JPH10100090A - Compliance mechanism of robot hand - Google Patents

Abstract

PROBLEM TO BE SOLVED: To avoid to make a robot hand in a large size, as well as to carry out an effective RCC control to make coincide the axial lines of a work and the installed part of the work. SOLUTION: A square intermediate block 1 is provided between a finger F to grasp a work and a main body M to support the finger F, and it is displaced by a load applied to the finger F, and furthermore it is free to both the finger F and the main body M. Leaf springs 2 and 3 extending parallel at the finger F side are fixed to the two opposing surfaces 12 and 14 of the intermediate block 1, while leaf springs 4 and 5 extending parallel at the main body M side are fixed to the remaining opposing two surfaces 11 and 13 of the intermediate block 1, so as to fix the extending ends of the leaf springs 2, 3, 4, and 5, to the finger F and the main body M.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention belongs to a technical field related to a compliance mechanism provided in a robot hand for performing RCC (Remote Center Compliance) control.

[0002]

2. Description of the Related Art Generally, in a robot hand, a compliance mechanism is interposed between a finger for gripping a work and a main body for supporting the finger.

[0003] This compliance mechanism is displaced by a load applied to a finger portion. The compliance mechanism is displaced by a contact load or the like due to a displacement between a work and a portion to which the work is mounted, and absorbs the displacement and further reduces the displacement. Load (displacement)
The detection is performed by a sensor and the position of the entire robot hand is corrected, thereby contributing to the RCC control.

Conventionally, as the above-mentioned compliance mechanism, for example, the one shown in FIG. 5 is known.

[0005] This conventional compliance mechanism comprises a coil spring C mounted so as to be fitted on the outer side of the base of the finger F in the accommodation space S between the base of the finger F and the main body M.

[0006]

In the above-described conventional robot hand compliance mechanism, the RCC control is performed by tilting the tip of the finger portion F with the coil spring C as a base point. For this reason, a pin-shaped workpiece such as a robot hand used for switching connection of an optical fiber and pulling out a plug or the like as disclosed in JP-A-7-244225 and JP-A-7-318820. However, there is a problem in that the robot hand that removes and inserts an effective RCC control that matches the axes of the work and the part to which the work is attached cannot be performed.

Further, since the coil spring C is mounted in the accommodation space S provided between the base of the finger F and the main body M, there is a problem that the robot hand becomes large. The problem is that, in connection switching of optical fibers as disclosed in the above-mentioned publication, an optical fiber that is complicatedly wired is damaged or an adapter or the like to which a plug or the like is attached is placed on an alignment board that is disposed in close proximity. This makes it difficult to approach the vehicle.

The present invention has been made in view of such problems, and can provide effective RCC control for matching the axes of a workpiece and a workpiece mounting portion, and can increase the size of a robot hand. It is an object of the present invention to provide a robot hand compliance mechanism that can avoid the above problem.

[0009]

In order to solve the above-mentioned problem, the compliance mechanism of the robot hand according to the present invention employs the following means.

According to a first aspect of the present invention, there is provided a compliance mechanism for a robot hand which is interposed between a finger for gripping a workpiece and a main body for supporting the finger and is displaced by a load applied to the finger. A leaf spring extending parallel to the finger portion side is fixed to two opposing surfaces of a rectangular intermediate block that is free with respect to both the main body portion, and a leaf spring extending parallel to the main body portion is provided to the remaining two opposing surfaces. It is characterized in that the extension end of the leaf spring is fixed to the finger portion and the main body portion.

In this means, the leaf spring becomes an elastic body against the load in the relative direction and becomes a rigid body against the load in the direction perpendicular to the relative direction. The combination of two leaf springs is 9
Two sets are provided at an interval of 0 degrees, and two sets are provided at an interval of 90 degrees.
A translational displacement in the direction is produced. In addition, the intermediate block and the leaf spring can be equipped in the form of a finger or a main body.

According to a second aspect of the present invention, in the robot hand compliance mechanism of the first aspect, an end block is fixed to an extended end of the leaf spring.

In this means, the fixing accuracy as a device is increased by fixing to the finger portion and the main body portion using the end block.

According to a third aspect of the present invention, there is provided the compliance mechanism for a robot hand according to the first or second aspect, further comprising a compliance lock portion that slides between leaf springs to connect and disconnect the finger portion and the main body portion. It is characterized by having.

According to this means, the gap between the leaf springs, which is a gap, is effectively used as a sliding area of the compliance lock portion.

[0016]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of a compliance mechanism for a robot hand according to the present invention will be described below with reference to FIGS.

1 to 3 show an embodiment (1) of a compliance mechanism for a robot hand according to the present invention.

This embodiment comprises the intermediate block 1, the leaf springs 2, 3, 4, 5, a compliance lock section 6, and a compliance lock detection section 7.

The intermediate block 1 has four side surfaces 11, 1
2, 13, 14 are formed in a square with the same area, and are free to both the finger portion F and the main body portion M.

The leaf springs 2, 3, 4, and 5 are composed of four plates formed in a rectangular flat plate shape. The two leaf springs 2 and 3 are provided with screws 8 on two opposite side surfaces 12 and 14 of the intermediate block 1.
And extends parallel to the finger portion F side, and is fixed to a main structural member F ′ of the finger portion F by a screw 8. The other two leaf springs 4 and 5 are fixed to the remaining two opposite side surfaces 11 and 13 of the intermediate block 1 with screws 8 and extend parallel to the main body M side, and the main structural members of the main body M M ′ is fixed to each with screws 8.

As shown in FIG. 2, the compliance lock portion 6 includes a motor 61 supported by a main structural member M 'of the main body M, a slider 62 which is screwed to the motor 61 and slides, and fixed to the slider 62. A frame 63 fixed to the slider 62, a guide shaft 64 inserted through the main structural member M 'of the main body M, and a frame receiver 65 fixed to the main structural member F' of the finger F and fitted to the frame 63 Consists of The frame receiver 65 is provided at a position facing the intermediate block 1. A sliding area is secured between a part of the slider 62, the top 63 and the guide shaft 64 between the two leaf springs 2 and 3 extending to the finger portion F side.

The compliance lock portion 6 is in a locked state in which the main structural member F 'of the finger portion F and the main structural member M' of the main body portion M are connected and fixed by fitting the frame 63 and the frame receiver 65 together. In this locked state, it is possible to prevent the finger portion F from blurring when the robot hand travels.

FIG. 3 shows the compliance lock detecting section 7.
As shown in FIG. 7, a contact 71 fixed to the slider 62 of the compliance lock section 6, a terminal 72 provided on the contact 71, and a main part of the finger F so as to face one end of the contact 71 Terminal 7 fixed to structural member F '
3 and a terminal 74 fixed to the main structural member M ′ of the main body M so as to face the other end of the contact 71.

The compliance lock detecting section 7 detects the locked state and the unlocked state of the compliance lock section 6 by the contact of the contact 71 with the terminals 73 and 74.

According to this embodiment, the structure is a combination of a block material and a plate material, so that the structure can be made simple and small. In addition, since it is possible to equip with the fingers F and the main body M without forming a special space between the finger F and the main body M, the robot hand can be mounted. Enlargement can be avoided. Further, two leaf springs 2 and 3 in which the sliding area of the compliance lock portion 6 extends to the finger portion F side.
This also contributes to avoiding an increase in the size of the robot hand.

Further, when assembled in the robot hand, the leaf springs 2, 3, 4, and 5 elastically deform and function as an elastic body with respect to the load in the relative direction, and receive the load in the direction perpendicular to the relative direction. On the other hand, it functions as a rigid body without elastic deformation. Since two combinations of the two leaf springs 2, 3, 4, and 5 are provided at intervals of 90 degrees, parallel movement in two directions through 90 degrees is obtained by combining the two sets. Displacement is played. Therefore, effective RCC control for matching the axes of the workpiece and the workpiece mounting portion is performed.

By changing the thickness and width of the leaf springs 2, 3, 4, and 5, it is possible to adjust the characteristics of the elastic body and the rigid body.

FIG. 4 shows an embodiment (2) of a compliance mechanism for a robot hand according to the present invention.

In this embodiment, the end blocks 9, 1 of the same size and shape as the intermediate block 1 are provided at the extended ends of the leaf springs 2, 3, 4, 5 in the first embodiment.
0 are fixed with screws 8 respectively.

According to this embodiment, the end blocks 9 and 10 can be used as mounting brackets.
The accuracy of assembling as a device is increased, and the equipment design for the robot hand is facilitated.

As described above, in addition to the illustrated embodiment, the size and shape of the end blocks 9 and 10 can be different from those of the intermediate block 1.

[0032]

As described above, in the compliance mechanism of the robot hand according to the present invention, the displacement of the parallel movement in two directions through 90 degrees is produced by the combination of two sets of two leaf springs. Therefore, there is an effect that effective RCC control for matching the axes of the workpiece and the workpiece mounting portion is performed.

Further, the structure is simple and compact because of the combination structure of the block material and the plate material, and the inside of the finger portion and the body portion M is formed without forming a special space between the finger portion and the body portion. Since the robot hand can be equipped with the same shape as that of the robot hand, there is an effect that the robot hand can be prevented from being enlarged.

[Brief description of the drawings]

FIG. 1 is a perspective view showing an embodiment (1) of a compliance mechanism for a robot hand according to the present invention.

FIG. 2 is a sectional view showing a detailed structure of FIG. 1;

FIG. 3 is an enlarged view of a main part of FIG. 2;

FIG. 4 is a perspective view of a main part showing an embodiment (2) of a compliance mechanism for a robot hand according to the present invention.

FIG. 5 is a sectional view showing a conventional example.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Intermediate block 2, 3, 4, 5 Leaf spring 6 Compliance lock part 9, 10 End block F Finger part M Main part

 ──────────────────────────────────────────────────続 き Continuing on the front page (72) Inventor Yasuhide Nishida 3-19-2 Nishishinjuku, Shinjuku-ku, Tokyo Japan Telegraph and Telephone Corporation (72) Inventor Joji Yamaguchi 3-19, Nishishinjuku, Shinjuku-ku, Tokyo No. 2 Nippon Telegraph and Telephone Corporation

Claims (3)

[Claims] 1. A compliance mechanism for a robot hand, which is interposed between a finger for gripping a work and a main body for supporting the finger, and is displaced by a load applied to the finger, wherein both the finger and the main body are provided. A leaf spring extending parallel to the finger portion side is fixed to two opposing surfaces of the rectangular intermediate block that is free with respect to the plate, and a leaf spring extending parallel to the main body portion is fixed to the remaining two opposing surfaces. A compliance mechanism for a robot hand, wherein an extension end of the robot hand is fixed to a finger portion and a main body portion. 2. The compliance mechanism for a robot hand according to claim 1, wherein an end block is fixed to an extension end of the leaf spring. 3. The compliance mechanism for a robot hand according to claim 1, further comprising a compliance lock section that slides between leaf springs to connect and disconnect the finger section side and the main body section side. Robot hand compliance mechanism.