JP4122186B2 - Robot hand device - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a robot hand device used in an industrial robot, and more particularly to an improvement in processing of an electric wire, an air hose, and the like that connect a wrist tip portion and a hand portion.
[0002]
[Prior art]
In general, a robot hand device includes a wrist tip portion that can be rotated (rotated in both directions), and a hand that is connected to the wrist tip portion and that rotates by movement of the wrist tip portion to grip a workpiece. The hand and the tip of the wrist are connected to an electric power supply, a signal supply electric wire, and an air hose for supplying driving air.
[0003]
[Problems to be solved by the invention]
The electric wire and 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, there is a possibility that the coating of the electric wire or the like may be damaged due to rubbing or stretching by pulling the electric wire or the air hose by the rotation of the wrist tip portion and winding it around the wrist tip portion or the hand.
Therefore, Japanese Patent Laid-Open No. 9-128303 has been invented as a technique for solving the above problem. Such a robot hand device includes a rotatable hand, a wrist tip portion that is connected to the hand via a cylindrical housing portion and a shaft portion, and that rotates by the operation of the hand portion to grip a workpiece. The flat cable is spirally wound around the outer peripheral portion of the rotatable housing, and an air passage is formed in the housing and the shaft portion. According to such a technique, even when the hand portion is rotated, the twist is absorbed by the spiral portion wound in the spiral shape loosely in the flat cable without causing the twist due to the rotation.
[0004]
However, in the robot apparatus disclosed in Japanese Patent Laid-Open No. 9-123083, the outer diameter increases depending on the amount of spiral of the cable because the twist is absorbed by the spiral portion where the cable is wound. Conversely, if the diameter of the shaft portion 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 that the rigidity is lowered.
[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 the shaft portion connecting the hand and the tip of the wrist is reduced, and without depending on the spiral amount of the flat cable. The present invention provides a robot hand device that absorbs twisting of an electric wire or the like caused by rotation of a hand portion or a wrist tip portion and does not damage the electric wire or the like.
[0006]
[Means for solving the problems, actions and effects of the invention]
A robot hand device according to a first aspect of the present invention is connected to a wrist end portion of a pivotable robot, a hand portion that is a work object, and is rotated by an operation of the wrist tip portion, and the wrist tip portion. A first disc, a second disc provided opposite to the first disc and connected and fixed to the hand portion, and having a first hole, and the first disc And a second disk, and a first and second bearings on each of the first and second disks. And is inserted through the first and second holes, and has one end connected to the hand portion and fixedly connected thereto. A flexible member connected to a member of the robot whose end is asynchronous with the wrist tip 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 portion of the flexible member is connected to a member constituting a robot that is asynchronous with the wrist tip portion. When the wrist tip is turned, the hand part is also turned, and one end of the flexible member is moved along with the turning of the hand part, so that the tubular member is pushed by the flexible member and turned. The bending of the flexible member is absorbed in the space of the tubular member while reducing the amount of twist of the flexible member at the hand portion or wrist tip portion.
In addition, even if the column portion of the transmission member is thinner than the first and second discs, 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 it is possible to prevent the flexible member from being twisted and wound around the hand portion or the wrist tip portion while preventing a decrease in rigidity of fixing to the tip portion.
[0007]
A robot hand device according to a second invention is substantially cup-shaped having an opening, a side portion, and a bottom portion, and a third hole is formed in the side portion or the bottom portion, and the opening portion side is a second disc. A flange member fixed to the hand portion, and a flexible member is inserted from the third hole via the first hole and the opening. 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 can be easily pulled out from 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 by comprising stopper means for limiting the amount of rotation between the transmission member or the flange member and the cylindrical member. According to such a robot hand device, since the relative movement amount of the transmission member or the flange member and the cylindrical member is limited by the stopper means, there is an effect that the twist of the flexible member can be suppressed.
[0009]
DETAILED DESCRIPTION OF THE INVENTION
Embodiment 1 FIG.
An embodiment of the present invention will be described with reference to FIGS. 1 is a cross-sectional view of the robot hand device, FIG. 2 is a cross-sectional view taken along the arrow II-II in FIG. 1, and FIG. 3 is a cross-sectional view taken along the arrow III-III in FIG.
1 to 3, a robot hand device 1 includes a rotatable columnar wrist tip 2 and, for example, an arm member 3 as a member constituting a robot asynchronous with the wrist tip 2 and a workpiece (FIG. (Not shown) as an object of operation such as gripping, and connected to the wrist tip 2 and having a cylindrical portion that is rotated by the operation of the wrist tip 2 and a disc connected to the wrist tip 2 A first disc 4a having a shape, a first disc 4a facing the first disc 4a, coupled to and fixed to the hand portion 6, and having a substantially square first hole 4e, The first and second disks 4a and 4c that connect the first disk 4a and the second disk 4c with a substantially I-shaped second disk 4c having a larger outer shape than the disk 4a. 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 each of the first and second disks 4a and 4c via the first and second bearings 8 and 10, and is formed in the side surface portion. It has the 2nd hole 12e, is formed so that rotation with respect to the transmission member 4 is carried out, rubber bush 15 is engaged with the 2nd hole 12e, and the 1st and 2nd bearings 8 and 10 are carried out. The inner ring is fixed to the outer peripheral surfaces of the first and second disks 4 a and 4 c of the transmission member 4, and the outer ring is fixed to the inner peripheral surface of the cylindrical member 12.
Here, the cylindrical member 12 is provided because the rigidity is lowered when the wrist tip 2 and the hand portion 6 are connected only by the column portion 4 h of the transmission member 4. The reason why the cylindrical member 12 can be rotated is to reduce twisting of the electric wire 16 by pressing and rotating the cylindrical member 12 by movement of, for example, an air hose or the electric wire 16 as a flexible member. .
[0011]
The electric wire 16 is inserted into the hole 4e of the transmission member 4 and the hole 12e of the cylindrical member 12, and passes through the space portion 12s formed by the inner surface of the cylindrical member 12 and the column portion 4h of the transmission member 4, thereby transmitting the transmission member 4. The one end portion 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 that the space portion 12s can be freely moved 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 surface 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 disc 4c of the transmission member 4. The electric wire 16 is inserted from the hole 12e of the cylindrical member 12 through the hole 4e and the opening 14a of the transmission member 4.
[0012]
Further, as shown in FIG. 3, the first protrusion 12 t is formed at one end of the transmission member 4 or the flange member 14 and the cylindrical member 12, and the substantially sector-shaped second provided at the upper end of the flange member 14. By forming the projection 14t, the projection 12t of the cylindrical member 12 and the projection 14t of the flange member 14 are brought into contact with each other, and stopper means for limiting the rotational movement amounts L1, L2 of the cylindrical member 12 is provided.
[0013]
The operation of the robot hand apparatus configured as described above will be described with reference to FIGS.
Now, when the wrist end portion 2 of the robot is rotated, the hand portion 6 is rotated via the transmission member 4, the cylindrical member 12, and the flange member 14, and the hand portion 6 grips a workpiece (not shown). When the wrist tip 2 rotates, one end of the electric wire 16 is connected and fixed to the flange member 14 and the hand portion 6 by the clamp piece 18, so that the other end of the electric wire 16 fixed to the arm member 3 is pulled. The cylindrical member 12 is rotated, and the twisted amount of the electric wire 16 is absorbed by the space portion 12s of the cylindrical member 12. Therefore, the electric wire 16 can be prevented from being wound 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 and 4c, the hand portion 6 is supported by the transmission member 4 and the cylindrical member 12 fixed via the bearings 8 and 10. Therefore, it is possible to prevent a decrease in rigidity in the connection between the wrist tip portion 2 and the hand portion 6.
[0014]
Furthermore, since the first protrusion 12t of the cylindrical member 12 and the second protrusion 14t of the flange member 14 limit the rotational movement amounts (rotational angles) L1 and L2 of the cylindrical member 12, the electric wires 16 It is possible to further suppress the twisting of the.
Moreover, 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 portion of the flange member 14. Therefore, even if the diameter of the hand portion 6 is large, the electric wire 16 can be easily pulled out from the cylindrical member 12 and connected and fixed to the hand portion 6.
[0015]
In addition, the robot apparatus 100 as shown in FIG. 4 has a substantially cup shape having an opening 114a instead 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 portion side includes a flange member 114 fixed to the disc 4c of the transmission member 4, and the electric wire 16 is connected to the hand portion 6 through the third hole 114e. According to the robot apparatus 100, the electric wire 16 is wired to the hand unit 6 without coming out of the flange member 114. Therefore, since the electric wire 16 is not exposed around the hand portion 6, it is possible to form the compact hand portion 6 that is hardly affected by the shape of the workpiece.
[0016]
Further, the robot apparatus 200 as shown in FIG. 5 is not provided with the flange members 14 and 114 as shown in the above-described embodiment, and is engaged with the top surface of the hand portion 6 on the bottom surface of the disk 4c of the transmission member 4. The bush 15 may be engaged with the first hole 4e of the transmission member 4 by being fixed together. 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 cross-sectional view of a connection portion between a wrist portion and a hand portion of a robot hand device according to an embodiment of the present invention.
FIG. 2 is a cross-sectional view taken along the line II-II in FIG.
3 is a cross-sectional view taken along line III-III in FIG.
FIG. 4 is a cross-sectional view of a connection portion between a wrist portion and a hand portion of a robot hand device according to another embodiment.
FIG. 5 is a cross-sectional view of a connection portion between a wrist portion and a hand portion of a robot hand device according to another embodiment.
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 1 Robot hand apparatus, 2 Robot wrist tip part, 3 Arm member, 4 Transmission member, 4a 1st disk, 4c 2nd disk, 4e 1st hole, 4h Pillar part, 6 Hand part, 8 1st 1 bearing, 10 second bearing, 12 cylindrical member, 12e second hole, 12s cylindrical member space, 12t first projection, 14 flange member, 14a opening, 14d bottom, 14t second projection, 16 Electric wire (flexible member).

Claims (3)

A fixed part;
A wrist portion for rotation relative to the stationary part,
A hand portion for gripping a workpiece ;
First disc, a second disc having a first hole is fixed to the hand part provided to face to the first circular plate fixed to said wrist portion, and the first A transmission member comprising a column portion having an axial diameter smaller than the diameter of both discs integrally connecting the disc and the second disc ;
It has flexibility, is wound around the column part in a spiral shape, passes through the first hole, and has one end part extending to the fixed part and the other end part extending to the hand part, as the hand part rotates. An electric wire that expands and contracts around the pillar portion of the spiral portion;
It has a cylindrical shape and is coaxially arranged around the column portion, and both ends are rotatably supported by bearings provided on the outer peripheral portions of the first disc and the second disc, respectively, and the electric wire is inserted. And a cylindrical member that forms a space in which the spiral portion of the electric wire is accommodated between the second hole and the column portion . A flange member having a bottomed cylindrical shape, having a third hole formed in a side portion or a bottom portion, an opening portion being fixed to the second disc, and the bottom portion being fixed to the hand portion. Prepared,
Robot hand apparatus according to claim 1, wherein the wire is extending from the third hole via the first hole and the opening. Said robot hand apparatus according to claim 1 or 2, further comprising a stopper means for limiting the amount of rotation between each other between the transmission member and the tubular member.

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