06-29 | 上海果纳半导体技术有限公司 | Transport robot |
Also Published As
| Publication number | Publication date |
|---|---|
| TWI696533B (en) | 2020-06-21 |
| TW201603975A (en) | 2016-02-01 |
| WO2015174152A1 (en) | 2015-11-19 |
| JP2015213999A (en) | 2015-12-03 |
| JP6619922B2 (en) | 2019-12-11 |
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Application publication date: 20170215 |
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