Holding device

Abstract

The purpose of the present disclosure is to provide versatility in a gripping device for gripping an object, the versatility being capable of performing a plurality of types of operations in addition to a gripping operation. A gripping device according to the present disclosure is provided with a first member and a second member extending from an arm portion, the first member and the second member being configured so as to sandwich and grip an object, and the rigidity of the first member being stronger than the rigidity of the second member (fig. 1).

Description

Technical Field

[0001] The present disclosure relates to a gripping device for gripping an object. Background Art

[0002] Robotic automation is a useful means for improving work efficiency. The work performed by robots varies depending on the object of automation. The structure of robots also has various modes according to the various tasks.

[0003] Patent Document 1 describes a robot hand including a mechanism for moving at least one of a first finger portion and a second finger portion in a direction in which the first finger portion and the second finger portion face each other (see abstract).

[0004] Prior art literature

[0005] Patent Literature

[0006] Patent Document 1: Japanese Patent Application Publication No. 2019-202370 Summary of the invention

[0007] Problems to be solved by the invention

[0008] The structure of the robot is preferably optimized according to the operation performed by the robot. On the other hand, if the structure of the robot is optimized for a specific operation, the versatility of the robot decreases, and it is difficult to automate operations other than the specific operation by the robot. Robots such as Patent Document 1 are usually optimized according to the operation performed, and it is difficult to perform multiple operations.

[0009] Therefore, an object of the present invention is to perform various operations in addition to the grasping operation in a grasping device for grasping an object.

[0010] Solutions to Solve Problems

[0011] The gripping device according to the present disclosure includes a first member and a second member extending from an arm portion, wherein the first member and the second member are configured to grip an object by sandwiching the object, and the first member has a higher rigidity than the second member.

[0012] Effects of the Invention

[0013] The gripping device according to the present disclosure can provide versatility in that it can perform various operations in addition to the gripping operation. Other issues, structures, advantages, etc. than those described above will be clarified through the following description of the embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 This is a side view showing the structure of the grasping device 1 according to the first embodiment.

[0015] Figure 2 The diagram is a diagram for explaining a process in which the grasping device 1 grasps the object 2 .

[0016] Figure 3 This is a diagram for explaining the rigidity of the first member 13 and the rigidity of the second member 14 .

[0017] Figure 4 This is an example of a member that connects the second member 14 and the arm portion 12 .

[0018] Figure 5 It is a side view showing the shape of the front end portion of the first member 13 or the second member 14 .

[0019] Figure 6 This is an example of an operation that can be performed using the tapered portion 131 .

[0020] Figure 7 This is an example of an elastic body 701 that sandwiches the object 2.

[0021] Figure 8 This is an example of an operation that can be performed using the resin component 15 .

[0022] Fig. 9 It is a diagram illustrating the distance between the arm 12 and the force point.

[0023] Fig.10 It is a side view showing a configuration example of the grasping device 1 according to the fourth embodiment.

[0024] Fig.11 This is a diagram showing a structural example in which the rigidity of the second member 14 is reduced.

[0025] Fig.12 This is a diagram showing a structural example in which the rigidity of the second member 14 is reduced.

[0026] Fig.13 This is an example of an operation of grasping the object 2 having a recessed portion.

[0027] Fig.14 This is a structural example in which a strain sensor 1401 is installed.

[0028] Fig.15 This is an example in which the elastic body 162 is arranged between the second member 14 and the arm portion 12 .

[0029] Fig.16 This is a modified example of the elastic body 162 .

[0030] Fig.17 This is a modified example of the elastic body 162 .

[0031] Fig.18 This is a modified example of the recessed portion 132 . DETAILED DESCRIPTION

[0032] <Implementation Method 1>

[0033] Figure 1 1 is a side view showing the structure of a gripping device 1 according to Embodiment 1 of the present disclosure. The gripping device 1 is a device for gripping an object. The gripping device 1 (robot) includes a main body 11 , an arm 12 , a first member 13 , a second member 14 , and a resin component 15 .

[0034] The main body 11 is the main body of the holding device 1. The arm 12 extends from the main body 11, and can perform various movements (e.g., rotational movement) through the main body 11. The first component 13 is attached to the front end of the arm 12, i.e., the first portion 121, and extends substantially perpendicular to the direction in which the arm 12 extends (in a direction that is at least not parallel to the direction in which the arm 12 extends). The second component 14 is attached to the arm 12 at a slight interval from the first component 13, and extends in substantially the same direction as the first component 13 (at least in a direction that is not parallel to the direction in which the arm 12 extends).

[0035] The position of the first component 13 is fixed relative to the arm 12. The second component 14 can move along the extending direction of the arm 12. The rigidity of the first component 13 is configured to be stronger than the rigidity of the second component 14. For example, the first component 13 can be formed of SUS (Steel Use Stainless Steel) and the second component 14 can be formed of aluminum, but the materials are not limited thereto.

[0036] Figure 2 The figure is used to explain the process of the gripping device 1 gripping the object 2. In the initial state, the arm 12 is arranged above the object 2. The gripping device 1 moves the second member 14 in a direction away from the first member 13 ( Figure 2 (1)). The gripping device 1 moves the arm 12 downward (approaching the object 2) ( Figure 2 (2)) The gripping device 1 moves the arm 12 so that the side surface of the first member 13 comes into contact with the side surface of the object 2 ( Figure 2 (3)). The holding device 1 moves the second component 14 in a direction close to the first component 13 ( Figure 2 (4)) Through the above-described operation, the first member 13 and the second member 14 sandwich the object 2, thereby being able to grip the object 2.

[0037] Figure 3 This is a diagram for explaining the rigidity of the first component 13 and the rigidity of the second component 14. When the rigidity of the first component 13 is stronger ( Figure 3When the first component 13 and the second component 14 hold the object 2, the second component 14 bends, so the object 2 is held with the first component 13 as the reference position, and the reference position does not change. Therefore, the action reproducibility of the holding device 1 is high. Figure 3 When the object 2 is grasped, the first part 13 and the second part 14 are both bent, so the reference position of the grasping changes from the first part 121, and the action reproducibility of the grasping device 1 is better than Figure 3 The upper section is low. When the rigidity of the second component 14 is stronger ( Figure 3 When the object 2 is grasped, the first member 13 is bent, so the reference position of the grasping changes from the first position 121, and the action reproducibility of the grasping device 1 is better than Figure 3 Therefore, when the first portion 121 (ie, the first member 13 ) is used as a reference position, it is preferred that the rigidity of the first member 13 is greater than the rigidity of the second member 14 .

[0038] Figure 4 16 is an example of a member connecting the second member 14 and the arm 12. The second member 14 and the arm 12 can be connected via an elastic body 161. In other words, Figure 4 The second component 14 in the embodiment has an elastic body 161. The second component 14 is L-shaped, and the elastic body 161 extends along the arm 12 in a direction opposite to the direction toward the first component 13. By moving the second component 14 toward the first component 13 (sliding the upper surface of the elastic body 161 toward the first component 13), the elastic body 161 is Figure 4 Thus, the reference position of the holding action does not change from the first portion 121.

[0039] exist Figure 4 In the structure, the rigidity of the part other than the elastic body 161 in the second component 14 can also be the same as that of the first component 13. This is because the rigidity of the elastic body 161 in the second component 14 is weaker than that of the first component 13, so the rigidity of the second component 14 as a whole when the second component 14 sandwiches the object 2 is weaker than that of the first component 13.

[0040] <Implementation 1: Summary>

[0041] The gripping device 1 according to the present embodiment includes a first member 13 and a second member 14 extending from an arm portion 12, and is configured to grip the object 2 by the first member 13 and the second member 14, wherein the rigidity of the first member 13 is greater than that of the second member 14. Thus, a gripping operation with good reproducibility can be achieved without changing the reference position of the gripping operation.

[0042] In the gripping device 1 according to the present embodiment, the first component 13 and the second component 14 can take various postures through the arm 12 and the main body 11 (a driving mechanism that changes the posture of the arm 12). Thus, for example, various types of actions can be performed by the front end of the first component 13 (or the second component 14). Specific examples of the actions will be described in the following embodiments.

[0043] <Implementation method 2>

[0044] Figure 5 13 is a side view showing the shape of the front end portion of the first component 13 or the second component 14. At least one of the first component 13 or the second component 14 may also be configured to have Figure 5 The front end portion shown. Figure 5 Although the front end portion of the first member 13 is shown as an example, the second member 14 may also have the same structure. Alternatively, only the second member 14 may have the same structure. The other structures are the same as those in the first embodiment.

[0045] The front end of the first component 13 has a tapered portion 131 that tapers. The tapered portion 131 also has a recess 132 at its inclined portion. The tapered portion 131 can be formed of, for example, a resin material. The following operations can be performed using the tapered portion 131 and the recess 132. The same is true for the second component 14.

[0046] Figure 6 These are examples of actions that can be performed using the tapered portion 131. The gripping device 1 can perform various actions using the tapered portion 131. Figure 6 An example showing a part of it.

[0047] Figure 6 (1): When approaching the object received by the pull-out structure 601, the concave portion 132 is hooked on the slit portion of the pull-out structure 601 and pulled directly forward. In this way, the object received by the pull-out structure 601 can be approached. The tapered portion 131 can also be used to push the pulled-out object back to its original position.

[0048] Figure 6 (2) The jig 602 can be supported and raised and lowered from below by the tapered portion 131. At this time, it is more preferable to position the jig 602 so that a part of the jig 602 fits into the recess 132, because the position of the jig 602 is stabilized.

[0049] Figure 6 (3): The button can be pressed by the tapered portion 131. Alternatively, the door 603 can be opened and closed by pressing the tapered portion 131 against the door 603 that is opened and closed by pushing.

[0050] Figure 7An example of an elastic body 701 sandwiching an object 2 is shown. Figure 7 The upper part shows a side view of the holding device 1. Figure 7 The lower part shows a side view of the first component 13 (or the second component 14). Figure 7 The elastic body 701 is attached to the side surface of the first component 13 (or the second component 14) on the side where the object 2 is held. The elastic body 701 acts as an anti-slip member when the object 2 is held. The elastic body 701 can be formed of a material that applies a certain degree of friction when the object 2 is held. The elastic body 701 is attached in a manner that includes at least a portion of the area of ​​the first component 13 (or the second component 14) where the object 2 is held. The other structures are the same as those of the first embodiment.

[0051] If the object 2 is gripped without the elastic body 701, the object 2 is gripped only by the force application point when the force for gripping the object 2 is insufficient, and the object 2 may be gripped in an unstable posture. By using a somewhat soft material as the elastic body 701, when the object 2 is gripped, the elastic body 701 is sunken to wrap around the object 2, so that the object 2 can be gripped stably. Furthermore, by using a material that exerts a certain degree of friction between the elastic body 701 and the object 2, the gripping state can be made more stable.

[0052] <Implementation method 3>

[0053] Figure 8 These are examples of actions that can be performed using the resin component 15. The gripping device 1 can perform various actions using the resin component 15. Figure 8 An example of a part thereof is shown. The resin part 15 has a first protrusion 151 protruding from the arm part 12. The first protrusion 151 protrudes from the arm part 12 in a direction opposite to the direction in which the first component 13 extends. The resin part 15 also has a second protrusion 152. The second protrusion 152 is arranged at the front end of the first protrusion 151. The second protrusion 152 protrudes in a direction opposite to the direction from the first component 13 toward the second component 14. The first protrusion 151 and the second protrusion 152 can perform the following exemplified actions. The structure of the holding device 1 is the same as that of the above embodiment.

[0054] Figure 8 (1): The door 801 can be opened by hooking the second protrusion 152 on a groove (handle portion) of the door 801 and pulling the door 801 .

[0055] Figure 8(2): The door 802 can be closed by pushing the door 802 with the resin component 15. Although a certain degree of force is applied to the door 802 by the pushing action, the door 802 is hardly damaged because the resin component 15 is formed of a resin material.

[0056] Figure 8 (3): The pull-out structure 803 can be pulled out by hooking the second protrusion 152 into a groove (handle) of the pull-out structure 803 and pulling the pull-out structure 803 .

[0057] Fig. 9 1 is a diagram illustrating the distance between the arm 12 and the force point. Here, an example of the action of pulling the pull-out structure 803 is shown. In the case of pulling the pull-out structure 803 using the resin part 15 ( Fig. 9 (upper section), since the distance between the force point and the arm 12 is short, the torque applied to the holding device 1 is small. Therefore, it is possible to perform actions with higher loads. When the pull-out structure 803 is pulled out by the first component 13 (or the second component 14) ( Fig. 9 Lower section), the distance between the force point and the arm 12 is Fig. 9 The upper section is long, so the torque applied to the holding device 1 is greater than Fig. 9 Therefore, only actions with a smaller load can be performed. In view of the above, when performing actions with a larger load, it is preferred to perform Fig. 9 The action of the upper stage (resin component 15).

[0058] <Implementation method 4>

[0059] In Embodiment 4 of the present disclosure, a modification example of each part included in the gripping device 1 will be described. The other configurations are the same as those of the above embodiment, and therefore, the following mainly describes the differences from the above embodiment.

[0060] Fig.10 1 is a side view showing a structural example of the gripping device 1 involved in the present embodiment 4. At least one of the first component 13 and the second component 14 may also be provided with a material 1001 such as silicone rubber at the front end. The material 1001, for example, can be used to operate an electrostatic capacitive touch panel. Alternatively, the material 1001 may be made of other rubber materials and used as an anti-slip member to grip the object 2. In this case, the material 1001 can play the same role as the elastic body 701.

[0061] Fig.111 is a diagram showing a structural example of reducing the rigidity of the second component 14. In order to make the rigidity of the second component 14 lower than that of the first component 13, a part of the second component 14 may be formed as a hollow portion 141. Thus, even if the material of the first component 13 is the same as that of the second component 14, the second component 14 has lower rigidity. Thus, the structure described in Embodiment 1 can be realized. The hollow portion 141 does not necessarily need to penetrate the second component 14, and the same effect can be achieved by making a part of the rectangular portion of the second component 14 concave. The part including such a concave portion is referred to as the hollow portion 141.

[0062] Fig.12 1 is a diagram showing a structural example in which the rigidity of the second component 14 is reduced. Even if the material of the first component 13 is the same as that of the second component 14, the second component 14 has lower rigidity by making the second component 14 thinner than the first component 13. Thus, the structure described in the first embodiment can be realized.

[0063] Fig.13 This is an example of the action of holding the object 2 having a concave portion. The holding device 1 moves the front end of the first component 13 and the front end of the second component 14 to the same height position as the inner side wall of the concave portion ( Fig.13 (1)) The gripping device 1 moves the arm 12 so as to press the first member 13 against the inner wall of the recessed portion ( Fig.13 (2)) The holding device 1 moves the second member 14 so as to press the second member 14 against the other inner wall of the recessed portion ( Fig.13 (3)). Thus, the object 2 can be grasped from the inside of the recess.

[0064] Fig.14 FIG. 1 shows a structural example in which a strain sensor 1401 is installed. Fig.14 In the embodiment, the strain sensor 1401 is installed on at least one of the first component 13 and the second component 14. The gripping device 1 can detect the state of the gripped object 2 (e.g., whether it is gripped, the strength of the gripping force, etc.) based on the detection result. When a sensor of a type that detects the strain of the second component 14 by the difference between the strain of the first component 13 and the strain of the second component 14 is used, the strain sensor 1401 is installed on each of the first component 13 and the second component 14. When a sensor of a type that detects the strain of the second component 14 alone is used, the strain sensor 1401 only needs to be installed on the second component 14.

[0065] Fig.15This is an example in which an elastic body 162 is arranged between the second component 14 and the arm 12. The arm 12 and the second component 14 are connected via the portion 122 protruding from the arm 12 and the elastic body 162. In other words, the second component 14 includes the elastic body 162. By pressing the second component 14 against the object 2, the elastic body 162 is flattened ( Fig.15 As a result, the object 2 can be grasped without changing the reference position of the grasping operation.

[0066] Figure 16-17 162 shows a modified example of the elastic body 162. The elastic body 162 may be composed of a spring ( Fig.16 ), or it can be composed of a damper ( Fig.17 ). In any structure, it can play the role of Fig.15 Same effect.

[0067] Fig.18 132. The following are examples of the shape of the concave portion 132: Fig.18 (1)); V-shaped incision ( Fig.18 (2)); a depression opening to the root of the tapered portion 131 ( Fig.18 (3)); a triangular cutout formed by two sides of different lengths ( Fig.18 (4)).

[0068] <Regarding Modifications of the Present Disclosure>

[0069] The present disclosure is not limited to the above-mentioned embodiments, and includes various modified examples. For example, the above-mentioned embodiments are embodiments described in detail in order to easily explain the present disclosure, and it is not necessary to have all the structures described. In addition, a part of a certain embodiment can be replaced with the structure of other embodiments. In addition, the structure of other embodiments can also be added to the structure of a certain embodiment. In addition, with respect to a part of the structure of each embodiment, a part of the structure of other embodiments can also be added, deleted or replaced.

[0070] In the above embodiment, each action performed by the gripping device 1 can be realized by, for example, pre-storing data describing the movement amount of each part of each action process in a storage device and indicating the combination of the action processes. Figure 2 The data of the movement amount of each part in each of the steps (1) to (4) in the above method are respectively obtained, and the holding device 1 is instructed to follow the movement amount of each part in the above method. Figure 2 Just implement the steps in the order shown.

[0071] In the above embodiment, as the driving mechanism for sliding the second member 14 along the arm 12 , a mechanism such as an electric actuator, a pneumatic cylinder, or a hydraulic cylinder can be used.

[0072] In the above embodiment, the resin component 15 is described as being mounted on the first portion 121 at the front end of the arm 12. However, the front side (from the front) of the resin component 15 is Figure 1 The right side of the resin part 15) and the front side of the arm 12 (from the Figure 1 The upper surface of the arm 12 (the surface when the arm 12 is viewed from the right side) does not have to be on the same plane. For example, the resin part 15 may be arranged at a position slightly moved from the first portion 121 toward the main body 11. That is, the arrangement position of the resin part 15 may be slightly changed within a range that does not hinder the movement performed by the resin part 15. Figure 1 The same action as the above embodiment can be performed by adding a component similar to the resin component 15 to the upper surface of the arm 12 in the embodiment. The material of the resin component 15 can also be changed within the range of being able to perform the action described in the above embodiment. For example, a rubber material can also be used.

[0073] In the above embodiment, the first member 13 is attached to the first portion 121 . However, similar to the resin component 15 , the front surface of the first member 13 and the front surface of the arm 12 do not necessarily need to be on the same plane.

[0074] Explanation of symbols

[0075] 1: Holding device

[0076] 11: Main body

[0077] 12: Arm

[0078] 13: First Part

[0079] 14: Second Part

[0080] 15: Resin parts

Claims

1. A holding device for holding an object, characterized in that: have: Arm; A first member fixed to a first portion of an end portion of the arm portion and extending from the first portion as a starting point in a direction not parallel to a direction in which the arm portion extends; as well as The second component is arranged in parallel with the first component and is movable along the arm portion. The first component and the second component are configured to be able to respectively sandwich the object for gripping. The first member and the second member are configured such that the rigidity of the first member is higher than the rigidity of the second member.

2. The holding device according to claim 1, characterized in that: The second component comprises a first elastic body, The arm portion and the second component are connected by connecting the first elastic body to the arm portion. The second member is formed into an L-shape by the first elastic body extending in a direction opposite to a direction from the second member toward the first member.

3. The holding device according to claim 1, characterized in that: At least one of a second portion at the front end of the first member not connected to the arm portion and a third portion at the front end of the second member not connected to the arm portion has a recessed portion.

4. The holding device according to claim 3, characterized in that: The first component and the second component are rectangular components extending from the arm portion. The second portion and the third portion are tapered portions disposed at the front end of the rectangular member. The recessed portion is formed in the tapered portion.

5. The holding device according to claim 3, characterized in that: A second elastic body is attached to at least one of the mutually opposing surfaces of the second portion and the third portion.

6. The holding device according to claim 1, characterized in that: The holding device further includes a first protrusion formed so as to protrude from the arm portion in a direction opposite to a direction in which the first member of the first portion extends.

7. The holding device according to claim 6, characterized in that: The first protrusion includes a second protrusion formed to protrude in a direction that is not parallel to a direction in which the first protrusion protrudes from the arm portion and in a direction opposite to a direction from the first member toward the second member.

8. The holding device according to claim 6, characterized in that: A length of the first protrusion protruding from the arm portion is shorter than a length of the first member or the second member protruding from the arm portion.

9. The holding device according to claim 3, characterized in that: At least one of the second portion and the third portion is formed of an elastic body.

10. The holding device according to claim 1, characterized in that: The first component and the second component are made of the same material. Since the second member has a hollow portion or is thinner than the first member, the first member is configured to have a higher rigidity than the second member.

11. The holding device according to claim 1, characterized in that: The holding device further includes a strain sensor configured to detect a state in which the first member and the second member hold the object by detecting deflection of the second member.

12. The holding device according to claim 1, characterized in that: The second component has a second elastic body. The arm portion and the second component are connected by connecting a component protruding from the arm portion to the second elastic body. The second elastic body is arranged to contract according to the strength of the sandwiching when the first member and the second member sandwich and grasp the object.

13. The holding device according to claim 3, characterized in that: The above-mentioned recessed portion includes at least any one of a curved recess, an isosceles triangle-shaped recess, a recess formed by two sides of a triangle having different lengths, and a rectangular-shaped recess.

14. The holding device according to claim 4, characterized in that: The holding device performs at least one of the following operations: Pulling out by hooking the above-mentioned recessed portion into the slit of the pulling-out structure; while supporting the object using the recessed portion, the arm portion is raised and lowered; and The door is opened and closed by pressing a button or pushing in a button using the second portion or the third portion.

15. The holding device according to claim 7, characterized in that: The holding device performs at least one of the following operations: The door is opened by hooking the second protrusion on the door handle; Closing by pushing the door inward using the first protrusion or the second protrusion; and The second protrusion is hooked on the slit of the pull-out structure to be pulled out.

16. The holding device according to claim 1, characterized in that: The object has a second recessed portion. The holding device presses the first component toward one of the inner side walls of the second recess and moves the second component away from the first component, thereby pressing the other of the inner side walls of the second recess. Thus, the object is gripped via the second recess.

17. The holding device according to claim 1, characterized in that: The holding device includes a driving mechanism for changing the posture of the arm. The driving mechanism is configured to change the type of motion performed by the grasping device by changing the posture of the arm.

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