JP2012071382A - Robot hand - Google Patents

Abstract

PROBLEM TO BE SOLVED: To cut off a fluid channel and a transmission path when a leading part is not attached, with a simple structure by a robot hand.SOLUTION: The robot hand allows free attachment and detachment of a hand body part 3 and a hand end part 4 having a holding part. The hand body part 3 has a second hole part 352, a sliding part 38 and an urging part 39 set in the second hole part 352, a second fluid channel 342 wherein a driving fluid for the holding part flows, and a transmission path 37 transmitting a signal from the holding part. Some parts of these flow channels and paths are formed in the sliding part 38. When the hand end part 4 is not attached, the sliding part 38 is located on a cut-off position by being urged by the urging part 39 and these flow channels and paths are cut off. When the hand end part 4 is attached, the sliding part 38 is located on a connection position by being pushed by the hand end part 4, and these flow channels and paths are connected to each other via the sliding part 38. Thus, the second flow channel 342 and the transmission path 37 are cut off when the hand end part 4 is not attached with a simple structure.

Description

  The present invention relates to a robot hand that holds a workpiece.

  Conventionally, an assembly robot has been used in an automatic assembly line or the like. In an assembly robot, a robot hand that holds a workpiece is connected to a robot arm, so that the robot hand can be moved three-dimensionally. In the robot hand, the workpiece is gripped and released by driving the gripper using compressed air. Also known is a robot hand in which a tip portion having a gripping part and a main body part connected to a robot arm are detachable in order to handle various workpieces. It is preferable that the flow path of the compressed air in the main body is also shut off in order to prevent the compressed air from leaking out of the body.

  Patent Document 1 discloses a robot arm coupling device for attaching and detaching various tools to and from a robot arm. In this device, when the tool side attachment is attached to or detached from the arm side attachment, the arm side The flow path of the compressed air in the attachment is also connected or cut off. Specifically, a mounting hole communicating with the arm-side fluid passage is provided in the main body of the arm-side attachment, and the open / close ball is urged to close the discharge port of the mounting hole by a compression spring in the mounting hole. When the tool-side attachment is connected to the arm-side attachment, the tip of the connection port of the tool-side attachment is inserted into the mounting hole and the open / close ball is pressed against the elastic force of the compression spring. The compressed air supplied into the arm side fluid passage is supplied to the tool.

JP 2009-23050 A

  By the way, in the tip part of the robot hand, a signal indicating the gripping state of the workpiece in the grip part may be acquired, and a transmission path for transmitting the signal from the tip part is also provided in the main body part. In this case, an unexpected malfunction may occur.

  Moreover, in the apparatus of Patent Document 1, the compressed air flow path is easily opened simply by pressing the open / close ball in the mounting hole, and thus there is a possibility that the compressed air flow path may be opened by mistake.

  The present invention has been made in view of the above problems, and is intended to shut off the fluid flow path and the transmission path when the tip is not mounted in a robot hand with a simple structure, and the fluid flow path is erroneously connected. The purpose is to prevent this more reliably.

  The invention according to claim 1 is a robot hand comprising a main body part and a tip part that is detachably attached to the main body part and has a gripping part that grips a workpiece. A hole, a sliding part that slides in the hole along the central axis of the hole, a biasing part that biases the sliding part in one direction along the central axis, and the grip A fluid passage through which a fluid for driving the part flows and a transmission path through which a signal indicating a gripping state of the workpiece in the gripping part is transmitted, and a part of the fluid passage is formed in the sliding part, A part of the transmission path is provided in the sliding portion, and when the tip portion is not attached, the sliding portion is urged by the urging portion and is positioned at the blocking position, Each of the transmission paths is blocked, and when the tip portion is mounted, the tip portion directly Other by the sliding portion is indirectly pressed is located in the connecting position, each of said fluid flow path and said transmission path is connected via the sliding unit.

  Invention of Claim 2 is the robot hand of Claim 1, Comprising: When the said sliding part moves from the said interruption | blocking position to the position which passed the said connection position, the said fluid flow path and the said transmission Each of the paths is blocked.

  Invention of Claim 3 is the robot hand of Claim 1 or 2, Comprising: The said main-body part couple | bonds with the said front-end | tip part, The electric circuit for the drive of the said coupling mechanism, A circuit breaker that shuts off the electrical circuit, and the tip breaker is in contact with the circuit breaker when the tip is disposed at the mounting position on the main body. The interruption of the electric circuit due to is released.

  The invention according to claim 4 is the robot hand according to claim 3, wherein the moving member of the tip portion is moved by the driving of the coupling mechanism, and the moving member pushes the sliding portion. Thus, the sliding portion is arranged at the connection position.

  The invention according to claim 5 is a robot hand comprising a main body part and a tip part that is detachably attached to the main body part and has a gripping part for gripping a workpiece. A hole, a sliding part that slides in the hole along the central axis of the hole, a biasing part that biases the sliding part in one direction along the central axis, and the grip A fluid flow path through which fluid for driving the part flows, a part of the fluid flow path is formed in the sliding part, and the sliding part is attached to the biasing part when the tip part is not attached. By being biased and positioned at the blocking position, the fluid flow path is blocked, and when the tip portion is mounted, the sliding portion is positioned at the connection position by being directly or indirectly pushed by the tip portion. The fluid flow path is connected via the sliding portion, and the sliding portion is When moving to a position past the connection position, the fluid flow path is blocked.

  According to the first to fourth aspects of the present invention, in the robot hand, the fluid flow path and the transmission path can be blocked with a simple structure when the tip is not attached.

  Further, in the invention of claim 2, it is possible to more reliably prevent each of the fluid flow path and the transmission path from being erroneously connected, and in the invention of claim 3, it is possible to prevent erroneous attachment of the tip portion. Can do.

  In the invention of claim 5, it is possible to more reliably prevent the fluid flow path from being erroneously connected.

It is a side view of an assembly robot. It is a bottom view of a hand main-body part. It is sectional drawing of a hand main-body part. It is a block diagram which shows the structure of an electrical circuit. It is a figure which expands and shows the 2nd hole vicinity. It is a fragmentary sectional view of a hand tip part. It is a figure which shows a robot hand. It is a figure which shows the sliding part and the engagement hole part vicinity. It is a figure which shows the sliding part and the engagement hole part vicinity. It is a figure for demonstrating operation | movement of a sliding part.

  FIG. 1 is a side view of an assembly robot 1 according to an embodiment of the present invention. The assembly robot 1 is an industrial robot used in an automatic assembly line or the like that automatically assembles an assembly composed of a large number of parts. An assembly robot 1 in FIG. 1 includes a robot arm 11 having multiple degrees of freedom (for example, 6 degrees of freedom), a robot hand 2 that is detachably attached to the tip of the robot arm 11, and a control unit that performs overall control of the assembly robot 1. 12 and the robot arm 2 can be freely moved by the robot arm 11. The robot hand 2 includes a hand main body portion 3 attached to the robot arm 11 and a hand tip portion 4 detachably attached to the hand main body portion 3. The hand tip portion 4 has a plurality of gripping portions for gripping a workpiece. 5 is provided.

  FIG. 2 is a bottom view of the hand main body 3, and FIG. 3 is a cross-sectional view of the hand main body 3 at a position indicated by an arrow AA in FIG.

  The hand main body 3 has a thick disc-shaped main body 31 centered on a predetermined central axis J1, and the vertical direction of the main body 31 (corresponding to the vertical direction in FIG. 3 is not necessarily the gravitational direction). In the lower surface 311 (hereinafter simply referred to as “lower surface 311”), a coupling mechanism 32 coupled to the hand tip 4 is provided at the center. As shown in FIG. 3, the coupling mechanism 32 protrudes from a cylinder part 321 provided inside the main body 31, a piston part 322 moving in the direction of the central axis J <b> 1 in the cylinder part 321, and a lower surface 311 of the main body 31. A bottomed cylindrical coupling portion 323 is provided. A compressed air flow path is connected to the cylinder part 321, and by controlling ON / OFF of a solenoid valve 331 (described later) connected to the flow path, the piston part 322 moves in the vertical direction ( Move in the direction of the central axis J1).

  The piston portion 322 is connected to an extruding portion 326 disposed in the hollow coupling portion 323. A plurality of ball support holes are provided on the outer peripheral surface of the coupling portion 323 with the central axis J1 as the center, and a coupling ball 325 is disposed and held in each ball support hole. In the coupling mechanism 32, when the piston part 322 moves downward in FIG. 3, the direction in which the coupling ball 325 is separated from the central axis J1 by the side surface of the thick disc-shaped extrusion part 326 (that is, centering on the central axis J1). And a portion of the coupling ball 325 protrudes from the outer peripheral surface of the coupling portion 323.

  As shown in FIGS. 2 and 3, the bottom surface 311 of the main body 31 is provided with a first hole portion 351 and a second hole portion 352 having a bottom (the upper side in FIG. 3 is the bottom surface) as a central axis J1. In each of the first hole portion 351 and the second hole portion 352, the cross section perpendicular to the central axis J1 is a circle. As shown in FIG. 2, electromagnetic valves 331 and 332 and a transmission board 333 are fixed to the side surface of the main body 31 of the hand main body section 3, and the transmission board 333 is disposed on the right side in FIG. It arrange | positions below (lower side in FIG. 3). In FIG. 3, the electromagnetic valves 331 and 332 are indicated by two-dot chain lines.

  As shown in FIG. 3, a fluid flow path 34 connected to a compressed air supply source 91 provided outside is formed inside the main body 31. The fluid flow path 34 is branched, and one first fluid flow path 341 is connected to an electromagnetic valve 331 (one port), and the other second fluid flow path 342 is plural via the second hole 352. Connected to the electromagnetic valve 332. Inside the main body 31, a transmission path 37 having one end connected to the transmission board 333 and the other end connected to the control unit 12 (see FIG. 1), and an electric circuit for driving the coupling mechanism 32 36 is formed. When the hand tip 4 is not attached to the hand main body 3 (that is, the hand tip 4 is detached from the hand main body 3), a part of the transmission path 37 is blocked by the second hole 352. A part of the electrical circuit 36 is also blocked by the first hole 351. Thus, the second hole 352 is a path blocking unit that blocks the transmission path 37, and the first hole 351 is a circuit blocking unit that blocks the electrical circuit 36. Two terminals 350 of the electrical circuit 36 are formed on the side surface of the first hole 351.

  FIG. 4 is a block diagram showing a configuration of the electrical circuit 36. The electric circuit 36 is connected to the electromagnetic valve 331 and controls ON / OFF of the electromagnetic valve 331. The electric circuit 36 includes a power supply unit 361, a trigger unit 362, and a circuit cutoff unit. One hole 351 is provided. The operation of the electrical circuit 36 will be described later.

  FIG. 5 is an enlarged view showing the vicinity of the second hole 352 of FIG. A substantially cylindrical sliding portion 38 is inserted into the second hole portion 352. The diameter of the upper portion of the sliding portion 38 is slightly smaller than the diameter of the second hole portion 352. As will be described later, the sliding portion 38 is located in the second hole portion 352 along the central axis J11 of the second hole portion 352. Slide. In the sliding portion 38, a lower diameter is smaller than an upper diameter, and an annular surface 381 facing downward is formed near the center in the direction of the central axis J11. An annular projecting portion 353 projecting inward is provided at the opening edge of the second hole portion 352. An urging portion 39 that is a compression spring is provided between the sliding portion 38 and the bottom surface of the second hole portion 352, and the urging portion 39 urges the sliding portion 38 downward along the central axis J11. Is done. As a result, the annular surface 381 of the sliding portion 38 comes into contact with the annular protruding portion 353, and the tip (lower end) of the sliding portion 38 protrudes from the lower surface 311 of the main body 31. Hereinafter, the position of the sliding portion 38 where the annular surface 381 contacts the annular protrusion 353 is referred to as a “blocking position”.

  A through hole 382 extending in the left-right direction in FIG. 5 and a transmission part 383 made of a conductive material are formed in the sliding part 38. The sliding portion 38 itself is made of an insulating material. As described above, the second fluid channel 342 in the main body 31 passes through the second hole 352, and two openings 354 of the second fluid channel 342 are formed on the side surface of the second hole 352. Is formed. An annular packing 355 is provided around each opening 354. The transmission path 37 is blocked by the second hole 352, and two terminals 356 of the transmission path 37 are formed on the side surface of the second hole 352. As shown in FIG. 5, when the annular surface 381 of the sliding portion 38 is in contact with the annular projecting portion 353 (that is, the blocking position), the through hole 382 of the sliding portion 38 is disposed below the opening 354. Thus, each opening 354 is closed by another portion of the sliding portion 38. Further, the transmission part 383 of the sliding part 38 is disposed below the terminal 356, and the two terminals 356 are electrically cut off by other parts of the sliding part 38.

  FIG. 6 is a partial cross-sectional view of the hand tip 4 and partially shows a cross section cut along a plane including the central axis J1 (the same applies to FIG. 7 described later). In the state where the hand tip portion 4 is attached to the hand main body portion 3, the center axis of the hand tip portion 4 and the center axis J1 of the hand main body portion 3 coincide with each other. The axis is also marked with J1.

  The hand tip portion 4 has a thick disc-shaped main body 41 centering on the central axis J1, and a plurality of gripping portions 5 are connected to the lower portion of the main body 41 (lower part in FIG. 6). At the center of the upper surface 411 (the upper surface in FIG. 6) of the main body 41, a bottomed coupling hole 42 centering on the central axis J1 is formed. As will be described later, in a state where the hand tip portion 4 is attached to the hand main body portion 3, the coupling portion 323 (see FIG. 3) of the hand main body portion 3 is inserted into the coupling hole 42, and the hand tip portion 4 and the hand The main body 3 is coupled. In addition, a columnar protrusion 43 that protrudes parallel to the central axis J1 is provided on the upper surface 411 of the main body 41. A conductive portion 431 is formed of a conductive material such as metal on the outer peripheral surface of the protrusion 43 formed of an insulating material. Note that a film of an insulating material may be formed on the surface of the protrusion 43, and the conductive portion 431 may be formed over the film.

  A bottomed engagement hole 44 is formed in the vicinity of the coupling hole 42 on the upper surface 411 of the main body 41 in parallel with the central axis J1, and the cross section perpendicular to the central axis J1 of the engagement hole 44 is a circle. The structure near the engagement hole 44 will be described later. The grip unit 5 is provided with a grip detection unit (not shown) that detects the grip state of the workpiece (that is, whether or not the workpiece is gripped). Further, the outer edge of the upper surface 411 faces the substrate 47 (the transmission substrate 333 of the hand main body 3 (see FIG. 3)) connected to the grip detection unit via a transmission path (not shown) in the hand tip 4. Therefore, hereinafter, it is referred to as a “counter substrate 47”).

  Next, an operation when the hand tip portion 4 is attached to the hand main body portion 3 will be described. When the hand tip portion 4 is attached to the hand main body portion 3, as shown in FIG. 7, the coupling hole 42 of the hand tip portion 4 is fitted into the joint portion 323 of the hand main body portion 3 as shown in FIG. The upper surface 411 (of the main body 41) of the part 4 and the lower surface 311 (of the main body 31) of the hand main body 3 come into contact with each other. At this time, the protrusion 43 of the hand tip 4 is inserted into the first hole 351 of the hand body 3, and the tip of the sliding portion 38 of the hand body 3 is the engagement hole of the hand tip 4. The hand tip portion 4 is aligned with the hand main body portion 3 so as to be inserted into 44. Further, the terminal 334 of the transmission board 333 of the hand main body 3 comes into contact with the terminal of the counter board 47 of the hand tip 4. In this way, the hand tip portion 4 is arranged at the mounting position on the hand main body portion 3.

  FIG. 8 is a view showing the vicinity of the sliding portion 38 of the hand main body portion 3 and the vicinity of the engaging hole portion 44 of the hand tip portion 4. As shown in FIG. 8, the first moving member 461 is inserted into the engagement hole 44, and the lower end surface (the lower side in FIG. 8) of the first moving member 461 is an inclined surface 461a. Yes. Further, in the main body 41 of the hand tip portion 4, a through hole 45 extending in a direction perpendicular to the central axis J1 (see FIG. 7) is formed between the engagement hole portion 44 and the coupling hole 42. A second moving member 462 is inserted into 45. The end surface on the engagement hole 44 side of the second moving member 462 is an inclined surface 462a that contacts the inclined surface 461a of the first moving member 461, and the end surface on the coupling hole 42 side protrudes toward the coupling hole 42 side, Opposing to the two coupling balls 325.

  Immediately after the hand tip portion 4 is disposed at the mounting position on the hand main body portion 3, most (approximately the entire) of the coupling balls 325 are located inside the outer peripheral surface of the coupling portion 323. Further, since the sliding portion 38 is urged toward the lower surface 311 side by the urging portion 39 (that is, the sliding portion 38 is located at the blocking position), the tip of the sliding portion 38 is moved to the first moving member. While pushing down 461 downward, the 2nd moving member 462 is pushed in to the coupling hole 42 side via the inclined surfaces 461a and 462a.

  On the other hand, as shown in FIG. 7, the protrusion 43 of the hand tip 4 is inserted into the first hole 351 of the hand main body 3, so that The two terminals 350 are in contact with the conductive portion 431, and the two terminals 350 are electrically connected. That is, the projection 43 of the hand tip 4 comes into contact with the two terminals 350 in the first hole 351, so that the electrical circuit 36 is disconnected from the first hole 351.

  Subsequently, in the electric circuit 36 of FIG. 4, when the operator turns on the trigger unit 362, electric power is supplied from the power source unit 361 to the electromagnetic valve 331, and the electromagnetic valve 331 is turned on. Thereby, compressed air is supplied from the electromagnetic valve 331 into the cylinder part 321 of FIG. 7, and the piston part 322 moves downward in FIG. Then, each coupling ball 325 is pushed out by the pushing portion 326, and a part of the coupling ball 325 protrudes from the outer peripheral surface of the coupling portion 323 as shown in FIG. 9. The coupling ball 325 is fitted into a groove portion 421 formed on the side surface of the coupling hole 42, and the hand tip portion 4 and the hand main body portion 3 are coupled to each other.

  At this time, the second moving member 462 is pushed into the engagement hole 44 by the coupling ball 325 shown in FIG. Further, the first moving member 461 is pushed upward by the second moving member 462 via the inclined surfaces 462a and 461a. The first moving member 461 pushes the sliding portion 38 upward against the urging portion 39, so that the sliding portion 38 moves by a certain distance along the central axis J <b> 11 of the second hole portion 352. . Accordingly, the through hole 382 of the sliding portion 38 is disposed at the position of the opening 354 of the second hole portion 352, and the transmission portion 383 comes into contact with the terminal 356. That is, the sliding portion 38 is located at the connection position, and in the second hole portion 352, the two openings 354 of the second fluid flow path 342 communicate spatially via the through hole 382, and the transmission path 37 2 Two terminals 356 are electrically connected via the transmission unit 383. In this way, the second fluid channel 342 and the transmission path 37 are each slid by being pushed directly by the first moving member 461 of the hand tip portion 4 and the sliding portion 38 is positioned at the connection position. 38. With the above operation, the attachment of the hand tip portion 4 to the hand main body portion 3 is completed.

  In the hand tip portion 4 shown in FIG. 7, by supplying compressed air to the plurality of electromagnetic valves 332 via the second fluid flow path 342, it is possible to drive the gripping portions 5 connected to the respective electromagnetic valves 332. Become. In addition, a signal indicating the gripping state of the workpiece in the gripper 5 is transmitted to the control unit 12 (FIG. 1) via the transmission path in the hand tip 4, the counter substrate 47, the transmission board 333, and the transmission path 37 in the hand body 3. To be transmitted). In the control unit 12, the gripping unit 5 grips and releases the workpiece by controlling ON / OFF of the electromagnetic valve 332 while referring to the signal from the gripping unit 5. In addition, illustration of the flow path of the compressed air between the electromagnetic valve 332 and the holding part 5 and the transmission path in the hand tip part 4 is omitted.

  When the hand tip portion 4 is detached from the hand main body portion 3, the operator turns off the trigger portion 362 in the electric circuit 36 of FIG. 4 so that the electromagnetic valve 331 is turned off. Accordingly, the supply of compressed air from the electromagnetic valve 331 into the cylinder part 321 in FIG. 7 is stopped and the inside of the cylinder part 321 is returned to atmospheric pressure, and the piston part 322 together with the pushing part 326 is operated by an internal spring. It moves upward in FIG. As a result, the pushing out of the coupling ball 325 to the outside is released, and the coupling between the hand tip 4 and the hand main body 3 is released. Further, the sliding portion 38 moves from the connection position shown in FIG. 9 to the blocking position shown in FIG. 8 by the biasing of the biasing portion 39, the second fluid flow path 342 is blocked by the sliding portion 38, and the transmission path 37 is also electrically disconnected. The first moving member 461 is pushed downward by the movement of the sliding portion 38, and the second moving member 462 is pushed into the coupling hole 42 side. Then, the hand tip portion 4 is removed from the hand main body portion 3, and the detachment of the hand tip portion 4 from the hand main body portion 3 is completed. When the hand tip 4 is removed, the electrical circuit 36 is blocked at the first hole 351 (see FIG. 3).

  Here, a robot hand in which the second hole 352 does not exist in the hand main body 3 of FIG. 3 is assumed as a comparative example. In such a robot hand of the comparative example, each of the second fluid flow path 342 and the transmission path 37 is not blocked when the hand tip portion 4 is not attached, and the hand from the electromagnetic valve 332 is not attached when the hand tip portion 4 is not attached. Since the flow path toward the tip portion 4 is in an open state, the compressed air leaks through the flow channel until the hand tip portion 4 is next attached. In addition, since a double-action type air cylinder is used for the holding part 5, one of the two solenoid valves 332 connected to the air cylinder is always in the ON state. Further, since the transmission board 333 is exposed on the surface of the hand main body 3 when the hand tip 4 is not attached, in the robot hand of the comparative example, when any member contacts the transmission board 333 and is short-circuited. There is a possibility that the control unit 12 connected to the transmission path 37 may be damaged, and there is a risk of electric shock for the operator.

  On the other hand, in the hand main body 3 of the robot hand 2 of FIG. 7, a part of the second fluid flow path 342 through which compressed air for driving the gripping part 5 flows is formed in the sliding part 38. A part of a signal transmission path 37 indicating the gripping state of the workpiece is provided in the sliding portion 38. When the hand tip portion 4 is not attached, the sliding portion 38 is urged by the urging portion 39 and positioned at the blocking position, whereby each of the second fluid flow path 342 and the transmission path 37 is blocked, When the distal end portion 4 is mounted, the sliding portion 38 is positioned at the connection position by being pushed directly by the hand distal end portion 4, so that each of the second fluid flow path 342 and the transmission path 37 passes through the sliding portion 38. Connected. Accordingly, the second fluid flow path 342 and the transmission path 37 can be blocked with a simple structure when the hand tip 4 is not attached. As a result, it is possible to prevent compressed air from leaking when the hand tip 4 is not attached, a short circuit of the transmission path 37, damage to the control unit 12 due to this, or the like. Moreover, since the cut location of the transmission path 37 is disposed in the second hole portion 352 and is not exposed on the surface of the hand main body portion 3, a short circuit at the cut location is more reliably prevented.

  In an actual automatic assembly line or the like, various types of hand tip portions are prepared in the robot hand 2 in order to deal with a variety of small-quantity production, and are replaced in accordance with the assembly to be produced. In this case, for example, a hand tip portion that is not provided with a gripping portion may be attached to the hand main body portion 3, and the second fluid flow path 342 in the hand main body portion 3 and The transmission path 37 need not be connected.

  Therefore, in the robot hand 2, when the hand tip portion is attached to the hand main body portion 3 by not providing the engagement hole portion 44 in the hand tip portion where the grip portion is not provided, as shown in FIG. Furthermore, the sliding portion 38 is pushed upward until the tip of the sliding portion 38 reaches the position of the lower surface 311 of the hand main body portion 3. As a result, the through hole 382 of the sliding portion 38 is disposed above the opening 354, each opening 354 is blocked by another portion of the sliding portion 38, and the transmission portion 383 of the sliding portion 38 is connected to the terminal 356. Is also disposed above and the two terminals 356 are blocked.

  As described above, in the robot hand 2, each of the second fluid flow path 342 and the transmission path 37 is blocked when the sliding portion 38 moves from the blocking position to a position past the connection position. As described above, a so-called three-position switch is configured in the second hole portion 352, thereby preventing each of the second fluid flow path 342 and the transmission path 37 from being erroneously connected. can do.

  Further, in the hand main body 3 of the robot hand 2, a first hole 351 for interrupting the electric circuit 36 for driving the coupling mechanism 32 is provided as a circuit interrupter, and the hand tip 4 is connected to the hand main body 3. When the hand tip portion 4 comes into contact with the first hole portion 351 when it is disposed at the mounting position, the electrical circuit 36 is disconnected from the first hole portion 351. Therefore, if the wrong hand tip is placed at the mounting position, the coupling mechanism 32 is not driven, and the hand tip is not coupled to the hand body 3, so that erroneous mounting of the hand tip is reliably prevented. can do.

  Further, in the robot hand 2, when the coupling mechanism 32 is driven, the first moving member 461 of the hand tip portion 4 moves, and the first moving member 461 pushes the sliding portion 38, so that the sliding portion 38 is connected to the connection position. Placed in. As a result, an inappropriate hand tip is disposed at the mounting position, and even if it is coupled, the sliding portion 38 is not disposed at the connection position, and thus the hand tip cannot be driven. As a result, it is possible to easily notice erroneous attachment of the hand tip.

  Although the embodiments of the present invention have been described above, the present invention is not limited to the above-described embodiments, and various modifications can be made.

  Depending on the design of the robot hand 2, only the through hole 382 may be formed in the sliding portion 38 of FIG. 5 and the transmission portion 383 may be omitted. In such a hand body portion, when the hand tip portion is not attached, the sliding portion 38 is urged by the urging portion 39 and is positioned at the blocking position, whereby the fluid flow path is shut off and the hand tip portion is attached. Sometimes, the fluid flow path is connected via the sliding portion 38 by being pushed by the tip of the hand and positioning the sliding portion 38 at the connection position. In addition, when the sliding portion 38 moves from the blocking position to a position past the connection position, the fluid flow path is blocked, thereby more reliably preventing the fluid flow path from being erroneously connected. it can.

  In the robot hand 2 that shuts off the fluid flow path and the transmission path when the hand tip 4 is not attached and connects the fluid flow path and the transmission path when the hand tip 4 is attached, One end may be a connection position, and a so-called two-position switch may be configured. However, as described with reference to FIG. 10, by configuring the three-position type switch, it is possible to more reliably prevent the fluid flow path and the transmission path from being erroneously connected.

  In the robot hand, another member is interposed between the hand tip portion 4 and the hand main body portion 3, and when the hand tip portion 4 is mounted, the sliding portion 38 is pushed by the member, so that the fluid flow path and the transmission path The sliding portion 38 may be arranged at a connection position for connecting the two. In such a robot hand, it can be understood that the sliding portion 38 is indirectly pushed by the hand tip portion 4 and located at the connection position.

  In the hand main body 3 of FIG. 3, the arrangement of the second hole 352 is not limited to the lower surface 311 of the main body 31. For example, the second hole may be provided on the side surface of the main body 31. In this case, a member for pushing the sliding portion 38 in the second hole portion is provided at the distal end portion of the hand, and when the distal end portion of the hand is mounted, the sliding portion 38 is pushed by the member and disposed at the connection position. .

  In the robot hand 2, a magnet is provided at the tip of the sliding portion 38, and a magnet is also disposed at a position on the hand tip portion 4 facing the sliding portion 38, and due to the magnetic repulsive force between these magnets, The sliding part 38 may be arrange | positioned in a connection position. In addition, when the sliding portion 38 is disposed at the connection position by the magnetic attractive force between the magnets, a tension spring that biases the sliding portion 38 upward is provided as the biasing portion 39. An elastic member other than a spring may be used as the urging portion 39. Further, by providing a magnet on the bottom surface of the second hole 352 and the sliding portion 38, the sliding portion 38 is magnetically urged. Also good. As described above, the biasing portion that biases the sliding portion 38 in one direction along the central axis J11 of the second hole portion 352 may be realized in various modes.

  A groove portion is formed on the outer peripheral surface of the sliding portion 38 along the circumferential direction centering on the central axis J11. When the sliding portion 38 is disposed at the connection position, the fluid flow path is connected via the groove portion. Also good. Similarly, a transmission part may be provided on the outer peripheral surface of the sliding part 38. As described above, a part of the fluid flow path formed in the sliding part 38 and a part of the transmission path provided in the sliding part 38 may be arranged outside the inside of the sliding part 38.

  In the hand main body 3 in FIG. 3, the first fluid flow path 341 connected to the electromagnetic valve 331 for connection and the second fluid flow path 342 connected to the electromagnetic valve 332 for driving the gripping part 5 communicate with each other. However, depending on the design of the robot hand 2, these flow paths may be provided individually and connected to a compressed air supply source. Further, the electromagnetic valves 331 and 332 are not necessarily provided on the hand main body 3, and may be provided at other positions close to the hand main body 3.

  The fluid for driving the gripping part flowing in the fluid flow path may be water, oil, or the like other than compressed air. Further, the transmission path 37 through which a signal indicating the gripping state of the workpiece in the gripping part may be an optical transmission line that transmits an optical signal, in addition to a conductive line that transmits an electrical signal.

  In the first hole portion 351 of the hand main body portion 3, the same configuration as that of the second hole portion 352 may be used (however, the through hole 382 in the sliding portion is not necessary). In this case, when the hand tip portion 4 is disposed at the mounting position on the hand main body portion 3, the hand tip portion 4 comes into contact with the sliding portion in the first hole portion 351, and the sliding portion becomes the first hole portion 351. The transmission part provided in the sliding part is connected to the two terminals 350, and the electric circuit 36 is disconnected from the first hole part 351.

  In the assembly robot 1 of FIG. 1, the hand tip 4 is detachable from the hand body 3 attached to the robot arm 11, but the tip of the robot arm 11 is the same as the hand body 3 of FIG. The hand tip portion 4 may be directly and detachably attached to the tip. In this case, the robot arm 11 or the tip thereof can be regarded as a main body portion in the robot hand.

  The configurations in the above-described embodiments and modifications may be combined as appropriate as long as they do not contradict each other.

DESCRIPTION OF SYMBOLS 2 Robot hand 3 Hand main-body part 4 Hand tip part 5 Grip part 32 Coupling mechanism 36 Electrical circuit 37 Transmission path 38 Sliding part 39 Energizing part 342 2nd fluid flow path 351 1st hole part 352 2nd hole part 382 Through Hole 383 Transmission portion 461 First moving member J11 (second hole portion) central axis

Claims (5)

A robot hand,
The main body,
A detachably attached to the main body, and a tip having a gripping part for gripping a workpiece;
With
The main body is
The hole,
A sliding part that slides in the hole along the central axis of the hole;
A biasing portion that biases the sliding portion in one direction along the central axis;
A fluid flow path through which a fluid for driving the gripping part flows;
A transmission path through which a signal indicating a gripping state of the workpiece in the gripping part is transmitted;
With
A part of the fluid flow path is formed in the sliding part, a part of the transmission path is provided in the sliding part,
When the tip portion is not mounted, the sliding portion is urged by the urging portion and is positioned at the blocking position, whereby each of the fluid flow path and the transmission path is blocked,
When the tip portion is attached, the sliding portion is positioned at the connection position by being directly or indirectly pushed by the tip portion, so that each of the fluid flow path and the transmission path passes through the sliding portion. Robot hands characterized by being connected to each other. The robot hand according to claim 1,
Each of the fluid flow path and the transmission path is blocked when the sliding portion moves from the blocking position to a position past the connection position. The robot hand according to claim 1 or 2,
The main body is
A coupling mechanism coupled to the tip;
An electrical circuit for driving the coupling mechanism;
A circuit interrupting unit for interrupting the electrical circuit;
Further comprising
When the tip portion is disposed at the mounting position on the main body portion, the electrical circuit block by the circuit breaker is released by the tip portion coming into contact with the circuit breaker. Robot hand. The robot hand according to claim 3,
The robot hand according to claim 1, wherein a moving member included in the tip portion is moved by driving the coupling mechanism, and the sliding member is arranged at the connection position when the moving member pushes the sliding portion. A robot hand,
The main body,
A detachably attached to the main body, and a tip having a gripping part for gripping a workpiece;
With
The main body is
The hole,
A sliding part that slides in the hole along the central axis of the hole;
A biasing portion that biases the sliding portion in one direction along the central axis;
A fluid flow path through which a fluid for driving the gripping part flows;
With
A part of the fluid flow path is formed in the sliding portion,
When the tip portion is not mounted, the fluid passage is blocked by the sliding portion being urged by the urging portion and positioned at the blocking position,
When the tip portion is mounted, the fluid passage is connected via the sliding portion by being pushed directly or indirectly by the tip portion and the sliding portion is located at a connection position.
The robot hand according to claim 1, wherein the fluid flow path is blocked when the sliding portion moves from the blocking position to a position past the connection position.

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