JPS6211998B2 - - Google Patents
Info
- Publication number
- JPS6211998B2 JPS6211998B2 JP58071038A JP7103883A JPS6211998B2 JP S6211998 B2 JPS6211998 B2 JP S6211998B2 JP 58071038 A JP58071038 A JP 58071038A JP 7103883 A JP7103883 A JP 7103883A JP S6211998 B2 JPS6211998 B2 JP S6211998B2
- Authority
- JP
- Japan
- Prior art keywords
- absorbing member
- eccentricity
- holder
- spring
- workpiece
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired
Links
- 230000001105 regulatory effect Effects 0.000 claims description 22
- 230000002093 peripheral effect Effects 0.000 claims description 2
- 238000003780 insertion Methods 0.000 description 7
- 230000037431 insertion Effects 0.000 description 7
- 230000000694 effects Effects 0.000 description 2
- 239000012530 fluid Substances 0.000 description 2
- 230000008094 contradictory effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
Description
【発明の詳細な説明】
〔発明の技術分野〕
本発明は種々の作業を行う工業用ロボツトに用
いられるロボツトハンドに関するものである。DETAILED DESCRIPTION OF THE INVENTION [Technical Field of the Invention] The present invention relates to a robot hand used for industrial robots that perform various tasks.
近年、情報機器の発達と省力化の要請から、あ
らゆる産業分野において工業用ロボツトが広く使
用されるようになつてきた。これに伴い工業用ロ
ボツト、特にワークを把持し工作機械への取付け
および取外し、あるいはワークの移送などを行う
工業用ロボツトのロボツトハンドにおいてはワー
クを効率的に操作することが要求されてくる。す
なわち、ロボツトハンドは自由度が多くある程度
人間の手の機能に近づけることが目標とされてい
る。
In recent years, due to the development of information equipment and the demand for labor saving, industrial robots have come to be widely used in all industrial fields. Along with this, industrial robots, especially the robot hands of industrial robots that grip workpieces, attach and detach them to machine tools, or transfer workpieces, are required to efficiently operate the workpieces. In other words, the goal is for the robot hand to have many degrees of freedom and to be able to approximate the functions of the human hand to some extent.
例えば平らな底面を有する物体を静かに台の上
の定位置に置く動作を分析すると、その物体の底
面の一部が台上に接触するまでロボツトのアーム
が前進し、次にその接触点を中心に底面全体が密
着するまで回動運動が行われ、続いて台上の定位
置にこの物体が移動される。このような運動をな
すための装置としては、一般には把持された物体
の回動運動は小さい外力に対しても容易に応動す
るのが望ましく、反対に物体の摺動による移動の
際には大きな力を伝達できる剛性を持つことが望
ましく、これら相反する要求を満足する関節機構
を本出願人は先に特公昭56−45758号として開示
している。 For example, if we analyze the act of gently placing an object with a flat base into a fixed position on a table, the arm of the robot moves forward until a portion of the base of the object touches the table, and then moves that point of contact. A pivoting movement is carried out until the entire bottom surface is in close contact with the center, and then the object is moved to a fixed position on the table. Generally speaking, it is desirable for a device to make such a movement to easily respond to small external forces when rotating the gripped object, while on the other hand, when moving the object by sliding, it is desirable to respond easily to large external forces. It is desirable to have a rigidity capable of transmitting force, and the present applicant has previously disclosed a joint mechanism that satisfies these contradictory requirements in Japanese Patent Publication No. 45758/1983.
これは１対の柱状体と、第１および第２のリン
ク部材と、作用腕とを備えたリンク機構によつ
て、作用前後におけるコンプライアンスセンタの
変位を全く生ぜしめることなく、このセンタを中
心とした回動運動を容易に受入れる一方、このセ
ンタの移動のための直線運動に対しては強固な剛
性を持つものである。 This is achieved by a link mechanism including a pair of columnar bodies, first and second link members, and an operating arm, which allows the compliance center to be centered without causing any displacement before or after the action. While easily accepting rotational motion, it has strong rigidity against linear motion for moving the center.
しかしながら従来のこの種の関節機構を備えた
ロボツトハンドにおいては、ワークを挿入孔に挿
入する作業については必ずしも効率よく行えない
という不具合がある。すなわち挿入しようとする
ときに、ワークが接触点を中心として容易に回動
してしまうからである。 However, conventional robot hands equipped with this type of joint mechanism have a problem in that they cannot necessarily efficiently insert a workpiece into an insertion hole. That is, when attempting to insert the workpiece, the workpiece easily rotates around the contact point.
そこでワークの挿入作業について検討ならびに
解析を行つた結果、ワークが挿入孔に当接すると
同時にワークの角度回転を許すよりは、その間
（当接と回転の間）にワークの姿勢（角度）を保
持したまま平行移動の動作を介在させた方がよい
ことがわかつた。 As a result of considering and analyzing the workpiece insertion process, we found that it is better to maintain the posture (angle) of the workpiece during that time (between contact and rotation) than to allow the workpiece to rotate at the same time as it contacts the insertion hole. It was found that it is better to interpose a parallel movement while keeping the position in place.
本発明はこのような事情に鑑みなされたもの
で、第１の取付座を有するホルダと、第１のばね
によつてホルダに付勢され滑動して偏心を吸収す
る偏心吸収用部材と、第２の取付座が設けられる
と共に第２のばねによつて前記偏心吸収用部材に
付勢され揺動して偏角を吸収する偏角吸収用部材
とを備え、これら部材に軸線と平行な周面を設け
て段階的に嵌合させ、かつ第２の取付座の回転を
規制するというきわめて簡単な構成により、ワー
クの挿入作業が効率的に行えるロボツトハンドを
提供するものである。以下、その構成等を図に示
す実施例により詳細に説明する。
The present invention has been made in view of the above circumstances, and includes a holder having a first mounting seat, an eccentricity absorbing member that is biased against the holder by a first spring and slides to absorb eccentricity, and a first mounting seat. A second mounting seat is provided, and an eccentricity absorbing member is biased by a second spring to the eccentricity absorbing member and swings to absorb the eccentricity angle. The object of the present invention is to provide a robot hand that can efficiently perform workpiece insertion work with an extremely simple configuration in which surfaces are provided and fitted in stages, and rotation of the second mounting seat is restricted. Hereinafter, its configuration and the like will be explained in detail with reference to embodiments shown in the drawings.
第１図は本発明に係るロボツトハンドの一実施
例を互いに直交する二直線により切断して示す断
面図、第２図は第１図の−線断面図で、これ
らの図において符号１で示すものは例えば図示し
ないアームが固定される第１の取付座２を有する
ホルダを示す。このホルダ１は頂部を有し底部が
開口された円筒状に形成され、頂部には略々円筒
状に形成された偏心吸収用部材３を同軸状に支承
する支承部１ａが軸線方向に突設されている。こ
の支承部１ａの先端部には径方向につば４が突設
され、このつば４の外周面はホルダ１の軸線と平
行になるように形成されている。
Fig. 1 is a sectional view showing an embodiment of the robot hand according to the present invention taken along two straight lines perpendicular to each other, and Fig. 2 is a sectional view taken along the - line in Fig. 1. The figure shows a holder having a first mounting seat 2 to which, for example, an arm (not shown) is fixed. This holder 1 is formed in a cylindrical shape with a top and an open bottom, and a support portion 1a that coaxially supports an eccentricity absorbing member 3 formed in a substantially cylindrical shape is provided at the top to protrude in the axial direction. has been done. A radially protruding collar 4 is provided at the tip of the support portion 1a, and the outer circumferential surface of the collar 4 is formed parallel to the axis of the holder 1.
前記偏心吸収用部材３は上端面に前記支承部１
ａが遊貫する開口５が穿設され、この開口５の内
周面は第３図に拡大して示すように前記つば４の
外周面と嵌合する内径を有し、偏心吸収用部材３
の軸線と平行に形成されている。すなわち、ホル
ダ１の偏心吸収用部材３との間は、軸線に平行な
つば４の外周面と開口５の内周面とで径方向に嵌
合されている。またこの偏心吸収用部材３は上端
縁にフランジ３ａが突設され、このフランジ３ａ
を抱持する規制部材６を介して、後述する第１の
ばねによりホルダ１の段差部１ｂに付勢されてい
る。前記規制部材６はホルダ１内に軸線方向に移
動自在に設けられ、偏心吸収用部材３をホルダ１
と平行になるように規制している。規制部材６内
偏心吸収用部材３との間、換言すればホルダ１と
偏心吸収用部材３との間には、偏心吸収用部材３
が前記第１のばねに抗して移動したときに、これ
を径方向に滑動させる滑動部材７が介装されてい
る。この滑動部材７は等間隔に透孔が穿設された
ドーナツツ盤状の円板８と、この円板８の透孔に
嵌入されたボール９とから構成されている。 The eccentricity absorbing member 3 has the support portion 1 on the upper end surface.
An opening 5 through which the member 3a freely passes is bored, and the inner circumferential surface of this opening 5 has an inner diameter that fits with the outer circumferential surface of the collar 4, as shown enlarged in FIG. 3, and the eccentricity absorbing member 3
is formed parallel to the axis of That is, the holder 1 and the eccentricity absorbing member 3 are fitted in the radial direction by the outer circumferential surface of the collar 4 parallel to the axis and the inner circumferential surface of the opening 5. Further, this eccentricity absorbing member 3 has a flange 3a protruding from the upper edge, and this flange 3a
is biased against the stepped portion 1b of the holder 1 by a first spring, which will be described later, via a regulating member 6 that holds the holder. The regulating member 6 is provided in the holder 1 so as to be movable in the axial direction, and the eccentricity absorbing member 3 is connected to the holder 1.
It is regulated so that it is parallel to the Between the regulating member 6 and the eccentricity absorbing member 3, in other words, between the holder 1 and the eccentricity absorbing member 3, the eccentricity absorbing member 3
A sliding member 7 is interposed to slide the spring in the radial direction when the spring moves against the first spring. This sliding member 7 is composed of a donut-shaped disc 8 having through holes formed at equal intervals, and a ball 9 fitted into the through holes of this disc 8.
１０は偏心吸収用部材３内に装填された偏角吸
収用部材で、この偏角吸収用部材１０は有底円筒
状に形成され、上端外周縁には偏心吸収用部材３
の段差部３ｂと当接するつば部１１が突設されて
いる。そしてこの偏角吸収用部材１０はこれと偏
心吸収用部材３との間に弾装された第２のばね１
２により、偏心吸収用部材３に付勢されている。
１３は偏角吸収用部材１０の内部に突設され前記
第２のばね１２が圧縮変形したときに偏心吸収用
部材３と当接する突起で、先端の当接部は偏角吸
収用部材１０が揺動できるように球面状に形成さ
れている。また偏角吸収用部材３の側部であつて
前記偏心吸収用部材３の段差部３ａと偏心吸収用
部材３の下端面に穿設された開口１４とに形成さ
れた軸線と平行な内周面に対応した部位には、こ
れら内周面と嵌合する外径を有する軸線と平行な
外周面が形成されている。すなわち、偏心吸収用
部材３と偏角吸収用部材１０との間は、軸線と平
行な段差部３ｂおよび開口１４の内周面と、前記
外周面とで嵌合されている。 10 is a member for absorbing eccentricity loaded in the member 3 for absorbing eccentricity.
A flange portion 11 is provided in a protruding manner to come into contact with the stepped portion 3b. This eccentricity absorbing member 10 has a second spring 1 elastically mounted between it and the eccentricity absorbing member 3.
2, the eccentricity absorbing member 3 is biased.
Reference numeral 13 denotes a protrusion that protrudes inside the eccentricity absorbing member 10 and comes into contact with the eccentricity absorbing member 3 when the second spring 12 is compressed and deformed. It is formed into a spherical shape so that it can swing. Also, an inner periphery parallel to the axis formed on the side part of the eccentricity absorbing member 3 and in the stepped portion 3a of the eccentricity absorbing member 3 and the opening 14 bored in the lower end surface of the eccentricity absorbing member 3. An outer circumferential surface parallel to the axis and having an outer diameter that fits with these inner circumferential surfaces is formed at a portion corresponding to the surface. That is, the eccentricity absorbing member 3 and the deviation angle absorbing member 10 are fitted with the inner circumferential surface of the stepped portion 3b and the opening 14 parallel to the axis, and the outer circumferential surface.
１５は前記開口１４から突出した偏角吸収用部
材１０の下端面にねじ１６により固定された第２
の取付座で、この第２の取付座１５には図示しな
いが例えばワークを把持するためのハンドなどが
取付けられている。 Reference numeral 15 denotes a second bolt fixed to the lower end surface of the deflection angle absorbing member 10 protruding from the opening 14 with a screw 16.
Although not shown, a hand for gripping a workpiece, for example, is attached to the second mounting seat 15.
１７は前記第２の取付座１５とホルダ１との間
に介装された回転規制手段としての回転規制板
で、この回転規制板１７は中央に偏心吸収用部材
３および偏角吸収用部材１０が遊貫する透孔１８
が穿設され、外周縁にはホルダ１に突設されたピ
ン１９が係入する切欠き２０と、第２の取付座１
５に突設されたピン２１が係入する切欠き２２と
が互いに直交する方向に穿設されている。そして
これらピン１９と切欠き２０、ピン２１と切欠き
２２と係合により、第２の取付座１５がホルダ
１、換言すれば第１の取付座２に対して回転する
のが規制されている。前記回転規制板１７と第２
の取付座１５との間には、端部を凹陥部２３に嵌
入させ、偏角吸収用部材１０を介して偏心吸収用
部材３をホルダ１の段差部１ｂに付勢する第１の
ばね２４が弾装されている。この第１のばね２４
は付勢力が第２のばね１２に比べて小さく設定さ
れている。なお、この第１のばね２４は回転規制
板１７をホルダ１側に押圧して、これがふらつく
のを防止する機能も有している。 Reference numeral 17 denotes a rotation regulating plate as a rotation regulating means interposed between the second mounting seat 15 and the holder 1, and this rotation regulating plate 17 has an eccentricity absorbing member 3 and an angular angle absorbing member 10 in the center. Through hole 18 through which the
A notch 20 into which a pin 19 protruding from the holder 1 engages is formed on the outer periphery, and a second mounting seat 1.
5 and a notch 22 into which a pin 21 protrudingly engages are bored in directions perpendicular to each other. The engagement between the pin 19 and the notch 20, and between the pin 21 and the notch 22 restricts rotation of the second mounting seat 15 relative to the holder 1, in other words, the first mounting seat 2. . The rotation regulating plate 17 and the second
A first spring 24 is provided between the mounting seat 15 and the first spring 24 whose end part is fitted into the concave portion 23 and biases the eccentricity absorbing member 3 against the stepped portion 1b of the holder 1 via the eccentricity absorbing member 10. is loaded with ammunition. This first spring 24
The biasing force is set smaller than that of the second spring 12. The first spring 24 also has the function of pressing the rotation regulating plate 17 toward the holder 1 to prevent it from wobbling.
このように構成されたロボツトハンドにおいて
は、第１のばね２４を圧縮させるような力がワー
クに作用すると、第２のばね１２は偏角吸収用部
材１０を付勢している状態で第１のばね２４のみ
が圧縮変形し、偏心吸収用部材３は滑動部材７に
より滑動自在となり、ワークの偏心のみを吸収す
ることができる。さらに第２のばね１２を圧縮さ
せる力が作用すると、偏心吸収用部材３と突起１
３とが当接し、偏角吸収用部材１０は揺動してワ
ークの偏角を吸収することができる。すなわち第
４図ａ〜ｃに示すようにハンド２５に把持された
ワーク２６が挿入孔２７の孔縁に当接し、ホルダ
１を取付けたアーム２８が押圧力F1で前進する
と、先ず偏心吸収用部材３が滑動してワーク２６
を平行移動させる。次いでアーム２８が押圧力
F2で前進すると偏角吸収用部材１０が揺動して
ワーク２６を所定角θ回転させて挿入が完了す
る。 In the robot hand configured in this way, when a force that compresses the first spring 24 acts on the workpiece, the second spring 12 biases the deflection absorbing member 10 while the first spring 12 is biased. Only the spring 24 is compressed and deformed, and the eccentricity absorbing member 3 becomes slidable by the sliding member 7, so that only the eccentricity of the workpiece can be absorbed. When a force that compresses the second spring 12 is further applied, the eccentricity absorbing member 3 and the protrusion 1
3 come into contact with each other, and the deflection angle absorbing member 10 can swing to absorb the deflection angle of the workpiece. That is, as shown in FIGS. 4a to 4c, when the workpiece 26 held by the hand 25 comes into contact with the hole edge of the insertion hole 27 and the arm 28 with the holder 1 attached moves forward with a pressing force F1 , first the eccentricity absorbing The member 3 slides and the workpiece 26
Move in parallel. Then the arm 28 applies a pressing force
When moving forward at F2 , the deflection angle absorbing member 10 swings to rotate the workpiece 26 by a predetermined angle θ, thereby completing the insertion.
またこのとき、ワークのねじり方向の回転につ
いてはホルダ１に突設されたピン１９と、第２の
取付座１５に突設されたピン２１とを同一の回転
規制板１７の切欠き２０，２２に係入させ、これ
ら両部材を係合させることにより規制されてい
る。しかも、回転規制板１７は回転規制をしなが
らワークの偏心、偏角を吸収することができるか
ら、ワークの回転方向に生ずるいわゆるガタの原
因となる部材間の間隙を、ピン１９と切欠き２０
およびピン２１と切欠き２２との間隙のみにし
て、前記ガタを小さくすることができる。 At this time, regarding rotation of the workpiece in the torsional direction, the pin 19 protruding from the holder 1 and the pin 21 protruding from the second mounting seat 15 are connected to the notches 20 and 22 of the same rotation regulating plate 17. It is regulated by engaging the two members. Moreover, since the rotation regulating plate 17 can absorb the eccentricity and declination of the workpiece while regulating the rotation, the pin 19 and the notch 20 can reduce the gap between the members that causes so-called backlash that occurs in the rotational direction of the workpiece.
Furthermore, by reducing only the gap between the pin 21 and the notch 22, the play can be reduced.
さらにホルダ１と偏心吸収用部材３との間およ
び偏心吸収用部材３と偏角吸収用部材１０との間
は軸線と平行な周面どうしにより嵌合されている
から、偏心吸収用部材３はホルダ１に対して、偏
角吸収用部材１０は偏心吸収用部材３に対して径
方向の移動が係止され、同軸状に規制されてい
る。すなわち、前記周面は第２の取付座１５に軸
線と異なる方向の力が作用したときには、これを
支承することができるからである。 Furthermore, since the holder 1 and the eccentricity absorbing member 3 and the eccentricity absorbing member 3 and the deviation angle absorbing member 10 are fitted together by their circumferential surfaces parallel to the axis, the eccentricity absorbing member 3 is With respect to the holder 1, the eccentricity absorbing member 10 is stopped from moving in the radial direction relative to the eccentricity absorbing member 3, and is restricted to be coaxial. That is, when a force in a direction different from the axis is applied to the second mounting seat 15, the circumferential surface can support this.
第５図は他の実施例を示す要部断面図で、同図
において第１図に示したものと同一あるいは同等
な部材には同一符号を付しその説明は省略する。
この実施例においてはホルダ１の支承部１ａに、
摺動するピストン２９を備えた流体シリンダ３０
が設けられている。そして前記ピストン２９に軸
線方向に突設されたロツド３１は、貫通孔３２お
よび偏心吸収用部材３のテーパ面部３３を貫通
し、突起１３に被冠され偏角吸収用部材１０を揺
動自在に支承する支承部材３４と当接している。 FIG. 5 is a sectional view of a main part showing another embodiment, and in this figure, the same or equivalent members as those shown in FIG.
In this embodiment, in the support portion 1a of the holder 1,
Fluid cylinder 30 with sliding piston 29
is provided. A rod 31 protruding from the piston 29 in the axial direction passes through the through hole 32 and the tapered surface portion 33 of the eccentricity absorbing member 3, and is crowned by the protrusion 13 to allow the eccentricity absorbing member 10 to swing freely. It is in contact with the supporting member 34 that supports it.
したがつて、前記シリンダ３０内に所定圧の空
気などの流体を供することにより、選択的に偏角
吸収用部材１０を押圧し、この偏角吸収用部材１
０を介してホルダ１に固定することができるか
ら、ワーク挿入作業後、速やかに無負荷時の姿勢
に復帰させることができる。 Therefore, by supplying a fluid such as air at a predetermined pressure into the cylinder 30, the declination angle absorbing member 10 is selectively pressed, and the declination angle absorbing member 1 is
Since the workpiece can be fixed to the holder 1 through the workpiece 0, the workpiece can be quickly returned to its unloaded position after the workpiece insertion work.
なお上記実施例においては、小型化をはかるた
めに第１のばね２４を回転規制板１７と第２の取
付座１５との間に介装しているが、本発明はこれ
に限定されるものではなく、例えば第６図に示す
ように、ホルダ１内ホルダ１と規制部材６との間
に介装してもよい。この実施例においては第２の
取付座１５の回転を規制するための回転規制手段
として、滑動部材７の円板８の両面に係止突起３
５，３５を設け、この突起３５，３５を規制部材
６の切欠き３６および偏心吸収用部材３の切欠き
３７に係入させている。そして規制部材６の長溝
３８にホルダ１に螺着したボルト３９を係入さ
せ、偏角吸収用部材１０のつば部１１を偏心吸収
用部材３の切欠き４０に係入させている。 In the above embodiment, the first spring 24 is interposed between the rotation regulating plate 17 and the second mounting seat 15 in order to achieve miniaturization, but the present invention is not limited to this. Instead, it may be interposed between the holder 1 in the holder 1 and the regulating member 6, as shown in FIG. 6, for example. In this embodiment, locking protrusions 3 are provided on both sides of the disc 8 of the sliding member 7 as rotation regulating means for regulating the rotation of the second mounting seat 15.
5, 35 are provided, and these protrusions 35, 35 are engaged in a notch 36 of the regulating member 6 and a notch 37 of the eccentricity absorbing member 3. A bolt 39 screwed onto the holder 1 is inserted into the long groove 38 of the regulating member 6, and the collar portion 11 of the eccentricity absorbing member 10 is engaged with the notch 40 of the eccentricity absorbing member 3.
また滑動部材７としてボール９を使用している
が、例えば市販のシート状すべり軸受などを用い
てもよく、同様の機能を有する面擦の小さなもの
であればよいのは勿論で、回転規制板１７の切欠
き２０，２０は長孔でもよいのはいうまでもな
い。 Although the ball 9 is used as the sliding member 7, for example, a commercially available sheet-shaped sliding bearing may also be used, as long as it has a similar function and has less surface friction. It goes without saying that the notches 20, 20 of 17 may be elongated holes.
以上説明したように本発明によれば、ホルダに
第１のばねにより付勢され平行移動する偏心吸収
用部材と、この偏心吸収用部材に第１のばねより
強い第２のばねにより付勢され揺動する偏角吸収
用部材とを備え、これらの部材の回転を規制して
いるから、ワークを挿入する際に先ずワークを平
行移動させ、次いでワークを回動させることがで
きる。またホルダと偏心吸収用部材との間および
偏心吸収用部材と偏角吸収用部材との間は軸線と
平行な周面どうしで嵌合されているから、ワーク
に軸線と異なる方向に作用する力を前記周面によ
り支承することができる。
As explained above, according to the present invention, there is an eccentricity absorbing member that is biased by a first spring to move parallel to the holder, and a second spring that is stronger than the first spring biases the eccentricity absorbing member. Since the workpiece is provided with a swinging deflection angle absorbing member and the rotation of these members is restricted, when inserting the workpiece, the workpiece can first be translated in parallel, and then the workpiece can be rotated. In addition, since the holder and the eccentricity absorbing member and the eccentricity absorbing member and the deviation angle absorbing member are fitted with their peripheral surfaces parallel to the axis, forces acting on the workpiece in a direction different from the axis can be supported by the circumferential surface.
したがつてワークを挿入することができ、しか
も重量ワークを空中にてハンドリングする間に
は、ワークの重量を周面により支えてワークを誤
動作することなく保持することができるから、ワ
ークの挿入作業が効率よく行えるという効果があ
る。 Therefore, the workpiece can be inserted, and while the heavy workpiece is being handled in the air, the weight of the workpiece can be supported by the circumferential surface and the workpiece can be held without malfunctioning, making it easier to insert the workpiece. This has the effect that it can be done efficiently.
第１図は本発明に係るロボツトハンドの一実施
例を互いに直交する二直線により切断して示す断
面図、第２図は第１図の−線断面図、第３図
は第１図の要部拡大図、第４図は動作を説明する
ための概略図、第５図および第６図は他の実施例
を示す要部断面図および断面図である。
１……ホルダ、２……第１の取付座、３……偏
心吸収用部材、５……開口、７……滑動部材、１
０……偏角吸収用部材、１２……第２のばね、１
４……開口、１５……第２の取付座、１７……回
転規制板、２４……第１のばね。
FIG. 1 is a sectional view showing an embodiment of the robot hand according to the present invention, taken along two straight lines perpendicular to each other, FIG. 2 is a sectional view taken along the line -- in FIG. FIG. 4 is a schematic diagram for explaining the operation, and FIGS. 5 and 6 are sectional views of main parts and sectional views showing other embodiments. DESCRIPTION OF SYMBOLS 1... Holder, 2... First mounting seat, 3... Eccentricity absorbing member, 5... Opening, 7... Sliding member, 1
0... Declination angle absorbing member, 12... Second spring, 1
4...Opening, 15...Second mounting seat, 17...Rotation regulating plate, 24...First spring.
Claims (1)
のホルダに第１のばねにより付勢された偏心吸収
用部材と、この偏心吸収用部材にその付勢力が前
記第１のばねより大きく設定された第２のばねに
より付勢され第２の取付座が設けられた偏角吸収
用部材と、前記ホルダと偏心吸収用部材との間に
介装され偏心吸収用部材を滑動させる滑動部材
と、第２の取付座が第１の取付座に対し回転する
のを規制する回転規制手段とを備え、前記偏角吸
収用部材と偏心吸収用部材との当接部を偏角吸収
用部材が揺動できるように形成すると共に、前記
ホルダと偏心吸収用部材との間および偏心吸収用
部材と偏角吸収用部材との間は軸線と平行な周面
同士で嵌合されていることを特徴とするロボツト
ハンド。1. A cylindrical holder having a first mounting seat, an eccentricity absorbing member biased to this holder by a first spring, and a biasing force of the eccentricity absorbing member set to be greater than that of the first spring. an eccentricity absorbing member that is biased by a second spring and provided with a second mounting seat; and a sliding member that is interposed between the holder and the eccentricity absorbing member and slides the eccentricity absorbing member. , a rotation regulating means for regulating rotation of the second mounting seat with respect to the first mounting seat, and the deflection absorbing member is provided with a contact portion between the eccentricity absorbing member and the eccentricity absorbing member. The holder is formed to be swingable, and the holder and the eccentricity absorbing member and the eccentricity absorbing member and the deflection angle absorbing member are fitted with each other on peripheral surfaces parallel to the axis. Robot hand.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP7103883A JPS59196191A (en) | 1983-04-22 | 1983-04-22 | Robot hand |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP7103883A JPS59196191A (en) | 1983-04-22 | 1983-04-22 | Robot hand |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS59196191A JPS59196191A (en) | 1984-11-07 |
| JPS6211998B2 true JPS6211998B2 (en) | 1987-03-16 |
Family
ID=13448945
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP7103883A Granted JPS59196191A (en) | 1983-04-22 | 1983-04-22 | Robot hand |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS59196191A (en) |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5914491A (en) * | 1982-07-12 | 1984-01-25 | 株式会社山武 | Robot hand |
-
1983
- 1983-04-22 JP JP7103883A patent/JPS59196191A/en active Granted
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5914491A (en) * | 1982-07-12 | 1984-01-25 | 株式会社山武 | Robot hand |
Also Published As
| Publication number | Publication date |
|---|---|
| JPS59196191A (en) | 1984-11-07 |
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