JP2023175303A - robot - Google Patents

Abstract

To provide a robot in which an additional device such as a camera or a sensor can be easily attached to and detached from a hand member of a robot arm while suppressing increase in size of the hand member.SOLUTION: A robot comprises a hand member constituting a fingertip of a robot arm, and an annular member that has a mounting part to which an additional device can be attached, can be attached to and detached from the hand member and surrounds the outer periphery of the hand member while being attached to the hand member. The annular member has at least two constituent parts forming parts of the annular shape of the annular member, is configured so as to, by interconnecting adjacent ends of the constituent parts with the hand member disposed inside the constituent parts, close the constituent parts to sandwich the hand member and be attachable to the hand member, and is configured so as to, by disconnecting the ends and separating the ends from each other, open the constituent parts and be removable from the hand member.SELECTED DRAWING: Figure 3

Description

Embodiments of the invention relate to robots.

In recent years, there have been an increasing number of situations in which additional devices such as cameras and sensors are attached to the tip of a robot arm. In conventional configurations, in order to attach these additional devices to a hand member such as a flange of a robot arm, the hand member and the additional device are made into an integrated structure, or a separate part from the hand member, such as a stay, is used. Was.

Japanese Patent Application Publication No. 2005-131761

However, for example, when the hand member and the additional device are integrated, it is necessary to replace the hand member itself in order to change the additional device, which requires very complicated and time-consuming work. In addition, when using separate parts such as stays, conventional stays generally have a shape that protrudes outward from the hand member, and as a result, there is a risk that the hand part of the robot arm will become larger. there were. Therefore, in the conventional configuration, there was room for improvement in terms of ease of attachment and detachment, prevention of enlargement of the hand portion, etc.

The present invention has been made in view of the above-mentioned circumstances, and its purpose is to suppress the increase in the size of the hand members of a robot arm and to easily attach and detach additional devices such as cameras and sensors to the hand members. Our goal is to provide robots that can do the following:

The robot according to the embodiment has a hand member that constitutes a hand of a robot arm, and a mounting portion to which an additional device can be attached, and which is detachable from the hand member and attached to the hand member so as to attach to the outer periphery of the hand member. an annular member configured in an annular shape surrounding the. The annular member has at least two constituent parts forming an annular part of the annular member, and with the finger member disposed inside the constituent parts, the ends of the adjacent constituent parts are mutually connected. By connecting, the constituent parts are closed and the hand member is sandwiched so that the constituent parts can be attached to the hand member, and by disconnecting the ends and separating the ends from each other, the constituent parts can be closed. It is constructed so that it can be opened and removed from the hand member.

A diagram schematically showing an example of a robot according to the first embodiment A perspective view showing a state in which an annular member is attached to a hand member of an example of a robot according to the first embodiment. A perspective view showing a state in which an annular member is removed from a hand member of an example of the robot according to the first embodiment. A vertical cross-sectional view showing a state in which an annular member is attached to a hand member of an example of a robot according to the first embodiment. A sectional view taken along the line X5-X5 in FIG. 4 of an example of the robot according to the first embodiment. A sectional view showing an enlarged portion of X6 in FIG. 5 for an example of the robot according to the first embodiment This is a cross-sectional view taken at the same position as FIG. 5, showing a state in which the annular member is removed from the hand member of an example of the robot according to the first embodiment. A sectional view taken along the line X8-X8 in FIG. 4 of an example of the robot according to the first embodiment. A cross-sectional view showing an enlarged portion of X9 in FIG. 8 for an example of the robot according to the first embodiment A sectional view showing an enlarged view of the X10 portion in FIG. 4 of an example of the robot according to the first embodiment This is a sectional view corresponding to FIG. 5, showing a state in which an annular member is attached to a hand member of an example of a robot according to the second embodiment. This is a sectional view taken at the same position as FIG. 11, showing a state in which the annular member is removed from the hand member of an example of the robot according to the second embodiment. A vertical cross-sectional view showing a state in which an annular member is attached to a hand member of an example of a robot according to a third embodiment. A sectional view taken along the line X14-X14 in FIG. 13 of an example of the robot according to the third embodiment. A vertical cross-sectional view showing a state in which an annular member is attached to a hand member of an example of a robot according to a fourth embodiment. A sectional view taken along the line X16-X16 in FIG. 15 of an example of the robot according to the fourth embodiment.

Hereinafter, robots according to a plurality of embodiments will be described with reference to the drawings. Note that substantially the same elements in each embodiment are denoted by the same reference numerals, and description thereof will be omitted. Furthermore, the robots described in each embodiment are not particularly limited in their field of use, but are more suitable for industrial robots.

(First embodiment)
First, a robot according to a first embodiment will be described with reference to FIGS. 1 to 10. The robot 10 shown in FIG. 1 can be configured as a vertical multi-joint robot having a multi-joint robot arm 20, for example. The robot 10 can be configured as a so-called human-collaborative robot, for example, which is designed to work with humans and whose operating speed, weight, etc. are designed so that a safety fence is not required in the operating environment. Note that the robot 10 may be, for example, a horizontally articulated robot, a parallel link robot, an orthogonal robot, or the like. Furthermore, the robot 10 may be one that is premised on the installation of a safety fence.

The robot arm 20 has a hand member 21 . The hand member 21 is a member that constitutes the tip of the robot arm 20, that is, the hand. The hand member 21 is made of, for example, a rigid metal, and can be configured with a hollow cylindrical so-called flange-shaped member as shown in FIG. 2 and the like. As shown in FIG. 1, a robot hand tool 91 for causing the robot 10 to perform a predetermined work, for example, is attached to the distal end surface 211 of the hand member 21. Further, although details are not shown, a space is formed inside the hand member 21 for passing electrical wiring, air piping, etc. for use in the robot hand tool 91, for example.

The robot 10 includes an annular member 30. The annular member 30 has a function of detachably attaching, for example, an additional device 92 to the hand member 21 of the robot arm 20, as shown in FIG. The additional device 92 is a device for adding functions to work using the robot hand tool 91, such as a camera or a sensor.

As shown in FIG. 2 and the like, the annular member 30 has a mounting portion 31 to which an additional device 92 can be attached, and is configured to be detachable from the hand member 21. The annular member 30 is configured to have an annular shape surrounding the outer periphery of the hand member 21 when attached to the hand member 21 . In the case of this embodiment, the annular member 30 has an annular shape as a whole when attached to the hand member 21, as shown in FIGS. 2, 5, etc. When the annular member 30 is attached to the hand member 21 , at least a portion of the inner peripheral surface of the annular member 30 contacts the outer peripheral surface of the hand member 21 .

The attachment portion 31 has the function of fixing the additional device 92 to the annular member 30. In the case of this embodiment, the mounting portion 31 includes a mounting surface 311 and a first female threaded portion 312. The mounting surface 311 is a surface with which the additional device 92 comes into contact when the additional device 92 is attached to the mounting portion 31 . The mounting surface 311 is formed, for example, into a flat surface obtained by cutting a portion of an annular outer circumferential surface.

The first female screw portion 312 is a female screw hole into which a male screw or the like for fixing the additional device 92 to the mounting surface 311 is screwed. The first internal thread 312 can be referred to as a mounting internal thread for attaching the additional device 92, for example. As shown in FIG. 5 and the like, the first female threaded portion 312 is configured with a female threaded hole formed from the mounting surface 311 in a direction perpendicular to the mounting surface 311. A plurality of first female threaded portions 312, in this case two, are provided for one mounting surface 311. The two first female screw portions 312 are provided on both sides of a center line L1 that extends perpendicularly to the mounting surface 311 and passes through the annular center P of the annular member 30.

The annular member 30 has at least two components 301 and 302. Each component 301 and 302 constitutes a part of the annular member 30 . In the case of this embodiment, the annular member 30 is configured into an annular shape by combining the constituent parts 301 and 302. That is, the annular member 30 has the end portions 33 of the constituent parts 301 and 302 adjacent to each other in the circumferential direction of the outer circumferential surface of the finger member 21, with the finger member 21 disposed inside each constituent part 301 and 302. By connecting, the components 301 and 302 can be closed and the hand member 21 may be sandwiched therebetween so as to be able to be attached to the hand member 21.

In addition, the annular member 30 can open each component 301, 302 by disconnecting the end 33 of each component 301, 302 and separating the ends 33 from each other. It is configured to be removable from the member 21. In the case of this embodiment, each of the components 301 and 302 is configured to be separable from each other. In this case, being separated from each other means that the constituent parts 301 and 302 are completely separated from each other.

The hand member 21 of this embodiment does not have a structure for fixing the annular member 30. That is, the hand member 21 does not have a female screw hole into which a bolt or the like for attaching the annular member 30 is inserted, or a so-called boss structure. In the case of this embodiment, the annular member 30 is configured to be attachable to the hand member 21 by mutually connecting the ends 33 of the respective constituent parts 301 and 302. That is, in this embodiment, the annular member 30 is fixed to the hand member 21 only by tightening the outer peripheral surface of the hand member 21 with the inner peripheral surface of the annular member 30 .

The annular member 30 has two constituent parts 301 and 302 and two male threaded members 41. The two constituent parts 301 and 302 each have a second female threaded part 331 at one end 33 of both ends 33 of the constituent parts 301 and 302, and a male threaded member 41 such as a bolt at the other end 33. It has a through hole 332 through which it can pass. The two components 301 and 302 are configured to have the same shape. In this case, the two components 301 and 302 are arranged point-symmetrically with respect to the center P of the hand member 21 so as to surround the outer peripheral surface of the hand member 21, and the end portion 33 of each component 301 and 302 is By connecting, it is attached to the hand member 21.

The second female threaded portion 331 is a structure used to connect the ends 33 of each component 301 to each other. Therefore, the second female threaded portion 331 can also be referred to as a connection female threaded portion, for example. As shown in FIGS. 5 to 7, the second female threaded portion 331 is formed into a female thread shape that is dug from one end 33 of the constituent portions 301 and 302 toward the tangential direction of the annular shape of the annular member 30. . The through hole 332 is formed as a so-called stepped hole that extends from the other end 33 of the component 301 in the tangential direction of the annular member 30 . When the male threaded member 41 is inserted into the through hole 332, the head 411 of the male threaded member 41 is locked inside the through hole 332, and the male threaded member 41 is inserted from the end 33 of the component 301. Protrude tangentially.

Further, the annular member 30 has at least one protrusion 32, as shown in FIGS. 3 and 8 to 10. In the case of this embodiment, the annular member 30 has a plurality of protrusions 32. The protrusion 32 is formed in a shape that protrudes from the inner peripheral surface of the annular member 30 toward the inside of the annular member 30, that is, toward the center P side. Further, in the case of the present embodiment, as shown in FIG. 9, the circumferential length dimension W of the annular member 30 in the protrusion 32 is larger than the protrusion amount H1 of the annular member 30 from the inner circumferential surface.

Further, the hand member 21 has at least one receiving portion 212 for receiving insertion of the protrusion 32 . In the case of this embodiment, the hand member 21 has two or more receiving parts 212. In this case, the hand member 21 has more receiving portions 212 than the number of protrusions 32 . The receiving portion 212 is provided on the hand member 21 and is formed by recessing the outer peripheral surface of the hand member 21 toward the center P side in a shape that is slightly larger than the outer shape of the projection portion 32 . Further, as shown in FIG. 10, the depth H2 of the receiving portion 212 is slightly larger than the protrusion amount H1 of the protrusion 32. As a result, the protruding portion 32 and the receiving portion 212 have a so-called clearance fit relationship.

When the annular member 30 is attached to the hand member 21 , the position of the annular member 30 with respect to the hand member 21 is regulated by inserting the protrusion 32 into the receiving portion 212 . That is, by fitting the protrusion 32 into the receiving part 212, the annular member 30 is restricted from rotating in the circumferential direction of the hand member 21 and from moving in the axial direction of the hand member 21.

Further, as shown in FIG. 10, the protrusion 32 is provided closer to one of the opposite surfaces of the annular member 30. The thickness T2 of the projection 32 is smaller than the thickness T1 of the entire annular member 30. In this case, the thickness T2 of the projection 32 is set to be less than half the thickness T1 of the entire annular member 30.

Further, as shown in FIG. 8, the protrusions 32 are arranged on the inner surface of the annular member 30 at intervals of a predetermined pitch θ or an integral multiple of the predetermined pitch θ. On the other hand, each receiving portion 212 is arranged at a predetermined pitch θ on the outer surface side of the annular member 30. All of the protrusions 32 are inserted into one of the receiving parts 212. Therefore, the annular member 30 can be attached to the hand member 21 by rotating it at a predetermined pitch θ. That is, the annular member 30 is configured to be able to adjust the position of the attachment portion 31 in predetermined pitches θ.

The user can attach the annular member 30 to the hand member 21 in the following manner, for example. For example, as shown in FIG. 7, the user places the end members 21 inside the two components 301 and 302, and abuts the ends 33 on both sides of the two components 301 against each other. At this time, if each protrusion 32 is not fitted into each receiving part 212, the constituent parts 301 and 302 are rotated along the outer peripheral surface of the hand member 21 until each protruding part 32 is fitted into each receiving part 212. let

Then, the user inserts the male threaded member 41 from the through hole 332 of one of the structural parts 301, 302, and screws the male threaded member 41 into the second female threaded part 331 of the other structural part 301, 302. In this way, the annular member 30 is attached to the hand member 21. Note that the additional device 92 may be attached to the attachment portion 31 before the annular member 30 is attached to the hand member 21, or may be attached to the attachment portion 31 after the annular member 30 is attached to the hand member 21. good.

Further, when removing the annular member 30 from the hand member 21, the user loosens each male threaded member 41 and pulls it out from the second female threaded portion 331. Thereby, the annular member 30 can be separated into two components 301 and 302, and the user can remove the annular member 30 from the hand member 21.

Here, when the annular member 30 is attached to the hand member 21 and the opposing ends 33 come into contact with each other, depending on the manufacturing tolerances of the annular member 30 and the hand member 21, the outer circumferential surface of the hand member 21 may On the other hand, a situation may arise in which the inner circumferential surface of the annular member 30 does not contact evenly throughout the circumferential direction. That is, if the inner diameter of the annular member 30 becomes larger than the outer diameter of the hand member 21 due to manufacturing tolerances of the annular member 30 and the hand member 21, the inner peripheral surface of the annular member 30 and the outer peripheral surface of the hand member 21 may A situation arises in which parts that should be in contact due to design do not make contact. In such a state, the fixing force of the annular member 30 to the hand member 21 decreases, causing wobbling or the like in the hand member 21, and as a result, the accuracy etc. of the additional device 92 attached to the annular member 30 is affected. will also be affected.

Therefore, in this embodiment, each of the constituent parts 301 and 302 is configured such that a gap S is formed between the opposing ends 33 when the annular member 30 is attached to the hand member 21, as shown in FIG. is set to . In this case, the curvature of the inner periphery of each component 301, 302 and the curvature of the outer periphery of the hand member 21 are set to be the same, and the total length of the inner periphery of each component 301, 302 is It is set shorter than the circumference of the outer circumference. Furthermore, each of the constituent parts 301 and 302 may be made of metal such as iron, stainless steel, or aluminum, or engineering plastic, even if the male threaded member 41 is screwed into the second female threaded part 331 and each end part 33 is connected. The parts 301 and 302 are made of a member having sufficient rigidity to prevent deformation. Therefore, even when the hand member 21 is tightened by the annular member 30, the respective constituent parts 301 and 302 do not extend, and a gap S is formed between the respective end parts 33.

Thereby, even when the annular member 30 is attached to the hand member 21, the ends 33 are prevented from coming into contact with each other. Therefore, even depending on the manufacturing tolerances of the annular member 30 and the hand member 21, the inner circumferential surface of the annular member 30 can be brought into uniform contact with the outer circumferential surface of the hand member 21 over the entire circumferential direction. . Thereby, it is possible to suppress the rattling of the annular member 30 with respect to the hand member 21, and as a result, it is possible to suppress a decrease in accuracy of the additional device 92 due to the annular member 30.

Note that the gap S may be provided with a member capable of elastic deformation or plastic deformation, such as sponge, rubber, or soft resin. That is, a configuration may be adopted in which a deformable member is provided at both ends 33 of the rigid components 301 and 302, and the tolerance of the annular member 30 and the hand member 21 is absorbed by crushing the deformable member. A gap S is substantially formed between both ends 33 of the rigid components 301 and 302.

According to the embodiment described above, the robot 10 includes the hand member 21 that constitutes the hand of the robot arm 20 and the annular member 30. The annular member 30 has a mounting portion 31 to which an additional device 92 can be attached, and is configured in an annular shape so as to be detachable from the hand member 21 and surround the outer periphery of the hand member 21 when attached to the hand member 21.

Further, the annular member 30 has at least two constituent parts 301 and 302. Each of the constituent parts 301 and 302 forms an annular part of the annular member 30, respectively. Further, the annular member 30 can close the constituent parts 301, 302 by connecting the ends 33 of the adjacent constituent parts 301, 302 with the hand member 21 disposed inside the constituent parts 301, 302. It is configured so that it can be attached to the hand member 21 by sandwiching the hand member 21 therebetween. The annular member 30 is configured to be detachable from the hand member 21 by opening the constituent parts 301 and 302 by disconnecting the ends 33 of the constituent parts 301 and 302 and separating the ends 33 from each other. There is.

According to this embodiment, the annular member 30 is configured to have an annular shape that is detachable from the hand member 21 and surrounds the outer periphery of the hand member 21 while being attached to the hand member 21 . For this reason, compared to a conventional configuration in which the additional device 92 is attached to the hand member 21 using a stay or the like, the annular member 30 is prevented from protruding greatly to the outside of the hand member 21, and as a result, the robot It is possible to suppress the enlargement of the end portion of the arm 20.

Further, according to the present embodiment, the user can attach and detach the additional device 92 to and from the hand member 21 by, for example, attaching and removing the annular member 30 to and from the hand member 21 with the additional device 92 attached to the attachment portion 31. I can do it. Therefore, the user does not need to remove the hand member 21 itself when attaching or detaching the additional device 92 to or from the hand member 21. Therefore, in this embodiment, the work of attaching and detaching the additional device 92 to and from the hand member 21 is simplified compared to, for example, the conventional case where the hand member 21 itself must be removed in order to attach and detach the additional device 92. can do.

Further, the components 301 and 302 are configured to be separable from each other, as shown in FIGS. 3 and 7. According to this, when attaching and detaching the annular member 30 to and from the fingertip member 21, each of the constituent parts 301 and 302 can be opened wide, making it easier to arrange the fingertip member 21 inside each of the constituent parts 301 and 302, Furthermore, it becomes easier to remove the hand member 21 from the inside of each component 301, 302. Therefore, according to the present embodiment, it is possible to further improve the workability of attaching and detaching the additional device 92 to and from the hand member 21. Further, when the annular member 30 is removed from the hand member 21, the constituent parts 301 and 302 can be stored in a stacked state, for example, so that the storage space can be saved.

Further, the annular member 30 is configured to be attachable to the hand member 21 by mutually connecting the ends 33 of the two constituent parts 301 and 302. The two constituent parts 301 and 302 each have a second female threaded part 331 at one end 33 of both ends 33 of each constituent part 301 and 302, and a male thread can be passed through the other end 33. It has a through hole 332. The two components 301 and 302 are configured to have the same shape.

According to this, by making the two components 301 and 302 the same shape, it is possible to share the parts of the components 301 and 302. As a result, manufacturing costs can be reduced and parts management of the component parts 301 and 302 can be simplified.

Further, as shown in FIG. 6, the annular member 30 is configured such that a gap S is formed between the ends 33 of the two constituent parts 301 and 302 when the annular member 30 is attached to the hand member 21. That is, when each component 301, 302 is attached to the hand member 21, a gap S is formed between the opposing ends 33. According to this, the inner surface of the annular member 30 can be brought into close contact with the outer peripheral surface of the hand member 21 over the entire circumferential direction. Therefore, rattling of the annular member 30 with respect to the hand member 21 can be suppressed, and as a result, a decrease in accuracy of the additional device 92 due to the annular member 30 can be suppressed.

Furthermore, the hand member 21 does not have a structure for fixing the annular member 30, such as a female screw hole into which a bolt or the like for attaching the annular member 30 is inserted, or a so-called boss structure. Therefore, it is possible to suppress the hand member 21 from increasing in size.

Further, the annular member 30 further includes a protrusion 32 . The protrusion 32 protrudes inward from the inner peripheral surface of the annular member 30. Further, the hand member 21 further includes a receiving portion 212. The receiving portion 212 is provided on the hand member 21 and receives insertion of the protrusion 32 . The position of the annular member 30 relative to the hand member 21 is regulated by inserting the protrusion 32 into the receiving portion 212. That is, by fitting the projection 32 into the receiving portion 212, rotation of the annular member 30 in the circumferential direction and movement of the hand member 21 in the axial direction are restricted.

According to this, when the robot 10 moves, it is possible to suppress the position of the annular member 30 from moving due to the movement. As a result, it is possible to prevent the attachment position of the additional device 92 from changing with respect to the hand member 21 due to the operation of the robot 10, thereby preventing the accuracy and the like of the additional device 92 from decreasing. Further, even after the annular member 30 is attached to and removed from the hand member 21, the attachment position of the annular member 30 to the hand member 21, that is, the attachment position of the additional device 92 to the hand member 21, can be easily reproduced with high accuracy. can. As a result, the effort required to adjust the additional device 92 when the additional device 92 is attached to and removed from the hand member 21, for example, can be reduced as much as possible.

The robot 10 includes at least one protrusion 32 and two or more receiving portions 212 arranged along the circumferential direction of the hand member 21 and the annular member 30. In the case of this embodiment, the protrusion 32 is provided on the inner circumferential surface of the annular member 30, and the receiving portion 212 is provided on the outer circumferential surface of the hand member 21.

According to this, when the annular member 30 is attached to the hand member 21, the user can rotate and attach the annular member 30 to the hand member 21 by changing the receiving portion 212 into which the protrusion 32 is inserted. I can do it. That is, according to this, by rotating the annular member 30, the position of the attachment portion 31, that is, the additional device 92, with respect to the hand member 21 can be changed in the rotational direction of the annular member 30, that is, the inner surface of the annular member 30 and the outer surface of the hand member 21. It can be adjusted in the circumferential direction.

(Second embodiment)
Next, a second embodiment will be described with reference to FIGS. 11 and 12. In this embodiment, the specific configuration of the annular member 30a is different from the annular member 30 of the first embodiment. In addition, in the annular member 30a of this embodiment, the configuration not shown in FIGS. 11 and 12 is common to the annular member 30 of the first embodiment.

Similar to the annular member 30 of the first embodiment, the annular member 30a of this embodiment has a plurality of components 303 and 304, two in this case. The components 303 and 304 of this embodiment are configured in the same manner as the components 301 and 302 described above except for the specific configurations of both end portions 33a and 33b. Each component 303, 304 can be opened and closed by rotating one end 33a side of both ends 33a, 33b of each component 303, 304 with the other end 33b moving away and approaching. configured to be possible.

That is, in this embodiment, the annular member 30a has the hinge portion 34. The hinge portion 34 interconnects the adjacent ends 33a of the two components 303, 304 so that the two components 303, 304 can rotate. In addition, a second female screw portion 331 or a through hole 332 is provided at the end portion 33b on the opposite side from the end portion 33a where the hinge portion 34 is provided, of both ends 33a and 33b of each component portion 303 and 304. It is being

In this configuration, when attaching the annular member 30a to the hand member 21, the user first opens the two components 303 and 304, as shown in FIG. Place. Thereafter, as shown in FIG. 11, the user closes the two components 303 and 304, and then screws the male threaded member 41 through the through hole 332 into the second female threaded part 331. Thereby, the annular member 30a is fixed to the hand member 21.

Further, the user can remove the annular member 30a from the hand member 21 by performing the procedure opposite to the above-described procedure. That is, the user first loosens the male threaded member 41 and pulls it out from the second female threaded portion 331 in the state shown in FIG. Thereafter, as shown in FIG. 12, the user opens the two components 303 and 304, and then pulls out the components 303 and 304 from the hand member 21. Thereby, the annular member 30a is removed from the hand member 21.

According to this embodiment, the components 303 and 304 are configured such that the other end 33b side can be opened and closed by rotating. That is, in this embodiment, the annular member 30a is configured such that the constituent parts 303 and 304 are not separated from each other. Therefore, for example, when the annular member 30a is removed from the hand member 21, it is possible to prevent inconveniences such as the respective constituent parts 303 and 304 being separated and lost.

Further, according to the present embodiment, when attaching and detaching the annular member 30a to and from the hand member 21, the user attaches the male threaded member 41 only to one end 33b of the ends 33a and 33b of each component 303 and 304. All you have to do is screw it in or loosen it. Therefore, according to the present embodiment, it is possible to further improve workability in attaching and detaching the annular member 30a to and from the hand member 21.

(Third embodiment)
Next, a third embodiment will be described with reference to FIGS. 13 and 14. In addition, in this embodiment, the structure not shown in FIG.13 and FIG.14 can be made into the structure common to the annular member 30 of each said embodiment. Further, this embodiment can also be applied to a structure having a hinge portion 34 like the annular member 30a of the second embodiment.

In the third embodiment, the relationship between the protruding portion 32 and the receiving portion 212 described in each of the above embodiments is reversed. That is, the robot 10 of this embodiment has a protrusion 213 and a receiving part 35 instead of the protruding part 32 and receiving part 212 described in each of the above embodiments. At least one protrusion 213 is provided on the hand member 21 and protrudes outward from the outer peripheral surface of the hand member 21 . In this case, the hand member 21 has eight protrusions 213. The eight hand members 21 are arranged at equal intervals along the outer peripheral surface of the hand member 21.

At least one receiving portion 35 is provided in the annular member 30, and the inner circumferential surface of the annular member 30 is recessed outward in the radial direction of the annular member 30 in a shape slightly larger than the outer shape of the protruding portion 213. formed into a shape. In this case as well, the protrusion 32 and the receiving part 212 have a so-called clearance fit relationship, similar to the relationship between the protruding part 32 and the receiving part 212.

Also in this configuration, when the annular member 30 is attached to the hand member 21, the projection 213 of the annular member 30 is inserted into the receiving portion 35, and the position of the annular member 30 relative to the hand member 21 is regulated. That is, by fitting the protrusion 213 into the receiving portion 35, rotation of the annular member 30 in the circumferential direction and movement of the hand member 21 in the axial direction are restricted.

In this way, the hand member 21 of this embodiment has the protrusion 213 that projects outward from the outer circumferential surface of the hand member 21 . Further, the annular member 30 has a receiving portion 212 that is provided on the inner peripheral surface of the annular member 30 and receives the insertion of the protrusion 213 . The position of the annular member 30 relative to the hand member 21 is regulated by inserting the projection 213 into the receiving portion 212. According to this, the same effects as those of each embodiment described above can be obtained.

(Fourth embodiment)
Next, a fourth embodiment will be described with reference to FIGS. 15 and 16. In this embodiment, the specific configuration of the annular member 30b is different from the annular members 30 and 30a of each of the above embodiments. In addition, in the annular member 30b of this embodiment, the structure not shown in FIGS. 15 and 16 can be made into the common structure with the annular member 30 of each said embodiment. Further, this embodiment can also be applied to a structure having a hinge portion 34 like the annular member 30a of the second embodiment.

The annular member 30b has constituent parts 305, 306 and a mounting part 36. The constituent parts 305, 306 and the attachment part 36 are each composed of separate members that can be separated. The structural parts 305 and 306 are generally similar in overall shape to the above-described structural parts 301 and 302, except that they do not have the mounting part 31 and have a plurality of third female screw parts 37. , is different from the configuration units 301 and 302 described above.

In this case, the annular member 30b is configured into an annular shape by combining the constituent parts 305 and 306. The third female screw portions 37 are arranged, for example, at regular intervals on the surface of the annular member 30b, and are formed to penetrate the annular member 30b in the thickness direction. The mounting portion 36 has a mounting surface 311 and a first female screw portion 312 similar to those of the mounting portion 31 described above, and the additional device 92 is fixed thereto. Further, the attachment portion 36 has one or more through holes 361, as shown in FIG. 15. The through hole 361 is formed through the attachment portion 36 in the thickness direction.

The attachment portion 36 is fixed to the annular member 30b by passing a male threaded member 42 such as a bolt through the through hole 361 and screwing the male threaded member 42 into the third female threaded portion 37. In this case, the user can attach the attachment part 36 to the components 303 and 304 by changing the through hole 361 for fixing the attachment part 36. Thereby, the user can adjust the attachment position of the additional device 92 with respect to the circumferential direction of the hand member 21. In this case, the components 305 and 306 may have a configuration in which they cannot be adjusted in the rotational direction with respect to the hand member 21, that is, a configuration in which the attachment positions of the components 305 and 306 with respect to the hand member 21 are uniquely determined.

This embodiment also provides the same effects as those of the above embodiments.

Note that each of the above embodiments can be applied in combination with a part of each embodiment.
Although the present disclosure has been described based on examples, it is understood that the present disclosure is not limited to the examples or structures. The present disclosure also includes various modifications and equivalent modifications. In addition, various combinations and configurations, as well as other combinations and configurations that include only one, more, or fewer elements, are within the scope and scope of the present disclosure.

DESCRIPTION OF SYMBOLS 10... Robot, 20... Robot arm, 21... Hand member, 30, 30a, 30b... Annular member, 301, 302, 303, 304, 305, 306... Constituent part, 31... Mounting part, 32, 213... Projection part, 33, 33a, 33b...End part, 332...Through hole, 35, 212...Receiving part, 36...Mounting part, 92...Additional device, S...Gap

Claims (9)

A hand member that constitutes a hand of a robot arm;
an annular member having an attachment part to which an additional device can be attached, and an annular member that is detachable from the hand member and surrounds the outer periphery of the hand member when attached to the hand member;
The annular member is
having at least two components forming an annular part of the annular member,
With the hand member disposed inside the constituent part, the ends of the adjacent constituent parts are connected to each other, thereby closing the constituent part and sandwiching the hand member so that the member can be attached to the hand member. , and is configured such that the component can be opened and removed from the hand member by disconnecting the ends and separating the ends from each other.
robot. The components are configured to be separable from each other,
The robot according to claim 1. The annular member is configured to be attachable to the hand member by mutually connecting the ends of the two constituent parts,
The two constituent parts each have a female threaded part at one of both ends of each constituent part, and have a through hole through which a male thread can be passed at the other end, and are identical. Composed of shapes,
The robot according to claim 2. The component is configured to be able to be opened and closed by rotating one of the ends of the component as a fulcrum in a direction in which the other end moves away and in a direction in which the other end approaches.
The robot according to claim 1. The annular member is configured such that a gap is formed between the ends of the two constituent parts when the annular member is attached to the hand member.
The robot according to claim 1. the hand member does not have a structure for fixing the annular member;
The robot according to any one of claims 3 to 5. The annular member further includes a protrusion protruding inward from the inner peripheral surface of the annular member,
The hand member further includes a receiving portion provided on the outer peripheral surface of the hand member and receiving the protrusion,
The position of the annular member relative to the hand member is regulated by inserting the protrusion into the receiving portion.
The robot according to claim 1. The hand member further includes a protrusion protruding outward from the outer peripheral surface of the hand member,
The annular member further includes a receiving portion provided on an inner circumferential surface of the annular member to receive the protrusion, and the protrusion is inserted into the receiving portion to restrict its position relative to the hand member. ,
The robot according to claim 1. comprising at least one protrusion and two or more receiving parts arranged along the circumferential direction of the hand member and the annular member;
The robot according to claim 7 or 8.

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