JPH0441193A - Hand detachable mechanism for robot - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

[Detailed Description of the Invention] [Industrial Application Field of the Invention] The present invention relates to a hand attachment/detachment mechanism for attaching/detaching a hand to/from a robot, and in particular to a printed circuit board forming an electric circuit for exchanging signals between the robot and the hand. This invention relates to a hand attachment/detachment mechanism incorporating a hand attachment/detachment mechanism.

[Conventional technology]

Generally, when a single robot is used to perform various tasks,
It becomes necessary to replace the hand according to various tasks, and therefore a hand attachment/detachment device is required to attach and detach the hand to the tip of the arm of the robot. Furthermore, this hand attaching/detaching device also requires a configuration having a connection mechanism for supplying air to the hand, power supply, communication, etc. to the hand.

Conventionally, as a hand attachment/detachment device as described above, there is, for example, Japanese Patent Application Laid-Open No. 58-186589. A locking pole is supported on the side of the hand attaching/detaching device connected to the arm through an outer tapered surface so as to move forward and backward in the radial direction, while an inner side that engages with this locking pole is placed on the side of the hand to be attached/detached. A configuration with a Taber surface is disclosed.

[Problems with conventional technology]

In the attachment/detachment mechanism between the robot and the hand, signals are sent to the actuators such as motors that drive the fingers of the hand, and the output of the encoder that detects the rotation speed and rotational position of the motor on the hand side is sent to the control circuit on the robot side. In order to communicate, a printed circuit board is required to form an electrical circuit within the detachable mechanism.

The shape of a conventional printed circuit board is a square such as a rectangle.

When a rectangular printed circuit board is incorporated into a hand attachment/detachment mechanism, the following problems occur.

i) As shown in FIG. 8A, when the printed circuit board (hereinafter referred to as a printed board) is square, the storage member for storing the printed circuit board is square and has a large volume.

ii) Furthermore, when moving the hand from point A to point B as shown in FIG.
If an obstacle W exists on the movement trajectory of the robot hand, it is necessary to control the movement of the arm as shown in the figure A-+C-4B to manipulate the movement trajectory of the robot hand.

1ii) Furthermore, when the printed board is square, the mounting density of circuit components on the printed board is reduced.

That is, if the base of the hand is made cylindrical to store the printed board as shown in FIG. This creates space, and as a result, it becomes difficult to improve the packaging density.

[Means and actions for solving problems]

The present invention includes a hollow cylindrical member connected to the hand-side coupling member,
The above-mentioned problem is solved by housing a substantially disk-shaped circuit board in the hollow cylindrical member and forming an electric circuit for control communication between the robot arm and the hand on the circuit board.

Further, in the present invention, the first coupling means on the robot side and the second coupling means on the hand side are both formed of cylindrical members, and the fitting and dismounting accuracy of the two cylindrical members is ensured, and the inside of the cylindrical member on the hand side is secured. A disk-shaped printed board is stored in the . Furthermore, signal transmission from the robot side to the printed board on the hand side is carried out by connecting signal terminals arranged on a concentric circle of the central axis of the cylindrical member along the circumferential mill of the disc of the disc-shaped printed board. accomplished.

〔Example〕

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Below, the configuration of an embodiment in which the present invention is applied to a SCARA type robot will be described in detail with reference to the accompanying drawings.

<Robot System> First, with reference to FIG. 1, a schematic configuration of a robot (automatic assembly device) 12 to which the hand attachment/detachment device 10 of this embodiment is employed will be described.

This robot 12 includes a support 14 fixed on a base (not shown), a first horizontal arm 16 supported rotatably on the upper end of the support 14 in a horizontal plane, and A second plate rotatably supported in a horizontal plane at the tip.
The vertical arm 20 is supported at the tip of the second horizontal arm 18 so as to be vertically movable and rotatable about its own axis, and is formed of a hollow cylinder. Here, the hand attachment/detachment device 10, which is a feature of the present invention, is attached to the lower end of this vertical arm 20.

The first horizontal arm 16 is set to be rotated around the support 14 by a first drive motor (not shown) disposed within the support 14. Further, the second horizontal arm 18 is driven by a second drive motor 22 disposed approximately at the center of the upper surface of the first horizontal arm 16 .
It is set to be driven to rotate around the tip of the horizontal arm 16.

On the other hand, the vertical arm 20 is connected to third and fourth drive motors 24 .
26, it is set to move along the vertical direction (Z-axis direction) and to be rotated around its own central axis.

The first to fourth drive motors 18, 24, 26 are connected to the robot controller via connection lines (not shown) arranged to pass through the inside of the column 14 and the first horizontal arm 16. 28, and are each controlled to be rotationally driven so as to move the hand mechanism 30 attached to the hand attaching/detaching device 10 to a predetermined position and in a predetermined posture (rotation position) based on control commands from the robot controller. ing.

In addition, the hand mechanism 30 is connected via the connection cable 32.
It is connected to a robot controller 28 and a pneumatic mechanism (not shown), and is controlled to be driven via the robot controller 28 and pneumatic mechanism. here,
This connection cable 32 passes through the column 14, penetrates the base end of the first horizontal arm 16, is taken out to the outside, and is thick (in a state bent like a loop) and then connected to the vertical arm 16.
0 from the upper end thereof, passes through it, and is connected to the hand mechanism 30 via the hand attachment/detachment device 10.

Next, the configuration of the hand attaching/detaching device 10, which is a feature of the present invention, will be described in detail with reference to FIGS. 2 to 8 AB.

1 and l This hand attachment/detachment device 10 is provided to detachably attach a hand mechanism 30 to the lower end of a vertical arm 20 of a robot 12, and as shown in FIG.
It basically includes a holder 34 fixed to the distal end of the holder 34, and a shank 36 which is removably connected to the holder 34 and has a hand mechanism 30 fixed to its lower part.

As shown in the figure, this holder 34 includes a fixed part 37 fixed to the outer periphery of the lower end of the vertical arm 20, and a cylinder part 4 attached to the lower surface of the fixed part 37 via a bolt 38.
0, a piston 42 that is slidably housed in the cylinder section 40 along the vertical direction, and a cylinder section 4.
an inner cylinder 44 that is integrally fitted over the lower end surface and lower inner circumference of the piston 42; a ball support cylinder 48 that is fixed in the inner cylinder 44 via a bolt 46;
an engaging member 54 formed on its outer periphery with an outer tapered surface 54a that engages from below the inner lower portions of the plurality of balls 52 supported by the ball support tube 48; and a coil spring 56 that is interposed between the piston 42 and the piston 42 and constantly biases the piston 42 upward.

Here, as shown in FIG. 3, the above-mentioned cylinder part 40 includes a cylinder body 40a formed in a substantially hollow cylindrical shape with an open top and bottom, and an internal space of this cylinder body 40a divided into upper and lower parts. A partition wall 40b (shown in FIG. 2), a first outer flange portion 40c formed on the outer circumference of the upper end of the cylinder body 40a, and a second outer flange portion formed on the outer circumference of the lower end of the cylinder body 40a. 40d.

A wide slit 40e extending vertically along the center line is formed in a portion of the cylinder body 40a above the partition wall 40b, spanning the first outer flange portion 40c. Since the slit 40e is formed in this way, the connection cable 32 passing through the inside of the vertical arm 20 can be connected to the vertical arm 20 as shown in FIG.
0 to the internal space above the partition wall 40b of the cylinder part 40, and from there, the slit 40e
It can be taken out to the outside of the cylinder part 40 via the.

As shown in FIG. 2, the connection cable 32 includes a first air hose 32a for introducing compressed air into a cylinder chamber 58, which will be described later, and three second air hoses for supplying compressed air to the hand mechanism 30. A cable 32c electrically connects the air hose 32b (only one is shown for convenience of drawing), the hand mechanism 30, and the robot controller 28.
It is composed of. And the first air hose 32
a connects the partition wall 40b through the first connection port 60a.
The three second air hoses 32b are connected to the upper surface of the second outer flange portion 40d via second connection ports 60b, respectively. The cable 32c also has a first connector 62 connected to its tip.
It is electrically connected to a relay board 66 mounted on the second outer flange portion 40d via a stay 64 via a.

On the other hand, the above-mentioned cylinder chamber 58 is defined by a space surrounded by the lower surface of the partition wall 40b, the upper surface of the piston 42, and the inner peripheral surface of the cylinder body 40a.

The piston 42 includes a piston body 42a that is in sliding contact with the inner circumferential surface of the cylinder body 40a, and a piston body 42a that is in sliding contact with the inner peripheral surface of the cylinder body 40a.
At the center of the lower surface of 2a, it is set to protrude downward and is integrally formed with a solid cylindrical protrusion 42b.

+ In a state where compressed air is not introduced into the cylinder chamber 58, the piston 42 configured in this manner is elastically held at the uppermost position where it contacts a stopper (not shown) by the biasing force of the coil spring 56. ing.

Further, as compressed air is introduced into the cylinder chamber 58 through the first connection port 60a, the piston 42 is pushed downward against the biasing force of the coil spring 56, and the piston 42 is pushed downward against the biasing force of the coil spring 56. By coming into contact with the upper end of the cylinder 44, it is held at the lowest position.

In addition, the above-mentioned inner cylinder 44 includes a hollow cylindrical inner cylinder main body 44a that is set to fit into the inner circumferential surface of the lower part of the cylinder main body 40a, and is open at the top and bottom, and this inner cylinder main body 44a.
An inner flange portion 44b formed at the upper end and a second outer flange portion 40d formed at the lower end of the inner cylinder main body 44a.
It is integrally formed with an outer flange portion 44c that contacts the lower surface of the. Here, the lower surface of this outer flange portion 44c is set so as to define the upper side of the attachment/detachment surface PL. That is, the above-mentioned shank 36 is defined below the lower surface of the outer flange portion 44c.

The ball support cylinder 48 described above is formed in a cylindrical shape with an open bottom surface, and in detail, as shown in FIG. 4, it is set to fit into the upper part of the inner cylinder main body 44a. A hollow cylindrical support tube body 48a and a ceiling portion 48 formed to cover the upper surface of the support tube body 48a.
It is integrally formed from b. Here, the above-mentioned protruding portion 4 of the piston 42 is located at the center of the ceiling portion 48b.
An insertion hole 48c is formed into which the holder 2b is inserted so as to be vertically movable.

As shown again in FIG. 2, the above-mentioned locking member 54 is a generally disc-shaped main body portion fixed to the lower end of the protrusion 42b that protrudes into the internal space of the ball support tube 48 through the insertion hole 48c. 54b, and an outer flange portion 54c formed at the lower end of the main body portion 54a and having an outer circumferential surface that slides into contact with the inner circumferential surface of the support cylinder main body 48a. The upper edge of this outer flange portion 54c and the main body portion 54
The above-mentioned outward tapered surface 54a is defined between the lower end edge of b. This outwardly tapered surface 54a is inclined so that its diameter increases as it goes downward.

In this way, these balls 52 are attached to the ball support cylinder 48.
It is supported within the hole support hole 48d in a state where it is prevented from being pulled out either outward or inward.

Note that, when the piston 42 is lifted to the uppermost position, the outer tapered surface 54a comes into contact with the inner part of the corresponding ball 52, as shown by the dashed line in FIG.
These balls 52 are biased radially outward so that their respective outer portions protrude outward from the outer peripheral surface of the support cylinder main body 48a, and when the piston 42 is pushed down to the lowest position, , are disengaged from the inner portions of the corresponding balls 52, allowing radial inward movement of these balls 52, as shown by the two-dot chain lines in FIG. It is set so as not to protrude from the outer peripheral surface of the main body 48a.

1I On the other hand, as shown in FIG. 5A, a total of nine connection holes 74a to 74i are provided on the upper surface of the second outer flange portion 40d of the cylinder portion 40, approximately on the right half of the figure. It is formed. Here, each of the connection holes 74a to 74i is set so that the second connection port 60b is connected to each of the connection holes 74a to 74i. That is, in this embodiment, as described above, the second connection port 60b connects to the three second air hoses 32.
Only three are arranged corresponding to b, and depending on the compressed air supply position in the hand mechanism 30 described later, the first,
Fifth and ninth connection holes 74a, 74e, 74i are used.

Here, in FIG. 2, for convenience of the drawing, the ninth connection hole 74i is shown as a representative at this cross-sectional position, but the connection holes 74a to 74i are connected to each other. , on the lower surface of the second outer flange portion 40d,
Communication chambers 76a to 761 are opened here to form communication chambers 76a to 761.

On the other hand, each of the communication chambers 76a to 76i is closed by an outer flange portion 44c of the inner cylinder 44 attached to the lower surface of the second outer flange portion 40d of the cylinder portion 40. Each communication chamber 76a is provided in this outer flange portion 44c.
Nine connection pipe insertion holes 78a to 781 are formed in the radial inner portions of the pipes 78a to 76i, respectively, and penetrate in the thickness direction, into which connection vibes 98a to 98i, which will be described later, are inserted.

Moreover, as shown in FIG. 5A again, the above-mentioned relay board 6
6, a plurality of connection pins 80a to 800, 15 in this embodiment, are fixed in an upright state. Here, each of the connection pins 80a to 80° is set so that the above-described first connector 62a is attached in a connected state.

The number of connection pins 80a to 800 is 15, and the cable 32c is configured as a serial interface cable, through which communication is established between the robot controller 28 and the hand mechanism 30'. .

On the other hand, the connection pins 80a to 800 on this relay board 66 are connected to the inner cylinder 44 through connection rods 82a to 820, respectively.
The connecting bushes 84a to 840 formed on the lower surface of the outer flange portion 44c are electrically connected.

That is, each connection bushing 84 is provided on the outer flange portion 44c.
A through hole 44d is formed to accommodate the bushings 84a to 840, and a connecting terminal (to be described later) is inserted into the internal space of each of the connecting bushes 84a to 840, and the bushings are electrically connected and defined.

Further, each of the connecting rods 82a to 82o connects to the corresponding connecting bushing 84a to 84o via a through hole 40f formed in the second outer flange portion 40d so as to vertically pass through the second outer flange portion 40d. The connection pins 80a to 80o are fitted into the upper part and electrically connected to each other.
and the connection bushes 84a to 80o are electrically connected to each other.

This shank 36 is commonly configured for various hand mechanisms that are removably attached to the vertical arm 20 of the robot 12 via this hand attachment/detachment device 10, and as shown in FIG. A shank main body 86 whose upper surface defines the lower side of the attachment/detachment surface PL, a connecting cylinder 9o fixed to the lower side of the shank main body 86 via a bolt 88, and a bolt 92 on the lower surface of the connecting cylinder 90. It is mainly composed of a mounting plate 94 fixed via a mounting plate 94.

Here, the shank main body 86 is provided with a disc-shaped detachable member 86b having a circular through hole 86a formed in the center thereof, into which the ball support tube 48 of the holder 34 is loosely inserted. A cylindrical locking tube portion 86c is integrally formed on the upper surface of the detachable member 86b, surrounding the through hole 86a and standing up from the periphery of the opening. An inner flange portion 86 is provided at the upper end of this locking cylinder portion 86c.
d is formed on the inner surface of this inner flange portion 86d,
A latching inward tapered surface 86e that can be latched is formed on the outer upper part of the ball 52 supported by the hole support tube 48 described above.

On the other hand, a falling part 86f having a predetermined thickness is integrally formed around the entire circumference on the lower surface of the outer peripheral part of the detachable member 86b of the shank body 86, and a hand rest ( A locking groove 86g is formed around the entire circumference, and the locking groove 86g is locked to the ring (as shown in FIG. 6).

As shown in the figure, this hand holder 96 is attached to each shank 36.
A plate-shaped rack body 96a having a thickness to be fitted into the engagement groove 86g is provided, and a recess 96b for largely receiving the shank 36 is formed in the front end surface of the rack body 96a.

In addition, in the shank body 86 configured in this way,
As shown in an enlarged view in FIG. 4, when the shank 36 hooked to the shank holder 96 is attached to the outer periphery of the upper surface of the inner flange portion 86d, when the holder 34 descends from above,
The inner flange portion 86d of the shank body 86 is connected to the inner cylinder 44.
An outwardly tapered surface 86h is formed over the entire circumference so that it can be easily fitted into the inner peripheral surface of the inner cylinder main body 44a in a sliding state.

On the other hand, the inner cylinder 4
After the shank body 86 is fitted into the locking sleeve 68 , when the holder 34 is further lowered, the inner circumferential surface of the inner flange portion 86 d of the shank body 86 slides into contact with the outer circumferential surface of the locking sleeve 68 . An inwardly tapered insertion surface 86i is formed around the entire circumference so that it can be inserted reliably in this state.

Here, as shown in FIG. 5B, on the upper surface of the shank body 86, there are projecting upwardly at positions corresponding to the above-mentioned connecting vibrator insertion holes 78a to 78i so that the vibrator can be inserted from below. Connect with (Eve 98a-98i)
is installed. Then, when the holder 34 is lowered and the holder 34 and the shank 36 are connected to each other, the lower surface of the outer flange portion 44c of the inner cylinder 44 and the upper surface of the detachable member 86b of the shank body 86 are mutually connected. In the abutting state, the upper ends of each of the connection pipes 98a to 98i are set to be inserted into the communication chambers 76a to 76i through the corresponding connection pipe insertion holes 78a to 78i.

Further, on the upper surface of the shank body 86, as shown in FIG. 5B, connections are provided in positions corresponding to the above-mentioned connection bushes 84a to 840 in a state that protrudes upward so that they can be inserted from below. Terminals 100a to 100o are provided. Then, when the holder 34 is lowered and the holder 34 and the shank 36 are connected to each other,
The upper ends of each of the connection terminals 100a to 1001 are inserted into the corresponding connection bushes 84a to 84i, respectively, and set to be electrically connected.

Furthermore, as shown in FIG. 5B, the upper surface of the shank body 86 has four through holes 102a to 102a for fixing the mounting plate 94 to the connecting tube 90 by rotating the bolt 92 from above.
02d are formed at equal intervals along the circumferential direction and penetrate in the thickness direction.

The inwardly tapered surface 86e for lifting soil is accurately defined in shape and size, and in this way, as shown in FIG.
In the accurately positioned state, a state is achieved in which the six balls 52 are sandwiched between the ball 52 and the outer tapered surface 54a, and therefore, according to this embodiment, a coupled state is defined in the hand attachment/detachment device IO. In this case, in the dressing surface PL, the outer flange portion 4 of the inner cylinder 44 on the holder 34 side
4c and the shank body 8 on the shank 36 side
6 and the upper surface thereof, and are in close contact with each other, achieving a good bonding state with no looseness.

On the other hand, the connecting cylinder 90 constituting the shank 36 is formed into a cylindrical shape with the top and bottom open, and is integrally formed from a main body part 90a and an inner flange part 90b formed at the upper end of this main body part 90a. It is formed. Inside this connecting tube 90,
A pair of upper and lower circuit boards 106a and 106b are spacers 1
08, and is disposed in a suspended state on the lower surface of the inner flange portion 90b. Here, the upper circuit board 106
a and the above-mentioned connection terminals 100a to 100o are connected to each other through connecting rods 110a to 1100, which are disposed vertically passing through the detachable member 86b of the shank body 86 and the inner flange portion 90b of the connecting tube 90. electrically connected. Note that the upper circuit board 106a and the lower circuit board 106b are electrically connected via a connection board 106c.

Further, on the outer peripheral surface of the main body portion 90a of this connecting cylinder 90,
The nine connection holes 112a to 112 for connection ports correspond to the nine connection vibes 98a to 98i described above, respectively.
i is formed in an open state. Here, each of the connection holes 112a to 1121 is connected to the attachment/detachment member 8 of the shank body 86.
6b and the inner flange portion 90b of the connecting cylinder 90 in the vertical direction.
1141, they are connected to communicate with the connecting vibrators 98a to 98i, respectively.

Among the nine connection holes 112a to 1121 described above, first, fifth and ninth connection bushes 74a, 74
e.

Connection holes 112a, 112e, 1i corresponding to 74i
2i has three connecting hoses 1 as shown in Figure 5C.
15a, 1.15b, and 115c are connection ports 116, respectively.
a, 116b.

116C, these three connection hoses 1
15a to 115c are provided to the hand mechanism 30.

Here, as shown in FIG. 2, the above-mentioned pair of upper and lower circuit boards 106a, 106b converts the serial signal sent from the robot controller 28 into a parallel signal.
Further, circuits are configured to convert the signals sent to the robot controller 28 from parallel signals to serial signals, respectively, and the signals from both circuit boards 106a and 106b are sent to one end of the second circuit board as shown in FIG. The hand mechanism 30 is connected to the hand mechanism 30 via the first and second connection line groups 118a and 118b provided with the third connectors 62b and 62c, respectively.
It is connected to the.

These first and second connection line groups 118a, 118b
In order to temporarily take out the connecting cylinder 90 to the outside,
As shown in FIG. 2, a pair of openings 120a and 120b are formed in the peripheral wall of the main body portion 90a, penetrating in the thickness direction.
is formed. In this way, the opening 120a.

120b, the above-mentioned first and second
The connection line groups 118a and 118b connect these openings +
20as120b, is taken out to the outside of the shank 36, and then connected to the hand mechanism 30.

On the other hand, a total of four bolts 92 are provided, and in order to install these four bolts 92, they are located directly below the through holes 92a to 92d and communicated with each other. The outer peripheral surface of the main body portion 90a of the connecting tube 90 has 4
Book recesses 122a to 122d are formed. Here, the height of each of the recesses 122a to 122d is set to be slightly longer than the height of each bolt 92.

With this configuration, each bolt 92 is first housed in the corresponding recess 112a to 112d from the side, and then a driver (not shown) inserted from above through the corresponding through hole 102a to 102d is inserted into the corresponding recess 112a to 112d. is rotated through
It is now in a state where it can be screwed onto the mounting plate 94, and in this way,
This means that the mounting plate 94 can be fixed to the connecting tube 90.

Incidentally, as shown in FIG. 2, the internal space of the shank 36 is
The shank main body 86 and the connecting tube 90 are vertically separated from each other by a partition plate 124 which is disposed in a sandwiched manner. By providing this partition plate 124, when this shank 36 is held on the hand stand 96 in a state separated from the holder 34, that is,
In the state where the shank 36 is exposed to the outside, the circuit boards 106a, 106b are still located in the closed space, and the circuit boards 106a, 106
The dustproof effect b is achieved.

Here, since it is configured to include the partition plate 124 in this way, as is clear from FIG. 2, the shank 3
In the state in which the holder 34 is coupled to the piston 4
The volume of the space in which the lower part of the piston 2 is located, that is, the space surrounded by the partition plate 124, the shank body 86, and the pole support cylinder 48, is small (limited). When the above-mentioned space is sealed, the lower part of the piston 42 protrudes into the sealed space, and the air in the sealed space is compressed, exerting a so-called elastic effect, causing the piston 42 to descend. This will act as a counter force against the movement.

〔Effect of the invention〕

As described above, the present invention accommodates a disk-shaped printed board in a cylindrical member constituting the attachment/detachment mechanism, and forms an electric circuit for controlling communication between the robot and the hand on the printed board. As shown in Figure 8A, even if there is an obstacle near the movement trajectory of the hand at the tip of the robot, the
As shown in Figure B, it is possible to move from point A to point B in the shortest distance and time.

Furthermore, since the inner area of the cylindrical member constituting the hand-side attachment/detachment mechanism can be effectively made into the area of the printed board, the packaging density can be improved.

[Brief explanation of the drawing]

FIG. 1 is a front view schematically showing the configuration of a robot to which an embodiment of the hand attachment/detachment mechanism according to the present invention is applied; FIG. 2 is a longitudinal cross-sectional view showing the attachment/detachment mechanism shown in FIG. 1 in a coupled state; Figure 3 is a perspective view showing the cylinder body taken out; Figure 4 is a vertical sectional view showing the ball support tube taken out; Figure 5A is a hand attachment/detaching mechanism cut along line A-A in Figure 2. Fig. 5B is a plan view showing the top configuration of the shank body of the hand attachment/detachment mechanism; Fig. 5C is a cross section of the hand attachment/detachment mechanism cut along line BB in Fig. 2; Figures: Figure 6 is a perspective view showing the configuration of the shank rack; Figure 7 is a front cross-sectional view showing the state of the measurement slit formed in the shank body; Figures 8A-B are views explaining the present invention. ; In the figure, M1 to M3... Drive motor, PL... Detachable surface, 10... Hand attach/detach mechanism, 12... Robot, 1
4... Support column, 16... First horizontal arm, 18...
・Second horizontal arm, 20... Vertical arm, 22...
- Second drive motor, 24...Third drive motor, 2
6... Fourth drive motor, 28... Robot controller, 28a... Robot side interface circuit, 28b... Main control circuit, 30... Hand mechanism, 3
2...Connection cable, 32a...First air hose, 32b...Second air hose, 32c...Electric cord 'S34...Holder, 36...Shank, 37
...Fixed part, 38... Bolt, 40... Cylinder part, 40a... Cylinder body, 40b... Partition wall,
40c...first outer flange portion, 40d...second
Outer flange part, 40e...slit, 40f...
-Through hole, 42...Piston, 42a...Piston body, 42b...Protrusion, 44...Inner cylinder, 44a...
...Inner cylinder body, 44b...Inner flange part, 44C.
...Outer flange portion, 44d...Through hole, 46...Bolt, 48...Ball support tube, 48a...Support tube body, 48b...Ceiling portion, 48c...Through hole, 48d
...Ball support hole, 50...Bolt, 52...Ball, 54...Locking member, 54a...Outward tapered surface, 54b...Body portion, 54c...Outer flange ,
106a, 106b... printed circuit board, 124...
Partition member. Side C Tail 8 figure B

Claims (2)

[Claims] (1) A hollow cylindrical member is connected to the coupling member on the hand side, a substantially disk-shaped circuit board is housed in the hollow cylindrical member, and the circuit board is provided with electricity for controlling communication between the robot arm and the hand. A robot hand attachment/detachment mechanism characterized by forming a circuit. (2) The robot according to claim (1), wherein a plurality of terminals for transmitting and receiving signals from the robot side are arranged on the outer periphery of the disc-shaped circuit board approximately on a circular center. Hand attachment/detachment mechanism.