Object holding structure

Abstract

To improve workability when replacing hands. [Solution] In the object grasping structure S, an arm-side magnet 40 is provided inside the tip of a robot arm 20, and a hand-side magnet 70 is provided inside a robot hand 50. The arm-side magnet 40 and the hand-side magnet 70 are arranged facing each other in the front-to-rear direction, and the robot hand 50 is fixed to the robot arm 20 by an attractive force generated by the magnetic forces of the arm-side magnet 40 and the hand-side magnet 70. This makes it easier to attach the robot hand 50 to the robot arm 20 than, for example, a configuration in which the robot hand 50 is fastened to the robot arm 20 with screws or the like. This improves the workability when replacing the robot hand 50.

Description

[Technical Field]

[0001] The present invention relates to an object gripping structure. [Background technology]

[0002] In the robot described in Patent Document 1 below, a robot arm (arm) is made up of multiple arm sections, and motors are provided at the joints of the arm sections. Also, a robot hand (hand) is attached to the tip of the robot arm. As a result, when the motor is driven, each arm section operates, allowing the robot to perform work on a work object. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent No. 7415102 specification Summary of the Invention [Problem to be solved by the invention]

[0004] In a robot, the robot hand is fastened to the robot arm mainly by screws, which makes the work of replacing the robot hand complicated and may reduce workability.

[0005] In consideration of the above, the present invention provides an object gripping structure that can improve the workability when replacing a hand. [Means for solving the problem]

[0006] One or more embodiments of the present invention include an arm extending from a base, and a stylus disposed on one side of the tip of the arm in a predetermined direction. , which is brought into contact with one end surface of the arm in the predetermined direction. a hand and a device provided in the tip of the arm The magnetic poles are arranged in a circumferential direction and are formed in a disk shape with the predetermined direction as the thickness direction. Arm-side magnet and the hand In the other end portion in the predetermined direction Established in The magnetic poles are arranged in a circumferential direction, and the magnetic poles are formed in a disk shape with the predetermined direction as the thickness direction.a hand-side magnet that is arranged opposite the arm-side magnet in the predetermined direction and that generates an attractive force with the arm-side magnet to fix the hand to the arm.

[0007] In one or more embodiments of the present invention, the arm-side magnet and the hand-side magnet are configured to be rotatable with the predetermined direction as an axial direction, a motor that imparts a rotational force to the arm-side magnet when driven is provided on the base or the arm, the hand has a finger mechanism connected to the hand-side magnet, and when the motor is driven, the rotational force of the motor is transmitted to the finger mechanism by the arm-side magnet and the hand-side magnet, thereby operating the finger mechanism, providing an object grasping structure.

[0008] In one or more embodiments of the present invention, the finger mechanism includes a finger, a feed screw that is connected to the hand-side magnet so as to be rotatable together with the hand-side magnet and extends from the hand-side magnet to one side in the predetermined direction, a moving member that is threaded onto the feed screw and to which one end of the finger is rotatably connected, a link base provided inside the hand, and a link that has one end rotatably connected to the link base and the other end rotatably connected to the finger, and the object gripping structure in which the moving member moves along the feed screw as the feed screw rotates, and the finger rotates relative to the moving member.

[0009] One or more embodiments of the present invention provide an object gripping structure in which, when the motor rotates forward, the moving member moves to one side in the predetermined direction, and when the motor rotates reversely, the moving member moves to the other side in the predetermined direction, the finger mechanism has a screw stopper and a first moving stopper, and the screw stopper restricts movement of the feed screw to the other side in the predetermined direction, the first moving stopper is arranged on one side of the moving member in the predetermined direction, and the moving member abuts against the first moving stopper to restrict movement of the moving member to one side in the predetermined direction, and when the moving member abuts against the first moving stopper, the drive torque is increased to rotate the motor forward, thereby causing the arm-side magnet to rotate relative to the hand-side magnet.

[0010] One or more embodiments of the present invention provide an object gripping structure in which, when the motor rotates forward, the movable member moves to one side in the predetermined direction, and when the motor rotates reversely, the movable member moves to the other side in the predetermined direction, the finger mechanism has a second movement stopper that is arranged on the other side of the movable member in the predetermined direction, the movement of the movable member to the other side in the predetermined direction is restricted when the movable member abuts against the second movement stopper, and by increasing the drive torque while the movable member is abutting against the second movement stopper and reversing the motor, the feed screw and the hand-side magnet rotate relative to the movable member and move to one side in the predetermined direction. [Effects of the Invention]

[0011] According to one or more embodiments of the present invention, the workability when replacing a hand can be improved. [Brief explanation of the drawings]

[0012] [Figure 1] 1 is a plan view seen from above, schematically showing a robot to which an object gripping structure according to an embodiment of the present invention is applied. [Figure 2]2 is a cross-sectional view seen from above, schematically showing the inside of a third arm and a robot hand of the robot arm shown in FIG. 1. FIG. [Figure 3] 3 is an explanatory diagram showing a first method for detaching the robot hand shown in FIG. 2 from the robot arm. FIG. [Figure 4] 3 is an explanatory diagram showing a second method for detaching the robot hand shown in FIG. 2 from the robot arm. FIG. [Figure 5] 10 is an explanatory diagram showing a third method for detaching the robot hand shown in FIG. 2 from the robot arm. FIG. DETAILED DESCRIPTION OF THE INVENTION

[0013] Hereinafter, a robot 1 (broadly speaking, an element that can be understood as a moving body) to which the object gripping structure S according to this embodiment is applied will be described with reference to the drawings. Note that the arrows FR and LH shown appropriately in the drawings indicate the front and left sides of the robot 1. Hereinafter, when the front-rear and left-right directions are used in the description, they will refer to the front-rear and left-right directions of the robot 1 unless otherwise specified.

[0014] 1 and 2, the robot 1 is configured to include a base 10, a robot arm 20 as an arm, an arm-side magnet 40, a hand motor 30 as a motor, a robot hand 50 as a hand, and a hand-side magnet 70. Note that for convenience, some hatching is omitted in Fig. 2. Each component of the robot 1 will be described below.

[0015] (Regarding base 10) The base 10 is configured as an installation base for installing the robot 1 on an installation surface. The base 10 also functions as a support portion for rotatably supporting a robot arm 20, which will be described later.

[0016] (About the robot arm 20) The robot arm 20 is disposed on the right side of the base 10 and extends in the front-rear direction. The robot arm 20 is made up of a plurality of arms (three in this embodiment). Specifically, the robot arm 20 has a first arm 22 that forms the base end of the robot arm 20, a second arm 24 that forms the middle part of the robot arm 20, and a third arm 26 that forms the tip end of the robot arm 20. The first arm 22 to the third arm 26 are formed in a generally long columnar shape that extends in the front-rear direction.

[0017] The first arm 22 is disposed on the right side of the base 10, and the rear end of the first arm 22 is rotatably connected to the base 10 with the left-right direction as its axial direction. The second arm 24 is disposed on the right side of the first arm 22, and the rear end of the second arm 24 protrudes to the left so as to cover the front end of the first arm 22. The rear end of the second arm 24 is rotatably connected to the front end of the first arm 22 with the left-right direction as its axial direction. The third arm 26 is disposed on the left side of the second arm 24, and the rear end of the third arm 26 is rotatably connected to the front end (other end) of the second arm 24 with the left-right direction as its axial direction.

[0018] The base 10 described above accommodates a first motor (not shown) for driving the first arm 22, a second motor (not shown) for driving the second arm 24, and a third motor (not shown) for driving the third arm 26. The robot arm 20 also accommodates a transmission mechanism for transmitting the driving force of the second motor to the second arm 24, and a transmission mechanism for transmitting the driving force of the third motor to the third arm 26. As a result, the robot arm 20 operates when the first to third motors are driven.

[0019] (About the hand motor 30) As shown in FIG. 2 , hand motor 30 is provided in a middle portion of third arm 26 in the front-rear direction (predetermined direction) as its axial direction, and is supported by third arm 26. Hand motor 30 has motor shaft 30A, which protrudes forward (to one side in the predetermined direction) from the main body of hand motor 30. Note that in this embodiment, hand motor 30 is configured to be provided in third arm 26, but the arrangement of hand motor 30 is not limited thereto. For example, hand motor 30 may be provided in base 10. In this case, for example, a flexible shaft (not shown) for transmitting the rotational force of hand motor 30 may be provided outside robot arm 20, one end of the flexible shaft may be connected to motor shaft 30A so as to be rotatable integrally therewith, and the other end of the flexible shaft may be disposed within third arm 26.

[0020] (Regarding the arm-side magnet 40) The arm-side magnet 40 is a permanent magnet and is formed in a substantially circular disk shape with its thickness extending in the front-rear direction. The arm-side magnet 40 is housed within the front end of the third arm 26. Specifically, a predetermined gap is formed between the arm-side magnet 40 and the front wall of the third arm 26, and a predetermined gap is formed between the outer periphery of the arm-side magnet 40 and the side wall of the third arm 26. The front end of the hand motor 30 is connected to the center of the arm-side magnet 40 so as to be integrally rotatable. As a result, the arm-side magnet 40 is provided within the third arm 26 so as to be rotatable with its axial direction extending in the front-rear direction. The arm-side magnet 40 has four south poles and four north poles, with the south poles and north poles alternately arranged in the circumferential direction of the arm-side magnet 40.

[0021] (About Robot Hand 50) The robot hand 50 is disposed in front of the third arm 26. That is, the robot hand 50 and the robot arm 20 are disposed facing each other in the front-to-rear direction. The robot hand 50 is formed in a generally hollow cylindrical shape with the front-to-rear direction as its longitudinal direction. A hand-side magnet 70 is provided within the robot hand 50, and the robot hand 50 is fixed to the robot arm 20 by an attractive force generated by the magnetic force of the arm-side magnet 40 and the magnetic force of the hand-side magnet 70. That is, the robot hand 50 is fixed to the robot arm 20 by a so-called magnetic coupling mechanism. The robot hand 50 also has a finger mechanism 52 for grasping a workpiece. Below, the hand-side magnet 70 will be described first, followed by a description of the finger mechanism 52.

[0022] (Regarding the hand-side magnet 70) The hand-side magnet 70, like the arm-side magnet 40, is a permanent magnet and is formed in a generally circular disk shape with its thickness in the front-to-rear direction. The diameter and thickness of the hand-side magnet 70 are generally the same as those of the arm-side magnet 40. The hand-side magnet 70 is housed within the rear end of the robot hand 50. Specifically, a predetermined gap is formed between the hand-side magnet 70 and the rear wall of the robot hand 50, and a predetermined gap is formed between the outer periphery of the hand-side magnet 70 and the side wall of the robot hand 50. The hand-side magnet 70 is supported by a finger mechanism 52 (described later) so as to be rotatable about its axial direction, which is the front-to-rear direction. As a result, the hand-side magnet 70 is provided inside the robot hand 50 so as to be rotatable about its axial direction, which is the front-to-rear direction. The hand-side magnet 70 has four south poles and four north poles, which are alternately arranged around the circumferential direction of the hand-side magnet 70. When the robot hand 50 is attached to the robot arm 20, the south pole (north pole) of the arm-side magnet 40 and the north pole (north pole) of the hand-side magnet are arranged facing each other in the front-to-rear direction, and the robot hand 50 is fixed to the robot arm 20 by the attractive force generated by the magnetic force of the arm-side magnet 40 and the magnetic force of the hand-side magnet 70. In other words, the arm-side magnet 40 and the hand-side magnet 70 are connected in a non-contact manner, and the robot hand 50 is attached to the robot arm 20.

[0023] (Regarding finger mechanism 52) The finger mechanism 52 is composed of a feed screw 54, a moving member 56, a pair of left and right fingers 58, a link base 60, a pair of left and right links 62, a screw stopper 64, a first moving stopper 66, and a second moving stopper 68.

[0024] The feed screw 54 is formed in a generally cylindrical shape extending in the front-to-rear direction and is rotatably supported by the robot hand 50. The feed screw 54 is disposed in front of the hand-side magnet 70, and the rear end of the feed screw 54 is connected to the center of the hand-side magnet 70 so as to be rotatable together with it. As a result, when the hand motor 30 is driven, the driving force of the hand motor 30 is transmitted to the feed screw 54 (finger mechanism 52) by the arm-side magnet 40 and the hand-side magnet 70, causing the feed screw 54 to rotate around its own axis. A flange portion 54A is formed at the rear of the feed screw 54, projecting radially outward. Furthermore, a male thread portion 54B is formed on the outer periphery of the feed screw 54, in front of the flange portion 54A.

[0025] The moving member 56 is formed in a generally plate-like shape with its axial direction extending in the front-to-rear direction. A threaded hole 56A, into which the feed screw 54 is inserted, is formed in the approximate center of the moving member 56, penetrating in the front-to-rear direction. A female screw is formed on the inner peripheral surface of the threaded hole 56A, and the male screw portion 54B of the feed screw 54 is screwed into the female screw. This results in a threaded connection between the moving member 56 and the feed screw 54.

[0026] The pair of left and right fingers 58 extend in the front-rear direction and are arranged side by side in the left-right direction. Specifically, the fingers 58 are arranged radially outward of the feed screw 54. The pair of left and right fingers 58 are inclined in directions that move away from each other (outward in the left-right direction) as they move forward, and the front ends of the fingers 58 are bent inward in the left-right direction. The rear ends of the fingers 58 are rotatably connected to the outer ends of the moving member 56 in the left-right direction. The front parts of the fingers 58 protrude outside the robot arm 20, and the robot arm 20 has slits formed therein through which the robot arm 20 is inserted.

[0027] The link base 60 is formed in a generally plate-like shape with its thickness extending in the front-rear direction. The link base 60 is disposed in front of the feed screw 54 and is fixed to the front end of the robot hand 50.

[0028] A pair of left and right links 62 are bridged between the link base 60 and the finger 58. Specifically, the pair of left and right links 62 are arranged spaced apart in the left-right direction and are inclined in directions that move away from each other toward the rear. The rear ends of the links 62 are rotatably connected to the outer left-right ends of the link base 60, and the front ends of the links 62 are rotatably connected to the longitudinal middle portions of the fingers 58.

[0029] As a result, when the hand motor 30 is driven to rotate the feed screw 54, the moving member 56 moves forward and backward, and the pair of fingers 58 rotate about their rear ends. Specifically, when the hand motor 30 is driven in the forward direction, the moving member 56 moves forward along the feed screw 54, and the fingers 58 rotate outward in the left-right direction (see FIG. 4). On the other hand, when the hand motor 30 is driven in the reverse direction, the moving member 56 moves rearward along the feed screw 54, and the fingers 58 rotate inward in the left-right direction (see FIG. 5).

[0030] The screw stopper 64 is disposed adjacent to the rear side of the flange portion 54A of the feed screw 54 and is fixed to the robot hand 50. This restricts the rearward movement of the feed screw 54 and the hand-side magnet 70 by the screw stopper 64.

[0031] The first movement stopper 66 is disposed in front of the moving member 56 and is fixed to the robot hand 50. When the moving member 56 moves forward to the maximum extent, the moving member 56 comes into contact with the first movement stopper 66, thereby restricting the forward movement of the moving member 56 (see FIG. 4).

[0032] The second movement stopper 68 is disposed on the rear side of the moving member 56 and is fixed to the robot hand 50. When the moving member 56 moves rearward to the maximum extent, the moving member 56 comes into contact with the second movement stopper 68, thereby restricting the rearward movement of the moving member 56 (see FIG. 5).

[0033] The hand motor 30 described above is electrically connected to the controller 80, and is driven under the control of the controller 80. Furthermore, as will be described in detail later, when replacing (removing) the robot hand 50, the robot hand 50 is removed from the robot arm 20 by increasing the drive torque of the hand motor 30 under the control of the controller 80, with the movement of the moving member 56 restricted forward or backward.

[0034] (Action and effect) Next, the effects of this embodiment will be described.

[0035] In the robot 1 configured as described above, when attaching the robot hand 50 to the robot arm 20, the robot hand 50 is placed in front of the third arm 26 of the robot arm 20. The robot hand 50 is brought close to the robot arm 20 so that the robot hand 50 and the robot arm 20 face each other in the front-to-back direction. At this time, the rotational position of the robot hand 50 is adjusted so that the magnetic pole of the hand-side magnet 70 of the robot hand 50 is different from the magnetic pole of the arm-side magnet 40 of the third arm 26 that faces it in the front-to-back direction. As a result, the robot hand 50 is fixed to the robot arm 20 by an attractive force generated by the magnetic forces of the arm-side magnet 40 and the hand-side magnet 70. Furthermore, when the robot hand 50 is attached to the robot arm 20, the front surface of the robot arm 20 and the rear surface of the robot hand 50 come into contact, and the arm-side magnet 40 and the hand-side magnet 70 are connected without contact.

[0036] Then, by driving the first to third motors of the robot 1, the robot arm 20 is actuated and the robot hand 50 is placed at the work position. In this state, by driving the hand motor 30, the rotational force of the hand motor 30 is transmitted to the finger mechanism 52 by the arm-side magnet 40 and the hand-side magnet 70, and the fingers 58 of the finger mechanism 52 are actuated. As a result, the fingers 58 perform work on the work object.

[0037] Next, three methods for detaching the robot hand 50 from the robot arm 20 will be described.

[0038] (1st removal method) 3, in a first detachment method for the robot hand 50, the robot hand 50 is detached from the robot arm 20 using a chucking device 100. Specifically, the chucking device 100 is provided in a hand rest 102. The chucking device 100 has a pair of chucks 100A, which are configured to be movable toward and away from each other. The pair of chucks 100A are also configured to be engageable with the robot hand 50.

[0039] In the first removal method, the orientation of the robot arm 20 is set so that the robot hand 50 is positioned below the robot arm 20. The robot hand 50 is also positioned between the pair of chucks 100A and placed on the hand rest 102. In this state, the chucking device 100 is operated to bring the pair of chucks 100A closer to each other, engaging the chucks 100A and the robot hand 50 in the vertical direction. This restricts the vertical movement of the robot hand 50 by the chucking device 100. In this state, the first motor of the robot 1 is driven to raise the robot arm 20 relative to the robot hand 50, and the robot arm 20 is pulled away from the robot hand 50. This causes the robot hand 50 to detach from the robot arm 20.

[0040] (Second removal method) As shown in FIG. 4 , in the second method for removing the robot hand 50 from the robot arm 20, similar to the first method, the orientation of the robot arm 20 is set so that the robot hand 50 is positioned below the robot arm 20. In this state, the hand motor 30 is driven in the forward direction to move the moving member 56 downward and abut against the first movement stopper 66. This restricts downward movement of the moving member 56. Furthermore, in the robot hand 50, the screw stopper 64 is disposed adjacent to the upper side of the flange portion 54A of the feed screw 54. This restricts upward movement of the feed screw 54 and the hand-side magnet 70. Therefore, when the hand motor 30 is driven in the forward direction and the moving member 56 abuts against the first movement stopper 66, the feed screw 54 and the hand-side magnet 70 become unable to rotate and also unable to move in the axial direction of the feed screw 54. In other words, the hand-side magnet 70 is locked.

[0041] With the hand-side magnet 70 in the locked state, the controller 80 increases the drive current of the hand motor 30 to drive the hand motor 30 in the forward direction. As a result, the hand motor 30 is driven in the forward direction with an increased drive torque. Specifically, the drive torque of the hand motor 30 is increased so that the arm-side magnet 40 rotates relative to the hand-side magnet 70 against the attractive force between the arm-side magnet 40 and the hand-side magnet 70. The controller 80 also sets the amount of rotation of the hand motor 30 so that the opposing arm-side magnet 40 and hand-side magnet 70 have the same magnetic pole. As a result, a reaction force acts between the opposing arm-side magnet 40 and hand-side magnet 70, causing the robot hand 50 to detach from the robot arm 20.

[0042] (3rd removal method) 5, in the third method for removing the robot hand 50 from the robot arm 20, similar to the first method for removing the robot hand 50, the posture of the robot arm 20 is set so that the robot hand 50 is disposed below the robot arm 20. In this state, the hand motor 30 is driven in the reverse direction to move the moving member 56 upward and bring the moving member 56 into contact with the second movement stopper 68. This restricts the upward movement of the moving member 56.

[0043] In this state, the controller 80 increases the drive current of the hand motor 30, driving the hand motor 30 in the reverse direction. This increases the drive torque and drives the hand motor 30 in the reverse direction. In this case, because the upward movement of the moving member 56 is restricted, the hand-side magnet 70 and the feed screw 54 rotate relative to the moving member 56 and move downward relative to it. In other words, the hand-side magnet 70 moves along the axial direction of the feed screw 54 in a direction away from the arm-side magnet 40. This reduces the attractive force generated between the arm-side magnet 40 and the hand-side magnet 70. As a result, the robot hand 50 falls under its own weight and becomes detached from the robot arm 20.

[0044] As described above, in the object grasping structure S, the arm-side magnet 40 is provided inside the tip of the robot arm 20, and the hand-side magnet 70 is provided inside the robot hand 50. The arm-side magnet 40 and the hand-side magnet 70 are arranged facing each other in the front-to-rear direction (the direction in which the robot hand 50 and the robot arm 20 face each other), and the robot hand 50 is fixed to the robot arm 20 by an attractive force generated by the magnetic force of the arm-side magnet 40 and the magnetic force of the hand-side magnet 70. This makes it easier to attach the robot hand 50 to the robot arm 20 than, for example, a configuration in which the robot hand 50 is fastened to the robot arm 20 with screws or the like. This improves the workability when replacing the robot hand 50.

[0045] Furthermore, the arm-side magnet 40 is provided within the third arm 26 of the robot arm 20, and the hand-side magnet 70 is provided within the robot hand 50. In other words, the arm-side magnet 40 is not exposed from the third arm 26, and the hand-side magnet 70 is not exposed from the robot hand 50. This improves the waterproof and dustproof properties of the arm-side magnet 40 and the hand-side magnet 70.

[0046] The arm-side magnet 40 and the hand-side magnet 70 are configured to be rotatable with the front-to-rear direction as their axial direction, and when the hand motor 30 is driven, the rotational force of the hand motor 30 is transmitted to the arm-side magnet 40. The robot hand 50 also has a finger mechanism 52 connected to the hand-side magnet 70. When the hand motor 30 is driven, the arm-side magnet 40 and the hand-side magnet 70 rotate together, transmitting the rotational force of the hand motor 30 to the finger mechanism 52, and actuating the fingers 58 of the finger mechanism 52. In this way, by utilizing the arm-side magnet 40 and hand-side magnet 70 that secure the robot hand 50 to the robot arm 20, the rotational force of the hand motor 30 can be transmitted to the finger mechanism 52, thereby actuating the finger mechanism 52.

[0047] The finger mechanism 52 includes a feed screw 54 connected to the hand-side magnet 70 so as to be rotatable together with the hand-side magnet 70, a moving member 56 that is threadedly engaged with the feed screw 54 and to which the rear ends of the fingers 58 are rotatably connected, a link base 60 provided inside the robot hand 50, and a link 62 whose rear end is rotatably connected to the fingers 58 and whose front end is rotatably connected to the link base 60. When the feed screw 54 rotates, the moving member 56 moves along the axial direction of the feed screw 54, and the fingers 58 rotate relative to the moving member 56. This allows the rotation of the hand motor 30 to be transmitted to the fingers 58, thereby operating the fingers 58, with a simple configuration.

[0048] The finger mechanism 52 also has a screw stopper 64, which restricts rearward movement of the feed screw 54. The finger mechanism 52 also has a first movement stopper 66, which restricts forward movement of the moving member 56 when the moving member 56 abuts against the first movement stopper 66. Therefore, when the hand motor 30 is driven in the forward direction, the moving member 56 can be locked by abutting the first movement stopper 66, as described above. Then, when the moving member 56 abuts against the first movement stopper 66, the controller 80 can increase the drive torque to rotate the hand motor 30 in the forward direction, as described above, to rotate the arm-side magnet 40 relative to the hand-side magnet 70. As a result, the finger mechanism 52 can be used to easily remove the robot hand 50 from the robot arm 20. This further improves the ease of replacement of the robot hand 50.

[0049] The finger mechanism 52 also has a second movement stopper 68, and when the moving member 56 abuts against the second movement stopper 68, the movement of the moving member 56 toward the rear is restricted. Then, when the controller 80 increases the drive torque and reverses the hand motor 30 while the moving member 56 is in abutting contact with the second movement stopper 68, the feed screw 54 and the hand-side magnet 70 rotate relative to the moving member 56 and move forward, as described above. In other words, the hand-side magnet 70 moves away from the arm-side magnet 40. As a result, the finger mechanism 52 can be used to easily remove the robot hand 50 from the robot arm 20. This further improves the ease of replacement of the robot hand 50.

[0050] The present invention is not limited to the above-described embodiment, and various modifications are possible without departing from the spirit of the present invention. [Explanation of symbols]

[0051] 10 Foundations 20 Robot Arm (Arm) 30 Hand motor (motor) 40 Arm side magnet 50 Robot Hand (Hand) 52 Finger mechanism 54 Lead screw 56 Moving parts 58 Finger 60 linkbases 62 Links 64 Screw stopper 66 First moving stopper 68 Second moving stopper 70 Hand side magnet S Object gripping structure

Claims

1. An arm extending from the base; a hand that is disposed on one side in a predetermined direction with respect to the tip end of the arm and that abuts against an end surface of the arm on the one side in the predetermined direction; an arm-side magnet provided within the tip end of the arm, formed in a disk shape with the predetermined direction as its thickness direction, and having magnetic poles arranged side by side in a circumferential direction; a hand-side magnet that is provided within the other end of the hand in the predetermined direction, is formed in a disk shape with the predetermined direction as its thickness direction, has magnetic poles arranged side by side in the circumferential direction, is positioned opposite the arm-side magnet in the predetermined direction, and generates an attractive force together with the arm-side magnet to fix the hand to the arm; An object grasping structure comprising:

2. the arm-side magnet and the hand-side magnet are configured to be rotatable about the predetermined direction as an axial direction, a motor that applies a rotational force to the arm-side magnet when driven is provided on the base or the arm; the hand has a finger mechanism connected to the hand-side magnet, 2. The object gripping structure according to claim 1, wherein when the motor is driven, the rotational force of the motor is transmitted to the finger mechanism by the arm-side magnet and the hand-side magnet, thereby operating the finger mechanism.

3. The finger mechanism includes: Fingers and a feed screw coupled to the hand-side magnet so as to be rotatable together with the hand-side magnet and extending from the hand-side magnet toward one side in the predetermined direction; a moving member that is screwed onto the feed screw and has one end of the finger rotatably connected thereto; a link base provided inside the hand; a link having one end rotatably connected to the link base and the other end rotatably connected to the finger; The invention comprises:

3. The object gripping structure according to claim 2, wherein the rotation of the feed screw causes the moving member to move along the feed screw, and the fingers to rotate relative to the moving member.

4. When the motor rotates in the forward direction, the moving member moves to one side in the predetermined direction, and when the motor rotates in the reverse direction, the moving member moves to the other side in the predetermined direction; the finger mechanism has a screw stopper and a first movement stopper; The screw stopper restricts movement of the feed screw toward the other side in the predetermined direction, the first movement stopper is disposed on one side of the moving member in the predetermined direction, and the movement of the moving member in the one side in the predetermined direction is restricted by the moving member coming into contact with the first movement stopper; 4. The object gripping structure according to claim 3, wherein the arm-side magnet rotates relative to the hand-side magnet by increasing the drive torque and rotating the motor in the forward direction while the moving member is in contact with the first movement stopper.

5. When the motor rotates in the forward direction, the moving member moves to one side in the predetermined direction, and when the motor rotates in the reverse direction, the moving member moves to the other side in the predetermined direction; the finger mechanism has a second movement stopper; the second movement stopper is disposed on the other side of the moving member in the predetermined direction, and the movement of the moving member toward the other side in the predetermined direction is restricted by the moving member coming into contact with the second movement stopper; The object grasping structure described in claim 3, wherein by increasing the drive torque and reversing the motor while the movable member is in contact with the second movement stopper, the feed screw and the hand-side magnet rotate relative to the movable member and move to one side of the specified direction.

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