WO2016158279A1 - Main de robot, et unité articulation - Google Patents

Main de robot, et unité articulation Download PDF

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Publication number
WO2016158279A1
WO2016158279A1 PCT/JP2016/057490 JP2016057490W WO2016158279A1 WO 2016158279 A1 WO2016158279 A1 WO 2016158279A1 JP 2016057490 W JP2016057490 W JP 2016057490W WO 2016158279 A1 WO2016158279 A1 WO 2016158279A1
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WO
WIPO (PCT)
Prior art keywords
robot hand
axis
joint unit
connecting portion
unit
Prior art date
Application number
PCT/JP2016/057490
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English (en)
Japanese (ja)
Inventor
遠藤　智
重人 加藤
Original Assignee
株式会社オートネットワーク技術研究所
住友電装株式会社
住友電気工業株式会社
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by 株式会社オートネットワーク技術研究所, 住友電装株式会社, 住友電気工業株式会社 filed Critical 株式会社オートネットワーク技術研究所
Publication of WO2016158279A1 publication Critical patent/WO2016158279A1/fr

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/08—Gripping heads and other end effectors having finger members
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00—Joints

Definitions

  • This invention relates to a robot hand and a joint unit.
  • Patent Document 1 A processing apparatus for controlling such a robot is disclosed in Patent Document 1, for example.
  • Patent Literature 1 The processing apparatus described in Patent Literature 1 is based on an acquisition unit that acquires sensor information from a force sensor, an analysis processing unit that performs linear prediction analysis processing on the acquired sensor information, and the linear prediction analysis processing And a parameter setting unit for setting control parameters used for force control of the robot.
  • a robot generally has a configuration specialized for a specific work performed by the robot and a target of the work. For this reason, if you want to change the type of work to be performed by the robot or the type of the target of the work, it is necessary to attach a tool suitable for the work or work target to the hand that handles the product, that is, the robot hand. It may become. In this case, it may take time to attach or replace the tool.
  • an object of the present invention is to provide a technique capable of performing as many kinds of work as possible for a robot hand or a technique capable of expanding the versatility of the work object even in the same work.
  • the robot hand includes at least one chained portion in which a plurality of joint units are connected in a chain so that the posture of the joint unit can be spirally changed and the diameter of the spiral can be changed.
  • the robot hand according to the second aspect is the robot hand according to the first aspect, wherein a pair of adjacent joint units among the plurality of joint units is set in a direction parallel to a direction in which the two are aligned. Relative rotation is possible around a first axis and a second axis set in a direction intersecting the first axis.
  • a robot hand according to a third aspect is the robot hand according to the second aspect, wherein the joint unit is connectable to a base body, a first connection part, and a first connection part of another joint unit.
  • a first drive that includes two connecting portions, and that relatively rotates the connecting portion provided to be connected to the base body and the base body of the other joint unit connected to the base body by the connecting portion around the first axis.
  • a second drive source that relatively rotates the first rotation mechanism section including the source and the base body of the other joint unit connected to the base body by the connecting portion around the second axis that intersects the first axis;
  • a second rotation mechanism unit is the joint unit.
  • a robot hand according to a fourth aspect is the robot hand according to the third aspect, wherein the first rotation mechanism unit is capable of rotationally driving the first coupling part around the first axis with respect to the base body. Is provided.
  • the robot hand according to a fifth aspect is the robot hand according to the third or fourth aspect, wherein the second rotation mechanism unit is connected to the first connection part of another joint unit to the second connection part.
  • the first connecting portion of the other joint unit is provided to be rotatable around the second axis with respect to the second connecting portion.
  • a robot hand according to a sixth aspect is the robot hand according to any one of the first to fifth aspects, and includes a plurality of the chain portions.
  • the robot hand according to the seventh aspect is the robot hand according to any one of the first to sixth aspects, and further includes a holding mechanism provided at a tip of the chain part.
  • a robot hand according to an eighth aspect is the robot hand according to the seventh aspect, wherein the holding mechanism unit includes a suction pad.
  • the robot hand according to the ninth aspect is the robot hand according to the seventh or eighth aspect, wherein the holding mechanism section includes a gripping mechanism section.
  • a robot hand according to a tenth aspect is the robot hand according to any one of the first to ninth aspects, wherein the flexible part is made of a material more flexible than the joint unit and covers the periphery of the chain part. Is further provided.
  • a joint unit includes a base, a first connection, and a second connection that can be connected to a first connection of another joint unit, and is provided so as to be connected to the base.
  • a first rotation mechanism unit including a first drive source that relatively rotates and drives the base, and the base of the other joint unit connected by the base and the base, around the first axis, and the base and the base
  • a second rotation mechanism unit including a second drive source that relatively rotates the base of another joint unit to be coupled around the second axis that intersects the first axis.
  • a plurality of joint units are connected in a chain shape that can change the posture in a spiral shape, and the diameter of the spiral can be changed when changing the posture in a spiral shape Since at least one chained portion connected is provided, the versatility of the work target can be expanded even in the same work, for example, it is possible to wind around different types of electric wire diameters with one robot hand.
  • the pair of adjacent joint units among the plurality of joint units intersects the first axis and the first axis set in a direction parallel to the direction in which the two are aligned. Therefore, the adjacent joint units can be twisted and the joint angle between the adjacent joint units can be changed.
  • the joint unit includes the first drive source that relatively rotates the base body and the base body of the other joint unit connected by the connecting portion around the first axis. Since the rotation mechanism portion is provided, adjacent joint units can be twisted with each other.
  • the joint unit includes a second rotation mechanism unit that includes a second drive source that relatively rotates and drives the base body of the other joint unit that is connected to the base body by the connecting portion around the second axis that intersects the first axis. Therefore, the joint angle between adjacent joint units can be changed.
  • the robot hand can be deformed in a spiral shape, and can be deformed into a posture other than a spiral, so that it can perform various types of work as a robot hand. Can expand the nature.
  • the first rotation mechanism unit is provided so as to be capable of rotationally driving the first coupling unit around the first axis with respect to the base body.
  • the other joint units connected to the first connection part of the joint unit can be driven to rotate relative to the first axis.
  • the second rotation mechanism unit is different from the second connection unit in the state where the first connection unit of the other joint unit is connected to the second connection unit. Since the first connecting portion of the joint unit is provided so as to be rotatable around the second axis, the joint unit and the other joint unit connected to the second connecting portion of the joint unit are second. Relative rotation drive is possible around the axis.
  • the holding mechanism portion provided at the tip of the chain portion is further provided, the parts can be more easily held by the robot hand.
  • the holding mechanism section includes the suction pad, the target can be easily held by suction.
  • the holding mechanism portion includes the gripping mechanism portion, the target can be easily gripped.
  • the robot hand is formed of a material that is more flexible than the joint unit and further includes a flexible portion that covers the periphery of the chain portion. It is difficult to damage the handling object.
  • the base is provided with the base, the second connection that can be connected to the first connection and the first connection of the other joint unit, and the connection provided to be connected to the base.
  • a first rotation mechanism portion having a first drive source for relatively rotating around the first axis with a base body of another joint unit connected to the base body and the connecting portion; and another joint connected to the base body by the connecting portion.
  • a second rotation mechanism section having a second drive source that relatively rotates around the second axis that intersects the first axis. Therefore, the joint units are connected by connecting the joint units. It becomes possible to drive relative rotation around two different axes. As a result, the robot hand can perform as many kinds of work as possible, or the work versatility can be expanded even in the same work.
  • 1 to 5 are perspective views showing a robot hand 10 according to the first embodiment.
  • 1 to 5 are perspective views of the robot hand 10 having the same posture as seen from different directions.
  • the robot hand 10 includes at least one linkage unit 12 to which a plurality of joint units 50 are connected. Further, here, the robot hand 10 includes a support portion 16 to which a joint unit 50 located on one end side of the chain portion 12 is coupled.
  • the number of the chain part 12 may be one, and may be three or more.
  • the support part 16 is connected with a robot arm etc., for example.
  • the robot hand 10 is described as performing an operation of gripping a wire such as an electric wire and an operation of ironing the wire.
  • a wire such as an electric wire
  • the diameter of the wire to be handled is not limited to one type, and may have different diameters.
  • the wire may include a plurality of electric wires.
  • the operation of squeezing the wire means an operation of sliding the wire while applying a force to the wire, and squeezing the wire can correct wrinkles on the wire.
  • the cross section of the electric wire bundle can be adjusted to a desired shape such as a circle.
  • an annular member called a gripper is used for the operation of squeezing a bundle of wires including a plurality of wires.
  • the cross section of the wire bundle was adjusted to a desired circular shape by sliding the gripper with respect to the wire bundle in a state where the wire bundle was passed through the gripper having a desired diameter. In this case, it was necessary to change the kind of gripper for each desired diameter.
  • the shape of the wire may change at the gripping position. Further, when the wire is a flexible material, if the wire is gripped strongly when gripping the wire, the wire may be damaged. In addition, when the wire is a flexible material such as an electric wire, it is difficult to exist in a certain fixed form, so even if the wire is formed to have the same configuration, the shape or the like may be different. is there.
  • the work and work target handled by the robot hand 10 are not limited to the above.
  • the robot hand 10 may perform an operation of bundling a plurality of wires W.
  • the robot hand 10 may handle a connector or the like.
  • the chain part 12 is connected in a chain form in which a plurality of joint units 50 can be changed in a spiral shape. Moreover, when changing the attitude
  • FIG. 6 and 7 are perspective views showing the joint unit 50 according to the first embodiment as seen from different directions.
  • FIG. 8 is a rear view showing the joint unit 50 according to the first embodiment.
  • FIG. 9 is a bottom view showing the joint unit 50 according to the first embodiment.
  • FIG. 10 is a side view showing the joint unit 50 according to the first embodiment.
  • the joint unit 50 includes a base body 52, a connecting part 60, a first rotation mechanism part 80, and a second rotation mechanism part 90.
  • the base 52 is a part that forms the outline of the chain part 12 when the chain part 12 is viewed as a whole.
  • the connecting portion 60 is provided so as to be continuous with the base body 52.
  • the connecting portion 60 includes a first connecting portion 62 and a second connecting portion 70 that can be connected to the first connecting portion 62 of the other joint unit 50.
  • a plurality of joint units 50 are connected to each other using the connecting portion 60.
  • the first rotation mechanism 80 includes a first drive source 84 that relatively rotates the base 52 and the base 52 of the other joint unit 50 connected by the connecting part 60 around the first axis.
  • the first drive source 84 relatively rotates and drives the base body 52 of the other joint unit 50 connected by the base part 52 and the connection part 60 via the first rotation part 82.
  • the second rotation mechanism 90 includes a second drive source 94 that relatively rotates the base 52 and the base 52 of the other joint unit 50 connected by the connecting part 60 around the second axis that intersects the first axis.
  • the second drive source 94 relatively rotates and drives the base body 52 and the base body 52 of the other joint unit 50 connected by the connecting part 60 via the second rotating part 92.
  • the base 52 includes a first housing part 53 and a second housing part 56.
  • the first accommodating portion 53 is formed so as to accommodate the first rotating mechanism portion 80.
  • the 1st accommodating part 53 contains the 1st rectangular parallelepiped-shaped part 54 formed in the rectangular parallelepiped shape, and the 1st triangular prism-shaped part 55 formed in the triangular prism shape.
  • a first triangular prism-shaped portion 55 is provided on one side surface of the first rectangular parallelepiped-shaped portion 54. Moreover, the 2nd accommodating part 56 is continued to the side surface orthogonal to the side surface in which the 1st triangular prism-shaped part 55 is provided among the 1st rectangular parallelepiped parts 54.
  • FIG. A side surface of the first rectangular parallelepiped portion 54 on which the first triangular prism-shaped portion 55 is provided is set to have the same size as the combined size of the side surface of the first triangular prism-shaped portion 55 and the second connecting portion 70.
  • the first triangular prism-shaped portion 55 is provided so that its pair of bottom surfaces protrude from the end of the first rectangular parallelepiped portion 54 in a manner perpendicular to the side surface of the first rectangular parallelepiped portion 54.
  • the first connecting portion 62 is connected to one bottom surface of the pair of bottom surfaces of the first triangular prism-shaped portion 55, and the second connecting portion 70 is provided on the other bottom surface.
  • the direction connecting the pair of bottom surfaces of the first triangular prism-shaped portion 55 is the direction in which the adjacent joint units 50 are connected (hereinafter simply referred to as the connecting direction).
  • This connection direction is a horizontal direction when viewed in FIG. 8, a vertical direction when viewed in FIG. 9, and a direction perpendicular to the paper surface when viewed in FIG.
  • connection part 62 is provided so that it may protrude outside from the base
  • the second connecting portion 70 is provided so as to protrude from the first triangular prism-shaped portion 55 to substantially the same position as the end portion of the base 52 along the connecting direction.
  • the second accommodating portion 56 is a portion that accommodates the second rotating mechanism portion 90.
  • the second accommodating portion 56 includes a second rectangular parallelepiped portion 57 formed in a rectangular parallelepiped shape and a second triangular prism-shaped portion 58 formed in a triangular prism shape.
  • One side surface of the second rectangular parallelepiped portion 57 is continuous with the first rectangular parallelepiped portion 54.
  • the second triangular prism-shaped portion 58 is connected to the side surface of the second rectangular parallelepiped portion 57 that faces the same side as the side from which the first triangular prism-shaped portion 55 protrudes from the first rectangular parallelepiped portion 54.
  • the second triangular prism-shaped portion 58 is provided so that its bottom surface protrudes from the connection direction end portion side of the second rectangular parallelepiped portion 57 in a mode orthogonal to the side surface of the second rectangular parallelepiped portion 57. And the 2nd triangular prism-shaped part 58 connects the bearing surface 74 of the 2nd connection part 70 mentioned later among the connection parts 60 to one bottom face of a pair of bottom face.
  • the first connecting portion 62 includes a protruding portion 64 and a support shaft portion 66.
  • the 1st connection part 62 is formed in the aspect which protrudes outside from the base
  • the first connecting portion 62 is connected to the base body 52 by the first rotating mechanism portion 80 so as to be capable of relative rotational driving around a first axis set in a direction parallel to the connecting direction.
  • the projecting portion 64 is held by the first rotating portion 82 so as to be capable of relative rotation around the base 52 and the first axis.
  • the projecting portion 64 includes a portion formed in a rectangular parallelepiped shape located on the proximal end side and a portion formed in a semi-cylindrical shape located on the distal end side.
  • the support shaft portion 66 is a connecting portion of a semi-cylindrical portion and a rectangular parallelepiped portion, and is formed so as to protrude in a rod shape from a portion corresponding to the center of the semicircle.
  • a pair of support shafts 66 are provided, and each of the support shafts 66 can be fitted into a support recess 76 formed in a bearing surface 74 provided in the second connecting portion 70.
  • the support shaft portion 66 is formed so as to protrude in a direction orthogonal to the first shaft.
  • a guide recess 68 is formed around the support shaft 66 in the protrusion 64.
  • the guide recess 68 is formed in an arc shape with the support shaft portion 66 as the center.
  • a guide convex portion 78 provided on the bearing surface 74 of the second connecting portion 70 is fitted into the guide concave portion 68 to guide relative rotation between the first connecting portion 62 and the second connecting portion 70.
  • the guide convex portion 78 abuts on the circumferential end portion of the guide concave portion 68, thereby restricting the relative rotation amount between the first connecting portion 62 and the second connecting portion 70.
  • the guide recess 68 is formed in a substantially semicircular arc shape (here, an arc shape slightly smaller than the semicircular arc).
  • the guide convex portion 78 is set to contact the inner peripheral surface of one end portion in the circumferential direction of the guide concave portion 68. From this state, the guide convex portion 78 abuts on the inner peripheral surface of the other end portion in the circumferential direction of the guide concave portion 68 in a state where the adjacent joint units 50 are slightly bent by 180 degrees with the connecting portion 60 inside. Is set to
  • a flange portion 69 is formed on the base end side of the rectangular parallelepiped portion so as to protrude to the same side as the side from which the support shaft portion 66 protrudes.
  • a surface of the flange portion 69 facing the support shaft portion 66 side is formed in an arc shape along a distal end edge portion of a bearing surface 74 described later of the second connecting portion 70.
  • the second connecting portion 70 includes a base end surface 72 and a bearing surface 74. Here, the second connecting portion 70 is fixed to the base body 52.
  • the base end surface 72 is formed so as to be non-rotatably fixed to a surface opposite to the surface on which the first connecting portion 62 is provided, of the pair of bottom surfaces of the first triangular columnar portion 55.
  • a pair of bearing surfaces 74 are formed so as to protrude from both edge portions in the width direction of the base end surface 72 in the connecting direction.
  • the bearing surface 74 is composed of a rectangular plate-like portion located on the proximal end side and a semicircular plate-like portion located on the distal end side.
  • the support recessed part 76 is formed in the connection part of a rectangular plate-shaped part and a semicircle plate-shaped part, Comprising: The part corresponded to the center of a semicircle.
  • the support recess 76 is formed in a through-hole shape penetrating the bearing surface 74.
  • the support part 66 of the other joint unit 50 inserted in the support recessed part 76 formed in the bearing surface 74 located in the 2nd triangular prism-shaped part 58 side among the 2nd rotation part 92 and a pair of bearing surfaces 74.
  • the support shaft portion 66 is rotationally driven by the second rotation mechanism portion 90.
  • a guide projection 78 is formed on one of the pair of bearing surfaces 74.
  • the guide protrusion 78 is formed closer to the first rectangular parallelepiped part 54 than the support recess 76. As described above, the guide protrusion 78 is formed so as to fit into the guide recess 68.
  • the first rotation mechanism unit 80 rotates its first connection unit 62 with respect to the base 52.
  • the first rotating unit 82 includes a shaft that is rotated by the first drive source 84.
  • the shaft is disposed so as to extend along the connecting direction from the first triangular prism-shaped portion 55 to the first connecting portion 62.
  • a portion that meshes with the shaft is formed in the first connecting portion 62, and the shaft rotates with the shaft meshing with the portion that meshes with the shaft.
  • the 1st connection part 62 is rotated.
  • the first rotation mechanism unit 80 rotates the first coupling unit 62 around the first axis.
  • the first axis is set in the connecting direction.
  • a motor is used as the first drive source 84.
  • a gear or the like may be appropriately engaged between the motor and the shaft as necessary.
  • the first drive source 84 it is not essential for the first drive source 84 to employ a motor.
  • the first drive source may be an air cylinder or the like.
  • a link mechanism unit that converts linear motion into rotational motion may be provided between the first drive source and the first rotating body. The first drive source only needs to be able to relatively rotate and drive the base and another base.
  • the second rotation mechanism 90 is connected to the base 52 by the first connection 62 (hereinafter referred to as the other first connection 62) of the other joint unit 50 connected to the second connection 70. Rotate).
  • the second rotation mechanism unit 90 rotates the other first coupling unit 62.
  • the second rotating unit 92 includes a shaft that is rotated by the second drive source 94. The shaft is disposed so as to extend from the second triangular prism-shaped portion 58 toward the support recess 76 formed in the bearing surface 74 of the second connecting portion 70 along a direction orthogonal to the connecting direction.
  • the second rotation mechanism portion. 90 rotates the other first connecting portion 62 with respect to the base 52.
  • the second rotation mechanism unit 90 rotates the other first coupling unit 62 around the second axis set in the direction orthogonal to the first axis.
  • the second shaft is set in the extending direction of the support shaft portion 66, that is, in the central axis direction of the support recess 76.
  • the first axis and the second axis are set to extend in directions perpendicular to each other.
  • a motor is used as the second drive source 94.
  • a gear or the like may be appropriately engaged between the motor and the shaft as necessary.
  • the second drive source 94 it is not essential for the second drive source 94 to employ a motor.
  • the second drive source may be an air cylinder or the like.
  • a link mechanism unit that converts linear motion into rotational motion may be provided between the second drive source and the second rotating body.
  • both the first drive source 84 and the second drive source 94 employ motors, but different configurations may be employed.
  • the second of the joint unit 50 having the second connection part 70 that is not connected to the first connection part 62 of the other joint unit 50 among the both ends of the chain part 12.
  • the connecting part 70 is connected to the support part 16.
  • both the second connecting portion 70 and the support portion 16 can be driven to rotate relative to each other.
  • the following configuration is conceivable as the configuration in which the second connecting portion 70 and the support portion 16 can be driven to rotate relative to each other.
  • a support shaft portion 66 having the same shape as the support shaft portion 66 of the first connecting portion 62 is formed in the support portion 16, and the support shaft portion 66 fits into the support recess 76 of the second connecting portion 70, so that the second The shaft engages with the shaft of the rotating portion 92.
  • the second rotation mechanism portion rotates the shaft, so that the second connecting portion 70 can be driven to rotate around the central axis of the support recess 76 with respect to the support portion 16.
  • the two linkage portions 12a and 12b are connected so that the first rectangular parallelepiped portion 54 and the second rectangular parallelepiped portion 57 are located on the same side with respect to the connecting portion 60.
  • a plurality of the joint units 50 are connected in a straight line.
  • the term “linear” refers to one linear shape that is not branched. More specifically, here, in one chain part 12a of the two chain parts 12a and 12b, five joint units 50 are connected in a straight line. Moreover, seven joint units 50 are linearly connected in the other chain part 12b of the two chain parts 12a and 12b.
  • the number of joint units 50 connected in a straight line is not limited to the above.
  • the number of joint units 50 should just be set suitably.
  • the number of joint units 50 in each chained portion may be the same or different.
  • the two chain portions 12 are aligned in a straight line. From this state, the robot hand 10 changes its posture to various postures by rotating each rotating portion of each joint unit 50. Hereinafter, a state in which the robot hand 10 is changed in posture to three of the possible postures will be described.
  • 11 to 21 are perspective views showing the robot hand 10 whose posture has been changed.
  • 11 to 15 are perspective views of the robot hand 10 having the same posture as seen from different directions.
  • FIGS. 16 to 21 are perspective views of the robot hand 10 in one posture different from FIGS. 11 to 15 as seen from different directions.
  • FIGS. 11 to 15 show a state where only the second rotation mechanism 90 of the joint unit 50 located on the most support portion 16 side of the one linkage portion 12b is rotationally driven.
  • the joint unit 50 and the support portion 16 are relatively rotated by about 60 degrees.
  • the robot hand 10 assumes a V-shaped posture.
  • the distance between the tip of one chain portion 12a and the tip of the other chain portion 12b is set. It can be adjusted as appropriate. For this reason, since the distance between the tip of one chained portion 12a and the tip of the other chained portion 12b can be appropriately adjusted to the size of the portion to be gripped in the work target, gripping is performed with a gripping force suitable for the work target. can do.
  • FIG. 22 is a perspective view showing a state where the posture of the robot hand 10 is changed in a spiral shape.
  • FIG. 23 is a view of the state in which the posture of the robot hand 10 is changed in a spiral shape when viewed along the longitudinal direction of the wire W. 22 and 23, the robot hand 10 whose posture has been helically deformed is wound around the wire W.
  • FIGS. 22 and FIG. 23 are obtained by rotationally driving the first rotation mechanism portion 80 and the second rotation mechanism portion 90 of the joint unit 50 of each of the chain portions 12a and 12b. Thereby, as shown in FIGS. 22 and 23, the robot hand 10 assumes a spiral posture. Such a spiral posture is suitable for squeezing the wire W, for example.
  • the spiral diameter can be appropriately adjusted by appropriately adjusting the rotation amounts of the first rotating portion 82 and the second rotating portion 92 of the joint unit 50 of each chain portion 12. For this reason, since the diameter of the spiral can be appropriately adjusted to the diameter of the wire W, it can be ironed with a force suitable for the wire W.
  • the robot hand 10 includes a plurality of chained portions 12, as shown in FIGS. 22 and 23, when the plurality of chained portions 12a and 12b are deformed in a spiral shape, at least two chained portions have a central axis of the spiral. It is preferable that the plurality of chain portions 12 a and 12 b are attached to the support portion 16 so that they match. Thereby, the area
  • the plurality of joint units 50 includes at least one chained portion 12 that can be changed in posture in a spiral shape and connected in a chain shape in which the diameter of the spiral can be changed.
  • the versatility of the work object can be expanded even in the same work.
  • the diameter of the spread wire bundle can be reduced by reducing the diameter of the spiral.
  • the robot hand 10 can be inserted into the clearance by deforming the posture of the robot hand 10. Further, after the insertion, the posture can be changed to a posture suitable for the work target.
  • contact points action points
  • the work object is hardly damaged.
  • a pair of adjacent joint units 50 among the plurality of joint units 50 are arranged around a second axis set in a direction orthogonal to the first axis and the first axis set in a direction parallel to the direction in which the two are aligned. Since relative rotation driving is possible, adjacent joint units 50 can be twisted with each other, and the joint angle between adjacent joint units 50 can be changed.
  • the joint unit 50 includes a first drive mechanism 84 that includes a first drive source 84 that relatively rotates the base 52 and the base 52 of the other joint unit 50 connected by the connecting part 60 about the first axis. Since 80 is provided, adjacent joint units 50 can twist. Further, the joint unit 50 includes a second drive source 94 that relatively rotates the base body 52 and the base body 52 of another joint unit 50 connected by the connecting portion 60 around a second axis that intersects the first axis. Since the two-rotation mechanism 90 is provided, the joint angle between adjacent joint units 50 can be changed.
  • the robot hand 10 can be deformed in a spiral shape, and can be deformed into a posture other than a spiral, so that various types of work can be performed as much as possible, or the work target can be the same work.
  • the versatility of can be expanded.
  • the joint unit 50 and the first unit of the joint unit 50 are provided.
  • the other joint unit 50 connected to the connecting portion 62 can be driven to rotate relative to the first axis.
  • the second rotation mechanism unit 90 is configured such that the first connection unit 62 of the other joint unit 50 is connected to the second connection unit 70 in a state where the first connection unit 62 of the other joint unit 50 is connected to the second connection unit 70. Since the connecting part 62 is provided so as to be rotatable around the second axis, the joint unit 50 and the other joint unit 50 connected to the second connecting part 70 of the joint unit 50 are second. Relative rotation drive is possible around the axis.
  • the cost concerning manufacture can be restrained by comprising one chain
  • FIG. 24 is a perspective view showing a robot hand 10A according to the second embodiment.
  • the same components as those described in the first embodiment are denoted by the same reference numerals, and the description thereof is omitted.
  • the robot hand 10A according to the second embodiment is different from the robot hand 10 according to the first embodiment in the following two points.
  • the first point is that the robot hand 10 ⁇ / b> A further includes a flexible portion 17.
  • the flexible part 17 is formed of a material (for example, resin) more flexible than the joint unit 50.
  • the flexible part 17 covers the periphery of the chain part 12.
  • the flexible portion 17 is provided only in one of the two linkage portions 12a and 12b, but this is not essential.
  • the flexible part may be provided in both the chain parts.
  • the flexible part 17 is generally provided in the chain part 12 from the base end to the front-end
  • the flexible part 17 may be partially provided in the chain part 12. That is, the flexible part 17 is good to be provided in the part which may contact
  • the flexible part 17 may be provided so as not to inhibit the rotation of the chain part 12 as much as possible.
  • a configuration in which the flexible portion 17 is provided in the base 52 portion for each joint unit 50 is conceivable.
  • the second point is that the robot hand 10A further includes a holding mechanism portion 18 provided at the tip of the chain portion 12.
  • the holding mechanism unit 18 is configured to be able to hold a target. It is conceivable that the holding mechanism unit 18 includes, for example, a suction pad or a gripping mechanism unit. Here, holding mechanism portions 18 are provided at the tips of the two chain portions 12a and 12b, respectively. And here, the holding mechanism part 18 provided in one chain part 12a of the two chain parts 12a and 12b includes the suction pad 20, and the holding mechanism part 18 provided in the other chain part 12b is a gripping mechanism. The description will be made assuming that the unit 30 is included.
  • FIG. 25 is an explanatory view showing the suction pad 20.
  • a part of the pad main body portion 22 is partly cut out to be a sectional view.
  • the suction pad 20 includes a pad main body 22 and an ejector 24.
  • the pad body 22 is formed in a cylindrical shape. More specifically, here, the pad main body portion 22 is formed in a shape in which a circular truncated cone shape and a cylindrical shape are combined. The outer diameter and inner diameter are set to increase toward the tip of the pad main body 22.
  • the internal space of the pad main body 22 is a gas flow path and is connected to the ejector 24.
  • the ejector 24 is configured to be able to suck air in the pad main body 22.
  • the object W1 is hold
  • the target W1 can be released by stopping the suction while holding the target W1.
  • the suction pad 20 is suitable when the work target W1 is a member that is difficult to grip, such as a thin member.
  • the suction pad 20 may not include the ejector 24.
  • the pad main body 22 is preferably formed in a sucker shape.
  • the object can be held by pressing the pad main body against the object so that air in the pad main body is released.
  • FIG. 26 is a diagram illustrating a state before the target is gripped
  • FIG. 27 is a diagram illustrating a state in which the target is gripped.
  • the gripping mechanism section 30 includes a pair of gripping sections 32 and a drive mechanism section 34 that drives the pair of gripping sections 32.
  • the gripping mechanism 30 will be described as what is called an air chuck in which an air cylinder 34 is used as the drive mechanism 34.
  • grip mechanism part 30 is not restricted to an air chuck.
  • the drive mechanism unit 34 is not limited to the air cylinder 34, and a motor may be employed. That is, as the drive mechanism unit 34, a drive mechanism unit that can change the posture between the opened state and the closed state may be used.
  • the distal ends of the pair of gripping portions 32 are opposed to each other with a gap, and the proximal ends thereof are connected to the air cylinder 34.
  • the air cylinder 34 reciprocates, the tips of the pair of gripping portions 32 approach and separate from each other.
  • gripping part 32 changes, and it can be changed into a state before holding
  • the gripping mechanism unit 30 is provided at the tip of the chain unit 12, the target W2 can be gripped by one chain unit 12.
  • chain part 12 and the holding mechanism part 18 may be connected using the vacant connection part 60 of the joint unit 50, or may be connected without using the connection part 60.
  • each chained portion includes a suction pad at the tip of one chained portion and a gripping mechanism at the tip of another chained portion.
  • the holding mechanism unit may have a configuration other than the suction pad 20 and the gripping mechanism unit 30.
  • the holding mechanism unit may hold a magnetic body using magnetic force.
  • the holding mechanism 18 provided at the tip of the chain part 12 is further provided, the parts can be held more easily by the robot hand 10A.
  • the holding mechanism unit 18 includes the suction pad 20, the target can be easily held by suction.
  • the holding mechanism unit 18 includes the gripping mechanism unit 30, the target can be easily gripped.
  • the flexible unit 17 is formed of a material more flexible than the joint unit 50 and covers the periphery of the chain part 12, even if the chain part 12 of the robot hand 10A comes into contact with the object to be handled, it is difficult to damage the object to be handled.
  • a pair of adjacent joint units 50 can be driven to rotate relative to each other around a first axis set in a direction parallel to the direction in which the two joint units are arranged and a second axis set in a direction orthogonal to the first axis.
  • this is not essential.
  • one joint unit and a joint unit located next to one side can be driven to rotate around the first axis, and the second joint between the one joint unit and the joint unit located next to the other side.
  • Relative rotation driving may be possible around the axis.
  • the first connecting portion 62 can be driven to rotate about the first axis with respect to the base body 52, and the other connected to the second connecting portion 70 with respect to the base body 52.
  • first connecting portion 62 has been described as being rotatable about the second axis, this is not essential.
  • different joint units may be responsible for the function of rotating around the first axis and the function of rotating around the second axis.
  • the joint unit may be capable of rotationally driving one of the first connecting portion and the second connecting portion around the first axis and the second axis with respect to the base.
  • the joint unit 50 has been described as being linearly connected, but this is not essential.
  • a portion branching to the chain portion may be provided.
  • the direction in which the first axis extends is the direction parallel to the coupling direction
  • the direction in which the second axis extends is the direction orthogonal to the first axis, but this is not essential.
  • the direction in which the first axis extends may be a direction that intersects the connecting direction
  • the direction in which the second axis extends may be the direction that intersects the first axis. That is, the first axis and the second axis only need to be set in a direction in which the chain portion can be changed in a spiral shape.
  • each structure demonstrated by said each embodiment and each modification can be suitably combined unless it mutually contradicts.

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

L'invention a pour objet de fournir une technique qui permet de faire effectuer à un robot des tâches de type aussi divers que possible, ou qui permet d'élargir le caractère universel de l'objet de tâches y compris dans le cas de tâches identiques. Une main de robot est équipée d'au moins une partie chaîne. Cette partie chaîne est couplée dans un état de chaîne permettant une modification de posture de manière hélicoïdale par une pluralité d'unités articulation, et permettant une modification de diamètre d'hélice. En considérant cette main de robot, une paire d'unités articulation adjacentes parmi la pluralité d'unités articulation, peut par exemple exercer une rotation relative autour d'un premier axe établi dans une direction parallèle à la direction d'alignement des deux unités articulation, et d'un second axe établi dans une direction croisant le premier axe.
PCT/JP2016/057490 2015-03-30 2016-03-10 Main de robot, et unité articulation WO2016158279A1 (fr)

Applications Claiming Priority (2)

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JP2015068147A JP2016187843A (ja) 2015-03-30 2015-03-30 ロボットハンド及び関節ユニット
JP2015-068147 2015-03-30

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WO2016158279A1 true WO2016158279A1 (fr) 2016-10-06

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US11135716B2 (en) * 2016-03-30 2021-10-05 B.G. Negev Technologies & Applications Ltd., At Ben-Gurion University Minimally actuated serial robot

Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS6076990A (ja) * 1983-09-30 1985-05-01 株式会社東芝 関節装置
JPS62166984A (ja) * 1986-01-17 1987-07-23 三菱重工業株式会社 関節駆動機構
JPH04111792A (ja) * 1989-12-20 1992-04-13 Toshiba Corp アクチュエータ
JPH07329841A (ja) * 1994-06-10 1995-12-19 Railway Technical Res Inst 線形状・円筒形状物体検査用螺旋走行ロボット
JPH0929674A (ja) * 1995-07-19 1997-02-04 Kawasaki Heavy Ind Ltd 指状把持装置
US20120186383A1 (en) * 2009-09-22 2012-07-26 University Research And Development Company, Ltd Orientation Controller, Mechanical Arm, Gripper and Components Thereof
JP2014097555A (ja) * 2012-11-15 2014-05-29 Precision Machinery Research Development Center エンドエフェクタ
JP2015054388A (ja) * 2013-09-13 2015-03-23 セイコーエプソン株式会社 ロボットアームおよびロボット

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS6076990A (ja) * 1983-09-30 1985-05-01 株式会社東芝 関節装置
JPS62166984A (ja) * 1986-01-17 1987-07-23 三菱重工業株式会社 関節駆動機構
JPH04111792A (ja) * 1989-12-20 1992-04-13 Toshiba Corp アクチュエータ
JPH07329841A (ja) * 1994-06-10 1995-12-19 Railway Technical Res Inst 線形状・円筒形状物体検査用螺旋走行ロボット
JPH0929674A (ja) * 1995-07-19 1997-02-04 Kawasaki Heavy Ind Ltd 指状把持装置
US20120186383A1 (en) * 2009-09-22 2012-07-26 University Research And Development Company, Ltd Orientation Controller, Mechanical Arm, Gripper and Components Thereof
JP2014097555A (ja) * 2012-11-15 2014-05-29 Precision Machinery Research Development Center エンドエフェクタ
JP2015054388A (ja) * 2013-09-13 2015-03-23 セイコーエプソン株式会社 ロボットアームおよびロボット

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US11135716B2 (en) * 2016-03-30 2021-10-05 B.G. Negev Technologies & Applications Ltd., At Ben-Gurion University Minimally actuated serial robot

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