Actuator attachment structure and robot hand

Abstract

An actuator attachment structure 19 includes: a plurality of fluid pressure actuators 20 each having an actuator body part 22 which is deformed by being curved due to pressure by a fluid supplied to the inside, and an attachment part 32 in which a flow passage R for supplying the fluid from one end in the longitudinal direction of the actuator body part 22 to the inside of the actuator body part 22 is formed; and a housing 40 which has an internal space into which the fluid is supplied, which has on the outer surface a plurality of attached parts 60 each corresponding to the attachment part 32 of each fluid pressure actuator 20, and in which the flow passage R is connected to the space by attaching the attachment part 32 to the attached part 60.

Description

Actuator mounting structure and robot hand

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

[0002] Japanese Patent Application Laid-Open Publication No. 2023-131052 discloses a robot hand that includes a fluid pressure actuator that is variable in a direction perpendicular to the axial direction, and a mounting base to which the fluid pressure actuator is attached, and in a state where no fluid pressure is applied, the fluid pressure actuator is fixed to the mounting base at an inclination outward in the curvature direction of the fluid pressure actuator.

[0003] In the configuration described in JP 2023-131052 A, there is a possibility that the timing at which the fluid pressure actuators attached to the robot hand deform may differ from one another.

[0004] The present disclosure aims to provide an actuator mounting structure and a robot hand that make it easy to synchronize the deformation times of multiple fluid pressure actuators.

[0005] The actuator mounting structure of a first aspect comprises a plurality of fluid pressure actuators, each having a main body portion that bends and deforms due to the pressure of fluid supplied therein, and an attachment portion in which a first flow path is formed that supplies fluid from one longitudinal end of the main body portion into the interior of the main body portion, and a housing that has a space inside to which fluid is supplied and has a plurality of attachment receiving portions on its outer surface that correspond to the attachment receiving portions of the fluid pressure actuators, and the first flow path is connected to the space by attaching the attachment receiving portions.

[0006] In this actuator mounting structure, the mounting portion of the fluid pressure actuator is attached to the mounting base, thereby connecting the first flow path and the space for supplying fluid. The housing also has mounting bases on its outer surface to which the multiple fluid pressure actuators are attached. This allows the fluid to be distributed across the space and supplied to the multiple fluid pressure actuators, making it easier for the multiple fluid pressure actuators to deform at the same time.

[0007] The actuator mounting structure of the second aspect is the actuator mounting structure described in the first aspect, wherein the mounting portion of the fluid pressure actuator is fixed to the mounted portion by a mounting fixture having a second flow path formed therein that connects the first flow path and the space.

[0008] In the actuator mounting structure of this aspect, a mounting fixture having a second flow path formed therein is used, and therefore, when the mounting portion is attached to the mounting base using the mounting fixture, the first flow path and the space are connected via the second flow path. As a result, with the actuator mounting structure of this aspect, the number of types of parts required can be reduced compared to when the first flow path and the space are connected by parts other than the mounting fixture.

[0009] An actuator mounting structure of a third aspect is the actuator mounting structure according to the first or second aspect, wherein the plurality of mounting portions are all equidistant from the center of the space.

[0010] In this actuator mounting structure, the multiple mounting portions are all equidistant from the center of the space, which makes it easier to uniform the pressure of the fluid supplied from the space to each fluid-pressure actuator. As a result, with this actuator mounting structure, the multiple fluid-pressure actuators are more likely to deform at the same time than when the multiple mounting portions are all at different distances from the center of the space.

[0011] The actuator mounting structure of the fourth aspect is the actuator mounting structure described in the third aspect, wherein the housing has a central portion and a plurality of protruding portions protruding radially from the central portion, and the mounting portions are each formed on the protruding portions.

[0012] In this actuator mounting structure, the volume of the central portion of the housing can be reduced because the multiple mounting portions are formed on the protruding portion, which allows the overall size of the housing to be reduced compared to a housing that does not have protruding portions.

[0013] The actuator mounting structure of the fifth aspect is the actuator mounting structure described in the fourth aspect, wherein the free ends opposite the one end of each of the plurality of fluid pressure actuators are arranged facing each other, and each of the mounting portions is inclined so as to move away from each other toward the free end side.

[0014] In this actuator mounting structure, the mounting portions are inclined so that they move away from each other toward the free ends of the fluid pressure actuators, so the distance between the free ends of the fluid pressure actuators is greater than the distance between the free ends. As a result, this actuator mounting structure allows the size of an object that can be gripped by the multiple fluid pressure actuators to be larger than when the mounting portions are not inclined so that they move away from each other toward the free ends.

[0015] A robot hand of a sixth aspect includes the actuator mounting structure according to any one of the first to fifth aspects, and a supply unit that supplies fluid to the space of the fluid pressure actuator.

[0016] According to the robot hand of this aspect, it is possible to obtain a robot hand in which the deformation times of the plurality of fluid pressure actuators can be easily synchronized.

[0017] According to the present disclosure, an actuator mounting structure and a robot hand are provided that make it easy to synchronize the deformation times of multiple fluid pressure actuators.

[0018] FIG. 1 is a diagram illustrating an example of the configuration of a transport robot according to an embodiment. FIG. 1 is a plan view of a fluid pressure actuator included in a transport robot according to an embodiment. FIG. 2 is a cross-sectional view illustrating the operation of a fluid pressure actuator included in a transport robot according to an embodiment. FIG. 3 is a plan view of a first housing included in a robot hand of a transport robot according to an embodiment. FIG. 4 is a front cross-sectional view of a first housing included in a robot hand of a transport robot according to an embodiment, as viewed from line 5A-5A in FIG. 4. FIG. 5 is a plan view of a second housing included in a robot hand of a transport robot according to an embodiment. FIG. 6 is a front cross-sectional view of a second housing included in a robot hand of a transport robot according to an embodiment, as viewed from line 7A-7A in FIG. 6. FIG. 7 is a component diagram of a fixture for attaching a fluid pressure actuator to a housing according to an embodiment. FIG. 8 is a front view of a robot hand according to an embodiment.

[0019] Hereinafter, embodiments for realizing the technology of the present disclosure will be described in detail with reference to the drawings.

[0020] In addition, components and processes that perform the same actions and functions are given the same reference numerals throughout the drawings, and duplicated explanations may be omitted as appropriate. Furthermore, the present disclosure is not limited to the following embodiments, and can be implemented with appropriate modifications within the scope of the purpose of the present disclosure.

[0021] Note that the "X+ direction" and "X- direction" in each drawing are examples of the axial direction and longitudinal direction of the fluid pressure actuator. Also, the "Z+ direction" and "Z- direction" in each drawing are examples of the direction in which the fluid pressure actuator curves. Also, the "Y+ direction" and "Y- direction" in each drawing are examples of the width direction of the fluid pressure actuator.

[0022] Note that the "arrow U+ direction" and "arrow U- direction" in each drawing are horizontal directions in the transport robot and are an example of the left-right direction. Also, the "arrow V+ direction" and "arrow V- direction" in each drawing are horizontal directions in the transport robot and are an example of the front-to-back direction. Also, the "arrow W+ direction" in each drawing is an example of the upward direction in the transport robot, and the "arrow W- direction" is an example of the downward direction in the transport robot.

[0023] In the following description, "one side" refers to the "+" side of the arrows U, V, W, X, Y, and Z, and "the other side" refers to the "-" side of the arrows U, V, W, X, Y, and Z. In other words, when the left-right direction U, the front-rear direction V, the up-down direction W, the axial direction X, the width direction Y, and the alignment direction Z are described without adding "one side" or "the other side," it may refer to both the "+" side and the "-" side.

[0024] <Configuration> FIG. 1 shows an example of a transfer robot 10 using a robot hand 19 according to this embodiment.

[0025] As shown in FIG. 1 , the transport robot 10 includes a rotatable base 12, a support 14, an extendable arm 16, and a robot hand 19 serving as a hand (also referred to as a gripper). In this transport robot 10, the arm 16 extends and retracts, causing the robot hand 19 to approach or move away from an object to be grasped. The arm 16 extends and grips the object with multiple fluid pressure actuators 20 of the robot hand 19, and the arm 16 is retracted in this state to lift the object. The base 12 is then rotated, and the object is lowered to another location. In this way, the transport robot 10 can be used to transport an object to be grasped.

[0026] The robot hand 19 includes a supply unit 17 and an actuator mounting structure 18. The actuator mounting structure 18 also includes a plurality of fluid pressure actuators 20 and a housing 40 to which the fluid pressure actuators 20 are attached.

[0027] As will be described later, the supply unit 17 is a component that supplies compressed air to the internal space 42 inside the housing 40, and is, for example, a hose to which compressed air is supplied from the inside of the support unit 14 and the arm unit 16. The supply unit 17 is controlled by a control unit (not shown) to start and stop supplying compressed air.

[0028] (Fluid Pressure Actuator 20) Fig. 2 shows a fluid pressure actuator 20 according to one embodiment of the present disclosure. The fluid pressure actuator 20 includes an actuator body 22, a first sealing member 30A, and a second sealing member 30B.

[0029] As also shown in FIG. 2, the actuator body 22 includes a tube 24, a sleeve 26, a restraining member 28, a locking ring 34, and a crimping member 36.

[0030] The tube 24 is a cylindrical member that can expand and contract due to elastic deformation, and expands and contracts according to pressure changes of the fluid inside. Note that, when the fluid pressure actuator 20 is in an assembled state, the longitudinal direction of the tube 24 coincides with the axial direction X.

[0031] The tube 24 can be made of an elastic material such as butyl rubber. Air can be used as the fluid supplied to the tube 24, in which case the fluid pressure actuator 20 becomes a pneumatic actuator. If the fluid pressure actuator 20 is hydraulically driven, it is preferable to use at least one material selected from the group consisting of highly oil-resistant NBR (nitrile rubber), hydrogenated NBR, chloroprene rubber, and epichlorohydrin rubber.

[0032] The sleeve 26 is a cylindrical member that covers the outer periphery of the tube 24. The sleeve 26 is an elastic structure made by weaving fiber cords oriented in a predetermined direction, and the oriented cords intersect at a predetermined angle θ with respect to the axial direction X. By having such a shape, the sleeve 26 undergoes pantograph deformation that changes the angle θ, and follows the contraction and expansion of the tube 24 while regulating this contraction and expansion.

[0033] It is preferable to use fiber cords made of aromatic polyamide (aramid fiber) or polyethylene terephthalate (PET) as the cords constituting the sleeve 26. However, the cords are not limited to these types of fiber cords, and other high-strength fiber cords such as PBO fiber (polyparaphenylene benzobisoxazole) may also be used.

[0034] The restraint member 28 is in the form of a long plate, and is arranged so that its longitudinal direction is along the axial direction X of the tube 24, and is arranged from one end of the tube 24 to the other end while contacting part of the outer periphery of the tube 24.

[0035] The restraining member 28 is formed of a material that does not expand or contract when pressurized, and is capable of flexural deformation in the direction in which its ends approach each other. A so-called leaf spring can be used as the restraining member 28. The dimensions of the leaf spring are determined according to the size of the fluid pressure actuator 20, the required gripping force, and other factors. The material of the leaf spring is not particularly limited, but typically, any material that is easily flexurally deformed and resistant to compression, such as a metal such as stainless steel, may be used. Alternatively, the leaf spring may be formed of a thin plate of carbon fiber reinforced plastic (CFRP).

[0036] The locking ring 34 is a ring-shaped member that is disposed on the outside of the sleeve 26 so as to sandwich the sleeve 26 between itself and a locking portion 38 (described later), and locks the sleeve 26 to the attachment portion 32. As a result, the sleeve 26 is folded back to the outer periphery via the locking ring 34. Note that the locking ring 34 may be made of a material such as metal, hard plastic, fiber, or rubber.

[0037] The crimping member 36 is crimped to cover the outer periphery of the actuator body 22, at the portions where an insertion portion 33A of a first sealing member 30A and an insertion portion 33B of a second sealing member 30B (described later) are inserted. This fixes the actuator body 22 to the first sealing member 30A or the second sealing member 30B (described later). The crimping member 36 can be made of a metal such as aluminum alloy, brass, or iron.

[0038] The first sealing member 30A has an attachment portion 32, a locking portion 38, a large diameter portion 39, and an insertion portion 33A. In the following description, the side on which the actuator main body 22 is located as viewed from the first sealing member 30A and the second sealing member 30B may be referred to as the inside in the axial direction X.

[0039] The mounting portion 32 has a diameter larger than the outer diameter of the tube 24, and a locking portion 38, a large diameter portion 39, and an insertion portion 33A are formed to extend in the axial direction X from one end side of the mounting portion 32.

[0040] 3, a female thread 76 is formed at one end side (upper side in FIG. 3) of the attachment portion 32 in the axial direction X. The attachment portion 32 also has a flow path R that passes through a radial center portion and communicates with the other end side (lower side in FIG. 3) of the insertion portion 33A in the axial direction X. A mounting fixture 44, which will be described later, is connected to the female thread 76, and compressed air is supplied to the flow path R. In other words, the flow path R is an example of a "first flow path" in this embodiment.

[0041] The locking portion 38 is a portion that extends from the inner surface of the mounting portion 32 in the axial direction X toward the other side in the axial direction X, and has a smaller diameter than the mounting portion 32, as shown in Fig. 3. The length of the locking portion 38 in the axial direction X is set appropriately in accordance with the shape of the locking ring 34 described above.

[0042] The large diameter portion 39 is a portion that extends from the surface on the other end side of the locking portion 38 toward the other side in the axial direction X, and has a larger diameter than the locking portion 38, as shown in Fig. 3. The length of the large diameter portion 39 in the axial direction X is set appropriately in accordance with the shape of the above-mentioned crimping member 36.

[0043] As shown in FIG. 3, the insertion portion 33A has a plurality of tapered portions that are connected in the axial direction X and that taper inward in the axial direction X, and is inserted into one end of the tube 24.

[0044] The first sealing member 30A is preferably made of a metal such as stainless steel, but is not limited to such a metal and may be made of a hard plastic material or the like.

[0045] The second sealing member 30B, which is provided at the other end (the right side in FIG. 2 ) in the axial direction X of the fluid pressure actuator 20, has a locking portion 38, a large diameter portion 39, and an insertion portion 33B. The second sealing member 30B is similar to the first sealing member 30A except that, unlike the first sealing member 30A, the flow path R is not formed in the insertion portion 33B and the tip end is rounded.

[0046] Next, the assembly procedure for the fluid pressure actuator 20 in this embodiment will be described.

[0047] <Assembly of the Fluid Pressure Actuator 20> First, the insertion portion 33A of the first sealing member 30A is inserted into the tube 24 until one end abuts against the large diameter portion 39. The restraining member 28 is also aligned with the insertion portion 33A and is placed along the tube 24.

[0048] Next, the sleeve 26 is hung up to the tube 24 and the locking portion 38 of the first sealing member 30A, covering the outer surface of the restraining member 28, and the locking ring 34 is attached from the radial outside of the sleeve 26 at the position of the locking portion 38, thereby locking the sleeve 26 to the locking portion 38.

[0049] Next, the sleeve 26 is folded back up to the insertion portion 33A of the first sealing member 30A so that the locking ring 34 is on the inside, and the crimping member 36 is arranged from the radial outside of the sleeve 26 to span the insertion portion 33A and the locking portion 38, and is then crimped using a crimping machine (not shown). As a result, the tube 24, the restraining member 28, and the sleeve 26 are fixed to the first sealing member 30A at one end of the actuator body 22 in the axial direction X.

[0050] The above procedure is similarly carried out for the second sealing member 30B, and as shown in Figure 3, the tube 24, the restraint member 28, and the sleeve 26 are fixed to the second sealing member 30B at the other end of the actuator body 22 in the axial direction X.

[0051] <Operation of the fluid pressure actuator 20> As shown in Figure 3, the fluid pressure actuator 20 is used with the first sealing member 30A fixed to a fixed part (not shown) such as the actuator mounting structure 18, and the second sealing member 30B being a free end.

[0052] First, when compressed air is introduced into the flow path of the first sealing member 30A, the pressure increases within the tube 24 of the actuator main body 22. The tube 24 elastically deforms and expands due to the increase in internal pressure, causing the sleeve 26 to deform like a pantograph so as to increase the angle θ, and a force acts on the actuator main body 22 in a direction that shortens its length.

[0053] At this time, because the contraction is restricted by the constraint member 28, the outer peripheral wall of the actuator body 22 contracts on the side opposite to the constraint member 28 when viewed from the axial direction X (the left side in FIG. 3 ). This causes the constraint member 28 to flex and deform, and the entire actuator body 22 curves toward the left side of the drawing, as indicated by the two-dot chain line in FIG. 3 . In other words, the actuator body 22 is an example of a "body" in this embodiment.

[0054] 1, the transfer robot 10 in this embodiment has a plurality of fluid pressure actuators 20 attached to a housing 40. The housing 40 and the actuator attachment structure 18 will be described with reference to FIGS.

[0055] (Housing 40) As shown in FIG. 1, the housing 40 is divided into a first housing 70 and a second housing 50.

[0056] 4 and 5 , the first housing 70 has a disk portion 72 that extends circularly in the horizontal direction (left-right direction U and front-rear direction V), a total of four protrusions 78 that protrude from the disk portion 72 in each of the left-right direction U and the front-rear direction V, and a side wall 82. In other words, the protrusions 78 protrude in all four directions from the disk portion 72 in a plan view.

[0057] The disk portion 72 has a total of four convex portions 74 that protrude upward (toward the arrow W+) and are concentrically arranged from a center C1 when viewed from the vertical direction W. Each convex portion 74 has a female screw 76 formed at its center when viewed from the vertical direction W. The size of the protrusions 74 (size in the vertical direction W) is smaller than the height of the side wall 82, as shown in FIG. 5 .

[0058] As shown in Figures 4 and 5, the protrusions 78 have the same thickness as the disk portion 72. Furthermore, the widths of the protrusions 78 (the lengths in the direction in which each protrusion 78 protrudes and in the direction perpendicular to the up-down direction W) are, for example, equal to the protrusion length L1 of the protrusions 78 protruding from the disk portion 72. In other words, the protrusions 78 have the same width and protrusion length. As shown in Figure 4, the tip end side of the protrusion 78 (the side farther from the center C1 of the disk portion 72) when viewed from the up-down direction W is rounded into an R-shape with a radius half that of the protrusion 78.

[0059] As shown in Fig. 4, the side wall 82 is formed so as to surround the periphery of the circular plate portion 72 and the protruding portion 78 and to rise in the up-down direction W. In other words, the circular plate portion 72, the protruding portion 78, and the side wall 82 form the first housing 70 as a whole into a container shape. The side wall 82 also has a supply hole 80 at a location surrounding the circular plate portion 72. A supply unit 17, which is a hose, is attached to the supply hole 80 (see also Fig. 1), and compressed air flows into the inside of the side wall 82 through the supply hole 80.

[0060] 4 and 5, the side wall 82 has a groove 84 on its lower surface (the surface on the side indicated by the arrow W-). A gasket 86 is fitted into this groove 84, and when the second housing 50 and the first housing 70 are stacked together as described below, the gap between the second housing 50 and the side wall 82 is filled (see also FIG. 9).

[0061] As shown in FIGS. 6 and 7 , the second housing 50 has a disk portion 52 that extends circularly in the horizontal direction (left-right direction U and front-rear direction V), and a total of four protrusions 58 that protrude from the disk portion 52 in each of the left-right direction U and front-rear direction V. In other words, the protrusions 58 protrude in all four directions from the disk portion 52 in a plan view.

[0062] The disk portion 52 has a total of four recesses 54 that are recessed downward (toward the arrow W-) and arranged concentrically from the center C2 when viewed from the vertical direction W. Furthermore, each recess 54 has a through-hole 56 formed at its center when viewed from the vertical direction W. The positions of the recesses 54 in the disk portion 52 of the second housing 50 correspond to the positions of the protrusions 74 in the disk portion 52 of the first housing 70. Furthermore, the diameter of the disk portion 52 of the second housing 50 is set to be equal to the diameter of the disk portion 72 of the first housing 70.

[0063] The width of the protruding portions 58 of the second housing 50 (the length in the direction in which each protruding portion 58 protrudes and in the direction perpendicular to the up-down direction W) and the protruding length L2 of the protruding portions 58 protruding from the disc portion 52 are set to be equal to the width and length of the protruding portions 78 of the first housing 70. In addition, as shown in Fig. 4 , the tip side of the protruding portion 78, as viewed from the up-down direction W, is rounded into an R-shape with a radius that is half that of the protruding portion 78.

[0064] That is, when viewed from the up-down direction W, the outlines of the first housing 70 and the second housing 50 match.

[0065] 7, the lower surface (surface on the arrow W- side) of the protruding portion 58 of the second housing 50 has an inclined surface 66 that slopes in a direction away from the center C2 (left-right direction U or front-back direction V), and an attachment portion 60. Also, as shown in FIG. 7, the protruding portion 58 of the second housing 50 has a countersunk hole 68 on its upper surface (surface on the arrow W+ side, the surface opposite to the attachment portion 60).

[0066] As described below, the mounting portion 60 is a portion to which the mounting portion 32 of the fluid pressure actuator 20 is attached. As shown in FIGS. 6 and 7 , the mounting portion 60 has a recess 62 recessed in a direction perpendicular to the inclined surface 66 and a through-hole 64 penetrating the recess 62 at the center thereof toward the opposite side of the inclined surface 66. In other words, because the mounting portions 60 are formed in a direction perpendicular to the inclined surface 66, the central axes of the mounting portions 60 are inclined so as to move away from each other. In other words, when the fluid pressure actuator 20 is attached, the mounting portions 60 are inclined so as to move away from each other toward the second sealing member 30B, as described below. The diameter of the recess 62 in the mounting portion 60 is slightly larger than the diameter of the mounting portion 32 of the fluid pressure actuator 20. The diameter of the through-hole 64 is larger than the nominal diameter of the female thread 76 of the mounting portion 32.

[0067] 7, the countersunk hole 68 is a recess in the inclined surface 66 that is recessed in a direction perpendicular to the inclination direction of the inclined surface 66, and is the portion where the through hole 56 of the mounting portion 60 opens. The diameter of the countersunk hole 68 is larger than the diameter of the head of the mounting fixture 44, which will be described later.

[0068] 8 is a view showing the mounting fixture 44 for mounting the fluid pressure actuator 20 to the mounting portion 60 in the actuator mounting structure 18 of this embodiment. The mounting fixture 44 in this embodiment is a hexagon socket head bolt having a head 44H into which a hexagon wrench can be inserted, a male threaded portion 44S having a smaller diameter than the head 44H and extending from the head 44H, and a through-hole 44T that passes through the head 44H and the male threaded portion 44S. The nominal diameter of the male threaded portion 44S of the mounting fixture 44 matches the nominal diameter of the female thread 76 of the mounting portion 32.

[0069] Next, the assembly procedure for the actuator mounting structure 18 and the robot hand 19 in this embodiment will be described with reference to FIG.

[0070] <Assembly procedure for actuator mounting structure 18 and robot hand 19> First, in the assembly procedure for the actuator mounting structure 18 in this embodiment, the fluid pressure actuator 20 is attached to the mounting portion 60 of the second housing 50 using the mounting fixture 44 as shown in Figure 9.

[0071] Here, in the actuator mounting structure 18 of this embodiment, as described above, the recess 62 and the through-hole 56 in the mounting portion 60 are inclined with respect to the up-down direction W. Therefore, in the actuator mounting structure 18 of this embodiment, as shown in Figure 9, the fluid pressure actuator 20 is fixed in a state where the mounting portion 32 is inclined with respect to the up-down direction W.

[0072] Next, in the assembly procedure for the actuator mounting structure 18 in this embodiment, the second housing 50 and the first housing 70 are overlapped and fixed together. More specifically, as shown in Fig. 9 , the male thread of the mounting fixture 90 inserted into the recess 54 of the second housing 50 passes through the through-hole 56 of the second housing 50 and threads into the female thread 76 of the protrusion 74 of the first housing 70, thereby overlapping the second housing 50 and the first housing 70 together.

[0073] As shown in FIG. 9 , when the second housing 50 and the first housing 70 are stacked and fixed together, an internal space 42 is formed by the second housing 50 and the first housing 70. As described above, compressed air is supplied to the internal space 42 through the supply holes 80 in the sidewall 82 of the first housing 70 shown in FIG. 4 . That is, the internal space 42 is an example of a "space to which a fluid is supplied" in this embodiment. Also, as shown in FIG. 9 , the portion where the disc portion 52 of the second housing 50 and the disc portion 72 of the first housing 70 face each other is an example of a "center portion" in this embodiment. Also, as shown in FIG. 9 , the portion where the protruding portion 58 of the second housing 50 and the protruding portion 78 of the first housing 70 face each other protrudes radially from the center portion.

[0074] 9, the flow path R of the mounting portion 32 of the fluid pressure actuator 20 is connected to the countersunk hole 68 of the second housing 50 via the through hole 44T of the mounting fixture 44. In other words, the through hole 44T of the mounting fixture 44 is an example of the "second flow path" in this embodiment.

[0075] 9, the mounting portions 60 of the second housing 50 are all equidistant from the center of the internal space 42. The mounting portions 60 are inclined such that the second sealing member 30B side of the fluid pressure actuator 20 is away from the center of the internal space 42. In other words, the first sealing member 30A side of the fluid pressure actuator 20 is an example of a "single end" in this embodiment, and the second sealing member 30B side is an example of a "free end" in this embodiment.

[0076] 1, with the actuator mounting structure 18 attached to the tip of the arm portion 16, the supply portion 17 is attached to the supply hole 80. In this way, the actuator mounting structure 18 functions as a robot hand 19 at the tip of the arm portion 16.

[0077] Next, the operation and effects of this embodiment will be described.

[0078] (Operations and Effects) In the actuator mounting structure 18 of this embodiment, the mounting portion 32 of the fluid pressure actuator 20 is attached to the mounting base 60, thereby connecting the flow path R and the internal space 42 that supplies the fluid. In addition, the mounting base 60, to which the multiple fluid pressure actuators 20 are attached, is provided on the outer surface of the housing 40. As a result, with the actuator mounting structure 18 of this embodiment, the fluid is distributed and supplied to the multiple fluid pressure actuators 20 in the internal space 42, which makes it easier for the multiple fluid pressure actuators 20 to deform at the same time.

[0079] Furthermore, the actuator mounting structure 18 in this embodiment uses the mounting fixture 44 having the through-hole 44T formed therein, and therefore, when the mounting portion 32 is attached to the mounting base 60 using the mounting fixture 44, the flow path R and the internal space 42 are connected via the through-hole 44T. As a result, with the actuator mounting structure 18 in this embodiment, the number of types of parts can be reduced compared to when the flow path R and the internal space 42 are connected by parts other than the mounting fixture 44.

[0080] Furthermore, in the actuator mounting structure 18 of this embodiment, the multiple mounting portions 60 are all equidistant from the center of the internal space 42, which makes it easier to uniform the pressure of the fluid supplied from the internal space 42 to each of the fluid pressure actuators 20. As a result, with the actuator mounting structure 18 of this embodiment, the multiple fluid pressure actuators 20 are more likely to deform at the same time compared to when the multiple mounting portions 60 are all at different distances from the center of the internal space 42.

[0081] Furthermore, in the actuator mounting structure 18 of this embodiment, the multiple mounting portions 60 are formed on the protruding portion 58 that protrudes from the disc portion 52. Therefore, when the outer diameters of the disc portions 52 and 72 are equal to that of the housing 40, in other words, compared to when the housing 40 does not have the protruding portions 58 and 78, the overall size of the housing 40 can be made smaller.

[0082] Furthermore, in the actuator mounting structure 18 of this embodiment, the mounting portions 60 are inclined so that they move apart toward the second sealing member 30B of the fluid pressure actuator 20, so the distance between the second sealing members 30B is wider than the distance between the first sealing members 30A. In other words, the fluid pressure actuator 20 according to this embodiment extends downward while expanding horizontally. As a result, the actuator mounting structure 18 of this embodiment can grip larger objects compared to when the mounting portions 60 are not inclined so that they move apart toward the second sealing member 30B of the fluid pressure actuator 20.

[0083] Furthermore, the robot hand 19 in this embodiment makes it easy to synchronize the times at which the multiple fluid pressure actuators 20 deform.

[0084] [Modification] In the above description, the mounting portion 60 is inclined so as to move away from the second sealing member 30B of the fluid pressure actuator 20, but the actuator mounting structure 18 in this embodiment is not limited to this. For example, the protruding portion 58 of the second housing 50 may not have the inclined surface 66, and the mounting portion 60 may be formed without being inclined relative to the disk portion 52 (along the up-down direction W).

[0085] In the above description, the mounting portion 60 is formed on the protruding portion 58 protruding from the disk portion 52, but the actuator mounting structure 18 in this embodiment is not limited to this. For example, the housing 40 may not have the protruding portion 58 of the first housing 70 and the protruding portion 58 of the second housing 50, and the mounting portion 60 may be formed on the disk portion 52.

[0086] In the above description, the mounting portions 60 are formed equidistant from the center of the internal space 42, but the actuator mounting structure 18 in this embodiment is not limited to this. For example, the mounting portions 60 do not have to be equidistant from the center of the internal space 42 as long as they are formed on the outer surface of the second housing 50.

[0087] Furthermore, in the above description, the fluid pressure actuator 20 is attached to the attachment portion 60 using the attachment fixture 44 having the through-hole 44T, but the actuator attachment structure 18 in this embodiment is not limited to this. For example, the outer periphery of the attachment portion 32 of the fluid pressure actuator 20 may be male threaded, and the attachment portion 60 may be female threaded 76, so that the fluid pressure actuator 20 can be attached without using any other member.

[0088] Furthermore, in the above description, there are four fluid pressure actuators 20 and four mounting portions 60, but the actuator mounting structure 18 in this embodiment is not limited to this. For example, the number of fluid pressure actuators 20 may be set appropriately depending on the specifications of the actuator mounting structure 18. Furthermore, the number of protruding portions 58 of the second housing 50, the number of protruding portions 58 of the first housing 70, and the number of mounting portions 60 may be greater than the number of fluid pressure actuators 20.

[0089] Furthermore, in the above description, the first housing 70 has the sidewall 82, but the actuator mounting structure 18 in this embodiment is not limited to this. For example, as long as the internal space 42 is formed so that the mounting portion 60 and the supply hole 80 are connected when the second housing 50 and the first housing 70 are overlapped and fixed together, the second housing 50 may have a structure equivalent to the sidewall 82.

[0090] In these modified examples, if they have the same configuration as this embodiment, the same functions and effects as this embodiment can be obtained.

[0091] The above describes an embodiment of the present disclosure with reference to the accompanying drawings. However, it is clear that a person with ordinary knowledge in the field of technology to which the present disclosure pertains can conceive of various modifications or applications within the scope of the technical ideas set forth in the claims, and it is understood that these also naturally fall within the technical scope of the present disclosure.

[0092] The disclosure of Japanese Patent Application No. 2023-208783, filed on December 11, 2023, is incorporated herein by reference in its entirety. All documents, patent applications, and technical standards described herein are incorporated herein by reference to the same extent as if each individual document, patent application, and technical standard was specifically and individually indicated to be incorporated by reference.

Claims

1. An actuator mounting structure comprising: a plurality of fluid pressure actuators each having a main body portion that is curved and deformed by the pressure of fluid supplied therein, and an attachment portion having a first flow path formed therein, which supplies fluid from one longitudinal end of the main body portion into the interior of the main body portion; and a housing having a space therein through which fluid is supplied, and having a plurality of attachment receiving portions on its outer surface that correspond to the attachment portions of the fluid pressure actuators, the attachment portions being attached to the attachment receiving portions so that the first flow path is connected to the space.

2. The actuator mounting structure according to claim 1, wherein the mounting portion of the fluid pressure actuator is fixed to the mounted portion by a mounting fixture having a second flow path that connects the first flow path and the space.

3. The actuator mounting structure according to claim 1, wherein the multiple mounting portions are all equidistant from the center of the space.

4. The actuator mounting structure according to claim 3, wherein the housing has a central portion and a plurality of protruding portions protruding radially from the central portion, and the mounting portions are formed on the respective protruding portions.

5. An actuator mounting structure as set forth in claim 4, wherein the free ends opposite the one end of each of the plurality of fluid pressure actuators are arranged facing each other, and the respective mounting portions are inclined away from each other toward the free ends.

6. A robot hand comprising: an actuator mounting structure according to any one of claims 1 to 5; and a supply unit that supplies fluid to the space of the fluid pressure actuator.

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