WO2016158279A1 - Robot hand and joint unit - Google Patents

Robot hand and joint unit 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
Other languages
French (fr)
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/en

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00Gripping heads and other end effectors
    • B25J15/08Gripping heads and other end effectors having finger members
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00Joints

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.

Abstract

The purpose of the present invention is to provide a technology whereby a robot hand can perform as many types of operations as possible or a technology whereby, even if performing the same operation, the robot hand can have increased general purpose applications for the operation. The robot hand comprises at least one linked section. The linked sections are coupled in a linked state such that a plurality of joint units can change posture into a spiral shape and the diameter of the spiral can change. One embodiment of this robot hand has, for example, a pair of adjacent joint units, among the plurality of joint units, that are relatively rotatable around: a first axis set in a parallel direction to the direction that the pair of joint units are lined up; and a second axis set in a direction orthogonal to the first axis.

Description

ロボットハンド及び関節ユニットRobot hand and joint unit
 この発明は、ロボットハンド及び関節ユニットに関する。 This invention relates to a robot hand and a joint unit.
 近年、工業製品の製造に多くの種類のロボットが関わっている。このようなロボットの制御を行う処理装置が、例えば、特許文献1に開示されている。 In recent years, many types of robots are involved in manufacturing industrial products. A processing apparatus for controlling such a robot is disclosed in Patent Document 1, for example.
 特許文献1に記載の処理装置は、力覚センサーからのセンサー情報を取得する取得部と、取得した前記センサー情報に対して線形予測分析処理を行う分析処理部と、前記線形予測分析処理に基づいて、ロボットの力制御に使用する制御パラメーターを設定するパラメーター設定部と、を含むとされている。 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.
特開2014-184517号公報JP 2014-184517 A
 ところで、ロボットは、一般的に、当該ロボットが行う特定の作業及びその作業の対象等に特化した構成を有している。このため、ロボットに行わせる作業の種類又はその作業の対象の種類を変更したい場合、ロボットのうち製品を扱う手先、つまりロボットハンドにその作業又は作業対象に合ったツールをその都度取り付けるなどが必要になる場合がある。この場合、ツールの取付又は交換等に時間がかかる恐れがあった。 Incidentally, 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.
 そこで、本発明は、ロボットハンドになるべく多種類の作業を行わせることができる技術又は同じ作業でもその作業対象の汎用性を広げることができる技術を提供することを目的とする。 Therefore, 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.
 上記課題を解決するため、第1の態様に係るロボットハンドは、複数の関節ユニットが螺旋状に姿勢変更可能、かつ、螺旋の径を変更可能に連鎖状に連結されている連鎖部を少なくとも1つ備える。 In order to solve the above-described problem, the robot hand according to the first aspect 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. Prepare.
 第2の態様に係るロボットハンドは、第1の態様に係るロボットハンドであって、前記複数の関節ユニットのうち隣り合う一対の前記関節ユニットが、両者の並ぶ方向と平行な方向に設定された第1軸及び前記第1軸と交差する方向に設定された第2軸周りに相対回転可能である。 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.
 第3の態様に係るロボットハンドは、第2の態様に係るロボットハンドであって、前記関節ユニットは、基体と、第1連結部と、他の関節ユニットの第1連結部と連結可能な第2連結部とを備え、前記基体に連なるように設けられた連結部と、前記基体と前記連結部により連結される他の関節ユニットの基体とを第1軸周りに相対回転駆動する第1駆動源を備える第1回転機構部と、前記基体と前記連結部により連結される他の関節ユニットの基体とを前記第1軸と交差する第2軸周りに相対回転駆動する第2駆動源を備える第2回転機構部と、を備える。 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.
 第4の態様に係るロボットハンドは、第3の態様に係るロボットハンドであって、前記第1回転機構部は、前記基体に対して前記第1連結部を前記第1軸周りに回転駆動可能に設けられている。 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.
 第5の態様に係るロボットハンドは、第3又は第4の態様に係るロボットハンドであって、前記第2回転機構部は、前記第2連結部に他の関節ユニットの第1連結部が連結された状態で、前記第2連結部に対して前記他の関節ユニットの前記第1連結部を前記第2軸周りに回転駆動可能に設けられている。 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. In this state, 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.
 第6の態様に係るロボットハンドは、第1~第5のいずれか1つの態様に係るロボットハンドであって、前記連鎖部を複数備える。 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.
 第7の態様に係るロボットハンドは、第1~第6のいずれか1つの態様に係るロボットハンドであって、前記連鎖部の先端に設けられた保持機構部をさらに備える。 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.
 第8の態様に係るロボットハンドは、第7の態様に係るロボットハンドであって、前記保持機構部は吸着パッドを含む。 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.
 第9の態様に係るロボットハンドは、第7又は第8の態様に係るロボットハンドであって、前記保持機構部は把持機構部を含む。 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.
 第10の態様に係るロボットハンドは、第1~第9のいずれか1つの態様に係るロボットハンドであって、前記関節ユニットよりも柔軟な材料で形成され、前記連鎖部の周囲を覆う柔軟部をさらに備える。 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.
 第11の態様に係る関節ユニットは、基体と、第1連結部と、他の関節ユニットの第1連結部と連結可能な第2連結部とを備え、前記基体に連なるように設けられた連結部と、前記基体と前記連結部により連結される他の関節ユニットの基体とを第1軸周りに相対回転駆動する第1駆動源を備える第1回転機構部と、前記基体と前記連結部により連結される他の関節ユニットの基体とを前記第1軸と交差する第2軸周りに相対回転駆動する第2駆動源を備える第2回転機構部と、を備える。 A joint unit according to an eleventh aspect 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.
 第1~第10の態様に係るロボットハンドによると、複数の関節ユニットが螺旋状に姿勢変更可能な連鎖状に連結されているとともに、螺旋状に姿勢変更する際に螺旋の径を変更可能に連結されている連鎖部を少なくとも1つ備えるため、例えば、1つのロボットハンドで異なる種類の電線径に巻付くことが可能になるなど、同じ作業でもその作業対象の汎用性を広げることができる。 According to the robot hand according to the first to tenth aspects, 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.
 特に、第2の態様に係るロボットハンドによると、複数の関節ユニットのうち隣り合う一対の関節ユニットが、両者の並ぶ方向と平行な方向に設定された第1軸及び第1軸に交差する方向に設定された第2軸周りに相対回転可能であるため、隣り合う関節ユニット同士がねじれあうことができるとともに、隣り合う関節ユニット同士の関節角度を変更することができる。 In particular, according to the robot hand according to the second aspect, 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.
 特に、第3の態様に係るロボットハンドによると、関節ユニットが、基体と連結部により連結される他の関節ユニットの基体とを第1軸周りに相対回転駆動する第1駆動源を備える第1回転機構部を備えるため、隣り合う関節ユニット同士がねじれあうことができる。また、関節ユニットが、基体と連結部により連結される他の関節ユニットの基体とを第1軸と交差する第2軸周りに相対回転駆動する第2駆動源を備える第2回転機構部を備えるため、隣り合う関節ユニット同士の関節角度を変更することができる。これにより、ロボットハンドが螺旋状に姿勢変形できるとともに、螺旋以外の姿勢にも変形可能となることによって、ロボットハンドになるべく多種類の作業を行わせることができる又は同じ作業でもその作業対象の汎用性を広げることができる。 In particular, according to the robot hand according to the third aspect, 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. In addition, 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. As a result, 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.
 特に、第4の態様に係るロボットハンドによると、第1回転機構部は、基体に対して第1連結部を第1軸周りに回転駆動可能に設けられているため、当該関節ユニットと、当該関節ユニットの当該第1連結部に連結される他の関節ユニットとが、第1軸周りに相対回転駆動可能となる。 In particular, according to the robot hand according to the fourth aspect, 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.
 特に、第5の態様に係るロボットハンドによると、第2回転機構部は、第2連結部に他の関節ユニットの第1連結部が連結された状態で、第2連結部に対して他の関節ユニットの第1連結部を第2軸周りに回転駆動可能に設けられているため、当該関節ユニットと、当該関節ユニットの当該第2連結部に連結される他の関節ユニットとが、第2軸周りに相対回転駆動可能となる。 In particular, according to the robot hand according to the fifth aspect, 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.
 特に、第6の態様に係るロボットハンドによると、連鎖部を複数備えるため、複数の連鎖部によって複雑な動きを実現することができる。 Particularly, according to the robot hand according to the sixth aspect, since a plurality of chained portions are provided, a complicated movement can be realized by the plurality of chained portions.
 特に、第7の態様に係るロボットハンドによると、連鎖部の先端に設けられた保持機構部をさらに備えるため、ロボットハンドによって部品をより容易に保持することができる。 Particularly, according to the robot hand according to the seventh aspect, since 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.
 特に、第8の態様に係るロボットハンドによると、保持機構部は吸着パッドを含むため、吸着により対象を容易に保持することができる。 Particularly, according to the robot hand according to the eighth aspect, since the holding mechanism section includes the suction pad, the target can be easily held by suction.
 特に、第9の態様に係るロボットハンドによると、保持機構部は把持機構部を含むため、対象を容易に把持することができる。 Particularly, according to the robot hand according to the ninth aspect, since the holding mechanism portion includes the gripping mechanism portion, the target can be easily gripped.
 特に、第10の態様に係るロボットハンドによると、関節ユニットよりも柔軟な材料で形成され、連鎖部の周囲を覆う柔軟部をさらに備えるため、ロボットハンドの連鎖部が取扱対象に当接しても取扱対象を傷つけにくい。 In particular, according to the robot hand according to the tenth aspect, 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.
 第11の態様に係る関節ユニットによると、基体と、第1連結部と他の関節ユニットの第1連結部と連結可能な第2連結部とを備え基体に連なるように設けられた連結部と、基体と連結部により連結される他の関節ユニットの基体とを第1軸周りに相対回転駆動する第1駆動源を備える第1回転機構部と、基体と連結部により連結される他の関節ユニットの基体とを第1軸と交差する第2軸周りに相対回転駆動する第2駆動源を備える第2回転機構部と、を備えるため、当該関節ユニットをつなげることで、連結された関節ユニット同士が異なる2つの軸周りに相対回転駆動可能となる。これにより、ロボットハンドになるべく多種類の作業を行わせることができる又は同じ作業でもその作業対象の汎用性を広げることができる。 According to the joint unit according to the eleventh aspect, 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. And 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.
第1実施形態に係るロボットハンドを示す斜視図である。It is a perspective view which shows the robot hand which concerns on 1st Embodiment. 第1実施形態に係るロボットハンドを示す斜視図である。It is a perspective view which shows the robot hand which concerns on 1st Embodiment. 第1実施形態に係るロボットハンドを示す斜視図である。It is a perspective view which shows the robot hand which concerns on 1st Embodiment. 第1実施形態に係るロボットハンドを示す斜視図である。It is a perspective view which shows the robot hand which concerns on 1st Embodiment. 第1実施形態に係るロボットハンドを示す斜視図である。It is a perspective view which shows the robot hand which concerns on 1st Embodiment. 第1実施形態に係る関節ユニットを示す斜視図である。It is a perspective view which shows the joint unit which concerns on 1st Embodiment. 第1実施形態に係る関節ユニットを示す斜視図である。It is a perspective view which shows the joint unit which concerns on 1st Embodiment. 第1実施形態に係る関節ユニットを示す背面図である。It is a rear view which shows the joint unit which concerns on 1st Embodiment. 第1実施形態に係る関節ユニットを示す底面図である。It is a bottom view which shows the joint unit which concerns on 1st Embodiment. 第1実施形態に係る関節ユニットを示す側面図である。It is a side view which shows the joint unit which concerns on 1st Embodiment. ロボットハンドが姿勢変更した様子を示す斜視図である。It is a perspective view which shows a mode that the robot hand changed the attitude | position. ロボットハンドが姿勢変更した様子を示す斜視図である。It is a perspective view which shows a mode that the robot hand changed the attitude | position. ロボットハンドが姿勢変更した様子を示す斜視図である。It is a perspective view which shows a mode that the robot hand changed the attitude | position. ロボットハンドが姿勢変更した様子を示す斜視図である。It is a perspective view which shows a mode that the robot hand changed the attitude | position. ロボットハンドが姿勢変更した様子を示す斜視図である。It is a perspective view which shows a mode that the robot hand changed the attitude | position. ロボットハンドが姿勢変更した様子を示す斜視図である。It is a perspective view which shows a mode that the robot hand changed the attitude | position. ロボットハンドが姿勢変更した様子を示す斜視図である。It is a perspective view which shows a mode that the robot hand changed the attitude | position. ロボットハンドが姿勢変更した様子を示す斜視図である。It is a perspective view which shows a mode that the robot hand changed the attitude | position. ロボットハンドが姿勢変更した様子を示す斜視図である。It is a perspective view which shows a mode that the robot hand changed the attitude | position. ロボットハンドが姿勢変更した様子を示す斜視図である。It is a perspective view which shows a mode that the robot hand changed the attitude | position. ロボットハンドが姿勢変更した様子を示す斜視図である。It is a perspective view which shows a mode that the robot hand changed the attitude | position. ロボットハンドが螺旋状に姿勢変更した様子を示す斜視図である。It is a perspective view which shows a mode that the robot hand changed the attitude | position to the spiral. ロボットハンドが螺旋状に姿勢変更した様子を線材の長手方向に沿って見た図である。It is the figure which looked at a mode that a robot hand changed the posture in the shape of a spiral along the longitudinal direction of a wire. 第2実施形態に係るロボットハンドを示す斜視図である。It is a perspective view which shows the robot hand which concerns on 2nd Embodiment. 吸着パッドを示す説明図である。It is explanatory drawing which shows a suction pad. 把持機構部を示す説明図である。It is explanatory drawing which shows a holding | grip mechanism part. 把持機構部を示す説明図である。It is explanatory drawing which shows a holding | grip mechanism part.
 {第1実施形態}
 以下、第1実施形態に係るロボットハンド10について説明する。図1~図5は、第1実施形態に係るロボットハンド10を示す斜視図である。なお、図1~図5は、同じ姿勢のロボットハンド10に対して、それぞれ別の方向から見た斜視図である。
{First embodiment}
Hereinafter, the robot hand 10 according to the first embodiment will be described. 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.
 第1実施形態に係るロボットハンド10は、複数の関節ユニット50が連結されている連鎖部12を少なくとも1つ備える。さらにここでは、ロボットハンド10は、連鎖部12の一端側に位置する関節ユニット50が連結される支持部16を備える。 The robot hand 10 according to the first embodiment 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.
 ここでは、支持部16から2つの連鎖部12a,12bが延びる例で説明するが、このことは必須ではない。連鎖部12は、1つでもよいし、3つ以上であってもよい。連鎖部12の数が多いほど、ロボットハンド10が扱える作業種及び作業対象が増える。なお、支持部16は、例えば、ロボットアーム等に連結される。 Here, an example in which the two chain portions 12a and 12b extend from the support portion 16 will be described, but this is not essential. The number of the chain part 12 may be one, and may be three or more. The greater the number of chained parts 12, the greater the number of work types and work targets that the robot hand 10 can handle. In addition, the support part 16 is connected with a robot arm etc., for example.
 ここで、本実施形態に係るロボットハンド10が扱う作業および作業対象について説明する。ここでは、ロボットハンド10は、電線等の線材を把持する作業及び線材をしごく作業等をするものとして説明する。この際、取り扱う線材の径は1種類に限られず、異なる径になることもあり得る。また、線材は、複数本の電線を含む場合もあり得る。 Here, the work and work target handled by the robot hand 10 according to the present embodiment will be described. Here, 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. At this time, 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.
 なお、線材をしごく作業とは、線材に対して力をかけながら摺動させていく作業のことを言い、線材をしごくことで、線材についた癖等を矯正することができる。また、線材が複数本の電線を含む場合、電線束の断面を円形等、所望の形状に整えることもできる。複数本の電線を含む電線束をしごく作業は、例えば、グリッパーと呼ばれる円環状の部材を用いることが想定される。より詳細には、所望の径を有する当該グリッパーに電線束を通した状態で電線束に対してグリッパーを摺動させることで、電線束の断面を所望の円形状に整えていた。この場合、所望の径ごとにグリッパーの種類を変える必要があった。 Note that 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. When the wire includes a plurality of electric wires, the cross section of the electric wire bundle can be adjusted to a desired shape such as a circle. For example, it is assumed that an annular member called a gripper is used for the operation of squeezing a bundle of wires including a plurality of wires. More specifically, 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.
 また、線材を把持する作業では、その線材が電線等の柔軟物である場合、把持する位置で線材の形状が変わってしまう恐れがある。また、線材が柔軟物である場合、線材を把持する際に、強く把持すると線材を傷つけてしまう恐れがある。また、線材が電線等の柔軟物である場合、ある1つの決まった形で存在することが難しいため、同じ構成を有するように形成されている線材であっても、その形状等が異なる場合がある。 Also, in the work of gripping the wire, when the wire is a flexible object such as an electric wire, 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.
 もっとも、ロボットハンド10が扱う作業及び作業対象は上記に限られるものではない。例えば、ロボットハンド10は、複数の線材Wを束ねる作業などを行ってもよい。また、例えば、ロボットハンド10は、コネクタ等を取り扱ってもよい。 However, the work and work target handled by the robot hand 10 are not limited to the above. For example, the robot hand 10 may perform an operation of bundling a plurality of wires W. For example, the robot hand 10 may handle a connector or the like.
 連鎖部12は、複数の関節ユニット50が螺旋状に姿勢変更可能な連鎖状に連結されている。また、螺旋状に姿勢変更する際に螺旋の径を変更可能に連結されている。 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 | position to a spiral shape, it connects so that the diameter of a spiral can be changed.
 ここでは、複数の関節ユニット50のうち隣り合う一対の関節ユニット50ごとに、両者の並ぶ方向と平行な方向に設定された第1軸及び第1軸に直交する方向に設定された第2軸周りに相対回転可能に設定されている。 Here, for each pair of adjacent joint units 50 among the plurality of joint units 50, a first axis set in a direction parallel to the direction in which the two are aligned and a second axis set in a direction orthogonal to the first axis It is set to be able to rotate around.
 ここで、連鎖部12を構成する関節ユニット50について説明する。図6及び図7は、それぞれ異なる方向から見た第1実施形態に係る関節ユニット50を示す斜視図である。図8は、第1実施形態に係る関節ユニット50を示す背面図である。図9は、第1実施形態に係る関節ユニット50を示す底面図である。図10は、第1実施形態に係る関節ユニット50を示す側面図である。 Here, the joint unit 50 constituting the chain part 12 will be described. 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.
 まず関節ユニット50の全体構成から先に説明する。関節ユニット50は、基体52と、連結部60と、第1回転機構部80と、第2回転機構部90とを備える。 First, the overall configuration of the joint unit 50 will be described first. 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.
 基体52は、連鎖部12を全体的に見た際に、連鎖部12の概形を形成する部分である。 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.
 連結部60は、基体52に連なるように設けられている。連結部60は、第1連結部62と、他の関節ユニット50の第1連結部62と連結可能な第2連結部70とを備える。連結部60を用いて、複数の関節ユニット50が互いに連結される。 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.
 第1回転機構部80は、基体52と連結部60により連結される他の関節ユニット50の基体52とを第1軸周りに相対回転駆動する第1駆動源84を備える。ここでは、第1駆動源84は、第1回転部82を介して基体52と連結部60により連結される他の関節ユニット50の基体52とを相対回転駆動する。 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. Here, 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.
 第2回転機構部90は、基体52と連結部60により連結される他の関節ユニット50の基体52とを第1軸と交差する第2軸周りに相対回転駆動する第2駆動源94を備える。ここでは、第2駆動源94は、第2回転部92を介して、基体52と連結部60により連結される他の関節ユニット50の基体52とを相対回転駆動する。 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. . Here, 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.
 次に、関節ユニット50の各部についてより詳しく見ていく。 Next, we will look at each part of the joint unit 50 in more detail.
 <基体52>
 基体52は、第1収容部53と第2収容部56とを含む。
<Substrate 52>
The base 52 includes a first housing part 53 and a second housing part 56.
 第1収容部53は、ここでは、第1回転機構部80を収容可能に形成されている。具体的には、第1収容部53は、直方体状に形成された第1直方体状部54と、三角柱状に形成された第1三角柱状部55とを含む。 Here, the first accommodating portion 53 is formed so as to accommodate the first rotating mechanism portion 80. Specifically, 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.
 第1直方体状部54のうち1つの側面に第1三角柱状部55が設けられている。また、第1直方体状部54のうち第1三角柱状部55が設けられる側面と直交する側面に第2収容部56が連なっている。第1直方体状部54のうち第1三角柱状部55が設けられる側面は、第1三角柱状部55の側面と第2連結部70とを合わせた寸法と同程度に設定されている。 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.
 第1三角柱状部55は、その一対の底面が上記第1直方体状部54の側面と直交する態様で、第1直方体状部54の端部から突出するように設けられている。そして、第1三角柱状部55の一対の底面のうち一方の底面に第1連結部62が連なると共に、他方の底面に第2連結部70が設けられている。 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.
 ここでは、この第1三角柱状部55の一対の底面を結ぶ方向が、隣り合う関節ユニット50が連結する方向(以降、単に連結方向と称する)となっている。この連結方向は、図8で見ると紙面横方向、図9で見ると紙面縦方向、図10でみると紙面に直交する方向となっている。 Here, 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.
 そして、第1連結部62は、第1三角柱状部55から連結方向に沿って基体52よりも外方に突出するように設けられている。また、第2連結部70は、第1三角柱状部55から連結方向に沿って基体52の端部とほぼ同じ位置まで突出するように設けられている。 And the 1st connection part 62 is provided so that it may protrude outside from the base | substrate 52 along the connection direction from the 1st triangular prism-shaped part 55. As shown in FIG. 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.
 第2収容部56は、第2回転機構部90を収容する部分である。具体的には、第2収容部56は、直方体状に形成された第2直方体状部57と、三角柱状に形成された第2三角柱状部58とを含む。 The second accommodating portion 56 is a portion that accommodates the second rotating mechanism portion 90. Specifically, 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.
 第2直方体状部57のうち1つの側面が第1直方体状部54に連なる。また、第2直方体状部57のうち、第1直方体状部54から第1三角柱状部55が突出する側と同じ側に面する側面に第2三角柱状部58が連なっている。 One side surface of the second rectangular parallelepiped portion 57 is continuous with the first rectangular parallelepiped portion 54. In addition, 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.
 第2三角柱状部58はその底面が上記第2直方体状部57の側面と直交する態様で、第2直方体状部57の連結方向端部側から突出するように設けられている。そして、第2三角柱状部58は、一対の底面のうち一方の底面に連結部60のうち後述する第2連結部70の軸受面74が連なる。 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.
 <第1連結部62>
 第1連結部62は、突出部64と支軸部66とを含む。ここでは、第1連結部62は、第1三角柱状部55の一対の底面のうちの一方から連結方向に沿って基体52よりも外方へ突出する態様で形成されている。また、第1連結部62は、第1回転機構部80により、連結方向に平行な方向に設定された第1軸周りに基体52と相対回転駆動可能に連結されている。
<First connecting portion 62>
The first connecting portion 62 includes a protruding portion 64 and a support shaft portion 66. Here, the 1st connection part 62 is formed in the aspect which protrudes outside from the base | substrate 52 along the connection direction from one of a pair of bottom face of the 1st triangular prism-shaped part 55. As shown in FIG. Further, 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.
 突出部64は、第1回転部82により、基体52と第1軸周りに相対回転駆動可能に保持されている。突出部64は、基端側に位置する直方体状に形成された部分と、先端側に位置する半円柱状に形成された部分とで構成されている。 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.
 支軸部66は、半円柱状の部分と直方体状の部分の連結部分であって、半円の中心に相当する部分から、棒状に突出するように形成されている。支軸部66は、一対設けられ、それぞれ、第2連結部70に設けられる軸受面74に形成される支持凹部76に嵌合可能とされている。支軸部66は、第1軸に直交する方向に突出するように形成されている。 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.
 突出部64のうち、支軸部66の周囲にはガイド凹部68が形成されている。ガイド凹部68は、支軸部66を中心とする弧状に形成されている。当該ガイド凹部68に、第2連結部70の軸受面74に設けられるガイド凸部78が嵌って第1連結部62と第2連結部70との相対回転をガイドする。また、ガイド凸部78がガイド凹部68の周方向端部に当接することで、第1連結部62と第2連結部70との相対回転量を規制している。 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. In addition, 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.
 具体的には、ここでは、ガイド凹部68は、略半円弧状(ここでは、半円弧よりも若干小さい円弧状)に形成されている。そして、図1のように関節ユニット50が直線状に連なった状態で、ガイド凹部68のうちその周方向一端部の内周面に、ガイド凸部78が当接するように設定されている。その状態から、連結部60を内側にして隣り合う関節ユニット50同士が180度弱曲がった状態で、ガイド凹部68のうちその周方向他端部の内周面に、ガイド凸部78が当接するように設定されている。 More specifically, here, the guide recess 68 is formed in a substantially semicircular arc shape (here, an arc shape slightly smaller than the semicircular arc). In the state where the joint unit 50 is linearly connected as shown in FIG. 1, 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
 また、ここでは、直方体状部分の基端側には、支軸部66が突出する側と同じ側に突出するようにフランジ部69が形成されている。フランジ部69のうち支軸部66側を向く面は、第2連結部70の後述する軸受面74の先端縁部に沿って円弧状に形成されている。 Further, here, 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.
 <第2連結部70>
 第2連結部70は、基端面72と軸受面74とを含む。ここでは、第2連結部70は、基体52に固定されている。
<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.
 基端面72は、第1三角柱状部55の一対の底面のうち第1連結部62が設けられる面とは反対側の面に回転不能に固定されるように形成されている。 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.
 軸受面74は基端面72の幅方向両端縁部から連結方向にそれぞれ突出するように一対形成されている。軸受面74は基端側に位置する長方形板状部分と、先端側に位置する半円形板状部分とで構成されている。そして、長方形板状部分と半円形板状部分の連結部分であって、半円の中心に相当する部分に支持凹部76が形成されている。 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. And 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.
 支持凹部76は、ここでは、軸受面74を貫通する貫通孔状に形成されている。そして、第2回転部92と、一対の軸受面74のうち第2三角柱状部58側に位置する軸受面74に形成された支持凹部76に挿通された他の関節ユニット50の支軸部66とがかみ合い、第2回転機構部90により当該支軸部66が回転駆動する。 Here, the support recess 76 is formed in a through-hole shape penetrating the bearing surface 74. And 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.
 ここでは、一対の軸受面74のうち一方の軸受面74にガイド凸部78が形成されている。ガイド凸部78は、支持凹部76よりも第1直方体状部54に近い側に形成されている。上述したようにガイド凸部78は、ガイド凹部68に嵌まるように形成されている。 Here, 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.
 <第1回転機構部80>
 ここでは、第1回転機構部80は、基体52に対して自身の第1連結部62を回転させる。第1回転機構部80が第1連結部62を回転させる構成としては、例えば、以下のような構成が考えられる。即ち、第1回転部82は、第1駆動源84によって回転させられるシャフトを含む。当該シャフトは、第1三角柱状部55内から第1連結部62内にかけて連結方向に沿って延びるように配設される。そして、第1連結部62内にシャフトにかみ合う部分が形成され、シャフトと、当該シャフトにかみ合う部分とがかみ合った状態で、シャフトが回転することにより、第1回転部82が基体52に対して第1連結部62を回転させる。
<First Rotation Mechanism 80>
Here, the first rotation mechanism unit 80 rotates its first connection unit 62 with respect to the base 52. For example, the following configuration is conceivable as a configuration in which the first rotation mechanism unit 80 rotates the first coupling unit 62. That is, 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.
 このように、第1回転機構部80は、第1軸周りに第1連結部62を回転させる。第1軸は、ここでは、連結方向に設定されている。 Thus, the first rotation mechanism unit 80 rotates the first coupling unit 62 around the first axis. Here, the first axis is set in the connecting direction.
 第1駆動源84として、ここでは、モータが採用されている。なお、ここでは、図示は省略するが、モータとシャフトとの間は、必要に応じて適宜ギア等が噛み合っていればよい。もっとも、第1駆動源84としては、モータが採用されることは必須ではない。例えば、第1駆動源は、エアシリンダ等であっても構わない。この場合、第1駆動源と第1回転体との間に、直線運動を回転運動に変換するリンク機構部が設けられているとよい。第1駆動源は基体と他の基体とを相対回転駆動可能なものであればよい。 Here, a motor is used as the first drive source 84. Although illustration is omitted here, a gear or the like may be appropriately engaged between the motor and the shaft as necessary. However, it is not essential for the first drive source 84 to employ a motor. For example, the first drive source may be an air cylinder or the like. In this case, 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.
 <第2回転機構部90>
 また、ここでは、第2回転機構部90が、基体52に対して、第2連結部70に連結された他の関節ユニット50の第1連結部62(以降、他の第1連結部62と称する)を回転させる。第2回転機構部90が、他の第1連結部62を回転させる構成としては、例えば、以下のような構成が考えられる。即ち、第2回転部92は、第2駆動源94によって回転させられるシャフトを含む。当該シャフトは、第2三角柱状部58内から第2連結部70の軸受面74に形成された支持凹部76に向かって連結方向に直交する方向に沿って延びるように配設される。そして、第2連結部70の支持凹部76内に挿通された他の第1連結部62の支軸部66と、シャフトとがかみ合った状態で、シャフトが回転することにより、第2回転機構部90が基体52に対して他の第1連結部62を回転させる。
<Second Rotation Mechanism 90>
Also, here, 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). For example, the following configuration is conceivable as a configuration in which the second rotation mechanism unit 90 rotates the other first coupling unit 62. That is, 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. Then, when the shaft rotates in a state where the shaft is engaged with the support shaft portion 66 of the other first connection portion 62 inserted into the support recess 76 of the second connection portion 70, the second rotation mechanism portion. 90 rotates the other first connecting portion 62 with respect to the base 52.
 このように、第2回転機構部90は、第1軸に直交する方向に設定された第2軸周りに他の第1連結部62を回転させる。ここでは、第2軸は、支軸部66の延在方向、つまり、支持凹部76の中心軸方向に設定されている。このため、ここでは、第1軸と第2軸とは互いに直行する方向に延びるように設定されている。 Thus, 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. Here, 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. For this reason, here, the first axis and the second axis are set to extend in directions perpendicular to each other.
 第2駆動源94として、ここでは、モータが採用されている。なお、ここでは、図示は省略するが、モータとシャフトとの間は、必要に応じて適宜ギア等が噛み合っていればよい。もっとも、第2駆動源94としては、モータが採用されることは必須ではない。例えば、第2駆動源は、エアシリンダ等であっても構わない。この場合、第2駆動源と第2回転体との間に、直線運動を回転運動に変換するリンク機構部が設けられているとよい。また、ここでは、第1駆動源84と第2駆動源94とは、共にモータが採用されているが、それぞれ別の構成が採用されてもよい。 Here, a motor is used as the second drive source 94. Although illustration is omitted here, a gear or the like may be appropriately engaged between the motor and the shaft as necessary. However, it is not essential for the second drive source 94 to employ a motor. For example, the second drive source may be an air cylinder or the like. In this case, a link mechanism unit that converts linear motion into rotational motion may be provided between the second drive source and the second rotating body. Here, both the first drive source 84 and the second drive source 94 employ motors, but different configurations may be employed.
 図1~図5に戻って、ここでは、連鎖部12の両端部のうち他の関節ユニット50の第1連結部62に連結されていない第2連結部70を有する関節ユニット50の当該第2連結部70が支持部16に連結されている。ここでは、当該第2連結部70と支持部16とも相対回転駆動可能とされている。 Returning to FIG. 1 to FIG. 5, here, 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. Here, both the second connecting portion 70 and the support portion 16 can be driven to rotate relative to each other.
 第2連結部70と支持部16とが相対回転駆動可能となる構成としては、例えば、以下のような構成が考えられる。即ち、支持部16に第1連結部62の支軸部66と同形状の支軸部66が形成され、当該支軸部66が第2連結部70の支持凹部76にはまり込んで、第2回転部92のシャフトとかみ合う。この状態で、第2回転機構部がシャフトを回転させることで、支持部16に対して第2連結部70が支持凹部76の中心軸周りに回転駆動可能となる。 For example, 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. In other words, 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. In this state, 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.
 また、ここでは、2つの連鎖部12a,12bは、連結部60に対して同じ側に第1直方体状部54及び第2直方体状部57が位置するように連結されている。 In addition, here, 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.
 また、ここでは、上記関節ユニット50が複数直鎖状に連なっている。ここで、直鎖状とは、枝分かれしていない1本の線状のことを言うものとする。より詳細には、ここでは、2つの連鎖部12a,12bのうち一方の連鎖部12aでは、5つの関節ユニット50が直鎖状に連結されている。また、2つの連鎖部12a,12bのうち他方の連鎖部12bでは、7つの関節ユニット50が直鎖状に連結されている。 Further, here, a plurality of the joint units 50 are connected in a straight line. Here, 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.
 もっとも、直鎖状に連なる関節ユニット50の数は上記に限られない。関節ユニット50の数は適宜設定されていればよい。この際、ロボットハンドが複数の連鎖部を備える場合、それぞれの連鎖部における関節ユニット50の数は同じであってもよいし、異なっていてもよい。 However, 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. At this time, when the robot hand includes a plurality of chained portions, the number of joint units 50 in each chained portion may be the same or different.
 また、図1~図5では、2つの連鎖部12がそれぞれ直線状に整列している。この状態から、それぞれの関節ユニット50の各回転部を回転させることにより、ロボットハンド10は、さまざま姿勢に姿勢変更する。以下では、ロボットハンド10が、とり得る姿勢の中の3つの姿勢に姿勢変更した様子について説明する。 In FIGS. 1 to 5, 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.
 <姿勢変更>
 図11~図21は、ロボットハンド10が姿勢変更した様子を示す斜視図である。なお、図11~図15は、同じ一の姿勢のロボットハンド10に対し、それぞれ異なる方向から見た斜視図である。また、図16~図21は、図11~図15とは異なる一の姿勢のロボットハンド10に対し、それぞれ異なる方向から見た斜視図である。
<Posture change>
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.
 図11~図15の状態は、一方の連鎖部12bの一番支持部16側に位置する関節ユニット50の第2回転機構部90のみを回転駆動させたものである。当該関節ユニット50と支持部16とは60度程度相対回転している。これにより、図11~図15のように、ロボットハンド10は、V字状の姿勢をとる。 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. As a result, as shown in FIGS. 11 to 15, the robot hand 10 assumes a V-shaped posture.
 図16~図21の状態は、それぞれの連鎖部12a,12bの関節ユニット50の第2回転機構部90を回転駆動させたものである。それぞれ隣り合う関節ユニット50同士は、20度~30度程度相対回転している。これにより、図16~図21のように、ロボットハンド10は、C字状の姿勢をとる。このようなC字状の姿勢は、例えば、作業対象を把持するのに適している。 16 to 21 are obtained by rotationally driving the second rotation mechanism 90 of the joint unit 50 of each of the chain portions 12a and 12b. The adjacent joint units 50 are relatively rotated by about 20 to 30 degrees. As a result, as shown in FIGS. 16 to 21, the robot hand 10 assumes a C-shaped posture. Such a C-shaped posture is suitable for gripping a work target, for example.
 この際に、それぞれの連鎖部12a,12bの関節ユニット50の第2回転部92の回転量を適宜調節することで、一方の連鎖部12aの先端と他方の連鎖部12bの先端との間隔を適宜調節可能である。このため、一方の連鎖部12aの先端と他方の連鎖部12bの先端との間隔を、作業対象のうち把持したい部分の大きさに適宜合わせることができることによって、作業対象に適した把持力で把持することができる。 At this time, by appropriately adjusting the amount of rotation of the second rotating portion 92 of the joint unit 50 of each of the chain portions 12a and 12b, 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.
 図22は、ロボットハンド10が螺旋状に姿勢変更した様子を示す斜視図である。図23は、ロボットハンド10が螺旋状に姿勢変更した様子を線材Wの長手方向に沿って見た図である。なお、図22及び図23では、螺旋状に姿勢変形したロボットハンド10が線材Wに巻付いている。 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.
 図22及び図23の状態は、それぞれの連鎖部12a,12bの関節ユニット50の第1回転機構部80及び第2回転機構部90を回転駆動させたものである。これにより、図22及び図23のように、ロボットハンド10は、螺旋状の姿勢をとる。このような螺旋状の姿勢は、例えば、線材Wをしごくのに適している。 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.
 この際に、それぞれの連鎖部12の関節ユニット50の第1回転部82及び第2回転部92の回転量を適宜調節することで、螺旋の径を適宜調節可能である。このため、螺旋の径を、線材Wの径に適宜合わせることができることによって、線材Wに適した力でしごくことができる。 At this time, 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.
 また、ロボットハンド10が連鎖部12を複数備える場合、図22及び図23のように、複数の連鎖部12a,12bを螺旋状に姿勢変形した際に、少なくとも2つの連鎖部で螺旋の中心軸が一致するように、複数の連鎖部12a,12bが支持部16に取り付けられているとよい。これにより、線材Wのうち1つのロボットハンド10が巻付ける領域を大きくすることができる。 In addition, when 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 | region which one robot hand 10 winds among the wire W can be enlarged.
 第1実施形態に係るロボットハンド10によると、複数の関節ユニット50が螺旋状に姿勢変更可能、かつ、螺旋の径を変更可能な連鎖状に連結されている連鎖部12を少なくとも1つ備えるため、例えば、1つのロボットハンド10で異なる種類の電線径に巻付くことが可能になるなど、同じ作業でもその作業対象の汎用性を広げることができる。また、電線束の周囲に巻付いた後、螺旋の径を小さくすることで、広がった電線束の径を小さくすることができる。 According to the robot hand 10 according to the first embodiment, 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. For example, it is possible to wrap around different types of electric wire diameters with one robot hand 10, and the versatility of the work object can be expanded even in the same work. Moreover, after winding around the wire bundle, the diameter of the spread wire bundle can be reduced by reducing the diameter of the spiral.
 また、対象の周囲のクリアランスが小さい場合でも、ロボットハンド10を姿勢変形させることで、当該クリアランスにロボットハンド10を挿し込むことができる。さらに挿し込んだ後にその作業対象に適した姿勢に姿勢変更することができる。 Further, even when the clearance around the target is small, 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.
 また、作業対象に対して接点(作用点)を分散して当接することができることによって、作業対象を傷つけにくい。 Also, since the contact points (action points) can be dispersedly brought into contact with the work object, the work object is hardly damaged.
 また、複数の関節ユニット50のうち隣り合う一対の関節ユニット50が、両者の並ぶ方向と平行な方向に設定された第1軸及び第1軸に直交する方向に設定された第2軸周りに相対回転駆動可能であるため、隣り合う関節ユニット50同士がねじれあうことができるとともに、隣り合う関節ユニット50同士の関節角度を変更することができる。 In addition, 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.
 特にここでは、関節ユニット50が、基体52と連結部60により連結される他の関節ユニット50の基体52とを第1軸周りに相対回転駆動する第1駆動源84を備える第1回転機構部80を備えるため、隣り合う関節ユニット50同士がねじれあうことができる。また、関節ユニット50が、基体52と連結部60により連結される他の関節ユニット50の基体52とを第1軸と交差する第2軸周りに相対回転駆動する第2駆動源94を備える第2回転機構部90を備えるため、隣り合う関節ユニット50同士の関節角度を変更することができる。これにより、ロボットハンド10が螺旋状に姿勢変形できるとともに、螺旋以外の姿勢にも変形可能となることによって、ロボットハンド10になるべく多種類の作業を行わせることができる又は同じ作業でもその作業対象の汎用性を広げることができる。 In particular, here, 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. As a result, 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.
 特に、第1回転機構部80は、基体52に対して第1連結部62を第1軸周りに回転駆動可能に設けられているため、当該関節ユニット50と、当該関節ユニット50の当該第1連結部62に連結される他の関節ユニット50とが、第1軸周りに相対回転駆動可能となる。また、第2回転機構部90は、第2連結部70に他の関節ユニット50の第1連結部62が連結された状態で、第2連結部70に対して他の関節ユニット50の第1連結部62を第2軸周りに回転駆動可能に設けられているため、当該関節ユニット50と、当該関節ユニット50の当該第2連結部70に連結される他の関節ユニット50とが、第2軸周りに相対回転駆動可能となる。 In particular, since the first rotation mechanism unit 80 is provided so that the first coupling unit 62 can be rotationally driven around the first axis with respect to the base body 52, 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. In addition, 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.
 また、連鎖部12を複数備えるため、複数の連鎖部12によって複雑な動きを実現することができる。また、複数の連鎖部12にそれぞれ異なる部品を取り付けることで、ロボットハンド10が行える作業の種類を増やすことができる。 In addition, since a plurality of chain units 12 are provided, a complex movement can be realized by the plurality of chain units 12. Further, by attaching different parts to the plurality of chain portions 12, it is possible to increase the types of work that the robot hand 10 can perform.
 また、1つの連鎖部12を同一種類の関節ユニット50で構成することで、製造に係るコストを抑えることができる。 Moreover, the cost concerning manufacture can be restrained by comprising one chain | link part 12 by the joint unit 50 of the same kind.
 {第2実施形態}
 次に、第2実施形態に係るロボットハンド10Aについて説明する。図24は、第2実施形態に係るロボットハンド10Aを示す斜視図である。なお、本実施の形態の説明において、第1実施形態で説明したものと同様構成要素については同一符号を付してその説明を省略する。
{Second Embodiment}
Next, a robot hand 10A according to the second embodiment will be described. FIG. 24 is a perspective view showing a robot hand 10A according to the second embodiment. In the description of the present embodiment, the same components as those described in the first embodiment are denoted by the same reference numerals, and the description thereof is omitted.
 第2実施形態に係るロボットハンド10Aは、以下の2つの点で第1実施形態に係るロボットハンド10とは、異なる。 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.
 第1の点は、ロボットハンド10Aが、柔軟部17をさらに備える点である。柔軟部17は、関節ユニット50よりも柔軟な材料(例えば、樹脂等)で形成されている。柔軟部17は、連鎖部12の周囲を覆う。 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.
 ここでは、2つの連鎖部12a,12bのうち一方の連鎖部12bのみに柔軟部17が設けられているが、このことは必須ではない。両方の連鎖部に柔軟部が設けられていてもよい。また、ここでは、連鎖部12にその基端から先端にかけて全体的に柔軟部17が設けられているが、このことは必須ではない。連鎖部12に部分的に柔軟部17が設けられていてもよい。つまり、柔軟部17は、連鎖部12のうち対象に当接する可能性のある部分に設けられているとよい。 Here, 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. Moreover, although the flexible part 17 is generally provided in the chain part 12 from the base end to the front-end | tip here, this is not essential. 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 | abut an object among the chain | linkage parts 12. FIG.
 柔軟部17は、連鎖部12の回転をなるべく阻害しないように設けられているとよい。連鎖部12の回転をなるべく阻害しないためには、例えば、1つの関節ユニット50ごとにその基体52部分に柔軟部17が設けられるなどの構成などが考えられる。 The flexible part 17 may be provided so as not to inhibit the rotation of the chain part 12 as much as possible. In order to prevent the rotation of the chain portion 12 as much as possible, for example, a configuration in which the flexible portion 17 is provided in the base 52 portion for each joint unit 50 is conceivable.
 関節ユニット50よりも柔軟な材料で形成され、連鎖部12の周囲を覆う柔軟部17をさらに備えることで、ロボットハンド10Aの連鎖部12が取扱対象に当接しても取扱対象を傷つけにくい。 By forming the flexible portion 17 formed of a material more flexible than the joint unit 50 and covering the periphery of the chain portion 12, even if the chain portion 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.
 第2の点は、ロボットハンド10Aが、連鎖部12の先端に設けられた保持機構部18をさらに備える点である。 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.
 保持機構部18は、対象を保持可能に構成されている。保持機構部18は、例えば、吸着パッド又は把持機構部等を含むことが考えられる。ここでは、2つの連鎖部12a,12bの先端に保持機構部18がそれぞれ設けられている。そして、ここでは、2つの連鎖部12a,12bのうち一方の連鎖部12aに設けられた保持機構部18が吸着パッド20を含み、他方の連鎖部12bに設けられた保持機構部18が把持機構部30を含むものとして説明する。 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.
 ここで、吸着パッド20について説明する。図25は、吸着パッド20を示す説明図である。図25では、パッド本体部22の一部が部分的に切り欠かれて断面図とされている。 Here, the suction pad 20 will be described. FIG. 25 is an explanatory view showing the suction pad 20. In FIG. 25, a part of the pad main body portion 22 is partly cut out to be a sectional view.
 吸着パッド20は、パッド本体部22とエジェクタ24とを含む。パッド本体部22は筒状に形成されている。より詳細には、ここでは、パッド本体部22は、円錐台筒状と円筒状が合わさった形状に形成されている。そして、パッド本体部22の先端に向けて外径及び内径が大きくなるように設定されている。パッド本体部22の内部空間は、気体の流路とされ、エジェクタ24までつながっている。 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.
 エジェクタ24は、パッド本体部22内の空気を吸引可能に構成されている。 The ejector 24 is configured to be able to suck air in the pad main body 22.
 そして、パッド本体部22の開口部を対象W1に近づけた状態でエジェクタ24によりパッド本体部22内の気体を吸い込むことでパッド本体部22に対象W1が保持される。また、対象W1を保持している状態で吸引をやめることで対象W1を解放することができる。 And the object W1 is hold | maintained at the pad main-body part 22 by suck | inhaling the gas in the pad main-body part 22 with the ejector 24 in the state which brought the opening part of the pad main-body part 22 close to the object W1. Moreover, the target W1 can be released by stopping the suction while holding the target W1.
 吸着パッド20は、例えば、厚みの薄い部材など、作業対象W1が把持しにくい部材である場合に適している。 The suction pad 20 is suitable when the work target W1 is a member that is difficult to grip, such as a thin member.
 なお、吸着パッド20としては、エジェクタ24を含まない場合もあり得る。この場合、パッド本体部22は、吸盤状に形成されるとよい。パッド本体部が吸盤状に形成されていると、パッド本体部内の空気が抜けるように対象に対してパッド本体部が押し付けられることで、対象を保持することができる。 It should be noted that the suction pad 20 may not include the ejector 24. In this case, the pad main body 22 is preferably formed in a sucker shape. When the pad main body is 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.
 次に、把持機構部30について説明する。図26及び図27は、把持機構部30を示す説明図である。図26は、対象を把持する前の状態を示す図であり、図27は、対象を把持している状態を示す図である。 Next, the gripping mechanism unit 30 will be described. 26 and 27 are explanatory views showing the gripping mechanism section 30. FIG. FIG. 26 is a diagram illustrating a state before the target is gripped, and FIG. 27 is a diagram illustrating a state in which the target is gripped.
 把持機構部30は、一対の把持部32と、一対の把持部32を駆動する駆動機構部34とを備える。ここでは、把持機構部30は、駆動機構部34としてエアシリンダ34が用いられている、いわゆるエアチャックと呼ばれるものとして説明する。もっとも、把持機構部30は、エアチャックに限られるものではない。例えば、駆動機構部34としては、エアシリンダ34に限られるものではなく、モータが採用されてもよい。つまり、駆動機構部34としては、一対の把持部32を開いた状態と閉じた状態とに姿勢変更可能なものが採用されていればよい。 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. Here, 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. But the holding | grip mechanism part 30 is not restricted to an air chuck. For example, 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.
 一対の把持部32はその先端が間隔をあけて対向すると共に、その基端がエアシリンダ34に連結されている。そして、エアシリンダ34の往復運動に伴い、一対の把持部32の先端が互いに接近及び離隔する。これにより、一対の把持部32の先端の間隔が変化し、図26のように対象W2を把持する前の状態と、図27のように対象W2を把持した状態に姿勢変更可能とされている。 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. As the air cylinder 34 reciprocates, the tips of the pair of gripping portions 32 approach and separate from each other. Thereby, the space | interval of the front-end | tip of a pair of holding | gripping part 32 changes, and it can be changed into a state before holding | griping object W2 like FIG. 26, and the state which hold | gripped object W2 like FIG. .
 連鎖部12の先端に把持機構部30が設けられることで、1つの連鎖部12で対象W2を把持することができる。 Since 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.
 なお、連鎖部12と保持機構部18とは、関節ユニット50の空いている連結部60を利用して連結されてもよいし、連結部60を用いずに連結されてもよい。 In addition, the 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.
 また、ロボットハンドに複数の連鎖部が設けられる場合、上述したように、1つの連鎖部の先端に吸着パッドを設けるとともに、他の連鎖部の先端に把持機構部を設けるなど、それぞれの連鎖部の先端に別構成の保持機構部を設けてもよい。また、例えば、保持機構部が設けられない連鎖部があってもよい。また、例えば、1つの連鎖部の先端に把持機構部と吸着パッドとを両方設けてもよい。 Further, when a plurality of chained portions are provided in the robot hand, as described above, 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. You may provide the holding mechanism part of another structure in the front-end | tip. Further, for example, there may be a chain part where the holding mechanism part is not provided. For example, you may provide both a holding | grip mechanism part and a suction pad in the front-end | tip of one chain | linkage part.
 また、保持機構部としては、上記吸着パッド20及び把持機構部30以外の構成であってもよい。例えば、保持機構部としては、磁力を用いて磁性体を保持するものであってもよい。 Further, the holding mechanism unit may have a configuration other than the suction pad 20 and the gripping mechanism unit 30. For example, the holding mechanism unit may hold a magnetic body using magnetic force.
 第2実施形態に係るロボットハンド10Aによっても、第1実施形態に係るロボットハンド10と同様の効果を得ることができる。 The same effect as the robot hand 10 according to the first embodiment can be obtained by the robot hand 10A according to the second embodiment.
 また、第2実施形態に係るロボットハンド10Aによると、連鎖部12の先端に設けられた保持機構部18をさらに備えるため、ロボットハンド10Aによって部品をより容易に保持することができる。特に、ここでは、保持機構部18は吸着パッド20を含むため、吸着により対象を容易に保持することができる。また、保持機構部18は把持機構部30を含むため、対象を容易に把持することができる。 Further, according to the robot hand 10A according to the second embodiment, since 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. In particular, here, since the holding mechanism unit 18 includes the suction pad 20, the target can be easily held by suction. Further, since the holding mechanism unit 18 includes the gripping mechanism unit 30, the target can be easily gripped.
 また、関節ユニット50よりも柔軟な材料で形成され、連鎖部12の周囲を覆う柔軟部17をさらに備えるため、ロボットハンド10Aの連鎖部12が取扱対象に当接しても取扱対象を傷つけにくい。 In addition, since 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.
 {変形例}
 上記実施形態において、隣り合う一対の関節ユニット50が、両者の並ぶ方向と平行な方向に設定された第1軸及び第1軸に直交する方向に設定された第2軸周りに相対回転駆動可能に設けられているものとして説明したが、このことは必須ではない。例えば、1つの関節ユニットと一方側の隣に位置する関節ユニットとで第1軸周りに相対回転駆動可能であるとともに、上記1つの関節ユニットと他方側の隣に位置する関節ユニットとで第2軸周りに相対回転駆動可能であってもよい。
{Modifications}
In the above-described embodiment, 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. However, this is not essential. For example, 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.
 上記に関連して、上記実施形態において、基体52に対して第1連結部62を第1軸周りに回転駆動可能であるとともに、基体52に対して第2連結部70に連結される他の第1連結部62を第2軸周りに回転駆動可能であるものとして説明したが、このことは必須ではない。例えば、第1軸周りに回転させる機能と第2軸周りに回転させる機能とをそれぞれ異なる関節ユニットが担っていてもよい。 In relation to the above, in the above-described embodiment, 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. Although the first connecting portion 62 has been described as being rotatable about the second axis, this is not essential. For example, different joint units may be responsible for the function of rotating around the first axis and the function of rotating around the second axis.
 また、例えば、関節ユニットは、基体に対して第1連結部及び第2連結部のどちらか一方を第1軸及び第2軸周りに回転駆動可能であってもよい。 Further, for example, 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.
 また、上記実施形態の連鎖部12において、関節ユニット50は、直鎖状に連結されているものとして説明したが、このことは必須ではない。例えば、第1連結部及び第2連結部に加えて第3連結部を有する関節ユニットを用いることで、連鎖部に枝分かれする部分を設けてもよい。 In the chain part 12 of the above embodiment, the joint unit 50 has been described as being linearly connected, but this is not essential. For example, by using a joint unit having a third connection portion in addition to the first connection portion and the second connection portion, a portion branching to the chain portion may be provided.
 また、上記実施形態において、第1軸の延びる方向を連結方向と平行な方向とし、第2軸の延びる方向を第1軸と直交する方向としたが、このことは必須ではない。例えば、第1軸の延びる方向を連結方向と交差する方向とし、第2軸の延びる方向を第1軸と交差する方向としてもよい。つまり、第1軸と第2軸としては、連鎖部が螺旋状に姿勢変更可能な方向に設定されていればよい。 In the above embodiment, the direction in which the first axis extends is the direction parallel to the coupling direction, and the direction in which the second axis extends is the direction orthogonal to the first axis, but this is not essential. For example, the direction in which the first axis extends may be a direction that intersects the connecting direction, and 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.
 なお、上記各実施形態及び各変形例で説明した各構成は、相互に矛盾しない限り適宜組み合わせることができる。 In addition, each structure demonstrated by said each embodiment and each modification can be suitably combined unless it mutually contradicts.
 以上のようにこの発明は詳細に説明されたが、上記した説明は、すべての局面において、例示であって、この発明がそれに限定されるものではない。例示されていない無数の変形例が、この発明の範囲から外れることなく想定され得るものと解される。 Although the present invention has been described in detail as described above, the above description is illustrative in all aspects, and the present invention is not limited thereto. It is understood that countless variations that are not illustrated can be envisaged without departing from the scope of the present invention.
 10,10A ロボットハンド
 12 連鎖部
 16 柔軟部
 18 保持機構部
 20 吸着パッド
 30 把持機構部
 50 関節ユニット
 52 基体
 60 連結部
 62 第1連結部
 70 第2連結部
 80 第1回転機構部
 84 第1駆動源
 90 第2回転機構部
 94 第2駆動源
 W 線材
DESCRIPTION OF SYMBOLS 10,10A Robot hand 12 Chain part 16 Flexible part 18 Holding mechanism part 20 Suction pad 30 Grip mechanism part 50 Joint unit 52 Base 60 Connection part 62 1st connection part 70 2nd connection part 80 1st rotation mechanism part 84 1st drive Source 90 Second rotation mechanism 94 Second drive source W Wire rod

Claims (11)

  1.  複数の関節ユニットが螺旋状に姿勢変更可能、かつ、螺旋の径を変更可能に連鎖状に連結されている連鎖部を少なくとも1つ備える、ロボットハンド。 A robot hand comprising a plurality of articulated units connected in a chain so that the posture of the joint units can be spirally changed and the diameter of the spiral can be changed.
  2.  請求項1に記載のロボットハンドであって、
     前記複数の関節ユニットのうち隣り合う一対の前記関節ユニットが、両者の並ぶ方向と平行な方向に設定された第1軸及び前記第1軸と交差する方向に設定された第2軸周りに相対回転可能である、ロボットハンド。
    The robot hand according to claim 1,
    A pair of adjacent joint units among the plurality of joint units are relatively arranged around a first axis set in a direction parallel to a direction in which both of the joint units are arranged and a second axis set in a direction intersecting the first axis. A robot hand that can rotate.
  3.  請求項2に記載のロボットハンドであって、
     前記関節ユニットは、
     基体と、
     第1連結部と、他の関節ユニットの第1連結部と連結可能な第2連結部とを備え、前記基体に連なるように設けられた連結部と、
     前記基体と前記連結部により連結される他の関節ユニットの基体とを第1軸周りに相対回転駆動する第1駆動源を備える第1回転機構部と、
     前記基体と前記連結部により連結される他の関節ユニットの基体とを前記第1軸と交差する第2軸周りに相対回転駆動する第2駆動源を備える第2回転機構部と、
     を備える、ロボットハンド。
    The robot hand according to claim 2,
    The joint unit is
    A substrate;
    A first connecting portion and a second connecting portion connectable to the first connecting portion of another joint unit; a connecting portion provided to be continuous with the base;
    A first rotation mechanism section including a first drive source that relatively rotates the base body and a base body of another joint unit connected by the connecting portion around a first axis;
    A second rotation mechanism section including a second drive source for relatively rotating and driving the base body and a base body of another joint unit connected by the connecting portion around a second axis intersecting the first axis;
    Robot hand equipped with.
  4.  請求項3に記載のロボットハンドであって、
     前記第1回転機構部は、前記基体に対して前記第1連結部を前記第1軸周りに回転駆動可能に設けられている、ロボットハンド。
    The robot hand according to claim 3,
    The robot hand, wherein 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.
  5.  請求項3又は請求項4に記載のロボットハンドであって、
     前記第2回転機構部は、前記第2連結部に他の関節ユニットの第1連結部が連結された状態で、前記第2連結部に対して前記他の関節ユニットの前記第1連結部を前記第2軸周りに回転駆動可能に設けられている、ロボットハンド。
    The robot hand according to claim 3 or 4, wherein
    The second rotation mechanism unit is configured such that the first connection part of the other joint unit is connected to the second connection part in a state where the first connection part of the other joint unit is connected to the second connection part. A robot hand provided so as to be rotatable around the second axis.
  6.  請求項1~請求項5のいずれか1項に記載のロボットハンドであって、
     前記連鎖部を複数備える、ロボットハンド。
    A robot hand according to any one of claims 1 to 5,
    A robot hand comprising a plurality of the chain portions.
  7.  請求項1~請求項6のいずれか1項に記載のロボットハンドであって、
     前記連鎖部の先端に設けられた保持機構部をさらに備える、ロボットハンド。
    The robot hand according to any one of claims 1 to 6,
    A robot hand, further comprising a holding mechanism provided at a tip of the chain part.
  8.  請求項7に記載のロボットハンドであって、
     前記保持機構部は吸着パッドを含む、ロボットハンド。
    The robot hand according to claim 7,
    The holding mechanism includes a suction pad and a robot hand.
  9.  請求項7又は請求項8に記載のロボットハンドであって、
     前記保持機構部は把持機構部を含む、ロボットハンド。
    The robot hand according to claim 7 or claim 8,
    The holding mechanism section includes a gripping mechanism section.
  10.  請求項1~請求項9のいずれか1項に記載のロボットハンドであって、
     前記関節ユニットよりも柔軟な材料で形成され、前記連鎖部の周囲を覆う柔軟部をさらに備える、ロボットハンド。
    A robot hand according to any one of claims 1 to 9,
    A robot hand, further comprising a flexible portion formed of a material more flexible than the joint unit and covering the periphery of the chain portion.
  11.  基体と、
     第1連結部と、他の関節ユニットの第1連結部と連結可能な第2連結部とを備え、前記基体に連なるように設けられた連結部と、
     前記基体と前記連結部により連結される他の関節ユニットの基体とを第1軸周りに相対回転駆動する第1駆動源を備える第1回転機構部と、
     前記基体と前記連結部により連結される他の関節ユニットの基体とを前記第1軸と交差する第2軸周りに相対回転駆動する第2駆動源を備える第2回転機構部と、
     を備える、関節ユニット。
    A substrate;
    A first connecting portion and a second connecting portion connectable to the first connecting portion of another joint unit; a connecting portion provided to be continuous with the base;
    A first rotation mechanism section including a first drive source that relatively rotates the base body and a base body of another joint unit connected by the connecting portion around a first axis;
    A second rotation mechanism section including a second drive source for relatively rotating and driving the base body and a base body of another joint unit connected by the connecting portion around a second axis intersecting the first axis;
    A joint unit comprising:
PCT/JP2016/057490 2015-03-30 2016-03-10 Robot hand and joint unit WO2016158279A1 (en)

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JPS62166984A (en) * 1986-01-17 1987-07-23 三菱重工業株式会社 Joint drive mechanism
JPH04111792A (en) * 1989-12-20 1992-04-13 Toshiba Corp Actuator
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JPH0929674A (en) * 1995-07-19 1997-02-04 Kawasaki Heavy Ind Ltd Finger like gripper
US20120186383A1 (en) * 2009-09-22 2012-07-26 University Research And Development Company, Ltd Orientation Controller, Mechanical Arm, Gripper and Components Thereof
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JPS6076990A (en) * 1983-09-30 1985-05-01 株式会社東芝 Joint device
JPS62166984A (en) * 1986-01-17 1987-07-23 三菱重工業株式会社 Joint drive mechanism
JPH04111792A (en) * 1989-12-20 1992-04-13 Toshiba Corp Actuator
JPH07329841A (en) * 1994-06-10 1995-12-19 Railway Technical Res Inst Spirally traveling robot for inspecting linear and cylindrical object
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