JPH0852683A - Hand mechanism - Google Patents

Abstract

PURPOSE:To provide a small sized hand mechanism having compliance in two freedom degree translational directions by providing each parallel spring mechanism in an X-axis/Y-axis direction having a compliance part of giving compliance of a hand part. CONSTITUTION:In a hand mounting part 15 of a robot movable in an X-axis/ Y-axis direction by X-axis direction/Y-axis direction each moving mechanism, a fixed part 19a of a Y-axis direction parallel spring mechanism 19 is fixed; and in a movable part 19b of this mechanism 19, a fixed part 18a of an X-axis direction parallel spring mechanism 18 is fixed. This X-axis direction parallel spring mechanism 18 is fitted to be arranged in the inside of two spring parts 19c of constituting the Y-axis direction parallel spring mechanism 19, and fixed to a hand part 17 of a movable part 18b of this mechanism 18. An angle, formed by a movable direction of each parallel spring mechanism 18, 19, is 90 deg., and as a result, a compliance part 16 has compliance of independent two freedom degree translational directions, so that the hand part 17 has compliance of translational two freedom degree direction relating to the hand mounting part 15.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a hand mechanism mounted on a robot.

[0002]

2. Description of the Related Art FIG. 5 shows a conventional example A of a hand mechanism used in a robot. In the figure, 1 is a hand portion, 2 is a frame type hand attaching portion, 3 is a coil spring stretched between the hand attaching portions 2 at equal intervals of 90 ° in the circumferential direction of the arm 4, and 5 is a compliance portion. The hand unit 1 is attached to the arm attachment unit 2 via a coil spring 3 with respect to the hand attachment unit 2.

In a robot for the purpose of assembling parts, it is preferable that the hand part 1 has compliance in order to prevent damage to the assembly parts and realize smoother operation. Therefore, it is common to provide the hand mechanism A with the compliance section 5 for providing the hand section 1 with suitable compliance.

In the conventional example shown in FIG. 5, a group of coil springs 3 constitutes a compliance section 5, and in the figure, a rectangular coordinate in the horizontal plane of the hand section 1 in the X-axis direction, the Y-axis translational two-degree-of-freedom direction, And about the X axis and the Y axis, the compliance in the direction of two degrees of freedom of rotation is given.

[0005]

The above hand mechanism A
Uses the coil spring 3 as the compliance part 5, and therefore has compliance in the translational direction and the rotational direction. Therefore, such a hand mechanism A is not suitable when compliance in only the translational direction is required.

When a large compliance value is required, the coil spring 3 becomes long and the compliance portion 5 becomes large. Therefore, an increase in the size of the entire hand mechanism A cannot be avoided.

On the other hand, the vertical in-plane rectangular coordinate Y-axis shown in FIG.
A compliance unit 6 including a parallel spring mechanism that is movable in the Z-axis direction has been conventionally known. In the figure, (a) is a front view, (b) is a displacement state front view of the movable part, and (c) is a front perspective view.

In the figure, 7 is a fixed part, 8 is a spring part, 9 is an elastic hinge part, 10 is an elastic groove having a substantially semi-circular cross section, 11 is a rigid part, and 12 is a movable part. 6A is a diagram before moving the movable part, FIG. 6B is a diagram after moving the movable part, and FIG. 6C is a perspective view of the entire structure. The spring portion 8 is composed of an elastic hinge portion 9 and a rigid body portion 11.

When a force in the + Y-axis direction acts on the movable portion 12, the elastic hinge portion 9 bends and the movable portion 12 moves in parallel as shown in FIG. 6 (b). That is, the parallel spring portion 8
Has compliance only in the translational direction of the movable part 12, and the compliance in the rotational direction of the movable part 12 is zero.

The compliance value in the translation direction is
It is determined by the thickness t of the elastic hinge portion 9 as shown in FIG. 6C, the length l of the spring portion 8 and the width b of the spring portion 8. Two
Using this parallel spring mechanism in which a pair of spring parts 8 extend in parallel,
The two-degree-of-freedom translational direction compliance unit 6 is configured.

However, the compliance unit 6
In the horizontal plane, which is a problem with the hand mechanism A shown in FIG. 5, since the coordinates in the vertical plane can be moved in the Y-axis and Z-axis directions, but the coordinates in the plane can be moved only in one direction in the Y-axis direction. It is not possible to satisfy the movable compliance only in the coordinate X-axis and Y-axis directions.

The main objects of the present invention to be solved are as follows. A first object of the present invention is to provide a hand mechanism for a robot in which a hand is required to be compliant only in a translational two-degree-of-freedom direction in a horizontal plane coordinate X-axis and Y-axis direction. Is.

A second object of the present invention is to provide a small hand mechanism.

A third object of the present invention is to provide a hand mechanism which can freely form a compliance value.

A fourth object of the present invention is to provide a hand mechanism by a combination of a pair of X-axis direction parallel spring mechanisms and Y-axis direction parallel spring mechanisms.

A fifth object of the present invention is not to provide a hand mechanism in which a pair of X-axis direction parallel spring mechanism and Y-axis direction parallel spring mechanism has a spring portion in which an elastic hinge portion is formed at a required position of a rigid body portion. It is what

Other objects of the present invention will become apparent from the specification and drawings, and particularly from the claims.

[0018]

The solution to the above-mentioned problems can be achieved by adopting the novel characteristic construction means listed below by the present invention. That is, the first feature of the present invention is
In a hand mechanism equipped with a robot or the like, which includes a hand unit that grips an object and a compliance unit that gives compliance to the hand unit, the compliance unit includes an X-axis direction parallel spring mechanism and a Y-axis direction parallel spring mechanism. , And XY can be used to determine the angle between the movable directions.
It is a hand mechanism in which the hand portion is provided so as to be able to translate in two degrees of freedom with the orthogonal axis at 90 °.

The second feature of the present invention is the first feature of the present invention.
The X-axis direction parallel spring mechanism and the Y-axis direction parallel spring mechanism, which are characterized in the above, respectively, intervenely couple the spring part in parallel between the fixed part and the movable part, and each movable part is movable in the X-axis and Y-axis orthogonal directions respectively. It is a hand mechanism formed by forming a union.

The third feature of the present invention is the second feature of the present invention.
The spring mechanism in the above feature is a hand mechanism in which elastic grooves are formed on both sides or one side of a rigid body required to form elastic hinges.

The fourth feature of the present invention is the third feature of the present invention.
The elastic mechanism having the above feature is a hand mechanism formed to have a substantially semi-circular cross section.

The fifth feature of the present invention is the third feature of the present invention.
Alternatively, the spring portion in the fourth feature is such that the thickness of the elastic hinge portion at the required position of the rigid body portion can be freely adjusted to adjust the compliance value,
It is a hand mechanism formed by forming a width and a length of the spring portion.

A sixth feature of the present invention is that the X-axis direction parallel spring mechanism and the Y-axis direction parallel spring mechanism according to the second, third, fourth or fifth feature of the present invention have respective spring parts. This is a hand mechanism in which elastic hinge portions are oriented and extended in a direction intersecting at right angles.

A seventh feature of the present invention is that the fixed part and the movable part in the second, third, fourth, fifth or sixth feature of the present invention are the fixed part and the movable part. It is a hand mechanism that is arranged on both sides sandwiched by or in the middle sandwiched on both sides by the movable part.

An eighth feature of the present invention is the X in the second, third, fourth, fifth, sixth or seventh feature of the present invention.
The axial parallel spring mechanism and the Y-axis parallel spring mechanism are a hand mechanism in which one fixed portion and one movable portion are coupled and connected in series.

A ninth feature of the present invention is that the X-axis direction parallel spring mechanism and the Y-axis direction parallel feature according to the second, third, fourth, fifth, sixth, seventh or eighth feature of the present invention. The spring mechanism
It is a hand mechanism in which the X-axis direction parallel spring mechanism is arranged and coupled to the inside or outside of the Y-axis direction parallel spring mechanism in a fitting shape.

The tenth feature of the present invention is the X-axis direction parallel spring mechanism and Y in the second, third, fourth, fifth, sixth, seventh, eighth or ninth feature of the present invention. The axial parallel spring mechanism is a hand mechanism in which any fixed portion is attached to the hand attachment portion and any movable portion is attached to the hand portion.

[0028]

The present invention has the above-mentioned novel means and comprises a hand part for gripping an object and a compliance part for giving the compliance of the hand part. The compliance part is a coordinate in the horizontal plane X-axis and Y-axis. The pair of parallel spring mechanisms in the X-axis and Y-axis directions form an angle of 90 degrees in the movable direction, and the pair of parallel spring mechanisms in the X-axis and Y-axis directions are connected in series. By disposing the X-axis direction parallel spring mechanism inside or outside the Y-axis direction parallel spring mechanism, compliance can be achieved only in the translational two-degree-of-freedom direction, and the mechanism can be downsized.

Further, the size of the mechanism is changed by forming the elastic hinge portions of the pair of X-axis and Y-axis direction parallel spring mechanisms by changing the wall thickness, the length of the spring portions or the width of the spring portions. The compliance value can be adjusted without any adjustment, and the compliance value can be designed relatively easily.

[0030]

Embodiments of the present invention will be described below in detail with reference to the drawings. FIG. 1 shows an example of the configuration of a robot using this embodiment. In the figure, B is the hand mechanism of the present embodiment, 13 is the X-axis direction movement mechanism, 14 is the Y-axis direction movement mechanism, 15 is the hand attachment part, 16 is the compliance part, 17 is the inverted L-shaped hand part, and α is the connector. A plug and β are connector adapters. The hand mechanism B includes a hand unit 17 and a compliance unit 16, and the hand unit 17 is fixed on the compliance unit 16.

In the case of the automatic insertion / removal robot of the connector as shown in FIG. 1, if the conventional hand mechanism A having the compliance in the angular direction is used, the hand portion 17 is generated by the force acting at the time of insertion / removal. Rotates about the Y axis, and the connector plug α also rotates in the same manner. Therefore, an angle deviation may occur between the axes of the connector plug α and the connector adapter β, and an excessive force may act on the connector.

Therefore, in the configuration shown in FIG. 1, the angular compliance of the hand portion 17 is not required, and only the translational compliance for absorbing the positioning error of the hand mechanism A with respect to the connector adapter β is required. To be done. The present invention is a hand mechanism used in such a case and having compliance in the translation direction of two degrees of freedom.

FIG. 2 shows a structural diagram of the compliance section 16. In the figure, 18 is an X-axis direction parallel spring mechanism, 19 is a Y-axis direction parallel spring mechanism, and 18a is an X-axis direction parallel spring mechanism 18.
Fixed portion, 18b is a movable portion of the X-axis direction parallel spring mechanism 18, 19a is a fixed portion of the Y-axis direction parallel spring mechanism 19,
b is a movable part of the Y-axis direction parallel spring mechanism 19, 18c and 19
c is a spring part, 18d and 19d are rigid parts, and 18e and 19e
Is an elastic hinge portion, 18f and 19f are elastic grooves having a substantially semi-circular cross section, and 18g and 19g are play spaces.

The same members as those shown in FIG. 1 are designated by the same reference numerals. The compliance unit 16 has a pair of Xs.
The axial parallel spring mechanism 18 and the Y-axis parallel spring mechanism 19 are combined in a male and female fitting configuration. Movable part 18
It has compliance only in the translational directions of b and 19b.

Fixed portion 19a of Y-axis parallel spring mechanism 19
Is fixed to the hand attachment portion 15. The fixed portion 18a of the X-axis direction parallel spring mechanism 18 is fixed to the movable portion 19b of the Y-axis direction parallel spring mechanism 19, and the two parallel spring mechanisms 18 and 19 are connected in series. Further, by fitting the X-axis direction parallel spring mechanism 18 inside the two spring portions 19c forming the Y-axis direction parallel spring mechanism 19, the compliance portion 16 is downsized.

The angle formed by the movable directions of the parallel spring mechanisms 18 and 19 is 90 degrees, and the compliance portion 16 is independent.
It has translational compliance in degrees of freedom. The hand portion 17 is fixed on the movable portion 18b of the X-axis direction parallel spring mechanism 18. Therefore, the hand unit 17 has the compliance in the translational two degrees of freedom direction with respect to the hand attachment unit 15, and the compliance in the angular direction is zero.

The compliance value of the compliance part 16 is, as described above, the wall thickness t of the elastic hinge parts 18e and 19e and the spring parts 18c and 19c as defined in FIG.
1 and the width b of the spring portions 18c and 19c. Therefore, the thickness t of the elastic hinge portions 18e, 19e,
Alternatively, by forming the spring portions 18c and 19c by changing the length l, the compliance value can be adjusted without changing the size of the compliance portion 16 itself.

FIG. 3 shows the compliance unit 1 shown in FIG.
It is an example in which the compliance value of the X-axis direction parallel spring mechanism 18 of No. 6 is changed. FIG. 3 (a),
(B), (c) is a bottom view of the X-axis direction parallel spring mechanism 18. The spring portion 18c includes an elastic hinge portion 18e and a rigid body portion 18d.

FIG. 3B shows the X-axis direction parallel spring mechanism 18 shown in FIG. 3A in which the thickness t of the elastic hinge portion 18e is changed. The compliance value is reduced by increasing the thickness t of the elastic hinge portion 18e. Further, FIG. 3C shows the spring portion 18c with the length 1 changed, and the compliance value is reduced by shortening the length 1 of the spring portion 18c.

The wall thickness t is reduced, or the spring portion 18c
It is also possible to increase the compliance value by increasing the length l of. In either case, it is not necessary to change the size of the mechanism itself. When increasing the compliance value, it is possible to use a means for reducing the width of the spring portion 18c.

FIG. 4 is a structural diagram of the X-axis direction parallel spring mechanism 18 'of the compliance section 16 when the compliance value is increased. In the figure, 18a 'is a fixed part, 18b' is a movable part, 18c 'is a spring part, and 18c' is a spring part.
Reference numeral d'denotes a rigid portion, 18e 'an elastic hinge portion, 18f' an elastic groove, 18g 'a play, and 18h' a void. The spring portion 18c 'includes an elastic hinge portion 18e' and a rigid body portion 18d '.
It is composed of

In order to increase the compliance value, the spring portion 18c 'is provided with a void portion 18h' so that the spring portion 18c '
The width b of c'is reduced. By using such a structure, the compliance value can be adjusted by changing the width of the void portion 18h ', and in this case also, the size of the compliance portion 18' itself is not changed.

Although FIGS. 2 and 3 show the X-axis direction parallel spring mechanisms 18 and 18 ', the same applies to the Y-axis direction parallel spring mechanism 19, and the compliance in the two-degree-of-freedom translational direction is independently adjusted. be able to. Further, the compliance value can be calculated from the dimensions of the respective parts of the parallel spring mechanisms 18, 18 ', 19 and the compliance value can be designed relatively easily.

As described above, the hand mechanism B of the present invention is
Since the compliance unit 16 can be downsized, the entire mechanism can be downsized. Further, the compliance value in the translation direction of two degrees of freedom can be adjusted without changing the size of the mechanism itself.

In this embodiment, the movable part 18b,
Although the fixed portions 18a and 18a 'are arranged on both sides with the fixed portion 18a sandwiched in between, the movable portions 18b and 18b' may be arranged on both sides with the fixed portions 18a and 18a 'sandwiched inside, or in the X-axis direction. Male parallel spring mechanism 18 and Y-axis direction parallel spring mechanism 1
Although 9 is formed in a female shape, the Y-axis direction parallel spring mechanism 19 may be formed in a male shape and the X-axis direction parallel spring mechanism 18 may be formed in a female shape to form a male-male fitting shape. Also, the elastic grooves 18f, 18f '
May be on only one side of the elastic hinge portions 18e, 18e '.

[0046]

As described above, according to the hand mechanism of the present invention, the hand portion for gripping an object and the compliance portion for providing the compliance of the hand portion,
The compliance portion is composed of two parallel spring mechanisms in the X-axis and Y-axis directions, and the angle formed by the movable directions of the parallel spring mechanisms in the X-axis and Y-axis directions is 90 degrees.
Two parallel spring mechanisms are connected in series, and the parallel spring mechanism in the X-axis direction is arranged inside or outside the two springs forming the parallel spring mechanism in the Y-axis direction, thereby ensuring compliance in the translational direction of two degrees of freedom. It has a small hand mechanism.

Further, by using the structure in which the elastic hinge portion of the parallel spring mechanism is formed by changing the wall thickness, the length of the spring portion or the width of the spring portion, the compliance value can be obtained without changing the size of the mechanism. Can be adjusted, and the compliance value can be designed relatively easily.

[Brief description of drawings]

FIG. 1 is a perspective view showing a configuration example of a robot equipped with an embodiment of the present invention.

FIG. 2 is an exploded enlarged perspective view of the compliance section of the above.

3A and 3B are modification examples of adjusting the compliance value of the male X-axis direction parallel spring mechanism in the same as above, in which FIG. 3A is a standard type, FIG. 3B is a modified elastic hinge part, and FIG. It is an expansion bottom view which shows each modification.

4A and 4B are adjustment and modification examples of the other male parallel X-axis direction parallel spring mechanism in the above, wherein FIG. 4A is an enlarged front view and FIG.
FIG. 4A is an enlarged sectional view taken along line IVb-IVb in (a).

FIG. 5 is a schematic view of a conventional hand mechanism.

FIG. 6 is another hand mechanism of the conventional example, (a) is an enlarged front view before moving, (b) is an enlarged front view after moving,
(C) is an enlarged front perspective view.

[Explanation of symbols]

 A, B ... Hand mechanism 1 ... Hand part 2 ... Coil spring 3 ... Hand attaching part 4 ... Arm 5,6 ... Compliance part 7 ... Fixing part 8 ... Spring part 9 ... Elastic hinge part 10 ... Elastic groove 11 ... Rigid part 12 ... Movable part 13 ... X-axis direction moving mechanism 14 ... Y-axis direction moving mechanism 15 ... Hand attaching part 16 ... Compliance part 17 ... Hand part α ... Connector plug β ... Connector adapter 18 ... X-axis direction parallel spring mechanism 18a, 18a '... Fixed parts of X-axis direction parallel spring mechanism 18b, 18b '... Movable parts of X-axis direction parallel spring mechanism 18c, 18c', 19c ... Spring parts 18d, 18d ', 19d ... Rigid part 18e, 18e', 19e ... Elastic hinge Part 18f, 18f ', 19f ... Play 18g' ... Gap 19 ... Y-axis direction parallel spring mechanism 19c ... Y-axis direction parallel spring mechanism fixing part 19b The movable portion of the Y-axis direction parallel spring mechanism

Claims (10)

[Claims] 1. A hand mechanism, which comprises a hand part for gripping an object and a compliance part for providing compliance of the hand part, and which is provided in a robot or the like, wherein the compliance part comprises an X-axis direction parallel spring mechanism and a Y-axis. The direction parallel spring mechanism and the angle formed by the respective movable directions are set to 9 degrees of the XY orthogonal axes.
A hand mechanism characterized in that the hand portion is provided with two degrees of freedom in translation at 0 °. 2. A parallel spring mechanism in the X-axis direction and a parallel spring mechanism in the Y-axis direction each have a spring portion interposed in parallel between a fixed portion and a movable portion, and each movable portion in a direction orthogonal to the X-axis and the Y-axis. The hand mechanism according to claim 1, wherein the hand mechanism is formed so as to be movable. 3. The hand mechanism according to claim 2, wherein the spring portion is provided with elastic grooves on both sides or one side required for the rigid body portion to form an elastic hinge portion. 4. The hand mechanism according to claim 3, wherein the elastic groove is formed in a substantially semi-circular cross section. 5. The spring portion according to claim 3 or 4, wherein the compliance portion is variably adjustable to form the thickness of the elastic hinge portion at a required position of the rigid body portion, and the width and length of the spring portion. Hand mechanism. 6. The X-axis direction parallel spring mechanism and the Y-axis direction parallel spring mechanism are characterized in that the elastic hinge portions of the respective spring portions are oriented and extend in a direction intersecting at a right angle.
The hand mechanism according to 4 or 5. 7. The fixed portion and the movable portion are arranged such that the fixed portion is disposed on both sides sandwiching the movable portion, or in the middle sandwiched on both sides by the movable portion. , 3,
The hand mechanism described in 4, 5, or 6. 8. The X-axis direction parallel spring mechanism and the Y-axis direction parallel spring mechanism are characterized in that one fixed portion and one movable portion are coupled and connected in series. The hand mechanism according to 6 or 7. 9. The X-axis direction parallel spring mechanism and the Y-axis direction parallel spring mechanism are characterized in that the X-axis direction parallel spring mechanism is fitted and arranged inside or outside the Y-axis direction parallel spring mechanism in a fitting manner. The hand mechanism according to claim 2, 3, 4, 5, 6, 7 or 8. 10. The X-axis direction parallel spring mechanism and the Y-axis direction parallel spring mechanism are characterized in that any of the fixed portions is attached to the hand attachment portion and any of the movable portions is attached to the hand portion. , 3, 4, 5, 6, 7, 8 or 9 hand mechanism.