Handheld device and workpiece transfer device

Abstract

The present invention provides a hand device having a simple structure and a workpiece moving device having this hand device. [Solution] The hand device 10 has a reciprocating member 400 and a gripping member 500. The reciprocating member 400 is capable of reciprocating movement. The gripping member 500 performs one of the following actions: gripping and releasing the workpiece at the second end 514 side when the reciprocating member 400 enters the first end 512, and gripping and releasing the workpiece at the second end 514 side when the reciprocating member 400 moves in a direction away from the first end 512. The gripping member 500 has a plurality of movable members 510 and a central axis 520. The central axis 520 rotatably holds the plurality of movable members 510 at parts other than both ends.

Description

Technical Field

[0005] , ,

[0001] The present invention relates to a hand device and a work moving device.

Background Art

[0002] In recent years, in order to replace human work or assist human work, the popularity of work moving devices that grip and move work, such as robots, has been increasing. There is a device having an arm and a hand device attached to the tip of the arm. Regarding such a device, for example, Patent Document 1 discloses a robot hand having a gripping portion. Specifically, this robot hand includes a gripping portion composed of a plurality of finger-like structures for gripping an object, a suction pad provided on the gripping portion and facing the object to adsorb it, and a thin film-like film body spanned between the plurality of finger-like structures and formed to be deformable according to the operation of the gripping portion.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] Simplifying the structure of the hand device of the work moving device has various advantages. An example of the object of the present invention is to provide a hand device having a simple structure and a work moving device having this hand device. [[ID=3​​​​​​​​A gripping member which, by reciprocating, moves into one end to grip and release the workpiece at the other end, and by moving in a direction away from the one end to grip and release the workpiece at the other end, A hand device having the following is provided.

[0006] According to one aspect of the present invention, The aforementioned hand device An arm that holds the aforementioned hand device, A workpiece moving device is provided that includes the following. [Effects of the Invention]

[0007] According to one aspect of the present invention, a hand device having a simple structure and a workpiece moving device having this hand device can be provided. [Brief explanation of the drawing]

[0008] [Figure 1] This figure shows an example of a workpiece moving device according to an embodiment. [Figure 2] This is a perspective view of the hand device. [Figure 3] This is a cross-sectional view of the hand device. [Figure 4] This is a disassembled perspective view of the hand device. [Figure 5] This is a cross-sectional view of the hand device. [Figure 6] This is a cross-sectional perspective view showing the main parts of a modified hand device. [Modes for carrying out the invention]

[0009] Embodiments of the present invention will be described below with reference to the drawings. In all drawings, similar components are denoted by the same reference numerals, and their descriptions are omitted as appropriate.

[0010] Figure 1 shows an example of a workpiece moving device 1000 according to an embodiment. The workpiece moving device 1000 is a robot-type device for transporting workpieces and has a hand device 10 and an arm 20. The hand device 10 grasps the workpiece. The arm 20 moves the hand device 10. The control unit of the workpiece moving device 1000 moves the arm 20 to position the hand device 10 for grasping the workpiece. The workpiece moving device 1000 then controls the hand device 10 to make the hand device 10 grasp the workpiece. In this state, the workpiece moving device 1000 moves the workpiece to a predetermined position by moving the arm 20. After that, the workpiece moving device 1000 releases the workpiece from the hand device 10 by controlling the hand device 10.

[0011] The workpiece moving device 1000 operates, for example, alongside a person. One example of such a situation is when the workpiece moving device 1000 and the person are working on the same work line. However, the workpiece moving device 1000 may also operate when there are no people nearby.

[0012] An example of a workpiece moved by the workpiece moving device 1000 is food. In this case, the workpiece moving device 1000 packs the food into a predetermined container (for example, a lunchbox container). The predetermined container is transported by a conveyor belt. A person and the workpiece moving device 1000 are lined up along this conveyor belt. Specific examples of food as workpieces include small pieces such as sliced ​​green onions and pickled ginger, or items with a certain weight and size such as grilled fish or hamburgers. The workpiece may also be something other than food, such as a component part.

[0013] Figure 2 is a perspective view of the hand device 10, Figure 3 is a cross-sectional view of the hand device 10, Figure 4 is an exploded perspective view of the hand device 10, and Figure 5 is a cross-sectional view of the hand device 10. Figure 3 shows a cross-section in the vertical direction of Figure 2. Also, the position of the reciprocating member 400, which will be described later, is different between Figure 3 and Figure 5, and as a result, the opening and closing state of the gripping member 500 is different. Furthermore, Figure 6 is a cross-sectional perspective view showing the main part of a modified example of the hand device 10.

[0014] As shown in FIG. 3, the hand device 10 includes a reciprocating member 400 and a gripping member 500. The reciprocating member 400 is capable of reciprocating movement. The gripping member 500 performs either gripping or releasing of the workpiece at the other end side when the reciprocating member 400 enters the one end side, and performs the other of gripping or releasing of the workpiece at the other end side when the reciprocating member 400 moves in a direction away from the one end side. In the latter state, the reciprocating member 400 may remain at the one end side of the gripping member 500 or may be completely disengaged from the one end side of the gripping member 500. By doing so, the structure of the hand device 10 becomes simple.

[0015] Hereinafter, the structure of the hand device 10 shown in FIGS. 2 to 5 will be described in detail. In the hand device 10 shown in these figures, the gripping member 500 performs gripping of the workpiece at the other end side when the reciprocating member 400 enters the one end side, and performs releasing of the workpiece at the other end side when the reciprocating member 400 moves in a direction away from the one end side. Also, in the following description, for convenience, the side where the gripping member 500 protrudes from the housing 210 of the hand device 10 is described as the lower side. However, this description does not specify that the gripping member 500 faces downward in the state where the first member 100 is used.

[0016] The hand device 10 has a first member 100, a second member 200, and a third member 300. The second member 200 has a reciprocating member 400 and a housing 210 for accommodating the reciprocating member 400. The first member 100 is removably assembled to the upper part of the housing 210 and has a mechanism for supplying a power source for reciprocating the reciprocating member 400 to the second member 200. The third member 300 is removably assembled to the lower part of the housing 210 and holds the gripping member 500. Note that the first end portion 512 of the gripping member 500, that is, the one end side of the gripping member 500, protrudes from the third member 300 toward the second member 200 side. For this reason, in the state where the third member 300 is assembled to the lower part of the housing 210, the first end portion 512 of the gripping member 500 is located inside the housing 210.

[0017] As shown in FIG. 3, the first member 100 has an attachment member 110 and a flow path member 120. The flow path member 120 is an example of a supply section that supplies a power source for moving the reciprocating member 400. An example of this power source is a fluid, such as a gas like air.

[0018] The attachment member 110 is provided along the side surface of the first member 100 and is a member for removably assembling the first member 100 to the upper part of the second member 200. As an example, as shown in FIG. 4, the second member 200 is cylindrical, and the first member 100 is disk-shaped. From the edge of the upper surface of the housing 210 of the second member 200, a convex portion 214 projects upward partially. And the first member 100 is arranged to close the upper surface of the second member 200. In that state, the first member 100 is rotated in a first direction with respect to the second member 200. As a result, the attachment member 110 meshes with the convex portion 214 of the housing 210, and as a result, the first member 100 is assembled to the upper part of the second member 200. On the other hand, when the first member 100 is rotated in the opposite direction to the first direction with respect to the second member 200, the attachment member 110 disengages from the upper part of the second member 200, and as a result, the first member 100 is removed from the second member 200.

[0019] As shown in FIG. 3, the flow path member 120 has a flow path, such as a pipe, for supplying a fluid that serves as a power source for reciprocating the reciprocating member 400 to the second member 200. This flow path penetrates the first member 100 vertically. For example, when moving the reciprocating member 400 toward the gripping member 500, this fluid is supplied into the second member 200 through the flow path member 120. On the other hand, when moving the reciprocating member 400 in a direction away from the gripping member 500, this fluid is discharged from the inside of the second member 200 to the outside of the second member 200 through the flow path member 120.

[0020] As shown in Figures 2 to 4, a portion of the flow path member 120 protrudes from the upper surface of the first member 100 and forms a connection portion 122. A pipe for supplying fluid is connected to the connection portion 122. The flow path member 120 is assembled to the main body of the first member 100, i.e., the portion enclosed by the mounting member 110, using a screw 130. The flow path member 120 and the screw 130 of the first member 100 are made of metal such as stainless steel, but other parts of the first member 100, such as the mounting member 110 and the main body of the first member 100, are made of resin. This makes the hand device 10 lightweight.

[0021] As shown in Figure 3, the third member 300 has a mounting member 310 and a housing 320, and holds the gripping member 500.

[0022] The mounting member 310 is provided along the side of the housing 320 and is a member for removably assembling the third member 300 to the lower part of the second member 200. As an example, as shown in Figure 4, the housing 320 is a hollow disc shape with an open top. A protrusion 216 partially protrudes downward from the edge of the lower surface of the housing 210 of the second member 200. The third member 300 is positioned to cover the lower surface of the second member 200. In this state, the mounting member 310 is rotated in a first direction relative to the second member 200. As a result, the mounting member 310 engages with the protrusion 216 of the housing 210, and the third member 300 is assembled to the lower part of the second member 200. On the other hand, when the mounting member 310 is rotated in the opposite direction to the first direction relative to the second member 200, the mounting member 310 detaches from the lower part of the second member 200, and as a result, the third member 300 is removed from the second member 200.

[0023] The housing 320 holds the gripping member 500.

[0024] In detail, the gripping member 500 comprises a plurality of movable members 510 and a central axis 520. The movable members 510 are members corresponding to fingers and extend in the vertical direction. The central axis 520 rotatably holds the plurality of movable members 510 at all ends except the ends. As shown in Figure 5, at one end of the gripping member 500, i.e., the first end 512 of the movable member 510, the reciprocating member 400 moves downward, entering between the plurality of movable members 510, causing the gripping member 500 to rotate around the central axis 520. As a result, the other end of the plurality of movable members 510, i.e., the second end 514, grips the workpiece. Also, as shown in Figure 3, at the first end 512 of the movable member 510, the reciprocating member 400 moves upward, moving away from between the plurality of movable members 510, causing the gripping member 500 to rotate in the opposite direction around the central axis 520. As a result, the second end 514 of the plurality of movable members 510 releases the workpiece. In the example shown in Figure 3, the reciprocating member 400 remains between the multiple first end parts 512 when the second end part 514 has released the workpiece. However, the reciprocating member 400 may be completely detached from between the multiple first end parts 512 when the second end part 514 has released the workpiece.

[0025] In the example shown in Figure 3, the housing 320 accommodates the central shaft 520. As a result, the gripping member 500 is held by the housing 320. With the central shaft 520 housed in the housing 320, the movable member 510 is rotatable around the central shaft 520.

[0026] Furthermore, the first end 512 of the movable member 510 protrudes above the third member 300. Therefore, when the third member 300 is assembled to the second member 200, the first end 512 fits inside the second member 200. On the other hand, the second end 514 of the movable member 510 protrudes below the third member 300. Therefore, the second end 514 can grip a workpiece.

[0027] The movable member 510 is made of resin. This makes the hand device 10 lightweight. On the other hand, the central shaft 520 has a shaft body 522 and a covering portion 524. The shaft body 522 is made of a metal such as stainless steel. This improves the durability of the central shaft 520. The covering portion 524 is formed on at least the area of ​​the shaft body 522 that the movable member 510 contacts. The covering portion 524 is made of resin and covers the outer surface of the shaft body 522. As a result, the movable member 510 comes into contact with the covering portion 524, making it easier to rotate compared to when it is in direct contact with the shaft body 522.

[0028] In the examples shown in Figures 2 to 4, the gripping member 500 comprises two movable members 510. However, there may be three or more movable members 510, for example, four as shown in Figure 6.

[0029] As shown in Figure 3, the second member 200 includes a housing 210, a second flow path member 222, a cylinder 224, a reciprocating member 400, and a pressing portion 230.

[0030] As shown in Figure 3, the housing 210 houses the reciprocating member 400, the second flow path member 222, the cylinder 224, and the pressing part 230. When the third member 300 is assembled to the second member 200, the second member 200 also houses the first end 512 of the gripping member 500.

[0031] The housing 210 is cylindrical, as shown in Figure 4, for example. As described above, a portion 214 protrudes upward from the edge of the upper surface of the housing 210. Also, a portion 216 protrudes downward from the edge of the lower surface of the housing 210. The portion 214 is provided for assembling the first member 100 to the housing 210, and the portion 216 is provided for assembling the third member 300 to the housing 210.

[0032] As shown in Figure 3, the end of the reciprocating member 400 opposite to the gripping member 500 is inserted into the cylinder 224. The second flow path member 222 has a pipe that serves as a fluid passage. The upper end of this pipe is connected to the lower end of the flow path member 120, and the lower end of this pipe is connected to the upper end of the cylinder 224. When fluid is supplied into the cylinder 224, the gripping member 500 moves downward and enters one end of the gripping member 500 (between the multiple first ends 512 in the example shown in Figure 3). On the other hand, when the reciprocating member 400 is moved upward and released from one end of the gripping member 500, the fluid in the cylinder 224 is discharged.

[0033] As shown in Figure 3, the reciprocating member 400 has a main body member 410 and an insertion member 420.

[0034] The main body member 410 extends vertically, and its upper end is a disc with the same diameter as the inner diameter of the cylinder 224. This disc receives pressure from the fluid flowing into the cylinder 224, causing the reciprocating member 400 to move downward. The main body member 410 is made of a metal such as stainless steel. This improves the durability of the main body member 410.

[0035] The insertion member 420 covers the lower end of the main body member 410. The lower end of the insertion member 420 is curved, for example, hemispherical or semi-disc-shaped. The insertion member 420 is also made of resin. Due to the material and shape of the insertion member 420, the reciprocating member 400 can easily fit between the first ends 512 of the multiple movable members 510.

[0036] In the example shown in Figure 3, the reciprocating member 400 moves back and forth in the direction in which the gripping member 500 extends, i.e., vertically. However, the angle between the direction in which the reciprocating member 400 moves back and forth and the direction in which the gripping member 500 extends may be 180° or less. For example, this angle may be between 120° and 150°.

[0037] The pressing section 230 applies a force to one end of each of the multiple movable members 510, i.e., the first end 512, in a direction that brings the multiple first end 512 closer together. An elastic member 226 is also provided inside the cylinder 224. When the fluid pressure inside the cylinder 224 decreases, for example, when the inside of the cylinder 224 is released, the reciprocating member 400 moves upward due to the elastic member 226 inside the cylinder 224 and disengages from between the multiple first end 512. The pressing section 230 also applies a force to one end of each of the multiple movable members 510, i.e., the first end 512, in a direction that brings the multiple first end 512 closer together. Through this series of actions, the second end 514 reliably transitions from a gripped state to a released state.

[0038] In the example shown in Figure 3, the pressing portion 230 has an elastic member 232 and a movable member 234.

[0039] The elastic member 232 is located between the inner wall of the housing 210 and one end of the movable member 510, i.e., the first end 512, and generates a force that widens the gap between them. An elastic member 232 is provided for each of the multiple movable members 510. An example of an elastic member 232 is a coil spring, but it may also be a leaf spring or a block-shaped member made of an elastic material.

[0040] The movable member 234 is movably mounted on a guide portion 212 provided on the inner wall of the housing 210. The guide portion 212 protrudes from the inner wall of the housing 210 toward the movable member 510 and has a flat upper surface. The guide portion 212 is not provided near the central axis of the housing 210. The first ends 512 of the multiple movable members 510 can be positioned above the guide portion 212 without interfering with it.

[0041] As a result, the guide portion 212 is positioned below the first end portion 512 and the elastic member 232, that is, on the side of the second end portion 514 of the movable member 510. The elastic member 232 applies force to the first end portions 512 of the multiple movable members 510 via the moving member 234. In this way, the force applied to the first end portions 512 by the elastic member 232 is stabilized.

[0042] In the example shown in Figure 3, the movable member 234 is an L-shaped member. The L-shaped bottom plate is in contact with the upper surface of the guide portion 212. One side of the L-shaped side plate is in contact with the elastic member 232, and the opposite side of the side plate is in contact with the first end portion 512. A movable member 234 is provided for every multiple elastic member 232, i.e., every multiple movable member 510.

[0043] In the example described above, the fluid mechanism for reciprocating the reciprocating member 400 is single-acting. However, this mechanism may be double-acting.

[0044] As described above, the gripping member 500 of the hand device 10 opens and closes in accordance with the reciprocating motion of the reciprocating member 400. Therefore, the structure of the hand device 10 is simple. A simple structure for the hand device 10 results in, for example, a lighter hand device 10.

[0045] Furthermore, while parts of the hand device 10 that require durability, such as the piping that forms the fluid flow path, the main body 410 of the reciprocating member 400, the shaft body 522 of the gripping member 500, and various screws (for example, screw 130), are made of metal, the other parts are made of resin. As a result, the hand device 10 is even lighter.

[0046] Furthermore, a person performing maintenance on the hand device 10 can easily remove the third member 300, which holds the gripping member 500, from the housing 210 of the second member 200. Therefore, a person performing maintenance on the hand device 10 can easily maintain the gripping member 500.

[0047] Furthermore, a person performing maintenance on the hand device 10 can easily remove the first member 100, which has the flow path member 120, from the housing 210 of the second member 200. Therefore, for example, if there are different types of hand devices 10 and their first members 100s are interchangeable, a person performing maintenance on the hand device 10 can change the type of hand device 10 by replacing the second member 200 and third member 300 with the second member 200 and third member 300 of another hand device 10 without removing the first member 100 from the arm 20. In addition to the type that grips the workpiece, there may also be a type that sucks up the workpiece as part of the hand device 10.

[0048] The embodiments of the present invention have been described above with reference to the drawings, but these are merely examples of the present invention, and various other configurations can also be adopted. [Explanation of symbols]

[0049] 10 Handheld device 20 Arms 100 First Member 200 Second Member 210 cabinets 212 Guide Section 224 cylinders 226 Elastic members 230 Pressing part 232 Elastic members 234 Moving member 300 Third Member 400 reciprocating members 410 Main body components 420 Insertion Member 500 Gripping member 510 Movable member 512 First end 514 Second end 520 center axis 522 Shaft Body 524 Covering part 1000 Workpiece Transfer Device

Claims

1. A reciprocating member capable of moving back and forth, A gripping member which, by reciprocating, moves into one end to grip and release the workpiece at the other end, and by moving in a direction away from the one end to grip and release the workpiece at the other end, A hand device having a

2. In the hand device according to claim 1, The gripping member is, Multiple movable members, A central axis that rotatably holds the plurality of movable members at parts other than both ends, Equipped with, At one end, the reciprocating member enters between the plurality of movable members, causing the other ends of the plurality of movable members to grip the workpiece. A hand device wherein, at one end, the reciprocating member moves in a direction that separates it from the plurality of movable members, thereby releasing the workpiece from the other end of the plurality of movable members.

3. In the hand device according to claim 2, A hand device in which the aforementioned plurality of movable members are formed using resin.

4. In the hand device according to claim 2 or 3, A hand device comprising a pressing section on one end of the plurality of movable members, which applies a force in a direction that brings those ends closer together.

5. In the hand device according to claim 4, The system comprises one end of the plurality of movable members, the pressing portion, and a housing that accommodates the reciprocating member, A hand device wherein the pressing portion has an elastic member, and the elastic member is located between the inner wall of the housing and one end of the movable member.

6. In the hand device according to claim 5, The inner wall of the housing has a guide portion that protrudes toward the movable member toward the other end of the gripping member toward the elastic member, The pressing portion further comprises a movable member that is movably mounted on the guide portion, The elastic member is a hand device that applies force to the plurality of movable members via the moving member.

7. In the hand device according to any one of claims 1 to 4, A housing for housing the aforementioned reciprocating member, A hand device comprising a first member which is detachably attached to the housing and has a supply unit that supplies a power source for moving the reciprocating member.

8. In the hand device according to any one of claims 1 to 4, A housing for housing the aforementioned reciprocating member, A third member that holds the gripping member and is detachably attached to the housing together with the gripping member, A handheld device equipped with the following features.

9. In the hand device according to any one of claims 1 to 5, A hand device in which the power source for moving the reciprocating member is a fluid.

10. A hand device according to any one of claims 1 to 9, An arm that holds the aforementioned hand device, A workpiece moving device equipped with the following features.

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