JPH0852682A - Robot hand device - Google Patents

Abstract

(57) [Abstract] [Purpose] Even if a multi-hand configuration is adopted, it is possible to suppress an increase in the work area and prevent the work area from being restricted, and to reduce the sagging of the RCC mechanism due to gravity. It is possible to facilitate horizontal assembly work. [Structure] Cushion mechanism and remote center compliance (RCC) (RCC; Remote C
In a robot hand device having a robot hand unit in which an enter compliance mechanism unit and a work chuck mechanism unit are connected to each other, the work chuck mechanism unit is arranged inside the remote center compliance mechanism unit.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a robot hand device, and more particularly, to an RCC (Remote Center Compli) mounted on a robot used for automatic assembly.
It can be applied to robot hands that have an ance; remote center compliance) function, equipment for gripping and assembling and transferring such as pick and place, and in particular, even if a multi-hand configuration is adopted, the increase in the work area can be suppressed. The present invention relates to a robot hand device that can prevent a work area from being restricted and can easily perform horizontal assembling work by reducing drooping of an RCC mechanism due to gravity.

[0002]

2. Description of the Related Art Conventionally, a passive compliance mechanism having a flexible followability by arranging it in the center of a finger member via a holding member in the center of a cylindrical member against the stress given to the compliance mechanism, For example, there is one reported in JP-A-3-92286.

In this conventional passive compliance mechanism, the shaft member is inserted into the hole provided between the finger portion of the automatic operating machine capable of gripping the shaft member and the arm portion for moving the finger portion. A passive compliance mechanism having a function of absorbing a relative error between a shaft member and a hole in an assembling operation, which comprises a plurality of cylindrical portions having different diameters and a plurality of cylindrical portions which are concentrically held with the shaft center of the shaft member. A cylindrical member of an elastic body integrally formed with a connecting portion that connects the cylindrical portions with a predetermined gap, a supporting member for supporting the cylindrical member on the arm portion, and a center of the cylindrical member. It is configured to have a holding member mounted between the fingers so that the centers of the fingers are aligned with each other.

Therefore, the plurality of cylindrical portions forming the elastic cylindrical member and the connecting portions connecting the cylindrical portions are mutually associated with each other, and can be moved in any direction and angle. Since the finger portion is displaced and deformed, the finger portion can be flexibly operated to smoothly absorb the horizontal error and the angular error. Further, a support device that can cope with horizontal assembly by balancing the horizontal assembly by providing a ballast in the direction opposite to the hand tip direction has been reported in, for example, Japanese Patent Application Laid-Open No. 4-69185. There is.

In this conventional supporting device, the component gripping member is provided with at least a vertical degree of freedom in the vertical plane and a degree of freedom around an axis orthogonal to the vertical plane.
In a supporting device having a compliance mechanism for supporting the component gripping member, a weight offsetting unit for offsetting the vertical weight of the component gripping member is provided. Therefore, it is possible to eliminate the need for arranging the vertical weight of the component holding member in the design of the compliance mechanism.

Conventionally, a robot hand device capable of detecting a compliance amount by using a displacement amount sensor and judging whether or not the shaft can be inserted and removed is reported in, for example, Japanese Patent Laid-Open No. 4-193494. There was something that was done. In this conventional robot hand device, a finger portion having a gripping function, a hand portion that elastically holds the finger portion in the front-rear direction via a compliance mechanism, and a positioning mechanism that moves the hand portion in the front-rear direction. In a robot hand device having a sensor for detecting a displacement of a compliance mechanism and a control unit for controlling opening / closing of a finger portion and a positioning mechanism, the control unit includes a positioning mechanism position input circuit and a compliance displacement amount sensor signal input circuit. A positioning mechanism drive circuit, a displacement amount / force correspondence table, and a main control unit. The sensor is a light-shielding piece that moves in the front-rear direction integrally with the finger portion, and a light-shielding piece on the hand portion. A first displacement amount sensor and a second displacement amount sensor which are provided facing each other with a predetermined distance in the front-rear direction and are operated by the light shielding piece. It is.

Therefore, there is an advantage that the progress of the target work can be monitored based on the displacement amount of the compliance mechanism and the moving position of the hand portion. Hereinafter, a specific description will be given with reference to the drawings. FIG. 6 is a diagram showing a configuration of a conventional robot hand device. In FIG. 6, reference numeral 1001 denotes a robot Z axis provided in the Z direction, and 1002 denotes a turret portion fitted into the robot shaft 1001.
Numeral 4 is supported by the turret 1002 and has AHC (automatic hand changer) in the horizontal assembling direction A and the vertical assembling direction B, respectively.
The robot hand is configured by sequentially connecting a unit 1004, a cushion mechanism unit 1005, an RCC mechanism unit 1006, and a work chuck mechanism unit 1007.

[0008]

However, in the conventional robot hand device shown in FIG. 6 described above, since the RCC mechanism unit 1006 and the work chuck mechanism unit 1007 are respectively connected in series, the robot hand 100 is constructed.
The total length of 3 becomes longer each time a function is added.

Therefore, in the case of a multi-hand having two (plural) robot hands 1003 in one arm by the turret unit 1002, as described above, the work area 1008 becomes large as the total length of the robot hand 1003 becomes long. There is a problem that the work area 1008 is restricted. Further, the center of gravity of the work chuck mechanism unit 1007 of the robot hand 1003 performing the horizontal assembly work is
Since it is configured away from the RCC mechanism unit 1006,
The mass 1010 of the work chuck mechanism unit 1007 causes the work chuck mechanism unit 1007 to hang downward, and the RCC mechanism unit 1006 also hangs downward, which makes it difficult to perform horizontal assembly work.

Therefore, according to the present invention, even if a multi-hand configuration is adopted, it is possible to suppress an increase in the work area and prevent the work area from being restricted.
An object of the present invention is to provide a robot hand device capable of facilitating horizontal assembly work by reducing the droop of the C mechanism.

[0011]

According to the first aspect of the present invention,
Cushion mechanism and remote center compliance (RCC; Remote Center Comp)
A robot hand device having a robot hand unit in which a mechanism unit and a work chuck mechanism unit are connected to each other.
It is characterized in that it is arranged inside the center compliance mechanism section.

According to a second aspect of the present invention, in the first aspect of the present invention, the cushion mechanism portion and the remote center compliance mechanism portion are alternately arranged. . A third aspect of the present invention is characterized in that, in the first and second aspects of the invention, the remote center compliance mechanism section has a screw tightening motor arranged therein.

According to a fourth aspect of the present invention, in the above-described first to third aspects, the remote center compliance mechanism section has a vacuum suction pad arranged therein. . A fifth aspect of the invention is characterized in that, in the first to fourth aspects of the invention, there is provided rotating means for rotating the remote center compliance mechanism section and the work chuck mechanism section.

The invention according to claim 6 is the invention according to any one of claims 1 to 5, characterized in that the robot hand portion has the remote center compliance lock mechanism portion.

[0015]

According to the first aspect of the invention, the work chuck mechanism section is arranged inside the remote center compliance mechanism section. Therefore, by arranging the work chuck mechanism unit in the RCC mechanism unit to reduce the total length of the robot hand, the work area can be reduced even if a multi-hand structure such as a turret is adopted. Therefore, the work area can be prevented from being restricted.

Further, by shortening the total length of the robot hand, the weight of the robot hand can be reduced and the moment of gravity can be reduced. Therefore, the sagging of the RCC mechanism portion due to gravity can be reduced, and horizontal assembly work, etc. Can be facilitated. According to the second aspect of the invention, the cushion mechanism section and the remote center compliance mechanism section are arranged alternately. Therefore, since the RCC mechanism section and the cushion mechanism section are alternately arranged, the total length of the robot hand can be efficiently shortened, and the effect of the invention described in claim 1 can be obtained efficiently.

According to the third aspect of the invention, the remote center compliance mechanism section is constructed such that the screw tightening drive motor section is arranged inside. For this reason, since the screw tightening drive motor unit is arranged inside the RCC mechanism unit, the total length of the robot hand is shorter than that in the case where the screw tightening drive motor unit is arranged outside the RCC mechanism unit and each is connected. The above claim 1
The same effects as the described invention can be obtained.

Further, by disposing the screw tightening drive motor part inside the RCC mechanism part, the screw tightening drive motor part and the RCC mechanism part can be integrated.
It is possible to reduce the positional deviation from the screw hole due to variations in parts and variations in the repeatability of the robot. According to the fourth aspect of the invention, the remote center compliance mechanism section is configured such that the vacuum suction pad is arranged inside. For this reason, since the vacuum suction pad is arranged inside the RCC mechanism portion, the total length of the robot hand can be shortened as compared with the case where the vacuum suction pad is arranged outside the RCC mechanism portion and connected to each other. It is possible to obtain the same effect as that of the invention described in claim 1.

When the RCC function unit is independently incorporated and, for example, when inserting a shaft or the like into a hole, if there is a positional displacement and at least the tip portion does not enter, it becomes difficult to insert even if the RCC function is provided. Not preferable. Therefore, in the invention according to the fifth aspect, the remote center compliance mechanism section and the work chuck mechanism section are configured to be rotated by the rotating means. Therefore, since the work chuck mechanism unit and the RCC mechanism unit can be rotated, it is possible to reduce the assembly error rate by increasing the probability of performing the rubbing motion and fitting the hole portion to the shaft. Therefore, it is possible to cope with the assembly that requires the phase adjustment of the D-cut shaft and the gear.

Further, since the RCC mechanism and the rotary joint can be integrated, the total length of the robot band can be shortened, and only the work chuck mechanism is present before the RCC mechanism. Therefore, it is possible to efficiently reduce the sagging of the RCC mechanism portion due to the gravity during horizontal assembly work.

In a sixth aspect of the invention, the robot hand section is configured to have a remote center compliance lock mechanism section. For this reason, since the robot hand unit is provided with the RCC lock mechanism unit, at the time of positioning, the RCC lock is performed to bring it into the locked state, and the insertion,
The RCC function can be activated at the time of assembly. Therefore, in particular, the lateral assembling work corresponding to the deviation due to the repeatability of the robot and the positional deviation due to the variation of the parts can be performed, and the assembling work can be performed accurately and smoothly.

[0022]

Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is a diagram showing a configuration of a robot hand unit in a robot hand device according to an embodiment of the present invention. The robot hand unit 1 of this embodiment includes an AHC unit 2 attached to a turret unit (not shown) and a cushion mechanism unit 3.
And the work chuck mechanism portion 5 are arranged inside and the RCC mechanism portion 4 integrally attached thereto is sequentially connected.

Thus, in this embodiment (claim 1),
The work chuck mechanism unit 5 is arranged inside. Therefore, the work chuck mechanism section 5 is set to R
By arranging and arranging in the CC mechanism part 4, the total length of the work chuck mechanism part 5 in the robot hand part 1 can be shortened. The area can be reduced.

Therefore, since it is possible to prevent the work area from being restricted, it is possible to increase the degree of freedom in assembling the robot. Further, by bringing the center of gravity 6 of the work chuck mechanism unit 5 into the RCC mechanism unit 4 and shortening the total length of the robot hand unit 1, the weight of the robot hand unit 1 is reduced and the moment of gravity is reduced. Therefore, it is possible to reduce the sagging due to the mass 7 of the RCC mechanism portion 4 due to gravity, and it is possible to facilitate horizontal assembly work.

Next, in the present invention (claim 2), as shown in FIGS. 2 and 3, the shaft 11 of the cushion mechanism portion 3 does not interfere with the RCC rubber pad 12 with the configuration of the above embodiment of FIG. As described above, the cushion mechanism portions 3 and the RCC mechanism portions 4 may be alternately arranged, and the cushion mechanism portion 3 and the RCC mechanism portion 4 in which the work chuck mechanism portion 5 is arranged may be integrally arranged.

In this case, since the RCC mechanism section 4 and the cushion mechanism section 3 are alternately arranged, the total length of the robot hand section 1 can be further shortened as compared with the above embodiment,
The effects of the above embodiment can be efficiently obtained. In addition,
In FIG. 2, 13 is a turret part. Next, in the present invention (claim 6), as shown in FIG. 3, the robot hand unit 1 may be configured to have the RCC lock mechanism unit 15.

In this case, since the RCC lock mechanism section 15 is provided in the robot hand section 1, the RCC lock mechanism section 15 is set at the time of positioning.
Air is sent to the lock mechanism section 15 so that the conical portion at the tip bites into the chuck holding plate 16 to cause RCC.
The lock mechanism 15 is locked, and at the time of insertion and assembly,
The RCC function of the RCC lock mechanism unit 15 can be activated.

Therefore, it is possible to perform the lateral assembling work especially for the displacement due to the repeatability of the robot and the displacement due to the variation of the parts. In FIG. 3, 17 is a work. Next, in the present invention (Claim 5), as shown in FIG. 4, the RCC mechanism portion 4 in which the work chuck mechanism portion 5 is arranged may be rotated by driving the rotary actuator 21. Good. In FIG. 4, the air in the work chuck mechanism unit 5 is
Since it is fed through the shaft, it can rotate more than 360 °.

Therefore, the work chuck mechanism 5 and the RC
Since the C mechanism part 4 can be rotated, a rubbing motion is performed to increase the probability of fitting the hole part to the shaft,
The error rate of assembling can be reduced, and it is possible to deal with the assembling that requires the phase adjustment of the D-cut shaft and the gear. Further, since the RCC mechanism section 4 and the rotary joint section can be integrally formed, the total length of the robot hand section 1 can be shortened, and the work chuck mechanism section 5 is provided before the RCC mechanism section 4. Since it can be configured to exist only, it is possible to efficiently reduce the sagging of the RCC mechanism portion 4 due to gravity during horizontal assembly work.

Next, in the present invention (claim 4), as shown in FIG. 5, a vacuum suction pad 25 may be provided inside the RCC mechanism portion 4. In FIG. 5, the vacuum suction pad 25 is connected to the vacuum pump through the suction port 26, sucks the work 17, and the RCC lock mechanism 15 causes the vacuum suction pad 25 to rotate.
The CC function is locked to accommodate lateral assembly. For this reason, since the vacuum suction pads 25 are arranged inside the RCC mechanism unit 4, the robot hand unit 1 is more likely to be connected than when the vacuum suction pads are arranged outside the RCC mechanism unit and connected to each other.
Can be shortened, and the same effect as in the above embodiment can be obtained.

Next, in the present invention (claim 3), R
The CC mechanism portion 4 may be configured such that a screw tightening drive motor portion is arranged inside. In this case, since the screw tightening drive motor section is arranged inside the RCC mechanism section 4, the robot hand section 1 of the robot hand section 1 is more connected than the case where the screw tightening drive motor section is arranged outside the RCC mechanism section. The total length can be shortened and the same effect as that of the above embodiment can be obtained.

Further, by disposing the screw tightening drive motor portion inside the RCC mechanism portion 4, the screw tightening drive motor portion and the RCC mechanism portion 4 can be integrally configured, so that variations in parts and It is possible to reduce the positional deviation from the screw hole due to the variation in the repeatability of the robot.

[0033]

According to the present invention, even if a multi-hand configuration is adopted, it is possible to suppress the increase of the work area and prevent the work area from being restricted, and at the same time, the RC due to gravity is used.
There is an effect that the drooping of the C mechanism can be reduced to facilitate the horizontal assembling work.

[Brief description of drawings]

FIG. 1 is a diagram showing a configuration of a robot hand unit in a robot hand device according to an embodiment of the present invention.

FIG. 2 is a diagram showing a configuration of a robot hand unit in a robot hand device applicable to the present invention.

FIG. 3 is a diagram showing a configuration of a robot hand unit in a robot hand device applicable to the present invention.

FIG. 4 is a diagram showing a configuration of a robot hand unit in a robot hand device applicable to the present invention.

FIG. 5 is a diagram showing a configuration of a robot hand unit in a robot hand device applicable to the present invention.

FIG. 6 is a diagram showing a configuration of a conventional robot hand device.

[Explanation of symbols]

 1 Robot hand part 2 AHC part 3 Cushion mechanism part 4 RCC mechanism part 5 Work chuck mechanism part 6 Center of gravity 7 Mass 11 Shaft 12 RCC rubber pad 13 Turret part 15 RCC lock mechanism part 16 Chuck holding plate 17 Work piece 21 Rotary actuator 25 Vacuum suction pad 26 mouthpiece

Claims (6)

[Claims] 1. A cushion mechanism section and a remote center.
Compliance (RCC; Remote Center)
In a robot hand device having a robot hand unit in which a rCompliance mechanism unit and a work chuck mechanism unit are connected, the work chuck mechanism unit is arranged inside the remote center compliance mechanism unit. Robot hand device. 2. The robot hand device according to claim 1, wherein the cushion mechanism section and the remote center compliance mechanism section are arranged alternately. 3. The robot hand device according to claim 1, wherein the remote center compliance mechanism section has a screw tightening motor arranged therein. 4. The robot hand device according to claim 1, wherein the remote center compliance mechanism section has a vacuum suction pad disposed therein. 5. The robot hand device according to claim 1, further comprising rotating means for rotating the remote center compliance mechanism section and the work chuck mechanism section. 6. The robot hand unit includes the remote
6. The robot hand device according to claim 1, further comprising a center compliance lock mechanism section.