Actuator installation structure and robot hand

Abstract

To provide a robot hand having fluid pressure actuators and capable of aligning time of deformation between the fluid pressure actuators.SOLUTION: An actuator installation structure 19 comprises: a plurality of fluid pressure actuators 20 having actuator bodies 22 that bend to be deformed due to pressure of a fluid supplied therein and installation parts 32 in which a flow path R for supplying the fluid from the longitudinal one piece of each actuator body 22 into the actuator body 22 is formed; and a housing 40 having a space into which the fluid is supplied and a plurality of installed parts 60 corresponding to the installation parts 32 of the fluid pressure actuators 20 on the outer surface and having the flow path R connected to the space through attaching of the installation parts 32 to the installed parts 60.SELECTED DRAWING: Figure 9

Description

Technical Field

[0001] The present disclosure relates to an actuator mounting structure and a robot hand.

Background Art

[0002] Patent Document 1 discloses a robot hand including a fluid pressure actuator variable in a direction orthogonal to the axial direction, and a mounting base for mounting the fluid pressure actuator, wherein in a state where the pressure of the fluid is not applied, the fluid pressure actuator is fixed to the mounting base while being inclined outward in the bending direction of the fluid pressure actuator.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] In the configuration described in Patent Document 1, there is a possibility that the timing of deformation of the fluid pressure actuators attached to the robot hand may shift between the respective fluid pressure actuators.

[0005] An object of the present disclosure is to provide an actuator mounting structure and a robot hand that facilitate aligning the deformation timings of a plurality of fluid pressure actuators with each other.

Means for Solving the Problems

[0006] The actuator mounting structure of the first aspect includes a plurality of fluid pressure actuators having a main body portion that is curved and deformed by the pressure of fluid supplied therein, and a mounting portion in which a first flow path for supplying fluid from one end in the longitudinal direction of the main body portion into the main body portion is formed, and a housing that has a space for supplying fluid therein and has a plurality of mounted portions corresponding to the mounting portions of the fluid pressure actuators on an outer surface, and the first flow path is connected to the space when the mounting portion is mounted on the mounted portion.

[0007] In the actuator mounting structure of this aspect, when the mounting portion of the fluid pressure actuator is mounted on the mounted portion, the first flow path and the space for supplying fluid are connected. Further, on the outer surface of the housing, there are mounted portions to which a plurality of fluid pressure actuators are mounted. Thus, according to the actuator mounting structure of this aspect, since fluid is distributed and supplied to the plurality of fluid pressure actuators in the space, the timing at which the plurality of fluid pressure actuators are deformed is likely to be synchronized.

[0008] The actuator mounting structure of the second aspect is the actuator mounting structure described in the first aspect, wherein the fluid pressure actuator has a mounting tool in which a second flow path connecting the first flow path and the space is formed, and the mounting portion is fixed to the mounted portion by the mounting tool.

[0009] In the actuator mounting structure of this aspect, since a mounting tool in which a second flow path is formed is used, when the mounting portion is mounted on the mounted portion using the mounting tool, the first flow path and the space are connected via the second flow path. Thus, according to the actuator mounting structure of this aspect, the number of types of parts is reduced as compared with the case where the first flow path and the space are connected by parts other than the mounting tool.

[0010] The actuator mounting structure of the third aspect is the actuator mounting structure described in the first aspect or the second aspect, wherein the plurality of mounted portions are all equidistant from the center of the space.

[0011] In the actuator mounting structure of this aspect, since each of the plurality of mounted parts is equidistant from the center of the space, the pressure of the fluid supplied from the space to each fluid pressure actuator is likely to be uniform. Thus, according to the actuator mounting structure of this aspect, compared with the case where each of the plurality of mounted parts is at a different distance from the center of the space, the deformation times of the plurality of fluid pressure actuators are more likely to be synchronized.

[0012] In the actuator mounting structure of the fourth aspect, in the actuator mounting structure described in the third aspect, the housing has a central portion and a plurality of protruding portions protruding radially from the central portion. The mounted parts are respectively formed on the protruding portions.

[0013] In the actuator mounting structure of this aspect, since the plurality of mounted parts are formed on the protruding portions, the volume on the central side of the housing can be reduced. Thus, according to the actuator mounting structure of this aspect, the overall size of the housing can be reduced compared with the case where the housing does not have the protruding portions.

[0014] In the actuator mounting structure of the fifth aspect, in the actuator mounting structure described in the fourth aspect, the free ends of the plurality of fluid pressure actuators on the side opposite to each of the one ends face each other, and each of the mounted parts is inclined so as to be separated from each other toward the free end side.

[0015] In the actuator mounting structure of this aspect, since the mounted parts are inclined so as to be separated from each other toward the free end side of the fluid pressure actuator, the distance between the free ends of the fluid pressure actuators is larger than the distance between the one ends. Thus, according to the actuator mounting structure of this aspect, the size of the object grasped by the plurality of fluid pressure actuators can be increased compared with the case where the mounted parts are not inclined so as to be separated from each other toward the free end side.

[0016] The robot hand according to the sixth aspect includes the actuator mounting structure described in any one of the first to fifth aspects and a supply unit that supplies fluid to the space of the fluid pressure actuator.

[0017] According to the robot hand of this aspect, a robot hand in which it is easy to align the deformation times of a plurality of fluid pressure actuators with each other can be obtained.

Advantages of the Invention

[0018] According to the present disclosure, an actuator mounting structure and a robot hand in which it is easy to align the deformation times of a plurality of fluid pressure actuators with each other are provided.

Brief Description of the Drawings

[0019]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Figure 8

Figure 9

Modes for Carrying Out the Invention

[0020] Hereinafter, embodiments for implementing the technology of the present disclosure will be described in detail with reference to the drawings.

[0021] Note that components and processes with the same functions may be given the same reference numerals throughout the drawings, and duplicate descriptions may be omitted as appropriate. Also, the present disclosure is not limited to the following embodiments, and can be implemented with appropriate modifications within the scope of the object of the present disclosure.

[0022] Note that the "arrow X+ direction" and "arrow X- direction" in each drawing are examples of the axial direction and an example of the longitudinal direction in the fluid pressure actuator. Also, the "arrow Z+ direction" and "arrow Z- direction" in each drawing are examples of the direction in which the fluid pressure actuator bends. Also, the "arrow Y+ direction" and "arrow Y- direction" in each drawing are examples of the width direction in the fluid pressure actuator.

[0023] Note that the "arrow U+ direction" and "arrow U- direction" in each drawing are the horizontal directions in the transfer robot and are examples of the left-right direction. Also, the "arrow V+ direction" and "arrow V- direction" in each drawing are the horizontal directions in the transfer robot and are examples of the front-rear direction. Also, the "arrow W+ direction" in each drawing is an example of the upward direction in the transfer robot, and the "arrow W- direction" is an example of the downward direction in the transfer robot.

[0024] Also, in the following description, "one side" refers to the "+" side of the arrows U, V, W, X, Y, and Z, and "the other side" refers to the "-" side of the arrows U, V, W, X, Y, and Z. That is, when the left-right direction U, the front-rear direction V, the up-down direction W, the axial direction X, the width direction Y, and the alignment direction Z are described without "one side" or "the other side", it may refer to both the "+" side and the "-" side.

[0025] <Configuration> FIG. 1 shows an example of a transfer robot 10 using the robot hand 19 of the present embodiment.

[0026] As shown in FIG. 1, the transfer robot 10 includes a rotatable pedestal portion 12, a support column portion 14, a telescopic arm portion 16, and a robot hand 19 as a hand portion (also referred to as a gripping portion). In this transfer robot 10, the robot hand 19 approaches and moves away from the object to be gripped by the telescopic movement of the arm portion 16. The arm portion 16 extends, and the object to be gripped is gripped by a plurality of fluid pressure actuators 20 of the robot hand 19. In this state, the arm portion 16 is contracted to lift the object to be gripped. Then, the pedestal portion 12 is rotated to lower the object to be gripped at another location. By using the transfer robot 10 in this way, it becomes possible to transfer the object to be gripped.

[0027] The robot hand 19 includes a supply portion 17 and an actuator mounting structure 18. The actuator mounting structure 18 includes a plurality of fluid pressure actuators 20 and a housing 40 to which the fluid pressure actuators 20 are mounted.

[0028] As will be described later, the supply portion 17 is a component that supplies compressed air to the internal space 42 inside the housing 40. As an example, it is a hose that supplies compressed air from inside the support column portion 14 and the arm portion 16. The supply portion 17 is controlled by a control portion (not shown) regarding the supply and stop of compressed air.

[0029] (Fluid pressure actuator 20) FIG. 2 shows a fluid pressure actuator 20 according to an embodiment of the present disclosure. The fluid pressure actuator 20 includes an actuator main body portion 22, a first sealing member 30A, and a second sealing member 30B.

[0030] As also shown in FIG. 2, the actuator main body portion 22 has a tube 24, a sleeve 26, a restraint member 28, a locking ring 34, and a caulking member 36.

[0031] The tube 24 is a cylindrical member that can expand and contract due to elastic deformation, and expands and contracts according to the pressure change of the internal fluid. Note that in the state where the fluid pressure actuator 20 is assembled, the longitudinal direction of the tube 24 coincides with the axial direction X.

[0032] The tube 24 can be made of an elastic material such as butyl rubber. As the fluid supplied to the tube 24, air can be used. In this case, the fluid pressure actuator 20 becomes a pneumatic actuator. Note that when the fluid pressure actuator 20 is hydraulically driven, it is preferably at least one selected from the group consisting of NBR (nitrile rubber) with high oil resistance, hydrogenated NBR, chloroprene rubber, and epichlorohydrin rubber.

[0033] The sleeve 26 is a cylindrical member that covers the outer periphery of the tube 24. The sleeve 26 is a stretchable structure in which fiber cords oriented in a predetermined direction are woven, and the oriented cords intersect at a predetermined angle θ with respect to the axial direction X. By having such a shape, the sleeve 26 undergoes a pantograph deformation that changes the angle θ, and follows the contraction and expansion of the tube 24 while restricting the contraction and expansion of the tube 24.

[0034] As the cords constituting the sleeve 26, it is preferable to use fiber cords of aromatic polyamide (aramid fiber) or polyethylene terephthalate (PET). However, it is not limited to such types of fiber cords, and for example, cords of other high-strength fibers such as PBO fiber (polyparaphenylene benzobisoxazole) may also be used.

[0035] The restraining member 28 is in the form of a long plate, is arranged such that its longitudinal direction is along the axial direction X of the tube 24, and is arranged from one end to the other end of the tube 24 while touching a part of the outer periphery of the tube 24.

[0036] Note that the restraining member 28 is formed of a material that does not expand or contract under pressure and is capable of flexing and deforming in a direction in which the ends approach each other. As the restraining member 28, a so-called leaf spring can be used. The dimensions of the leaf spring are determined according to the size of the fluid pressure actuator 20, the required gripping force, and the like. Also, the material of the leaf spring is not particularly limited, but typically, a material that is easily flexibly deformed and resistant to compression, such as a metal such as stainless steel, may be used. Alternatively, it may be formed of a thin plate of carbon fiber reinforced plastic (CFRP) or the like.

[0037] The locking ring 34 is a ring-shaped member that is disposed outside the sleeve 26 so as to sandwich the sleeve 26 between it and a locking portion 38 to be described later, and locks the sleeve 26 to the mounting portion 32. As a result, the sleeve 26 is folded back to the outer periphery via the locking ring 34. Note that the locking ring 34 can be made of a material such as metal, hard plastic, fiber, or rubber.

[0038] The caulking member 36 is crimped so as to cover a portion of the outer periphery of the actuator main body 22 where an insertion portion 33A of a first sealing member 30A and an insertion portion 33B of a second sealing member 30B to be described later are inserted. As a result, the actuator main body 22 is fixed to the first sealing member 30A or the second sealing member 30B to be described later. As the caulking member 36, a metal such as an aluminum alloy, brass, or iron can be used.

[0039] The first sealing member 30A has a mounting portion 32, a locking portion 38, a large-diameter portion 39, and an insertion portion 33A. In the following description, the side where the actuator main body 22 is located as viewed from the first sealing member 30A and the second sealing member 30B may be referred to as the inner side in the axial direction X.

[0040] The mounting portion 32 has a larger diameter than the outer diameter of the tube 24, and from one end side of the mounting portion 32, the locking portion 38, the large-diameter portion 39, and the insertion portion 33A extend in the axial direction X.

[0041] Also, as shown in FIG. 3, a female thread 76 is formed at one end side (the upper side in FIG. 3) in the axial direction X of the mounting portion 32. Further, the mounting portion 32 has a flow path R that communicates through the radially central portion to the other end side (the lower side in FIG. 3) in the axial direction X of the insertion portion 33A. A fixture 44 described later is connected to the female thread 76, and compressed air is supplied to the flow path R. That is, the flow path R is an example of the "first flow path" in the present embodiment.

[0042] The locking portion 38 is a portion that extends from the inner surface of the mounting portion 32 in the axial direction X toward the other side in the axial direction X, and has a smaller diameter than the mounting portion 32 as shown in FIG. 3. Note that the length of the locking portion 38 in the axial direction X is appropriately set according to the shape of the above-described locking ring 34.

[0043] The large-diameter portion 39 is a portion that extends from the other end surface of the locking portion 38 toward the other side in the axial direction X, and has a larger diameter than the locking portion 38 as shown in FIG. 3. Note that the length of the large-diameter portion 39 in the axial direction X is appropriately set according to the shape of the above-described caulking member 36.

[0044] As shown in FIG. 3, the insertion portion 33A is formed with a plurality of tapered portions that taper toward the inside in the axial direction X, and is inserted into one end side of the tube 24.

[0045] Note that, as the first sealing member 30A, a metal such as stainless steel can be preferably used, but it is not limited to such a metal, and a hard plastic material or the like may be used.

[0046] The second sealing member 30B provided on the other end side (the right side in the drawing in FIG. 2) in the axial direction X of the fluid pressure actuator 20 has a locking portion 38, a large-diameter portion 39, and an insertion portion 33B. Note that the second sealing member 30B is the same as the first sealing member 30A except that a flow path R is not formed in the insertion portion 33B and the tip is formed in an R shape.

[0047] Next, the assembly procedure of the fluid pressure actuator 20 in the present embodiment will be described.

[0048] <Assembly of Fluid Pressure Actuator 20> First, insert the insertion portion 33A of the first sealing member 30A into the tube 24 until one end abuts against the large diameter portion 39. Also, align the restraining member 28 with the insertion portion 33A and place it along the tube 24.

[0049] Next, cover the outer peripheral surface of the restraining member 28 while hanging the sleeve 26 up to the locking portion 38 of the tube 24 and the first sealing member 30A, and lock the sleeve 26 to the locking portion 38 by attaching the locking ring 34 from the radially outer side of the sleeve 26 at the position of the locking portion 38.

[0050] Next, fold back the sleeve 26 up to the insertion portion 33A of the first sealing member 30A so that the locking ring 34 is on the inner side, and arrange the caulking member 36 from the radially outer side of the sleeve 26 so as to span the insertion portion 33A and the locking portion 38, and crimp it with a crimping machine (not shown). As a result, at one end of the actuator main body portion 22 in the axial direction X, the tube 24, the restraining member 28, and the sleeve 26 are fixed to the first sealing member 30A.

[0051] Perform the above procedure in the same manner for the second sealing member 30B. As shown in FIG. 3, at the other end of the actuator main body portion 22 in the axial direction X, the tube 24, the restraining member 28, and the sleeve 26 are fixed to the second sealing member 30B.

[0052] <Operation of Fluid Pressure Actuator 20> As shown in FIG. 3, the fluid pressure actuator 20 is used with the first sealing member 30A fixed to a fixed portion (not shown) such as the actuator mounting structure 18 and the second sealing member 30B serving as a free end.

[0053] First, when compressed air is introduced into the flow path of the first sealing member 30A, the pressure inside the tube 24 of the actuator main body 22 increases. The tube 24 elastically deforms and expands due to the increase in internal pressure, and the sleeve 26 undergoes a pantograph deformation so as to increase the angle θ, and a force acts on the actuator main body 22 in the direction of shortening its length.

[0054] At this time, since the shortening is restricted by the restraining member 28, the outer peripheral wall of the actuator main body 22 on the side opposite to the restraining member 28 (the left side in FIG. 3) shortens when viewed from the axial direction X. As a result, the restraining member 28 bends and deforms, and as shown by the two-dot chain line in FIG. 3, the entire actuator main body 22 curves toward the left side of the drawing. That is, the actuator main body 22 is an example of the "main body part" in the present embodiment.

[0055] And as shown in FIG. 1, in the transfer robot 10 in the present embodiment, a plurality of fluid pressure actuators 20 are attached to the housing 40. The housing 40 and the actuator attachment structure 18 will be described with reference to FIGS. 4 to 7.

[0056] (Housing 40) As shown in FIG. 1, the housing 40 is divided into a first housing 70 and a second housing 50.

[0057] As shown in FIGS. 4 and 5, the first housing 70 has a disk portion 72 that expands circularly in the horizontal direction (left-right direction U and front-back direction V), a total of four protruding portions 78 that protrude from the disk portion 72 in the respective directions of the left-right direction U and the front-back direction V, and side walls 82. In other words, the protruding portions 78 protrude from the disk portion 72 in all four directions in plan view.

[0058] The disk portion 72 has a total of four convex portions 74 that protrude upward (arrow W+ side) concentrically from the center C1 when viewed in the vertical direction W. The convex portion 74 has a female screw 76 formed at the center of the convex portion 74 when viewed in the vertical direction W. Note that the size of the convex portion 74 protruding (the size in the vertical direction W) is smaller than the height of the side wall 82 as shown in FIG. 5.

[0059] As shown in FIGS. 4 and 5, the protruding portion 78 has the same thickness as the disc portion 72. Further, the width of the protruding portion 78 (the length in the direction orthogonal to the direction in which each protruding portion 78 protrudes and the vertical direction W) is, for example, made equal to the protruding length L1 by which the protruding portion 78 protrudes from the disc portion 72. In other words, the protruding portion 78 has the same width and protruding length. As shown in FIG. 4, the tip side (the side far from the center C1 of the disc portion 72) where the protruding portion 78 protrudes when viewed from the vertical direction W is rounded into an R shape with a radius equal to half of the protruding portion 78.

[0060] As shown in FIG. 4, the side wall 82 is formed so as to surround the periphery of the above-described disc portion 72 and protruding portion 78 and rise in the vertical direction W. In other words, the first housing 70 as a whole forms a container shape by the disc portion 72, the protruding portion 78, and the side wall 82. Further, the side wall 82 has a supply hole 80 at the location surrounding the disc portion 72. A supply portion 17, which is a hose, is attached to the supply hole 80 (see also FIG. 1), and compressed air flows into the inside of the side wall 82 through the supply hole 80.

[0061] Also, as shown in FIGS. 4 and 5, the side wall 82 has a groove 84 on the lower surface (the surface on the arrow W- side). A gasket 86 is incorporated into this groove 84, and when the second housing 50 and the first housing 70 are overlapped as described later, the gap between the second housing 50 and the side wall 82 is filled (see also FIG. 9).

[0062] As shown in FIGS. 6 and 7, the second housing 50 has a disc portion 52 that expands circularly in the horizontal direction (the left-right direction U and the front-back direction V), and four protruding portions 58 that protrude from the disc portion 52 in the respective directions of the left-right direction U and the front-back direction V. In other words, the protruding portions 58 protrude in all four directions from the disc portion 52 in plan view.

[0063] The disk portion 52 has a total of four recesses 54 that are recessed downward (in the direction of arrow W-), concentrically from the center C2 when viewed from the vertical direction W. Further, in the recess 54, a through hole 56 is formed at the center of the recess 54 when viewed from the vertical direction W. Note that the positions of the recesses 54 in the disk portion 52 of the second housing 50 correspond to the positions of the protrusions 74 in the disk portion 52 of the first housing 70. Also, the diameter of the disk portion 52 of the second housing 50 is made equal to the diameter of the disk portion 72 of the first housing 70.

[0064] The width of the protrusion 58 of the second housing 50 (the length in the direction in which each protrusion 58 protrudes and in the direction orthogonal to the vertical direction W) and the protruding length L2 of the protrusion 58 from the disk portion 52 are made equal to the width and length of the protrusion 78 of the first housing 70. Also, as shown in FIG. 4, the tip side where the protrusion 78 protrudes when viewed from the vertical direction W is rounded into an R shape with a radius equal to half of the protrusion 78.

[0065] That is, when viewed from the vertical direction W, the first housing 70 and the second housing 50 have the same contour.

[0066] Also, the lower surface (the surface on the arrow W- side) of the protrusion 58 of the second housing 50 has an inclined surface 66 that inclines in the direction away from the center C2 (the left - right direction U or the front - rear direction V) and a mounted portion 60, as shown in FIG. 7. Also, as shown in FIG. 7, the protrusion 58 of the second housing 50 has a countersunk hole 68 in its upper surface (the surface on the arrow W+ side, which is the side opposite to the mounted portion 60).

[0067] The attached part 60 is a part to which the attachment part 32 of the fluid pressure actuator 20 is attached, as will be described later. As shown in FIGS. 6 and 7, the attached part 60 has a recess 62 recessed in a direction orthogonal to the inclined surface 66, and a through hole 64 penetrating toward the side opposite to the inclined surface 66 at the center of the recess 62. In other words, since the attached part 60 is formed in a direction orthogonal to the inclined surface 66, the respective attached parts 60 are inclined such that their central axes are separated from each other. In other words, each attached part 60 is inclined so as to move away toward the side of the second sealing member 30B when the fluid pressure actuator 20 is attached as will be described later. Note that the diameter of the recess 62 in the attached part 60 is slightly larger than the diameter of the attachment part 32 in the fluid pressure actuator 20. Also, the diameter of the through hole 64 is larger than the nominal diameter of the female thread 76 in the attachment part 32.

[0068] As shown in FIG. 7, the counterbore 68 is a recess recessed in the inclined surface 66 in a direction orthogonal to the direction in which the inclined surface 66 is inclined, and is a portion where the through hole 56 of the attached part 60 opens. Note that the diameter of the counterbore 68 is larger than the diameter of the head of the fixture 44 described later.

[0069] (Fixture 44) FIG. 8 is a view showing a fixture 44 for attaching the fluid pressure actuator 20 to the attached part 60 in the actuator attachment structure 18 in the present embodiment. The fixture 44 in the present embodiment is a socket head cap screw having a head 44H into which a hexagon wrench can be inserted, a male screw part 44S having a smaller diameter than the head 44H and extending from the head 44H, and a through hole 44T penetrating through the head 44H and the male screw part 44S. Note that the nominal diameter of the male screw part 44S in the fixture 44 matches the nominal diameter of the female thread 76 of the attachment part 32.

[0070] Next, the assembly procedure of the actuator attachment structure 18 and the robot hand 19 in the present embodiment will be described with reference to FIG. 9.

[0071] <Assembly Procedure of Actuator Attachment Structure 18 and Robot Hand 19> First, in the assembly procedure of the actuator mounting structure 18 in the present embodiment, the fluid pressure actuator 20 is attached to the attachment portion 60 of the second housing 50 using the fixture 44 as shown in FIG. 9.

[0072] Here, in the actuator mounting structure 18 in the present embodiment, as described above, the concave portion 62 and the through hole 56 in the attachment portion 60 are inclined with respect to the vertical direction W. Therefore, in the actuator mounting structure 18 in the present embodiment, as shown in FIG. 9, the fluid pressure actuator 20 is fixed in a state where the mounting portion 32 is inclined with respect to the vertical direction W.

[0073] Next, in the assembly procedure of the actuator mounting structure 18 in the present embodiment, the second housing 50 and the first housing 70 are overlapped and fixed. More specifically, as shown in FIG. 9, the male screw of the fixture 90 inserted into the concave portion 54 of the second housing 50 penetrates the through hole 56 of the second housing 50 and is screwed with the female screw 76 of the convex portion 74 of the first housing 70, whereby the second housing 50 and the first housing 70 are overlapped.

[0074] Then, as shown in FIG. 9, in a state where the second housing 50 and the first housing 70 are overlapped and fixed, an internal space 42 is created by the second housing 50 and the first housing 70. Here, as described above, compressed air is supplied to the internal space 42 from the supply hole 80 provided in the side wall 82 of the first housing 70 shown in FIG. 4. That is, the internal space 42 is an example of the "space to which fluid is supplied" in the present embodiment. Further, as shown in FIG. 9, the portion where the disk portion 52 of the second housing 50 and the disk portion 72 of the first housing 70 face each other is an example of the "central portion" in the present embodiment. Also, as shown in FIG. 9, the portion where the protruding portion 58 of the second housing 50 and the protruding portion 78 of the first housing 70 face each other protrudes radially from the central portion.

[0075] Further, as shown in FIG. 9, the flow path R of the attachment portion 32 of the fluid pressure actuator 20 is connected to the counterbore 68 of the second housing 50 through the through hole 44T of the fixture 44. That is, the through hole 44T of the fixture 44 is an example of the "second flow path" in the present embodiment.

[0076] Also, as shown in FIG. 9, the attached portions 60 of the second housing 50 are all equidistant from the center of the internal space 42. Further, it can be said that the attached portion 60 is inclined such that the second sealing member 30B side of the fluid pressure actuator 20 is separated from the center of the internal space 42. In other words, the side of the first sealing member 30A of the fluid pressure actuator 20 is an example of the "one end" in the present embodiment, and the side of the second sealing member 30B is an example of the "free end" in the present embodiment.

[0077] Then, as shown in FIG. 1, with the actuator attachment structure 18 attached to the tip of the arm portion 16, the supply portion 17 is attached to the supply hole 80. Thereby, the actuator attachment structure 18 functions as the robot hand 19 at the tip of the arm portion 16.

[0078] Subsequently, the operation and effects in the present embodiment will be described.

[0079] (Operation and Effects) In the actuator attachment structure 18 in the present embodiment, when the attachment portion 32 of the fluid pressure actuator 20 is attached to the attached portion 60, the flow path R and the internal space 42 for supplying fluid are connected. Further, on the outer surface of the housing 40, there is an attached portion 60 to which a plurality of fluid pressure actuators 20 are attached. According to the actuator attachment structure 18 in the present embodiment, since fluid is distributed and supplied to the plurality of fluid pressure actuators 20 in the internal space 42, the timing at which the plurality of fluid pressure actuators 20 deform is likely to be synchronized.

[0080] Further, in the actuator mounting structure 18 of the present embodiment, since the fixture 44 in which the through hole 44T is formed is used, in a state where the mounting portion 32 is attached to the attached portion 60 using the fixture 44, the flow path R and the internal space 42 are connected via the through hole 44T. Accordingly, according to the actuator mounting structure 18 of the present embodiment, the number of types of components is reduced as compared with the case where the flow path R and the internal space 42 are connected by components other than the fixture 44.

[0081] Further, in the actuator mounting structure 18 of the present embodiment, since each of the plurality of attached portions 60 is equidistant from the center of the internal space 42, the pressure of the fluid supplied from the internal space 42 to each fluid pressure actuator 20 is likely to be uniform. Accordingly, according to the actuator mounting structure 18 of the present embodiment, the timings at which the plurality of fluid pressure actuators 20 are deformed are more likely to be aligned as compared with the case where each of the plurality of attached portions 60 is at a different distance from the center of the internal space 42.

[0082] Further, in the actuator mounting structure 18 of the present embodiment, the plurality of attached portions 60 are formed on the protruding portions 58 protruding from the disk portion 52. Therefore, when the outer diameters of the disk portion 52 and the disk portion 72 are equal to those of the housing 40, in other words, as compared with the case where the housing 40 does not have the protruding portions 58 and 78, the overall size of the housing 40 can be reduced.

[0083] Further, in the actuator mounting structure 18 of the present embodiment, since the attached portions 60 are inclined so as to be separated from each other toward the second sealing member 30B side of the fluid pressure actuator 20, the interval between the second sealing members 30B is wider than the interval between the first sealing members 30A. In other words, the fluid pressure actuator 20 according to the present embodiment extends downward while expanding in the horizontal direction. Accordingly, according to the actuator mounting structure 18 of the present embodiment, a larger object can be grasped as compared with the case where the attached portions 60 are not inclined so as to be separated from each other toward the second sealing member 30B side of the fluid pressure actuator 20.

[0084] In addition, the robot hand 19 in the present embodiment makes it easy to align the deformation times of the plurality of fluid pressure actuators 20 with each other.

[0085] [Modification Example] In the above description, the attached portion 60 was inclined so as to move away from the second sealing member 30B side of the fluid pressure actuator 20. However, the actuator attachment structure 18 in the present embodiment is not limited to this. For example, the protruding portion 58 of the second housing 50 may not have the inclined surface 66, and the attached portion 60 may be formed without being inclined with respect to the disk portion 52 (along the vertical direction W).

[0086] In the above description, the attached portion 60 was formed on the protruding portion 58 protruding from the disk portion 52. However, the actuator attachment structure 18 in the present embodiment is not limited to this. For example, the housing 40 may not have the protruding portion 58 of the first housing 70 and the protruding portion 58 of the second housing 50, and the attached portion 60 may be formed on the disk portion 52.

[0087] In the above description, the attached portion 60 was formed at an equal distance from the center of the internal space 42. However, the actuator attachment structure 18 in the present embodiment is not limited to this. For example, if the attached portion 60 is formed on the outer surface of the second housing 50, it does not have to be at an equal distance from the center of the internal space 42.

[0088] In the above description, the fluid pressure actuator 20 was attached to the attached portion 60 using the fixture 44 having the through hole 44T. However, the actuator attachment structure 18 in the present embodiment is not limited to this. For example, the outer periphery of the attachment portion 32 of the fluid pressure actuator 20 may be a male thread, and the attached portion 60 may be a female thread 76, so that the fluid pressure actuator 20 may be attached without using other members.

[0089] Also, in the above description, the number of the fluid pressure actuators 20 and the number of the attached parts 60 were each four, but the actuator attachment structure 18 in the present embodiment is not limited to this. For example, the number of the fluid pressure actuators 20 may be appropriately set according to the specifications of the actuator attachment structure 18. Further, the number of the protruding portions 58 of the second housing 50, the number of the protruding portions 58 of the first housing 70, and the number of the attached parts 60 may be larger than the number of the fluid pressure actuators 20.

[0090] Also, in the above description, the first housing 70 had the side wall 82, but the actuator attachment structure 18 in the present embodiment is not limited to this. For example, in a state where the second housing 50 and the first housing 70 are overlapped and fixed, if the internal space 42 is formed so that the attached part 60 and the supply hole 80 are connected, a configuration corresponding to the side wall 82 may be provided in the second housing 50.

[0091] Even in these modified examples, those having the same configuration as in the present embodiment can obtain the same operations and effects as in the present embodiment.

[0092] As described above, the embodiments of the present disclosure have been described with reference to the accompanying drawings. However, it is obvious that those having ordinary knowledge in the technical field to which the present disclosure pertains can conceive various modification examples or application examples within the scope of the technical idea described in the claims, and it is naturally understood that these also belong to the technical scope of the present disclosure.

Description of Reference Numerals

[0093] 10 Transfer robot, 12 pedestal part, 14 support column part, 16 arm part, 17 supply part, 18 actuator mounting structure, 19 robot hand, 20 fluid pressure actuator, 22 actuator main body part (an example of the main body part), 24 tube, 26 sleeve, 28 restraint member, 30A first sealing member, 30B second sealing member, 32 mounting part, 33A insertion part, 33B insertion part, 34 locking ring, 36 caulking member, 38 locking part, 39 large diameter part, 40 housing, 42 internal space (an example of the space where fluid is supplied), 44 fixture, 44H head part, 44S male screw part, 44T through hole (an example of the "second flow path"), 50 second housing, 52 disk part, 54 concave part, 56 through hole, 58 protruding part, 60 part to be mounted, 62 concave part, 64 through hole, 66 inclined surface, 68 counterbore, 70 first housing, 72 disk part, 74 convex part, 78 protruding part, 80 supply hole, 82 side wall, 84 groove, 86 gasket, 90 fixture, R flow path (an example of the first flow path)

Claims

1. A plurality of fluid pressure actuators, each having a main body portion that is curved and deformed by the pressure of a fluid supplied therein, and an attachment portion in which a first flow path for supplying the fluid from one end in the longitudinal direction of the main body portion into the main body portion is formed; A housing having a space inside which the fluid is supplied, and having a plurality of attached portions corresponding to the attachment portions of the fluid pressure actuators on an outer surface thereof, wherein the first flow path is connected to the space when the attachment portion is attached to the attached portion; An actuator attachment structure comprising the above.

2. In the fluid pressure actuator, the attachment portion is fixed to the attached portion by a fixture in which a second flow path connecting the first flow path and the space is formed. The actuator attachment structure according to Claim 1.

3. The plurality of attached portions are all equidistant from the center of the space. The actuator attachment structure according to Claim 1.

4. The housing has a central portion and a plurality of protruding portions protruding radially from the central portion. The attached portions are respectively formed on the protruding portions. The actuator attachment structure according to Claim 3.

5. The free ends of the plurality of fluid pressure actuators on the sides opposite to the respective one ends are arranged facing each other. Each of the attached portions is inclined so as to be separated from each other toward the free end side. The actuator attachment structure according to Claim 4.

6. The actuator attachment structure according to any one of Claims 1 to 5, and A supply unit for supplying fluid to the space of the fluid pressure actuator. A robot hand comprising the above.

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