JP7144152B2 - Connecting member for robot hand and robot - Google Patents

Description

The present invention relates to a robot hand connection member and a robot that connect an arm portion and a hand portion, and more particularly to a robot hand connection member and a robot capable of absorbing impact applied to the hand portion.

Conventionally, there is known a robot having a structure in which a hand portion and an arm portion are connected by a robot hand connection member capable of absorbing impact. For example, in Japanese Laid-Open Patent Publication No. 7-24776, eight connecting portions for connecting parts on the arm side and parts on the hand side are arranged on the circumference. The connecting portion includes a pressure receiving seat and a holding member that are arranged to face each other via a sphere. Furthermore, a spring is arranged in the center of the circumference where the connecting part is arranged. The connecting portion is fixed by pulling the spring. With this structure, when a force greater than the tension of the spring is applied to the hand in the direction in which the arm moves (for example, in the direction in which the arm rotates), the hand rotates around the connecting portion on the side opposite to the side where the force is applied. section rotates with respect to the arm section. In this manner, the deformation (rotation) of the connecting portion allows the force applied to the hand portion along the rotation direction of the arm portion to be released. This absorbs the impact transmitted from the hand section to the robot via the arm section and protects the robot. When the force is removed, the tension (reaction force) of the spring returns the hand portion to its original state.

JP-A-7-24776

Consider, for example, a case in which a robot picks up workpieces from a box containing randomly stacked workpieces. In this case, the positions of the workpieces are recognized by a camera or the like, and the interference area of the shape of the pre-registered box containing the workpieces is taken into consideration, and the robot's hand posture is adjusted so that the workpieces can be picked. Move the arm to pick the workpiece.

However, the positions of the work and the box change due to contact with the hand and external factors. When the position of the workpiece or box changes, a deviation occurs between the actual position of the workpiece or box and the position of the workpiece or box recognized by the camera. In this case, there is a possibility that the hand portion or the workpiece gripped by the hand portion will be located in an area where it interferes with the workpiece or the box. If such interference occurs, the hand or the workpiece gripped by the hand may receive an impact due to the interference and be damaged.

In order to suppress such damage, it is conceivable to use a robot disclosed in Japanese Patent Application Laid-Open No. 7-24776. However, when the above-mentioned interference occurs, the hand is moving toward the workpiece or the box, so the hand receives an impact in the direction of pressing vertically toward the arm and an impact in the direction of rotation of the arm. Two types of impact may be applied. Therefore, in the structure disclosed in Japanese Patent Application Laid-Open No. 7-24776, the mechanism that absorbs only the impact along the rotation direction of the arm portion cannot absorb the impact in the direction of pressing vertically toward the arm portion. Have difficulty.

SUMMARY OF THE INVENTION The present invention has been made to solve the above-described problems, and an object of the present invention is to provide an impact that is applied to the hand portion in the direction toward the arm portion and that is applied along the rotational direction of the arm portion. To provide a connecting member for a robot hand and a robot capable of absorbing the impact applied.

A connecting member for a robot hand according to the present disclosure is a connecting member for a robot hand that connects a hand portion and an arm portion, and includes a first member, a second member, a connecting member, and an elastic member. The first member is connected to either one of the hand portion and the arm portion. The second member is spaced apart from the first member and connected to the other of the hand portion and the arm portion. The connecting member connects the first member and the second member in a state in which the relative positions of the two members with respect to the first member can be changed. The elastic member urges the first member away from the second member and is stretchable. The connecting member can reduce the distance between the first member and the second member and extend in a first direction in a second direction that intersects the first direction from the first member to the second member. A member is configured to be movable relative to the second member.

A robot according to the present disclosure includes an arm section, a hand section, and the robot hand connecting member. The robot hand connecting member connects the arm and the hand.

According to the above, it is possible to obtain a connecting member for a robot hand and a robot capable of absorbing the impact applied to the hand portion in the direction toward the arm portion and the impact applied along the rotation direction of the arm portion. can be done.

1 is a schematic side view of a robot hand according to an embodiment of the present invention; FIG. FIG. 2 is a schematic front view of the robot hand shown in FIG. 1; FIG. 3 is a schematic cross-sectional view taken along line III-III in FIG. 2; FIG. 3 is a schematic cross-sectional view taken along line IV-IV in FIG. 2; 1 is a schematic diagram of a robot according to an embodiment of the present invention; FIG. FIG. 3 is a schematic diagram for explaining the operation of the robot hand shown in FIG. 1; FIG. 3 is a schematic diagram for explaining the operation of the robot hand shown in FIG. 1; FIG. 2 is a schematic diagram for explaining the configuration of a claw portion of the hand portion of the robot hand shown in FIG. 1; FIG. 3 is a schematic cross-sectional view for explaining a first modified example of the robot hand shown in FIG. 1; FIG. 9 is a schematic cross-sectional view for explaining a second modification of the robot hand shown in FIG. 1;

BEST MODE FOR CARRYING OUT THE INVENTION An embodiment of the present invention will be described below based on the drawings. In the drawings below, the same or corresponding parts are denoted by the same reference numerals, and the description thereof will not be repeated.

<Configuration of robot arm>
FIG. 1 is a schematic side view of a robot hand according to an embodiment of the invention. 2 is a schematic front view of the robot hand shown in FIG. 1. FIG. Note that the connection member displayed on the upper side of the robot hand in FIG. 2 is a cross-sectional view taken along the line segment AA in FIG. FIG. 3 is a schematic cross-sectional view taken along line III-III in FIG. FIG. 4 is a schematic cross-sectional view taken along line IV-IV in FIG. A robot hand according to an embodiment of the present invention will be described with reference to FIGS. 1 to 4. FIG.

As shown in FIGS. 1 to 4, the robot hand according to the embodiment of the present invention includes a robot hand connection member 100 and a hand section 110 connected to the connection member 100. FIG. The robot hand connecting member 100 is a robot hand connecting member that connects the hand portion 110 and an arm portion (not shown), and includes a first member 11, a second member 5, a connecting member 22, an elastic member 21, and a rotation suppressing member. 8.

The first member 11 is connected to the hand portion 110 . The planar shape of the first member 11 is circular as shown in FIG. The planar shape of the first member 11 can be any shape such as a polygonal shape such as a square shape, a triangular shape, or an elliptical shape. An elastic member 21 is installed on the first member 11 . The elastic member 21 urges the first member 11 so that the first member 11 is separated from the second member 5 and can be expanded and contracted.

The elastic member 21 includes the elastic body 10 and the cap member 9 as shown in FIG. Elastic body 10 is, for example, a coil spring. A spring having another shape may be used as the elastic body 10 as long as it is elastic and stretchable. The first member 11 is formed with a recess 11 b for accommodating the elastic member 21 . The number of recesses 11b may be one, but the first member 11 may have a plurality of recesses 11b. The plurality of recesses 11b are formed on the surface of the first member 11 facing the second member 5 . The plurality of recesses 11b are annularly arranged at regular intervals. An extending portion 11a extending from the surface of the first member 11 toward the second member 5 is formed in a region surrounded by a plurality of annularly arranged recesses 11b.

An elastic member 21 is accommodated in each of the recesses 11b. One end of elastic body 10 forming elastic member 21 is in contact with the bottom of recess 11b. A cap member 9 is arranged to cover one end of the elastic body 10 and the other end located on the opposite side. The top of the cap member 9 is in contact with the surface of the second member 5 as shown in FIG. In the elastic member 21 , the surface shape of the top of the cap member 9 , which is the portion that contacts the second member 5 , is a curved surface that protrudes toward the second member 5 . The shape of the top of the cap member 9 may be hemispherical, for example. The top portion of the cap member 9 may have any shape as long as it easily enables a state in which relative angular displacement with respect to the second member 5 occurs (see FIG. 7).

Although the number of recesses 11b and elastic members 21 is six as shown in FIG. 4, it may be any other number. For example, 2 to 5, or 7 or more recesses 11b and elastic members 21 may be arranged as long as they are arranged annularly around the extension 11a at regular intervals. It should be noted that the number of recesses 11b and elastic members 21 may be one.

The second member 5 is spaced apart from the first member 11 and connected to an arm (not shown). The second member 5 includes a body portion 5b having an opening 5c and a lid portion 5a connected to the body portion 5b. An opening 5c is formed in a portion facing the first member 11 in the body portion 5b of the second member 5 . The opening 5c includes an inner peripheral side wall 5d that is inclined with respect to the first direction, which is the up-down direction in FIG. The planar shape of the opening 5c is circular as shown in FIG. That is, the opening 5c has an inverted truncated cone shape.

The connecting member 22 includes an extension portion 11a extending from the surface of the first member 11 toward the second member, a positioning portion 6 connected to the extension portion 11a, and the positioning portion 6 fixed to the extension portion 11a. Mainly includes a screw 7 as a fixing member for. The positioning part 6 determines relative positions of the first member 11 and the second member 5 . The extension portion 11 a extends from the surface of the first member 11 on which the recess 11 b is formed to the inside of the opening 5 c of the second member 5 . In addition, although the extension part 11a is formed integrally with the first member 11 in FIG. The positioning portion 6 is located inside the opening portion 5c and is connected to the extension portion 11a by a screw 7. As shown in FIG. The positioning portion 6 has a tapered shape in which the width becomes narrower as it approaches the first member 11 . The positioning portion 6 has an inverted truncated cone shape. The side wall 6a of the positioning portion 6 can contact the inner peripheral side wall 5d of the opening 5c. The connecting member 22 connects the first member 11 and the second member 5 so that the relative position of the second member 5 with respect to the first member 11 can be changed. That is, in the connecting member 22, as shown in FIG. 6, which will be described later, the positioning portion 6 is pushed toward the lid portion 5a in the opening portion 5c to move between the first member 11 and the second member 5. distance can be reduced. Further, as shown in FIG. 7 to be described later, the positioning portion 6 is displaced so that the central axis of the positioning portion 6 is inclined with respect to the central axis of the opening portion 5c, so that the first member 11 shifts from the second member 5. The first member 11 is relatively movable with respect to the second member 5 in a second direction that intersects the first direction in which it faces.

As shown in FIG. 2, the rotation suppressing member 8 suppresses the rotation of the first member 11 with respect to the second member 5 around the first direction, which is the vertical direction in FIGS. The rotation suppressing member 8 includes an opening member 8a formed in the second member 5 and one end portion extending inside an opening 8c formed in the opening member 8a, and is connected to the first member 11. The member 8b is mainly included. The opening member 8 a is arranged on the outer peripheral surface of the second member 5 . The opening 8c of the opening member 8a is formed to penetrate the opening member 8a in the first direction. The insertion member 8 b includes the other end positioned opposite to the one end, and the other end is connected to the outer peripheral surface of the first member 11 . As shown in FIG. 2, the width of the opening 8c is greater than the width of one end of the insertion member 8b. Therefore, even when the first member 11 is tilted (angularly displaced) with respect to the second member 5 as shown in FIG. However, when the first member 11 is rotated in the first direction relative to the second member 5, one end of the insertion member 8b can only move within the width of the opening 8c. As a result, the amount of rotational displacement of the first member 11 relative to the second member 5 is regulated by the width of the opening 8c.

As shown in FIGS. 1 and 2, the hand portion 110 includes a main body portion 12 connected to the first member 11 and a distal end located on the opposite side of the base portion connected to the first member 11 in the main body portion 12 . It mainly includes a claw portion 14 located on the side and an auxiliary claw portion 16 connected to the claw portion 14 . At least two claw portions 14 are arranged. In FIG. 2, two claw portions 14 are arranged to face each other. The claws 14 can change the distance between them, and the workpiece 13 can be gripped by the claws 14 . The distance between the tips of the auxiliary claws 16 connected to the two claws 14 is smaller than the distance between the claws 14 . Therefore, the auxiliary claw portion 16 can be used to convey the work 13 that is smaller than the size of the work 13 that can be gripped by the claw portions 14 . Here, the workpiece 13 is, for example, an inner ring of a rolling bearing.

<Robot configuration>
FIG. 5 is a schematic diagram of a robot according to an embodiment of the present invention having the robot hand shown in FIGS. 1-4. A robot according to an embodiment of the present invention will be described with reference to FIG.

As shown in FIG. 5, the robot 1 mainly includes a body portion 1a, an arm portion 1b connected to the body portion 1a, and a robot hand connected to the arm portion 1b. The robot hand includes a robot hand connection member 100 that forms an arm portion 1b and a hand portion 110. As shown in FIG. The robot hand connecting member 100 is connected to the arm portion 1b. The hand part 110 is connected to the robot hand connecting member 100 .

The robot 1 performs, for example, a work of moving a work 13 (see FIG. 1) housed inside the box 3 from the inside of the box 3 onto the conveyor 4 for conveying the work. For this work, a camera device 2 for recognizing the work 13 is arranged in the information of the box 3, for example. Based on the image information from the camera device 2, the arrangement of the box 3 and the work 13 inside the box 3 is recognized in a control not shown. The controller controls the robot 1 based on the positional information of the work 13 inside the box 3 recognized from the image information.

<Operation of the robot hand>
6 and 7 are schematic diagrams for explaining the operation of the robot hand shown in FIG. 1. FIG. The operation of the robot hand will be described with reference to FIGS. 6 and 7. FIG.

When the hand portion 110 of the robot hand grips the workpiece 13 and transports the workpiece 13, the hand portion 110 receives an impact in the direction of pushing vertically toward the arm portion 1b (see FIG. 5) as shown in FIG. , and an impact applied in the rotational direction of the arm portion 1b as shown in FIG. Each case will be described below.

As shown in FIG. 6, consider a case where force is applied to the hand portion 110 along a first direction indicated by an arrow 20 directed from the first member 11 side to the second member 5 side. In this case, substantially all of the plurality of elastic members 21 are contracted by the force, and the first member 11 is displaced toward the second member 5 . That is, the shock is absorbed by contraction of the elastic bodies 10 of the plurality of elastic members 21 . At this time, the positioning portion 6 moves away from the inner peripheral side wall 5d of the opening portion 5c toward the lid portion 5a. In this manner, the robot hand connecting member 100 can absorb the force applied to the workpiece 13 along the first direction indicated by the arrow 20 . As a result, it is possible to reduce the possibility that the workpiece 13 and the hand unit 110 are damaged by the impact.

When the force along the first direction described above is no longer applied to the hand portion 110 , the first member 11 moves away from the second member 5 by stretching the elastic body 10 of the elastic member 21 . At this time, the positioning portion 6 moves along the inner peripheral side wall 5d of the opening portion 5c and is positioned closest to the first member 11 in the opening portion 5c. 11 steady-state positions are determined. In this way, after the impact is absorbed, the elastic member 21 automatically restores the position of the first member 11 with respect to the second member 5. Therefore, it is possible to restore the position of the first member 11 manually. Lowering of the operation rate of the robot 1 can be suppressed compared to the configuration.

Further, due to the elastic force of the elastic body 10, the position of the first member 11 with respect to the second member 5 is maintained even when a certain amount of stress is applied to the hand portion 110. FIG. For example, when the work 13 held by the hand unit 110 has a large mass, a force directed in the direction opposite to the arrow 20 in FIG. 6 is applied to the robot hand connecting member 100 . In this case, since the maximum width of the positioning portion 6 is larger than the width of the end portion of the opening portion 5c near the first member 11, the positioning portion 6 slips out of the end portion of the opening portion 5c near the first member 11. never. Therefore, even when a large force directed in the direction opposite to the arrow 20 is applied to the hand portion 110, a defect such as separation of the first member 11 from the second member 5 does not occur. Since the first member 11 and the second member 5 are mechanically connected by using the elastic member 21 and the connecting member 22 in this way, the connection between the first member 11 and the second member 5 can be Unlike the case where magnetic force is used for positioning, there is no problem that the maximum mass of the workpiece in the hand unit 110 is limited or the material of the workpiece 13 is limited to a material other than iron due to the influence of the magnetic force.

Next, as shown in FIG. 7, a force is applied to the hand portion 110 along a second direction indicated by an arrow 30, which is a direction intersecting the first direction from the first member 11 side to the second member 5 side. Consider joining. In this case, the first member 11 is displaced so as to be inclined with respect to the surface of the second member 5 on which the opening 5c is formed. As a result, some of the plurality of elastic members 21 contract due to the force, and the other part expands due to the force. More specifically, when force is applied in the direction indicated by arrow 30, elastic body 10 of elastic member 21 located on the side where the force is applied (located on the left side in FIG. 7) expands. On the other hand, the elastic body 10 of the elastic member 21 positioned opposite to the side to which the force is applied (located on the right side in FIG. 7) is contracted. The contraction of the elastic body 10 absorbs the impact.

At this time, the positioning portion 6 is partially separated from the inner peripheral side wall 5d of the opening portion 5c, and the side wall 6a of the positioning portion 6 is inclined with respect to the inner peripheral side wall 5d of the opening portion 5c. In this manner, the robot hand connecting member 100 can absorb the force applied to the workpiece 13 along the second direction indicated by the arrow 30 . As a result, it is possible to reduce the possibility that the workpiece 13 and the hand unit 110 are damaged by the impact.

When the force along the second direction described above is no longer applied to the hand portion 110, the contracted elastic body 10 of the elastic member 21 expands, and the contracted elastic body 10 contracts. The first member 11 returns to the steady state position as shown in FIG.

<Construction of claw portion of hand>
FIG. 8 is a schematic diagram for explaining the configuration of the claw portion of the hand portion of the robot hand shown in FIG. In the hand portion 110, as shown in FIG. 8, the auxiliary claw portion 16 attached to the claw portion 14 may be replaceable. Specifically, as shown in FIG. 8, the auxiliary claw portion 16 installed on the body portion of the claw portion 14 can be removed from the claw portion 14, for example, in the direction indicated by the arrow. Any method can be adopted for fixing the auxiliary claw portion 16 to the claw portion 14 . For example, by providing a screw hole in the claw portion 14 and the auxiliary claw portion 16 and arranging a fixing member such as a screw so as to reach the screw hole in the claw portion 14 via the screw hole in the auxiliary claw portion 16, the auxiliary claw A portion 16 can be secured to the pawl portion 14 . If a plurality of types of auxiliary claw portions 16 are prepared in accordance with the size of the work 13, the work 13 having different sizes, for example, the work 13 having an annular shape and having a different inner diameter can also be handled. The work 13 can be easily transported by the robot 1 according to the present disclosure by exchanging the auxiliary claw portion 16 .

<Effect>
A robot hand connecting member 100 according to the present disclosure connects a hand portion 110 and an arm portion 1b, and includes a first member 11, a second member 5, a connecting member 22, and an elastic member 21. and The first member 11 is connected to either one of the hand portion 110 and the arm portion 1b. The second member 5 is spaced apart from the first member 11 and connected to the other of the hand portion 110 and the arm portion 1b. The connecting member 22 connects the first member 11 and the second member 5 so that the relative position of the second member 5 with respect to the first member 11 can be changed. The elastic member 21 urges the first member 11 so that the first member 11 is separated from the second member 5 and can be expanded and contracted. The connecting member 22 allows the distance between the first member 11 and the second member 5 to be reduced, and also allows the connecting member 22 to extend in a second direction that intersects the first direction from the first member 11 to the second member 5 . The first member 11 is configured to be movable relative to the second member 5 in the direction.

In this way, as shown in FIG. 6, the impact in the direction of pushing the hand portion 110 toward the arm portion 1b along the first direction with respect to the hand portion 110 and the impact along the second direction as shown in FIG. By moving the first member 11 relative to the second member 5 , that is, by the robot hand connecting member 100 , both the impact applied to the hand portion 110 can be absorbed. In addition, after the impact is absorbed by the robot hand connecting member 100, the first member 11 and the second member 5 connected by the connecting member 22 are urged by the elastic member 21. can automatically return to the stationary position, i.e. to the arrangement in which the first member 11 and the second member 5 are most distant from each other via the connecting member 22 .

In the robot hand connecting member 100 , the connecting member 22 includes a positioning portion 6 that determines the relative positions of the first member 11 and the second member 5 . In this case, the relative position between the first member 11 and the second member 5 can be kept constant when the hand portion 110 is not subjected to any impact.

In the robot hand connecting member 100 , the second member 5 is formed with an opening 5 c in a portion facing the first member 11 . The opening 5c includes an inner peripheral side wall 5d inclined with respect to the first direction so that the width becomes narrower as it approaches the first member 11. As shown in FIG. The connecting member 22 further includes an extending portion 11a fixed to the first member 11 and extending from the first member 11 into the opening 5c. The positioning portion 6 is positioned inside the opening portion 5c and connected to the extension portion 11a, and has a shape whose width becomes narrower as it approaches the first member 11. As shown in FIG. The positioning portion 6 has a side wall 6a that can come into contact with the inner peripheral side wall 5d of the opening 5c.

In this case, the first member 11 is biased by the elastic member 21, so that the side wall 6a of the positioning portion 6 contacts the inner peripheral side wall 5d of the opening 5c of the second member 5, and the inside of the opening 5c Arrangement of the positioning portion 6 is defined. As a result, in a normal state in which no impact is applied to the hand portion 110 , the first member 11 is arranged at a predetermined position with respect to the second member 5 by the connecting member 22 .

In the robot hand connecting member 100 , the surface shape of the top of the cap member 9 , which is the portion of the elastic member 21 that contacts the second member 5 , is a curved surface convex toward the second member 5 . . In this case, as shown in FIG. 7, when an impact is applied to the hand portion 110 along the second direction, the expansion/contraction direction of the elastic member 21 can smoothly change the angle with respect to the surface of the second member 5 . Therefore, the expansion and contraction of the elastic member 21 due to the impact can be easily performed.

The robot hand connecting member 100 further includes a rotation suppressing member 8 . The rotation suppressing member 8 suppresses the rotation of the first member 11 relative to the second member 5 in the first direction. In this case, the rotation suppressing member 8 can suppress the rotation of the first member 11 in the first direction with respect to the second member 5 when the impact is applied to the hand portion 110 . Therefore, it is possible to prevent the first member 11 from rotating in the first direction with respect to the second member 5 .

A robot 1 according to the present disclosure includes an arm portion 1b, a hand portion 110, and the robot hand connection member 100 described above. The robot hand connecting member 100 connects the arm portion 1 b and the hand portion 110 .

In this way, both the impact along the first direction and the impact along the second direction applied to the hand portion 110 can be absorbed by the robot hand connecting member 100 . Therefore, none of the impacts from the two directions are transmitted from the hand portion 110 to the arm portion 1b, and the possibility of the robot 1 being damaged by the impacts can be reduced.

<Structure and operational effect of modified example of robot hand>
FIG. 9 is a schematic cross-sectional view for explaining a first modification of the robot hand shown in FIG. FIG. 9 corresponds to FIG. The robot hand shown in FIG. 9 basically has the same configuration as the robot hands shown in FIGS. The robot hand differs from the robot hand shown in FIGS. 1 to 4 in that the opening 5c and the positioning portion 6 have an inverted truncated quadrangular pyramid shape. With such a configuration, the same effects as those of the robot hand shown in FIGS. 1 to 4 can be obtained. Rotation of the positioning portion 6 relative to the first direction can be suppressed. For this reason, without installing the rotation suppressing member 8 shown in FIG. can be suppressed. As a result, the structure of the connecting member 100 for robot hands can be simplified.

The planar shape of the opening 5c and the positioning portion 6 may be other than the quadrangular shape as described above. For example, the planar shape may be a point-asymmetric shape. Specifically, the planar shape may be an arbitrary shape such as a triangle, a pentagonal shape, a trapezoidal shape, a star shape, or an elliptical shape. However, in this case as well, the cross-sectional shape along the first direction is preferably a tapered shape in which the width becomes narrower as the first member 11 is approached.

FIG. 10 is a schematic cross-sectional view for explaining a second modification of the robot hand shown in FIG. FIG. 10 corresponds to FIG. The robot hand shown in FIG. 10 basically has the same configuration as the robot hand shown in FIGS. is different from the robot hand shown in FIGS. That is, the hand portion 110 is connected to the second member 5 of the connecting member 100 for the robot hand, and the arm portion 1b (see FIG. 5) is connected to the first member 11 . Even with such a configuration, the same effects as those of the robot hand shown in FIGS. 1 to 4 can be obtained.

Although the embodiment of the present invention has been described as above, it is also possible to modify the above-described embodiment in various ways. Also, the scope of the present invention is not limited to the above-described embodiments. The scope of the present invention is indicated by the scope of claims, and is intended to include all changes within the meaning and scope of equivalence to the scope of claims.

Reference Signs List 1 robot, 1a, 5b, 12 main body, 1b arm, 2 camera device, 3 box, 4 conveyor, 5 second member, 5a lid, 5c, 8c opening, 5d inner peripheral side wall, 6 positioning portion, 6a Side wall 7 Screw 8 Rotation suppressing member 8a Opening member 8b Insertion member 9 Cap member 10 Elastic body 11 First member 11a Extension 11b Recess 13 Work 14 Claw 16 Auxiliary claw , 20, 30 arrows 21 elastic member 22 connecting member 100 connecting member for robot hand 110 hand section.

Claims (4)

A connection member for a robot hand that connects a hand portion and an arm portion,
a first member connected to one of the hand portion and the arm portion;
a second member spaced apart from the first member and connected to the other of the hand portion and the arm portion;
a connecting member that connects the first member and the second member at a central portion of the first member and the second member in a state in which the relative position of the second member with respect to the first member can be changed; ,
an elastic member that biases the first member so that the first member is separated from the second member and that is stretchable;
The connecting member can reduce the distance between the first member and the second member, and has a second direction that intersects a first direction from the first member to the second member. the first member is configured to be movable relative to the second member in a direction ;
The connecting member includes a positioning portion that determines the relative positions of the first member and the second member,
An opening is formed in a portion of the second member facing the first member,
The opening includes an inner peripheral sidewall inclined with respect to the first direction so that the width becomes narrower as it approaches the first member,
The connecting member further includes an extension portion fixed to the first member and extending from the first member into the opening,
The positioning portion is positioned inside the opening and connected to the extension portion, and has a shape whose width becomes narrower as it approaches the first member,
The positioning portion has a side wall that can contact the inner peripheral side wall of the opening,
A plurality of the elastic members are annularly arranged around the connecting member,
The surface of the lid portion of the second member and the positioning portion facing the lid portion when there is no impact in the direction of pushing the hand portion toward the arm portion along the first direction against the hand portion. A connecting member for a robot hand, having a gap between and . 2. The connecting member for a robot hand according to claim 1 , wherein a surface shape of a portion of said elastic member that comes into contact with said second member is a curved surface that protrudes toward said second member. 3. The connecting member for a robot hand according to claim 1, further comprising a rotation suppressing member that suppresses rotation of said first member in said first direction with respect to said second member. an arm section;
a hand part;
A robot comprising the connecting member for a robot hand according to any one of claims 1 to 3 , which connects the arm portion and the hand portion.

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