九、發明說明： 【發明所屬之技術領域】 本發明係關於一種機器人，尤其係關於一種可易於向分 別獨立轉動之兩個手爪供給手爪控制系統線、且可使兩個 手爪以較大之相對角度而轉動之機器人。 【先前技術】 圖6係在臂前端之轉動關節部U〇上設置有兩個手爪 102、103之先前機器人1〇〇之一例，其表示作為手爪控制 系統線例如具有氣管之機器人之一例的局部放大囷。於圖 6中，於臂101之前端設置有轉動關節部11〇,於該轉動關 節部110上，由上手爪102與下手爪103而構成之兩個手爪 以重疊之態樣而設置。兩個手爪1〇2、1〇3具有相同轉動假 想軸A，上手爪1〇2經由圓筒狀連結部件1〇6而與轉動關節 邛110所具有之滑輪104連結，下手爪103經由與上述連結 部件106相比大一圈之圓筒狀連結部件1〇7而與轉動關節部 Π0所具有之滑輪105連結。各滑輪1〇4、105例如藉由確動 皮帶或平皮帶等皮帶108、1〇9而分別獨立地轉動，各皮帶 108、109掛設於設置在臂1〇1基端側之滑輪（未圖示）上，該 滑輪藉由馬達等之動力而轉動。 於上述先前機器人100中，當兩個手爪1〇2、1〇3具有例 如對晶片進行氣動夾緊之機構，則必須向各手爪1〇2、1〇3 之前端供給空氣。因此，如圖6所示，將構成轉動關節部 110之連結部件1 〇6、1 〇7形成兩個空氣流路丨丨2、丨丨3，作 為旋轉式空氣接頭構造111。 117040.doc 1359065 【發明内容】 [發明所欲解決之問題] 如上所述，在向兩個手爪1〇2、103僅供給空氣時，並無 問題，但當欲在手爪之前端設置例如感測器等時，難以將 ’喊電纜拉伸至手爪之前端’又，即使可拉伸配線電纜， 但使上手爪！02與下手爪1()3以較大之相對角度而轉動時， 亦可能會產生配線電纜之扭曲而易於斷線等問題。 • 又，當欲向手爪前端進—步供給複數個氣管時，亦存在 下述問題，即，使用有旋轉式空氣接頭構造⑴之先前轉 動關卽部110會更大而變得複雜。 本發明係為解決上述問題創作而成，其目的在於提供一 種機器人’可易於向分別獨立轉動之兩個手爪供給手爪控 制系統線，且可使兩個手爪以較大之相對角度而轉動。 [解決問題之技術手段] 為解決上述問題，本發明之機器人之特徵在於：包括 • f、設置於該臂之-端之轉動關節部、以及第!及第2手 爪，該第1及第2手爪係兩層重疊地連結於該轉動關節部 j ’並以同—轉動假想軸為中心、分別獨立地轉動，上述轉 峻m 第1連結。P件’其具有可使手爪控制系統 綠貝通於上述第φ 中二邛，且具有將軀幹部之一部 分以殘留特定長度之圓弧之 方式切去後形成之缺口部，並 一上述第1手爪連結而使龙 /、轉動，第2連結部件，其設置 ；以第連結部件之外側， 棘& . 立/、上述第2手爪連結而使其 轉動，以及核狀部件，其 得勒自如地扠置於上述第1連結 117040.doc 1359065 部件與上述第2連結部件之間，且具有導向部件1導向 部件可使手爪控制系統線經由上述第】連結部件之中X空部 與缺口部而貫通於上述第2手爪；且貫通上述導向部:之 手爪控制系統線於上述第2手爪之框體 ^^ A 瓶η具有可跟隨上 述導向。Ρ件轉動之鬆緊度，並且保持於框體内。 ，據本發明，氣管及配線電纜等手爪控㈣统線可經由 部件之中空部而貫通於第1手爪内，並且可經由第 1連結部件之中空部、缺口部 汉等向。卩件而貫通於第2手 述可貫通於第1手爪及第2手爪之氣管及配線電窺 系統線係經由包含兩個手爪共通之轉動假想轴 弟連，纟。部件之中空部，故氣管 線電纜等手爪控制 系統線難以產生扭曲，其等具有難以斷線之優點。 Μ2發明中’上述環狀部件介隔轴承部件而轉動自如地 2於上述第1連結部件之外周面或上述第2連結部件U 周面。 =本發明’環狀部件可介隔軸承部件而轉動自如地設 =1連結部件之外周面或第2連結部件之内周面，即使 在導向部件與第1連結部件 健 . ν、有之缺口部之端面抵接 後，亦可繼續增加轉動角。 於本發明中，上述導向 , 成為向上述轉動假想軸延 伸之U子形狀，由該U字 .^ , 構成之導向部件之側面即使 會繼續轉動。ρ件所“之缺口部之端面抵接後’亦 根據本發明’由於由U字形狀構成之導向部件之側面在 117040.doc 與第1連結部件所具有之缺口部之端面抵接後亦會繼續轉 動，因此可防止因扭曲而引起之斷線等。 於本發明中，貫通於上述第2手爪内之手爪控制系統 線’由上述導向部件及形成於上述第2手爪之框體内之保 持。P所保持’並且於上述第2手爪之框體内，上述手爪控 制***線具有可跟隨上述導向部件轉動之鬆緊度。IX. INSTRUCTIONS OF THE INVENTION: TECHNICAL FIELD The present invention relates to a robot, and more particularly to a hand grip control system line that can be easily fed to two separate claws that are independently rotated, and that can be used to compare two grippers. A robot that rotates at a relative angle. [Prior Art] Fig. 6 is an example of a prior robot 1 provided with two claws 102, 103 on a rotational joint portion U 前端 at the front end of the arm, which is an example of a robot having a trachea as a grip control system line. Partial magnification 囷. In Fig. 6, a rotational joint portion 11A is provided at the front end of the arm 101, and the two claws constituted by the upper claw 102 and the lower claw 103 are disposed in an overlapping manner on the rotational joint portion 110. The two grippers 1〇2 and 1〇3 have the same rotational imaginary axis A, and the upper gripper 1〇2 is coupled to the pulley 104 of the rotary joint 110 via the cylindrical connecting member 1〇6, and the lower gripper 103 is connected to The connecting member 106 is coupled to the pulley 105 of the rotating joint portion 相比0 in comparison with the cylindrical connecting member 1〇7 that is a large circle. Each of the pulleys 1〇4, 105 is independently rotated by, for example, a belt 108 or a belt 9 such as a fixed belt or a flat belt, and the belts 108, 109 are hung on a pulley provided at the base end side of the arm 1〇1 (not In the figure, the pulley is rotated by the power of a motor or the like. In the above-described prior art robot 100, when the two grippers 1, 2, and 1 3 have a mechanism for pneumatically clamping the wafer, for example, air must be supplied to the front ends of the respective grippers 1〇2, 1〇3. Therefore, as shown in Fig. 6, the connecting members 1 〇6, 1 〇7 constituting the rotating joint portion 110 form two air flow paths 丨丨2, 丨丨3 as the rotary air joint structure 111. 117040.doc 1359065 [Problem to be Solved by the Invention] As described above, when air is supplied only to the two grippers 1, 2, 103, there is no problem, but when it is intended to be provided at the front end of the gripper, for example When the sensor is etc., it is difficult to stretch the 'short cable to the front end of the claw'. Even if the wiring cable can be stretched, the upper claw is made! When the 02 and the lower jaw 1 () 3 are rotated at a relatively large relative angle, there is a possibility that the wiring cable is twisted and the cable is easily broken. • Also, when a plurality of air pipes are to be supplied to the front end of the hand, there is also a problem that the previous turning contact portion 110 using the rotary air joint structure (1) is larger and complicated. The present invention has been made to solve the above problems, and an object thereof is to provide a robot that can easily supply a claw control system line to two claws that are independently rotated, and can make two claws at a relatively large relative angle. Turn. [Means for Solving the Problems] In order to solve the above problems, the robot of the present invention includes: f, a rotating joint portion provided at the end of the arm, and the first and second grips, the first and the second The two claws are connected to the rotating joint portion j' in two layers so as to overlap each other, and are independently rotated about the same-rotational imaginary axis, and the above-mentioned transition m is first connected. The P piece has a notch portion which can be formed by cutting the green portion of the grip control system into the second φ, and having a portion of the trunk portion cut away by a circular arc of a specific length, and the above-mentioned 1st hand is connected to the dragon/rotation, and the second connecting member is provided; the outer side of the first connecting member, the spine & the vertical/the second claw are connected and rotated, and the core member; The fork is freely disposed between the first connection 117040.doc 1359065 member and the second connecting member, and has a guide member 1 guide member to allow the grip control system line to pass through the X-shaped portion of the first coupling member And the notch portion penetrates the second hand; and the grip control system line that penetrates the guide portion has a frame body η of the second finger that can follow the guide. The tightness of the piece turns and remains in the frame. According to the present invention, the gripper control circuit of the air pipe and the distribution cable can pass through the hollow portion of the member and penetrate through the first claw, and can pass through the hollow portion or the notch portion of the first connecting member. The air pipe and the wiring electro-optical system that can pass through the first hand and the second hand are connected to each other via a rotating virtual imaginary axis that is common to both hands. Since the hollow portion of the component is such that the gripper control system line such as the gas pipe cable is less likely to be distorted, it has the advantage of being difficult to break. According to the invention of the second aspect, the annular member is rotatably disposed on the outer circumferential surface of the first coupling member or the circumferential surface of the second coupling member U via the bearing member. = "The annular member of the present invention can be rotatably provided with the bearing member interposed therebetween. =1 The outer peripheral surface of the connecting member or the inner peripheral surface of the second connecting member, even if the guide member and the first connecting member are strong. After the end faces of the parts are abutted, the angle of rotation can be continuously increased. In the present invention, the guide is a U-sub-shape extending toward the rotation imaginary axis, and the side surface of the guide member constituted by the U-shape is continuously rotated. According to the present invention, the side surface of the notch portion of the first connecting member is also contacted by the side surface of the notch portion of the first connecting member. The rotation is continued, so that the wire breakage due to the twisting or the like can be prevented. In the present invention, the grip control system line 'through the second gripper' is formed by the guide member and the frame formed on the second gripper. The inside is held. P is held 'and in the frame of the second claw, the gripper control system line has a tightness that can follow the rotation of the guide member.
根據本發明，由於貫通於第2手爪内之手爪控制系統線 由導向部件與保持部所保持，因&，氣f及配線電缓等手 爪控制系統線與導向部件之間之摩擦消失，故能夠防止可 成為斷線之要因的擦傷之產生。 [發明之效果] /根據本發明之機器人，由於氣管及配線電繞等手爪控制 ^、先線係經由包含兩個手爪共通之轉動假想軸的第1連結 件之中空部’故手爪控制系統線不易產生扭曲，因而1 等難以引起斷線。 〃According to the present invention, since the gripper control system line that passes through the second gripper is held by the guide member and the holding portion, the friction between the gripper control system line and the guide member is caused by & It disappears, so it is possible to prevent the occurrence of scratches that can be the cause of disconnection. [Effects of the Invention] According to the robot of the present invention, since the gripper is controlled by the gripper such as the air tube and the electric wiring, the first thread is passed through the hollow portion of the first joint member that includes the rotary imaginary shaft that is common to both of the grippers. The control system line is not easily distorted, so it is difficult to cause a disconnection. 〃
【實施方式】 · .........❿平放K取佳形態。再 —本發明之機器人在具有其技術特徵之範圍内，並非限 :為以下之說明及附圖。再者’所謂「手爪控制系： ' 係指用於使機器人之手爪吸附空氣以進行工件把採 Λ/t* 丁 ^ ^ S、用於驅動夾頭機構之配線電纜 '以及用於確 <上述吸附作動之感測器用之信號線等配線 爪栌备丨么^ n見入，乎 工系、，先線由具有不妨礙關節作動之程度之彈性的可# 性材質7防松、 汗庇的了撓 乙烯等）所構成。 II7040.doc 1359065 圖1係表示本發明之機器人之一例的俯視圖。圖1所示之 機器人50具備轉動關節構造1〇，該轉動關節構造具有作 為手爪控制系統線之氣管及電纜處理構造，從基座5 1側依 次連結有第1臂52、第2臂53、第3臂11、及兩個手爪12、 13。各臂經由轉動關節部54、55、56、20而連結。具備手 爪控制系統線之處理構造之轉動關節構造1 〇係相當於由圖 1中第3臂11、兩個手爪丨2、13、與連結上述二者之轉動關 節部20所構成者。再者，以下說明中’將第3臂11僅稱為 「臂11」。 圖2係表示轉動關節構造1〇之一例之剖面圖，圖3係圖2 所示之沿A-A方向之剖面圖。轉動關節構造10具有臂11、 設置於臂11之一端之轉動關節部20、以及與轉動關節部20 連結之兩個手爪12、1 3。 本發明中，對於臂11及兩個手爪12、13之構成並無特別 限定，於本發明宗旨之範圍内可採用各種形態。於圖2 中’臂11亦可在設置有轉動關節部20之側之相反側具有包 含滑輪之馬達（未圖不），但並非限定於上述形態。又，對 於臂Π之長度及形狀亦無特別限定。 又，如圖2所示，兩個手爪12、13係由上側第i手爪丨2與 下側第2手爪13構成之兩層重疊構造，但與臂丨丨之情形相 同’於本發明宗旨之範圍内可採用各種形態。例如可在設 置有轉動關節部20之側之相反側具有氣動夾頭機構、或具 有檢測是否具有夾頭之感測器、或者亦可具有其他電氣零 件’而且’對於手爪之長度與形狀亦無特別限定。 117040.doc -10· 1359065 轉動關節部20係用於連結臂n與兩個手爪12、丨3者，如 圖2所示，其包括：兩個圓筒狀連結部件（第i連結部件 Μ、第2連結部件15)，其等使兩個手爪12、13以同一轉動 假想軸Α為中心各自獨立地轉動；以及動力傳送機構（滑輪 W、17)，其等分別向第！連結部件14及第2連結部件^傳 送動力。 第1連結部件14係與上側第〗手爪12連結之圓筒狀之中空 部件，如圖2及圖3所心其具有可使手爪控制系統線Μ 通於第i手；M2之中空部23。^手爪用之手爪控制系統線 21於臂11側具有空氣供給源或電源供給源從下向上貫通 於中空部23内並到達第1手爪U内。該第旧結部件14録 於中工σρ 23内之轉動假想軸A為中心而轉動，目此，手爪 控制系統線21可跟隨第丨手爪12之轉動，而不會產生偏心 及不規則扭曲。 進而’第1連結部件14具有將其軀幹部之一部分以殘留 特定長度之圓弧29之方式切去後形成之缺口部24。缺口部 24係將貫通中空部23内之手爪控制系統線(氣管及配線電 缓）中之第2手爪用之手爪控制系統線22分歧後，用以使盆 貫通於第2手爪13内之開口部。因此，該缺口部24係將第2 手爪13内之空間之對應位置的躺幹部側壁切去所形成。 缺口部24之高度H無特別限定，只要其高度不使第2手爪 用之手爪控制系統線22羞生過度彎曲即可。又，缺口部％ 之切去範圍w、即第1連結部件14於圓周方向上之切去範 圍W係殘留有可保拮笛 ”.弟連”，。邛件14之強度的圓弧29之範 117040.doc 1^59065 圍，其強度根據第1連結部件14之材質、壁厚及上述高度η 等而有所不同，因此，考慮其等因素後設定切去範圍w。[Embodiment] · ......... ❿ 平 放 K take the best form. Further, the robot of the present invention is not limited to the following description and drawings within the scope of the technical features. In addition, the so-called "hand grip control system:" means that the robot's hand grips the air to carry out the workpiece picking/t*, the wiring cable for driving the chuck mechanism, and <The wiring line for the sensor for the above-mentioned adsorption operation is prepared by the wiring claws, etc., and the first line is made of a material having a degree of elasticity that does not hinder the joint movement. Fig. 1 is a plan view showing an example of a robot according to the present invention. The robot 50 shown in Fig. 1 is provided with a rotary joint structure 1 具有 having a claw as a gripper. The air pipe and the cable processing structure of the control system line are connected to the first arm 52, the second arm 53, the third arm 11, and the two grippers 12 and 13 in this order from the base 51 side. Each arm passes through the rotating joint portion 54. Connected to 55, 56, and 20. The rotary joint structure 1 having the processing structure of the gripper control system line is equivalent to the third arm 11, the two grippers 2, 13, and the two in FIG. The member of the joint portion 20 is rotated. In addition, in the following description, the third arm 11 is Just called "arm 11". Fig. 2 is a cross-sectional view showing an example of a rotary joint structure 1 and Fig. 3 is a cross-sectional view taken along line A-A shown in Fig. 2. The rotary joint structure 10 has an arm 11, a rotational joint portion 20 provided at one end of the arm 11, and two claws 12, 13 coupled to the rotational joint portion 20. In the present invention, the configuration of the arm 11 and the two grippers 12 and 13 is not particularly limited, and various forms can be employed within the scope of the gist of the present invention. In Fig. 2, the arm 11 may have a motor including a pulley (not shown) on the side opposite to the side on which the rotary joint portion 20 is provided, but is not limited to the above embodiment. Further, the length and shape of the arm stay are not particularly limited. Further, as shown in FIG. 2, the two grippers 12 and 13 are two-layer overlapping structure composed of the upper i-hand gripper 2 and the lower second gripper 13, but the same as in the case of the arm grip. Various forms can be employed within the scope of the inventive concept. For example, there may be a pneumatic chuck mechanism on the opposite side of the side on which the rotary joint portion 20 is provided, or a sensor having a detection of whether or not the chuck is provided, or may have other electrical components 'and 'the length and shape of the gripper are also There is no special limit. 117040.doc -10· 1359065 The rotating joint portion 20 is for connecting the arm n and the two claws 12 and 3, as shown in Fig. 2, and includes two cylindrical connecting members (i-th connecting member Μ The second connecting member 15) rotates the two grippers 12 and 13 independently of each other around the same rotating imaginary axis, and the power transmission mechanism (pulleys W and 17), and the like, respectively! The connecting member 14 and the second connecting member 2 transmit power. The first connecting member 14 is a cylindrical hollow member that is coupled to the upper first gripper 12, and has a gripping control system that passes through the i-hand; the hollow portion of the M2 as shown in Figs. 2 and 3; twenty three. The gripper control system line 21 for the gripper has an air supply source or a power supply source on the side of the arm 11 penetrating from the bottom to the inside of the hollow portion 23 and reaching the first gripper U. The first knotting member 14 is rotated about the rotation imaginary axis A recorded in the center σρ 23, so that the gripper control system line 21 can follow the rotation of the second gripper 12 without eccentricity and irregularity. distortion. Further, the first connecting member 14 has a notch portion 24 formed by cutting one of the trunk portions so as to leave the arc 29 of a specific length. The notch portion 24 is configured to pass through the second gripper for the second gripper control system line 22 of the grip control system line (trache and wiring) in the hollow portion 23 The opening in the 13th. Therefore, the notch portion 24 is formed by cutting the side wall of the lying portion at the corresponding position in the space in the second gripper 13. The height H of the notch portion 24 is not particularly limited as long as the height thereof does not cause excessive bending of the gripper control system line 22 for the second gripper. Further, the cut-out range w of the notch portion %, i.e., the cut-off range W of the first connecting member 14 in the circumferential direction, remains with the insufficiency of the flute. The strength of the arc of the cymbal 14 is 117040.doc 1^59065, and the strength thereof varies depending on the material of the first connecting member 14, the wall thickness, the height η, etc., and therefore, the factors are set in consideration of the factors. Cut the range w.
5玄切去範圍W越大，則第丨手爪12與第2手爪13之相對轉動 角度越大，因而較佳，於本實施例中，第！手爪12與第2手 爪之最大相對轉動角度為±155〇。在工件把持作動時， 為了以不干擾第2手爪13動作之方式使第丨手爪12動作，或 者以不干擾第1手爪12動作之方式使第2手爪13動作，在第 1手爪12與第2手爪13中之一方停止之狀態下，另一方轉動 時，形成於第1手爪12與第2手爪13之間之角度至少必 120°^ 〆只 @ 右，因此’以轉動假想軸A為中心之圓弧29之角度β 只要設定為至少確保第1手爪12與第2手爪13之相對轉動角 ^為±240。（即缺口部24之切去範圍w)左右即可。藉此，可 —邊維持強度，—邊使兩個手爪12、13以能夠動作之較 相對角度而轉動。5, the larger the extent W is, the larger the relative rotation angle of the second hand 12 and the second hand 13 is, and thus, in the present embodiment, the first! The maximum relative rotation angle of the pawl 12 and the second paw is ±155 〇. When the workpiece gripping operation is performed, the second gripper 13 is operated so as not to interfere with the movement of the second gripper 13, or the second gripper 13 is operated so as not to interfere with the operation of the first gripper 12, in the first hand. When one of the claws 12 and the second hand 13 is stopped, the angle formed between the first hand 12 and the second hand 13 at least 120 ° ^ 〆 @ right only when the other is rotated, so ' The angle β of the circular arc 29 centering on the rotational imaginary axis A is set to at least ensure that the relative rotational angle ^ of the first hand 12 and the second hand 13 is ±240. (that is, the cut-off range w of the notch portion 24) may be left and right. Thereby, the strength can be maintained while the two grippers 12, 13 are rotated at a relatively movable angle.
6玄第1連結部件14之下部與 件14之上部與第1手爪12接合 11之基座側延伸之第1皮帶18 滑輪16傳送轉動動力。因此， 12直接轉動。 第1滑輪1 6接合，第1連結部 。於第1滑輪1 6上掛設有從臂 ’藉由該第1皮帶18而向第j 第1滑輪16之轉動使第丨手爪 部件15係與下側第2手爪13連結之圓筒狀之” 部件，如圖2及圖3所示，其設置於第以結部件^之中: 則。該第2連結她與第,連結部件14相同，以: 5弟2連結部件1 5之上部與第2手爪 117040.doc -12- 1359065 13接合。第2滑輪17設置成位於第丨滑輪16之上方，於該第 2滑輪17上，掛設有從臂U之基座側延伸之第2皮帶19，藉 由該第2皮帶19而向第2滑輪17傳送轉動動力。因此’第2 滑輪17之轉動使第2手爪13直接轉動。 在第1連結部件14與第2連結部件15之間設置有環狀部件 26。環狀部件26以不堵塞作為開口部之缺口部以的位置及 尺寸轉動自如地設置。該環狀部件26只要與第丨連結部件 14之外周面或第2連結部件15之内周面接觸並能夠移動， 則其構成並無特別限^，具體而t，較好的是，如圖以斤 示’介隔轴承部件3 1而設置。 圖4係表示具有導向部件之環狀部件之形態的俯視圖⑷ 與主視圖(B)。如圖2〜圖4所示’ ^向部件25固定在環狀部 件26上，作為用於將經由第丨連結部件“之中空部u與缺 口部24的手爪控制系統線22引至第2手爪13之導向器而'發 揮作用。於圖2及圖4中，導向部件25由螺釘以於將環狀The lower portion of the lower portion of the first connecting member 14 and the upper portion of the member 14 are joined to the first hand 12, and the first belt 18 extending from the base side of the member 11 transmits the rotational power. Therefore, 12 rotates directly. The first pulley 16 is joined to the first connecting portion. A cylinder that connects the second gripper 15 to the lower second gripper 13 by the rotation of the first belt 18 to the jth first pulley 16 is attached to the first pulley 16 As shown in Fig. 2 and Fig. 3, the member is disposed in the first member. The second member is the same as the first member and the connecting member 14, and is: 5 brother 2 connecting member 1 5 The upper portion is engaged with the second finger 117040.doc -12- 1359065 13. The second pulley 17 is disposed above the second pulley 16, and the second pulley 17 is hung from the base side of the arm U. The second belt 19 transmits rotational power to the second pulley 17 by the second belt 19. Therefore, the rotation of the second pulley 17 directly rotates the second gripper 13. The first connecting member 14 and the second connecting member are directly rotated. The annular member 26 is provided between the 15th. The annular member 26 is rotatably provided at a position and a size that does not block the notch portion as the opening portion. The annular member 26 is only required to be the outer surface of the second coupling member 14 or the first surface. 2, the inner peripheral surface of the connecting member 15 is in contact with and can be moved, and the configuration thereof is not particularly limited. Specifically, t, preferably, the figure is shown as a spacer shaft. Fig. 4 is a plan view (4) and a front view (B) showing a form of an annular member having a guide member. As shown in Figs. 2 to 4, the member 25 is fixed to the annular member 26, It functions as a guide for guiding the gripping control system line 22 via the second connecting member "the hollow portion u and the notch portion 24 to the second gripper 13". In FIGS. 2 and 4, the guide member 25 is screwed to be annular
部件之-部分從上緣切去特定深度後之部位，但導向部件 25之固定方式亦可採用除此之外之其他形態。 例如圖4 導向部件25之形狀無特別限定，但較好的是 所示’朝向轉動假想軸A延伸之u字形狀。 如圖3及圓4所示，導向部件2S亦可具備罩部㈣。罩部 ^較好的是，可與導向部件25之形狀對應而形成任 但例如當導向部件25別字形狀時，τ 其開口側之蓋狀罩部件32。如圖4所示，上 覆盖 螺釘固定於導向部件25上，從上方按歷貫牛由 117040.doc J3· 1359065 内之手爪控㈣統線22,將其保持或固定以使其不會前後 移動。藉此’ 1管及配線電.㈣手爪控制系統線22與導向 部件25之間之摩㈣，失，故能夠防止可成為斷線之要因的 擦傷之產生。 如上所述’貫通於第2手爪13内之手爪控制系統線Μ較 好的是，由導.向部件25與罩部件32保持或固定，進而，如 圖3所示，從導向部件25伸出之手爪控制系統線22以余出 特定長度之狀態，即於第2手爪13之框體内以具有可跟隨 導向部件25之轉動的鬆緊度之狀態，固定於第2手爪^内 之框體上。如圖3所示，上述保持或固定由作為保持部之 固定部件33而進行，例如可例示皮帶狀之固定部件。並 且，當導向部件25因環狀部件26之轉動而轉動時，手爪控 制系統線22之擺動可僅限於從罩部件32至固定部件33之 間，因而能夠防止可成斷線之要因的擦傷或扭曲之產生。 圖5係表示使第1手爪與第2手爪轉動時之狀態之說明 圖。圖5(A)係第1手爪12與第2手爪13向相同方向重疊時之 狀態’圖5(B)係第2手爪13相對於第1手爪12轉動特定角度 之狀態’圖5(C)係第2手爪13相對第i手爪12轉動至極限位 置之狀態。再者’說明環狀部件26之相對位置未產生變 化’直至與第2手爪13之框體抵接部28a、28b抵接之狀態 為止。 如圖5(B)所示’當使第2手爪13相對於第1手爪12轉動特 定角度時’第2手爪1 3之框體抵接部28a與導向部件25之側 面抵接。於此狀態下使第2手爪13繼續轉動，則如圖5(c) 117040.doc 1359065 所示，環狀部件26會轉動，直至導向部件25之側面與缺口 部24之端面27b抵接之位置為止。βρ，第2手爪^轉動極 限位置係導向部件25之側面與缺口㈣之端面抵接之 位置’因此，可抑制過度之轉動(本申請案中，有時亦稱 《「過轉動」），故而可防止作為手爪控制系統線之氣管 及配線電纜因扭曲等而引起之斷線。 又’於本發明中，導向部件25安裝於可轉動之環狀部件 26上’故與將導向部件25直接固定於第2連結部㈣上之 情形相比，能夠使其多餘地轉動第2手爪13之框體抵接部 施、2關之角度。因此，可進而增加第1手爪12與第2手 爪1 3之相對轉動角。 於本發明中，動力傳送機構並無特別限定。圖2中，顯 示向第1連結部件14及第2連結部件15各自傳送動力之滑輪 16、17,但與臂U及手爪12、13之情形相同，在本發明宗 旨之範圍内可採用錢形態。例如，可替代滑輪16、^而 • 使用如齒輪鏈輪之帶齒部件，其可為相同之滑輪，亦可為 與平皮帶對應之平滑輪，亦可為與確動皮帶對應之帶槽皮 進而，於本實施形態t，由於導向部件25具有例如鐵材 或鋁材等之剛性，故與第2手爪13之框體抵接部28a、2朴 抵接，但若導向部件25例如由樹脂成形，則無法確保強 又故了於第1手爪12及第2手爪13之以位於中空部23内之 轉動假想軸A為軸而對稱之位置上設置擋塊40、41(參照圖 2) ’藉由手爪12、13之轉動，使該擋塊4〇、41彼此抵接， II7040.doc 1359065 以此保護導向部件25。 如上所述’上述轉動關節構造1G中，作為手爪控制系統 線之氣管及配線電纜係經由包含兩個手爪共通之轉動假想 軸的第i連結部件之中空部，故氣管及配線電纔等手爪控 制系統線難以產生扭曲’故其等難以引起斷線。進而，； 抑制過度之轉.動，以防止扭曲5丨起之斷料，並且可使兩 個手爪以更大之相對角度而轉動。因此可增大手爪之自由 度，實現更加自由之手爪動作。 並且，轉動關節構造10可用作例如連結圖丨所示之第3臂 η與兩個手爪12、13之構造體，料用對象並非限定於圖 1之例，其可應用於各種機器人等方面。不必擔心具有本 發明之轉動關節構造ίο之機器人因氣管或配線電纜之扭曲 而產生斷線等，纟而成為可冑Α兩個手爪之相對轉 之 機器人。 【圖式簡單說明】 圖1係表示本發明之機器人之一例之俯視圖。 圖2係表示應用於本發明之機器人的轉動關節構造之一 例之剖面圖。 圖3係圖2所示之沿A-Α方向之剖面圖。 圖4係表示具有導向部件之環狀部件之形態之俯視圖（a 與主視圖（B)。 圖5(A)—圖5(C)係表示使第1手爪與第2手爪轉動時之 態之說明圖。 圖6係表示在臂前端之轉動關節部上設置有'兩個.手爪的 117040.doc -16- 1359065 先前機器人之一例之局部放大圖。 【主要元件符號說明】The portion of the component is cut away from the upper edge by a certain depth, but the manner in which the guide member 25 is fixed may be other forms. For example, the shape of the guide member 25 in Fig. 4 is not particularly limited, but is preferably a u-shape extending toward the rotational imaginary axis A. As shown in FIG. 3 and the circle 4, the guide member 2S may be provided with a cover portion (four). Preferably, the cover portion is formed so as to correspond to the shape of the guide member 25, and the cover member 32 on the opening side of the τ, for example, when the guide member 25 has a different shape. As shown in FIG. 4, the upper cover screw is fixed on the guide member 25, and is held or fixed from above by the hand control (4) line 22 in the 117040.doc J3·1359065. mobile. Thereby, the motor (4) between the gripper control system line 22 and the guide member 25 is lost, so that the occurrence of scratches which can be a cause of disconnection can be prevented. As described above, the grip control system of the second gripper 13 is preferably held or fixed by the guide member 25 and the cover member 32. Further, as shown in Fig. 3, the guide member 25 is provided. The extended gripper control system line 22 is fixed to the second hand in a state in which a certain length is left, that is, in a state in which the second gripper 13 has a tightness that can follow the rotation of the guide member 25. Inside the frame. As shown in Fig. 3, the holding or fixing is performed by a fixing member 33 as a holding portion, and for example, a belt-shaped fixing member can be exemplified. Further, when the guide member 25 is rotated by the rotation of the annular member 26, the swing of the gripper control system wire 22 can be limited only from the cover member 32 to the fixed member 33, thereby preventing the abrasion of the cause of the breakage. Or distortion. Fig. 5 is an explanatory view showing a state in which the first hand and the second hand are rotated. 5(A) shows a state in which the first hand 12 and the second hand 13 are overlapped in the same direction. FIG. 5(B) shows a state in which the second hand 13 is rotated by a specific angle with respect to the first hand 12'. 5(C) is a state in which the second hand 13 is rotated to the extreme position with respect to the i-th hand 12 . Further, 'the relative position of the annular member 26 is not changed' until it comes into contact with the frame abutting portions 28a and 28b of the second gripper 13. As shown in Fig. 5(B), when the second gripper 13 is rotated by a specific angle with respect to the first gripper 12, the frame abutting portion 28a of the second gripper 13 abuts against the side surface of the guide member 25. When the second gripper 13 is continuously rotated in this state, as shown in Fig. 5(c) 117040.doc 1359065, the annular member 26 is rotated until the side surface of the guide member 25 abuts against the end surface 27b of the notch portion 24. Position up to now. Ρρ, the second hand claw ^ rotation limit position is the position where the side surface of the guide member 25 abuts against the end surface of the notch (4). Therefore, excessive rotation can be suppressed (in the present application, sometimes referred to as "over rotation"), Therefore, it is possible to prevent the disconnection of the air pipe and the distribution cable which is the line of the gripper control system due to distortion or the like. Further, in the present invention, the guide member 25 is attached to the rotatable ring member 26, so that the second hand can be rotated more than the case where the guide member 25 is directly fixed to the second connecting portion (four). The frame abutting portion of the claw 13 is applied at an angle of 2 degrees. Therefore, the relative rotation angle of the first hand 12 and the second hand 13 can be further increased. In the present invention, the power transmission mechanism is not particularly limited. In FIG. 2, the pulleys 16 and 17 that transmit power to each of the first connecting member 14 and the second connecting member 15 are shown. However, in the same manner as the arms U and the grips 12 and 13, the money can be used within the scope of the present invention. form. For example, instead of the pulleys 16, and using a toothed component such as a gear sprocket, it may be the same pulley, a smooth wheel corresponding to a flat belt, or a grooved leather corresponding to the fixed belt. Further, in the present embodiment t, since the guide member 25 has rigidity such as an iron material or an aluminum material, it is in contact with the frame abutting portions 28a and 2 of the second hand 13, but the guide member 25 is, for example, When the resin is molded, it is not possible to secure the stoppers 40 and 41 at the positions where the first hand 12 and the second hand 13 are symmetric with respect to the rotational imaginary axis A located in the hollow portion 23 (see the figure). 2) 'The stoppers 4, 41 are abutted against each other by the rotation of the claws 12, 13, and the guide member 25 is protected by II7040.doc 1359065. In the above-described rotating joint structure 1G, the air pipe and the distribution cable which are the grip control system wires pass through the hollow portion of the i-th connecting member including the rotary imaginary shaft which is common to both of the grippers, so that the air pipe and the wiring electric power are equal. It is difficult for the gripper control system line to be distorted, so it is difficult to cause a disconnection. Further, the excessive rotation is suppressed to prevent the twisted material from being twisted, and the two claws can be rotated at a larger relative angle. Therefore, the degree of freedom of the gripper can be increased to achieve a more free gripper action. Further, the rotating joint structure 10 can be used as, for example, a structure in which the third arm η and the two grippers 12 and 13 shown in the figure are connected, and the object for the material is not limited to the example of FIG. 1, and can be applied to various robots and the like. aspect. There is no fear that the robot having the rotary joint structure of the present invention is broken due to the distortion of the air pipe or the distribution cable, and becomes a robot that can rotate the two claws. BRIEF DESCRIPTION OF THE DRAWINGS Fig. 1 is a plan view showing an example of a robot of the present invention. Fig. 2 is a cross-sectional view showing an example of a rotary joint structure of a robot applied to the present invention. Figure 3 is a cross-sectional view taken along line A-Α of Figure 2. Fig. 4 is a plan view showing a form of an annular member having a guide member (a and a front view (B). Fig. 5 (A) - Fig. 5 (C) shows a state in which the first hand and the second hand are rotated. Fig. 6 is a partial enlarged view showing an example of a previous robot of 117040.doc -16-1359065 provided with 'two. claws on the rotating joint portion of the front end of the arm.
10 轉動關節構造 11 臂（第3臂） 12 第1手爪 13 第2手爪 14 第1連結部件 15 第2連結部件 16 第1滑輪 17 第2滑輪 18 第1皮帶 19 第2皮帶 20 轉動關節部 21、 22 手爪控制系統線（氣管及配線電瘦） 23 中空部 24 缺口部 25 導向部件 26 環狀部件 27a、 27b 缺口部之端面 28a、 28b 框體抵接部 29 圓弧 31 軸承部件 32 罩部件 33 保持部（固定部件） 117040.doc 1359065 50 機器人 5 1 基座 52 第1臂 53 第2臂 54 、 55 、 56 轉動關節部 A 轉動假想軸 Η 缺口部之高度 W 缺口部之寬度 θ 以轉動假想軸Α為中心之圓弧29之角度 117040.doc - 18-10 Rotary joint structure 11 Arm (3rd arm) 12 1st hand 13 Second hand 14 First connecting member 15 Second connecting member 16 First pulley 17 Second pulley 18 First belt 19 Second belt 20 Rotating joint 21, 22 gripper control system line (air pipe and wiring thin) 23 hollow portion 24 notch portion 25 guide member 26 annular member 27a, 27b end face 28a, 28b of notch portion frame abutment portion 29 arc 31 bearing member 32 cover member 33 holding portion (fixing member) 117040.doc 1359065 50 robot 5 1 base 52 first arm 53 second arm 54, 55, 56 rotating joint portion A rotating imaginary axis 高度 height of notch portion W width of notch portion θ The angle of the arc 29 centered on the imaginary axis 117 117040.doc - 18-