JP2018199191A - Robot hand - Google Patents

Abstract

To provide a robot hand capable of releasing gripping of a workpiece when the workpiece is caught.SOLUTION: A robot hand comprises: two claws arranged so that respective two gripping faces thereof are opposed to each other; and a drive part which drives the two claws along opening/closing direction that the two gripping faces approach or separate from each other. Each of the two claws comprises: a proximal end part driven by the drive part; a distal end part having each of the two gripping faces; and a pin connecting the proximal end part and the distal end part with one end thereof being fitted into the proximal end part, while the other end thereof being fitted into the distal end part so as to provide a clearance to at least a part of a periphery thereof.SELECTED DRAWING: Figure 11

Description

  The present invention relates to a robot hand capable of gripping a workpiece such as an electric wire or a connector.

  Patent document 1 is disclosing the processing apparatus which hold | grips and binds the some electric wire which comprises a wire harness with a robot hand.

JP, 2006-215313, A

  For example, an operation for processing a work such as an electric wire includes an ironing operation by sliding the electric wire by moving a robot hand while holding the electric wire. As described above, in the operation of moving the robot hand, the electric wire may be caught by another member in the apparatus (for example, a jig in which the electric wire is routed) in the moving process. Such catching may cause damage to a workpiece such as an electric wire or other members in the apparatus.

  Accordingly, an object of the present invention is to provide a robot hand that can release the grip of a workpiece in response to the catch.

  In order to solve the above-mentioned problem, the robot hand according to the first aspect is a robot hand capable of gripping a workpiece, and has two claws arranged so that two grip surfaces face each other, and the two grip surfaces. A drive unit that drives the two claws along an opening / closing direction in which the two approach or leave, and each of the two claws has a base end portion driven by the drive unit and the two gripping surfaces. A distal end portion, and a pin that connects the proximal end portion and the distal end portion with a gap in at least a part of the periphery, with one end fitted into the proximal end portion and the other end fitted into the distal end portion. Have.

  The robot hand according to the second aspect is the robot hand according to the first aspect, wherein at least one of the first part inserted into the base end part and the second part inserted into the distal end part of the pin. A positioning member that positions one of them so as to release the positioning is further provided.

  A robot hand according to a third aspect is the robot hand according to the second aspect, wherein a dimension along the opening / closing direction is a dimension along the opening / closing direction in a cross section of the pin in a plane orthogonal to the extending direction of the pin. It is larger than the dimension along the orthogonal width direction.

  A robot hand according to a fourth aspect is the robot hand according to the first aspect, wherein the pin is at least one of a first part inserted into the base end part and a second part inserted into the distal end part. One outer peripheral surface has a spiral concavo-convex structure, and at least one of the base end portion and the tip end portion has a screw hole screwed into the concavo-convex structure.

  A robot hand according to a fifth aspect is the robot hand according to any one of the first to fourth aspects, wherein at least one of the one end and the other end of the pin is exposed.

  The robot hand according to a sixth aspect is the robot hand according to any one of the first to fifth aspects, wherein the robot hand is fixed to the tip part on one side of the two claws and the robot hand on the other side A regulating member that extends toward the distal end and moves relative to the distal end in contact with the other distal end in the process in which the two claws are driven along the opening and closing direction; The surface is a portion of the two claws on the front end side with respect to the restricting member in a surface where the front end portions of the two claws are opposed to each other.

  A robot hand according to a seventh aspect is the robot hand according to any one of the first to sixth aspects, wherein each of the two claws has a plurality of the pins along the opening / closing direction. .

  According to the 1st-7th aspect, a base end part is driven by the drive part, and a front-end | tip part has a holding surface of a workpiece | work. One end of the pin is fitted into the proximal end portion and the other end is fitted into the distal end portion, thereby connecting the proximal end portion and the distal end portion with a gap. When the workpiece is caught by another member in the apparatus during the movement process of the robot hand, the force resulting from this catching acts on the tip portion that holds the workpiece. As described above, there is a gap between at least a part of the periphery of the pin between the distal end portion and the proximal end portion, so if the distal end portion falls in the direction of the gap due to the force, the pin where bending stress is concentrated is broken. Cheap. When the pin is broken in this way, the gripping of the workpiece by the robot hand is released. Moreover, since the front-end | tip part and the base end part are connected using the pin, it is easy to replace | exchange for a new pin after the original pin breaks.

  According to the second aspect, the positioning member positions at least one of the first portion inserted into the base end portion and the second portion inserted into the distal end portion of the pin so that the positioning can be released. By releasing the positioning of the positioning member after the pin is broken, the broken pin can be easily removed from at least one of the proximal end portion and the distal end portion.

  According to the third aspect, in the cross section of the pin in the plane orthogonal to the extending direction of the pin, the dimension along the opening / closing direction is larger than the dimension along the width direction orthogonal to the opening / closing direction. Therefore, in this pin, the bending strength in the opening / closing direction is larger than the bending strength in the width direction. When gripping the workpiece with the robot hand, a pressing force from the workpiece acts mainly on the gripping surface of the tip portion along the opening / closing direction, but the pin is prevented from being broken by this pressing force.

  According to the fourth aspect, the pin has a spiral concavo-convex structure on the outer peripheral surface of at least one of the first portion inserted into the proximal end portion and the second portion inserted into the distal end portion. At least one of the proximal end portion and the distal end portion has a screw hole that is screwed with the uneven structure. Therefore, at least one of the proximal end portion and the distal end portion and the pin are connected by the screw structure.

  According to the fifth aspect, at least one of the one end and the other end of the pin is exposed. Therefore, the operator can easily remove the broken pin from at least one of the proximal end portion and the distal end portion by applying a force to the exposed portion after the pin is broken.

  According to the 6th aspect, the control member is extended toward the front-end | tip part of the other side from the front-end | tip part of one side among two claws. Further, the restricting member relatively moves while being in contact with the tip of the other side in the process in which the two claws are driven along the opening / closing direction. The two gripping surfaces are the portions on the tip side of the regulating member among the surfaces where the tip portions of the two claws face each other. Therefore, the restricting member restricts the movement of the work gripped by the two gripping surfaces toward the base end side, thereby preventing the work from being caught in the gap between the base end and the front end.

  According to the seventh aspect, each of the two claws has a plurality of pins along the opening / closing direction. Therefore, in each pin, the bending strength in the opening / closing direction is larger than the bending strength in the width direction. When gripping the workpiece with the robot hand, a pressing force from the workpiece acts mainly on the gripping surface of the tip portion along the opening / closing direction, but the pin is prevented from being broken by this pressing force.

It is a schematic perspective view which shows the manufacturing assistance apparatus 20 of a wire harness. It is a schematic perspective view which shows the operation | movement which a manufacturing support apparatus transfers a sub assembly from a holding bar on an assembly drawing board. It is a schematic perspective view which shows the operation | movement which a manufacturing support apparatus transfers a sub assembly from a holding bar on an assembly drawing board. It is a schematic perspective view which shows the operation | movement which a manufacturing support apparatus transfers a sub assembly from a holding bar on an assembly drawing board. It is a schematic perspective view which shows the operation | movement which a manufacturing support apparatus transfers a sub assembly from a holding bar on an assembly drawing board. It is a schematic perspective view which shows the front-end | tip part of a robot. It is a schematic perspective view which shows the structure of a robot hand. It is a longitudinal cross-sectional view which shows the aspect which hold | grips an electric wire with a robot hand. It is a longitudinal cross-sectional view which shows the aspect which hold | grips an electric wire with a robot hand. It is XY top view which shows a mode that a U-shaped clip is attached to the end of a pin. It is a schematic perspective view which shows a mode that a part of this electric wire was caught by the other member in an apparatus in the process in which the robot hand holding the electric wire at the front-end | tip part moves. It is a schematic perspective view which shows the structure of the robot hand which concerns on 2nd Embodiment. It is a schematic perspective view which shows the structure of the robot hand which concerns on 3rd Embodiment.

{First embodiment}
Hereinafter, the manufacturing support apparatus of the wire harness which concerns on embodiment is demonstrated. FIG. 1 is a schematic perspective view showing a wire harness manufacturing support apparatus 20.

  The manufacturing support device 20 for the wire harness 10 is configured to dispose subassemblies 14 and 15 as a wire assembly in which a plurality of electric wires 11 are gathered via a plurality of connectors 12 on an assembly drawing board 30. .

  Hereinafter, after describing a schematic configuration and operation of the manufacturing support apparatus 20, a detailed configuration and operation of the robot 50 will be described.

<Configuration and Operation of Manufacturing Support Device 20>
The manufacturing support device 20 holds the assembly drawing board 30 as an auxiliary device for assembling the wire harness 10, the holding bar 42 that holds the subassemblies 14 and 15 so that they can be taken out, and the electric wires 11 and the connectors 12. A robot 50 to be moved.

  Here, the wire harness 10 is obtained by branching and binding a plurality of electric wires 11 each having a connector 12 attached to an end thereof in accordance with a wiring form in a vehicle or the like. In assembling the wire harness 10, the subassies 14 and 15 are manufactured by connecting the ends of the plurality of wires 11 that are a part of all the wires 11 constituting the wire harness 10 to the connector 12. This is combined with the other subassemblies 14 and 15 and the other electric wires 11 to assemble the single wire harness 10. In FIGS. 1 to 5, the electric wire extending from the connector 12 is simplified and drawn with one line, but actually, a plurality of electric wires 11 are often extended. Further, in this example, an example in which the subassemblies 14 and 15 are transferred will be described. However, the electric wires 11 may be held alone by the holding bar 42, and the electric wires 11 may be transferred to the assembly drawing board 30.

  The assembly drawing board 30 is configured such that a plurality of holders 34A and 34B that can hold the sub-assies 14 and 15 and the like are erected. More specifically, the assembly drawing board 30 includes a drawing board main body 32 and holders 34A and 34B.

  The figure board main body 32 is formed in a square plate shape, and is supported at a predetermined height position by a frame or the like.

  The holders 34 </ b> A and 34 </ b> B are jigs for holding the wire harness 10, for example, jigs in which a U-shaped part is formed at the upper end. In order to prevent the electric wires 11 (a bundle of electric wires 11) held by the holders 34A and 34B from coming out of the holders 34A and 34B, the electric wires 11 (a bundle of electric wires 11) are attached to the opening ends of the holders 34A and 34B. A spring piece or the like (not shown) that allows movement in the insertion direction but suppresses movement in the withdrawal direction on the opposite side may be provided. As such holders 34A and 34B themselves, a well-known tool can be used as a jig for holding the wire harness.

  The plurality of holders 34 </ b> A and 34 </ b> B include a terminal part holder 34 </ b> A that holds the terminal part of the wire harness 10 and an intermediate holder 34 </ b> B that holds an intermediate part of the wire harness 10.

  At least one (here, all) of the terminal unit holders 34A is a part capable of holding the terminal unit 13 in which the connector 12 is maintained in a predetermined set posture with respect to a predetermined set direction. A U-shaped portion is formed at the upper end of the holder 34A. The inside of the U-shaped portion has a width dimension smaller than a height dimension. Further, the dimension in the width direction is the same as or larger than the width in the flat direction of the group of electric wires 11 extending from the connector 12, and smaller than the dimension in the width direction of the group. For this reason, when the direction from the opening of the U-shaped portion of the holder 34A toward the back side is a predetermined set direction, the holders 34A and 34B have a predetermined direction in which the width direction of the connector 12 is aligned with the set direction. While maintaining the set posture, the terminal unit 13 including the connector 12 is held.

  In addition, as terminal part holder 34A which hold | maintains the edge part of the wire harness 10, it is the structure in which the set recessed part which can hold | maintain the connector 12 was formed, and the edge part of the wire harness 10 is hold | maintained by hold | maintaining the said connector 12. It is also conceivable that the configuration holds Also in this case, the terminal part 13 is hold | maintained in the state by which the connector 12 was maintained with the predetermined attitude | position with respect to the direction which sets the connector 12 to a setting recessed part.

  The holding bar 42 has a configuration in which a plurality of terminal portion clamping portions 44 that detachably hold the terminal portions 13 such as the subassies 14 and 15 are provided. Here, the holding bar 42 has a configuration in which a plurality of terminal portion clamping portions 44 are formed at a plurality of locations at intervals along the extending direction of the long member. The terminal part clamping part 44 is a slit formed so as to reach the lower part of the holding bar 42 from the upper side surface. The slit is formed in a portion formed of an elastic member such as a rubber plate. With the holding bar 42 arranged in a horizontal position, the slits are formed by inserting the terminal portions 13 (groups of the electric wires 11 extending from the connector 12) of the subassemblies 14 and 15 from the upper side of the terminal portion clamping portion 44. Open elastically. And the terminal part 13 is hold | maintained in the state which can be taken out with respect to the terminal part clamping part 44 by the force which the slit formation part tends to close elastically. Further, when the terminal portions 13 of the subassies 14 and 15 held by the terminal portion holding portion 44 are pulled out to the opening side of the slit, they can be taken out from the terminal portion holding portion 44.

  The holding bar 42 is configured to be held at a standby position around the assembly drawing board 30 by the holding bar holding unit 40. The holding bar holding part 40 is, for example, a member in which a set recess 41 into which the holding bar 42 can be fitted from above is formed. For example, the holding bar holding unit 40 is configured such that one end portion of the sub-assy 14 or 15 held by the holding bar 42 is held by the terminal unit holder 34A, and the other end of the sub-assy 14 or 15 is held. Is provided at a position near the assembly drawing board 30 so that the state can be kept held by the holding bar 42.

  Then, the holding bar 42 holding the sub-assies 14, 15 and the like is set in the holding bar holding unit 40. In this state, the robot 50 transfers the sub assemblies 14, 15 and the like from the holding bar 42 toward the assembly drawing board 30.

  Note that the sub-assies 14 and 15 are held on the holding bar 42 in a state where the holding bar 42 is held at the standby position. The sub-assies 14 and 15 are normally in a state in which a plurality of terminal portions 13 are held by the terminal portion sandwiching portions 44 and their intermediate portions hang down in a U-shape. In order to prevent the intermediate part of the sub-assies 14 and 15 from interfering with the holding bar 42 and the like when the terminal part 13 of the sub-assies 14 and 15 is transferred to the terminal part holder 34A, the intermediate part of the sub-assies 14 and 15 is provided. Is preferably hung from the holding bar 42 toward the assembly drawing plate 30 side.

  The control unit 60 is configured by a general computer in which a CPU, a RAM, a storage unit, and the like are interconnected via a bus line, and is a part that gives a command to each unit of the manufacturing support apparatus 20.

  2 to 5 are schematic perspective views showing an operation in which the manufacturing support apparatus 20 transfers the sub-assies 14 and 15 from the holding bar 42 onto the assembly drawing plate 30. FIG. Hereinafter, an example of the transfer operation of the subassemblies 14 and 15 will be described with reference to the drawings.

  First, as shown by a solid line in FIG. 1, the subassembly 14 has a configuration in which two connectors 12 are connected to both ends of a plurality of electric wires 11 forming one bundle. The terminal portions 13 at both ends of the subassembly 14 are separately held by a plurality of terminal portion clamping portions 44 of the holding bar 42 at the standby position.

  The control unit 60 gives an end movement command to the robot 50 so as to move one terminal portion 13 of the sub-assembly 14 to one terminal portion holder 34A (the left side in the drawing) of the assembly drawing board 30. The robot 50 moves the robot hand 52 by the hand moving mechanism unit 56 while holding the one terminal unit 13 of the sub-assy 14 held by any one of the terminal unit holding units 44 of the holding bar 42 by the robot hand 52. Let Thereby, as shown in FIG. 2, one terminal portion 13 of the sub-assembly 14 is held in one terminal portion holder 34 </ b> A of the assembly drawing board 30.

  Next, the control unit 60 gives a command to the robot 50 so as to handle a plurality of electric wires 11 from one terminal portion to the intermediate portion of the sub assembly 14. Then, as shown in FIG. 3, the robot 50 moves the robot hand 52 in a direction away from the terminal unit holder 34 </ b> A while holding the plurality of electric wires 11. Preferably, the robot hand 52 moves toward the vicinity of the intermediate holding tool 34B that holds the intermediate portion of the subassembly 14. Since the connector 12 of the terminal portion 13 of the sub-assembly 14 is held so as not to come off by the terminal portion holder 34A, the plurality of electric wires 11 extending from the connector 12 are handled so as to form a straight line.

  Next, the control unit 60 gives a command to the robot 50 so that the intermediate portion of the sub assembly 14 is held by the intermediate holder 34B. Then, the robot 50 releases the grip by the robot hand 52 after holding the intermediate portion of the subassembly 14 on the intermediate holder 34B.

  In this state, one end of the sub assembly 14 is held by the terminal holder 34A and the intermediate portion is held by the intermediate holder 34B, and the other end of the sub assembly 14 is held at the standby position. It will be in the state hold | maintained at the terminal part clamping part 44 of the bar 42. FIG.

  Next, the control unit 60 causes the end of the robot 50 to move the other terminal portion 13 of the subassembly 14 to the other one terminal portion holder 34A (the right side in the drawing) of the assembly drawing board 30. Give a movement command. Then, as indicated by a two-dot chain line in FIG. 4, the robot 50 holds the other terminal portion 13 of the subassembly 14 held by the holding bar 42 with the robot hand 52, and moves it by the hand moving mechanism portion 56. The robot hand 52 is moved. As a result, the other terminal portion 13 of the sub-assembly 14 is held in the other terminal portion holder 34 </ b> A of the assembly drawing board 30. Thereafter, gripping by the robot hand 52 is released.

  Then, as shown in FIG. 5, both terminal portions of the sub-assembly 14 are held by the two terminal portion holders 34 </ b> A, and the intermediate portion is held by the intermediate holder 34 </ b> B, and is arranged in a straight line. Become.

  The sub-assembly 15 also sequentially transfers the terminal portions 13 held by the terminal portion holding portions 44 to the terminal portion holder 34A and the intermediate holder 34B in the same manner as described above. As a result, as shown by the two-dot chain line in FIG. 1, the subassies 14 and 15 are wired on the assembly drawing board 30.

<Configuration and operation of robot 50>
The robot 50 includes a robot hand 52 capable of gripping a workpiece such as the electric wire 11 and the connector 12, and a hand moving mechanism unit 56. The robot 50 is configured to be movable in a state where a part of the sub-assy 14, 15, etc. is gripped by the robot hand 52. As described above, the robot 50 moves the subassies 14 and 15 held by the holding bar 42 to the holders 34 </ b> A and 34 </ b> B of the assembly drawing board 30 and handles each electric wire 11 on the assembly drawing board 30. Used for work etc.

  More specifically, the robot 50 is provided around the assembly drawing board 30. The robot hand 52 is a hand that performs a work of gripping or squeezing the bundle of the electric wires 11. The hand moving mechanism unit 56 moves the robot hand 52. Here, the hand moving mechanism unit 56 is constituted by a general vertical articulated robot apparatus, and the robot hand 52 is attached to the tip thereof. In addition, the hand moving mechanism unit 56 may be an orthogonal robot device or the like.

  FIG. 6 is a schematic perspective view showing a tip portion of the robot 50, that is, a portion where the robot hand 52 is provided. The hand moving mechanism unit 56 of the robot 50 is configured such that a plurality of arms are connected via a joint structure. A rotation drive unit 51a including a motor or the like is attached to the distal end portion of the distal end side arm 56a of the hand moving mechanism unit 56, and the robot hand 52 is rotationally driven by the drive of the rotation drive unit 51a.

  Further, a base portion 51B is attached to the distal end portion of the distal end side arm 56a, and a robot hand 52 is attached to the base portion 51B. That is, the robot hand 52 is attached to the distal end portion of the distal end side arm 56a via the rotation drive portion 51a and the base portion 51B.

  The base portion 51B is formed in a rectangular frame shape, and the robot hand 52 is attached to the surface of the base portion 51B opposite to the distal end side arm 56a. An imaging unit 58 (for example, a CCD camera) is attached to the other surface of the base unit 51B. The imaging unit 58 is configured to be able to image the electric wires 11, the connectors 12, and the like of the subassemblies 14 and 15. When the robot hand 52 grips the electric wire 11 or the like, the gripping position, gripping posture, or the like of the robot hand 52 is corrected based on the image captured by the imaging unit 58, and the electric wire 11 is appropriately gripped.

  FIG. 7 is a schematic perspective view showing the configuration of the robot hand 52. FIGS. 8 and 9 are longitudinal sectional views showing a state in which the electric wire 11 is gripped by the robot hand 52. In FIG. 7 and subsequent figures, XYZ orthogonal coordinate axes are attached for the purpose of clarifying the directional relationship.

  The robot hand 52 is configured to be capable of gripping various workpieces such as the electric wire 11 and the connector 12. Hereinafter, a mode in which the robot hand 52 holds one electric wire 11 will be described in detail.

  The robot hand 52 has two claws 520 disposed so that the two gripping surfaces 521s face each other, and two claws along a direction in which the two gripping surfaces 521s approach or leave (also referred to as an opening / closing direction of the robot hand 52). And a drive unit 527 for driving 520. This opening / closing direction corresponds to the X-axis direction. Hereinafter, the Z-axis direction is referred to as the extending direction of the two claws 520, and the Y-axis direction is referred to as the width direction of the two claws 520.

  The two claws 520 each have a proximal end portion 523, a pin 522, and a distal end portion 521 from the proximal end side (−Z side) to the distal end side (+ Z side) along the extending direction. .

  The base end portion 523 is a portion that is driven by the drive unit 527, and has a plate-like base portion 523 a extending along the YZ plane orthogonal to the extending direction of the claw 520, and the extending direction of the claw 520 from the base portion 523 a. And a protruding portion 523b protruding toward the distal end side. In addition, the protrusion 523b is provided on the −X side in one claw 520 located on the −X side, and the protrusion 523b is provided on the + X side in the other claw 520 located on the + X side. That is, the two protrusions 523b are provided on both ends of the two claws 520 in the opening / closing direction.

  The distal end portion 521 has a main body portion 521a having a gripping surface 521s orthogonal to the opening / closing direction, and a closing portion 521b provided on the distal end side (+ Z side) of the distal end portion 521. When the two claws 520 are brought closer along the opening / closing direction by the drive unit 527, the two gripping surfaces 521s approach and the electric wire 11 is gripped therebetween. Further, when the two claws 520 are moved away in the opening / closing direction by the driving unit 527, the two gripping surfaces 521s are separated and the gripping of the electric wire 11 is released.

  The front end side (+ Z side) of the main body portion 521a is configured in a plate shape having a certain thickness in the opening / closing direction, and the base end side (−Z side) of the main body portion 521a is outward in the opening / closing direction as the base end portion 523 is approached. The shape is increased in thickness. As will be described later, in the state where the distal end portion 521 and the proximal end portion 523 are connected using the pin 522, the outer edge in the opening / closing direction on the proximal end side of the main body portion 521a is the proximal end portion in the entire width direction. 523 is in contact with the protruding portion 523b. Thereby, the front-end | tip part 521 is positioned with respect to the base end part 523 about the opening / closing direction and the width direction.

  In one claw 520 located on the −X side, the blocking portion 521b is one protrusion provided at the center in the width direction, and is bent in the approaching direction to the other claw 520 located on the + X side. Further, in the other claw 520, the blocking portion 521b is two protrusions provided on both ends in the width direction and is bent in the approaching direction to the one claw 520. As shown in FIG. 9, when the two claws 520 are close to each other, the closed portion 521 b of one claw 520 enters between the closed portions 521 b of the other claw 520, and the gap on the tip side of the two claws 520 is closed. Can be removed. Thereby, it is possible to prevent the workpiece such as the electric wire 11 held by the robot hand 52 from being unintentionally detached from the gap. In addition, as an aspect different from the present embodiment, an aspect in which the closing portion 521b is not provided in the two claws 520 may be employed.

  The base end part 523 and the front end part 521 are, for example, cut, drilled, bonded, bent, etc. with respect to a resin material (specifically, a polyamide resin such as MC nylon (registered trademark of Quadrant Polypenco Japan)). It is molded by applying the process.

  Each of the two base end portions 523 is provided with a hole 523c penetrating the base portion 523a along the Z-axis direction on the center side in the opening / closing direction. Each of the two distal end portions 521 is provided with a hole 521c in which a main body portion 521a is bored in the Z-axis direction from the proximal end side toward the distal end side at the center side in the opening / closing direction.

  The pin 522 has a columnar shape, and is a portion that connects the base end portion 523 and the tip end portion 521. Specifically, one end 522 a of the pin 522 is fitted into the hole 523 c of the base end portion 523. Further, the other end 522 b of the pin 522 is fitted into the hole 521 c of the tip 521. As a result, the base end portion 523 and the distal end portion 521 are connected with a gap 524 formed in at least a part of the periphery of the pin 522. Here, the gap 524 is an annular gap around the intermediate portion of the pin 522.

  The pins 522 are formed by processing a fragile resin material such as bakelite, for example. The pin 522 may be formed by mixing a glass material with another resin material or a metal material as a main component. Further, regarding the XY cross section orthogonal to the extending direction, the cross-sectional area of the pin 522 is smaller than the cross-sectional areas of the distal end portion 521 and the proximal end portion 523. As described above, the pin 522 is configured to be easily broken as compared with the distal end portion 521 and the proximal end portion 523 due to the difference in at least one of the material and the shape.

  Each of the two tip portions 521 is provided with a hole 521d that is drilled from the side surface on the −Y side toward the + Y side. The two holes 521d are screw holes, and the tip side portions thereof communicate with the two holes 521c. With this configuration, two screws 525 are screwed into the two holes 521d with the other ends 522b of the two pins 522 inserted into the two holes 521c, respectively. The tip of the screw 525 is brought into contact with the other end 522b of the two pins 522. Thereby, the two pins 522 are positioned with respect to the two tip portions 521.

  Thus, the two screws 525 function as a positioning member that positions a portion (hereinafter, referred to as a second portion 5222) of the pin 522 that is fitted into the tip portion 521. The operator can release the positioning of the second portion 5222 by the two screws 525 by rotating the two screws 525 in the opposite direction. Here, the positioning means that the rotation of the pin 522 around the axis and the movement of the pin 522 in the insertion / extraction direction are suppressed.

  Each of the two tip portions 521 is provided with a recessed portion 521f from the outside in the opening / closing direction to the inside. The two recessed portions 521f communicate with the + Z side end portions of the two holes 513c. With this configuration, when the other ends 522b of the two pins 522 are inserted into the two holes 521c, the end surfaces of the other ends 522b of the two pins 522 are exposed in the two recessed portions 521f. ing.

  Further, each of the two base end portions 523 is provided with a gap portion 523e along the width direction on the center side in the opening and closing direction and on the −Z side. The two gap portions 523e communicate with the −Z side end portions of the two holes 523c. With this configuration, in a state where the one ends 522a of the two pins 522 are inserted into the two holes 523c, the end surfaces of the one ends 522a of the two pins 522 are exposed in the two gaps 523e. .

  FIG. 10 is an XY plan view showing a state where a U-shaped clip is attached to one end 522 a of the pin 522. In FIG. 10, a state in which the U-shaped clip is attached to one end 522a of the pin 522 is indicated by a two-dot chain line, and a state in which the U-shaped clip is removed from the one end 522a of the pin 522 is illustrated by a solid line.

  The U-shaped clip 526 is a member that is U-shaped in an XY plan view and is attached to one end 522 a of the pin 522. The U-shaped clip 526 includes a rod-shaped portion 526a that extends linearly along the Y direction, a wave-shaped portion 526b that extends in a wavy shape along the Y direction, and a curved portion 526c that curves in a U-shape. One end of the bending portion 526c is connected to the −Y side end portion of the rod-like portion 526a, and the other end of the bending portion 526c is connected to the −Y side end portion of the wavy portion 526b, so that there is an interval in the X direction. The rod-like part 526a and the wave-like part 526b are connected.

  One end 522a of each of the two pins 522 is provided with a hole 522c that penetrates the pin 522 in the Y direction. Further, the outer diameter of the rod-shaped portion 526a of the U-shaped clip 526 is the same as or smaller than the inner diameter of the hole 522c. Therefore, the operator can insert the bar-shaped portion 526a of each U-shaped clip 526 into the hole 522c of each pin 522. Thereby, each U-shaped clip 526 is attached to each pin 522.

  In this state, as indicated by a two-dot chain line in FIG. 10, the pin 522 is accommodated in a portion of the wave-like portion 526b having a large distance from the rod-like portion 526a, and the positional relationship between them is fixed. Further, each U-shaped clip 526 is disposed between the base end portion 523 and a slide table 527b described later in the gap portion 523e. As a result, the two pins 522 are positioned with respect to the two proximal end portions 523.

  As described above, the two U-shaped clips 526 function as positioning members for positioning a portion (hereinafter, referred to as a first portion 5221) inserted into the base end portion 523 of the pin 522. The operator can release the positioning of the first portion 5221 by the two U-shaped clips 526 by pulling out the two U-shaped clips 526 in the direction opposite to the insertion direction.

  A rod-shaped regulating member 53 extending along the opening / closing direction is fixedly provided at the tip 521 on one side (−X side) of the two claws 520. In addition, a hole 521e into which the restriction member 53 can be inserted is provided at the tip 521 on the other side (+ X side) of the two claws 520.

  The regulating member 53 extends from the tip portion 521 on one side (−X side) toward the tip portion 521 on the other side (+ X side), and the other claw 520 is driven in the process of opening and closing along the opening / closing direction. This is a portion that relatively moves while being in contact with the distal end portion 521 (more specifically, the inner surface of the hole 521e). Moreover, in this embodiment, the part of the front end side rather than the limitation member 53 is utilized as the holding surface 521s among the surfaces where the two front-end | tip parts 521 oppose. Therefore, the restricting member 53 restricts the movement of the electric wire 11 gripped by the two gripping surfaces 521s toward the base end portion 523. This prevents the electric wire 11 from being caught in the gap 524 between the base end portion 523 and the tip end portion 521.

  In addition, it is not essential that the hole 521e is provided in the tip portion 521 on the other side and the regulating member 53 is inserted through the hole 521e. For example, the restricting member 53 is fixed to the side portion in the width direction of the tip portion 521 on one side and extends toward the side portion in the width direction of the tip portion 521 on the other side, and the two claws 520 are opened and closed. In the process of being driven along, it may be a mode of relative movement while being in contact with the side portion of the tip portion 521 on the other side. Further, the regulating member 53 may be omitted.

  The drive unit 527 includes a rail portion 527a having one side (−Z side) fixed to the base portion 51B and the other side (+ Z side) provided with two grooves along the opening / closing direction of the robot hand 52, and the rail portion Two slide tables 527b slidable in the opening / closing direction along the groove of 527a, and a drive source 527c for applying a driving force to the two slide tables 527b are provided. For example, an air cylinder, a hydraulic cylinder, or an electric actuator is used as the drive source 527c.

  Of the outer peripheral surfaces of the two slide tables 527b, the base end portions 523 of the two claws 520 are respectively fixed to the surface opposite to the rail portion 527a (+ Z side). Specifically, two screws 523g are respectively screwed into two holes 523f, which are screw holes penetrating the two base end portions 523 and drilling the slide table 527b on both ends in the opening / closing direction. One base end portion 523 and two slide tables 527b are fixed.

  Therefore, when the drive unit 527 drives the two slide tables 527b, the two claws 520 are moved integrally with the two slide tables 527b along the opening / closing direction, and the interval between the two gripping surfaces 521s is adjusted. Is done.

  When gripping each electric wire 11 with the robot 50, first, the hand moving mechanism unit 56 moves the robot hand 52 while the distance between the two holding surfaces 521 s is kept wider than the thickness of the electric wire 11 in the opening and closing direction. To move the wire 11 between the two gripping surfaces 521s. FIG. 8 is a cross-sectional view of the electric wire 11 and the robot hand 52 at this point.

  Thereafter, the driving unit 527 drives the two claws 520 in the closing direction so that the distance between the two gripping surfaces 521s is the same as or smaller than the thickness of the electric wire 11 in the opening / closing direction. As a result, the electric wire 11 is held by the two tip portions 521. FIG. 9 is a cross-sectional view of the electric wire 11 and the robot hand 52 at this point.

  After a predetermined operation (for example, handling operation) is performed on the electric wire 11 in this gripping state, the driving unit 527 causes the distance between the two holding surfaces 521s to be larger than the thickness of the electric wire 11 in the opening / closing direction. The two claws 520 are driven in the opening direction. FIG. 8 is a cross-sectional view of the electric wire 11 and the robot hand 52 at this point.

  Thus, in the present embodiment, the electric wire 11 is gripped using the two tip portions 521 located on the tip side of the pin 522 among the two claws 520.

  FIG. 11 shows a state in which a part of the electric wire 11 is caught by other members (for example, the holders 34A and 34B) in the apparatus in the process of moving the robot hand 52 holding the electric wire 11 with the two tip portions 521. It is a schematic perspective view shown. In FIG. 11, the solid line portion shows the electric wire 11 and the robot hand 52 before a part of the electric wire 11 is caught by another member. Moreover, in FIG. 11, the part of the dashed-two dotted line has shown the electric wire 11 and the robot hand 52 in the time after the electric wire 11 was hooked on the other member.

  When a part of the electric wire 11 is caught with another member in the process of moving the robot hand 52, the force resulting from this catching acts on the tip 521 that holds the electric wire 11. In the example shown in FIG. 11, the electric wire 11 whose movement is restricted by the hook presses the tip 521 located on the rear side (+ X side) in the movement direction to the rear side (+ X side). As described above, there is a gap 524 around the pin 522 between the distal end portion 521 and the proximal end portion 523, so that the distal end portion 521 located on the rear side by this pressing force is on the rear side where the gap 524 is present. Tilt to (+ X side). As a result, the pin 522 on the rear side where the bending stress is concentrated is broken, and the gripping of the electric wire 11 by the two claws 520 is released.

  As described above, in this embodiment, even when a part of the electric wire 11 is caught by another member in the apparatus during the movement of the robot hand 52, the pin 522 is broken according to the catch and the holding of the electric wire 11 is automatically performed. Is released.

  In this case, the operation of the robot 50 on the electric wire 11 (for example, the operation of handling the electric wire 11) is temporarily stopped, and the operator performs a maintenance operation. In this maintenance operation, the operator removes the broken pin 522 from the distal end portion 521 and the proximal end portion 523 and then connects the distal end portion 521 and the proximal end portion 523 with a new pin 522. Thereby, as shown by a solid line in FIG. 11, the two claws 520 return to a state in which the electric wire 11 can be gripped.

  In the present embodiment, since the tip 521 and the base end 523 are connected using the pin 522 that is a member having a simple structure, it is easy to replace the pin 522 with a new one after the original pin 522 is broken. It is.

  As described above, in this embodiment, the U-shaped clip 526 positions the first portion 5221 of the pin 522 so that the positioning can be released. Therefore, the base end part 523 and the pin 522 are connected with high positional accuracy. Further, by releasing the positioning by the U-shaped clip 526 after the pin 522 is broken, a portion of the broken pin 522 on the base end portion 523 side can be easily removed from the base end portion 523.

  In the present embodiment, the screw 525 positions the second portion 5222 of the pin 522 so that the positioning can be released. Therefore, the tip 521 and the pin 522 are connected with high positional accuracy. Further, by releasing the positioning by the screw 525 after the pin 522 is broken, a portion of the broken pin 522 on the tip portion 521 side can be easily removed from the tip portion 521.

  Unlike the present embodiment, only a positioning member for positioning one of the first portion 5221 and the second portion 5222 may be provided, or positioning members for both the first portion 5221 and the second portion 5222 are omitted. May be. Further, the configuration of the positioning member is not limited to the screw 525 and the U-shaped clip 526, and various configurations can be adopted. When the positioning member is omitted for at least one of the first part 5221 and the second part 5222, for example, the at least one is press-fitted into the hole 523c of the base end part 523 or the hole 521c of the distal end part 521, The pin 522 is positioned with respect to the proximal end portion 523 or the distal end portion 521.

  In the present embodiment, the end surface of the one end 522a of the pin 522 is exposed in the gap 523e. Therefore, in the maintenance work, the operator applies a force toward the + Z side to the one end 522a after releasing the positioning by the U-shaped clip 526 (for example, to the end surface of the one end 522a toward the other end 522b side). The pin 522 can be easily removed from the base end portion 523 by applying a force.

  In the present embodiment, the end surface of the other end 522b of the pin 522 is exposed in the recessed portion 521f. Therefore, in the maintenance work, the operator applies a force toward the −Z side to the other end 522b after releasing the positioning by the screw 525 (for example, to the one end 522a side with respect to the end surface of the other end 522b). The pin 522 can be easily removed from the tip 521 by applying a force.

  Unlike the present embodiment, only one of the one end 522a and the other end 522b of the pin 522 may be exposed, or both may not be exposed. When one end 522a or the other end 522b of the pin 522 is not exposed, the operator grasps the broken portion of the pin 522 and pulls it out from the base end portion 523 or the front end portion 521, thereby removing the pin 522 from the base end portion. 523 or the tip 521 can be removed.

{Second Embodiment}
Next, a robot hand 52A according to the second embodiment will be described. FIG. 12 is a schematic perspective view showing the configuration of the robot hand 52A. In the following description, the same components as those in the first embodiment are denoted by the same reference numerals, and redundant description is omitted.

  The robot hand 52A according to the second embodiment includes two claws 520A arranged so that the two gripping surfaces 521s face each other, and a drive unit 527 that drives the two claws 520A along the opening / closing direction.

  Each of the two claws 520A has a base end portion 523A, pins 522, 522A, and a front end portion 521A from the base end side toward the front end side along the extending direction.

  The two base end portions 523A have a structure in which holes 523h are provided for the two base end portions 523, respectively. The two holes 523h are provided outside the two holes 523c in the opening / closing direction and in parallel with the two holes 523c, and are portions into which the one ends 522aA of the two pins 522A are fitted.

  The two tip portions 521A are configured such that a hole 521h and a recessed portion 521g are provided for the two tip portions 521, respectively. The two holes 521h are provided outside the two holes 521c in the opening / closing direction and in parallel with the two holes 521c, and are the portions into which the other ends 522bA of the two pins 522A are fitted. The two recessed portions 521g are provided on the outer side in the opening / closing direction than the two recessed portions 521f, and communicate with the + Z side end portions of the two holes 521h.

  The two pins 522A are cylindrical, and are portions that connect the base end portion 523A and the tip end portion 521A outside the two pins 522 in the opening / closing direction. Specifically, one end 522aA of the pin 522A is fitted into the hole 523h of the base end portion 523. Further, the other end 522bA of the pin 522A is fitted into the hole 521h of the tip 521A.

  Thus, the two claws 520A each have the two pins 522 and 522A along the opening / closing direction. Therefore, in each pin 522, 522A, the bending strength in the opening / closing direction is larger than the bending strength in the width direction. When the robot hand 52A grips a workpiece such as the electric wire 11, a pressing force from the workpiece acts mainly on the gripping surface 521s of the tip 521A along the opening and closing direction, but the pins 522 and 522A are broken by this pressing force. Is suppressed. Unlike the second embodiment, the two claws may have three or more pins along the opening / closing direction.

  Further, the two claws may have a plurality of pins along the width direction. In this case, even if a large force acts in the width direction on the tip portions of the two claws, the multiple pins are prevented from being broken by the force.

  Each of the two base end portions 523A is provided with a gap portion 523i along the width direction on the center side in the opening and closing direction and on the −Z side. Each gap portion 523i communicates with the −Z side end of each hole 523c, 523h. With this configuration, in the state where one end 522a of each pin 522 is inserted into each hole 523c and one end 522aA of each pin 522A is inserted into each hole 523h, each pin 522i is inserted into each hole 523i. One end 522a of 522 and one end 522aA of each pin 522A are exposed. Further, U-shaped clips 526 and 526A as positioning members are attached to one end 522a of each pin 522 and one end 522aA of each pin 522A.

  The two tip portions 521A are respectively provided with recessed portions 521f and 521g from the outer side to the inner side in the opening / closing direction. Each hollow part 521f and 521g is connected with the + Z side edge part of each hole 513c and 513h. With this configuration, in the state where the other end 522b of each pin 522 is inserted into each hole 521c and the other end 522bA of each pin 522A is inserted into each hole 521h, each pin is inserted into each recess 521f. The other end 522b of 522 is exposed, and the other end 522bA of each pin 522A is exposed at each recess 521g. A screw as a positioning member is attached to the other end 522b of each pin 522 and the other end 522bA of each pin 522A.

  In the maintenance operation, after the operator releases the positioning by the U-shaped clip and the screw, a force is applied to the pins 522 and 522A after being bent from the exposed portion, so that the pins 522 and 522A are moved to the base end portion 523A. And it can remove easily from the front-end | tip part 521A.

{Third embodiment}
Next, a robot hand 52B according to a third embodiment will be described. FIG. 13 is a schematic perspective view showing the configuration of the robot hand 52B.

  The robot hand 52B according to the third embodiment includes two claws 520B arranged so that the two gripping surfaces 521s face each other, and a drive unit 527 that drives the two claws 520B along the opening / closing direction.

  Each of the two claws 520B has a proximal end portion 523B, a pin 522B, and a distal end portion 521B from the proximal end side toward the distal end side along the extending direction.

  The pin 522B is a screw-like pin having a spiral concavo-convex structure on the outer peripheral surface thereof.

  The two base end portions 523B are configured such that each hole 523j is provided instead of each hole 523c in the two base end portions 523. Each hole 523j is a screw hole whose inner peripheral surface is screwed with the concave-convex structure of the pin 522B.

  The two tip portions 521B are configured such that each hole 521i is provided instead of each hole 521c in the two tip portions 521. Each hole 521i is a screw hole whose inner peripheral surface is screwed with the concavo-convex structure of the pin 522B.

  Therefore, in the robot hand 52B of the third embodiment, the distal end portion 521B and the proximal end portion 523B are connected by the screw structure using the pins 522B. Thus, since it can connect, without using positioning members, such as a screw 525 and the U-shaped clip 526, there exists an advantage which can reduce a number of parts.

  Unlike the third embodiment, the pin 522B has a spiral concavo-convex structure on at least one outer peripheral surface of the first portion inserted into the base end portion 523B and the second portion inserted into the distal end portion 521B. It may be. In this case, at least one of the base end portion 523B and the tip end portion 521B has a screw hole that is screwed with the uneven structure of the pin 522B. Thus, the one and the pin 522B can be connected by a screw structure, and there is an advantage that the number of parts can be reduced.

{Modification}
In each of the above-described embodiments, the work that is the object to be gripped by the robot hand 52 has been described as being the electric wire 11 that constitutes the sub-assy 14, 15, but is not limited thereto. The work piece may be the connector 12 constituting the subassemblies 14 and 15, or a plurality of electric wires may be part of a wire harness assembled in a predetermined wiring form.

  In addition, as a movement destination of the sub-assy 14 or 15 or the wire harness held by the robot hand 52, in addition to the terminal unit holder 34A on the assembly drawing board 30, a connector connection unit to which a connector can be connected is provided and connected. It is envisaged that the inspection device inspects the appropriateness of the connection of the electric wires with an inspection pin or the like that contacts the terminal in the connector. Further, in addition to the mode in which the sub assembly 14, 15 or the wire harness is routed on the assembly drawing board 30, the sub assembly 14, 15 or the wire harness is routed in a hollow state in a state of being suspended from the holding bar. An aspect etc. are assumed.

  In the first embodiment and the second embodiment, the cylindrical pins 522 and 522A have been described. However, the pins may be bowl-shaped or prismatic. In this case, for example, in the cross section of the pin in the plane orthogonal to the extending direction, the dimension along the opening / closing direction is formed larger than the dimension along the width direction orthogonal to the opening / closing direction. Thereby, in this pin, the bending strength in the opening / closing direction is larger than the bending strength in the width direction.

  In addition, each structure demonstrated by each said embodiment and each modification can be suitably combined unless it mutually contradicts.

  As described above, the present invention has been described in detail. However, 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.

DESCRIPTION OF SYMBOLS 10 Wire harness 11 Electric wire 12 Connector 20 Wire harness manufacturing support apparatus 50 Robot 52, 52A, 52B Robot hand 520, 520A, 520B Claw 521, 521A, 521B Tip 521s Grasping surface 522, 522A, 522B Pin 522a, 522aA One end 522b 522bA Other end 523, 523A, 523B Base end 524 Clearance 527 Drive unit 56 Hand moving mechanism unit

Claims (7)

A robot hand capable of gripping a workpiece,
Two claws arranged so that the two gripping faces face each other;
A drive unit that drives the two claws along an opening and closing direction in which the two gripping surfaces approach or leave,
With
Each of the two claws has a base end portion driven by the drive unit, a tip end portion having the two gripping surfaces, one end inserted into the base end portion, and the other end inserted into the tip end portion. A pin that connects the base end and the tip with a gap in at least a part of the periphery. The robot hand according to claim 1,
A positioning member that positions at least one of the first part fitted into the base end part and the second part fitted into the distal end part of the pin so that the positioning can be released;
The robot hand further comprising: The robot hand according to claim 2,
The robot hand in which the dimension along the opening / closing direction is larger than the dimension along the width direction orthogonal to the opening / closing direction in a cross section of the pin in a plane orthogonal to the extending direction of the pins. The robot hand according to claim 1,
The pin has a spiral concavo-convex structure on at least one outer peripheral surface of a first portion fitted into the base end portion and a second portion fitted into the tip end portion,
A robot hand, wherein at least one of the base end portion and the tip end portion has a screw hole screwed into the concavo-convex structure. The robot hand according to any one of claims 1 to 4, wherein
A robot hand in which at least one of the one end and the other end of the pin is exposed. A robot hand according to any one of claims 1 to 5, wherein
The two claws are fixed to the tip portion on one side and extend toward the tip portion on the other side, and the two claws are driven along the opening / closing direction in the process of the other side. A restricting member that moves relative to the tip while being in contact,
Further comprising
The two gripping surfaces are robot hands that are portions of the two claws on the tip side of the restricting member in the surfaces of the two claws facing the tip portions. The robot hand according to any one of claims 1 to 6, wherein
Each of the two claws has a plurality of the pins along the opening / closing direction.

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