JP2004050369A - Robot hand device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To obtain a robot hand device which absorbs torsion of an electric wire etc. due to rotation of a hand portion and a wrist tip portion, thereby to protect the electric wire etc. from being damaged. <P>SOLUTION: The robot hand device is comprised of: the hand portion 6; a transfer member 4; a cylinder member 12; and the electric wire 16. The hand portion 6 handles a workpiece and rotates by the operation of the wrist tip portion 2. The transfer member 4 is formed of a first disk 4a connected to the wrist tip portion 2, a second disk 4c rigidly connected to the hand portion 6 in a manner being opposed to the first disk 4a, and having a first hole 4e formed therein, and a post portion 4h connecting between the first and second disks 4a, 4c. The cylinder member 12 is fixed to the first and second disks 4a, 4c via first and second bearings 8, 10, respectively, and has a second hole 12e. The electric wire 16 is inserted into the first and second holes 4e, 12e, and has one end thereof connected and fixed to the hand portion 6 and the other end thereof connected to an arm 3. <P>COPYRIGHT: (C)2004,JPO

Description

[0001]
TECHNICAL FIELD OF THE INVENTION
The present invention relates to a robot hand device used for an industrial robot, and more particularly, to an improvement in processing of an electric wire, an air hose, and the like connecting a wrist tip portion and a hand portion.
[0002]
[Prior art]
In general, a robot hand device includes a wrist tip that can rotate (rotate in both directions), and a hand that is connected to the wrist tip and that is rotated by the operation of the wrist tip to grip a workpiece. The hand and the tip of the wrist are connected to electric wires for supplying power and signals, and an air hose for supplying air for driving.
[0003]
[Problems to be solved by the invention]
An electric wire and an air hose connected to the hand are often connected and fixed to an arm or the like that does not rotate in synchronization with the hand. Therefore, when the wire and the air hose are pulled by the rotation of the shaft at the tip of the wrist and wrapped around the tip of the wrist and the hand, the coating of the wire and the like may be damaged due to rubbing or stretching.
Therefore, Japanese Unexamined Patent Publication No. 9-123033 has been invented as a technique for solving the above problem. Such a robot hand device includes a rotatable hand and a wrist tip that is connected to the hand via a cylindrical housing portion and a shaft portion, rotates by the operation of the hand portion, and grips a work or the like. A flat cable is spirally wound around an outer peripheral portion of a rotatable housing, and an air passage is formed in the housing and a shaft portion. According to this technique, even if the hand unit is rotated, the flat cable is not twisted by the rotation, and the twist is absorbed by the gently spirally wound spiral portion.
[0004]
However, in the above-described robot apparatus disclosed in Japanese Patent Application Laid-Open No. H9-123083, the outer diameter increases due to the amount of spiral of the cable, because the torsion is absorbed by the spiral part where the cable is wound. Conversely, if the diameter of the shaft connecting the hand and the tip of the wrist is reduced in order to reduce the outer diameter of the cable, there is a problem in that the rigidity is reduced.
[0005]
The present invention has been made in order to solve the above-mentioned problems, and the rigidity is improved even if the diameter of a shaft connecting the hand and the tip of the wrist is reduced, and the present invention does not depend on the spiral amount of the flat cable. Another object of the present invention is to provide a robot hand device in which the twist of an electric wire or the like due to the rotation of a hand portion or the tip of a wrist is absorbed and the electric wire or the like is not damaged.
[0006]
Means for Solving the Problems, Functions and Effects of the Invention
A robot hand device according to a first aspect of the present invention includes a wrist tip portion of a rotatable robot, a hand portion that works on a workpiece and rotates by the operation of the wrist tip portion, and is connected to the wrist tip portion. A first disk provided, a second disk provided opposite to the first disk and connected and fixed to the hand portion, and having a first hole; and a first disk. A transmission member comprising a column portion smaller than the first and second disks connecting the first and second disks, and first and second bearings respectively provided on the first and second disks. And a cylindrical member having a drilled second hole, inserted through the first and second holes, and connected and fixed by connecting one end to the hand portion. A flexible member connected to a member constituting the robot, the end of which is asynchronous with the tip of the wrist. It is an feature.
According to such a robot hand device, one end of the flexible member is connected and fixed to the hand portion, and the other end of the flexible member is connected to a member constituting a robot that is asynchronous with the tip of the wrist, When the wrist tip rotates, the hand also rotates, and one end of the flexible member moves with the rotation of the hand, whereby the tubular member is pushed by the flexible member and rotates. The bending of the flexible member is absorbed in the space of the cylindrical member while reducing the amount of twist of the flexible member at the hand or the tip of the wrist.
In addition, even if the column portion of the transmission member is thinner than the first and second disks, the column portion is reinforced by the cylindrical member fixed via the transmission member and the bearing to support the hand portion. There is an effect that the flexible member can be prevented from being twisted and wrapped around the hand portion or the wrist tip portion while preventing the rigidity of the fixation with the tip portion from decreasing.
[0007]
A robot hand device according to a second aspect of the present invention has a substantially cup shape having an opening, a side portion, and a bottom portion, wherein a third hole is formed in the side portion or the bottom portion, and the opening side is a second disk. And a flange member having the bottom portion fixed to the hand portion, and the flexible member is inserted through the first hole and the opening from the third hole. It is a feature.
According to such a robot hand device, when the flange member is fixed to the hand portion and the flexible member is pulled out from the side surface portion of the flange member, the flexible member is easily pulled out of the cylindrical member even if the diameter of the hand portion is large. There is an effect that can be.
[0008]
A robot hand device according to a third aspect of the present invention is characterized in that the robot hand device is provided with stopper means for limiting a rotation amount of the transmission member or the flange member and the cylindrical member. According to such a robot hand device, since the relative movement amount between the transmission member or the flange member and the cylindrical member is limited by the stopper means, there is an effect that the torsion of the flexible member can be suppressed.
[0009]
BEST MODE FOR CARRYING OUT THE INVENTION
Embodiment 1 FIG.
One embodiment of the present invention will be described with reference to FIGS. 1 is a sectional view of the robot hand device, FIG. 2 is a sectional view taken along the line II-II of FIG. 1, and FIG. 3 is a sectional view taken along the line III-III of FIG.
1 to 3, a robot hand device 1 includes a rotatable columnar wrist tip 2, an arm member 3 as a member constituting a robot that is asynchronous with the wrist tip 2, and a work (FIG. (Not shown) as a target of operation such as grasping, and a hand portion 6 having a columnar portion connected to the wrist tip portion 2 and rotating by the operation of the wrist tip portion 2, and a disc connected to the wrist tip portion 2 A first circular plate 4a, a first circular plate 4a, a first circular plate 4a, and a first hole 4e, which is provided to face the first circular plate 4a, is connected to and fixed to the hand unit 6, and has a substantially rectangular shape. A second disk 4c having a larger outer shape than the disk 4a; and first and second disks 4a, 4c connecting the first disk 4a and the second disk 4c having a substantially I-shaped cross section. And a transmission member 4 including a columnar column portion 4h provided at a narrower central portion.
[0010]
The cylindrical member 12 has an inverted L-shaped cross section and is fixed to the first and second disks 4a and 4c via first and second bearings 8 and 10, respectively, and is formed in the side surface. It has a second hole 12e, is formed to be rotatable with respect to the transmission member 4, and a rubber bush 15 is engaged with the second hole 12e, and the first and second bearings 8, 10 are provided. The inner ring is fixed to the outer peripheral surfaces of the first and second disks 4a and 4c of the transmission member 4, and the outer ring is fixed to the inner peripheral surface of the cylindrical member 12.
The reason why the cylindrical member 12 is provided is that the rigidity is reduced when the wrist tip 2 and the hand 6 are connected only by the column 4h of the transmission member 4. The reason why the tubular member 12 is made rotatable is that the twisting of the electric wire 16 is reduced by pushing and rotating the tubular member 12 by movement of an air hose or the electric wire 16 as a flexible member. .
[0011]
The electric wire 16 is inserted into the hole 4 e of the transmission member 4 and the hole 12 e of the cylinder member 12, passes through the space 12 s formed by the inner surface of the cylinder member 12 and the column 4 h of the transmission member 4, and passes through the transmission member 4. The wire 16 passes through the inner surface of the column 4h, one end of the electric wire 16 is fixed to the hand portion 3 by a substantially inverted U-shaped clamp piece 18, and the other end of the electric wire 16 is connected and fixed to the arm 3 member.
Here, the reason why the space portion 12s of the cylindrical member 12 is formed is to allow the space portion 12s to move freely even when the electric wire 16 rotates the cylindrical member 12.
Preferably, the bottom portion 14 d of the flange member 14 may be engaged and fixed to the end face of the hand portion 6. Here, the flange member 14 has a substantially cup shape having an opening 14a, a side portion, and a bottom portion 14d. A third hole 14e is formed in the side portion, and the opening 14a side is fixed to the disk 4c of the transmission member 4. The electric wire 16 is inserted through the hole 12 e of the cylindrical member 12 via the hole 4 e of the transmission member 4 and the opening 14 a.
[0012]
Further, as shown in FIG. 3, a first protrusion 12 t is formed at one end of the transmission member 4 or the flange member 14 and one end of the cylindrical member 12, and a substantially fan-shaped second provided at the upper end of the flange member 14. By forming the projection 14t, a stopper means is provided for bringing the projection 12t of the cylindrical member 12 into contact with the projection 14t of the flange member 14 to limit the rotational movement amounts L1 and L2 of the cylindrical member 12.
[0013]
The operation of the robot hand device configured as described above will be described with reference to FIGS.
Now, when the wrist tip 2 of the robot rotates, the hand unit 6 rotates via the transmission member 4, the tubular member 12, and the flange member 14, and the hand unit 6 grips a work (not shown). When the wrist tip 2 rotates, one end of the electric wire 16 is fixedly connected to the hand portion 6 by the clamp piece 18 on the flange member 14, so that the other end of the electric wire 16 fixed to the arm member 3 is pulled. When the cylindrical member 12 is rotated, the amount of twist of the electric wire 16 is absorbed by the space 12s of the cylindrical member 12. Therefore, it is possible to prevent the electric wire 16 from winding around the hand portion 6 or the wrist tip portion 2. Moreover, even if the column portion 4h of the transmission member 4 is thinner than the first and second disks 4a, 4c, the hand portion 6 is supported by the transmission member 4 and the cylindrical member 12 fixed via the bearings 8, 10. Therefore, a decrease in rigidity in the connection between the wrist tip portion 2 and the hand portion 6 can be prevented.
[0014]
Furthermore, since the first protrusion 12t of the cylindrical member 12 and the second protrusion 14t of the flange member 14 limit the amount of rotation (rotation angle) L1 and L2 of the cylinder member 12, the electric wire 16 Can be further suppressed.
Further, since the flange member 14 fixed to the hand portion 6 is provided, the electric wire 16 can be pulled out from the side surface of the flange member 14. Therefore, even if the diameter of the hand part 6 is large, the electric wire 16 can be easily pulled out from the tubular member 12 and connected and fixed to the hand part 6.
[0015]
The robot apparatus 100 as shown in FIG. 4 has a substantially cup shape having an opening 114a in place of the flange member 14 shown in the above embodiment, and a third hole 114e is formed at the bottom, and the opening 14a The unit side includes a flange member 114 fixed to the disk 4c of the transmission member 4, and the electric wire 16 is connected to the hand unit 6 through the third hole 114e. According to the robot device 100, the electric wire 16 is wired to the hand unit 6 without going outside the flange member 114. Therefore, since the electric wire 16 is not exposed around the hand portion 6, a compact hand portion 6 that is hardly affected by the shape of the work or the like can be formed.
[0016]
In addition, the robot apparatus 200 as shown in FIG. 5 does not need to provide the flange members 14 and 114 as described in the above-described embodiment, and engages the top surface of the hand unit 6 on the bottom surface of the disc 4c of the transmission member 4. The bush 15 may be engaged with the first hole 4 e of the transmission member 4. According to such an embodiment, if the outer shape of the hand portion 6 is small, the flange member 12 can be omitted.
[Brief description of the drawings]
FIG. 1 is a sectional view of a connection portion between a wrist and a hand of a robot hand device according to an embodiment of the present invention.
FIG. 2 is a sectional view taken along the line II-II in FIG.
FIG. 3 is a sectional view taken along line III-III in FIG.
FIG. 4 is a cross-sectional view of a connection part between a wrist part and a hand part of a robot hand device according to another embodiment.
FIG. 5 is a cross-sectional view of a connection part between a wrist part and a hand part of a robot hand device according to another embodiment.
[Explanation of symbols]
Reference Signs List 1 robot hand device, 2 robot wrist tip, 3 arm member, 4 transmission member, 4a first disk, 4c second disk, 4e first hole, 4h column, 6 hand, 8th 1 bearing, 10 second bearing, 12 cylindrical member, 12 e second hole, 12 s space of cylindrical member, 12 t first projection, 14 flange member, 14 a opening, 14 d bottom, 14 t second projection, 16 Electric wires (flexible members).

Claims (3)

A wrist tip of a rotatable robot,
With the work as an operation target, a hand portion that rotates by the operation of the wrist tip portion,
A first disk connected to the wrist tip, a second disk provided opposite to the first disk and connected and fixed to the hand unit, and having a first hole; A transmission member comprising a column portion smaller than the first and second disks connecting the first disk and the second disk;
A cylindrical member fixed to each of the first and second disks via first and second bearings and having a second hole formed therein;
It is inserted into the first and second holes, and one end is connected and fixed to the hand part, and the other end is connected to a member constituting the robot that is asynchronous with the wrist tip part. A flexible member;
A robot hand device comprising: In a substantially cup shape having an opening, a side portion, and a bottom portion, a third hole is formed in the side portion or the bottom portion, and the opening side is fixed to the second disk, and the bottom portion is With a flange member fixed to the hand part,
The flexible member is inserted from the third hole via the first hole and the opening;
The robot hand device according to claim 1, wherein: 3. The robot hand device according to claim 1, further comprising stopper means for limiting a rotation amount of the transmission member or the flange member and the cylindrical member.

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