JPH0796487A - Floating support device of hand - Google Patents

Abstract

PURPOSE:To effectively prevent the biting and twisting in install parts, etc., and constitute the whole device in a compact manner. CONSTITUTION:A moving member 30 is provided in a movable manner in X and Y directions and in a turnable manner in the direction of alpha through a guide means 20 having a plurality of steel balls 23 in a housing 10 which is fixed to a hand mounting part of a robot, and a turning member 50 is held in the moving member 30 through a spherical receiving means 40 in a turnable manner in the directions of alpha and theta around the center P. In addition, the positional deviation in assembling the parts, etc., is absorbed through the guide means 20 and the spherical receiving means 40, and a positioning ball 71 is pressed against a tapered surface 69a by driving a piston member 62 provided in the turning member 50 upward, and a hand 3 is returned to the initial position without any positional deviation.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a hand floating support device suitable for an articulated robot or the like.

[0002]

2. Description of the Related Art Generally, in an assembly line or a manufacturing line for automobiles, electronic devices, etc., a large number of articulated robots are installed in order to automate work on the line as much as possible. For example, in an engine assembly line, The engine set on the pallet is tact-fed together with the pallet by the carrier, and the articulated robot performs assembly work of parts to the engine in order. It may be difficult to assemble parts accurately at a desired position of the engine due to the influence of manufacturing accuracy of the engine. Therefore, in order to absorb the positional deviation between the parts held by the hand of the articulated robot and the engine carried by the carrier device, the articulated robot having a floating support device interposed between the arm and the hand is also widely adopted.

As the floating support device, for example, a device in which an arm and a hand are connected by an elastic body such as rubber or a spring (see Japanese Patent Application Laid-Open No. 4-24173) or a hand through a plurality of steel balls or the like is used. One that is movably supported by an arm and that is configured to return the hand to an initial position with no displacement by an elastic body such as a spring (JP-A-4-3).
No. 31088) has been proposed, but in this type of floating support device, the hand is returned to the initial position as the positional deviation between the work such as the engine and the parts assembled to the work increases. The urging force of the elastic body becomes large, which may cause a problem that a work or a part is damaged or damaged during assembly.

For this reason, various types have been proposed in which the air cylinder is used to perform the returning operation of the hand to the initial position so that the pressure contact force between the work and the component becomes small. For example, in Japanese Unexamined Patent Publication No. 5-104473, a disk-shaped floating flange is provided at the base end of a hand,
A housing surrounding the floating flange is provided on the arm, and a plurality of steel balls that come into contact with the upper and lower wall portions of the housing are mounted on the upper and lower sides of the floating flange, and the hand includes the floating flange through the plurality of steel balls. The air cylinder is supported so that it can move in the x and y directions in the plane, and can freely rotate in the α direction around the axis of the floating flange, and four air cylinders are radially installed in the upper part of the housing. A floating support device is described which is configured to return the floating flange to an initial position without misalignment.

In Japanese Utility Model Application Laid-Open No. 60-186139, an intermediate housing is rotatably supported at the tip of an arm via a first spherical receiving means, and a second spherical receiving means is provided at the distal end of an intermediate housing. By rotatably supporting the hand via the, the hand is supported in the θ direction around the center of the pair of spherical surfaces via the first and second spherical surface receiving means, and by combining the spherical surface receiving means with each other in the x direction. , The y-direction is movable and the α-direction and the θ-direction are rotatable, and the first spherical surface receiving means is passed through the tip of the arm.
There is described a floating support device in which an air cylinder having a piston rod fitted to the taper surface of the second spherical surface receiving means is provided at the tip portion, and the hand is returned to the initial position by the air cylinder.

[0006]

However, in the floating support device described in Japanese Patent Laid-Open No. 5-104473, since the hand does not rotate in the θ direction, the degree of freedom of movement of the hand when absorbing the positional deviation is limited. , It is not possible to effectively prevent galling and prying when assembling parts, etc., and because four air cylinders are incorporated in the upper part of the housing, the floating support device becomes large in the vertical direction and the manufacturing cost is high. There are problems such as becoming. Further, in the floating support device described in Japanese Utility Model Laid-Open No. 60-186139, since the hand is supported through the pair of spherical surface receiving means, the behavior of the hand is not stable when the positional deviation is absorbed. Since the spherical receiving means are vertically connected, there is a problem that the floating support device becomes large in the vertical direction.

An object of the present invention is to support the hand movably in the x and y directions and to pivot it in the .alpha. And .theta. Directions to effectively prevent galling and prying when assembling components. Another object of the present invention is to provide a floating support device for a hand that can be compactly configured as a whole.

[0008]

A hand floating support device according to a first aspect of the present invention is a hand floating support device interposed between a hand mounting portion of an industrial machine having a hand and the hand, Fixed to the part, and a flat plate-shaped fixing part having an annular reference surface formed in the vicinity of the outer edge of the end face on the hand side, and extending from the outer edge part of the fixing part to the hand side, a columnar accommodating space is formed inside. A peripheral wall portion and an annular receiving portion that extends inwardly from the hand-side end of the peripheral wall portion and that has an annular receiving surface formed in parallel with the reference surface at a position facing the reference surface. Housing,
A substantially cylindrical tubular portion provided in the housing with a space from the inner peripheral surface of the housing and with its axis oriented in the same direction as the accommodating space, and a reference surface from the end of the tubular portion on the fixed portion side. And a moving member having an annular flange portion extending between the receiving surfaces,
Guide means for holding the flange portion of the moving member between the reference surface and the receiving surface via a plurality of steel balls and movably guiding it in a plane parallel to the reference surface, and one end portion mounted in the tubular portion. Is interposed between the rotating member fixed to the hand and the outer peripheral surface of the rotating member and the inner peripheral surface of the cylindrical portion, and has a center on the axial center of the cylindrical portion and has a constant width including the center. Spherical surface receiving means for rotatably holding the rotating member on the cylindrical portion via the partial spherical surface and immovable in the axial direction of the cylindrical portion, and attitude return for returning the hand to an initial position free from positional displacement by fluid pressure. And means.

Here, as in the apparatus according to the second aspect, the posture returning means includes a cylinder hole formed concentrically with the cylindrical portion in the rotating member when the hand is returned to the initial position. , At least three guide holes penetrating through a wall surface of the rotating member facing the cylinder hole on the fixed portion side and opening to the fixed portion side, and a conical posture formed on the fixed portion so as to face the guide holes. A return recess, a piston member mounted in the cylinder hole, the piston member having a pin member extending into the guide hole, and a positioning member mounted in the guide hole between the pin member and the attitude return recess without any gap. A positioning ball having a diameter such that the center of the positioning ball is always positioned in the guide hole in a state where the positioning ball is in pressure contact with the tapered surface of the posture returning recess,
In a preferred embodiment, the positioning ball is provided with a rotation restricting means for restricting the rotation range of the rotating member with respect to the housing so that the tip end of the positioning ball on the fixed part side always faces the formation range of the attitude return recess. .

Further, as in the apparatus according to the third aspect, it is preferable that the rotating member is provided with an annular piston that abuts on the hand-side tip of the tubular portion and presses the tubular portion toward the fixed portion. Here is an example.

[0011]

In the floating support device for a hand according to the first aspect, the moving member is housed in the housing fixed to the hand mounting portion of the industrial machine, and is parallel to the reference plane through the plurality of steel balls in the housing. A movable member guided in a movable plane, one end of which is fixed to the hand is housed in the movable member, and is rotatably held by the movable member through the partial spherical surface in the movable member, The hand is movable in the x and y directions in a plane parallel to the reference plane via the floating support device, is rotatable in the α direction around the axis of the moving member, and is rotatable about the center of the partial spherical surface. It is rotatably supported in the hand attachment portion so as to be rotatable in the θ direction.

As described above, since the hand can be floatingly supported so as to be movable in the x direction and the y direction and rotatable in the α direction and the θ direction, it is possible to smoothly perform the work of assembling the parts to the work. Become. In addition, the hand is supported in a floating manner through a plurality of steel balls and spherical surfaces to reduce the movement resistance of the hand in the floating support state,
Moreover, since it can be set uniformly regardless of the amount of movement, it becomes possible to reliably prevent galling, prying, etc. when assembling components. Furthermore, since the hand is supported in a floating manner via the moving member and the rotating member that are concentrically provided in the housing, the entire floating support device can be made compact.

Here, in the apparatus according to claim 2,
A cylinder hole is formed in the rotating member, and at least three guide holes are provided in a wall surface of the rotating member facing the cylinder hole on the fixed portion side in a penetrating manner toward the fixed portion side, and the fixed portion corresponds to the guide hole. When the piston member mounted in the cylinder hole is moved to the fixed part, the positioning ball mounted in the guide hole is used for the position returning by the pin member fixed to the piston member. The hand is pressed against each of the recesses, and the hand is returned to the initial position in the x direction, the y direction, the α direction, and the θ direction. As described above, since the posture of the hand can be returned to the initial position by one cylinder provided in the rotating member, the posture returning means can be incorporated in the floating support device without increasing the size of the entire device. Moreover, since the posture can be restored with one cylinder, the manufacturing cost of the floating support device can be reduced.

In the apparatus according to the third aspect of the present invention, since the rotating member is provided with the annular piston which comes into contact with the tip end of the tubular portion on the hand side and can press the tubular portion toward the fixed portion, the annular piston is used. , By pushing the tubular part toward the fixed part, it is possible to return the hand to the initial position only in the θ direction. For example, even if the center of gravity of the part is eccentric from the center axis of the hand, only in the θ direction. By holding the hand at the initial position, it becomes possible to reliably prevent galling, prying, etc., during parts assembly and the like.

[0015]

Embodiments of the present invention will be described below with reference to the drawings. This embodiment is a case where the present invention is applied to a floating support device for a hand interposed between an arm of a robot and a hand. In this example,
The arm side is defined as the upper side and the hand side is defined as the lower side in the description.
As shown in FIGS. 1 and 2, the floating support device 1
Is interposed between the hand attachment portion 2a provided at the tip of the arm 2 and the hand 3, and as shown in FIG. 1, the hand 3 is movable in the x and y directions with respect to the arm 2 and z. By rotatably supporting in the α direction around the axis and in the θ direction around the center P, the positional deviation between the component 4 and the work 5 held by the hand 3 is absorbed.

The floating support device 1 is shown in FIG.
As shown in FIG. 3, the housing 10 fixed to the hand mounting portion 2 a and the housing 10 via the guide means 20.
A movable member 30 provided inside the movable member 30 so as to be movable in the x-direction and the y-direction and rotatable in the α-direction, and one end of which is fixed to the hand 3 by being attached to the movable member 30. The rotating member 50 which is rotatable in the α direction and the θ direction via the spherical surface receiving means 40, and the moving member 30 and the rotating member 50 with respect to the housing 10 are returned to the initial position shown in FIG. And a posture returning means 60 for allowing the posture to be restored.

The housing 10 will be described below.
As shown in FIGS. 2 to 5, a flat plate-shaped fixing plate (this corresponds to the fixing portion) 11 is provided on the lower surface of the hand attaching portion 2a.
Is fixed to the lower end surface of the fixed plate 11, and four housing main bodies 12 having a peripheral wall portion 12a extending downward from the outer edge portion of the fixed plate 11 and an annular receiving portion 12b extending inward from the lower end of the peripheral wall portion 12a. It is fixed to the fixing plate 11 via the bolt 13 and has a substantially cylindrical accommodation space 14 formed inside the peripheral wall portion 12a. The fixing plate 11 is parallel to the lower surface of the hand attaching portion 2a inside the peripheral wall portion 12a. A reference ring member 15 having a circular reference surface 15a is provided, and the reference surface 15 is provided on the upper surface of the annular receiving portion 12b.
pressure receiving ring member 1 having an annular receiving surface 16a parallel to a
6 is provided so as to face the reference ring member 15.

As shown in FIG. 3 and FIG. 5, the moving member 30 has a substantially cylindrical tubular portion 31 provided in the accommodating space 14 with its axis oriented in the vertical direction, and near the upper end of the tubular portion 31. Has a ring-shaped flange portion 32 extending between the reference ring member 15 and the pressure receiving ring member 16, and absorbs positional deviation in the x direction and the y direction between the outer peripheral surface of the moving member 30 and the housing 10. A misalignment absorption gap 33 for forming is formed.

The guide means 20 will be described.
As shown in FIGS. 3 and 7, a holding ring 21 is provided between the flange portion 32 and the reference ring member 15 and between the flange portion 32 and the pressure receiving ring member 16, respectively.
Through holes 22 are formed at predetermined intervals around the circumference, steel balls 23 are attached to the through holes 22, and the steel balls 23 attached to the through holes 22 of the upper retaining ring 21 have an upper end portion thereof. Is in contact with the reference surface 15a, the lower end is in contact with the upper surface of the flange 32, and the upper end of the steel ball 23 mounted in the through hole 22 of the lower holding ring 21 is the lower surface of the flange 32. , The lower end portion is in contact with the receiving surface 16a, and the moving member 30 has the flange portion 32 supported between the reference ring member 15 and the pressure receiving ring member 16 via the upper and lower steel balls 23, It is held in the housing 10 immovably in the vertical direction and movably in the x, y, and α directions. Incidentally, reference numeral 24 is a cushion material which comes into contact with the outer peripheral end of the flange portion 32 to regulate the movement of the moving member 30 in the x direction and the y direction.

The spherical receiving means 40 will be described. As shown in FIGS. 3, 5, and 7, an annular rotation support ring 41 is provided on the outer peripheral portion of the rotation member 50 in the cylindrical portion 31.
Is fixed, and the cylindrical portion 31 is attached to the outer peripheral surface of the rotation support ring 41.
Has a center P on the axis of, and a partial spherical surface 42 having a constant width including the center P is formed, and a spherical spherical receiving surface 43 for receiving the partial spherical surface 42 is formed in the upper portion of the moving member 30. The rotating member 50 is held by the moving member 30 so as to be rotatable around the center P of the partial spherical surface 42 in the θ direction.

Two pairs of notches 44 are formed on the spherical receiving surface 43 of the moving member 30 so as to face each other with the center P in between, and the notches 44 are formed in the vertical direction. The width between the inner ends of the pair of cutouts 44 that are set to be larger than the width of the rotation support ring 41 is set to be larger than the outer diameter of the rotation support ring 41. The movable member 3 through the notch 44 facing each other
The rotary support ring 41 is mounted in the spherical receiving surface 43 by mounting the rotary support ring 41 in the spherical receiving surface 43.

As shown in FIGS. 3 and 5, the rotating member 50 basically comprises a lid member 51, a cylinder case 52 and a mounting plate 53, and the lid member 51 and the cylinder case 52 are cylindrical. The rotation support rings 41, which are vertically arranged in the portion 31, are fitted around the outer circumference of the lower half of the lid member 51 and the outer circumference of the upper half of the cylinder case 52, and are attached by four bolts 54. By connecting the lid member 51 and the cylinder case 52, the lid member 51 and the cylinder case 52 are sandwiched and fixed between them. The mounting plate 53 is fixed to the lower surface of the cylinder case 52 via four bolts 55, the outer peripheral portion thereof is extended below the annular receiving portion 12b, and the upper surface of the outer peripheral portion is the lower surface of the annular receiving portion 12b. A ring-shaped seal member 56 having a lip portion 56a that is pressed into contact with is attached.

Next, the posture returning means 60 for returning the hand 3 to the initial position with no positional deviation will be described.
As shown in FIGS. 3 to 6, a cylinder hole 61 is formed in the cylinder case 52 in the vertical direction, and the cylinder hole 6 is formed.
1, a piston member 62 is slidably mounted, and the piston member 62 is constantly urged downward by a spring member 63 provided on the upper side thereof. A working chamber 64 is formed below the piston member 62, an air passage 65 that opens to the working chamber 64 is formed in the center of the lower wall of the cylinder case 52, and the center of the upper half of the mounting plate 53 is formed. In the portion, an air passage 66 is formed that extends in the vertical direction and is continuous with the air passage 65, and further has a lower end portion that extends in the radial direction and opens to the outer peripheral surface of the mounting plate 53. When pressurized air is supplied through the piston member 62,
It is configured to move upward against the biasing force of.

Above the piston member 62, three guide holes 67 are formed in the cover member 51 at circumferentially equidistant positions, and the fixing plate 11 has three mounting recesses 68 corresponding to the three guide holes 67. And a positioning member 76 having a conical concave posture-returning concave portion 69 that spreads downward is fixed to each of the three mounting concave portions 68,
The piston member 62 is provided with a returning pin member (which corresponds to a returning projection) 70 extending into the guide hole 67, and the pin member 70 and the posture returning recess 6 are provided in the guide hole 67.
Positioning balls 71 are mounted movably up and down in the guide holes 67 with substantially no space between the guide holes 67.
The center of the positioning ball 71 is set to have a diameter such that the center of the positioning ball 71 is always positioned in the guide hole 67 in a state of being pressed against the tapered surface 69a of No. 9.

The lid member 51 is provided with a pair of restricting pins 72 extending upward, and the fixed plate 11 is provided with a pair of mounting recesses 73 corresponding to the restricting pins 72. A rotation restricting sleeve 74 is mounted therein, and an upper half portion of the restricting pin 72 is loosely fitted in the rotation restricting sleeve 74. By the rotation restricting means 75 including the restricting pin 72 and the restricting restricting sleeve 74, The turning range of the turning member 50 with respect to the housing 10 in the α direction is regulated so that the upper end of the positioning ball 71 always faces the formation range of the posture returning recess 69.

An annular cylinder hole 80 is formed near the outer periphery of the upper half of the mounting plate 53, and an annular piston 81 is vertically slidably mounted in the cylinder hole 80.
An annular working chamber 82 is formed below the annular piston 81, and an air passage 83 is formed in the mounting plate 53, one end of which opens to the annular working chamber 82 and the other end of which opens to the outer peripheral surface of the mounting plate 53. By supplying the pressurized air through the air passage 83, the annular piston 81 moves upward. The upper end of the inner peripheral portion of the annular piston 81 is arranged to face the lower end of the outer peripheral portion of the cylinder case 52, and the upper end of the outer peripheral portion of the annular piston 81 is arranged to face the lower end of the tubular portion 31 of the moving member 30.
With the hand 3 held at the initial position, the lower end of the outer peripheral portion of the cylinder case 52 and the lower end of the tubular portion 31 are arranged at the same height.

Next, the operation of the floating support device 1 will be described. When the parts 4 and the like held in the hand 3 are assembled to the work 5 such as an automobile, the working chambers 64, 82
Will be opened to the atmosphere and the hand 3 will be assembled in a floating-supported state. That is, when the working chambers 64 and 82 are opened to the atmosphere, as shown in FIG. 7, the urging force of the spring member 63 moves the piston member 62 to the lower portion of the cylinder hole 61, and the positioning ball 71 is substantially completely inside the guide hole 67. And the movable member 30 is movable in the x direction and the y direction from the initial position via the plurality of steel balls 23 of the guide means 20 and is rotatable in the α direction around the axis of the tubular portion 31. At the same time, the annular piston 81 can be moved up and down, the rotating member 50 is rotatable about the center P through the spherical surface receiving means 40 in the α direction and the θ direction, and the hand 3 is floatingly supported. As a result, the positional deviation between the work 5 and the component 4 during assembly is absorbed.

When the hand 3 is returned to the initial position only in the θ direction, pressurized air is supplied to the annular working chamber 82. That is, when the pressurized air is supplied to the annular working chamber 82, the annular piston 81 moves upward, the lower end of the tubular portion 31 of the moving member 30 is pushed upward, and the tubular portion 3
The rotating member 50 moves to the center P until the height position of the lower end of 1 becomes the same as the height position of the lower end of the outer peripheral portion of the cylinder case 52.
The hand 3 is rotated to return to the initial position in the θ direction. Incidentally, in this state, the hand 3 has the guide means 20.
It is supported by the housing 10 so as to be movable in the x direction and the y direction and rotatable in the α direction via.

On the other hand, when the hand 3 is returned to the initial position in the x direction, y direction, α direction, and θ direction, the working chamber 6
Pressurized air is supplied to No. 4. That is, when pressurized air is supplied to the working chamber 64, the pin member 70 moves upward together with the piston member 62, and the three positioning balls 71 move from the state shown in FIG. The moving member 30 moves in the x direction and the y direction and rotates in the α direction in an attempt to move to the innermost end of the hand 3 as shown in FIG.
Direction, the initial position in the α direction will be restored. Also,
The rotating member 50 is urged downward by a reaction force caused by the positioning ball 71 being pressed against the inner end of the tapered surface 69a,
The rotating member 50 rotates around the center P, the rotating member 50 returns to the initial position in the θ direction, and the hand 3 returns to the initial position.

As described above, the displacement in the x direction and the y direction is caused by moving the moving member 30 through the plurality of steel balls 23 into the housing 10.
It is absorbed by holding it movably with respect to
The positional deviation in the direction is absorbed by rotatably supporting the rotary member 50 with respect to the moving member 30 via the partial spherical surface 42, and the positional deviation in the α direction is absorbed by the moving member 30 and the rotary member 50.
Both of them are absorbed by the rotation, and even if the amount of positional deviation becomes large, it is possible to absorb the positional deviation by applying a constant force to the moving member 30 and the rotating member 50. 4 and the work 5 can be prevented from being rusted or bited, and the hand 3 is floatingly supported via a rigid body such as the steel ball 23 or the rotation support ring 41, so that the hand 3 can be moved in the z-axis direction. Sufficient allowable stress for tensile stress and compressive stress can be secured.

Further, since the moving member 30, the rotating member 50, and the piston member 62 are concentrically provided in the housing 10, the floating supporting device 1 as a whole can be made compact. Further, with the simple structure in which the mounting plate 53 is provided with the annular piston 81, it is possible to lock the initial position only in the θ direction.

In the above embodiment, the fixed plate 11 is attached to the tip of the arm 2 and the hand 3 is fixed to the attachment plate 53. However, the attachment plate 53 is fixed to the tip of the arm 2 and the hand 3 is attached to the fixed plate 11. May be attached. Further, the air passages 66 and 83 may be communicated with each other in the mounting plate 53, and the annular piston 81 and the piston member 62 may be simultaneously moved up and down.

When it is not necessary to lock the hand 3 in the initial position only in the θ direction, as shown in FIG.
It is possible to omit the annular piston 81. Also,
In this case, the lower end portion of the cylinder case 52 and the tubular portion 31
It is preferable that a hollow or solid ring member 90 made of synthetic rubber that restricts the movement of the hand 3 in the θ direction is mounted between the lower ends of the hands 3 to prevent the hand 3 from wobbling. Further, as shown in FIG. 8, the substantially central portion of the cylinder case 52 is projected downward so as to penetrate the mounting plate 53, and the air passage 66
Alternatively, the air passage 65 may be opened downward, and the hand 3 fixed to the mounting plate 53 may be formed with an air passage (not shown) that opens into the air passage 65.

Although the piston member 62 and the annular piston 81 are driven by pressurized air in this embodiment, they may be driven by hydraulic pressure or the like. Also, the robot arm 2
Although the floating support device 1 is provided between the hand 3 and the hand 3, the present invention can be similarly applied to the floating support device provided between the hand attachment part of the industrial equipment other than the robot and the hand.

[0035]

According to the floating support device for a hand according to the first aspect of the present invention, it is movable in the x direction and the y direction, and α
The hand can be floatingly supported in the direction of rotation, the direction of θ, and the work such as assembling parts to the work can be performed smoothly. The movement resistance of the hand in the floating support state is small and the movement amount can be reduced. Since it can be set uniformly regardless of whether it is possible to reliably prevent galling or prying when assembling parts,
Since the hand is supported in a floating manner via the moving member and the rotating member that are concentrically provided in the housing, it is possible to obtain an effect such that the entire floating supporting device can be configured in a small size.

According to the device of claim 2, the hand can be returned to the initial position by the single cylinder provided in the rotating member, so that the size of the device as a whole is not increased.
Since the posture returning means can be incorporated in the floating support device and the posture can be returned by one cylinder, the manufacturing cost of the floating support device can be reduced.

According to the apparatus of the third aspect, the annular piston presses the tubular portion toward the fixed portion, whereby the hand can be returned to the initial position only in the θ direction.
Without rotating the hand in the θ direction, the x direction, the y direction, the α
It is possible to position the parts, etc. by moving them in the direction. For example, even when the center of gravity of the parts is eccentric from the center axis of the hand, by holding the hand at the initial position only in the θ direction, when assembling the parts, etc. It is possible to reliably prevent galling, prying, etc.

[Brief description of drawings]

FIG. 1 is an operation explanatory view of a floating support device.

FIG. 2 is a side view of a floating support device and its vicinity.

FIG. 3 is a vertical sectional view of a floating support device.

4 is a sectional view taken along line IV-IV of FIG.

5 is a sectional view taken along line VV of FIG.

[Fig. 6] Bottom view of the mounting plate

FIG. 7 is a diagram corresponding to FIG. 3 illustrating the operation of the floating support device.

FIG. 8 is a vertical sectional view of a modification of the floating support device.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 Floating support device 50 Rotating member 2 Arm 51 Lid member 2a Hand mounting part 52 Cylinder case 3 Hand 53 Mounting plate 4 Parts 54 Bolt 5 Work piece 55 Bolt 10 Housing 56 Seal member 11 Fixing plate 56a Lip part 12a Peripheral wall part 60 Posture return Means 12b Annular receiving part 61 Cylinder hole 12 Housing body 62 Piston member 13 Bolt 63 Spring member 14 Storage space 64 Working chamber 15 Reference ring member 65 Air passage 15a Reference surface 66 Air passage 16 Pressure receiving ring member 67 Guide hole 16a Receiving surface 68 Mounting Recessed portion 30 Moving member 69 Posture return recessed portion 31 Cylindrical portion 69a Tapered surface 32 Flange portion 70 Pin member 33 Position misalignment absorption gap 71 Positioning ball 20 Guide means 72 Restriction pin 21 Holding ring 73 Mounting recessed portion 22 Through Hole 74 Rotation Restricting Sleeve 23 Steel Ball 75 Rotation Restricting Means 24 Cushion Material 76 Positioning Member 40 Spherical Receiving Means 80 Cylinder Hole 41 Rotating Support Ring 81 Annular Piston 42 Partial Spherical 82 Annular Working Chamber 43 Spherical Receiving Surface 83 Air Passage 44 Notch 90 Ring member

Claims (3)

[Claims] 1. A floating support device for a hand, which is interposed between a hand attaching portion of an industrial machine having a hand, and which is fixed to the hand attaching portion, and has an annular shape near an outer edge of an end face on the hand side. A flat plate-shaped fixing part having a reference surface, a peripheral wall part extending from the outer edge part of the fixing part to the hand side and having a cylindrical accommodation space inside, and an inner part from the hand side end of the peripheral wall part. A housing having an annular receiving portion that extends, the annular receiving portion having an annular receiving surface formed in parallel with the reference surface at a position facing the reference surface; and a space in the housing with respect to an inner peripheral surface of the housing. And a substantially cylindrical tubular portion provided with its axis oriented in the same direction as the accommodating space, and an annular flange portion extending from the end of the tubular portion on the fixed portion side to between the reference surface and the receiving surface. A moving member and a plurality of flange portions of the moving member. Guide means for holding between the reference surface and the receiving surface via a steel ball and movably guiding in a plane parallel to the reference surface; and a rotating member mounted in the cylindrical portion and having one end fixed to the hand. And the rotating member is provided between the outer peripheral surface of the rotating member and the inner peripheral surface of the cylindrical portion, has a center on the axial center of the cylindrical portion, and has a partial spherical surface having a constant width including this center. A spherical receiving means for rotatably and immovably held in the tubular portion in the axial direction of the tubular portion; and a posture returning means for returning the hand to an initial position free of positional deviation by fluid pressure. A floating support device for the hand. 2. The posture returning means includes a cylinder hole formed concentrically with the cylindrical portion in the rotating member in a state where the hand is returned to the initial position, and fixing the rotating member facing the cylinder hole. At least three guide holes penetrating the wall surface on the part side and opening to the fixed part side, conical posture returning recesses respectively formed on the fixed part facing the guide hole, and mounted on the cylinder hole. A piston member having a pin member extending into the guide hole, and a positioning ball mounted in the guide hole between the pin member and the posture returning recess without any gaps. Positioning ball having a diameter such that the center of the positioning ball is always positioned in the guide hole while being pressed against the tapered surface of 2. The floating support device for a hand according to claim 1, further comprising: a rotation restricting unit that restricts a rotation range of the rotating member with respect to the housing so as to always face the area where the recess is formed. 3. The rotating member is provided with an annular piston that is in contact with a tip end of the tubular portion on the hand side and can press the tubular portion toward the fixed portion. Floating support device for the described hand.