robot

Abstract

To provide a robot in which an additional device such as a camera or a sensor can be easily attached to and detached from a hand member of a robot arm while suppressing increase in size of the hand member.SOLUTION: A robot comprises a hand member constituting a fingertip of a robot arm, and an annular member that has a mounting part to which an additional device can be attached, can be attached to and detached from the hand member and surrounds the outer periphery of the hand member while being attached to the hand member. The annular member has at least two constituent parts forming parts of the annular shape of the annular member, is configured so as to, by interconnecting adjacent ends of the constituent parts with the hand member disposed inside the constituent parts, close the constituent parts to sandwich the hand member and be attachable to the hand member, and is configured so as to, by disconnecting the ends and separating the ends from each other, open the constituent parts and be removable from the hand member.SELECTED DRAWING: Figure 3

Description

Technical Field

[0001] Embodiments of the present invention relate to robots.

Background Art

[0002] In recent years, there has been an increasing number of usage scenarios where additional devices such as cameras and sensors are attached to the end member of a robotic arm for use. In the conventional configuration, in order to attach these additional devices to the end member such as the flange of the robotic arm, for example, the end member and the additional device are made into an integrated structure, or separate parts such as stays are used.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, for example, when the end member and the additional device are made into an integrated structure, in order to change the additional device, it is necessary to replace the end member itself, which requires a very complicated and time-consuming operation. Also, when using separate parts such as stays, the conventional stays generally have a shape that protrudes significantly outside the end member, and as a result, there is a risk that the end portion of the robotic arm will become larger. Therefore, in the conventional configuration, there is room for improvement in terms of the workability of attachment and detachment and the suppression of the enlargement of the end portion.

[0005] The present invention has been made in view of the above circumstances, and an object thereof is to provide a robot that can easily attach and detach additional devices such as cameras and sensors to the end member while suppressing the enlargement of the end member of the robotic arm.

Means for Solving the Problems

[0006] The robot according to this embodiment comprises an end-effector member that constitutes the end of a robot arm, and an annular member that has a mounting portion to which an additional device can be attached, and is detachably attached to the end-effector member and is configured to surround the outer circumference of the end-effector member when attached to the end-effector member. The annular member has at least two components that form a part of the annular ring of the annular member, and is configured to be attachable to the end-effector member by closing the components and sandwiching the end-effector member by connecting the ends of adjacent components with the end-effector member positioned inside the components, and is configured to be detachable from the end-effector member by opening the components and separating the ends by releasing the connection between them. [Brief explanation of the drawing]

[0007] [Figure 1] A schematic diagram showing an example of a robot according to the first embodiment. [Figure 2] A perspective view showing an example of a robot according to the first embodiment, with an annular member attached to the end-effector. [Figure 3] A perspective view showing an example of a robot according to the first embodiment, with the annular member removed from the end-effector. [Figure 4] A vertical cross-sectional view showing an example of a robot according to the first embodiment, with an annular member attached to the end-effector. [Figure 5] A cross-sectional view showing an example of a robot according to the first embodiment, along the line X5-X5 in Figure 4. [Figure 6] An enlarged cross-sectional view of portion X6 in Figure 5, showing an example of a robot according to the first embodiment. [Figure 7] This is a cross-sectional view taken at the same position as Figure 5, showing an example of a robot according to the first embodiment with the annular member detached from the end-effector. [Figure 8] A cross-sectional view showing an example of a robot according to the first embodiment, along the line X8-X8 in Figure 4. [Figure 9] An enlarged cross-sectional view showing portion X9 of Figure 8, illustrating an example of a robot according to the first embodiment. [Figure 10] An enlarged cross-sectional view showing portion X10 of Figure 4, illustrating an example of a robot according to the first embodiment. [Figure 11] This is a cross-sectional view showing an example of a robot according to the second embodiment, with an annular member attached to the end-effector, corresponding to the area shown in Figure 5. [Figure 12] This is a cross-sectional view taken at the same position as in Figure 11, showing an example of a robot according to the second embodiment with the annular member detached from the end-effector. [Figure 13] A vertical cross-sectional view showing an example of a robot according to the third embodiment, with an annular member attached to the end-effector. [Figure 14] A cross-sectional view showing an example of a robot according to the third embodiment, along the line X14-X14 in Figure 13. [Figure 15] A vertical cross-sectional view showing an example of a robot according to the fourth embodiment, with an annular member attached to the end-effector. [Figure 16] A cross-sectional view showing an example of a robot according to the fourth embodiment, along the line X16-X16 in Figure 15. [Modes for carrying out the invention]

[0008] The following describes robots according to several embodiments with reference to the drawings. In each embodiment, substantially identical elements are denoted by the same reference numerals, and their descriptions are omitted. Furthermore, while the robots described in each embodiment are not limited to any particular field of application, they are more suitable for industrial robots.

[0009] (First Embodiment) First, the robot according to the first embodiment will be described with reference to Figures 1 to 10. The robot 10 shown in Figure 1 can be configured as, for example, a vertical articulated robot having an articulated robot arm 20. The robot 10 can be configured as a so-called collaborative robot, designed with the premise of collaboration with a human, and with its operating speed, weight, etc., designed so that safety fences are not required in its operating environment. The robot 10 may also be, for example, a horizontal articulated robot, a parallel link robot, or an orthogonal robot, etc. Furthermore, the robot 10 may be designed with the premise of installing safety fences.

[0010] The robot arm 20 has an end-effector 21. The end-effector 21 is the tip of the robot arm 20, or the end-effector. The end-effector 21 is made of a rigid metal, for example, and can be made of a hollow cylindrical, so-called flange-shaped member as shown in Figure 2. A robot hand tool 91, for example, for causing the robot 10 to perform a predetermined task, is attached to the tip surface 211 of the end-effector 21, as shown in Figure 1. In addition, although not shown in detail, a space is formed inside the end-effector 21 for passing electrical wiring, air piping, etc., used for the robot hand tool 91.

[0011] The robot 10 is equipped with an annular member 30. As shown in Figure 1, the annular member 30 has the function of detachably attaching, for example, an additional device 92 to the end-effector 21 of the robot arm 20. The additional device 92 is a device that adds functionality to work performed using the robot hand tool 91, such as a camera or a sensor.

[0012] As shown in FIG. 2 and the like, the annular member 30 has an attachment portion 31 to which the additional device 92 can be attached, and is configured to be detachable from the end member 21. The annular member 30 is configured in an annular shape surrounding the outer periphery of the end member 21 when attached to the end member 21. In the case of the present embodiment, as shown in FIGS. 2 and 5 and the like, when the annular member 30 is attached to the end member 21, it is configured in an annular shape as a whole. When the annular member 30 is attached to the end member 21, at least a part of the inner peripheral surface of the annular member 30 contacts the outer peripheral surface of the end member 21.

[0013] The attachment portion 31 has a function of fixing the additional device 92 to the annular member 30. In the case of the present embodiment, the attachment portion 31 is configured to have an attachment surface 311 and a first female screw portion 312. The attachment surface 311 is a surface that the additional device 92 contacts when the additional device 92 is attached to the attachment portion 31. The attachment surface 311 is formed as a flat surface, for example, like a part of the outer peripheral surface of an annular shape is cut off.

[0014] The first female screw portion 312 is a female screw hole for screwing in a male screw or the like for fixing the additional device 92 to the attachment surface 311. The first female screw portion 312 can be referred to as, for example, an attachment female screw portion for attaching the additional device 92. As shown in FIG. 5 and the like, the first female screw portion 312 is configured by a female screw hole formed in a direction perpendicular to the attachment surface 311 from the attachment surface 311. A plurality of, in this case two, first female screw portions 312 are provided for one attachment surface 311. The two first female screw portions 312 are provided on both sides with a center line L1 extending in a direction perpendicular to the attachment surface 311 and passing through the center P of the annular shape of the annular member 30 interposed therebetween.

[0015] The annular member 30 has at least two components 301 and 302. Each component 301 and 302 constitutes a part of the annular shape of the annular member 30. In this embodiment, the annular member 30 is formed into an annular shape by combining each component 301 and 302. That is, with the end member 21 placed inside each component 301 and 302, the annular member 30 is configured to be attached to the end member 21 by closing the components 301 and 302 and sandwiching the end member 21 by connecting the ends 33 of each component 301 and 302 that are adjacent in the circumferential direction on the outer surface of the end member 21.

[0016] Furthermore, the annular member 30 can be opened by releasing the connection between the ends 33 of each component 301 and 302 and separating the ends 33 from each other, thereby making it removable from the end member 21. In this embodiment, each component 301 and 302 is configured to be separable from each other. In this case, being separable from each other means that each component 301 and 302 is completely separated from each other.

[0017] In this embodiment, the end member 21 does not have a structure for fixing the annular member 30. That is, the end member 21 does not have a female screw hole or so-called boss structure into which a bolt or the like for attaching the annular member 30 is inserted. In this embodiment, the annular member 30 is configured to be attachable to the end member 21 by connecting the ends 33 of each component 301, 302 to each other. In other words, in this embodiment, the annular member 30 is fixed to the end member 21 only by tightening the outer surface of the end member 21 with the inner surface of the annular member 30.

[0018] The annular member 30 has two components 301 and 302 and two male threaded members 41. Each of the two components 301 and 302 has a second female threaded portion 331 at one end 33 of its two ends 33, and a through hole 332 at the other end 33 through which a male threaded member 41 such as a bolt can be passed. The two components 301 and 302 are constructed to be the same shape. In this case, the two components 301 and 302 are arranged point-symmetrically with respect to the center P of the end member 21 so as to surround the outer circumferential surface of the end member 21, and are attached to the end member 21 by connecting the ends 33 of each component 301 and 302.

[0019] The second female thread portion 331 is used to connect the ends 33 of each component 301 to one another. For this reason, the second female thread portion 331 can also be called, for example, a connecting female thread portion. As shown in Figures 5 to 7, the second female thread portion 331 is formed in the shape of a female thread, which is excavated from one end 33 of the components 301 and 302 toward the tangential direction of the annular member 30. The through hole 332 is formed as a so-called stepped hole, which penetrates from the other end 33 of the component 301 toward the tangential direction of the annular member 30. When the male thread member 41 is inserted into the through hole 332, the head 411 of the male thread member 41 is locked inside the through hole 332, and the male thread member 41 protrudes tangentially from the end 33 of the component 301.

[0020] Furthermore, as shown in Figures 3 and 8 to 10, the annular member 30 has at least one projection 32. In this embodiment, the annular member 30 has multiple projections 32. The projections 32 are formed to protrude from the inner circumferential surface of the annular member 30 toward the inside of the annular member 30, that is, toward the center P. Also, in this embodiment, as shown in Figure 9, the circumferential length dimension W of the projection 32 of the annular member 30 is greater than the amount of protrusion H1 from the inner circumferential surface of the annular member 30.

[0021] Furthermore, the end-effector 21 has at least one receiving portion 212 for receiving the insertion of the projection 32. In this embodiment, the end-effector 21 has two or more receiving portions 212. In this case, the end-effector 21 has more receiving portions 212 than the number of projections 32. The receiving portions 212 are provided on the end-effector 21 and are formed by recessing the outer circumferential surface of the end-effector 21 toward the center P with a shape that is slightly larger than the outer shape of the projection 32. Also, as shown in Figure 10, the depth dimension H2 of the receiving portion 212 is slightly larger than the protrusion amount H1 of the projection 32. As a result, the projection 32 and the receiving portion 212 are in a so-called gap-fit ​​relationship.

[0022] When the annular member 30 is attached to the end-effector 21, the position of the annular member 30 relative to the end-effector 21 is restricted by the insertion of the projection 32 into the receiving portion 212. In other words, by the projection 32 fitting into the receiving portion 212, the annular member 30 restricts the rotation of the end-effector 21 in the circumferential direction and the movement of the end-effector 21 in the axial direction.

[0023] Furthermore, as shown in Figure 10, the projection 32 is provided closer to one of the two surfaces of the annular member 30. The thickness T2 of the projection 32 is smaller than the overall thickness T1 of the annular member 30. In this case, the thickness T2 of the projection 32 is set to be less than or equal to half the overall thickness T1 of the annular member 30.

[0024] Furthermore, as shown in Figure 8, each projection 32 is arranged on the inner surface of the annular member 30 at a predetermined pitch θ or an integer multiple of the predetermined pitch θ. In contrast, each receiving portion 212 is arranged on the outer surface of the annular member 30 at a predetermined pitch θ. Each projection 32 is inserted into one of the receiving portions 212. Therefore, the annular member 30 can be rotated in increments of the predetermined pitch θ to be attached to the end-piece member 21. In other words, the annular member 30 is configured so that the position of the attachment portion 31 can be adjusted in increments of the predetermined pitch θ.

[0025] The user can attach the annular member 30 to the end-user member 21, for example, as follows: As shown in Figure 7, for example, the user positions the end-user member 21 inside the two components 301 and 302, and then butts the ends 33 on both sides of the two components 301 together. At this time, if each projection 32 is not fitted into each receiving portion 212, the user rotates the components 301 and 302 along the outer surface of the end-user member 21 until each projection 32 is fitted into each receiving portion 212.

[0026] The user then inserts the male threaded member 41 through the through hole 332 of one of the components 301, 302 and screws the male threaded member 41 into the second female threaded portion 331 of the other component 301, 302. In this way, the annular member 30 is attached to the end member 21. The additional device 92 may be attached to the mounting portion 31 before the annular member 30 is attached to the end member 21, or it may be attached to the mounting portion 31 after the annular member 30 is attached to the end member 21.

[0027] Furthermore, when removing the annular member 30 from the end-piece member 21, the user loosens each male screw member 41 and pulls it out from the second female screw portion 331. This allows the annular member 30 to be separated into two components 301 and 302, and the user can remove the annular member 30 from the end-piece member 21.

[0028] Here, when the annular member 30 is attached to the end member 21, if the opposing ends 33 come into contact with each other, depending on the manufacturing tolerances of the annular member 30 and the end member 21, the inner surface of the annular member 30 may not make uniform contact with the outer surface of the end member 21 over the entire circumference. In other words, if the inner diameter of the annular member 30 is larger than the outer diameter of the end member 21 due to the manufacturing tolerances of the annular member 30 and the end member 21, the parts that should make contact according to the design will not make contact. In such a state, the fixing force of the annular member 30 to the end member 21 decreases, causing the end member 21 to become loose, and as a result, the accuracy of the additional device 92 attached to the annular member 30 will also be affected.

[0029] Therefore, in this embodiment, as shown in Figure 6, each component 301 and 302 is configured such that a gap S is formed between opposing ends 33 when the annular member 30 is attached to the end member 21. In this case, the curvature of the inner circumference of each component 301 and 302 is set to be the same as the curvature of the outer circumference of the end member 21, and the sum of the inner circumference lengths of each component 301 and 302 is set to be shorter than the outer circumference length of the end member 21. Furthermore, each component 301 and 302 is made of a material that has sufficient rigidity to prevent deformation even when the male screw member 41 is screwed into the second female screw portion 331 to connect the ends 33, such as iron, stainless steel, aluminum, or engineering plastic. Therefore, even when the end member 21 is tightened by the annular member 30, the components 301 and 302 do not stretch, and a gap S is formed between the ends 33.

[0030] As a result, even when the annular member 30 is attached to the end member 21, contact between each end 33 is suppressed. Therefore, even with tolerances during manufacturing of the annular member 30 and the end member 21, the inner surface of the annular member 30 can be made to contact the outer surface of the end member 21 evenly over its entire circumference. This suppresses rattling of the annular member 30 relative to the end member 21, and as a result, it is possible to suppress a decrease in the accuracy of the additional device 92 caused by the annular member 30.

[0031] Furthermore, the gap S may be filled with a material that can undergo elastic or plastic deformation, such as a sponge, rubber, or soft resin. In other words, deformable members may be provided at both ends 33 of the rigid components 301 and 302, and the tolerances of the annular member 30 and the end member 21 may be absorbed by crushing these deformable members. A gap S is substantially formed between both ends 33 of the rigid components 301 and 302.

[0032] According to the embodiment described above, the robot 10 comprises an end-effector member 21 that constitutes the end of the robot arm 20, and an annular member 30. The annular member 30 has a mounting portion 31 to which an additional device 92 can be attached, and is detachably attached to the end-effector member 21 and is configured as an annular shape that surrounds the outer circumference of the end-effector member 21 when attached to the end-effector member 21.

[0033] Furthermore, the annular member 30 has at least two components 301 and 302. Each component 301 and 302 forms a part of the annular shape of the annular member 30. The annular member 30 is configured to be attachable to the end member 21 by closing the components 301 and 302 and sandwiching the end member 21 by connecting the ends 33 of adjacent components 301 and 302 with the end member 21 placed inside the components 301 and 302. The annular member 30 is also configured to be removable from the end member 21 by opening the components 301 and 302 and separating the ends 33 from each other by releasing the connection between the ends 33 of the components 301 and 302.

[0034] In this embodiment, the annular member 30 is detachably attached to the end-effector 21 and is configured to surround the outer circumference of the end-effector 21 when attached to it. Therefore, compared to the conventional configuration in which the additional device 92 is attached to the end-effector 21 using a stay or the like, the annular member 30 is prevented from protruding significantly outward from the end-effector 21, and as a result, the enlargement of the end-effector portion of the robot arm 20 can be suppressed.

[0035] Furthermore, according to this embodiment, the user can attach and detach the additional device 92 to the end member 21 by, for example, attaching the annular member 30 to the end member 21 while the additional device 92 is attached to the mounting portion 31. Therefore, the user does not need to remove the end member 21 itself when attaching or detaching the additional device 92 to the end member 21. Thus, in this embodiment, the operation of attaching and detaching the additional device 92 to the end member 21 can be simplified compared to, for example, the conventional case where it is necessary to remove the end member 21 itself in order to attach or detach the additional device 92.

[0036] Furthermore, as shown in Figures 3 and 7, the components 301 and 302 are configured to be separable from one another. This allows the components 301 and 302 to be opened wide when attaching or detaching the annular member 30 to the end-effector 21, making it easier to position the end-effector 21 inside each component 301 and 302, and also making it easier to remove the end-effector 21 from inside each component 301 and 302. Therefore, according to this embodiment, the workability of attaching and detaching the additional device 92 to the end-effector 21 can be further improved. In addition, when the annular member 30 is removed from the end-effector 21, the components 301 and 302 can be stored stacked on top of each other, thus reducing storage space.

[0037] Furthermore, the annular member 30 is configured to be attachable to the end member 21 by connecting the ends 33 of the two components 301 and 302 to each other. The two components 301 and 302 each have a second female threaded portion 331 at one end 33 of their respective ends 33, and a through hole 332 at the other end 33 through which a male thread can be passed. The two components 301 and 302 are configured to have the same shape.

[0038] According to this, by making the two components 301 and 302 the same shape, it is possible to standardize the parts of components 301 and 302. As a result, manufacturing costs can be reduced, and the management of parts for components 301 and 302 can be simplified.

[0039] Furthermore, as shown in Figure 6, the annular member 30 is configured such that a gap S is formed between the ends 33 of the two components 301 and 302 when it is attached to the end member 21. That is, when each component 301 and 302 is attached to the end member 21, a gap S is formed between the opposing ends 33. This allows the inner surface of the annular member 30 to be in close contact with the outer surface of the end member 21 over its entire circumferential direction. As a result, rattling of the annular member 30 relative to the end member 21 can be suppressed, and consequently, a decrease in the accuracy of the additional device 92 caused by the annular member 30 can be suppressed.

[0040] Furthermore, the end-piece member 21 does not have a structure for fixing the annular member 30, such as a female screw hole or a so-called boss structure into which a bolt for attaching the annular member 30 is inserted. Therefore, it is possible to suppress the increase in size of the end-piece member 21.

[0041] Furthermore, the annular member 30 has a projection 32. The projection 32 protrudes inward from the inner circumferential surface of the annular member 30. The end-piece member 21 also has a receiving portion 212. The receiving portion 212 is provided on the end-piece member 21 and receives the insertion of the projection 32. The position of the annular member 30 relative to the end-piece member 21 is restricted when the projection 32 is inserted into the receiving portion 212. In other words, the rotation of the annular member 30 in the circumferential direction and the movement of the end-piece member 21 in the axial direction are restricted when the projection 32 fits into the receiving portion 212.

[0042] According to this, when the robot 10 operates, it is possible to suppress the movement of the annular member 30 as a result of its operation. As a result, it is possible to suppress the change in the mounting position of the additional device 92 on the end-user 21 due to the operation of the robot 10, which would otherwise reduce the accuracy of the additional device 92. Furthermore, even after attaching or detaching the annular member 30 to the end-user 21, the mounting position of the annular member 30 on the end-user 21, that is, the mounting position of the additional device 92 on the end-user 21, can be easily and accurately reproduced. As a result, for example, the effort required to adjust the additional device 92 when attaching or detaching it to the end-user 21 can be minimized.

[0043] The robot 10 includes at least one projection 32 and two or more receiving portions 212 arranged along the circumferential direction of the end-effector member 21 and the annular member 30. In this embodiment, the projection 32 is provided on the inner circumferential surface of the annular member 30, and the receiving portions 212 are provided on the outer circumferential surface of the end-effector member 21.

[0044] According to this, when the annular member 30 is attached to the end-user member 21, the user can rotate the annular member 30 relative to the end-user member 21 by changing the receiving portion 212 into which the projection 32 is inserted. In other words, by rotating the annular member 30, the position of the attachment portion 31, i.e., the additional device 92, relative to the end-user member 21 can be adjusted in the rotational direction of the annular member 30, that is, in the circumferential direction between the inner surface of the annular member 30 and the outer surface of the end-user member 21.

[0045] (Second Embodiment) Next, a second embodiment will be described with reference to Figures 11 and 12. In this embodiment, the specific configuration of the annular member 30a differs from that of the annular member 30 in the first embodiment. Note that in the annular member 30a of this embodiment, the configuration not shown in Figures 11 and 12 is common to that of the annular member 30 in the first embodiment.

[0046] The annular member 30a of this embodiment has multiple components, in this case two, 303 and 304, similar to the annular member 30 of the first embodiment. The components 303 and 304 of this embodiment are configured in the same way as the components 301 and 302 described above, except for the specific configuration of both ends 33a and 33b. Each component 303 and 304 is configured to open and close in a direction away from and towards each other by rotating one end 33a of each component 303 and 304 with the end 33a as a pivot point.

[0047] In other words, in this embodiment, the annular member 30a has a hinge portion 34. The hinge portion 34 connects the adjacent ends 33a of the two components 303 and 304 so that the two components 303 and 304 can rotate. In addition, of the ends 33a and 33b of each component 303 and 304, the end 33b opposite to the end 33a on which the hinge portion 34 is provided is provided with a second female thread portion 331 or a through hole 332.

[0048] In this configuration, when attaching the annular member 30a to the end member 21, the user first opens the two components 303 and 304 as shown in Figure 12, and positions the end member 21 inside the components 303 and 304. Then, as shown in Figure 11, the user closes the two components 303 and 304, and then passes the male threaded member 41 through the through hole 332 and screws it into the second female threaded portion 331. This fixes the annular member 30a to the end member 21.

[0049] Furthermore, the user can remove the annular member 30a from the end member 21 by following the reverse procedure described above. That is, the user first loosens the male screw member 41 and removes it from the second female screw portion 331 in the state shown in Figure 11. Then, as shown in Figure 12, the user opens the two components 303 and 304 and removes the components 303 and 304 from the end member 21. This removes the annular member 30a from the end member 21.

[0050] According to this embodiment, the components 303 and 304 are configured to open and close at the other end 33b by rotation. In other words, in this embodiment, the annular member 30a is configured so that the components 303 and 304 cannot be separated from each other. Therefore, when the annular member 30a is removed from the end member 21, for example, inconveniences such as the components 303 and 304 separating and being lost can be suppressed.

[0051] Furthermore, according to this embodiment, when attaching or detaching the annular member 30a to the end member 21, the user only needs to screw or loosen the male screw member 41 to one of the ends 33b of the respective components 303 and 304. Therefore, according to this embodiment, further improvements in workability can be achieved when attaching or detaching the annular member 30a to the end member 21.

[0052] (Third embodiment) Next, a third embodiment will be described with reference to Figures 13 and 14. In this embodiment, configurations not shown in Figures 13 and 14 can be the same as those of the annular member 30 in each of the above embodiments. Furthermore, this embodiment can also be applied to configurations having a hinge portion 34, such as the annular member 30a of the second embodiment.

[0053] In the third embodiment, the relationship between the projection 32 and the receiving portion 212 described in the above embodiments is reversed. That is, the robot 10 of this embodiment has projections 213 and receiving portions 35 instead of projections 32 and receiving portions 212 described in the above embodiments. At least one projection 213 is provided on the end-effector member 21 and protrudes outward from the outer circumferential surface of the end-effector member 21. In this case, the end-effector member 21 has eight projections 213. The eight end-effector members 21 are arranged at equal intervals along the outer circumferential surface of the end-effector member 21.

[0054] At least one receiving portion 35 is provided on the annular member 30, and the inner circumferential surface of the annular member 30 is formed in a shape that is slightly larger than the outer shape of the projection 213 and recessed radially outward from the annular member 30. In this case as well, the projection 32 and the receiving portion 212 are in a so-called gap-fit ​​relationship, similar to the relationship between the projection 32 and the receiving portion 212.

[0055] In this configuration as well, when the annular member 30 is attached to the end-effector member 21, the projection 213 of the annular member 30 is inserted into the receiving portion 35, thereby restricting its position relative to the end-effector member 21. In other words, the projection 213 fitting into the receiving portion 35 restricts the rotation of the annular member 30 in the circumferential direction and the movement of the end-effector member 21 in the axial direction.

[0056] As described above, the end-effector 21 of this embodiment has a projection 213 that protrudes outward from the outer circumferential surface of the end-effector 21. The annular member 30 has a receiving portion 212 provided on the inner circumferential surface of the annular member 30 that receives the insertion of the projection 213. The position of the annular member 30 relative to the end-effector 21 is restricted when the projection 213 is inserted into the receiving portion 212. This provides the same effects and advantages as those of the embodiments described above.

[0057] (Fourth Embodiment) Next, the fourth embodiment will be described with reference to Figures 15 and 16. In this embodiment, the specific configuration of the annular member 30b differs from that of the annular members 30 and 30a in the above embodiments. In this embodiment, the configuration of the annular member 30b that is not shown in Figures 15 and 16 can be the same as that of the annular member 30 in the above embodiments. Furthermore, this embodiment can also be applied to a configuration having a hinge portion 34, as in the annular member 30a of the second embodiment.

[0058] The annular member 30b has components 305, 306, and a mounting portion 36. Components 305, 306, and the mounting portion 36 are each composed of separate, separable members. Components 305 and 306 have an overall shape that is generally the same as components 301 and 302 described above, but they differ from components 301 and 302 in that they do not have a mounting portion 31 and have multiple third female threaded portions 37.

[0059] In this case, the annular member 30b is formed in an annular shape by combining the components 305 and 306. The third female threaded portion 37 is arranged at regular intervals on the surface of the annular member 30b, for example, and is formed to penetrate the annular member 30b in the thickness direction. The mounting portion 36 has a mounting surface 311 and a first female threaded portion 312 similar to the mounting portion 31 described above, and the additional device 92 is fixed to it. The mounting portion 36 also has one or more through holes 361, as shown in Figure 15. The through holes 361 are formed to penetrate the mounting portion 36 in the thickness direction.

[0060] The mounting portion 36 is fixed to the annular member 30b by passing a male threaded member 42, such as a bolt, through the through hole 361 and screwing the male threaded member 42 into the third female threaded portion 37. In this case, the user can attach the mounting portion 36 to the components 303 and 304 by changing the through hole 361 for fixing the mounting portion 36. This allows the user to adjust the mounting position of the additional device 92 relative to the circumferential direction of the end-user member 21. In this case, the components 305 and 306 may be configured so that they cannot be adjusted in the rotational direction relative to the end-user member 21, that is, the mounting position of the components 305 and 306 relative to the end-user member 21 is uniquely determined.

[0061] This embodiment also provides the same effects and advantages as those of the embodiments described above.

[0062] Furthermore, each of the above embodiments can be applied in combination of parts. This disclosure is described in accordance with the embodiments, but it is understood that this disclosure is not limited to such embodiments or structures. This disclosure also includes various modifications and variations within the equivalence. In addition, various combinations and forms, as well as other combinations and forms that include only one, more, or fewer of those elements, fall within the scope and concept of this disclosure. [Explanation of Symbols]

[0063] 10...Robot, 20...Robot arm, 21...End-effect member, 30, 30a, 30b...Annular member, 301, 302, 303, 304, 305, 306...Component part, 31...Mounting part, 32, 213...Protrusion, 33, 33a, 33b...End part, 332...Through hole, 35, 212...Receiving part, 36...Mounting part, 92...Additional device, S...Gap

Claims

1. End-effector components that make up the end of a robot arm, It has a mounting portion to which an additional device can be attached, and an annular member that is detachable from the hand member and is formed in an annular shape that surrounds the outer circumference of the hand member when attached to the hand member, The aforementioned annular member is The annular member has at least two components that form a part of the annular shape, The component is configured to be able to be attached to the hand member by closing the component by connecting the ends of adjacent components with the hand member positioned inside the component, and by opening the component by releasing the connection of the ends and separating the ends, the component can be removed from the hand member. The aforementioned components are configured to be separable from one another. The annular member is configured to be attachable to the hand member by connecting the ends of the two components to each other. Each of the two components is configured to have the same shape, with one end having a female thread and the other end having a through hole through which a male thread can be passed. robot.

2. The annular member is configured such that a gap is formed between the ends of the two components when it is attached to the handpiece member. The robot according to claim 1.

3. The end-piece member does not have a structure for fixing the annular member. The robot according to claim 1 or 2.

4. The annular member further has a projection that protrudes inward from the inner circumferential surface of the annular member, The end-effector further has a receiving portion provided on the outer circumferential surface of the end-effector that receives the insertion of the projection, The annular member's position relative to the end-effector is restricted by the insertion of the projection into the receiving portion. The robot according to claim 1.

5. The end-effector further has a projection that protrudes outward from the outer circumferential surface of the end-effector, The annular member further has a receiving portion provided on its inner circumferential surface for receiving the projection, and the position of the projection relative to the end member is restricted when the projection is inserted into the receiving portion. The robot according to claim 1.

6. It comprises at least one projection and two or more receiving portions arranged along the circumferential direction of the endpiece member and the annular member, The robot according to claim 4 or 5.

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