JP6428532B2 - Robot hand and robot hand cover - Google Patents

Description

  The disclosed embodiment relates to a robot hand and a cover for the robot hand.

  2. Description of the Related Art Conventionally, for example, in the biomedical field, a technique for performing sample processing such as reagent injection, stirring, and separation using a robot hand is known (see, for example, Patent Document 1).

  Since such a robot hand has a gripping claw that protrudes from the opening and slides, there is a possibility that dust inside the robot hand leaks to the outside, and conversely, a reagent or the like may enter the robot hand.

  For this reason, there are proposed a method of giving a negative pressure to the air pressure inside the robot hand giving priority to clean performance and a method to giving a positive pressure to the air pressure inside the robot hand giving priority to dustproof and drip-proof performance.

JP 2012-117878 A

  However, with the above-described conventional technology using air pressure, it is difficult to achieve both clean performance and dustproof / splashproof performance. This is because such a conventional technique is a method for selectively realizing either clean performance or dustproof / splashproof performance.

  One embodiment of the present invention has been made in view of the above, and an object thereof is to provide a robot hand and a robot hand cover that can achieve both clean performance and dust-proof and drip-proof performance.

  A robot hand according to one aspect of the embodiment includes a main body, a pair of gripping claws, and a cover. The main body has an opening in the outer wall. The pair of gripping claws project outward from the opening, and slide in directions toward and away from each other. The cover integrally covers the base end side and the opening of the pair of gripping claws and has elasticity. Further, the cover includes an elliptic column-like hollow convex portion corresponding to each gripping claw in the pair of gripping claws, and a passage hole through which the end side of each gripping claw passes through the end surface of the convex portion.

  According to one aspect of the embodiment, it is possible to provide a robot hand and a robot hand cover capable of achieving both clean performance and dustproof / splashproof performance.

FIG. 1 is a perspective view of a robot hand. FIG. 2A is a schematic top view of a gripping claw. FIG. 2B is a schematic side view of the gripping claw. FIG. 2C is a perspective view of the opening. FIG. 3 is a perspective view of the cover. FIG. 4A is a schematic top view of the cover. FIG. 4B is a schematic bottom view of the cover. FIG. 4C is a schematic top view showing the position of the convex portion. FIG. 4D is a schematic side view showing the position of the convex portion. FIG. 5 is a perspective view showing a robot hand with a cover. FIG. 6 is a schematic top view showing the robot system.

  Hereinafter, embodiments of a robot hand and a robot hand cover disclosed in the present application will be described in detail with reference to the accompanying drawings. In the following description, “robot hand cover” is simply referred to as “cover”. Moreover, this invention is not limited by embodiment shown below. In the embodiment described below, expressions such as “parallel” and “symmetric” may be used, but it is not necessary to strictly satisfy these conditions. That is, each expression described above allows for deviations in manufacturing accuracy, installation accuracy, processing accuracy, detection accuracy, and the like.

  First, a robot hand 1 according to an embodiment will be described with reference to FIG. FIG. 1 is a perspective view of the robot hand 1. 1 shows a three-dimensional orthogonal coordinate system including a Z-axis in which the extending direction of the gripping claw 20 is a positive direction and an X-axis along the sliding direction of the gripping claw 20 for easy understanding. Show. Such an orthogonal coordinate system may be shown in other drawings used in the following description.

  As shown in FIG. 1, the robot hand 1 includes a main body 10 and a pair of gripping claws 20. In the following, in order to distinguish the two gripping claws 20 shown in the figure, alphabetic lowercase letters are added like the gripping claws 20a and the gripping claws 20b. In addition, the description of the gripping claw 20 may be used for a single case or a plurality (for example, two).

  The main body 10 is a rectangular parallelepiped box surrounded by the end surface 11 and the peripheral surface 12. The main body 10 incorporates a linear motion mechanism (not shown) for sliding the gripping claws 20b and an actuator (not shown) serving as a drive source for the linear motion mechanism in a state of being isolated from the outside. That is, the outer wall of the main body 10 corresponds to the end surface 11 and the peripheral surface 12. Further, the end surface (end surface in the negative direction of the Z-axis) opposite to the end surface 11 shown in the figure is connected to a double-arm robot 320 (see FIG. 6) described later.

  The end surface 11 which is a part of the outer wall has an opening 11a for projecting the gripping claws 20a and an opening 11a for projecting the gripping claws 20b. The opening 11a has a long slit shape with respect to the sliding direction of the gripping claws 20 (direction along the X axis). In addition, as illustrated in FIG. 1, the peripheral surface 12 is provided with chamfered portions 12 a at all corner portions, and has a gentle outer shape in the circumferential direction.

  The gripping claws 20a and 20b are provided so as to protrude from the opening 11a to the outside of the main body unit 10. Then, the gripping claws 20a and 20b perform an operation of sliding in a direction toward and away from each other.

  That is, when the gripping claw 20a slides in the positive direction of the X axis, the gripping claw 20b slides in the negative direction of the X axis. Such an operation corresponds to a grasping operation for grasping an object. Further, when the gripping claw 20a slides in the negative X-axis direction, the gripping claw 20b slides in the positive X-axis direction. This operation corresponds to an opening operation for opening the grasped object.

  The gripping claws 20 a and 20 b include a base end portion 21 that protrudes outside through the opening 11 a, an overhang portion 22, a distal end portion 23, and a sealing plate 24. The base end portion 21 is connected to the linear motion mechanism described above, and slides in the sliding direction along the X axis. The projecting portion 22 has a circumferential surface projecting from the tip portion 23. Thereby, the latching | locking part 73 of the cover 51 (refer FIG. 3) mentioned later can be closely_contact | adhered to the overhang | projection part 22, and the airtightness of the holding claws 20a and 20b and the cover 51 can be improved.

  The distal end portion 23 is exposed to the outside from a passage hole 73a of a locking portion 73 of a cover 51 (see FIG. 3) described later. Here, the tip portion 23 is not limited to the shape shown in FIG. 1, and may have various shapes as long as the cross-sectional area as viewed in the Z-axis direction is smaller than that of the overhang portion 22. The sealing plate 24 is attached to the base end portion 21 and slides together with the base end portion 21 so as to close the opening 11a from the back side.

  In addition, as shown in FIG. 1, the holding claw 20a and the holding claw 20b can be made into the same shape. That is, if the grip claw 20a is rotated 180 degrees around the Z axis and shifted parallel to the XY plane, the grip claw 20b overlaps. Details of the shape of the gripping claws 20a and 20b will be described later with reference to FIGS. 2A and 2B.

  Thus, since the robot hand 1 has the opening 11a, there is a possibility that dust may leak out from the opening 11a, or conversely, a reagent or the like may enter the robot hand 1. For this reason, in this embodiment, the robot hand 1 is covered with a cover 51 (see FIG. 3) described later.

  By doing in this way, since the opening 11a can be isolated from the outside, the inflow and outflow of the substance through the opening 11a can be reliably prevented. That is, it is possible to achieve both clean performance and dustproof / splashproof performance.

  Next, the gripping claw 20 will be described in more detail with reference to FIGS. 2A and 2B. FIG. 2A is a schematic top view of the gripping claw 20, and FIG. 2B is a schematic side view of the gripping claw 20. 2A is a view of the gripping claw 20 viewed from the positive direction of the Z axis, and FIG. 2B is a view of the gripping claw 20 viewed from the negative direction of the Y axis.

  First, the upper surface shape of the gripping claw 20a will be described. As shown in FIG. 2A, the base end portion 21 is accommodated in the opening 11a, and can slide in the X-axis positive direction and negative direction in the opening 11a. The overhang portion 22 has a gentle shape with chamfered corners of the peripheral surface, is wider than the base end portion 21 in the Y-axis direction, and overhangs in the Y-axis negative direction. The distal end portion 23 is provided at a portion where the overhang portion 22 projects from the base end portion 21, and the width in the Y-axis direction is narrower than the overhang portion 22.

  That is, the projecting portion 22 has a circumferential surface projecting from the tip portion 23. That is, the overhanging portion 22 has a cross-sectional area larger than that of the distal end portion 23 when viewed in the direction shown in FIG. The overhang portion 22 has a larger cross-sectional area than the base end portion 21.

  Next, the upper surface shape of the gripping claws 20b will be described. As shown in FIG. 2A, the overhang portion 22 is wider in the Y-axis direction than the base end portion 21, and overhangs in the positive Y-axis direction. Moreover, the front-end | tip part 23 is provided in the site | part which the base end part 21 protruded.

  Thus, the grip claw 20a is bent so that the tip 23 is positioned in the negative Y-axis direction with respect to the opening 11a, and the grip claw 20b is positioned with the tip 23 in the positive Y-axis direction with respect to the opening 11a. Is bent to do. As a result, the gripping claws 20a and the gripping claws 20b that respectively protrude from the openings 11a that are separated in the Y-axis direction can make the tip portions 23 face each other.

  Next, the side shape of the gripping claw 20a will be described. As shown in FIG. 2B, the facing surface 22a of the overhanging portion 22 of the gripping claw 20a (the surface facing the gripping claw 20b) is the facing surface 23a of the tip 23 of the gripping claw 20a (the surface facing the gripping claw 20b). Is recessed in the negative direction of the X axis.

  Further, the opposed surface 21a of the proximal end portion 21 of the gripping claw 20a (surface facing the gripping claw 20b) is more negative in the X-axis than the facing surface 23a of the distal end portion 23 of the gripping claw 20a (surface facing the gripping claw 20b). Recessed in the direction. 2B illustrates the case where the facing surface 22a and the facing surface 21a of the gripping claw 20a are not displaced in the X-axis direction, both may be displaced in the X-axis direction.

  Next, the side shape of the gripping claw 20b will be described. As shown in FIG. 2B, the facing surface 22a of the overhanging portion 22 of the gripping claw 20b (the surface facing the gripping claw 20a) is the facing surface 23a of the tip 23 of the gripping claw 20b (the surface facing the gripping claw 20a). Is recessed in the positive direction of the X axis.

  Further, the opposed surface 21a of the proximal end portion 21 of the gripping claw 20b (surface facing the gripping claw 20a) is more positive in the X axis than the facing surface 23a of the distal end portion 23 of the gripping claw 20b (surface facing the gripping claw 20a). Recessed in the direction. 2B illustrates the case where the facing surface 22a and the facing surface 21a of the gripping claw 20b are not displaced in the X-axis direction, both may be displaced in the X-axis direction.

  When the gripping claws 20a and 20b having such side shapes are closed as shown in FIG. 2B, a space 500 shown in FIG. 2 is formed. The space 500 is a space for escaping a first peak portion 80 and convex portions 70a and 70b of a cover 51 (see FIG. 3) described later when the gripping claws 20a and 20b are closed.

  That is, according to the gripping claws 20a and 20b having the side shape shown in FIG. 2B, the cover 51 can be prevented from being caught by the gripping claws 20a and 20b. Thereby, the durability of the cover 51 can be improved, and the gripping operation by the gripping claws 20a and 20b can be performed smoothly.

  Incidentally, a film-like member 200 that promotes slipping of a cover 51 described later is provided on the end surface 11 of the main body 10 of the robot hand 1 shown in FIG. This point will be described with reference to FIG. 2C. FIG. 2C is a perspective view of the opening 11a. 2C shows the opening 11a from which the gripping claw 20b protrudes, the same applies to the opening 11a from which the gripping claw 20a protrudes.

  As shown in FIG. 2C, a film-like member 200 having a smaller friction coefficient than the end surface 11 (a part of the outer wall of the main body 10) is provided from the periphery 11b of the opening 11a to the peripheral surface 11c of the opening 11a. Here, the film-like member 200 is an adhesive tape made of a low friction material such as Teflon (registered trademark), for example. The film-like member 200 may be wrapped around the back side of the end surface 11. By doing in this way, the film-like member 200 can be made difficult to peel off.

  As described above, the film-like member 200 promotes sliding between the cover 51 (see FIG. 3) described later and the main body 10. Thereby, since the tear of the cover 51 can be prevented, the durability of the cover 51 can be improved.

  2C shows the case where the film-like member 200 is provided around the opening 11a. However, the film-like member 200 may be provided over the end surface 11, or a process for reducing the friction coefficient with respect to the end surface 11 may be performed. It may be applied. In addition, it is preferable not to provide the film-like member 200 or perform the above-described processing on the peripheral surface 12. This is because the cover 51 (see FIG. 3) is likely to be detached from the main body 10 (see FIG. 1) when the friction coefficient of the peripheral surface 12 becomes low.

  Next, the cover 51 for the robot hand 1 will be described with reference to FIG. FIG. 3 is a perspective view of the cover 51. As shown in FIG. 3, the cover 51 includes a base portion 60, a convex portion 70, a first peak portion 80, and a second peak portion 90.

  The cover 51 is a film-like member integrally formed of a material having elasticity and chemical resistance such as natural rubber and nitrile. For example, the cover 51 can be manufactured by immersing it in a material in which a mold member shaped like the inner shape of the cover 51 is melted, lifting it, and drying it.

  As shown in FIG. 3, the base 60 includes a surface 61 and a peripheral surface 62. The shape of the back surface 63 will be described later with reference to FIG. 4B. The surface 61 is a part corresponding to the end surface 11 in the main body 10 of the robot hand 1 shown in FIG. Further, the peripheral surface 62 is a part that is in close contact with the peripheral surface 12 of the main body 10 of the robot hand 1 together with a back surface 63 (see FIG. 4B) described later.

  On the surface 61, convex portions 70a and 70b, a first peak portion 80, and second peak portions 90a and 90b are provided. Since the cover 51 is a film-like member as described above, the convex portions 70a and 70b, the first peak portion 80, and the second peak portions 90a and 90b are hollow. That is, in a state where the cover 51 is attached to the robot hand 1, the corresponding part of the robot hand 1 is located in the hollow portion.

  The convex portions 70a and 70b have an elliptical columnar shape and are hollow. Here, the convex portion 70a corresponds to the gripping claw 20a of the robot hand 1, and the convex portion 70b corresponds to the gripping claw 20b. The convex portions 70a and 70b include a peripheral surface 71 corresponding to the peripheral surface of the elliptic cylinder and an end surface 72 corresponding to the end surface. The end surface 72 is provided with a cylindrical locking portion 73 having a passage hole 73a.

  Here, since the area of the passing hole 73a in the Z-axis direction is smaller than the area of the overhanging portion 22 shown in FIG. 2A, when the cover 51 is attached to the robot hand 1, the locking portion 73 is not overhanging. It can be in close contact with the peripheral surface of the portion 22.

  Further, the height of the peripheral surface 71 corresponds to the height of the base end portion 21 shown in FIG. 2B. That is, the end surface 72 corresponds to the upper surface of the base end portion 21 shown in FIG. 2B. In addition, it is good also as providing a clearance gap between the end surface 72 and the upper surface of the base end part 21. FIG.

  Next, the shape of the surface 61 of the cover 51 will be described in more detail with reference to FIG. 4A. FIG. 4A is a schematic top view of the cover 51. FIG. 4A is a schematic view of the cover 51 as viewed from the positive direction of the Z axis.

  As shown in FIG. 4A, locking portions 73 are provided at substantially the center portions of the convex portions 70a and 70b, respectively. 4A, the convex portions 70a and 70b have an elliptical shape. Here, the direction of the short axis in the ellipse is the direction along the sliding direction (X-axis direction) of the gripping claws 20a and 20b shown in FIG.

  By arranging the convex portions 70a and 70b having an elliptical column shape in such a direction, the convex portions 70a and 70b are deformed so as to fall down following the slide of the gripping claws 20a and 20b. Therefore, the cover 51 does not hinder the sliding operation of the gripping claws 20a and 20b. Moreover, since the shape which is easy to deform | transform as mentioned above is employ | adopted not only depending on the elasticity of the cover 51, degradation and abrasion of cover 51 itself can be prevented. Therefore, the durability of the cover 51 can be improved.

  The first peak portion 80 is provided at a substantially central portion of the region sandwiched between the convex portions 70a and 70b, and extends along the major axis direction (Y-axis direction) of the ellipse at the convex portions 70a and 70b. 4A, the first crest 80 rises along the X axis and two first side surfaces 81 that are inclined upward along the Y axis toward the center of the first crest 80. It has two second side surfaces 82 that are inclined.

  By arranging the first crest portion 80 having the first side surface 81 and the second side surface 82 in such an orientation, the first crest portion 80 can grip the grip claws 20a, 20b when the grip claws 20a, 20b are opened. It is easily pulled and deformed. That is, the first peak portion 80 is deformed following the slide of the gripping claws 20a and 20b. Therefore, the cover 51 does not hinder the sliding operation of the gripping claws 20a and 20b. Further, as described above, the durability of the cover 51 itself can be improved.

  The 2nd peak parts 90a and 90b are provided in the position which pinches convex part 70a, 70b from the outer side of convex part 70a, 70b. Moreover, the 2nd peak parts 90a and 90b are curving so that it may correspond to the external shape of the surrounding surface 71 (refer FIG. 3) in the convex parts 70a and 70b.

  4A, the second crests 90a and 90b are inclined upward along the extending direction of the second crests 90a and 90b to the respective centers of the second crests 90a and 90b. Each has one side 91. Further, the second peak portions 90a and 90b respectively have a second side surface 92 and a third side surface 93 that are inclined upward toward the ridgeline of the second peak portions 90a and 90b. In addition, the 2nd side surface 92 exists in the convex part 70a, 70b side, and the 3rd side surface 93 exists in the opposite side to the convex part 70a, 70b.

  By arranging the second peak portions 90a and 90b having the first side surface 91, the second side surface 92, and the third side surface 93 in such a direction, the second peak portions 90a and 90b are held by the grip claws 20a and 20b. When closing, it is pulled by the gripping claws 20a and 20b and easily deforms smoothly. That is, the second peak portions 90a and 90b are smoothly deformed following the slide of the gripping claws 20a and 20b. Therefore, the cover 51 does not hinder the sliding operation of the gripping claws 20a and 20b. Further, as described above, the durability of the cover 51 itself can be improved.

  Next, the shape of the back surface 63 of the cover 51 will be described with reference to FIG. 4B. FIG. 4B is a schematic bottom view of the cover 51. 4B is a schematic view of the cover 51 as viewed from the negative Z-axis direction.

  As shown in FIG. 4B, an opening 63 a is provided in the center portion of the back surface 63. For this reason, a part of the back side of the surface 61 can be seen from the opening 63a in the direction view shown in FIG. 4B. In the figure, convex portions 70a and 70b seen from the opening 63a and the first peak portion 80 are shown. The shape of the opening 63 a is a substantially rectangular shape that is chamfered in the same manner as the shape of the back surface 63.

  When the cover 51 is put on the robot hand 1 shown in FIG. 1, the gripping claws 20a and 20b are passed through the passage holes 73a of the engaging portions 73 of the convex portions 70a and 70b, and the opening 63a of the back surface 63 is widened to expand the body. It closely adheres to the peripheral surface 12 of the part 10.

  By doing in this way, while the latching | locking part 73 of the cover 51 and the holding claws 20a and 20b can be stuck, the back surface 63 of the cover 51 and the peripheral surface 12 of the main-body part 10 can be stuck. That is, by covering the robot hand 1 with the cover 51, it is possible to achieve both clean performance and dustproof / splashproof performance of the robot hand 1.

  Next, the positions of the convex portions 70a and 70b will be described with reference to FIGS. 4C and 4D. 4C is a schematic top view showing the positions of the convex portions 70a and 70b, and FIG. 4D is a schematic side view showing the positions of the convex portions 70a and 70b.

  4C is a schematic view of the cover 51 viewed from the positive direction of the Z axis, and FIG. 4D is a schematic view of the cover 51 viewed from the negative direction of the Y axis. Moreover, in FIG. 4C and FIG. 4D, the 1st peak part 80 and 2nd peak part 90a, 90b which were shown in FIG. 3 etc. are abbreviate | omitted. In addition, it is good also as using the cover 51 which abbreviate | omitted the 1st peak part 80 and the 2nd peak part 90a, 90b in this way.

  In FIG. 4C, the slide range 101 of the gripping claw 20a (see FIG. 1) and the slide range 102 of the gripping claw 20b (see FIG. 1) are indicated by double arrows. In addition, in the drawing, an intermediate position 101c of the slide range 101 and an intermediate position 102c of the slide range 102 are shown together.

  As shown in FIG. 4C, the convex portions 70a and 70b are provided at positions shifted outward from the slide ranges 101 and 102 of the grip claws 20a and 20b of the robot hand 1, respectively. Specifically, when the center line about the X axis of the convex portion 70a is a line 70ax, the line 70ax is located on the X axis negative direction side with respect to the intermediate position 101c of the slide range 101 of the gripping claw 20a. Further, if the center line of the convex portion 70b with respect to the X axis is a line 70bx, the line 70bx is located on the X axis positive direction side with respect to the intermediate position 102c of the slide range 102 of the gripping claw 20b.

  Thus, the convex portions 70a and 70b are provided at positions shifted outward from the intermediate positions 101c and 102c in the slide ranges 101 and 102 of the gripping claws 20a and 20b, respectively. Accordingly, it is possible to provide a margin on the surface 61 between the gripping claws 20a and 20b with the cover 51 placed on the robot hand 1.

  That is, since the surface 61 between the gripping claws 20a and 20b pulled when the gripping claws 20a and 20b are opened can be slackened, the opening operation of the gripping claws 20a and 20b is not hindered. Therefore, the cover 51 does not hinder the sliding operation of the gripping claws 20a and 20b. Further, as described above, the durability of the cover 51 itself can be improved.

  For reference, FIG. 4C shows the center line about the Y axis of the projection 70a as a line 70ay and the center line about the Y axis of the projection 70b as a line 70by. Thus, the reason why the center position about the Y-axis is shifted is that the grip claws 20a and 20b are arranged in a state shifted in the Y-axis direction as shown in FIG. 2A.

  As shown in FIG. 4C, the convex portion 70a has a symmetrical shape with respect to the lines 70ax and 70ay. The convex portion 70b has a symmetrical shape with respect to the lines 70bx and 70by.

  By making the convex portions 70a and 70b symmetrical with respect to the lines 70ax and 70bx, the convex portions 70a and 70b can be moved along the X axis with a light load even when the gripping claws 20a and 20b are closed or opened. Can be defeated. Further, by making the convex portions 70a and 70b symmetrical with respect to the lines 70ay and 70by, the convex portions 70a and 70b can be similarly tilted in the direction along the X axis with a light load.

  Further, as shown in FIG. 4C, the cover 51 has a point-symmetric shape with respect to the center of the cover 51, and as shown in FIG. 2A, the grip claws 20a and 20b are also the center of the end surface 11 (see FIG. 1). This is a point-symmetric shape. For this reason, the cover 51 can be covered with the robot hand 1 so that the gripping claw 20b is inserted into the convex portion 70a and the gripping claw 20a is inserted into the convex portion 70b.

  As shown in FIG. 3, when the cover 51 has one first peak portion 80 and two second peak portions 90 a and 90 b, the lines 70 ax and 70 bx are connected from the outside of the slide ranges 101 and 102. It is preferable to arrange the convex portions 70a and 70b so that the position is about 1/3.

  This is because when the gripping claws 20a, 20b are opened, the first crest portion 80 is pulled by the two gripping claws 20a, 20b, so that the gripping claws 20a, This is because the surface 61 between 20b is desired to have a sufficient margin.

  Even if the lines 70ax and 70bx are positioned about 1/3 from the outside of the slide ranges 101 and 102, there are second peaks 90a and 90b on the outside of the convex portions 70a and 70b, respectively. Therefore, when the gripping claws 20a and 20b are closed, the outer surface 61 of the convex portions 70a and 70b is not excessively pulled.

  Next, as shown in FIG. 4D, the protrusions 70a and 70b are, as viewed from the side shown in FIG. 4D, the peripheral surface 71 protrudes along the Z axis in the positive direction of the Z axis, and the end surface 72 extends to the X axis. Along. Moreover, the latching | locking part 73 protrudes in the Z-axis positive direction from the end surface 72 along the Z-axis.

  In addition, it is good also as inclining the surrounding surface 71 so that the cross-sectional area in the Z-axis direction view of convex part 70a, 70b may become small toward a Z-axis positive direction. Further, the locking portion 73 may be similarly inclined.

  Next, the robot hand 1a in which the cover 51 shown in FIG. 3 is placed on the robot hand 1 shown in FIG. 1 will be described with reference to FIG. FIG. 5 is a perspective view showing the robot hand 1 a with the cover 51. As shown in the figure, the tip end portion 23 (see FIG. 1) of the gripping claws 20a and 20b is exposed from the engaging portion 73 of the convex portions 70a and 70b. In addition, the latching | locking part 73 is closely_contact | adhered to the surrounding surface of the overhang | projection part 22 (refer FIG. 1) of the holding claws 20a and 20b.

  Further, only the Z axis positive direction side of the peripheral surface 12 of the main body 10 in the robot hand 1 is covered with the cover 51. Here, the circumferential surface 62 shown in FIG. 3 and the back surface 63 shown in FIG. In addition, about the range which the cover 51 covers the surrounding surface 12 of the main-body part 10, by adjusting one or both of the height about the Z-axis direction of the surrounding surface 62 in the cover 51, and the magnitude | size of the opening 63a of the back surface 63. It can be changed as appropriate.

  In addition, what is necessary is just to provide in the area | region of the surrounding surface 12 exposed from the cover 51, when providing protrusions, such as a sensor which measures the Z-axis positive direction side, on the surrounding surface 12 of the robot hand 1.

  When the grip claws 20a and 20b are closed, the convex portions 70a and 70b are deformed so as to fall down toward the first peak portion 80 side. The second peak portions 90a and 90b are also deformed by being pulled toward the first peak portion 80 side together with the convex portions 70a and 70b.

  Further, when the gripping claws 20a and 20b are opened, the convex portions 70a and 70b are deformed so as to fall down toward the second peak portions 90a and 90b, respectively. Further, the first peak portion 80 is also deformed by being pulled toward the second peak portions 90a and 90b together with the convex portions 70a and 70b.

  Thus, according to the robot hand 1a in which the robot hand 1 is covered with the cover 51, it is possible to achieve both clean performance and dustproof / splashproof performance without hindering the sliding operation of the gripping claws 20a and 20b.

  Next, an application example of the robot hand 1a with the cover 51 will be described with reference to FIG. FIG. 6 is a schematic top view showing the robot system 300. As shown in the figure, the robot system 300 includes a safety cabinet 310, a double arm robot 320, and a robot controller 330. A double arm robot 320 and a work table 311 are installed inside the safety cabinet 310, and a robot controller 330 is installed outside the safety cabinet 310.

  The safety cabinet 310 is, for example, a work room whose internal space is adjusted to a negative pressure. In this way, by setting the internal space to a negative pressure, even if a reagent used in the biomedical field (for example, a powerful drug such as an anticancer drug) is vaporized, it does not leak out of the safety cabinet 310. In addition, a mist mechanism for spraying a cleaning liquid such as hydrogen peroxide solution can be disposed in the safety cabinet 310, and a reagent or the like attached to the robot hand 1a can be cleaned.

  The work table 311 is a table on which instruments and the like used when the dual-arm robot 320 performs sample processing such as reagent injection, stirring, and separation are mounted. Such instruments include petri dishes, test tubes, spatulas, pipettes, spoons, agitators, and the like. These instruments may be placed directly on the work table 311 or may be placed on a jig disposed on the work table 311 such as a case or a rack.

  The double-arm robot 320 includes a base 321, a body part 322, a right arm part 323 </ b> R, and a left arm part 323 </ b> L. The base 321 is fixed to the floor surface of the safety cabinet 310 or the like. The trunk portion 322 is fixed to the base portion 321 at the base end side, and includes a right arm portion 323R and a left arm portion 323L at the distal end side. In addition, the trunk | drum 322 may be provided with the swing axis | shaft which turns the front end side around what is called waist.

  The right arm 323R and the left arm 323L are, for example, 7-axis articulated robots each having a redundant axis. By using an articulated robot having redundant axes in this way, it is possible to faithfully reproduce the work contents of the worker. Further, the robot hands 1a with the cover 51 shown in FIG. 5 are attached to the tips of the right arm portion 323R and the left arm portion 323L, respectively. The robot hand 1a performs a gripping operation for gripping the above-described instrument and an opening operation for releasing it.

  The robot controller 330 is a device that controls the operation of the robot hand 1 a and the double arm robot 320. The robot controller 330 causes the double-arm robot 320 to perform various operations based on previously created teaching data. The robot controller 330 may be controlled to open / close the doors of the safety cabinet 310 and various devices.

  Thus, the robot hand 1a with the cover 51 can be applied to the robot system 300 shown in FIG. As a result, it is possible to reliably prevent a reagent or the like from entering the robot hand 1 or causing dust in the robot hand 1 to leak into the safety cabinet 310. That is, it is possible to achieve both clean performance and dustproof / splashproof performance.

  In addition, even if the cover 51 is dirty or the cover 51 is likely to be broken, it is sufficient to replace the cover 51. Therefore, the work load for maintaining clean performance and dustproof and drip-proof performance is extremely high. Can be made smaller.

  Although FIG. 6 shows one dual-arm robot 320, the robot installed in the safety cabinet 310 may be one single-arm robot or a plurality of single-arm robots. Moreover, the robot hand 1a with the cover 51 can be widely applied to other fields where it is necessary to achieve both clean performance and dustproof / splashproof performance.

  Further effects and modifications can be easily derived by those skilled in the art. Thus, the broader aspects of the present invention are not limited to the specific details and representative embodiments shown and described above. Accordingly, various modifications can be made without departing from the spirit or scope of the general inventive concept as defined by the appended claims and their equivalents.

1 Robot hand 1a Robot hand (robot hand with cover)
DESCRIPTION OF SYMBOLS 10 Main body part 11 End surface 11a Opening 11b Perimeter 11c Peripheral surface 12 Peripheral surface 12a Chamfering part 20, 20a, 20b Grip claw 21 Base end part 22 Overhang part 22a Opposing surface 23 Front end part 23a Opposing surface 24 Sealing plate 51 Cover ( Robot hand cover)
60 base 61 surface 62 peripheral surface 63 back surface 63a opening 70, 70a, 70b convex portion 71 peripheral surface 72 end surface 73 locking portion 73a passage hole 80 first peak portion 81 first side surface 82 second side surface 90, 90a, 90b second Yamabe 91 First side 92 Second side 93 Third side 200 Film-like member 300 Robot system 310 Safety cabinet 311 Work table 320 Dual arm robot 321 Base 322 Body part 323R Right arm part 323L Left arm part 330 Robot controller

Claims (9)

A main body having an opening in the outer wall;
A pair of gripping claws that project outward from the opening and slide in directions toward and away from each other;
A stretchable cover that integrally covers the proximal ends of the pair of gripping claws and the opening;
The cover is
An elliptic columnar hollow convex part corresponding to each gripping claw in the pair of gripping claws, and
A robot hand comprising: a passage hole through which a tip end side of each gripping claw passes on an end surface of the convex portion. The cover is
The robot hand according to claim 1, wherein the direction of the minor axis of the ellipse in the convex part is along the sliding direction of the pair of gripping claws. The cover is
The robot hand according to claim 1, wherein the convex portion is provided at a position outside the intermediate position in the slide range of each gripping claw. The cover is
The robot hand according to claim 2, further comprising: a hollow first peak portion that extends along a direction of a major axis of the ellipse in the convex portion between the pair of convex portions. The cover is
The hollow 2nd peak part which curves so that it may correspond to the external shape of the peripheral surface in the above-mentioned convex part may be provided in the outside of a pair of said convex parts, respectively. Robot hand. The pair of gripping claws are:
Each of the proximal end side is provided with an overhang portion having a larger cross-sectional area than the distal end side,
The cover is
The robot hand according to any one of claims 1 to 5, further comprising a cylindrical locking portion that comes into contact with a peripheral surface of the overhang portion so as to protrude from the periphery of the passage hole. The overhanging portion is
The robot hand according to claim 6, wherein opposing sides of the pair of gripping claws are recessed from the tip side. The main body is
The robot hand according to any one of claims 1 to 7, further comprising a film-like member having a smaller coefficient of friction than the outer wall from the periphery of the opening to the peripheral surface of the outer wall. Protruding to the outside from the opening in the main body, and having a shape that integrally covers the opening and the base end side of the pair of gripping claws that slide in directions approaching and moving away from each other, and formed of a stretchable material,
An elliptic columnar hollow convex part corresponding to each gripping claw in the pair of gripping claws, and
A robot hand cover, comprising: a through hole through which an end surface of each gripping claw passes through an end surface of the convex portion.

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