Robot joints and robot hands

Abstract

The present invention provides a robotic joint that can hold and release any desired posture. [Solution] The robot joint has a configuration in which a shaft member capable of linear and rotational motion is supported in each axial direction by a pair of first bearing members, second bearing members, and third bearing members. A pressure chamber is provided in one of the second bearing members, and in response to the increase in internal pressure, the first bearing member suppresses the linear and rotational motion of the shaft member, the second bearing member suppresses the rotational motion of the first bearing member, and the third bearing member suppresses the rotational motion of the second bearing member, thereby controlling the movement in each direction.

Description

Technical Field

[0001] This specification discloses technologies related to robot joints and robot hands.

Background Art

[0002] Patent Document 1 describes a robot joint that controls its operation using a plurality of wires.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] In a robot joint using a plurality of wires, since the operation of the joint is controlled by the tension in one direction of the wire, it is difficult to hold the torque in the direction opposite to the tension, and there is a problem that it is difficult to hold and release an arbitrary posture.

Means for Solving the Problems

[0005] The technology disclosed in this specification can be realized in the following forms. One form of robotic joint disclosed herein is A shaft member having a first cylindrical outer shape extending along a first axis, <00憨00035> A pair of first bearing members each having a second cylindrical outer shape extending along a second axis perpendicular to the first axis, the first bearing members fitting into the first cylindrical outer shapes and clamping the shaft member so that the shaft member can move linearly along the first axis and rotate about the first axis, A pair of second bearing members each have semi-cylindrical outer diameter portions that face each other and form a pair of third cylindrical outer portions that intersect the first axis and extend along a third axis perpendicular to the second axis, and the pair of second bearing members are fitted into the second cylindrical outer portions respectively so that the pair of first bearing members can rotate around the second axis and sandwich the pair of first bearing members, A pair of third bearing members that fit into the pair of third cylindrical outer shapes so that the pair of second bearing members can rotate around the third axis, Equipped with, One of the pair of second bearing members is A pressure chamber is formed between the end face of the second cylindrical outer portion of one of the pair of first bearing members that are fitted together, A pressure port that receives a supply of compressed air for controlling the pressurization of the pressure chamber, It has, In response to the increase in the force that clamps the shaft member between the pair of first bearing members due to the rise in internal pressure in the pressure chamber, the pair of first bearing members suppress the linear motion of the shaft member along the first axis and the rotational motion of the shaft member about the first axis. In response to the increase in the force pressing the pair of first bearing members against the other second bearing member of the pair, which is different from the first second bearing member, due to the rise in internal pressure in the pressure chamber, the pair of second bearing members suppress the rotational motion of the pair of first bearing members around the second axis. In response to the increase in the force pulling the pair of second bearing members apart due to the rise in internal pressure in the pressure chamber, the pair of third bearing members suppress the rotational motion of the pair of second bearing members around the third axis.

[0006] (1) One embodiment disclosed herein is a robot joint. This robot joint comprises a shaft member, a pair of first bearing members, a pair of second bearing members, and a pair of third bearing members. The shaft member has a first cylindrical outer shape extending along a first axis. The pair of first bearing members each have a second cylindrical outer shape extending along a second axis perpendicular to the first axis, and the first cylindrical outer shape fits into the first cylindrical outer shape to clamp the shaft member so that the shaft member can move linearly along the first axis and rotate around the first axis. The pair of second bearing members each have semi-cylindrical outer diameters that face each other and form a pair of third cylindrical outer shapes extending along a third axis intersecting the first axis and perpendicular to the second axis, and the second cylindrical outer shape fits into the pair of first bearing members to clamp the pair of first bearing members so that the pair of first bearing members can rotate around the second axis. The third bearing member fits into the pair of third cylindrical outer shapes so that the pair of second bearing members can rotate around the third axis. One of the pair of second bearing members has a pressure chamber that forms a space between it and the end face of the second cylindrical outer shape of one of the pair of first bearing members that fits together. . beforeIn response to the increase in the force that clamps the shaft member between the pair of first bearing members due to the rise in internal pressure in the pressure chamber, the pair of first bearing members suppress the linear motion of the shaft member along the first axis and the rotational motion of the shaft member about the first axis. In response to the increase in the force that presses the pair of first bearing members against the other second bearing member of the pair of second bearing members, which is different from the one second bearing member, due to the rise in internal pressure in the pressure chamber, the pair of second bearing members suppress the rotational motion of the pair of first bearing members about the second axis. In response to the increase in the force that pulls the pair of second bearing members apart from each other due to the rise in internal pressure in the pressure chamber, the pair of third bearing members suppress the rotational motion of the pair of second bearing members about the third axis. With this form of robot joint, any posture can be maintained and released by selectively switching the state of the shaft member, the pair of first bearing members, and the pair of second bearing members between a restrained state and an open state according to the pressurized state of the pressure chamber.

[0007] (2) One embodiment disclosed herein is a robot hand, which comprises a robot joint of the embodiment described above. According to this embodiment of the robot hand, the degree of freedom of the posture that can be held and released can be improved by controlling the pressurized state of the pressure chamber in the robot joint.

[0008] (3) One embodiment disclosed herein is a robot hand. This robot hand may comprise three or more robot joints as described above, a base portion in which each of the pair of third bearing members of the three or more robot joints is arranged at equal intervals on the circumference, a chuck base portion in which each of the tips of the shaft members of the three or more robot joints is connected at equal intervals on the circumference via two-axis joints, a workpiece holding portion provided on the chuck base portion and configured to detachably hold a workpiece, and a pressure chamber control portion for controlling the pressurization of the pressure chamber. With this embodiment of the robot hand, the configuration in which the plurality of robot joints are arranged in a ring makes it possible to displace the chuck base portion in three dimensions, thereby improving the degree of freedom of the orientation of the workpiece that can be held and released.

[0009] (4) In the robot hand of the above-described form, the workpiece is a metal sheet to be processed. While the workpiece is deformed by the sheet metal processing, the pressure chamber control unit may control the pressure in the pressure chamber so that each of the three or more robot joints can move freely, while maintaining the workpiece's hold by the workpiece holding unit. With this form of robot hand, the workpiece can be held in accordance with the deformation of the workpiece due to sheet metal processing.

[0010] (5) In the robot hand of the above-described form, after the completion of the sheet metal processing, while the workpiece is being moved away from the processing position, the pressure chamber control unit may control the pressure in the pressure chamber to suppress the movement of each of the three or more robot joints while the workpiece is being held by the workpiece holding unit. With this form of robot hand, it is possible to prevent the workpiece from being in an unintended position.

[0011] In the robot hand of the above-described form, after retreating the workpiece from the processing position, while maintaining the holding of the workpiece by the workpiece holding portion, when returning the chuck base portion to the initial position, the pressure chamber control unit may control the pressurization of the pressure chamber so that each part of the three or more robot joints can move freely. According to the robot hand of this form, it is possible to return the chuck base portion to the initial position while holding the workpiece.

[0012] The technology disclosed in this specification can be realized in various forms different from robot joints and robot hands. The technology disclosed in this specification can be realized, for example, in forms such as a robot hand and a control method for a robot joint.

Brief Description of the Drawings

[0013] [Figure 1] It is an explanatory diagram showing a robot hand. [Figure 2] It is a perspective view showing a robot hand in the posture of the initial position. [Figure 3] It is a perspective view showing a robot hand in a posture changed from the initial position. [Figure 4] It is a cross-sectional view showing a robot hand in the posture of the initial position. [Figure 5] It is a cross-sectional view showing a robot hand in a posture changed from the initial position. [Figure 6] It is an exploded perspective view showing the detailed configuration of a robot joint regarding the first axis. [Figure 7] It is an exploded perspective view showing the detailed configuration of a robot joint regarding the second axis. [Figure 8] t It is an exploded perspective view showing the detailed configuration of a robot joint regarding the third axis. [Figure 9] It is an explanatory diagram showing the state of sheet metal processing using a robot hand. [Figure 10] It is an explanatory diagram showing the state of sheet metal processing using a robot hand. [Figure 11]This is an explanatory diagram showing the process of sheet metal processing using a robotic hand. [Figure 12] This is an explanatory diagram showing the process of sheet metal processing using a robotic hand. [Modes for carrying out the invention]

[0014] Figure 1 is an explanatory diagram showing the robot hand 100. The robot hand 100 is configured to be attachable to the tip of the robot arm 20. The robot hand 100 is configured to be able to grip the workpiece 90, which is the object to be processed. The workpiece 90 is a metal sheet that is the target of sheet metal processing.

[0015] The robot hand 100 includes a suction control unit 510, Pressure chamber control unit 520 The system also includes a return control unit 530. The suction control unit 510 controls the suction of the workpiece 90. Pressure chamber control unit 520 The return control unit 530 controls the holding and release of the posture of the robot hand 100. of This controls the return to the initial position. Details of the operation of these control units will be described later.

[0016] Figure 2 is a perspective view showing the robot hand 100 in its initial position. Figure 3 is a perspective view showing the robot hand 100 in a position that has changed from its initial position. Figure 4 is a cross-sectional view showing the robot hand 100 in its initial position. Figure 5 is a cross-sectional view showing the robot hand 100 in a position that has changed from its initial position.

[0017] The robot hand 100 includes robot joints 300. The robot joints 300 are components that constitute joints enabling changes in the posture of the robot hand 100. The robot hand 100 includes three robot joints 300. The robot hand 100 may include one or more robot joints 300. From the viewpoint of improving the degree of freedom of posture, it is preferable for the robot hand 100 to include three or more robot joints 300. Details of the robot joints 300 will be described later.

[0018] The robot hand 100 includes three robot joints 300, as well as a base 110, a chuck base 120, a suction pad 130, and a bellows hose 150.

[0019] The base portion 110 of the robot hand 100 is a component fixed to the tip of the robot arm 20. The base portion 110 is cylindrical in shape. The base portion 110 is made of metal. The base portion 110 may also be made of rigid plastic. The base portion 110 has a base plate 112. The base plate 112 is the part that fixes the three robot joints 300. On the base plate 112, each of the pair of third bearing members 331 and 322 of the three robot joints 300 is arranged at equal intervals on the circumference.

[0020] The chuck base portion 120 of the robot hand 100 is a member that holds the suction pad 130. The tips of the shaft members 305 of the three robot joints 300 are connected to the chuck base portion 120 at equal intervals around the circumference via two-axis joints 122. Three positioning members 126 are provided on the chuck base portion 120 at equal intervals around the circumference. Each of the three positioning members 126 fits into three positioning members 116 provided on the base plate 112, thereby positioning the initial orientation of the robot hand 100.

[0021] The suction pads 130 of the robot hand 100 are workpiece holding parts configured to detachably hold the workpiece 90. The suction pads 130 are components configured to hold the workpiece 90 by negative pressure. The suction pads 130 are provided on the chuck base 120. The robot hand 100 has four suction pads 130. The robot hand 100 may have one or more suction pads 130. The supply of negative pressure to the suction pads 130 is controlled by the suction control unit 510.

[0022] The bellows hose 150 of the robot hand 100 is a mechanism that returns the posture, which has changed from its initial position, back to its initial position. One end of the bellows hose 150 is attached to the center of the back surface of the chuck base 120. The other end of the bellows hose 150 is attached to the center of the base plate 112. By supplying negative pressure to the other end of the bellows hose 150, the chuck base 120 is pulled back to its initial position. The supply of negative pressure to the bellows hose 150 is controlled by the return control unit 530.

[0023] Figure 6 is an exploded perspective view showing the detailed configuration of the robot joint 300 with respect to the first axis AX1. Figure 7 is an exploded perspective view showing the detailed configuration of the robot joint 300 with respect to the second axis AX2. Figure 8 is an exploded perspective view showing the detailed configuration of the robot joint 300 with respect to the third axis AX3.

[0024] The robot joint 300 comprises a shaft member 305, a pair of first bearing members 311, 312, a pair of second bearing members 321, 322, and a pair of third bearing members 331, 332.

[0025] The shaft member 305 of the robot joint 300 is a member having a first cylindrical outer portion 305c extending along the first shaft AX1. The shaft member 305 is a cylindrical metal pipe. The shaft member 305 may also be a cylindrical metal rod.

[0026] In the robot joint 300, a pair of first bearing members 311 and 312 fit into the first cylindrical outer portion 305c and clamp the shaft member 305 so that the shaft member 305 can perform linear motion LM along the first axis AX1 and rotational motion RM1 about the first axis AX1. The pair of first bearing members 311 and 312 are made of plastic. The pair of first bearing members 311 and 312 may also be made of metal.

[0027] The first bearing member 311 is a cylindrical member. The first bearing member 311 comprises a semicircular groove 311g, an end face 311e, a second cylindrical outer shape 311c, and a packing 311p. The semicircular groove 311g is the part that fits onto the shaft member 305. The end face 311e is a flat surface located on the opposite side of the semicircular groove 311g. The second cylindrical outer shape 311c is the part that forms the side surface of a cylinder extending along the second shaft AX2. The second shaft AX2 is perpendicular to the first shaft AX1. The packing 311p is a rubber member that seals the pressure chamber 325 formed between it and the second bearing member 321.

[0028] The first bearing member 312 is a cylindrical member having the same diameter as the first bearing member 311. The first bearing member 312 comprises a semicircular groove 312g, an end face 312e, and a second cylindrical outer shape 312c. The semicircular groove 312g is the part that fits into the shaft member 305 in a position facing the semicircular groove 311g of the first bearing member 311. The end face 312e is a flat surface located on the opposite side of the semicircular groove 312g. The second cylindrical outer shape 312c is the part that forms the side surface of a cylinder extending along the second shaft AX2.

[0029] In the robot joint 300, the pair of second bearing members 321 and 322 fit into the second cylindrical outer portions 311c and 312c respectively, so that the pair of first bearing members 311 and 312 can rotate RM2 around the second axis AX2, and clamp the pair of first bearing members 311 and 312. The pair of second bearing members 321 and 322 are made of plastic. The pair of second bearing members 321 and 322 may also be made of metal.

[0030] The second bearing member 321 has a cylindrical portion 321t, a notch 321n, a pair of semi-cylindrical outer diameter portions 321c, a pressure chamber 325, and a pressurizing port 326. The cylindrical portion 321t is the portion that fits into the second cylindrical outer diameter portion 311c of the first bearing member 311. The notch 321n is the portion of the cylindrical portion 321t that is cut out so as not to obstruct the rotational motion RM2 of the pair of first bearing members 311 and 312. The pair of semi-cylindrical outer diameter portions 321c are portions that form the sides of semi-cylindrical shapes extending along the third axis AX3. The third axis AX3 intersects the first axis AX1 and is perpendicular to the second axis AX2. The pair of semi-cylindrical outer diameter portions 321c form a pair of third cylindrical outer diameter portions 321c, 322c that extend along the third axis AX3 and face the second bearing member 322.

[0031] The pressure chamber 325 forms a space between the inside of the cylindrical portion 321t and the end face 311e of the first bearing member 311. The pressurizing port 326 is the part that receives the supply of compressed air into the pressure chamber 325. The supply of compressed air to the pressure chamber 325 is, Pressure chamber control unit 520 It is controlled by [something].

[0032] The second bearing member 322 has a cylindrical portion 322t, a notch 322n, and a pair of semi-cylindrical outer diameter portions 322c. The cylindrical portion 322t is the portion that fits into the second cylindrical outer diameter portion 312c of the first bearing member 312. The notch 322n is the portion that is cut out of the cylindrical portion 322t so as not to obstruct the rotational motion RM2 of the pair of first bearing members 311 and 312. The pair of semi-cylindrical outer diameter portions 322c are the portions that form the sides of a semicylinder extending along the third axis AX3. The pair of semi-cylindrical outer diameter portions 322c form a pair of third cylindrical outer diameter portions 321c, 322c that extend along the third axis AX3 and face the second bearing member 321.

[0033] In the robot joint 300, a pair of third bearing members 331 and 332 fit into a pair of third cylindrical outer portions 321c and 322c so that a pair of second bearing members 321 and 322 can rotate RM3 around the third axis AX3.

[0034] The third bearing member 331 has a through hole 331h and a fixed surface 331b. The through hole 331h is the part that fits into one of the cylindrical outer parts 321c, 322c. The fixed surface 331b is the part that is fixed to the chuck base part 120.

[0035] The third bearing member 332 has a through hole 332h and a fixed surface 332b. The through hole 332h is the part that fits into the other cylindrical outer parts 321c, 322c. The fixed surface 332b is the part that is fixed to the chuck base part 120.

[0036] In response to the increase in the force that clamps the shaft member 305 between the pair of first bearing members 311 and 312 due to the rise in internal pressure in the pressure chamber 325, the pair of first bearing members 311 and 312 suppress the linear motion LM along the first axis AX1 and the rotational motion RM1 about the first axis AX1 caused by the shaft member 305.

[0037] In response to the increase in the force pressing the pair of first bearing members 311, 312 against the second bearing member 322 due to the rise in internal pressure in the pressure chamber 325, the pair of second bearing members 321, 322 suppress the rotational motion RM2 about the second axis AX2 caused by the pair of first bearing members 311, 312.

[0038] In response to the increase in the force pulling the pair of second bearing members 321 and 322 apart due to the rise in internal pressure in the pressure chamber 325, the pair of third bearing members 331 and 332 suppress the rotational motion RM3 about the third axis AX3 caused by the pair of second bearing members 321 and 322.

[0039] Figure 9 is an explanatory diagram showing the sheet metal processing using the robot hand 100. Figure 9 shows how the robot arm 20 transports the workpiece 90, which has been picked up by the robot hand 100, to the processing position of the sheet metal processing apparatus 70. The suction pad 130 maintains the grip of the workpiece 90 until the workpiece 90 is transported to the processing position. Pressure chamber control unit 520By pressurizing the pressure chamber 325, the movement of each part of the three robot joints 300 is restricted. After the workpiece 90 before sheet metal processing is transported to the processing position, the suction pad 130 maintains the suction of the workpiece 90, Pressure chamber control unit 520 By reducing the pressure in the pressure chamber 325, each part of the three robot joints 300 is opened up, allowing for free movement.

[0040] Figure 10 is an explanatory diagram showing the sheet metal processing using the robot hand 100. Figure 10 shows the deformation of the workpiece 90 after being processed by the sheet metal processing device 70, following the state shown in Figure 9. While the workpiece 90 is being deformed by the sheet metal processing, the suction pad 130 maintains its grip on the workpiece 90. Pressure chamber control unit 520 This maintains the pressure reduction in the pressure chamber 325, thereby keeping each part of the three robot joints 300 in an open state. As a result, the chuck base 120 of the robot hand 100 is pulled out from its initial position to follow the deformation of the workpiece 90.

[0041] Figure 11 is an explanatory diagram showing the sheet metal processing process using the robot hand 100. Figure 11 shows the robot arm 20 moving the sheet metal processed workpiece 90, which has been held in suction by the robot hand 100, away from the processing position, following the state shown in Figure 10. After the workpiece 90 has been deformed by the sheet metal processing, the suction pad 130 maintains its hold on the workpiece 90. Pressure chamber control unit 520 The robot arm 20 then restrains each part of the three robot joints 300 by pressurizing the pressure chamber 325. Subsequently, while maintaining the restrained state of each part of the three robot joints 300, the robot arm 20 moves the workpiece 90 after sheet metal processing to the outside of the sheet metal processing apparatus 70.

[0042] Figure 12 is an explanatory diagram showing the sheet metal processing using the robot hand 100. Following the state shown in Figure 11, Figure 12 shows the chuck base 120 of the robot hand 100 returning from its extended position to its initial position. After the sheet metal processing workpiece 90 is moved to the outside of the sheet metal processing device 70, the suction pad 130 maintains the suction of the workpiece 90, Pressure chamber control unit 520 By reducing the pressure in the pressure chamber 325, the three robot joints 300 are opened up, allowing them to move freely. In this state, the return control unit 530 supplies negative pressure to the other end of the bellows hose 150. This pulls the chuck base 120 back to its initial position.

[0043] As described above, the robot joint 300 allows for the retention and release of any desired posture by selectively switching the states of the shaft member 305, the pair of first bearing members 311, 312, and the pair of second bearing members 321, 322 between a restrained state and an open state according to the pressurized state of the pressure chamber 325.

[0044] Furthermore, with a robot hand 100 equipped with a robot joint 300, the degree of freedom of posture that can be held and released can be improved by controlling the pressurized state of the pressure chamber 325 in the robot joint 300.

[0045] Furthermore, the robot hand 100, with its configuration of multiple robot joints 300 arranged in a ring, allows the chuck base 120 to be displaced in three dimensions, thereby improving the degree of freedom in the orientation of the workpiece that can be held and released.

[0046] Furthermore, while the workpiece 90 is deformed by sheet metal processing, the pressure chamber control unit 520 maintains the suction of the workpiece 90 by the suction pad 130, and controls the pressure in the pressure chamber 325 so that each part of the three robot joints 300 can move freely. As a result, the robot hand 100 can hold the workpiece 90 in accordance with the deformation of the workpiece 90 caused by sheet metal processing.

[0047] Furthermore, after the sheet metal processing is completed, while the workpiece 90 is being moved away from the processing position, the pressure chamber control unit 520 maintains the suction of the workpiece 90 by the suction pad 130 and controls the pressure in the pressure chamber 325 to suppress the movement of each part of the three robot joints 300. This prevents the robot hand 100 from taking an unintended position of the workpiece 90.

[0048] Furthermore, while the chuck base 120 is being returned to its initial position after the workpiece 90 has been moved away from the processing position, the pressure chamber control unit 520 controls the pressure in the pressure chamber 325 so that each part of the three robot joints 300 can move freely. This allows the robot hand 100 to return the chuck base 120 to its initial position while holding the workpiece 90.

[0049] The technologies disclosed herein are not limited to the embodiments, examples, and modifications described above. The technologies disclosed herein can be implemented in various configurations without departing from the spirit thereof. Among the technical features of the embodiments, examples, and modifications described above, those corresponding to the technical features of each form described in the Summary of the Invention section may be substituted and combined in order to solve some or all of the above-described problems or to achieve some or all of the above-described effects. Can It is possible. Furthermore, technical features not described as essential in this specification may be omitted as necessary.

[0050] The workpiece 90 may be an object to be assembled. The workpiece 90 may also be an object to be transported. The chuck base 120 may be equipped with a clamp-type workpiece holder in addition to, or instead of, the suction pad 130. The clamp-type workpiece holder may be a toggle clamp type. The clamp-type workpiece holder may be a double-opening clamp type. [Explanation of Symbols]

[0051] 20…Robot arm 70…Sheet metal processing equipment 90...Work 100... Robot Hand 110...Base 112...Base plate 116…Positioning member 120... Chuck base 122...2-axis joint 126…Positioning member 130... Adhesive pads 150... Corrugated hose 300... Robot joint 305...Shaft member 305c...First cylindrical outer part 311...First bearing member 311c...Second cylindrical outer part 311e...End face 311g...semi-circular groove 311p... Gasket 312...First bearing member 312c...Second cylindrical outer part 312e...End face 312g...semi-circular groove 321...Second bearing member 321c...Third cylindrical outer part 321c... Semi-cylindrical outer diameter portion (cylindrical outer shape portion) 321n... Notch 321t...Cylindrical section 322...Second bearing member 322c... Semi-cylindrical outer diameter portion (cylindrical outer shape portion) 322n... Notch 322t…Cylindrical section 325... Pressure chamber 326... Pressurized port 331...Third bearing member 331b…Fixed surface 331h…Through hole 332...Third bearing member 332b…Fixed surface 332h…Through hole 510... Adsorption control Department 5 20…Pressure Chamber Control Unit 530...Recovery Control Unit AX1...First axis AX2...Second axis AX3... Third axis LM…Linear motion RM1…Rotational motion RM2…Rotational motion RM3…Rotational motion

Claims

1. It is a robot joint, A shaft member having a first cylindrical outer shape extending along a first axis, A pair of first bearing members each having a second cylindrical outer shape extending along a second axis perpendicular to the first axis, the first bearing members fitting into the first cylindrical outer shapes and clamping the shaft member so that the shaft member can move linearly along the first axis and rotate around the first axis, A pair of second bearing members each have semi-cylindrical outer diameter portions that face each other and form a pair of third cylindrical outer portions that intersect the first axis and extend along a third axis perpendicular to the second axis, and the pair of second bearing members are fitted into the second cylindrical outer portions to sandwich the pair of first bearing members so that the pair of first bearing members can rotate around the second axis, A pair of third bearing members that fit into the pair of third cylindrical outer shapes so that the pair of second bearing members can rotate around the third axis, Equipped with, One of the pair of second bearing members is A pressure chamber is formed between the end face of the second cylindrical outer portion of one of the pair of first bearing members that fit together with the other, A pressure port that receives a supply of compressed air for controlling the pressurization of the pressure chamber, It has, In response to the increase in the force that clamps the shaft member between the pair of first bearing members due to the rise in internal pressure in the pressure chamber, the pair of first bearing members suppress the linear motion of the shaft member along the first axis and the rotational motion of the shaft member about the first axis. In response to the increase in the force pressing the pair of first bearing members against the other second bearing member of the pair, which is different from the first second bearing member, due to the rise in internal pressure in the pressure chamber, the pair of second bearing members suppress the rotational motion of the pair of first bearing members around the second axis. A robot joint wherein, in response to an increase in the force separating the pair of second bearing members due to an increase in the internal pressure in the pressure chamber, the pair of third bearing members suppress the rotational motion of the pair of second bearing members about the third axis.

2. A robot hand comprising the robot joint described in claim 1.

3. It is a robotic hand, Three or more robot joints as described in claim 1, Each of the pair of third bearing members in the three or more robot joints is provided with a base portion in which the members are arranged at equal intervals on the circumference, Each of the three or more robot joints has a chuck base portion in which the tips of the shaft members are connected at equal intervals around the circumference via two-axis joints, A workpiece holding portion is provided on the chuck base portion and is configured to hold the workpiece in a detachable manner, A pressure chamber control unit that controls the pressurization of the pressure chamber and A robotic hand equipped with a robotic hand.

4. A robot hand according to claim 3, The aforementioned workpiece is a metal sheet that is the subject of sheet metal processing. While the workpiece is deformed by the sheet metal processing, the pressure chamber control unit controls the pressurization of the pressure chamber so that each of the three or more robot joints can move freely, while the workpiece is held in place by the workpiece holding unit.

5. A robot hand according to claim 4, After the completion of the sheet metal processing, while the workpiece is being moved away from the processing position, the pressure chamber control unit controls the pressure in the pressure chamber to suppress the movement of each of the three or more robot joints, thereby controlling the pressure in the robot hand.

6. A robot hand according to claim 4, After the workpiece is moved away from the processing position, and while the workpiece is held in place by the workpiece holding portion, the pressure chamber control unit controls the pressure in the pressure chamber so that each of the three or more robot joints can move freely, while the chuck base portion is returned to its initial position, the robot hand.

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