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Gripping apparatus, robot, and gripping method

A technology of holding part and pressing part, applied in the direction of robots, manipulators, manufacturing tools, etc., can solve the problems of shape damage and damage to the value of the object to be grasped

Inactive Publication Date: 2015-04-29
SEIKO EPSON CORP
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0009] In addition, among the soft objects to be grasped, there are some objects to be grasped that are grasped by a robot, and the shape of the object is broken, thereby deteriorating the value of the object to be grasped.

Method used

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  • Gripping apparatus, robot, and gripping method
  • Gripping apparatus, robot, and gripping method
  • Gripping apparatus, robot, and gripping method

Examples

Experimental program
Comparison scheme
Effect test

no. 1 approach

[0098] [Structure and Action]

[0099] In this embodiment, according to Figure 1 to Figure 9 An example of a manipulator as a gripping device and holding an object to be grasped (sometimes called "object to be gripped") using the manipulator will be described.

[0100] figure 1 (a)~ figure 2 (a) is a schematic perspective view showing the structure of the manipulator. figure 1 (a) indicates that the manipulator is about to maintain the state before the object being held, figure 1 (b) shows the state where the manipulator is in contact with the object to be grasped. figure 2 (a) shows the state where the manipulator holds the object to be grasped. figure 2 (b) shows the structure of the manipulator, along figure 2 (a) Schematic sectional view of line AA'. In addition, in each drawing used in the following description, in order to form each member in a size that can be recognized on the drawing, the scale is different for each member.

[0101] Such as figure 1 (a)~...

no. 2 approach

[0197] Figure 16 It is a figure which shows the structure of the manipulator 4a in 2nd Embodiment, and it is the same as 1st Embodiment figure 2 (a) Corresponding figure. The manipulator 4a of the second embodiment is different from the manipulator 4 of the first embodiment only in the following two aspects, that is, the first force applying part 16, the second force applying part 17, the third force applying part 22, the Four force application parts 23 (also referred to as force application parts 16, 17, 22, 23); and four rods (first rod 14, second rod 15, third rod 20, fourth rod 21) are respectively fixed on the inside The positions on the back side of the first sheet 25 and the inner second sheet 26 (also referred to as sheets 25 and 26 ). That is, the four rods (the first rod 14, the second rod 15, the third rod 20, and the fourth rod 21) in the second embodiment are fixed in the state where these rods in the first embodiment are retracted to the greatest extent (i.e....

no. 3 approach

[0200] Figure 17 It is a figure which shows the structure of the manipulator 4b in 3rd Embodiment. This embodiment differs from the first embodiment in that the elastic member is formed in a bag shape and that a frame-shaped structure is provided in the bag-shaped elastic member. In addition, the description of the same points as those of the first embodiment will be omitted.

[0201] Such as Figure 17 As shown in (a), the mounting portion 312 and the binding portion 320 are provided on the −Z side of the first base portion 12 . The mounting portion 312 is formed using a round bar, and a four-sided frame is formed by the horizontal member 12 b of the first base portion 12 and the mounting portion 312 . The mounting portion 312 has strength, and has such a strength that it is difficult to deform even when it travels between the mounting table 1 and the object 2 to be grasped. The bottom portion 312 a of the mounting portion 312 on the −Z direction side is formed in a stra...

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Abstract

A gripping apparatus (4) includes a plurality of holding sections (10). Each of the plurality of holding sections includes a flexible film-like member (25, 26). The plurality of holding sections are capable of gripping a plurality of different kinds of objects (2) to be gripped having different softness indexes in a range of 3 mm 3 / gf to 10 mm 3 / gf.

Description

technical field [0001] The present invention relates to a grasping device, a robot and a grasping method for grasping an object to be grasped. Background technique [0002] Robots that hold objects to be grasped are used in tasks such as assembly work and sorting work. Objects to be grasped by a robot are various, and Patent Document 1 discloses a robot arm (grip device) capable of holding a flexible object to be grasped. This manipulator includes a pair of holders, and a bag filled with a gel-like fluid is provided on the inner surface of each holder. When the object to be grasped is grasped by the pair of holders, since the bag deforms along the shape of the object to be grasped, it is possible to stably grasp a soft object to be grasped. [0003] In addition, Patent Document 2 discloses a robot arm that holds objects to be gripped (objects to be gripped) arranged side by side. The manipulator has a pair of finger forming bodies. The finger forming body is formed of a ...

Claims

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Application Information

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IPC IPC(8): B25J15/08
CPCB25J15/12Y10S901/39B25J15/00
Inventor 盐见正博
Owner SEIKO EPSON CORP
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