TWI765085B - Robot hand, robot device, and manufacturing method of electronic machine - Google Patents

Robot hand, robot device, and manufacturing method of electronic machine Download PDF

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Publication number
TWI765085B
TWI765085B TW107129387A TW107129387A TWI765085B TW I765085 B TWI765085 B TW I765085B TW 107129387 A TW107129387 A TW 107129387A TW 107129387 A TW107129387 A TW 107129387A TW I765085 B TWI765085 B TW I765085B
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axis
base
finger
unit
robot
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TW107129387A
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TW201919831A (en
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別府弘邦
古坊貴行
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日商索尼股份有限公司
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
    • B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
    • B23P19/04—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes for assembling or disassembling parts
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/08—Gripping heads and other end effectors having finger members

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Manipulator (AREA)
  • Automatic Assembly (AREA)

Abstract

本技術之一形態之機器人手部具有手部本體、吸附單元、及手指單元。上述手部本體具有基部。上述吸附單元安裝於上述基部，具有可於第1軸方向平行移動之吸附部。上述手指單元安裝於上述基部，具有可繞與交叉於上述第1軸之第2軸平行之旋動軸，分別獨立旋動之第1及第2手指部。A robot hand according to one aspect of the present technology includes a hand body, a suction unit, and a finger unit. The above-mentioned hand body has a base. The suction unit is mounted on the base, and has a suction part that can move in parallel in the first axis direction. The finger unit is mounted on the base, and has first and second finger portions that can be independently rotated around a rotation axis parallel to a second axis intersecting the first axis.

Description

機器人手部、機器人裝置、及電子機器的製造方法Robot hand, robot device, and method for manufacturing electronic machine

本技術係關於例如電子機器之製造所使用之機器人手部、機器人裝置、及電子機器的製造方法。 The present technology relates to, for example, a method of manufacturing a robot hand, a robotic device, and an electronic machine used in the manufacture of an electronic machine.

近年來，電子機器之製造步驟中廣泛使用機器人裝置。此種機器人裝置中，作為機器人手部之工件保持機構，已知有具有可真空吸附工件之吸附墊之吸附方式，及具有可固持工件之手指的夾持方式。 In recent years, robotic devices have been widely used in the manufacturing steps of electronic machines. In such a robot apparatus, as the workpiece holding mechanism of the robot hand, there are known an adsorption method having an adsorption pad capable of vacuum sucking a workpiece, and a clamping method having fingers capable of holding the workpiece.

吸附方式之機器人手部於拾起載置於平面上之工件時有利，但當吸附力較弱時於移動中途或姿勢轉換時有工件自吸附墊脫落之虞。另一方面，夾持方式之機器人手部雖獲得用以直接固持工件之比較高的保持力，但工件為如FFC般厚度較小之帶狀構件之情形時，無法穩定地固持平面狀載置之工件。 The suction method of the robot hand is advantageous when picking up the workpiece placed on a flat surface, but when the suction force is weak, the workpiece may fall off from the suction pad in the middle of the movement or when the posture is changed. On the other hand, although the gripping robot hand obtains a relatively high holding force for directly holding the workpiece, when the workpiece is a belt-shaped member with a small thickness such as FFC, it cannot stably hold a planar placement the workpiece.

因此，已知有兼備吸附方式與夾持方式之機器人手部。例如於專利文獻1中，已知有一種工件固持裝置，其具有可藉由吸附力保持工件之吸附墊，及自其兩側方挾入保持於吸附墊之工件並保持之一對固持爪。 Therefore, there are known robot hands which have both a suction method and a gripping method. For example, in Patent Document 1, there is known a workpiece holding device including a suction pad capable of holding a workpiece by suction force, and a pair of holding claws that sandwich the workpiece held by the suction pad from both sides of the suction pad.

[先前技術文獻] [Prior Art Literature] [專利文獻] [Patent Literature]

[專利文獻1]日本專利特開2010-82748號公報 [Patent Document 1] Japanese Patent Laid-Open No. 2010-82748

專利文獻1所記載之固持裝置中，一對固持爪僅可使各個間隔變化移動。因此，以吸附墊保持之工件之姿勢轉換時，需要機器人手部全體之姿勢轉換，有限空間內之工件之姿勢轉換較困難。 In the holding device described in Patent Document 1, the pair of holding claws can move only by changing the interval. Therefore, when changing the posture of the workpiece held by the suction pad, it is necessary to change the posture of the entire robot hand, and it is difficult to change the posture of the workpiece in a limited space.

鑑於如上情況，本技術之目的係提供一種可不使手部全體之姿勢變化，而可實現自工件之吸附至姿勢轉換之一連串動作之機器人手部、機器人裝置、及電子機器的製造方法。 In view of the above situation, an object of the present technology is to provide a method for manufacturing a robot hand, a robot device, and an electronic device that can realize a series of actions from suction of a workpiece to posture change without changing the posture of the entire hand.

本技術之一形態之機器人手部具有手部本體、吸附單元、及手指單元。 A robot hand according to one aspect of the present technology includes a hand body, a suction unit, and a finger unit.

上述手部本體具有基部。 The above-mentioned hand body has a base.

上述吸附單元安裝於上述基部，具有可於上述第1軸方向平行移動之吸附部。 The suction unit is attached to the base, and has a suction part that can move in parallel in the first axis direction.

上述手指單元安裝於上述基部，具有可繞與交叉於上述第1軸之第2軸平行之旋動軸分別獨立旋動之第1及第2手指部。 The finger unit is mounted on the base, and has first and second finger portions respectively independently rotatable around a rotation axis parallel to a second axis intersecting with the first axis.

上述機器人手部中，由於第1及第2手指部可繞旋動軸分別獨立旋動地構成，故可將以吸附單元保持之工件轉換成繞上述旋動軸以任意角度旋轉之姿勢。 In the above-mentioned robot hand, since the first and second fingers are independently rotatable around the rotation axis, the workpiece held by the suction unit can be converted into a posture that rotates at any angle around the rotation axis.

上述手部本體進而具有與分別交叉於上述第1及第2軸之第3軸平行之關節軸，上述基部亦可繞上述關節軸可旋動地構成。 The hand body further has an articulation axis parallel to a third axis intersecting the first and second axes, respectively, and the base portion may be configured to be rotatable around the articulation axis.

藉此，可使吸附單元及手指單元繞關節軸旋動，且可使手指單元繞旋動軸及關節軸之另一軸旋動。 Thereby, the suction unit and the finger unit can be rotated around the joint axis, and the finger unit can be rotated around the other axis of the rotation axis and the joint axis.

上述手部本體亦可進而具有使上述第1及第2手指部分別繞上述旋動軸旋動之第1及第2導線驅動機構。 The said hand main body may further have the 1st and 2nd lead wire drive mechanism which makes the said 1st and 2nd finger part rotate about the said rotation axis, respectively.

可利用各導線驅動機構之導線之彈性，吸收各個手指部之旋轉動作之時序偏移或位置偏移，更適當地固持工件。 The elasticity of the wires of each wire driving mechanism can be used to absorb the timing shift or position shift of the rotational motion of each finger, and more appropriately hold the workpiece.

上述第1及第2導線驅動機構亦可具有導線張力調整單元，其包含可分別檢測導線張力之檢測機構。 The above-mentioned first and second lead wire driving mechanisms may also include lead wire tension adjustment units including detection mechanisms capable of detecting the lead wire tensions, respectively.

藉此，可適當地調整各導線驅動機構之導線張力。 Thereby, the wire tension of each wire driving mechanism can be adjusted appropriately.

上述手部本體亦可進而具有使上述基部繞上述關節軸旋動之第3導線驅動機構。 The hand body may further include a third wire driving mechanism for rotating the base around the joint axis.

由於基部之旋動驅動源可以與手指單元之旋動驅動源相同之方式構成，故可謀求系統之簡化，且可提高各驅動源之控制之親和性。 Since the rotational driving source of the base can be constructed in the same way as the rotational driving source of the finger unit, the system can be simplified and the control affinity of each driving source can be improved.

上述手指單元典型而言，構成為可固持被吸附於上述吸附部之工件。 Typically, the finger unit is configured to hold the workpiece sucked by the suction portion.

藉此，可實現自工件之吸附保持至姿勢轉換之一連串動作。 Thereby, a series of actions from the suction and holding of the workpiece to the posture change can be realized.

上述第1及第2手指部亦可分別具有180度之可動範圍。 The first and second finger portions may have a movable range of 180 degrees, respectively.

藉此，可藉由手指單元使工件之正反面反轉。 Thereby, the front and back of the workpiece can be reversed by the finger unit.

上述手指單元亦可構成為可自上述第1軸方向挾入吸附於上述吸附部之工件。 The finger unit may be configured to be able to hold the workpiece sucked into the suction portion from the first axis direction.

藉此，即使係無厚度並有柔軟性之薄型工件，亦可藉由手指單元將其適當保持。 Thereby, even if it is a thin workpiece with no thickness and flexibility, it can be properly held by the finger unit.

本技術之一形態之機器人裝置具備機器人臂、手部本體、吸附單元及手指單元。 A robot device according to one aspect of the present technology includes a robot arm, a hand body, a suction unit, and a finger unit.

上述手部本體具有基部，安裝於上述機器人臂。 The hand body has a base and is attached to the robot arm.

上述吸附單元安裝於上述基部，具有可於上述第1軸方向平行移動之吸附部。 The suction unit is attached to the base, and has a suction part that can move in parallel in the first axis direction.

上述手指單元安裝於上述基部，具有可繞與交叉於上述第1軸之第2軸平行之旋動軸分別獨立旋動之第1及第2手指部，構成為可固持被吸附於上述吸附部之工件。 The finger unit is mounted on the base, and has first and second finger portions respectively independently rotatable around a rotation axis parallel to a second axis intersecting with the first axis, and configured to hold and be adsorbed on the suction portion the workpiece.

本技術之一形態之電子機器的製造方法係具有連接構件之電子機器的製造方法者，該方法包含藉由安裝於機器人手部之基部並具有可於第1 軸方向平行移動之吸附部之吸附單元，吸附上述連接構件。 A method of manufacturing an electronic device according to one aspect of the present technology is a method of manufacturing an electronic device having a connecting member, and the method includes a first The suction unit of the suction part that moves in parallel in the axial direction sucks the connecting member.

藉由安裝於上述基部並具有可繞與交叉於上述第1軸之第2軸平行之旋動軸分別獨立旋動之第1及第2手指部之手指單元，固持被吸附於上述吸附部之上述連接構件。 By means of a finger unit mounted on the base portion and having first and second finger portions respectively independently rotatable around a rotation axis parallel to the second axis intersecting the first axis, the finger unit that is adsorbed on the suction portion is held. The above-mentioned connecting member.

藉由使固持上述連接構件之手指單元繞上述旋動軸旋動，而使上述連接構件之姿勢變化。 The posture of the connecting member is changed by rotating the finger unit holding the connecting member around the rotating shaft.

如上述，根據本技術，可不使手部全體之姿勢變化，而可實現自工件之吸附至姿勢轉換之一連串動作。 As described above, according to the present technology, without changing the posture of the entire hand, it is possible to realize a series of actions from the suction of the workpiece to the posture transition.

另，此處所記載之效果並非為限定者，亦可為本揭示中記載之任一種效果。 In addition, the effects described here are not intended to be limited, and any of the effects described in the present disclosure may be used.

1:機器人裝置 1: Robotic device

2:作業台 2: Workbench

3:控制器 3: Controller

10:手部本體 10: Hand body

11:基部 11: Base

12:機構部 12: Institutional Department

13:連結部 13: Links

30:吸附單元 30: Adsorption unit

31:吸附噴嘴 31: Adsorption nozzle

32:驅動缸體 32: Drive cylinder

33:固定構件 33: Fixed components

34:連結構件 34: Connecting components

35:引導構件 35: Guide member

40:手指單元 40: Finger Unit

41:第1手指部 41: 1st finger

42:第2手指部 42: Second Finger

100:組裝機器人 100: Assembly Robot

101:手部 101: Hands

102:多關節臂 102: Multi-Articulated Arm

111:旋動軸 111: Rotary shaft

112:關節軸 112: Joint axis

121:大徑部 121: Large diameter part

122:小徑部 122: Small diameter section

311:吸附部 311: adsorption part

312:連接部 312: Connector

321:驅動桿 321: Drive rod

341:第1端部 341: End 1

342:第2端部 342: End 2

B:基台 B: Abutment

C:線狀構件 C: Linear member

Ce:連接部 Ce: connecting part

D1~D3:第1~第3導線驅動機構 D1~D3: 1st~3rd wire drive mechanism

E:電子機器 E: electronic machine

G1:第1引導滑輪 G1: 1st guide pulley

G2:第2引導滑輪 G2: 2nd guide pulley

M:馬達 M: motor

Ma:旋轉體 Ma: body of revolution

P1、P3:滑輪 P1, P3: pulley

R:導線支持部 R: wire support

R1:第1單元 R1: Unit 1

R2:第2單元 R2: Unit 2

r11、r12:輥 r11, r12: Roller

W:導線 W: wire

W1:導線 W1: wire

W2:導線 W2: Wire

W3:導線 W3: Wire

圖1係顯示本技術之一實施形態之機器人裝置之概略前視圖。 FIG. 1 is a schematic front view showing a robot apparatus according to an embodiment of the present technology.

圖2係顯示上述機器人裝置之手部之構成之概略立體圖。 FIG. 2 is a schematic perspective view showing the structure of the hand of the above-mentioned robot apparatus.

圖3係上述手部之要部之放大圖。 FIG. 3 is an enlarged view of the essential part of the above-mentioned hand.

圖4係上述手部之要部前視圖。 Fig. 4 is a front view of the essential part of the above hand.

圖5係上述手部之要部左側視圖。 Fig. 5 is a left side view of the essential part of the hand.

圖6係上述手部之要部右側視圖。 Fig. 6 is a right side view of the essential part of the above hand.

圖7係顯示上述手部之手指單元之放開狀態之要部前視圖。 FIG. 7 is a front view of an essential part showing the release state of the finger unit of the hand.

圖8係圖7之仰視圖。 FIG. 8 is a bottom view of FIG. 7 .

圖9係顯示上述機器人裝置之導線驅動機構之構成之圖。 FIG. 9 is a diagram showing the structure of the wire driving mechanism of the above-mentioned robot apparatus.

圖10A係上述機器人裝置之動作說明圖，係顯示工件之吸附步驟之圖。 FIG. 10A is an explanatory diagram of the operation of the above-mentioned robot apparatus, and is a diagram showing a suction step of a workpiece.

圖10B係上述機器人裝置之動作說明圖，係顯示工件之吸附步驟之圖。 FIG. 10B is an explanatory diagram of the operation of the above-mentioned robot apparatus, and is a diagram showing a suction step of a workpiece.

圖10C係上述機器人裝置之動作說明圖，係顯示工件之固持步驟之圖。 FIG. 10C is an explanatory diagram of the operation of the above-mentioned robot apparatus, and is a diagram showing a step of holding a workpiece.

圖10D係上述機器人裝置之動作說明圖，係顯示工件之姿勢轉換步驟之圖。 FIG. 10D is an explanatory diagram of the operation of the above-mentioned robot apparatus, and is a diagram showing a step of changing the posture of the workpiece.

以下，一面參照圖式一面說明本技術之實施形態。 Hereinafter, embodiments of the present technology will be described with reference to the drawings.

圖1係顯示本技術之一實施形態之機器人裝置之概略前視圖。本實施形態中，針對本技術對電子機器之製造步驟所使用之組裝機器人之應用例進行說明。 FIG. 1 is a schematic front view showing a robot apparatus according to an embodiment of the present technology. In the present embodiment, an application example of the present technology to an assembly robot used in a manufacturing process of an electronic device will be described.

[機器人裝置之概略構成] [Schematic configuration of the robot device]

本實施形態之機器人裝置1具備組裝機器人100、支持電子機器E之半完成品之作業台2、及控制組裝機器人100之驅動之控制器3。 The robot apparatus 1 of the present embodiment includes an assembly robot 100 , a workbench 2 that supports a semi-finished product of the electronic device E, and a controller 3 that controls the drive of the assembly robot 100 .

組裝機器人100具有手部101(機器人手部)，及可使手部101以6軸自由度向任意座標位置移動之多關節臂102(機器人臂)。 The assembly robot 100 has a hand 101 (robot hand) and a multi-joint arm 102 (robot arm) that can move the hand 101 to an arbitrary coordinate position with 6-axis degrees of freedom.

手部101構成為將作為工件之如電纜、線束、FFC(Flexible Flat Cable：撓性扁平電纜)、FPC(Flexible Printed Circuit：柔性印刷電路)般之於前端部具有連接部之柔軟性線狀或帶狀連接構件C予以固持，可將其轉換成特定姿勢，組裝於電子機器E之特定部位。 The hand 101 is constituted by a flexible linear or The belt-shaped connecting member C is held, and can be converted into a specific posture and assembled in a specific part of the electronic device E. As shown in FIG.

多關節臂102連接於作業台2或靠近作業台2配置之未圖示之驅動單元。多關節臂102作為使手部101移動，或轉換其姿勢之搬送機構而構成。多關節臂102典型而言，係以垂直多關節臂、水平多關節臂等構成，但亦可以XYZ直角坐標機器人(3軸機器人)等構成。 The multi-joint arm 102 is connected to the workbench 2 or a drive unit (not shown) disposed near the workbench 2 . The articulated arm 102 is configured as a conveying mechanism that moves the hand 101 or changes its posture. The articulated arm 102 is typically constituted by a vertical articulated arm, a horizontal articulated arm, or the like, but may also be constituted by an XYZ Cartesian coordinate robot (3-axis robot) or the like.

控制器3典型而言，係以具有CPU(Central Processing Unit：中央處理單元)及記憶體之電腦構成，構成為根據存儲於上述記憶體之程式，來控制組裝機器人100之驅動。 The controller 3 is typically composed of a computer having a CPU (Central Processing Unit) and a memory, and is configured to control the driving of the assembly robot 100 according to a program stored in the memory.

[組裝機器人] [Assembly Robot]

圖2係顯示組裝機器人100之手部101之構成之概略立體圖，圖3係手部101之重要部分之放大圖。 FIG. 2 is a schematic perspective view showing the structure of the hand 101 of the assembly robot 100 , and FIG. 3 is an enlarged view of an important part of the hand 101 .

如該圖所示，手部101具有手部本體10、吸附單元30及手指單元40。 As shown in the figure, the hand 101 includes a hand body 10 , a suction unit 30 and a finger unit 40 .

(手部本體) (hand body)

手部本體10具有基部11、機構部12及連結部13。 The hand body 10 has a base portion 11 , a mechanism portion 12 and a connection portion 13 .

基部11支持吸附單元30及指單元40。基部11具有平行於Y軸方向之 旋動軸111、及平行於X軸方向之關節軸112。 The base 11 supports the adsorption unit 30 and the finger unit 40 . The base 11 has a direction parallel to the Y axis. The rotation axis 111 and the joint axis 112 parallel to the X-axis direction.

機構部12形成為具有大徑部121、小徑部122之多段圓筒形狀。大徑部121之一端(上端)安裝於多關節臂102，小徑部122設置於大徑部121之另一端(下端)之中心。機構部12收納使手指單元繞旋動軸111旋轉之驅動源、使基部11繞關節軸112旋轉之驅動源、該等驅動源之動力傳達機構及調整機構等。 The mechanism portion 12 is formed in a multi-stage cylindrical shape having a large-diameter portion 121 and a small-diameter portion 122 . One end (upper end) of the large diameter portion 121 is attached to the multi-joint arm 102 , and the small diameter portion 122 is provided at the center of the other end (lower end) of the large diameter portion 121 . The mechanism portion 12 accommodates a drive source for rotating the finger unit around the rotation axis 111 , a drive source for rotating the base portion 11 around the joint axis 112 , a power transmission mechanism and an adjustment mechanism for these drive sources, and the like.

連結部13將基部11與機構部12之小徑部122之間連結。連結部13具有角筒形狀之金屬製之筒部，該筒部收納將機構部12之各種驅動源之動力傳達至基部11之各部的動力傳達構件(驅動導線)。 The connection part 13 connects between the base part 11 and the small diameter part 122 of the mechanism part 12 . The connection part 13 has a metal cylindrical part in the shape of a square cylinder, and the cylindrical part accommodates a power transmission member (driving lead wire) for transmitting the power of various driving sources of the mechanism part 12 to each part of the base part 11 .

圖4係手部101之主要部分前視圖，圖5係相同左側視圖，圖6係相同右側視圖，圖7係顯示手指單元40放開狀態之主要部分前視圖，圖8係圖7之仰視圖。以下，針對吸附單元30及手指單元40之細節進行說明。 FIG. 4 is a front view of the main part of the hand 101, FIG. 5 is a left side view of the same, FIG. 6 is a right side view of the same, FIG. 7 is a front view of the main part showing the release state of the finger unit 40, and FIG. . Hereinafter, the details of the suction unit 30 and the finger unit 40 will be described.

(吸附單元) (adsorption unit)

本實施形態之吸附單元30具有：吸附噴嘴31，其具有吸附部311；驅動缸體32，其使吸附噴嘴31於Z軸方向往返移動；固定構件33，其將吸附噴嘴31與驅動缸體32之間固定；及連結構件34，其將驅動缸體32與基部11之間連結。 The suction unit 30 of the present embodiment includes: a suction nozzle 31 having a suction part 311; a driving cylinder 32 for reciprocating the suction nozzle 31 in the Z-axis direction; and a fixing member 33 for connecting the suction nozzle 31 with the driving cylinder 32 and the connecting member 34, which connects the driving cylinder 32 and the base 11.

吸附噴嘴31分別於一端部(下端部)具有吸附部311，於另一端部(上端 部)具有與未圖示之負壓源連接之連接部312。上述負壓源例如係以設置於機構部12之小型泵構成。 The suction nozzles 31 have suction portions 311 at one end portion (lower end portion) and suction portions 311 at the other end portion (upper end portion), respectively. part) has a connecting part 312 connected to a negative pressure source not shown. The above-mentioned negative pressure source is constituted by, for example, a small pump provided in the mechanism portion 12 .

吸附部311對連接構件C之吸附位置並未特別限定，本實施形態中，如圖8所示，設為連接構件C之連接部Ce側之端部附近位置。又，吸附位置不限於連接構件C之寬度方向中央區域，如圖8所示，亦可為自連接構件C之寬度方向中央偏向一側(手指單元40側)之緣部之位置。 The suction position of the suction part 311 to the connecting member C is not particularly limited, but in this embodiment, as shown in FIG. In addition, the suction position is not limited to the central area in the width direction of the connecting member C, and may be a position at the edge portion deviated from the widthwise center of the connecting member C to one side (the finger unit 40 side) as shown in FIG. 8 .

驅動缸體32固定於連結構件34，具有可於Z軸方向伸縮之驅動桿321。固定構件33構成為將吸附噴嘴31與驅動桿321相互連結，可藉由驅動桿321之驅動使吸附噴嘴31(吸附部311)於Z軸方向平行移動。於固定構件33與連結構件34之間，固定有可於Z軸方向平行移動之引導構件35，藉此確保吸附部311沿Z軸方向之移動精度。 The driving cylinder 32 is fixed to the connecting member 34, and has a driving rod 321 that can extend and contract in the Z-axis direction. The fixing member 33 is configured to connect the suction nozzle 31 and the driving rod 321 to each other, and the suction nozzle 31 (the suction part 311 ) can be moved in parallel in the Z-axis direction by the driving of the driving rod 321 . Between the fixing member 33 and the connecting member 34, a guide member 35 that can move in parallel in the Z-axis direction is fixed, thereby ensuring the movement accuracy of the suction portion 311 along the Z-axis direction.

連結構件34具有支持驅動缸體32之第1端部341，及固定於基部11之第2端部342。使用螺絲構件等適當之緊固件，將第2端部342固定於旋動軸111與關節軸112之間。藉此，吸附單元30構成為可與基部11一起繞關節軸112旋動。 The connecting member 34 has a first end portion 341 that supports the drive cylinder 32 and a second end portion 342 that is fixed to the base portion 11 . The second end portion 342 is fixed between the rotating shaft 111 and the joint shaft 112 using appropriate fasteners such as screw members. Thereby, the suction unit 30 is configured to be rotatable about the joint shaft 112 together with the base 11 .

(手指單元) (finger unit)

手指單元40具有第1手指部41，及第2手指部42。第1及第2手指部41、42安裝於基部11，構成為可繞旋動軸111分別獨立旋動。 The finger unit 40 has a first finger portion 41 and a second finger portion 42 . The first and second finger portions 41 and 42 are attached to the base portion 11 , and are configured to be independently rotatable around the rotational axis 111 .

手指單元40構成為可固持被吸附於吸附部311之工件。本實施形態中，手指單元40構成為可將吸附於吸附部之連接構件C自其厚度方向(Z軸方向)挾入。 The finger unit 40 is configured to hold the workpiece sucked by the suction part 311 . In the present embodiment, the finger unit 40 is configured to hold the connecting member C sucked to the suction portion from the thickness direction (Z-axis direction).

第1及第2手指部41、42構成為可分別獨立地於互相靠近之夾持位置與互相離開之放開位置之間旋動。各手指部41、42之可動範圍(最大旋動角度)未特別限定，本實施形態中為180度。 The first and second finger portions 41 and 42 are configured to be respectively independently rotatable between a holding position approaching each other and a releasing position separated from each other. The movable range (maximum rotation angle) of each of the finger portions 41 and 42 is not particularly limited, but is 180 degrees in this embodiment.

手指單元40以於放開位置不與吸附單元30干涉之方式，對於吸附單元30於X軸方向及Y軸方向分別空出特定間隔配置(參照圖7)。手指單元40其前端(下端)設定為位於較吸附部311之最下降位置更上方側之高度。 The finger unit 40 is arranged at a certain interval in the X-axis direction and the Y-axis direction of the suction unit 30 so as not to interfere with the suction unit 30 at the release position (refer to FIG. 7 ). The front end (lower end) of the finger unit 40 is set to be higher than the lowermost position of the suction part 311 on the upper side.

本實施形態中，第1及第2手指部41、42係以金屬材料、合成樹脂材料等適當材料構成。第1及第2手指部41、42分別具有於Y軸方向具有寬度方向之夾持面，構成為由該夾持面夾持工件。 In the present embodiment, the first and second finger portions 41 and 42 are formed of suitable materials such as metal materials and synthetic resin materials. Each of the first and second finger portions 41 and 42 has a gripping surface having a width direction in the Y-axis direction, and is configured to grip the workpiece by the gripping surface.

手部本體10具有使第1及第2手指部41、42分別繞旋動軸111旋動之第1及第2導線驅動機構D1、D2。手部本體10進而具有使基部11繞關節軸112旋動之第3導線驅動機構D3。第1~第3導線驅動機構D1~D3如圖1所示，設置於機構部12(大徑部121)之內部。 The hand body 10 has first and second lead wire driving mechanisms D1 and D2 for respectively rotating the first and second finger portions 41 and 42 around the rotating shaft 111 . The hand body 10 further includes a third wire driving mechanism D3 for rotating the base 11 around the joint shaft 112 . The first to third lead wire driving mechanisms D1 to D3 are provided inside the mechanism portion 12 (large diameter portion 121 ) as shown in FIG. 1 .

第1~第3導線驅動機構D1~D3具有同一構成，如圖9所示，具有馬達M、滑輪P及導線W。於馬達M之旋轉軸前端，安裝有於周面形成螺旋 狀槽之旋轉體Ma。於旋轉體Ma之周面與驅動對象即滑輪P之間，經由機構部12之小徑部122及連結部13之內部，架設有金屬製導線W。馬達M例如係以伺服馬達構成，將導線W作為動力傳達構件，使滑輪P於期望之旋轉方向以期望之旋轉量(旋轉角度)旋轉。 The first to third lead wire driving mechanisms D1 to D3 have the same configuration, and as shown in FIG. 9 , include a motor M, a pulley P, and a lead wire W. As shown in FIG. At the front end of the rotating shaft of the motor M, a spiral formed on the peripheral surface is installed. The rotating body Ma of the groove. Between the peripheral surface of the rotating body Ma and the pulley P, which is a driving object, a metal wire W is spanned through the small-diameter portion 122 of the mechanism portion 12 and the inside of the connecting portion 13 . The motor M is constituted by, for example, a servo motor, and uses the lead wire W as a power transmission member to rotate the pulley P by a desired rotation amount (rotation angle) in a desired rotation direction.

如圖5及圖6所示，第1導線驅動機構D1之滑輪P1設置於第1手指部41之基端部，構成為可使第1手指部41經由架設於滑輪P1之導線W1，繞旋動軸111旋動。 As shown in FIGS. 5 and 6 , the pulley P1 of the first wire driving mechanism D1 is provided at the base end of the first finger portion 41 , and the first finger portion 41 can be wound through the wire W1 spanned on the pulley P1 . The moving shaft 111 rotates.

第2導線驅動機構D2之滑輪P2設置於第2手指部42之基端部，構成為可使第2手指部42經由架設於滑輪P2之導線W2，繞旋動軸112旋動。 The pulley P2 of the second wire driving mechanism D2 is provided at the base end of the second finger portion 42 , and is configured so that the second finger portion 42 can be rotated around the rotating shaft 112 via the wire W2 spanned by the pulley P2 .

且，如圖4所示，第3導線驅動機構D3之滑輪P3設置於基部11之上端部，構成為可使基部11經由架設於滑輪P3之導線W3，繞關節軸112旋動。 4, the pulley P3 of the third wire drive mechanism D3 is provided on the upper end of the base 11, and the base 11 is configured to rotate around the joint shaft 112 via the wire W3 spanned on the pulley P3.

藉由採用第1~第3導線驅動機構D1~D3，可分別以同一方式之驅動系統構成各手指部41、42及基部11，故可謀求系統之簡化，且可提高各驅動源之控制之親和性。 By adopting the first to third wire drive mechanisms D1 to D3, the finger portions 41, 42 and the base portion 11 can be constituted by the same driving system, so that the system can be simplified and the control efficiency of each driving source can be improved. Affinity.

導線W1、W2如圖4所示，經由隣接於滑輪P3並插通於關節軸112之第1引導滑輪G1，及設置於旋動軸111與關節軸112間之一對第2引導滑輪G2，分別架設於滑輪P1、P2。一對第2引導滑輪G2如圖6所示，具有與X軸方向平行之軸心，於Y軸方向隣接設置。各第2引導滑輪G2係以分別獨立支持架設於滑輪P1、P2之導線W1、W2之2行滑輪群構成。 As shown in FIG. 4 , the wires W1 and W2 pass through the first guide pulley G1 which is adjacent to the pulley P3 and is inserted into the joint shaft 112 and a pair of second guide pulleys G2 provided between the rotation shaft 111 and the joint shaft 112 , They are respectively erected on the pulleys P1 and P2. As shown in FIG. 6, a pair of 2nd guide pulley G2 has the axial center parallel to the X-axis direction, and is provided adjacent to the Y-axis direction. Each of the second guide pulleys G2 is constituted by a two-row pulley group that independently supports the conducting wires W1 and W2 spanned by the pulleys P1 and P2.

導線W1經由隔著配置於關節軸112之中央之滑輪P3之內側的一對第1引導滑輪G1，及一對第2引導滑輪中之一者，架設於滑輪P1。導線W2經由隔著上述內側之一對第1引導滑輪G1之外側之一對第1引導滑輪G1，及一對第2引導滑輪中之另一者，架設於滑輪P2。滑輪P1、P2如圖5及圖6所示，於旋動軸111之軸方向(Y軸方向)相互隣接配置。 The lead wire W1 is stretched over the pulley P1 via one of the pair of first guide pulleys G1 and the pair of second guide pulleys, which are disposed on the inner side of the pulley P3 at the center of the joint shaft 112 . The lead wire W2 is stretched over the pulley P2 via the other one of the pair of the first guide pulleys G1 and the pair of the second guide pulleys on the outside through the pair of the first guide pulleys G1 on the inside. As shown in FIGS. 5 and 6 , the pulleys P1 and P2 are arranged adjacent to each other in the axial direction (Y-axis direction) of the rotating shaft 111 .

藉由對手指單元40之驅動系統採用導線驅動機構，而可實現動力傳達機構之簡化、省空間化。再者，可利用導線W1、W2之彈性，吸收各個手指部41、42之旋轉動作之時序偏移或位置偏移。 By adopting a wire drive mechanism for the drive system of the finger unit 40, the power transmission mechanism can be simplified and space-saving. Furthermore, the elasticity of the wires W1 and W2 can be used to absorb the timing shift or the position shift of the rotational actions of the respective finger portions 41 and 42 .

第1~第3導線驅動機構D1~D3具有導線張力調整單元，其包含可分別檢測各導線驅動機構之導線張力之檢測機構。 The first to third wire driving mechanisms D1 to D3 have wire tension adjusting units, which include detection mechanisms that can detect the wire tension of each wire driving mechanism, respectively.

如圖9所示，各導線驅動機構D1~D3中，將馬達M經由負載單元C設置於基台B上。負載單元C構成檢測由馬達M對滑輪P之旋轉驅動時之導線W張力之檢測機構。 As shown in FIG. 9 , in each of the lead wire driving mechanisms D1 to D3, the motor M is installed on the base B via the load unit C. The load unit C constitutes a detection mechanism for detecting the tension of the wire W when the pulley P is rotationally driven by the motor M.

導線張力調整單元之構成並未特別限定，例如如圖9所示，具備支持經架設於馬達M與滑輪P間之導線W之導線支持部R。導線支持部R具有：第1單元R1，其具有分別支持捲繞於馬達M之旋轉體Ma之導線W之上游側及下游側之一對輥r11、r12；及第2單元R2，其具有共通地支持導線W之上游側及下游側之輥r12。第2單元R2構成為可對於第1單元R1於一軸方向 相對移動。 The structure of the lead wire tension adjustment unit is not particularly limited, but as shown in FIG. The lead wire supporter R includes a first unit R1 having a pair of rollers r11 and r12 on the upstream side and the downstream side of the lead wire W wound around the rotating body Ma of the motor M, respectively, and a second unit R2 having a common pair of rollers r11 and r12 The rollers r12 on the upstream side and the downstream side of the wire W are supported by the ground. The second unit R2 is configured to be uniaxial with respect to the first unit R1 relative movement.

如上構成之導線支持部R構成可任意調整導線W之張力之導線張力調整單元。導線支持部R基於包含負載單元C之檢測機構之輸出，以導線張力成為特定值或範圍之方式調整導線W之張力。導線W(W1~W3)之特定張力對於各導線驅動機構D1~D3可相同，亦可不同。 The lead wire support portion R constructed as described above constitutes a lead wire tension adjustment unit capable of arbitrarily adjusting the tension of the lead wire W. FIG. The lead wire supporter R adjusts the tension of the lead wire W so that the lead wire tension becomes a specific value or range based on the output of the detection mechanism including the load cell C. The specific tension of the wires W (W1-W3) may be the same or different for the respective wire-driving mechanisms D1-D3.

[機器人裝置之動作] [The action of the robot device]

接著，針對如上構成之機器人裝置100及手部101之典型動作進行說明。 Next, typical operations of the robot apparatus 100 and the hand 101 configured as described above will be described.

本實施形態之機器人裝置1如上述，藉由手部101固持FFC等連接構件C之一端側，將其轉換成特定姿勢，進行對電子機器E之特定部位之連接作業。圖10A~D係說明伴隨上述作業之手部101之一連串動作之模式圖。 As described above, the robot apparatus 1 of the present embodiment holds one end side of the connecting member C such as the FFC by the hand 101, converts it into a specific posture, and performs the connecting operation to the specific part of the electronic device E. 10A-D are schematic diagrams illustrating a series of movements of the hand 101 accompanying the above-mentioned operation.

機器人裝置1具有連接構件C之吸附步驟、連接構件C之固持步驟、及連接構件C之姿勢轉換步驟。後述之機器人裝置1之各動作係藉由控制器3控制。 The robot apparatus 1 has a suction step of the connecting member C, a holding step of the connecting member C, and a posture conversion step of the connecting member C. Each operation of the robot apparatus 1 to be described later is controlled by the controller 3 .

吸附步驟中，機器人裝置1使臂部101於連接構件C之正上位置停止後，使吸附單元30之吸附部311向下方下降，吸附保持連接構件C之端部附近之表面(參照圖8、10A)。連接構件C之吸附後，臂部101使吸附部311 上昇，將連接構件C配置於手指單元40之側方(參照圖10B)。 In the suction step, after the robot device 1 stops the arm 101 at the directly upper position of the connecting member C, the suction portion 311 of the suction unit 30 is lowered downward to suction and hold the surface near the end of the connecting member C (refer to FIG. 8 , 10A). After the suction of the connecting member C, the arm portion 101 makes the suction portion 311 It ascends, and the connection member C is arrange|positioned at the side of the finger unit 40 (refer FIG. 10B).

連接構件C典型而言，載置於電子機器W之上表面。臂部101向連接構件C之正上位置之移動亦可使用相機。該相機可設置於臂部101，亦可設置於多關節臂102。 The connection member C is typically placed on the upper surface of the electronic device W. As shown in FIG. The movement of the arm portion 101 to the directly upper position of the connecting member C may also use a camera. The camera can be installed on the arm 101 or on the multi-joint arm 102 .

固持步驟中，臂部101藉由手指單元40固持以吸附部311吸附之連接構件C(參照圖10C)。圖示例中，使第1手指部41於與連接構件C之上表面對向之位置待機之狀態下，經由第2導線驅動機構D2使第2手指部42繞旋動軸111旋動180度。藉此，將吸附於吸附部311之連接構件C藉由手指單元40夾持於Z軸方向。 In the holding step, the arm portion 101 is held by the finger unit 40 to hold the connecting member C (refer to FIG. 10C ) sucked by the suction portion 311 . In the illustrated example, the second finger portion 42 is rotated 180 degrees around the rotation axis 111 via the second lead wire driving mechanism D2 while the first finger portion 41 is in a standby state at a position facing the upper surface of the connecting member C. . Thereby, the connecting member C sucked by the suction part 311 is clamped in the Z-axis direction by the finger unit 40 .

手指單元40對連接構件C之固持步驟結束後，解除吸附單元30對連接構件C之吸附動作。 After the holding step of the connecting member C by the finger unit 40 is completed, the suction action of the connecting member C by the suction unit 30 is released.

姿勢轉換步驟中，臂部101藉由使固持連接構件C之手指單元40繞旋動軸111旋動，而將連接構件C轉換成特定姿勢。轉換後之姿勢並未特別限定，典型而言，採用適於下一步驟之姿勢。 In the posture conversion step, the arm portion 101 converts the connection member C into a specific posture by rotating the finger unit 40 holding the connection member C around the rotation axis 111 . The posture after the conversion is not particularly limited, and typically, a posture suitable for the next step is adopted.

姿勢轉換步驟中，第1及第2手指部41、42分別同步繞旋動軸111旋動。藉此，可一面維持連接構件C之固持狀態，一面使連接構件C之姿勢變化。臂部101不僅使手指單元40繞旋動軸111旋動，亦可繞關節軸112旋動。藉此，提高連接構件C之姿勢自由度。 In the posture conversion step, the first and second finger portions 41 and 42 are respectively rotated around the rotation axis 111 synchronously. Thereby, the attitude|position of the connection member C can be changed, maintaining the holding state of the connection member C. The arm portion 101 not only rotates the finger unit 40 around the rotation axis 111 , but also rotates around the joint axis 112 . Thereby, the freedom degree of the posture of the connection member C is improved.

連接構件C之姿勢轉換步驟結束後，臂部101將連接構件C之連接部Ce(參照圖8)向電子機器W上之特定組裝位置搬送並連接。 After the posture transition step of the connection member C is completed, the arm portion 101 conveys and connects the connection portion Ce (see FIG. 8 ) of the connection member C to a specific assembly position on the electronic device W. As shown in FIG.

如上述，根據本實施形態，可實現自工件之吸附保持至姿勢轉換之一連串動作。尤其，即使如FFC般無厚度之工件(連接構件C)，亦可藉由吸附單元30之吸附動作，適當進行工件之拾起動作。再者，由於構成為可藉由手指單元40固持被吸附於吸附單元30之工件，故提高工件之保持力，因此工件之姿勢轉換作業亦可穩定進行。 As described above, according to the present embodiment, a series of operations from the suction holding of the workpiece to the posture change can be realized. In particular, even a workpiece (connecting member C) with no thickness like FFC can be properly picked up by the suction operation of the suction unit 30 . Furthermore, since the workpiece adsorbed by the suction unit 30 can be held by the finger unit 40 , the holding force of the workpiece is improved, and the posture change operation of the workpiece can also be performed stably.

根據本實施形態，由於第1及第2手指部41、42可繞旋動軸111分別獨立旋動地構成，故可將以吸附單元30保持之工件(連接構件C)穩定地轉換成繞旋動軸111以任意角度旋轉之姿勢。藉此，可不使手部101全體之姿勢變化，將以吸附單元30保持之工件轉換成其他姿勢。因此，可縮小工件之姿勢轉換所需要之空間，故工件向狹小區域之搬送變容易。 According to the present embodiment, since the first and second finger portions 41 and 42 are configured to be independently rotatable around the rotating shaft 111, respectively, the workpiece (connecting member C) held by the suction unit 30 can be stably converted into a rotating The posture in which the moving shaft 111 rotates at any angle. This makes it possible to convert the workpiece held by the suction unit 30 into another posture without changing the posture of the entire hand 101 . Therefore, the space required for changing the posture of the workpiece can be reduced, so that the transfer of the workpiece to the narrow area is facilitated.

再者，由於對第1及第2手指部41、42之驅動源採用導線驅動機構D1、D2，故可利用導線之彈性，吸收各個手指部41、42之旋轉動作之時序偏移或位置偏移。例如，以2個手指部41、42固持工件之情形時，即使將各者之目標位置(固持位置)設定為略微重疊之位置，亦可以導線W1、W2之彈性吸收其重疊部分。藉此，可以特定之保持力穩定地固持工件。 Furthermore, since the wire driving mechanisms D1 and D2 are used for the driving sources of the first and second finger portions 41 and 42, the elasticity of the wires can be used to absorb the timing shift or positional shift of the rotational motion of each finger portion 41 and 42. shift. For example, when the workpiece is held by the two fingers 41 and 42, even if the target positions (holding positions) of the two are set to slightly overlapped positions, the overlapping portions can be absorbed by the elasticity of the wires W1 and W2. Thereby, the workpiece can be stably held with a specific holding force.

並且，由於具有導線W1、W2之張力檢測及調整機構，故手指單元 40之維護較容易，可迅速進行對應於工件種類之張力設定。 In addition, due to the tension detection and adjustment mechanism of the wires W1 and W2, the finger unit The maintenance of 40 is easier, and the tension setting corresponding to the type of workpiece can be quickly performed.

以上，雖針對本技術之實施形態進行了說明，但本技術並非僅限定於上述實施形態，當然可加入各種變更。 Although the embodiment of the present technology has been described above, the present technology is not limited to the above-described embodiment, and various modifications can of course be added.

例如以上實施形態中，作為工件，列舉如FFC般有柔軟性之線狀或帶狀之連接構件C進行了說明，但工件之種類不限於此，對於例如板狀、卡狀、硬幣狀、短條狀等無厚度之其他構件之處理，亦可應用本技術。再者，本技術不僅可應用於工業用機器人，亦可應用於家庭用機器人、醫療用機器人等。 For example, in the above embodiment, as the workpiece, a linear or belt-shaped connecting member C having flexibility like FFC has been described. However, the type of workpiece is not limited to this. This technology can also be applied to the processing of other components without thickness such as strips. Furthermore, the present technology can be applied not only to industrial robots, but also to home robots, medical robots, and the like.

吸附單元30中，構成為藉由使吸附噴嘴31以驅動缸體32升降驅動而可使吸附部311平行移動，但吸附噴嘴31自身亦可具有可伸縮之吸附部。 In the adsorption unit 30, the adsorption part 311 can be moved in parallel by driving the adsorption nozzle 31 to move up and down by the driving cylinder 32, but the adsorption nozzle 31 itself may have a retractable adsorption part.

再者，亦可構成為基於藉由導線張力檢測機構檢測之導線張力，以各導線之張力成為特定值之方式，可動態控制調整單元。藉此，可即時進行導線張力之調整。 Furthermore, based on the wire tension detected by the wire tension detection mechanism, the adjustment unit may be dynamically controlled so that the tension of each wire becomes a specific value. In this way, the wire tension can be adjusted in real time.

另，本技術亦可採用如以下之構成。 In addition, this technique can also employ|adopt the following structures.

(1)一種機器人手部，其具備：手部本體，其具有基部；吸附單元，其安裝於上述基部，具有可於第1軸方向平行移動之吸附部；及 手指單元，其安裝於上述基部，具有可繞與交叉於上述第1軸之第2軸平行之旋動軸分別獨立旋動之第1及第2手指部。 (1) A robot hand comprising: a hand body having a base; a suction unit mounted on the base and having a suction part capable of parallel movement in a first axis direction; and The finger unit, which is mounted on the base, has first and second finger portions respectively independently rotatable around a rotation axis parallel to a second axis intersecting with the first axis.

(2)如上述(1)之機器人手部，其中上述手部本體進而具有關節軸，其與分別交叉於上述第1及第2軸之第3軸平行，上述基部構成為可繞上述關節軸旋動。 (2) The robot hand according to the above (1), wherein the hand body further has a joint axis which is parallel to a third axis that intersects the first and second axes respectively, and the base is configured to be able to surround the joint axis swirl.

(3)如上述(1)或(2)之機器人手部，其中上述手部本體進而具有第1及第2導線驅動機構，其使上述第1及第2手指部分別繞上述旋動軸旋動。 (3) The robot hand according to the above (1) or (2), wherein the hand body further has a first and a second wire driving mechanism, which make the first and second finger parts rotate around the rotation axis, respectively verb: move.

(4)如上述(3)之機器人手部，其中上述第1及第2導線驅動機構具有導線張力調整單元，其包含可分別檢測導線張力之檢測機構。 (4) The robot hand according to the above (3), wherein the first and second wire driving mechanisms have wire tension adjusting units including detection mechanisms capable of detecting wire tensions, respectively.

(5)如上述(2)~(4)中任一項之機器人手部，其中上述手部本體進而具有第3導線驅動機構，其使上述基部繞上述關節軸旋動。 (5) The robot hand according to any one of (2) to (4) above, wherein the hand body further has a third wire drive mechanism that rotates the base around the joint axis.

(6)如上述(1)~(5)中任一項之機器人手部，其中上述手指單元構成為可固持被吸附於上述吸附部之工件。 (6) The robot hand according to any one of (1) to (5) above, wherein the finger unit is configured to hold the workpiece adsorbed on the adsorption portion.

(7)如上述(1)~(6)中任一項之機器人手部，其中上述第1及第2手指部分別具有180度之可動範圍。 (7) The robot hand according to any one of (1) to (6) above, wherein the first and second finger portions respectively have a movable range of 180 degrees.

(8)如上述(7)之機器人手部，其中上述手指單元構成為可自上述第1軸方向挾入被吸附於上述吸附部之工件。 (8) The robot hand according to the above (7), wherein the finger unit is configured to be able to hold the workpiece sucked to the suction portion from the first axis direction.

(9)一種機器人裝置，其具備： 機器人臂；手部本體，其具有基部，安裝於上述機器人臂；吸附單元，其安裝於上述基部，具有可於第1軸方向平行移動之吸附部；及手指單元，其安裝於上述基部，具有可繞與交叉於上述第1軸之第2軸平行之旋動軸分別獨立旋動之第1及第2手指部。 (9) A robotic device comprising: a robot arm; a hand body, which has a base part and is attached to the robot arm; a suction unit, which is attached to the base part and has a suction part that can move in parallel in the first axis direction; and a finger unit which is attached to the base part and has The first and second finger portions that can be independently rotated around a rotation axis parallel to the second axis intersecting the first axis.

(10)一種電子機器的製造方法，電子機器係具有連接構件者，且該製造方法包含藉由安裝於機器人手部之基部且具有可於第1軸方向平行移動之吸附部的吸附單元，吸附上述連接構件，藉由安裝於上述基部且具有可繞與交叉於上述第1軸之第2軸平行之旋動軸分別獨立旋動之第1及第2手指部之手指單元，固持被吸附於上述吸附部之上述連接構件，藉由使固持上述連接構件之手指單元繞上述旋動軸旋動，而使上述連接構件之姿勢變化。 (10) A method of manufacturing an electronic device, wherein the electronic device is provided with a connecting member, and the manufacturing method comprises, by means of a suction unit mounted on a base of a robot hand and having a suction part that can move in parallel in the first axis direction, suction The above-mentioned connecting member is held and sucked by a finger unit mounted on the above-mentioned base portion and having first and second finger portions respectively independently rotatable around a rotational axis parallel to a second axis intersecting the above-mentioned first axis. The said connection member of the said adsorption|suction part changes the attitude|position of the said connection member by rotating the finger unit holding the said connection member about the said rotation axis.

10‧‧‧手部本體 10‧‧‧Hand body

11‧‧‧基部 11‧‧‧Base

13‧‧‧連結部 13‧‧‧Connections

30‧‧‧吸附單元 30‧‧‧Adsorption unit

31‧‧‧吸附噴嘴 31‧‧‧Adsorption nozzle

32‧‧‧驅動缸體 32‧‧‧Drive cylinder

33‧‧‧固定構件 33‧‧‧Fixing components

34‧‧‧連結構件 34‧‧‧Connecting components

35‧‧‧引導構件 35‧‧‧Guiding member

40‧‧‧手指單元 40‧‧‧Finger unit

41‧‧‧第1手指部 41‧‧‧First Finger

42‧‧‧第2手指部 42‧‧‧Second Finger

111‧‧‧旋動軸 111‧‧‧Rotating shaft

112‧‧‧關節軸 112‧‧‧Joint shaft

321‧‧‧驅動桿 321‧‧‧Drive lever

341‧‧‧第1端部 341‧‧‧End 1

342‧‧‧第2端部 342‧‧‧End 2

Claims (9)

一種機器人手部，其包含：手部本體，其包含基部；吸附單元，其安裝於上述基部，包含可於第1軸方向平行移動之吸附部；及手指單元，其安裝於上述基部，包含可繞與交叉於上述第1軸之第2軸平行之旋動軸，分別獨立旋動之第1及第2手指部；且上述第1及第2手指部分別具有180度之可動範圍。 A robot hand, comprising: a hand body, which includes a base; an adsorption unit, which is mounted on the base and includes an adsorption part that can move in parallel in a first axis direction; and a finger unit, which is mounted on the base and includes a The first and second fingers rotate independently around a rotation axis parallel to the second axis intersecting the first axis; and the first and second fingers respectively have a movable range of 180 degrees. 如請求項1之機器人手部，其中上述手部本體進而包含關節軸，其與分別交叉於上述第1及第2軸之第3軸平行，上述基部構成為可繞上述關節軸旋動。 The robot hand of claim 1, wherein the hand body further includes a joint axis parallel to a third axis intersecting the first and second axes respectively, and the base is configured to be rotatable around the joint axis. 如請求項1之機器人手部，其中上述手部本體進而包含第1及第2導線驅動機構，其使上述第1及第2手指部分別繞上述旋動軸旋動。 The robot hand according to claim 1, wherein the hand body further comprises first and second wire driving mechanisms, which respectively rotate the first and second finger parts around the rotation axis. 如請求項3之機器人手部，其中上述第1及第2導線驅動機構包含導線張力調整單元，該導線張力調整單元包含可分別檢測導線張力之檢測機構。 The robot hand of claim 3, wherein the first and second wire driving mechanisms include wire tension adjustment units, and the wire tension adjustment units include detection mechanisms capable of detecting the wire tensions, respectively. 如請求項2之機器人手部，其中上述手部本體進而包含第3導線驅動機構，其使上述基部繞上述關節軸旋動。 The robot hand of claim 2, wherein the hand body further includes a third wire driving mechanism for rotating the base around the joint axis. 如請求項1之機器人手部，其中上述手指單元構成為可固持被吸附於上述吸附部之工件。 The robot hand according to claim 1, wherein the finger unit is configured to hold the workpiece adsorbed on the adsorption portion. 如請求項1之機器人手部，其中上述手指單元構成為可自上述第1軸方向挾入吸附於上述吸附部之工件。 The robot hand of claim 1, wherein the finger unit is configured to hold the workpiece sucked to the suction portion from the first axis direction. 一種機器人裝置，其包含：機器人臂；手部本體，其包含基部，且安裝於上述機器人臂；吸附單元，其安裝於上述基部，包含可於第1軸方向平行移動之吸附部；及手指單元，其安裝於上述基部，包含可繞與交叉於上述第1軸之第2軸平行之旋動軸，分別獨立旋動之第1及第2手指部；且上述第1及第2手指部分別具有180度之可動範圍。 A robot device comprising: a robot arm; a hand body including a base and mounted on the robot arm; an adsorption unit mounted on the base and including an adsorption part that can move in parallel in a first axis direction; and a finger unit , which is installed on the above-mentioned base, and includes the first and second finger parts that can be independently rotated around a rotation axis parallel to the second axis that intersects the above-mentioned first axis; and the above-mentioned first and second finger parts are respectively Has a 180-degree range of motion. 一種電子機器的製造方法，該電子機器係包含連接構件者，該製造方法包含藉由安裝於機器人手部之基部、且包含可於第1軸方向平行移動之吸 附部的吸附單元，吸附上述連接構件，藉由安裝於上述基部、且包含可繞與交叉於上述第1軸之第2軸平行之旋動軸，分別獨立旋動之第1及第2手指部之手指單元，固持被吸附於上述吸附部之上述連接構件，藉由使固持上述連接構件之手指單元繞上述旋動軸旋動，而使上述連接構件之姿勢變化。A manufacturing method of an electronic machine, the electronic machine includes a connecting member, the manufacturing method includes a suction device that can be moved in parallel in a first axis direction by being mounted on a base of a robot hand The adsorption unit of the attached part is used for adsorbing the connecting member, by being mounted on the base part and comprising a rotation axis parallel to the second axis intersecting the first axis, the first and second fingers respectively independently rotating The finger unit of the portion holds the connecting member sucked to the suction portion, and the posture of the connecting member is changed by rotating the finger unit holding the connecting member around the rotation axis.
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