JPH02311292A - Hand mechanism for robot - Google Patents

Abstract

PURPOSE:To surely place a held article onto an inclined surface 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 combined in independent state and specifying the arrangement order. 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. The arrangement order from the arm part of the module to a finger part F is set in the order of a reversal module M1, shift module M2, or turning module M3, cushion module M4 or compliance module M5. Therefore, the operation for turning a held article and placing the article onto an inclined surface can be carried out surely.

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 has been pointed out that it takes a long time to change the design, etc., and there is no standardization for each attitude change operation, which also poses a problem 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. The arrangement order from the arm section toward the finger section is set in the following order: inversion module, shift module or rotation module, and cushion module or compliance module.

In the robot hand mechanism configured as described above, the modules for performing each element movement of reversing movement, shifting movement, turning movement, cushioning movement, and compliance movement are independent and can be combined with each other. By simply combining the modules responsible for each elemental movement required for posture change operations in the fingers, the desired posture change operations in the fingers can be achieved without requiring any design changes to the equivalent hand mechanism. It will be possible to achieve it. In addition, since the arrangement order of these modules from the arm section to the finger section is set to the inversion module, shift module or rotation module, and cushion module or compliance module, the gripped article can be rotated and then , the operation of placing it on the inclined surface will be reliably executed.

[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 reversing operations, a shift module M1 that performs shifting operations. The illustrated embodiment includes a swing module M3 that performs a swing motion, a cushion module M4 that performs a cushion motion, and a compliance module M5 that performs a compliance motion in any combination. In the configuration, there are five types of modules M, ~
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 optimality of the order setting of these five types of modules M, to M5 will be explained in detail later, but the arrangement order of the cushion module M4 that executes the cushion operation and the compliance module M5 that executes the compliance operation. can be replaced arbitrarily.

In addition, an aspect in which these five types of modules M1 to M5 are provided in combination and set in the above arrangement order is as follows:
As will be explained in detail later, as shown in FIG. 2, two fingers placed upright on the horizontal surface S1 and spaced apart on a predetermined axis t2+ are placed on the horizontal surface S1 by the finger part F attached to the lower part of the hand mechanism IO. grip the pins p, , p, at once and move them onto the inclined surface S2 in a direction different from the predetermined axis C0 (
In other words, the axis β extending to
A pair of holes H+, H formed to be spaced apart on 2
It is optimally set to perform the operation of inserting into 2.

(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 Z-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 d and a distance D1 are respectively set. Further, on the lower surface of this hand mounting plate 22, a pair of positioning pins 22b are provided at a predetermined diameter d2 and a predetermined distance D2 in order to accurately define 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, and Z
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 30 having a square planar shape with the interior vertically penetrated. There is. As is clear from FIG. 4E, inside this frame member 30, a pair of guide shafts 32a and 32b are mounted 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, 36a2, 3, respectively.
6tz; is slidably supported via 36bz.

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 constantly biased 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
The piston body 42 a 3 has its tip inserted into the corresponding cylinder chamber 42 a + , 42 b + while being fixed by penetrating through the piston bodies 42 a 3 and 42 b z respectively.

42b3. Here, compressed air introduction passages 42 a 4+ 42 b 4 are formed in each piston body 42 a 3 and 42 b 3 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 38a and 38b 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 42a4
．． Cylinder chambers 42a+, 42 via 42b4, respectively.
t)+, resulting in the cylinder chamber 42al
, 42bl are formed on the slide members 34a and 3, respectively.
4b 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 elastically 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-mentioned constant diameter d1 and spaced apart from each other at a constant pitch D1. The diameter d1 and the arrangement pitch D1 are 5
Regarding the types of modules MI to M6 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 module M, 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 pins are respectively inserted.

These positioning holes 46b and positioning grooves 46c
is set in common to each of the modules M1 to M and the hand mounting plate 22 as described above. This means that it can also be installed in the same condition.

Here, for example, when this finger portion F is directly attached to the hand mounting plate 22, the mounting through hole 22a of the hand mounting/attachment plate 22 is inserted into the lower end of a mounting screw (not shown) inserted from above. The formed threaded portion is attached to the mounting screw hole 46.
It will be screwed onto a.

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

(Description of the reversing module) The reversing module M for performing the above-mentioned reversing operation is configured to rotate at right angles to the central axis of the reversing module MI, as shown in FIGS. 5A to 5F. A pair of upper and lower mounting bases 50a and 5ob are provided which are rotatably mounted relative to each other around a shaft 48.

Here, the upper mounting base 50a is integrally provided with a mounting stay 52a extending downward from its lower surface, and the lower mounting base 50b is integrally provided with a pair of mounting stays 52b+, 52b2 extending upward from its upper surface. It is fully prepared. As is clear from FIG. 5E, the above-mentioned rotation shaft 48 is attached to these mounting stays 52 b + , 52
It is set to pass through A, 52, B and 2 in sequence.

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+,
52bz so as to rotate together. 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 rotation shaft 48 between the rotation shaft 48 and the rotation shaft 48.
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 a cylinder chamber 60a+, 6 formed in the mounting stay 52a.
0b1 and a piston 60a slidably inserted in the corresponding cylinder chambers 60a+ and 60b+ in an airtight manner.
2.60 b 2 and corresponding piston 60a2, 60
Rack members 60a3, 60b connected to bz and taken out downward from the cylinder chambers 60a+, 60b+
It is composed of 3.

Moreover, both rack members 5oa3 and 60b3 are meshed with the pinion gear 58 mentioned above.

Further, each cylinder chamber 60a+, 60a2 has compressed air introduction passages 60a4, 60b formed at the upper end thereof.
4, operating compressed air is introduced in each case. In addition, both compressed air introduction passages 60a+, 60
tz is set to selectively introduce working compressed air 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 52b1, a plurality of rotation amount regulating holes 62 are formed concentrically around the horizontal central axis 48 at intervals of 30 degrees. There is. 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 stay 0a, and these stays 66a, 66b are screwed so that a pair of stopper bins 68a, 68b can move forward and backward in the vertical direction so that their positions can be adjusted. It is worn.

As described above, this reversing module M1 is configured, so that when compressed air is introduced into the pneumatic cylinder mechanism 60b on the right side of the figure, as shown in FIG. is pushed downward, so the pinion gear 58 that meshes with it rotates clockwise, and as shown in FIG. 5C, the left rotation amount regulating member 66a comes into contact with the left stopper pin 68a. In this state, the amount of rotation is regulated, that is, it is stopped. In this embodiment, with the left rotation amount regulating member 66a in contact with the left stopper bin 68a, the lower mounting base 50b is parallel to the upper mounting base 50a. It 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 60aa 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 moves toward the right It rotates until it comes into contact with the other stopper bin 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,
The mounting screw hole 70a of the lower mounting base 5'Ob
Attachment through holes 70b are formed in the same manner at the four corners. In addition, each module M1 to M
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 case. At the center of the two pieces facing each other on the lower surface of the lower mounting base 50b, other modules M2 to M2 are mounted.
A pair of positioning pins 70e having a diameter d2 and spaced apart by a predetermined distance D2, which are inserted into the positioning holes and positioning grooves formed in M5 or the finger part F, are integrally attached with downward protrusion. ing.

In this way, in the lower part of this inversion module M1,
Any of the other modules M2 to M5 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. It can be installed.

(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 80a is fixed to the upper surface of the lower mounting base 72b, protruding upward along its central axis and inserted into the cylinder chamber 78 from below. A piston 80b that slides on the inner circumferential 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 80b, 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 72. is biased upwardly along the central axis. b will be 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 via the upper compressed air introduction passage 86a, the piston 80b
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 the lower mounting base 72b are vertically aligned 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 through 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 pins formed in common on the bottom surface of each of the modules M1 to M5 and the hand mounting plate 22 are inserted, respectively, are provided in the center of the two opposing pieces on the upper surface of a. It is formed.

2 facing each other on the lower surface of the lower mounting base 72b.
A pair of positioning pins 88e each having a predetermined diameter d1 and inserted into the positioning holes and positioning grooves formed in the other modules M1, M3 to M5 or the finger part F are provided in the center of the piece. They are integrally attached with a distance D2 apart and protruding downward.

In this way, one of the other modules M', , M'a to M5, or the finger part F is selectively attached to the lower part of this shift module M2, and the other module is attached to the upper part of this shift module M2. Module M1. M
Any one of a to M5 or 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 snap ring 100 is attached to the upper end of the pivot 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 the 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 i is defined by a portion of the cylinder chamber 108 located outwardly from the other piston 110b. osb is defined.

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
6b into the other cylinder compartment 108b, as shown in FIG. 8E.
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 1loa 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. 5D, 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 120 a + 120 b are inserted into these rotation amount regulating holes 118 so that their mounting positions can be exchanged. Further, a pair of stays 122a, 122b are fixed to the main body portion 94 of the upper mounting base 92a, and a pair of stopper bins 124a, 124b are attached to these stays 122a, 122b along the vertical direction so that their positions can be adjusted. It is screwed so that it can move forward and backward.

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 bin 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. 7F and compressed air is introduced into the cylinder compartment 108a in the upper part of 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 bin 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 bin 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.

Then, two parts facing each other on the lower surface of the lower mounting base 92b are provided.
In the center of the piece there is another module Ml.

M2, M4. M, or the diameter d of the position inserted into the positioning hole and positioning groove formed in the finger part F, respectively.
2, and a pair of positioning pins 126e 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. Either one of M, , M, , or the finger part F is selectively attached, and on top of this, other modules M+, M2,
Either M4' or M- or the hand attachment plate 22 can be selectively attached.

Inversion module M1, shift module M2. 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 Module) The cushion modules M4 for performing the above-mentioned cushioning operation are attached so as 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, 312b opening on the lower surface of the upper mounting base 128a and large diameter through hole portions 132a2 and 132b2 opening on the upper surface coaxially with each other. .

Here, the upper part of each guide bin 130a, 130b is attached to the small diameter through hole portion 132a l, 132b + of the corresponding stepped through hole 132a, 132b with a slide bearing 1.
34a, 134b, respectively, and a large-diameter through-hole portion 132a2, 132 is provided at the upper end of each.
Flange members 136a and 136b that fit into b2 are fixed. With this configuration, the lower mounting base 12
8b is supported in a suspended state by the lower mounting base 128a via a pair of guide bins 130a and 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 12sa.

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.

Each large-diameter through-hole portion 132a 2113 of 132b
Upper mounting base 128 until it touches the bottom of 2b2.
It will be spaced apart from a.

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 and 130b 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 1 also connects 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 opposing sides of the upper surface of the upper mounting base 128a, there are 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 M5 are respectively inserted. It is formed. And the lower mounting base 12
8b, other modules M, -M3. The positions inserted into the positioning holes and positioning grooves formed in M5 or the finger part F, respectively,
A pair of positioning pins 140e having a diameter d2 and spaced apart by a predetermined distance D2 are integrally attached in a downwardly protruding state.

In this way, below this cushion module M4, other modules M, ~Ms.

M5 or the finger part F is selectively attached, and on top of this, another module M1
~M 3. M5 or the hand attachment plate 22 can be selectively attached.

(Compliance module) Finally, the compliance module M 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 movable relative to each other in a direction perpendicular to the central axis of the compliance module M5.
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 flange member 1540 is inserted into the peripheral edge of the flange member 1540 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 an equivalent external force is not acting on 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 hesse 142b.
are elastically maintained in a state aligned with each other along the central axis of the compliance module M5, and when an external force in the cross section is applied to the lower mounting base 142b, a predetermined range is maintained according to this external force. The setting is such that it is possible to allow soft deviation within this cross section.

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 equally 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 pins 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, in this embodiment, these support pins 144c are
It is formed from a cylindrical body having the same radius as the first and second shaft members 144a and 144'b described above, and the number thereof is set to six. These six support pins 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 pin 144c has an upper end portion and a lower end portion.
An annular cut groove 144d is formed in each. and,
These support pins 144c are both shaft members 144a and 144b.
In the state surrounding the support pins 144c, each cut groove 144d has a
These support pins 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 above-mentioned locking mechanisms 148 and 150 lock when the Z-axis arm 20 of the robot 12 moves in the lateral direction 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 as a lock pin that projects downward from the lower surface of the main body portion 152 is connected to the piston 148b. Here, lock pin 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 to protrude upward from the upper end of the lock pin 148c. The retracted position of the lock pin 148c is defined at the position where the lock pin 148c 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 pin 148c is inserted is formed at a position opposite to the tip of each lock pin 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 as one body.

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

As shown in FIG. 10A, when inserting one pin 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, when the Z-axis arm 20 is controlled to move along the horizontal direction, that is, within the x-y plane, a solenoid valve (not shown) opens and the corresponding compressed air introduction passage 148g is opened. .

Compressed air is supplied to the double-ended hook mechanisms 148 and 150 through 150 g, respectively. In this manner, each lock pin 148c, 150c is pushed downward from the retracted position against the biasing force of the corresponding coil spring 148e + 150e and biased to the locked position. In this way, the double-ended locking mechanisms 148 and 150 are activated and enter the locking state, and each lock pin 148c+15
00 is brought to the lock position and the corresponding lock hole 1
By fitting into 48f and 150f, the pair of upper and lower mounting bases 142a and 142b are locked to each other in the lateral direction and move laterally as one body.

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 manner, each lock pin 148c, '150b is pushed upward from the lock position to the retracted position by the biasing force of the corresponding coil spring 148e, 150e, and biased to the retracted position. In this way, the double-ended locking mechanisms 148 and 150 become inoperative, and each locking pin 14
8c, 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 pin P and then lowering it vertically, the pin P fits into the hole H well.

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 Z-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
The pin P, which has been lowered vertically due to the lowering 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 end edge of the pin 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, the pair of upper and lower mounting bases 142a and 142b can be laterally displaced relative to each other. As a result, the horizontal component force F mentioned above. When the pin P receives this component force F, this component force F acts on the compliance i structures 144 and 146 via the lower mounting base 142b.

Therefore, this component force F. 10B, the pair of upper and lower biasing members 14
4e; 146e, the first and second shaft members 144a; 144b: 146a; The support pins 144c; 146c tilt obliquely against the biasing force of the support pins 146e, thereby causing the second members 144b, 146b to shift horizontally.

In addition, when moving in this horizontal direction, as shown in FIG. Therefore, the subsequent insertion operation can be performed very easily.

In this way, the deviation between the pin P and the hole H is elastically absorbed by the deviation between the first and second shaft members 144a; 144b: 146a; 146b in each compliance mechanism 144, 146, and The holes H are aligned with each other in 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 part F is released, and the two-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, it no longer acts on the lower mounting base 142b. As a result, 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 biasing 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 hole 160a of 1 also connects to 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, there are a positioning hole 160C and a positioning groove 16' into which a pair of positioning bins formed in common on the bottom surface of each module M1 to M5 are respectively inserted. ○d is formed. And lower mounting base 1
42b has a diameter d2 at the center of two opposite sides of the lower surface thereof, which are inserted into the positioning holes and positioning grooves formed in the other modules M, to M4 or the finger part F, respectively. A pair of positioning bins 160e separated by a distance D2 are integrally attached in a downwardly projecting state.

In this way, this compliance module M6
One of the other modules M1 to M4 or the finger part F is selectively attached to the lower part of the , and one of the other modules M1 to M4 or the hand attachment plate is attached to the upper part of this. 22 can be selectively attached.

The cushion module M4 and the compliance module M5 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.
Pb and 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
l, M2. M3. 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 M1, M2, M3, . M4. M
5 are arranged in the order described above from the mounting plate 22 of the robot 12 toward the finger portion 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 I22 are respectively parallel to the y-axis. X
In other words, these axes I
2. , n2 are projected onto the horizontal plane S, and the distance between them is 90
Assume that they are set to intersect at an angle of degrees. In addition, for the sake of simplification of explanation, the axis line β1 is
It is assumed that the setting is made to pass through the midpoint of Hb.

In this state, first, each module M, , M
,,M3. As shown in FIG. 1, in a state where the center axis of each of
As shown in FIG.
a, Pb in the horizontal plane (i.e. x-
y plane). After that, the Z-axis arm 20 is lowered, and the pair of bins Pa are moved through the finger section F.

Grasp pb at once. After this, raise the Z-axis arm 20. , and both pins Pa and Pb have signs Pa′ and P
Lift it to the position indicated by b'. Next, start the turning module M3, turn it by 90 degrees around its turning axis 90, and move both bins Pa and Pb as shown by the symbol P.
In the figure, they rotate to a position where 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 O, around the rotation axis 48 set to extend along the X axis. Bin 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 higher than the height h+ of the small center of the holes Ha, Hb from the horizontal plane S1, the inversion module M1
After starting, the height h2 of the center of the bottom surface of both pins Pa and Pb from the horizontal plane S1 is set to be slightly higher.

After this, the Z-axis arm 20 is moved a predetermined distance k along the y-axis direction.
. As shown by the symbol P3, the pins Pa and Pb are moved directly above the slope S2 of the holes Ha and Hb (that is, the holes Ha and Hb and the bottles Pa and Pb are 2. Position them so that they are in alignment with each other. Here, the predetermined distance k
. Is the following l? It is calculated from the IQ formula. That is, ko = ni + (h+ +ho hll)tan
θHere, kl: Distance on the horizontal plane S from the midpoint of both pins Pa and Pb at the installation position to the center point of both holes Ha and Hb, and the distance from the rotation axis 48 to the gripped bottle Pa .

Distance to the bottom of pb After that, 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 bottles Pa and Pb into the corresponding holes H.
Insert into a and Hb, respectively.

Here, for this insertion operation, as described above,
In the compliance module M, 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 a pair of bottles Pa and Pb into a pair of holes Ha and Hb arranged in parallel on an inclined surface along different axes, the robot 12 side , it is sufficient to simply move independently along the y-axis, y-axis, and Z-axis directions (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, and there is no need to directly perform the insertion operation, which simplifies the control of the robot 12.

In particular, in the hand mechanism IO 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, product changes, design changes, etc. occur, and it becomes necessary to change the posture change operation in the finger portion F7.Even if it is necessary to change the movement amount etc. of only the module in charge of the posture change element where the change occurred, All you have to do is change the settings or design (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 time, and Other modules that do not need to be changed in settings can be used as they are, providing a hand mechanism 10 that is extremely economical.

Next, five types of modules M+ + M2 + Ma
The arrangement order from the mounting plate 22 to the finger part F is when +M, , M5 are grouped together. First, as a first condition, in this group, the reversing module M is located closest to the mounting plate 22 side. It is to be. In other words, the other modules M2, M3.

M4. M is located closer to the finger portion F than M. Next, as a second condition, shift module M
2 and the rotation module M3 are the cushion module M
4 and compliance module M, mounting plate 22
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 changed, and the order of the cushion module M and the compliance module M5 can also be changed.

As a result, in the above-described embodiment, the modules are arranged in the following order from the mounting plate 22 to the finger F: (1) M, → M2 → M3 → M4 → M5. (The following three types of arrangement orders are considered optimal when performing the above-mentioned insertion operation.

(2) M, →M2 →M3 →M5 →M4 (3)
M, -M3 →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, then this shift module M2 The shift direction (movement direction) achieved by M is limited to the vertical axis direction, and as a result, the movement of inserting the bottle into the hole formed in the inclined surface S2 is performed by this shift module M.
2 makes it impossible to execute. 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, based on this positional shift (the impact due to interference It will act directly on the shift module M2 or the cushion module M4 before being absorbed in the cushion module M4.Therefore, the 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, in order to protect the shift module M2 and the swing module M3 from the action of the component force F0 due to positional deviation, it is essential to position them 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 interchanged, no problem will arise.

Furthermore, regarding the third condition, which is the interchangeability of the arrangement order of the cushion module "4" and the compliance module M, since both operate passively, it is not possible to prioritize one over the other. Even if the arrangement order of the two is swapped, 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 M1.

M2, M3. Although the explanation has been made to include both M4 and M5, this means that the pair of bottles Pa and Pb, which are spaced apart along the axis C1 on the horizontal plane S1, are attached to the lower part of the hand mechanism 10, as described above. This configuration is necessary when carrying out the operation of gripping the finger part F at once and inserting it all at once into a pair of holes Ha and Hb spaced apart along the axis C2 on the inclined surface S2. The invention is not limited to such a configuration, but when performing other operations, the operation elements that are essential for realizing the necessary posture change operation in the finger portion F can be implemented by using these five types of modules. M+, M2, Ma,
M4. This can be achieved by arbitrarily combining Ms.

In addition, in the above-described embodiment, when five types of modules M+, Mx, Mm 5M41M5 are grouped, this hand mechanism IO is connected to the module M of the group.
,,M2. M3. M4. Although the present invention has been described as consisting only of Ms, the present invention is not limited to such a configuration, and may be configured to include a swing module M3 closer to the mounting plate 22 than this group, for example. . By further providing the rotation module M3 in this manner, there is no need 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). It becomes possible to simplify the configuration.

[Effects of the Invention] As detailed above, the hand mechanism of the robot 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. Inversion operation, shift operation,
The modules for performing each element movement of rotation movement, cushion movement, and compliance movement are independent.
A reversing module, a shift module, or a turning module, and
It is characterized by being set in the order of cushion module or compliance module.

Further, in the robot hand mechanism according to the present invention, the arrangement order of the modules from the arm section to the finger section is set to be the order of the inversion module, shift module, rotation module, cushion module, and compliance module. It is characterized by

Further, in the robot hand mechanism according to the present invention, the arrangement order of the modules from the arm section to the finger section is set to be the inversion module, the rotation module, the shift module, the cushion module, and the compliance module. It is characterized by

Further, in the robot hand mechanism according to the present invention, the arrangement order of the modules from the arm section to the finger section is set to the inversion module, shift module, rotation module, compliance module, and cushion module. It is characterized by

Further, in the robot hand mechanism according to the present invention, the arrangement order of the modules from the arm section to the finger section is set to the order of the inversion module, the rotation module, the shift module, the compliance module, and the cushion module. It is characterized by

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 D-D in FIG. 4C, respectively.
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-E 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. 6D is a view showing D in FIG. - A longitudinal sectional view taken along line D; Figure 7A is a perspective view showing the configuration of the turning module shown in Figure 1; Figures 7B to 7D are each shown in Figure 7A. A top view, a front view, and a bottom view of the swing module; FIGS. 7E and 7F are cross-sectional views taken along line E-E in FIG. 7C and line F-E in FIG. 7E, respectively. and a longitudinal sectional view; FIGS. 8A to 8C are top views showing the configuration of the cushion module shown in FIG. 1 in detail, respectively;
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; 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 bin, D2... Distance apart between positioning bins, Fo... Component force, H; Ha; Hb... Hole, P; Pa; Pb... Bin (article to be gripped), S ... Inclined surface, T... Taber surface, [Hand mechanism] 10... Hand mechanism, F... Finger section, M...
・Reversing module, M2...Shift module, M3
... Rotating module, M4... Cushion module, M5... Compliance module, [Robot Co. 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 hole, 22b...Positioning pin, 24.
...X-axis drive motor, 26...y-axis drive motor,
28... Z-axis circumferential drive motor, [Finger F] 30... Frame member, 32a→32b... Guide shaft, 34a; 34b-slide member, 36a+; 36a
2 ; 36bz ; 36b2''' slide bush,
38a; 38b...Mounting piece, 40...Coil spring, 42a; 42b...Pneumatic cylinder mechanism, 4
2 a + ; 42 b + ”・Cylinder chamber, 4
2a2; 42b2...Through hole, 42 C3; 42
b3...Piston body, 42a<;421:z...
・Compressed air introduction passage, 44a; 44b...Stopper member, 46a...Mounting screw hole, 46b...Positioning hole, 46c...Positioning groove, [Reversing module M,] 48...Rotation Shaft, 50a; 50b... Mounting base, 52a... Upper mounting stay, 52bl; 5
2b2... Lower mounting stay, 54a; 54b.
...Bearing member, 56...Through hole, 58...Pinion gear, 60a; 60b...Pneumatic cylinder mechanism, 60a+
;60b+...Cylinder chamber, 60a2;60b2
... Piston, 60a3; 60ba-rack member, 60a4; 60b4... Compressed air introduction passage, 62
... Rotation amount regulating hole, 64a; 64b = Rotation amount regulating member, 66a; 66b... Stay, 68a; 68b
...Stopper bin, 70a...Mounting screw hole, 70
b...Through mounting hole, 70c...Positioning hole, 70
d... Positioning groove, 70e... Positioning bin, [Shift module M2] 72a; 72b... Mounting base, 74... Main body part, 78, 74b... Overhanging piece, 76... Pneumatic pressure Cylinder mechanism, 78... cylinder chamber, 78a; 78b
... Cylinder compartment, 80a; 80b... Guide hole, 82a... Piston rod, 82b... Piston, 84a; 84b... Guide rod, 86a...
Upper shift position regulating member, 86b...support rod, 8
6c... Downward shift position regulating member, 88a... Screw hole for mounting, 88b... Through hole for mounting, 88c... Positioning hole, 88d... Positioning groove, 88e... Positioning pin, [ Rotation module M3] 90... Rotation support shaft, 92a; 92b... Mounting base, 94... Main body portion, 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; 1
10b... Piston, 112... Piston rod,
114... Rack, 116a; 116b... Compressed air introduction passage, 118... Rotation amount regulating hole, 120a; 1
20 b...Rotation amount regulating member, 122a; 122
b... Stay, 124a; 124b... Stopper pin, 126a... Screw hole for mounting, 126b... Through hole for mounting, 126c... Positioning hole, 126d...
Positioning groove, 126e...Positioning pin, [Cushion module MJ] 128a; 128b-...Mounting base, 130a; 13
0b...Guide pin, 132a→132b...Stepped through hole, 132 at; 132 b+...Small diameter through hole portion, 132 a2; 132 b2
"'Large diameter through hole portion, 134 a; 134 b-・
・Slide bearing, 136 a; 136 b--flange member, 138... coil spring, 140
a... Screw hole for mounting, 140b... Through hole for mounting,
140c...Positioning hole, 140d...Positioning groove, 140e...Positioning pin, [Compliance module M,] 142a; 142b-...Mounting base, 144;146...Compliance mechanism,
144a...first shaft member, 144b...second shaft member, 144C...support pin, 144d...cut groove, 144e...biasing member, 148.150...lock mechanism , 148a... Schilling chamber, 148b... Piston, 148C... Lock pin, 148d... Coil spring, 148e... Stopper member, 148
f...lock hole, 148g...compressed air introduction passage,
152... Main body part, 154... Flange member, 1
56... Engagement member, 158a; 158b... Ball bearing, 160a... Screw hole for mounting, 160b.
...Through mounting hole, 160C...Positioning hole, 160
d...Positioning groove, 160e...Positioning pin. Patent applicant Canon Co., Ltd. agent Patent attorney Yasunori Otsuka (and 1 other person) 86b82o
82b/ 86c'-/'i! IlJ] "=1 Qing Ying So TF in hC
1=(No can *Figure 8A Figure 8B Figure 9A Figure 98 Figure 9D Figure 9E Figure 108 Figure 10A Figure 10C Figure 11

Claims (5)

[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 Modules for performing motion are provided independently and can be combined with each other, and the arrangement order of these modules from the arm part to the finger part is an inversion module, a shift module or a rotation module, and a cushion module or compliance module. A robot hand mechanism characterized by being set in the order of. (2) The arrangement order of the modules from the arm section to the finger section is set to the order of the inversion module, the shift module, the rotation module, the cushion module, and the compliance module. The robot hand mechanism described in . (3) The arrangement order of the modules from the arm section to the finger section is set in the following order: inversion module, rotation module, shift module, cushion module, and compliance module. The robot hand mechanism described in . (4) The arrangement order of the modules from the arm section to the finger section is set to the order of the inversion module, shift module, rotation module, compliance module, and cushion module. The robot hand mechanism described in . (5) The arrangement order of the modules from the arm section to the finger section is set in the order of the inversion module, the rotation module, the shift module, the compliance module, and the cushion module. The robot hand mechanism described in .