JPH02311291A - Hand mechanism for robot - Google Patents

Abstract

PURPOSE:To dispose of the change of the posture change operation in a finger part easily and in a short time by installing the modules for carrying out each element movement of reversal operation, shift operation, turning operation, cushion operation, and compliance operation so as to be freely combined in independent state. CONSTITUTION:Modules M1 - M5 for carrying out each element movement of reversal operation, shift operation, turning operation, cushion operation, and compliance operation are provided so as to be combined each other in independent state. Therefore, the desired posture change operation in a finger part F can be achieved without requiring the change of design of a hand mechanism 10 only by combining the modules which take charge of each element movement required in the posture change operation in the finger part F.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a hand mechanism of a robot that is interposed between a finger section and an arm section of the robot and causes the finger section to perform a predetermined posture changing operation.

[Prior Art] Conventionally, a hand mechanism of a robot that is interposed between a finger section and an arm section of a robot and causes the finger section to perform a predetermined posture change operation includes a reversing operation, a shifting operation, a turning operation, A configuration in which the posture changing operation of the finger portion is performed in an arbitrary combination of each element movement of the cushioning movement and the compliance movement is commonly adopted.

[Problems to be Solved by the Invention] However, in such conventional hand mechanisms, a structure is adopted in which the finger portion performs one posture change operation unique to one hand mechanism. When it becomes necessary for the hand mechanism to perform other posture changing operations, the design is changed each time, and the hand mechanism is replaced as a whole.

For example, specifically, when inserting the same pin into the same hole, there are cases where this hole is formed on a horizontal surface,
Although the configuration of the finger portion is the same in the case where the finger is formed on an inclined surface, the configuration of the hand mechanism must be designed and manufactured in a unique manner for each case.

In this way, in the conventional hand mechanism, the design is changed every time the posture change operation in the finger section changes, and it must be manufactured with a configuration specific to that posture change operation. Therefore, it takes a long time to change the design, etc. (This problem has been pointed out, and there is no standardization for each posture change operation, which is also problematic from an economical point of view.

This invention was made in view of the above-mentioned problems, and an object of the invention is to be able to easily and quickly respond to changes in the posture changing operation of the finger portion, and to be able to achieve economical efficiency. An object of the present invention is to provide an improved robot hand mechanism.

[Means for Solving the Problems] In order to solve the above-mentioned problems and achieve the purpose, a robot hand mechanism according to the present invention is provided between a finger section and an arm section of the robot, and a robot hand mechanism is provided between a finger section and an arm section of the robot. In a hand mechanism that performs a predetermined posture change operation, modules for performing each element movement of a reversal operation, a shift operation, a turning operation, a cushion operation, and a compliance operation are provided independently and can be combined with each other, and these modules are provided. It is characterized in that the finger section can perform a predetermined attitude change operation by combining any of the following.

Further, in the robot hand mechanism according to the present invention, mounting holes spaced apart at a predetermined pitch are formed in the mounting surface of each module, the mounting surface of the hand section, and the mounting surface of the finger section, respectively. In addition, the module is characterized by being provided with position regulating means for attaching each module to each other in a predetermined attachment state.

[Operation] In the robot hand mechanism configured as described above, the modules for performing each element movement of reversing operation, shifting operation, turning operation, cushioning operation, and compliance operation can be independently combined with each other. Therefore, by simply combining the modules in charge of each element movement required for the posture change operation in the finger section, there is no need to change the design of the hand mechanism. It will be possible to achieve this.

[Embodiment] Below, the configuration of an embodiment of a robot hand mechanism according to the present invention will be described in detail with reference to the accompanying drawings.

(Schematic Configuration of Hand Mechanism) As shown in FIG. 1, the hand mechanism 10 of this embodiment includes a reversing module M1 that performs a reversing operation, a shift module M2 that performs a shifting operation, and a turning module that performs a turning operation. M3, a cushion module M4 that executes a cushion operation, and a compliance module M5 that executes a compliance operation, in any combination.In the illustrated embodiment, there are five types. Module M1~
M5 is connected from the Z-axis arm 20 (described later) of the robot 12 to which this hand mechanism 10 is attached to the finger portion F.
They are arranged in the order described above.

Here, the above-mentioned reversal operation means a rotational operation around a rotational axis set perpendicular to the central axis of the object,
The shift operation means a moving operation along its own central axis, and the turning operation means a rotating operation about its own central axis. Further, the cushioning operation means an operation of absorbing an abnormal force acting along the own central axis, and the compliance operation means an operation of absorbing a positional shift in a direction perpendicular to the own central axis.

The optimal order setting of these five types of modules M1 to M5 will be explained in detail later, but the cushion module M4 that executes the cushion operation, the compliance module M that executes the compliance operation,
The arrangement order of can be changed arbitrarily.

In addition, an aspect in which these five types of modules M1 to M are provided in combination and set in the above-mentioned arrangement order is as follows.
As will be described in detail later, as shown in FIG. 2, the finger portion F attached to the lower part of the hand mechanism 10 allows two fingers to be placed upright on the horizontal surface S1 and spaced apart on a predetermined axis β1. The bottles P, , P2 are held at once and placed on the inclined surface S2 along the predetermined axis I2 . in a direction different from (
That is, it is optimally set to perform the operation of inserting into a pair of holes H1 and H2 formed to be spaced apart on the axis line 2 extending in the direction (which intersects in relation to the torsional position).

(Schematic configuration of robot) Here, the robot 12 to which this hand mechanism 10 is applied
As shown in FIG. 3A, the X-axis arm 14 and the
A y-axis arm 16 is attached movably along the X-axis in a state perpendicular to the axis arm 14, and this y-axis arm 1
6, a y-axis moving member 18 is attached to the y-axis moving member 18 so as to be movable along the y-axis direction;
It is composed of a shaft arm 20. This two-axis arm 2
A hand mounting plate 22 is fixed to the lower end of the hand mounting plate 22, and the hand mechanism 10 described above is attached to the hand mounting plate 22.

Furthermore, as shown in FIG. 3B, attachment through holes 22a for attaching the hand mechanism 10 are formed in the four corners of the hand attachment plate 22, passing through them in the vertical direction. The diameter and arrangement pitch of these through holes 22a are as follows:
A constant value d1 and a constant distance are respectively set. Further, on the lower surface of this hand mounting plate 22, a pair of positioning bins 22b are provided at a predetermined diameter d2 and a predetermined distance D2 in order to accurately specify the mounting positions of the modules M1 to M5 to be mounted thereon. It is fixed in a downwardly protruding state.

Note that these y-axis arm 16, y-axis moving member 18,
Three shaft arms 20 are provided on the y-axis moving member 18 and are set to be driven to move by drive motors 24, 26, and 28, respectively.

(Description of Finger Section) Furthermore, the finger section F attached to the lower part of this hand mechanism 10 and used for gripping parts is shown in FIGS. 4A to 4E.
It is configured as shown in the figure.

That is, this finger portion F is configured to be driven by pneumatic pressure, that is, by operating compressed air, and as shown in the figure, includes a frame member 3o having a square planar shape with the interior vertically penetrated. There is. As is clear from FIG. 4E, a pair of guide shafts 32a and 32b are mounted in the frame member 30 in parallel to each other in a horizontal plane. These guide shafts 32 a, 32 b
The pair of slide members 34a are guided together by
.

34b are slide bushes 36a, ;36az,
36b+; Supported slidably via 36ba.

As is clear from FIG. 4C, a mounting piece 38 (not shown) is attached to the lower surface of the outer end of each slide member 34a, 34b in a downwardly protruding state.
a and 38b are integrally formed in a downwardly protruding state. Note that the shape of these gripping pieces can be arbitrarily changed depending on the shape of the article to be gripped. Further, both slide members 34a and 34b are always urged in a direction away from each other by a coil spring 40 shown in FIG. 4E.

On the other hand, in order to resist the biasing force of the coil spring 40 and slide the slide members 34a, 34b closer to each other, the pneumatic cylinder mechanisms 42a, 42b are arranged on a horizontal surface, as is clear from FIG. 4D. They are arranged in such a way that they do not face each other.

Each pneumatic cylinder mechanism 42a, 42b has a cylinder chamber 42a+ opened at the rear surface of each corresponding slide member 34a, 34b.

42b1 and a through hole 42a formed in the frame member 30
2, 42b2, and the piston bodies 42a have their respective tips fitted into the corresponding cylinder chambers 42a, 42bz in a fixed state.

42b3. Here, compressed air introduction passages Fj842 a4 and 42 b4 are formed in each of the piston bodies 42 as and 42 bs so as to penetrate in the axial direction.

Furthermore, as is clear from Fig. 4D, each pneumatic cylinder mechanism 4
A stopper member 44a extends through the slide members 34b and 34a, respectively, at a position facing each of the slide members 2a and 42b in the horizontal plane.

44b is attached. These stopper members 44
a and 44b are screwed so as to be movable forward and backward relative to the frame member 30 so as to abut the inner surfaces of the corresponding slide members 34a and 34b and adjustably define the amount of each slide.

Since the finger portion F is configured as described above, in a state where operating compressed air is not introduced into both pneumatic cylinder mechanisms 42a and 42b, both slide members 34a and 34b, as shown in FIG. 4B, They are urged to be separated from each other. As a result, the gripping pieces (not shown) attached to the attachment pieces 38 a and 38 b are separated from each other by the maximum distance.

On the other hand, when working compressed air is introduced into both pneumatic cylinder mechanisms 42a and 42b, the corresponding compressed air introduction passage 42a<
, 42b4 respectively, the cylinder chambers 42a+, 4
2b+, resulting in the cylinder chamber 42a
The slide members 34a and 34b, each formed with + +42 b r, resist the biasing force of the coil spring 40 and are biased toward each other. As a result, the article located between the two gripping pieces is gripped by the two gripping pieces approaching each other.

Note that these gripping pieces are attached to the stopper members 44a, 4
4b, it is prohibited to approach within a distance shorter than a predefined minimum distance.

Attachment screw holes 46a are formed in the four corners of the upper surface of this frame member 30, having the above-described constant diameter d and spaced apart from each other at a constant pitch D1. The diameter d1 and the arrangement pitch D are 5
Regarding the types of modules M, ~M5 and the mounting plate 22,
Each is set to a common value. In addition, frame member 3
At the center of the two pieces facing each other on the upper surface of 0, a module is formed having a diameter d2 common to each of the modules M1 to M5 and the bottom surface of the mounting plate 22, which will be described later, and spaced apart by a common distance D2. A positioning hole 46b and a positioning groove 46c are formed into which a pair of positioning bins are respectively inserted.

These positioning holes 46b and positioning grooves 46c
is set in common to each of the modules M1 to M5 and the hand mounting plate 22 as described above, so this finger portion F is set commonly to each of the modules M1 to M5 and the hand mounting plate 22.
This means that it can be attached to the bottom of either of the two in the same state.

Here, for example, if this finger portion F is to be directly attached to the hand mounting plate 22, a mounting hole 22a of the hand mounting plate 22 is formed at the lower end of a mounting screw (not shown) inserted from above. The threaded part is the mounting screw hole 46a.
It will be screwed on.

(Description of each module) Next, the configuration of each module M1 to M5 will be described.

(Description of the reversing module) The reversing module M1 for performing the above-mentioned reversing operation has a rotation axis set perpendicular to the central axis of the reversing module M1, as shown in FIGS. 5A to 5F. A pair of upper and lower mounting bases 50a and 50b are provided which are rotatably mounted relative to each other around 48. Here, the upper mounting base 50a is integrally provided with a mounting stay 52a that extends downward from the lower surface thereof, and the lower mounting base 50b includes a pair of mounting stays 52b, 52b that rise upwardly from the upper surface thereof. It is equipped with the following. As is clear from FIG.
2 in order.

Note that this rotation shaft 48 is
It is rotatably supported via a pair of bearing members 54a and 54b through a through hole 56 formed so as to extend in the same direction as the bearing members 54a and 54b. Moreover, this rotation shaft 48 has both mounting stays 52b, .
52b2 so as to rotate together with each other. In addition, a pinion gear 58 is key-fitted in the central part of the rotation shaft 48, in other words, in the part inserted into the through hole 56 formed in the mounting stay 52a, so that the pinion gear 58 rotates integrally with each other. It is installed like this.

Further, as is clear from FIG. 5F, the above-mentioned mounting stay 52a has a rotating shaft 48 in between.
A pair of pneumatic cylinder mechanisms 60a for rotationally driving 8.
, 60b are arranged so as to extend vertically from each other.

Here, each pneumatic cylinder mechanism 60a, 60b has cylinder chambers 60a+, 60 formed in the mounting stay 52a.
b+, and a piston 60az slidably inserted in the corresponding cylinder chambers 60a+, 60b in an airtight manner.
60bz, and rack members 60as and 60bi connected to the corresponding pistons 60a2 and 60bz and taken out downward from the cylinder chambers 60a0 and 60b+.

Moreover, both rack members 60a3 and 60bs are meshed with the pinion gear 58 mentioned above.

Further, each cylinder chamber 60a+, 60az has compressed air introduction passages 60a, 60b, formed at the upper end thereof.
The operating compressed air is respectively introduced through the . In addition, both compressed air introduction passages 60 a4.60
b4 is set so that working compressed air is selectively introduced by a switching valve (not shown).

On the other hand, as is clear from FIG. 5C, on the outer surface of one of the lower mounting stays 52b, a plurality of rotation amount regulating holes 62 are formed concentrically around the horizontal central axis 48 at intervals of 30 degrees. ing. In these rotation amount regulating holes 62,
Two rotation amount regulating members 64a and 64b are inserted so that their positions can be exchanged. In addition, the upper mounting base 5
A pair of stays 66a, 66b are fixed to the stays 66a', 66b, and a pair of stopper bins 68a, 68b are attached to these stays 66a', 66b so that their positions can be adjusted and moved forward and backward along the vertical direction. It is screwed on.

Since the reversing module M1 is configured as described above, as shown in FIG. 5F, when compressed air is introduced into the pneumatic cylinder mechanism 60b on the right in the figure, the corresponding rack member Since b a is pushed down, the pinion gear 58 that meshes with it rotates clockwise, and as shown in FIG. 5C, the left rotation amount regulating member 66a hits the left stopper bin 68a. When they are in contact with each other, the amount of rotation is restricted, that is, they stop. In this embodiment, with the left rotation amount regulating member 66a in contact with the left stopper pin 68a, the lower mounting base 50b is parallel to the upper mounting base 50a. is set to be.

On the other hand, in this reversing module M1, when the switching valve (not shown) is switched from the state shown in FIG. 5F to introduce compressed air into the pneumatic cylinder mechanism 60a on the left side of the figure, the corresponding rack Since the member 60a3 is pushed down, the pinion gear 58 that meshes with it rotates counterclockwise, and as shown by the two-dot chain line in FIG. 5C, the right rotation amount regulating member 66b It rotates until it comes into contact with the other stopper pin 68b, and in this state, the amount of rotation is regulated, that is, it stops. In this embodiment, with the right rotation amount regulating member 66b in contact with the right stopper bin 68b, the lower mounting base 50b is angled at 90 degrees with respect to the upper mounting base 50a. are set so that they intersect at an angle of

Here, at the four corners of the upper mounting base 50a, diameters d,
Attachment screw holes 70a are formed in the four corners of the lower mounting base 50b, and through-holes 70b are formed in the same manner at the four corners of the lower mounting base 50b. In addition, each module M, to M5 is provided at the center of two opposing sides of the upper surface of the upper mounting base 50a
A positioning hole 70c and a positioning groove 70d into which a pair of commonly formed positioning pins are respectively inserted are formed on the bottom surface of the body. At the center of two opposing sides of the lower surface of the lower mounting base 50b, other modules M2 to M
, or a pair of positioning pins 70e having a diameter d2 and spaced apart by a predetermined distance D2, which are inserted into a positioning hole and a positioning groove formed in the finger part F, respectively, are attached integrally with the positioning pins 70e projecting downward. ing.

In this way, in the lower part of this inversion module M1,
Any of the other modules M2 to M or the finger portion F is selectively attached, and any of the other modules M2 to MS or the hand attachment plate 22 is selectively attached to the upper part of this. can be attached to.

(Description of shift module M2) Shift module M for performing the above-mentioned shift operation
As shown in FIGS. 6A to 6D, the shift module M2 includes a pair of upper and lower mounting bases 72a and 72b that are movably attached to each other along the central axis of the shift module M2. Here, the upper mounting base 72a is integrally provided with a main body portion 74 that extends downward from the center of the lower surface thereof. This main body portion 74 includes a lower mounting base 72.
A pneumatic cylinder mechanism 76 is provided for moving the upper mounting base 72a along its central axis.

This pneumatic cylinder mechanism 76 extends along the central axis of the shift module M2, and includes a cylinder chamber 78 formed in the main body portion 74 with an open bottom surface. Further, the main body portion 7 is arranged so that the pair of guide holes 80a and 80b penetrate in the vertical direction with the cylinder chamber 78 sandwiched therebetween.
4.

On the other hand, a lower end of a piston rod 82a is fixed to the upper surface of the lower mounting base 72b, protruding upward along its central axis and inserted into the shilling chamber 78 from below. A piston 82b that slides on the inner peripheral surface of the cylinder chamber 78 is attached to the upper end of the cylinder chamber 78. Here, the cylinder chamber 78 is divided into two upper and lower chambers by this piston 82b, and the upper cylinder compartment 78
a and a lower cylinder compartment 78b are formed. Further, the lower ends of a pair of guide rods 84a, 84b are fixed to the upper surface of the lower mounting base 72b, which are slidably inserted into the pair of guide holes 80a, 80b, respectively, from below.

Further, compressed air introduction passages 86a and 86b through which operating compressed air is introduced are connected to the upper end of the upper cylinder compartment 78a and the lower end of the lower cylinder compartment 78b, respectively.

In this way, the working compressed air is introduced into the lower cylinder compartment 78b through the lower compressed air introduction passage 86b, and as shown in FIG. While being guided, the lower mounting base 721j is biased upward along the central axis, and as a result, the lower mounting base 721j is shifted to a position close to the upper mounting base 72a.

On the other hand, by introducing working compressed air into the upper cylinder compartment 78a through the upper compressed air introduction passage 86a, the piston 82b is moved between the guide rods 84a and 84a.
As a result, the lower mounting base 72b is biased downward along the central axis while being guided by the upper mounting base 7
It will be shifted to a position away from 2a.

Normally, in the non-shift mode, operating compressed air is introduced into the lower cylinder compartment 78b through the lower compressed air introduction passage 86b via a switching valve (not shown), and as a result, The lower mounting base 72b is placed close to the upper mounting base 72a.

Here, a pair of mutually opposing edges at the lower end of the main body portion 74 described above is provided with an overhang piece 74a.

74b is integrally formed. These overhang pieces 7
The outer edges of 4a and 74b are set to vertically align with the corresponding edges of the lower mounting base 72b.

A bolt-shaped upper shift position regulating member 86a is screwed into both the projecting pieces 74a, 74b so as to be able to move forward and backward along the vertical direction, and is adjacent to the position regulating member 86a. Through holes (
(not shown) is formed. This position regulating member 86a
The lower end of the lower mounting base 72b can be brought into contact with the upper surface of the lower mounting base 72b.
The upper shift position of is defined.

Note that the upward shift position can be finely adjusted by moving the regulating member 86a back and forth in the vertical direction.

On the other hand, the lower end of the support rod 86b is fixed to the upper surface of the lower mounting base 72b while passing through the through hole. The projecting pieces 74a, 74 of this support rod 86b
A nut-shaped downward shift position regulating member 86c is screwed to the upper end located above b so as to be movable back and forth in the vertical direction. The lower surface of this position regulating member 86c is capable of coming into contact with the upper surfaces of the overhanging pieces 74a and 74b, respectively, and is set such that the downward shift position of the lower mounting base 72b is regulated in the state of contact. still,
By moving the regulating member 86c forward and backward in the vertical direction, the downward shift position can be finely adjusted.

Here, at the four corners of the upper mounting base 72a, there are mounting screw holes 88a having the above-described fixed diameter d1 and spaced apart from each other at a fixed pitch D1. Attachment holes 88b are formed in the same manner at each of the four corners. In addition, the upper mounting base 72
A positioning hole 88c and a positioning groove 88d into which a pair of positioning bins formed in common on the bottom surface of each module M, -M5 and the hand mounting plate 22 are inserted, respectively, in the center of two opposing sides of the upper surface of a. is formed.

A pair of positioning pins are inserted into the positioning holes and positioning grooves formed in the other modules M1 to M3 to M5 or the finger part F, respectively, at the center of two opposing sides of the lower surface of the lower mounting base 72b. 88e has a predetermined diameter dI, is integrally attached with a predetermined distance D2 apart, and protrudes downward.

In this way, any of the other modules M, , M, ~M, or
The finger part F is selectively attached, and any of the other modules M, , M, to M5 are mounted on the upper part of the finger part F.
Alternatively, the hand attachment plate 22 can be selectively attached.

(Description of the swing module) The swing module M3 for performing the above-mentioned swing operation is configured to rotate along the center axis of the swing module M3, as shown in FIGS. 7A to 7F. A pair of upper and lower mounting bases 92a and 92b are provided so as to be rotatable relative to each other around a support shaft 90. Here, a main body part 94 is integrally formed in the center of the lower surface of the upper mounting base 92a in a state of protruding downward, and a through hole is formed in the center of the main body part 94, penetrating vertically. 96 is formed.

The above-mentioned rotation support shaft 90 passes vertically through the through hole 96, and a pair of bearings 98a.

It is fixed to the upper surface of the lower mounting base 92b while being rotatably supported via the lower mounting base 98b. Further, a snub ring 100 is attached to the upper end of this rotation support shaft 90 in order to prevent it from being pulled out and falling downward from the through hole 96.

A pinion gear 10 is provided on the outer periphery of the central portion of this rotation support shaft 90.
2 are coaxially attached so that they rotate together through a key. On the other hand, as is clear from FIG. 7E, a pneumatic cylinder mechanism 104 for rotationally driving the pivot shaft 90 is disposed in the main body portion 94 described above. This pneumatic cylinder mechanism 104 includes a cylinder body 106 that extends along a direction perpendicular to the rotation support shaft 90 and is integral with the main body portion 94. Cylinder chamber 1 extending along the direction perpendicular to 90
08 is formed.

Inside this cylinder chamber 108, a pair of pistons 110a are provided.
, 110b are integrally connected to each other via a piston rod 112, and are slidably housed while maintaining an airtight state. Further, the cylinder chamber 108 has an opening at its center that communicates with the through hole 96, and the piston rod 112 is formed with a rack 114 that meshes with the above-mentioned pinion gear 102 through this opening. There is. One cylinder compartment 108a is defined by a portion of the cylinder chamber 108 located outwardly from one piston 110a, and the other cylinder compartment 108b is defined by a portion of the cylinder chamber 108 located outwardly from the other piston 110b. is stipulated.

Also, one and the other cylinder compartments 108a.

Compressed air introduction passages 116a and 116b, through which working compressed air is introduced, are connected to the outer ends of each of 108b. In this way, the other compressed air introduction passage 11
By introducing working compressed air into the other cylinder compartment 1O8b through 6b, as shown in FIG. 7E,
Both pistons 110a and 110b are piston rods 112
The inside of the cylinder chamber 108 is biased upward in FIG. 7E while the lower mounting base 92b is connected to each other by It will rotate in a clockwise direction.

On the other hand, working compressed air is introduced into one cylinder compartment 108a through one compressed air introduction passage 116a, thereby causing both pistons 110a to open.

110b are connected to each other by the piston rod 112 and are biased downward in the cylinder chamber 108 in FIG. It rotates around the center in a clockwise direction in the figure.

Normally, in the non-swivel mode, working compressed air is introduced into the other cylinder compartment 108b through the other compressed air introduction passage 116b via a switching valve (not shown), and as a result, , lower mounting base 92b
is subjected to a counterclockwise rotation biasing force with respect to the upper mounting base 92a. Here, both compressed air introduction passages 116a
, 116b are configured to selectively introduce operating compressed air by switching valves (not shown).

On the other hand, as is clear from FIG. 7D, the lower mounting base 92b
A plurality of rotation amount regulating holes 118 are formed concentrically around the rotation support shaft 90 at intervals of 22.5 degrees. Two rotation amount regulating members 120a are provided in these rotation amount regulating holes 118.

120b is inserted so that its mounting position can be exchanged. Further, a pair of stays 122a and 122b are fixed to the main body portion 94 of the upper mounting base 92a, and a pair of stopper bins 124a and 124b can be moved forward and backward to adjust their positions on these stays 122a and 122b. It is screwed on so that it can be attached.

As described above, this turning module M3 is configured, so that when compressed air is introduced into the cylinder compartment 108b in the lower part of the figure, as shown in FIG. 7F,
Since the rack 114 is biased upward in the figure, the pinion gear 102 that meshes with it rotates counterclockwise, and as shown in the figure, the other rotation amount regulating member 120b
While in contact with the corresponding stopper pin 124b, the amount of rotation thereof is regulated, that is, stopped.

In this embodiment, with the other rotation amount regulating member 120b in contact with the stopper bin 124b, the lower mounting base 92b is lower than the upper mounting base 9.
2a.

On the other hand, in this swing module M3, when the switching valve (not shown) is switched from the state shown in FIG. 7E and compressed air is introduced into the cylinder compartment 108a at the upper side in the figure, the rack 114 is pushed downward. Therefore, the pinion gear 102 that meshes with the pinion gear rotates clockwise, and one rotation amount regulating member 120a
Rotate until it comes into contact with the corresponding stopper pin 124a,
In the state of contact, the amount of rotation is regulated, that is, it is stopped.

In this embodiment, with one rotation amount regulating member 120a in contact with the corresponding stopper pin 124a, the lower mounting base 92b is attached to the upper mounting base 9.
It is set to rotate at an angle of 90 degrees clockwise with respect to 2a when viewed from above.

Here, at the four corners of this upper mounting base 92a, diameters d,
The mounting screw hole 126a is also the lower mounting base 92b.
Attachment through holes 126b are formed in the same manner at the four corners. In addition, each module M, . . .
A positioning hole 126c and a positioning groove 126 into which a pair of positioning pins formed in common on the bottom of M5 are respectively inserted.
d is formed.

Another module M+ is provided at the center of two opposing sides of the lower surface of the lower mounting base 92b.

M2. M4. Diameter d2 at the point inserted into the positioning hole and positioning groove formed in M5 or the finger part F, respectively.
A pair of positioning pins 126e, which are spaced apart by a predetermined distance D2, are integrally attached with the positioning pins 126e projecting downward.

In this way, in the lower part of this turning module M3,
Other modules M, , M2. M4. M.

or the finger part F is selectively attached, and on top of this, other modules M+,
M2, M4. Me or the hand attachment plate 22 can be selectively attached.

Inversion module MI and shift module M explained above
1. The rotation module M3 constitutes an active module in the hand mechanism 10, that is, a module whose position can be actively changed by its own drive source (pneumatic cylinder mechanism).

(Description of Cushion Modules) The cushion modules M4 for performing the above-mentioned cushioning operation are attached to be movable relative to each other along the central axis of the cushion modules M4, as shown in FIGS. 8A to 8C. A pair of upper and lower mounting bases 1
28a and 128b. Here, a pair of guide bins 130a and 130b are fixed in an upright position on the lower mounting base 128b at mutually symmetrical positions with the center axis line between them. On the other hand, these guide bins 130a are provided on the upper mounting base 128a.

Stepped through holes 132a are provided at positions opposite to 130b, respectively.
132b is formed so as to penetrate along the vertical direction. Each stepped through hole 132a.

132b is configured with small-diameter through-hole portions 132a+, 312bz opening on the lower surface of the upper mounting base 128a and large-diameter through-hole portions 132a2+132b2 opening on the upper surface, coaxial with each other.

Here, the upper part of each guide bin 130a, 130b is attached to the small diameter through hole portion 132a, 132b of the corresponding stepped through hole 132a, 132b with a slide bearing 134a, 13.
4b, respectively, and flange members 136a, 136b, which fit into large diameter through-hole portions 132a2, 132bz, are fixed to the upper ends of each.

With this configuration, the lower mounting base 128b is supported in a suspended state by the upper mounting base 128a via the pair of guide bins 130a, 130b.

Here, a coil spring 138 is located between the mounting bases 128a and 128b along the central axis of the mounting bases 128a and 128b.
is interposed. This coil spring 138 is attached to both mounting bases 128a.

It has a biasing force that biases 128b in a direction away from each other. In this way, this cushion module M
In No. 4, in the non-cushion mode state, the lower mounting base 128b has the stepped through holes 132a in the flange members 136a, 136b due to the biasing force of the coil spring 138.

132b, each large-diameter through-hole portion 132a2゜132b
The upper mounting base 128a is separated from the upper mounting base 128a until it comes into contact with the bottom surface of the upper mounting base 128a.

On the other hand, when the component gripped by the finger portion F mentioned above is inserted into the hole and the bottom of the component comes into contact with the bottom surface of the hole, the cushioning operation is passively performed in the cushion module M4. That is, when the insertion operation of the component is continued with the bottom of the component in contact with the bottom of the hole, the lower mounting base 128b connected to the finger portion F resists the biasing force of the coil spring 138. Then, it moves along the central axis via the pair of guide bins 130a, 13C)b so as to approach the upper mounting base 128a.

If this cushion module M4 is incorporated into the hand mechanism 10 in this way, the shock along the central axis due to interference between the part and the hole, for example when inserting a part, is absorbed, and the finger This effectively prevents excessive force from acting on F or the robot 12.

Here, the four corners of the upper mounting base 128a are provided with a diameter d in a state where they are spaced apart from each other at the above-mentioned constant pitch D.
The mounting screw hole 140a of I is also connected to the lower mounting base 12.
At the four corners of 8b, there are mounting through holes 140b in the same condition.
are formed respectively. Further, in the center of two mutually opposing sides of the upper surface of the upper mounting base 128a, a positioning hole 140c and a positioning groove 140d into which a pair of positioning bins formed in common on the bottom surface of each module M1 to M are inserted, respectively. is formed. And the lower mounting base 12
8b, other modules M1 to M3. M.

Alternatively, a pair of positioning pins 140e having a diameter d2 and spaced apart by a predetermined distance D2, which are inserted into positioning holes and positioning grooves formed in the finger part F, are integrally attached with downward protrusion. There is.

In this way, the lower part of this cushion module 14 is selectively attached with one of the other modules M, to M3 to M6, or the finger part F, and the upper part of this cushion module 14 is attached with another module M1. -M, , M6 or the hand attachment plate 22 can be selectively attached.

(Compliance module) Finally, the compliance module MS for performing the above-mentioned compliance operation is shown in FIGS.
As shown in Figure E, a pair of upper and lower mounting bases 142a and 142b are configured to be relatively movable along a direction orthogonal to the central axis of the compliance module MS.
It is equipped with Here, these mounting bases 142a.

As is clear from FIG. 9D, a pair of compliance mechanisms 144 and 144b are interposed between 142b and are arranged symmetrically about the central axis, and
A pair of locking mechanisms 1 are arranged on an axis perpendicular to the axis on which these compliance mechanisms 144 and 146 are arranged, and are arranged at positions symmetrical about the central axis mentioned above.
48°150 is interposed.

Here, a main body portion 152 that protrudes downward is integrally formed at the center of the lower surface of the upper mounting base 142a, and a flange member 154 that extends radially outward is integrally formed on the lower surface of this main body portion 152. is installed. on the other hand,
At the outer peripheral edge of the upper surface of the lower mounting base 142b, a ring is inserted into the peripheral edge of the above-mentioned flange member 154 from above.
In other words, the flange member 154 and the upper mounting base 142
The ring-shaped locking member 156 is inserted between the
is fixed.

The lower surface of this locking member 156 and the flange member 15
4 and between the lower surface of the flange member 154 and the upper surface of the lower mounting base 142b, ball bearings 158a are provided, respectively.

158b is interposed. In this way, the lower mounting base 142b can accommodate these ball bearings 158a, 1
58b, it is rotatable with respect to the upper mounting base 142a and perpendicular to the vertical axis (hereinafter referred to as a cross section).

).

Here, the above-mentioned pair of compliance mechanisms 144.
146 indicates that when no external force is applied to the lower mounting base 142b in the normal state, the upper mounting base 142
a central axis c1 and a central axis c2 of the lower mounting base 142b.
are elastically maintained in alignment with each other along the central axis of the compliance module M, and when an external force in the cross section is applied to the lower mounting base 142b, a predetermined amount of force is applied in response to the external force. The setting is such that a soft deflection within this cross section can be allowed within this range.

The configurations of the compliance mechanisms 144 and 146 will be explained below, but both compliance mechanisms 1
44 and 146 have the same configuration, so only the configuration of the compliance mechanism 144 on the left side of the figure will be explained in detail, and the configuration of the compliance mechanism 146 on the right side of the figure will be explained using the same alphabetic subscripts. By attaching it, it will be omitted.

That is, this compliance mechanism 144
When no external force is applied to the first shaft member 144a attached to the lower surface of the 52 so as to protrude downward and the lower mounting base 142b, the first shaft member 144a is attached to the lower mounting base 142b in a direction perpendicular to the first shaft member 144a. A second shaft member 144b is attached to the upper surface of the lower mounting base 142b so as to project upward in an aligned state.

Note that these first and second shaft members 144a.

144b are formed to have outer circumferential surfaces having the same radius, and the lower end of the first shaft member 144a is set to face the upper end of the second shaft member 144b with a slight distance therebetween. There is.

The compliance mechanism 144 also includes support bins 144c as a plurality of support members disposed so as to simultaneously surround the opposing ends of the first and second shaft members 144a and 144b. . Specifically, these support bins 144c, in this embodiment,
It is formed from a cylindrical body having the same radius as the first and second shaft members F44a and 144b, and the number thereof is 6.
It is set in the book. These six support bins 144c are the first and second shaft members 144a.

They are disposed so as to simultaneously surround the opposing ends of 144b without any gaps.

Here, each support bin 144C has an upper end portion and a lower end portion.
An annular cut groove 144d is formed in each. and,
These support bins 144C are both shaft members 144a and 144b.
In the state surrounding these support bins 144c, each cut groove 144d has a
These support bins are connected to the first and second shaft members 144a, 14
A ring-shaped biasing member 144e is housed and wound around each of the ring-shaped biasing members 144e, which bias elastically press against the circumferential surfaces of the mutually opposing ends of the terminals 4b.

In this embodiment, the biasing member 144e is formed from a finely wound ring-shaped coil spring.

Further, the locking mechanisms 148 and 150 described above, when the two-axis arm 20 of the robot 12 moves laterally at high speed,
Due to its inertia, the lower mounting base 142b moves to the upper mounting base 1.
It is provided to prevent deviation in the lateral direction with respect to 42a.

Here, both the double-ended locking mechanisms 148 and 150 have the same configuration, as shown in FIG. 9D. For this reason, only the configuration of the locking mechanism 148 in the upper part of the figure will be explained in detail.
A description of the structure of the locking mechanism 150 in the lower part of the figure will be omitted by adding the same alphabetical subscript.

The locking mechanism 148 includes a cylinder chamber 148a that is open on the lower surface of the main body portion 152 and extends along the vertical axis. This cylinder chamber 1
A piston 148b is slidably housed in the piston 48a, and a piston rod 148c, which serves as a lock pin and projects downward from the lower surface of the main body portion 152, is connected to the piston 148b. Here, lock bin 1
48c is biased toward the upper mounting base 142a by a coil spring 148d, and the biasing force of the coil spring 148d causes a stopper member 148e integrally formed with the upper end of the lock bin 148c to protrude upward. The retracted position of the lock bin 148c is defined at the position where it comes into contact with the upper surface of the cylinder chamber 148a and stops.

Further, on the upper surface of the lower mounting base 142b, a lock hole 148f into which the tip of the corresponding lock bin 148c is inserted is formed at a position opposite to the tip of each lock bin 148c. Here, in each cylinder chamber 148a described above,
A compressed air introduction passage 148g through which working compressed air is introduced is connected to a portion above the upper end of the piston 148b.

By introducing operating compressed air into the cylinder chamber 148a through this compressed air introduction passage 148g, each lock pin 148c moves downward from the retracted position against the biasing force of the corresponding coil spring 148d. It is pushed down and biased into the locked position. In addition, in this lock position, the lower end of each lock pin 148c will fit into the corresponding lock hole 148f. In this way, by activating this locking mechanism 148,
The upper mounting base 142a and the lower mounting base 142b are locked to each other in the lateral direction and move laterally in one direction.

Compliance module M configured as above
The alignment operation in step 5 will be explained below.

As shown in FIG. 10A, when inserting one bottle P held by finger F into hole H,
The position information on the x-y plane of Information-based control mechanism (not shown)
The movement is controlled by the control operation of.

Here, by controlling the movement of the two-axis arm 20, when the two-axis arm 20 moves along the horizontal direction, that is, within the x-y plane, a solenoid valve (not shown) opens to open the corresponding compressed air introduction passage 148g.

Compressed air is supplied to the double-ended hook mechanisms 148 and 150 through 150 g, respectively. In this way, each locking pin 148c, 150c has a corresponding coil spring 148e.

It is pushed down from the retracted position against the urging force of 150e and biased to the lock position. In this way, the double-ended locking mechanisms 148 and 150 are activated and are in a locking state, and each locking pin 148c is activated.

150C is brought to the lock position and fitted into the corresponding lock holes 148f, 150f, so that the pair of upper and lower mounting bases 142a, 142b are locked with each other in the lateral direction and can move laterally in one direction. become.

On the other hand, by controlling the movement of the Z-axis arm 20, when the Z-axis arm 20 moves along the vertical direction, that is, within the x-z or y-z plane, the solenoid valve closes and the double-ended locking mechanism 148
, 150c will not be supplied with compressed air. In this way, each lock pin 148c, 150b is pushed upward from the locked position to the retracted position by the biasing force of the corresponding coil spring 148e, 150e.
biased into the retracted position. In this way, the double-ended mechanism 1
48 and 150 are in an inoperative state, and each lock pin 148
c, 150c is brought into the retracted position and the corresponding locking hole 148f.

By pulling out the upper and lower mounting bases 150f, the upper and lower mounting bases 142a and 142b are brought into a state in which they can move freely relative to each other in the lateral direction.

Further, here, if this position information is accurate, the Z-axis arm 20 is moved and driven according to the control contents of the control mechanism, and the hole H is positioned according to the set value, the position of this hole H is Directly above, based on the movement control operation described above,
By moving the bottle P and then lowering it vertically, the bottle P fits well into the hole H.

However, the positioning of the hole H is not accurate, and
If there is a slight deviation from the set value in the plane, or if the 2-axis arm 2
The zero position may deviate slightly from the position specified by the control mechanism due to errors in the drive system, such as backlash in gears.

If such a deviation occurs, the Z-axis arm 20
Bin P, which has been lowered vertically by the descent of
As shown in Figure A, its lower edge comes into contact with the tapered surface T of the hole H. Then, as the Z-axis arm 20 further descends, the lower edge of the bin P is subjected to a component force F directed in the horizontal direction along the tapered surface T. will receive.

Here, as described above, when the Z-axis arm 20 moves along the vertical direction, the double-ended hook mechanisms 148, 1
50 is in an inactive state. For this reason, a pair of upper and lower mounting bases 142a.

142b are laterally deflectable relative to each other. As a result, the horizontal component force F mentioned above. When the bottle P receives this, this component force F is applied to the lower mounting base 1.
42b, compliance mechanisms 144, 146
It will affect.

Therefore, this component force F. 10B, the pair of upper and lower biasing members 14
4e; 146e causes the first and second shaft members 144a; 144b: 146a; Resisting the biasing force of 146e, the support bins 144c; 146c tilt obliquely (thereby, the second members 144b; 146b move so as to be shifted in the horizontal direction).

In addition, when moving in this horizontal direction, as shown in FIG. 10C, the lower mounting base 142b moves while supporting the bin P so as to extend vertically without tilting its attitude. It turns out. Therefore, the subsequent insertion operation can be performed very easily.

In this way, the deviation between the bottle P and the hole H is elastically absorbed by the deviation of the first and second shaft members L44a; 144b: 146a; 146b in each compliance mechanism 144, 146, and the deviation between the bottle P and the hole H are aligned with each other along the vertical direction, and as the Z-axis arm 20 descends, the bottle P is well fitted into the hole H.

After the operation of inserting the bottle P into the hole H is completed, the grip of the bottle P by the finger portion F is released, and the Z-axis arm 2
When 0 is driven upward, the finger part F moves upward by itself while separating the bottle P. Then, when the bottle P is completely separated from the finger part F, the above-mentioned component force F is applied. However, the force acting on the second shaft members 144b, 146b in both compliance mechanisms 144, 146 is eliminated, and the pair of upper and lower mounting bases Force members 144e; 146e
Due to the urging force, both mounting bases 142a and 142b are
The biased state shown in FIG. 10C is successfully returned to the aligned state shown in FIG. 10B.

In this way, this compliance module M5
In other words, the elastic biasing and returning operations in the compliance mechanisms 144 and 146 are completed.

Here, the four corners of the upper mounting base 142a are provided with a diameter d in a state where they are spaced apart from each other at the above-mentioned constant pitch D.
The mounting screw holes 160a of the lower mounting base 14
At the four corners of 2b, there are mounting through holes 160b in the same condition.
are formed respectively. Further, in the center of two mutually opposing sides of the upper surface of the upper mounting base 142a, a positioning hole 160c and a positioning groove 160d into which a pair of positioning pins formed in common on the bottom surface of each module M1 to M are inserted, respectively. is formed. And the lower mounting base 14
A diameter d is provided at the center of two opposing sides of the lower surface of 2b to be inserted into the positioning holes and positioning grooves formed in the other modules M1 to M4 or the finger part F, respectively.
2, and a pair of positioning pins 160e spaced apart by a predetermined distance D2 are integrally attached with the positioning pins 160e projecting downward.

In this way, this compliance module M5
Any of the other modules M, to M4, or the finger part F is selectively attached to the lower part of the module, and any of the other modules M1 to M4 or the finger part F is selectively attached to the upper part of this. Plate 22 can now be selectively attached.

The cushion module M4 and compliance module M6 described above constitute a passive module in the hand mechanism 10, that is, a module that does not have its own drive source and can deform (bias) itself according to the state of the opponent. It is something that will be done.

(Explanation of the optimality of the arrangement order of the five types of modules) Next,
In the hand mechanism 10, as shown in FIG.
A pair of holes Ha.

The operation of collectively inserting data into Hb will be explained. In other words,
Five types of modules M when performing this operation
+, Ml, M, l, M4. The optimality of the arrangement order of Ms will be explained. That is, in this embodiment, the hand mechanism 10 uses five types of modules M+, M2, M3, .
M4. The Mss are arranged in the order described above from the mounting plate 22 of the robot 12 toward the finger section F.

In FIG. 2, the inclined surface S2 is inclined with respect to the horizontal surface S at an inclination angle θ (30 degrees in this embodiment), and the axis β1 and the axis β2 are respectively parallel to the y-axis. In other words, these axes ℃1
．． It is assumed that when β2 is projected onto the horizontal plane S1, it is set so that they intersect with each other at an angle of 90 degrees. Also, to simplify the explanation, the axis β is for both holes Ha and Hb.
Assume that it is set so that it passes through the midpoint of .

In such a state, first, each module M+,
M2, M3. The center axis of each of M4 and M6 is the first
As shown in the figure, in a state where the extending axis of the two-axis arm 20 is aligned with the vertical axis, first, the Z-axis arm 20 is moved so that its extending axis is aligned with the vertical axis, as shown in FIG. It moves in a horizontal plane (ie, xy plane) to a position passing the midpoint between both bins Pa and Pb. After that, the Z-axis arm 20 is lowered and the pair of pins Pa are moved through the finger portion F.

Grasp pb at once. After this, raise the Z-axis arm 2 degrees. , and both pins Pa and Pb have signs Pa′ and P
Lift it to the position indicated by b'. Next, the turning module M3 is activated and rotated by 90 degrees around its rotational support shaft 90, so that both bins Pa and Pb are moved as shown by the symbol P1.
In the figure, they rotate until they overlap each other. Then, the reversing module M is activated and rotated clockwise in the figure by 30 degrees, which is the inclination angle θ, around the rotation axis 48 set to extend along the y-axis. Pins Pa, Pb
is inverted so that it is tilted by 30 degrees from the vertical axis, as indicated by the symbol P2.

Here, the height mentioned above. is the height of the center of the holes Ha and Hb from the horizontal plane S1, and the inversion module M1
After starting up, the height h2 of the center of the bottom of each of the bins Pa and Pb from the horizontal plane S1 is set to be slightly higher.

After this, the biaxial arm 20 is moved a predetermined distance k along the y-axis direction.
. As shown by the symbol P3, both pins Pa and Pb are moved directly above the inclined surface S2 of both holes Ha and Hb (that is, both holes Ha and Hb and both pins Pa and Pb are 2. Position them so that they are in alignment with each other. Here, the predetermined distance k
. is calculated from the following formula. That is, ko "k+ (1'l+ +ho hH)ja
nθ Here, kl: Distance on the horizontal plane S1 between the midpoint of both bottles Pa and Pb at the installation position and the center point of both holes Ha and Hb hl: The gripped bottle Pa from the rotation axis 48.

Distance to the bottom of pb After this, start the shift module M2 and move the finger part F along the central axis of this shift module M2 (in other words, along the axis inclined by the inclination angle θ from the vertical line). Push down and insert both pins Pa and Pb into the corresponding holes Ha.
, Hb, respectively.

Here, for this insertion operation, as described above,
In the compliance module M5, a centering operation is automatically and passively performed, and in the cushion module M4, a shock buffering operation in the event of interference is passively performed.

In this way, in this embodiment, when inserting the pair of pins Pa and Pb into the pair of holes Ha and Hb arranged in parallel on the inclined surface along different axes, the robot 12 side , it is only necessary to move independently along the y-axis, y-axis, and Z-axis directions, and the insertion movement along the inclined axis is directly performed by the shift module M2.
This will be achieved by driving the

That is, if this shift module M2 is not provided, the robot 12 moves the finger portion F along the y-axis and the Z-axis while holding the pair of bins Pa and Pb in an inclined posture as described above. simultaneously along the direction,
In addition, control must be executed to move the objects at precisely defined moving speeds, which makes the control contents complicated. However, in this embodiment, as described above, since the hand mechanism 10 is equipped with the shift module M2, the robot 12 simply operates independently along the y-axis and Z-axis directions. The robot 12 only needs to move (there is no need to directly perform the insertion operation), and the control content of the robot 12 is simplified.

In particular, in the hand mechanism 10 of this embodiment, the posture changing operation of the finger portion F is modularized for each element, and is configured to be executed independently for each module. As a result, even if a product change or design change occurs, and it becomes necessary to change the posture change operation of the finger F, the amount of movement etc. will be set only for the module in charge of the posture change element where the change occurred. It is only necessary to change or change the design, and there is no need to change the design of the entire hand mechanism. In this way, it is possible to respond to changes in the posture change operation within a short period of time, and other modules that do not require setting changes can be used as they are, making it an extremely economical hand tool. A mechanism 10 will be provided.

Next, five types of modules M + , M2 + R/
Mounting plate 2 when Is +M-, M5 are grouped
The arrangement order is from 2 to finger part F. First,
The first condition is that the reversing module M1 is located closest to the mounting plate 22 in this group. In other words, other modules M 2 +' M 3゜M 4
, M5 is located closer to the finger portion F than MI. Next, as a second condition, shift module M
2 and the rotation module M3 are the cushion module M
4 and the mounting plate 22 than the compliance module M6
It is to be located on the side. The third condition is that the order of the shift module M2 and the swing module M3 can be interchanged, and the order of the cushion module M4 and the compliance module M can also be interchanged.

As a result, in the above-mentioned embodiment, each module was described as being arranged in the order of (1) Ml→M2→M3→M4→M5 from the mounting plate 22 toward the finger part F. Without being limited to this, the following three types of arrangement orders are considered optimal when performing the above-described insertion operation.

(2) Ml→M2→M3→MII-M4 (3) M, →M
3→M2→M4→M5 (4) M, →M3 →M2 →M5 →M4, that is,
If the shift module M2 under the first condition is disposed on the mounting plate 22 side, ignoring the fact that it is located closer to the finger part F than the reversing module M1, the shift direction (movement direction) achieved by this shift module M2 is limited to the vertical axis direction, and as a result, the slope S
This makes it impossible for this shift module M2 to perform the operation of inserting a bottle into the hole formed in M2. In this way, it is essential that the shift module M2 be located closer to the finger portion F than the reversing module M1.

On the other hand, the swing module M3 under the first condition described above
If the reversing module M1 is disposed on the mounting plate 22 side, ignoring the fact that it is located closer to the finger part F than the reversing module M1, the reversing module M
The rotation shaft 48 of No. 1 is also rotated to be along the y-axis. As a result, in the reversing operation performed next to the turning operation, the bottles Pa and Pb gripped by the finger part F are rotated around the y-axis, and these bottles Pa and Pb are
This means that they do not face a and Hb, respectively. In this way, it is essential that the turning module M3 be located closer to the finger portion F than the reversing module M1.

Next, the shift module M2 and the swing module M3 under the second condition are set to the finger portion F, ignoring that they are located closer to the mounting plate 22 than the cushion module M4.
If a positional shift occurs between the bottle P and the hole H along the direction perpendicular to the slope S2, the shock due to the interference caused by this positional shift will be applied to the cushion module. It will act directly on the shift module M2 or the cushion module M4 before being absorbed in M4. For this reason, shift module M
In order to protect them from impact caused by interference between the cushion module M4 and the swing module M3, it is essential that they be located closer to the mounting plate 22 than the cushion module M4.

On the other hand, the shift module M2 and the swing module M3 under the second condition are replaced by the compliance module M5.
Ignoring the fact that it is located closer to the mounting plate 22 than it is, if it is located on the finger part F side, if a positional shift occurs between the bottle P and the hole H along the slope S2, then , component force F based on this positional deviation. will act directly on the shift module M2 or the cushion module M4 before being compensated by the compliance module M5. Therefore, component force F due to positional deviation between shift module M2 and swing module M3. In order to protect them from the effects of the above, it is essential that these be located closer to the mounting plate 22 than the compliance module M5.

Regarding the third condition, which is the interchangeability of the arrangement order of the shift module M2 and the swing module M3, the shift direction in the shift module M2 is restricted to the direction along the central axis of the shift module M2, and the swing axis in the swing module M3 is restricted. is regulated in the direction along its own central axis, so even if the order of arrangement of the two is switched, the same problem will not occur.

Regarding the third condition, the interchangeability of the arrangement order of the cushion module M4 and the compliance module M5, since both operate passively, it is not possible to prioritize one over the other. Even if the arrangement order is changed, only the same situation can be achieved.

It goes without saying that this invention is not limited to the configuration of the one embodiment described above, and can be modified in various ways without departing from the gist of the invention.

For example, in the embodiment described above, the hand mechanism 10 includes five types of modules Ml.

M2. M3, M4. As mentioned above, this means that a pair of bins Pa and Pb, which are spaced apart along the axis β1 on the horizontal plane S, are provided.
The finger portion F attached to the lower part of the hand mechanism 10 grips the hand mechanism 10 at once, and inserts it all at once into a pair of holes Ha and Hb spaced apart along the axis ρ2 on the inclined surface S2. This invention is not limited to such a configuration, but is indispensable to realize the necessary posture change operation in the finger portion F when performing other operations. These five types of modules M+, M2. Ms,
M4. This can be achieved by arbitrarily combining Wlg.

Furthermore, in the embodiment described above, five types of modules M, , M, , M3 . M4. When M@ is grouped,
This hand mechanism 10 is connected to a group of modules M, , M
2. M3. Although it has been explained that it is composed of only M, , M5, the present invention is not limited to such a structure (
For example, a configuration may be adopted in which a swing module M3 is provided closer to the mounting plate 22 than this group. By further providing the rotation module M3 in this manner, it is no longer necessary for the robot 12 to adopt a configuration in which the Z-axis arm 22 is rotated around its own central axis (that is, the vertical axis), and the overall configuration of the robot 12 can be changed. It becomes possible to simplify the process.

[Effects of the Invention] As described in detail above, the robot hand mechanism according to the present invention is a hand mechanism that is interposed between the finger section and the arm section of the robot and causes the finger section to perform a predetermined attitude change operation. , the modules for performing each element movement of reversing operation, shifting operation, turning operation, cushioning operation, and compliance operation are installed independently.
They are provided so that they can be combined with each other, and by combining any of these modules, the finger section can perform a predetermined attitude changing operation.

Further, in the robot hand mechanism according to the present invention, mounting holes spaced apart at a predetermined pitch are formed in the mounting surface of each module, the mounting surface of the hand section, and the mounting surface of the finger section, respectively. In addition, the module is characterized by being provided with position regulating means for attaching each module to each other in a predetermined attachment state.

Therefore, according to the present invention, there is provided a robot hand mechanism that can easily and quickly respond to changes in the posture changing operation of the finger portion, and is also more economical. It turns out.

[Brief explanation of drawings]

FIG. 1 is a front view schematically showing the configuration of an embodiment of the hand mechanism according to the present invention; FIG. 2 is a gripping/insertion operation of an article by the fingers attached to the lower part of the hand mechanism shown in FIG. FIG. 3A is a perspective view schematically showing the configuration of a robot to which this hand mechanism is attached; FIG. 3B is a bottom view showing the bottom shape of the hand mounting plate; FIG. 4A is a second FIG. 4B and FIG. 4C are a top view and a front view of the finger portion shown in FIG. 2, respectively; FIG. 4D and FIG. 4E are respectively D7D in Fig. 4c.
5A is a perspective view showing the configuration of the reversing module shown in FIG. 1; FIGS. 5B to 5D are shown in FIG. 5A, respectively. A top view, a front view, and a bottom view of the reversing module; FIGS. 5E and 5F are cross-sectional views taken along line E-E in FIG. 5C and line F-F in FIG. 5E, respectively. and a vertical sectional view; FIGS. 6A to 6C are a top view, a bottom view, and a bottom view showing the structure of the shift module shown in FIG. 1 in detail; FIG. A vertical sectional view taken along line D; FIG. 7A is a perspective view showing the structure of the swing module shown in FIG. 1; FIGS. 7B to 7D are views of the swing module shown in FIG. 7A. Top view, front view, and bottom view; FIGS. 7E and 7F are a cross-sectional view and a vertical cross-section taken along line E-E in FIG. 7C and line F-F in FIG. 7E, respectively. Figures; Figures 8A to 8C are top views showing in detail the configuration of the cushion module shown in Figure 1;
A partially cutaway front view and a bottom view; FIGS. 9A to 9C are a top view, a front view, and a bottom view showing the configuration of the compliance module shown in FIG. 1 in detail, respectively; FIG. 9D and FIG. 9E are D- in FIG. 9B, respectively.
A cross-sectional view and a vertical cross-sectional view taken along the line D and the line E-E in FIG. 9A; FIG. 10A is a top view for explaining the compliance operation; FIG. 10B is the cross-sectional view when the compliance operation is performed. Figure 10C is a front view showing the compliance mechanism in the state before the compliance operation is performed; Figure 11 is the front view showing the compliance mechanism in the state after the compliance operation is performed; and Figure 11 shows the two pins inserted into the two holes respectively. FIG. 2 is a diagram schematically showing the operation when In the figure, C,, C2... each center axis of the upper and lower mounting bases of the compliance module, dl... the diameter of the mounting hole, Dl... the arrangement pitch of the mounting holes, d2...
・Diameter of positioning pin, D2... Distance between positioning pins, Fo... Component force, H; Ha; Hb... Hole, P
; Pa ; Pb...pin (article to be gripped), S
... Inclined surface, T... Taber surface, [Hand mechanism] 10... Hand mechanism, F... Finger section, Ml...
・Reversing module, M2...Shift module, M3
... Rotation module, M, ... Cushion module, M5 ... Compliance module, [robot] 12 ... Robot, 14 ... X-axis arm,
16...y-axis arm, 18...y-axis moving member, 20
...Z-axis arm, 22...Hand mounting plate, 22a.
... Mounting through hole, 22b... Positioning pin, 24.
...X-axis circumferential drive motor, 26...y-axis drive motor,
28... Z-axis drive motor, [Finger F] 30... Frame member, 32a→32b... Guide shaft, 34 a; 34 b-=slide member, 36a
+; 36a2; 36b+; 36b2-slide bush, 38a; 38b...Mounting piece, 40.
... Coil spring, 42a; 42b ... Pneumatic cylinder mechanism, 42 a 1 ; 42 b +- cylinder chamber, 42az; 42 b, ... Through hole, 42as
;42ba ・'Piston body, 42a, ;42b4
...Compressed air introduction passage, 44a; 44b...Stopper member, 46a...Same hole for mounting, 46b...
Positioning hole, 46c... Positioning groove, [Reversing module M,] 48... Rotation axis, 50a; 50b... Mounting base, 52 a-... Upper mounting stay, 52bl;
52b2...lower mounting stay, 54a; 54
b... Bearing member, 56... Through hole, 58... Pinion gear, 60a; 60 b... Pneumatic cylinder mechanism, 60a+; 60tz... Cylinder chamber, 60a
2;60b2...piston, 60as;60
b3...Rack member, 60a4:60b4・
...Compressed air introduction passage, 62...Rotation amount regulation hole, 64
a; 64 b-rotation amount regulating member, 66a; 66b
... Stay, 68a; 68b... Stopper bin, 70a... Screw hole for mounting, 70b... Through hole for mounting, 70c... Positioning hole, 70d... Positioning groove, 70e... Positioning Bin, [Shift module M2] 72a; 72b... Mounting base, 74... Main body portion, 78; 74b... Overhang piece, 76...
Pneumatic cylinder mechanism, 78... cylinder chamber, 78a;
78b... Cylinder compartment, 80a; 80b... Guide hole, 82a... Piston rod, 82b... Piston, 84a; 84b... Guide rod, 86
a... Upper shift position regulating member, 86b... Support rod, 86c... Lower shift position regulating member, 88a.
...Threaded hole for mounting, 88b...Through hole for mounting, 88c
...Positioning hole, 88d...Positioning groove, 88e.
...Positioning bin, [swivel module M3] 90...Rotation shaft, 92a; 92b...Mounting base, 94...Body part, 96...Through hole, 98a; 98
b...Bearing, 100...Snap ring, 102.
...Pinion gear, 104...Pneumatic cylinder mechanism, 1
06... Cylinder body, 108... Cylinder chamber, 10
8a; 108b--cylinder compartment, 110a; 11
0b... Piston, 112... Piston rod, 1
14... Rack, 116a; 116b... Compressed air introduction passage, 118... Rotation amount regulation hole, 120a; 1
20 b...Rotation amount regulating member, 122a; 122
b... Stay, 124a; 124b... Stopper bin, 126a... Screw hole for mounting, 126b... Through hole for mounting, 126c... Positioning hole, 126d...
Positioning groove, 126e... Positioning bin, [Cushion module M4] 128a; 128b... Mounting base, 130a; 13
0b...Guide bin, 132a→132b...Stepped through hole, 132a+; 132bz...Small diameter through hole portion, 132 a 2; 132 b 2...-Large diameter through hole portion, 134 a; 134 b--slide bearing, 136 a; 136 b-flange member,
138...Coil spring, 140a...Screw hole for mounting, 140b...Through hole for mounting, 140c...
・Positioning hole, 140d...Positioning groove, 140e・
...Positioning bin, [Compliance module M@
] 142 a; 142 b --- Mounting base, 1
44; 146... Compliance mechanism, 144a.
...First shaft member, 144b...Second shaft member, 14
4c... Support bin, 144d... Cut groove, 144e
...Biasing member, 148; 150...Lock mechanism, 1
48a...Cylinder chamber, 148b River piston, 148
c... Lock bin, 148d... Coil spring, 148e... Stopper member, 148f... Lock hole, 148g... Compressed air introduction passage, 152... Main body part, 154... Flange member, 156...Locking member, 158a; 158b...Ball bearing,
160a... Screw hole for mounting, 160b... Through hole for mounting, 160c... Positioning hole, 160d... Positioning groove, 160e... Positioning pin. Patent applicant Canon Co., Ltd. Agent Patent attorney Yasunori Otsuka (and 1 other person) Figure 6A Figure 6C Figure 6B Figure 6D Figure 8A Figure 9A Figure 8C Figure 9B

Claims (2)

[Claims] (1) In a hand mechanism that is interposed between a finger and an arm in a robot and causes the finger to perform a predetermined posture change operation, each element of reversal operation, shift operation, rotation operation, cushion operation, and compliance operation A robot characterized in that modules for performing movement are provided independently and can be combined with each other, and by combining arbitrary modules among these modules, a finger part can perform a predetermined posture change operation. hand mechanism. (2) Mounting holes spaced apart at a predetermined pitch are formed in the mounting surface of each of the modules, the mounting surface of the hand section, and the mounting surface of the finger section, respectively, and mounting holes are formed at a predetermined pitch to allow each module to be attached to each other in a predetermined manner. 2. The robot hand mechanism according to claim 1, further comprising a position regulating means for attaching the robot hand mechanism in the attached state.