Fingertip structure for robot, fingertip member for robot, and robot

Abstract

This fingertip structure for a robot hand is provided with: an elastic body that constitutes the fingertip section of the robot hand and that has a hollow section on the finger pulp side; an embedded member embedded in a portion of the elastic body on the opposite side from the hollow portion; and a fixing member which is attached to a finger main body of the robot hand, is detachably attached to the embedded member, and fixes the elastic body to the finger main body.

Description

Technical Field

[0001] The present disclosure relates to a fingertip structure of a robot, a fingertip component of a robot, and a robot. Background Art

[0002] Japanese Patent No. 5846057 discloses a robot having a plurality of claws for clamping a workpiece and a plurality of contact parts attached to the plurality of claws for contacting the workpiece. The contact part of the gripping device includes a bag-shaped member made of a raw material having elasticity and granular material filled in the bag-shaped member. Summary of the invention

[0003] Problem that the invention aims to solve

[0004] In a manipulator, an elastic body is sometimes covered on the fingertips. It is desirable that the elastic body does not fall off the fingertips due to the load of the gripping object gripped by the fingertips and can be easily replaced. With regard to the technology disclosed in Japanese Patent No. 5846057, it is presumed that a bag-like member is firmly attached to the claw in order to lift a heavy workpiece. Therefore, it is difficult to replace only the bag-like member relative to the claw, and the bag-like member and the claw are replaced together.

[0005] An object of the present disclosure is to suppress the detachment of an elastic body constituting a fingertip portion and to enable easy replacement of the elastic body with respect to a finger body.

[0006] Solutions for solving problems

[0007] The fingertip structure of the robot of the first technical solution disclosed in the present invention comprises: an elastomer, which constitutes the fingertip part of the robot and has a hollow part on the belly side of the finger; an embedded member, which is embedded in the part of the elastomer on the opposite side of the hollow part; and a fixing member, which is installed on the finger body of the robot and is detachably installed on the embedded member to fix the elastomer to the finger body.

[0008] A second technical solution of the present disclosure is the fingertip structure of the robot hand according to the first technical solution, wherein the hollow portion of the elastic body is arranged at least in the center portion of the elastic body in the finger width direction.

[0009] A robot fingertip structure according to a third technical solution of the present disclosure is the robot fingertip structure according to the first technical solution or the second technical solution, wherein the fixing member is fastened to the embedded member by a fastening member.

[0010] The fingertip structure of the manipulator of the 4th technical solution of the present disclosure is based on the fingertip structure of the manipulator of the 3rd technical solution, and the fixing member has a plate portion, and a gap for inserting the plate portion is provided adjacent to the embedded member at a portion of the elastomer that is closer to the side opposite to the hollow portion than the embedded member, and when the plate portion is inserted into the gap, the embedded member and the plate portion are fastened together by the fastening member.

[0011] The fingertip structure of the robot of the 5th technical solution disclosed in the present invention is based on the fingertip structure of the robot of the 4th technical solution. A through hole for a threaded member to pass through is formed on the outer periphery of the elastomer. The threaded member is the fastening member that fastens the embedded member and the plate portion inserted into the gap.

[0012] The fingertip structure of the robot hand according to the sixth technical solution of the present disclosure is the fingertip structure of the robot hand according to any one of the first to fifth technical solutions, wherein a low elastic member having elasticity lower than that of the elastic body is inserted into the hollow portion of the elastic body.

[0013] The fingertip structure of the manipulator of the 7th technical solution of the present disclosure is based on the fingertip structure of the manipulator of any one of the technical solutions of the 1st to the 6th technical solutions, and is provided with a clamping portion on the mounting surface of the finger body for mounting the fixing component, and a clamping portion that is engaged with the clamped portion to determine the orientation of the elastomer is provided on the mounting surface of the fixing component installed on the finger body.

[0014] The fingertip component of the robot of the 8th technical solution disclosed in the present invention comprises: an elastomer, which constitutes the fingertip part of the robot and has a hollow part on the ventral side of the finger; an embedded component, which is embedded in the part of the elastomer on the side opposite to the hollow part; and a fixing component, which can be installed on the finger body of the robot and can be installed on the embedded component and can be removed from the embedded component, and the fixing component fixes the elastomer to the finger body by being installed on the finger body and the embedded component.

[0015] The robot of the 9th technical solution of the present disclosure comprises: a finger body of the robot; an elastomer, which constitutes the fingertip part of the robot and has a hollow part on the ventral side of the finger; an embedded component, which is embedded in the part of the elastomer on the opposite side of the hollow part; and a fixing component, which is installed on the finger body and is detachably installed on the embedded component to fix the elastomer to the finger body.

[0016] Effects of the Invention

[0017] According to the present disclosure, it is possible to suppress the elastic body constituting the fingertip from falling off, and to easily replace the elastic body with respect to the finger body. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a perspective view showing a finger of a robot hand according to an embodiment of the present disclosure.

[0019] Figure 2 yes Figure 1 A longitudinal section of the finger is shown.

[0020] Figure 3 yes Figure 2 An enlarged longitudinal cross-sectional view of the tip of a finger is shown.

[0021] Figure 4 yes Figure 3 A 4X-4X cross-sectional view of the fingertip is shown.

[0022] Figure 5 Observed from the direction of arrow 5X Figure 3 The front view is observed through the fingertip shown.

[0023] Figure 6 yes Figure 2 An exploded perspective view of the fingertip shown.

[0024] Figure 7 yes Figure 6 A 7X-7X cross-sectional view of the fingertip is shown.

[0025] Figure 8 is an enlarged longitudinal sectional view of a fingertip portion of a manipulator according to another embodiment of the present disclosure (with Figure 3 corresponding enlarged longitudinal section view).

[0026] Fig. 9 yes Figure 8 A 9X-9X cross-sectional view of the fingertip is shown.

[0027] Fig.10 is an enlarged longitudinal sectional view of a fingertip portion of a robot hand according to another embodiment of the present disclosure (with Figure 3 corresponding enlarged longitudinal section view).

[0028] Fig.11 It is a diagram showing a configuration example of a conveying robot using a manipulator according to an embodiment of the present disclosure. DETAILED DESCRIPTION

[0029] Hereinafter, the method for implementing the present disclosure will be described with reference to the accompanying drawings. The constituent elements represented by the same reference numerals in the various drawings refer to the same or similar constituent elements. In addition, in the embodiments described below, repeated descriptions and reference numerals are sometimes omitted. In addition, the drawings used in the following description are all schematic, and the relationship between the sizes of the elements shown in the drawings, the ratio of the elements, etc. may not be consistent with the actual situation. In addition, the relationship between the sizes of the elements, the ratio of the elements, etc. may not be consistent between multiple drawings.

[0030] The fingertip structure of the robot hand according to one embodiment of the present disclosure is a robot hand 20 (refer to Fig.11 ) has a structure of the fingertips of multiple fingers 22. Fig.11 2 shows an example of a transfer robot 16 using the manipulator 20 according to the present embodiment.

[0031] like Fig.11 As shown, the conveying robot 16 includes a rotatable base portion 17, a support portion 18, an arm portion 19 that can be extended and retracted, and a manipulator 20 as a hand (also referred to as a gripping portion). In the conveying robot 16, the arm portion 19 is extended and retracted, so that the manipulator 20 approaches or moves away from the gripping object. The arm portion 19 is extended, and the gripping object is gripped by a plurality of fingers 22 of the manipulator 20, and in this state, the arm portion 19 is retracted to lift the gripping object. Thereafter, the base portion 17 is rotated to place the gripping object to another location. By using the conveying robot 16 in this way, the gripping object can be conveyed.

[0032] like Figure 1 and Figure 2 As shown, the finger 22 includes a finger body 30 and a fingertip 50 .

[0033] The finger body 30 is a portion of the finger 22 that is bent by being given a driving force. Specifically, the finger body 30 is a portion that is bent by being given a driving force so that the fingertip 50 approaches and contacts the grasped object. In this embodiment, as an example, the finger body 30 is composed of a fluid pressure actuator that is bent under the pressure of a fluid. In addition, the fluid mentioned here includes gas and liquid.

[0034] like Figure 2 As shown, the finger body 30 includes an actuator portion 32 , a sealing mechanism 34 , and a sealing mechanism 36 .

[0035] The actuator part 32 is cylindrical, and both ends thereof are sealed by a sealing mechanism 34 and a sealing mechanism 36. Furthermore, a fluid is supplied to the inside of the actuator part 32. When the fluid is supplied to the inside of the actuator part 32, the actuator part 32 bends.

[0036] like Figure 2 and Figure 3 As shown, the actuator portion 32 includes a tube 38 , a sleeve 40 , and a restraining member 42 .

[0037] The tube 38 is a cylindrical body that expands and contracts under the pressure of the fluid. The tube 38 repeatedly contracts and expands under the action of the fluid, and is therefore made of an elastic material such as rubber.

[0038] The sleeve 40 is cylindrical and covers the outer circumference of the tube 38. The sleeve 40 is a stretchable structure formed by weaving fiber cords oriented in a predetermined direction, and the oriented cords cross to repeat the rhombus shape. The sleeve 40 can be scaled and deformed by the oriented cords having such a rhombus shape, limiting and following the contraction and expansion of the tube 38. As the cords constituting the sleeve 40, it is preferred to use fiber cords of aromatic polyamide (aramid fiber) and polyethylene terephthalate (PET). In addition, the present disclosure is not limited to this structure. For example, cords of high-strength fibers such as PBO fibers (polyparaphenylene benzobisoxazole) may also be used.

[0039] The restraining member 42 is provided between the tube 38 and the sleeve 40. The restraining member 42 is a member that resists compression along the axial direction of the actuator part 32 and can be deformed in a direction orthogonal to the axial direction (radial direction of the actuator part 32). The restraining member 42 extends from one end to the other end of the tube 38. In addition, in this embodiment, as an example of the restraining member 42, a leaf spring is used.

[0040] like Figure 2 As shown, the sealing mechanism 34 includes a sealing member 34A and a caulking member 34B. The sealing member 34A seals one end of the tube 38 (at Figure 2 In addition, the clamping member 34B clamps the tube 38 and the sleeve 40 together with the sealing member 34A. The sealing member 34A is provided with a supply passage 34C for supplying fluid into the tube 38. The supply passage 34C is connected to a pipe extending from a driving pressure source that imparts driving force to the actuator part 32, specifically, a compressor of gas or liquid.

[0041] like Figure 2 and Figure 3 As shown, the sealing mechanism 36 includes a sealing member 36A and a caulking member 36B. The sealing member 36A seals the other end of the tube 38 (at Figure 2 In addition, the caulking member 36B caulks the pipe 38 and the sleeve 40 together with the sealing member 36A. The sealing member 36A is provided with a mounting hole 36C for mounting a fixing member 70 described later.

[0042] The finger tip 50 is the tip of the finger 22 and is the part that comes into contact with the grasped object. The finger tip 50 includes an elastic body 52 , an embedded member 60 , and a fixing member 70 .

[0043] like Figure 3 and Figure 4 As shown in FIG. 1 , the elastic body 52 has a hollow portion 54 on the ventral side of the finger. In addition, the ventral side of the finger 22 mentioned here refers to the inner side of the finger 22. The inner side of the finger is Figure 3 and Figure 4 The side indicated by the arrow is the side indicated by the arrow. The hollow portion 54 is open on the surface of the elastic body 52 on the finger body 30 side (in other words, on the side opposite to the top of the elastic body 52). In addition, the hollow portion 54 of the elastic body 52 is at least arranged in the middle portion of the elastic body 52 in the width direction of the finger 22. Figure 4 The direction is indicated by arrow W. Figure 4 As shown in FIG. 1 , the hollow portion 54 of the elastic body 52 of the present embodiment is formed in the range from the center portion in the width direction of the finger 22 to both ends. Figure 3 As shown in FIG. 1 , the hollow portion 54 of the elastic body 52 extends from the opening side of the elastic body 52 toward the top. In addition, in the present embodiment, the top shape of the elastic body 52 is set to be hemispherical, but the present disclosure is not limited to this structure. It is preferred to use the best top shape according to the conditions for holding the object (shape of the object, holding force, etc.).

[0044] Furthermore, an embedded member 60 is embedded in the elastic body 52 on the side opposite to the hollow portion 54 (the back side of the finger 22), and a gap 56 is formed adjacent to the embedded member 60. In the gap 56, a plate portion 72 of a fixing member 70 described later is inserted.

[0045] The elastic body 52 is a part that contacts the object to be grasped, and therefore is preferably formed of a material with low elasticity. For example, the elastic body 52 can be formed of silicone rubber. When the elastic body 52 is formed of silicone rubber, the shape of the elastic body 52 can be made closer to a shape suitable for grasping than when the elastic body 52 is formed of natural rubber.

[0046] Furthermore, an anti-slip portion may be provided on the inner peripheral surface of the elastic body 52, that is, the ventral surface 50A of the fingertip portion 50. By providing the anti-slip portion, it is possible to prevent the object held by the finger 22 from falling off. In addition, the anti-slip portion may be a groove, depressions, etc. provided on the ventral surface 50A. Furthermore, in the elastic body 52, only the anti-slip portion may be formed of an elastic material having properties different from those of other parts (for example, higher friction). In addition, in the present embodiment, as an anti-slip portion, a plurality of grooves 58 extending along the circumferential direction of the elastic body 52 are formed at intervals in the longitudinal direction of the finger 22 on the inner peripheral surface of the elastic body 52 (see Figure 3 and Figure 5 ). In addition, the length direction of the finger 22 (also referred to as the extension direction of the finger 22) is the same direction as the axial direction of the actuator portion 32 of the finger body 30. Therefore, the length direction of the finger 22 is indicated by the arrow AD direction in the figure. In addition, the reference symbol CL in the figure indicates the center line of the finger 22 including the finger body 30 and the fingertip portion 50.

[0047] In addition, a through hole 59 is formed on the outer peripheral surface of the elastic body 52, that is, on the back surface 50B side of the fingertip portion 50 (see Figure 3 and Figure 4 The through hole 59 is a hole through which a screw member 80 passes, and the screw member 80 is a fastening member that fastens the embedded member 60 and the plate portion 72 inserted into the gap 56. In the present embodiment, the hole diameter of the through hole 59 is larger than the outer diameter of the screw head 80A of the screw member 80.

[0048] like Figure 4 As shown, the embedded member 60 is embedded in the portion of the elastic body 52 on the side opposite to the hollow portion 54. Specifically, the embedded member 60 is fixed to the elastic body 52 by being embedded in the elastic body 52. ​​In addition, the embedded member 60 may be embedded and fixed (fixed) when the elastic body 52 is molded (for example, when insert molding), or may be embedded in the molded elastic body 52 and fixed by an adhesive or the like.

[0049] like Figure 3 and Figure 4 As shown in FIG. 1 , the embedded member 60 is formed in a plate shape and extends from the opening side of the elastic body 52 toward the top end. The embedded member 60 is made of a highly elastic material having higher elasticity than the elastic body 52. ​​In the present embodiment, as an example, the embedded member 60 is formed of a metal material. A threaded hole 62 (see FIG. 1 ) is provided in the embedded member 60. Figure 6 and Figure 7 ), the threaded hole 62 is used for screwing in a threaded member 80 for fastening and fixing the fixing member 70.

[0050] like Figure 3 and Figure 6 As shown, a fixing member 70 is detachably mounted on the embedded member 60. The fixing member 70 is mounted on the sealing member 36A of the finger body 30. Specifically, the fixing member 70 is a plate bent into an L-shape, one side of the plate is provided as a plate portion 72 fastened and fixed to the embedded member 60 using a screw member 80, and the other side of the plate is provided as a plate portion 74 fastened and fixed to the sealing member 36A of the finger body 30 using a screw member 82. The plate portion 72 of the fixing member 70 can be inserted into the gap 56 of the elastic body 52. ​​When the plate portion 72 is inserted into the gap 56, as shown in FIG. Figure 3As shown, the plate portion 72 is adjacent to the embedded member 60. In this state, the embedded member 60 and the plate portion 72 are fastened and fixed together using the screw member 80.

[0051] The fixing member 70 is made of a highly elastic material having higher elasticity than the elastic body 52. ​​In the present embodiment, the fixing member 70 is formed of a metal material as an example. A through hole 72A is provided in the plate portion 72 of the fixing member 70 (see Figure 6 ), the through hole 72A is used to pass the threaded portion 80B of the screw member 80 for fastening and fixing to the embedded member 60. On the other hand, the plate portion 74 of the fixing member 70 is provided with a through hole 74A (see Figure 6 ), the through hole 74A is used for the threaded portion 82B of the threaded member 82 for fastening and fixing to the sealing member 36A to pass through. In addition, the reference numeral 82A refers to the thread head of the threaded member 82.

[0052] In addition, in this embodiment, if Figure 6 As shown, countersunk screws are used as the screw members 80 and 82, but the present disclosure is not limited to this structure. For example, pan head screws and bolts may also be used.

[0053] In addition, if Figure 3 and Figure 6 As shown, the mounting surface 36D of the finger body 30 to which the fixing member 70 is mounted may be provided with a recessed portion 37 as a portion to be engaged, and the mounting surface 74B of the fixing member 70 mounted on the finger body 30 may be provided with a protrusion 75 as an engaging portion that engages (fits) with the recessed portion 37 to determine the orientation of the elastic body 52. ​​Specifically, the recessed portion 37 is provided on the mounting surface 36D on the side where the mounting hole 36C of the sealing member 36A is provided. On the other hand, the protrusion 75 is provided on the mounting surface 74B, which is the outer surface of the plate portion 74 (the surface on the side opposite to the plate portion 72). The position (orientation) of the elastic body 52 relative to the finger body 30 is determined by fitting the protrusion 75 with the recessed portion 37.

[0054] In addition, the fingertip component 100 of the present embodiment includes an elastic body 52, an embedded member 60, and a fixing member 70. That is, the fingertip component 100 is a component in which the fixing member 70 is attached to the elastic body 52 and the embedded member 60 constituting the fingertip portion 50. When the elastic body 52 is replaced with respect to the finger body 30, the fingertip component 100 as a replacement component is shipped in a state in which the fixing member 70 is attached to the embedded member 60 of the elastic body 52 as described above, or in a state in which the elastic body 52, the embedded member 60, and the fixing member 70 are placed in the same container.

[0055] (effect)

[0056] Next, the operation of this embodiment will be described.

[0057] In the fingertip structure of the manipulator 20 of the present embodiment, since there is a hollow portion 54 on the ventral side of the elastic body 52 constituting the fingertip portion 50, when the fingertip portion 50 (elastic body 52) is used to grasp the grasped object, the ventral surface 50A of the elastic body 52 is easily elastically deformed toward the hollow portion 54 side. Therefore, the grasping force acting on the grasped object from the fingertip portion 50 can be reduced. Therefore, in the present embodiment, compared with a structure in which there is no hollow portion 54 on the ventral side of the elastic body 52, the grasping force acting on the grasped object from the fingertip portion 50 can be reduced. In addition, the ventral side of the elastic body 52 can also be referred to as the side of the elastic body 52 that contacts the grasped object.

[0058] Furthermore, in the finger tip structure of the present embodiment, the embedded member 60 embedded in the elastic body 52 is attached to the finger body 30 via the fixing member 70. Therefore, in the present embodiment, for example, compared with a structure in which the elastic body is only covered on the finger tip, it is possible to suppress the elastic body 52 from falling off when grasping the grasped object. Furthermore, in the present embodiment, by removing the embedded member 60 from the fixing member 70, the elastic body 52 constituting the finger tip portion 50 can be removed from the finger body 30. Thus, in the present embodiment, by a simple operation of attaching the embedded member 60 of another elastic body 52 to the fixing member 70 after the embedded member 60 is removed, the elastic body 52 can be replaced with respect to the finger body 30.

[0059] As described above, according to the present embodiment, it is possible to suppress the elastic body 52 constituting the fingertip portion 50 from falling off and to easily replace the elastic body 52 with respect to the finger body 30 .

[0060] In the fingertip structure of the present embodiment, the hollow portion 54 of the elastic body 52 is arranged at least in the central portion of the elastic body 52 in the finger width direction. When the fingertip 50 is used to hold the object to be held, the central portion in the width direction of the ventral surface 50A of the fingertip 50 is mainly in contact with the object to be held. Therefore, by arranging the hollow portion 54 in the central portion in the finger width direction of the elastic body 52, the holding force acting on the object to be held can be effectively reduced, for example, compared with a structure in which the hollow portions are arranged only at both ends of the elastic body 52 in the finger width direction. In particular, in the present embodiment, since the hollow portion 54 is provided in the range from the central portion in the width direction to both ends of the ventral surface 50A of the fingertip 50, the holding force acting on the object to be held can be reduced regardless of which part of the ventral surface 50A of the fingertip 50 is used to hold the object to be held.

[0061] In the fingertip structure of the present embodiment, since the fixing member 70 is fastened to the embedded member 60 by the screw member 80 , the fixing member 70 and the embedded member 60 can be easily removed using a fastening tool.

[0062] In the fingertip structure of the present embodiment, the embedded member 60 and the plate portion 72 are fastened together by the screw member 80 while the plate portion 72 of the fixing member 70 is inserted into the gap 56 of the elastic body 52. ​​That is, the plate portion 72 of the fixing member 70 and the fastened portion of the embedded member 60 and the fixing member 70 are located inside the elastic body 52, so that these portions can be prevented from contacting the grasped object.

[0063] In the fingertip structure of the present embodiment, the plate portion 72 of the fixing member 70 and the embedded member 60 can be fastened (installed) and unfastened (removed) by screwing the screw member 80 through the through hole 59 formed on the outer periphery of the elastic body 52. ​​By forming the through hole 59 on the outer periphery of the elastic body 52, the fixing member 70 and the embedded member 60 can be fastened and unfastened from the outer periphery of the elastic body 52.

[0064] In the fingertip structure of the present embodiment, when the fingertip 50 is mounted on the finger body 30, the convex portion 75 of the fixing member 70 is engaged (fitted) with the concave portion 37 of the finger body 30 to determine the position (including the orientation) of the fingertip 50 relative to the finger body 30. Thus, the positioning operation when the fingertip 50 is mounted on the finger body 30 is facilitated.

[0065] [Other embodiments]

[0066] An example of an embodiment of the present disclosure has been described above, but the embodiment of the present disclosure is not limited to the above-mentioned embodiment, and it is self-evident that various modifications can be made to implement the present disclosure without departing from the scope of the present disclosure. Figure 8 and Fig. 9 As shown in the fingertip portion 90, a low-elasticity member 92 having an elasticity lower than that of the elastomer 52 is inserted into the hollow portion 54 of the elastomer 52. As the low-elasticity member 92, for example, a cushioning material such as polyurethane is preferably used. In such a fingertip structure in which the low-elasticity member 92 is inserted into the hollow portion 54 of the elastomer 52, the elastic modulus of the hollow portion 54 can be used to adjust the gripping force acting on the gripped object when gripping the gripped object. In addition, the low-elasticity member 92 can also be inserted and pulled out relative to the hollow portion 54. In the case of such a structure, a plurality of low-elasticity members 92 with different elastic moduli are prepared, and the most suitable low-elasticity member 92 is inserted into the hollow portion 54 according to the gripping conditions, so that the gripping force acting on the gripped object can be optimized. In addition, Figure 8 Reference numeral 102 in FIG. 8 denotes a fingertip component including an elastic body 52 , an embedded member 60 , a fixing member 70 , and a low-elasticity member 92 .

[0067] In the above-mentioned embodiment, the embedded member 60 and the fixing member 70 are installed using the screw member 80, but the present disclosure is not limited to this structure. Fig.10 The finger tip portion 94 shown in the figure is configured such that the claw portion 99 provided on the plate portion 98 of the fixing member 97 is hooked on the recessed portion 96A of the embedded member 96. Fig.10 Reference numeral 104 in FIG. 1 denotes a fingertip component including an elastic body 95 , an embedded member 96 , and a fixing member 97 .

[0068] In the above-mentioned embodiment, one cavity 54 is provided on the ventral side of the elastic body 52 , but the present disclosure is not limited to this structure. For example, a structure in which a plurality of cavities are provided on the ventral side of the elastic body 52 may be adopted.

[0069] In the aforementioned embodiment, the convex portion 75 is provided on the fixing member 70 as the engaging portion, and the concave portion 37 is provided on the sealing member 36A as the engaged portion, but the present disclosure is not limited to this structure. As long as the position (orientation) of the elastic body 52 relative to the finger body 30 can be determined, for example, the concave portion may be provided on the fixing member 70 and the convex portion may be provided on the sealing member 36A.

[0070] Next, the following supplementary notes will be disclosed regarding this embodiment.

[0071] (Note 1)

[0072] A fingertip structure of a manipulator, wherein:

[0073] The fingertip structure of the robot has:

[0074] An elastic body, which constitutes the fingertip portion of the manipulator and has a hollow portion on the ventral side of the finger;

[0075] an embedded member embedded in a portion of the elastic body on the side opposite to the cavity; and

[0076] A fixing member is mounted on a finger body of the robot and is detachably mounted on the embedded member, and fixes the elastic body to the finger body.

[0077] In the fingertip structure of the manipulator of Supplement 1, since there is a hollow portion on the ventral side of the finger of the elastic body constituting the fingertip (hereinafter, appropriately abbreviated as "ventral side"), when the fingertip (elastic body) is used to grasp the grasped object, the ventral surface of the finger of the elastic body (hereinafter, appropriately abbreviated as "ventral surface") is easy to elastically deform toward the hollow portion side. Therefore, the grasping force acting on the grasped object from the fingertip can be reduced. Therefore, according to the above-mentioned fingertip structure, compared with a structure without a hollow portion on the ventral side of the elastic body, the grasping force acting on the grasped object from the fingertip can be reduced.

[0078] In addition, the finger belly side of the elastic body may also be referred to as the side of the elastic body that contacts the grasped object.

[0079] Furthermore, in the fingertip structure of the manipulator of Supplementary Note 1, the embedded member embedded in the elastic body is mounted on the finger body by means of a fixing member. Therefore, in the above-mentioned fingertip structure, for example, compared with a structure in which the elastic body is only covered on the fingertip, it is possible to suppress the elastic body from falling off when grasping the grasped object. Furthermore, in the above-mentioned fingertip structure, the elastic body can be removed from the finger body by removing the embedded member from the fixing member. Thus, in the above-mentioned fingertip structure, the elastic body constituting the fingertip portion can be replaced relative to the finger body by a simple operation of installing an embedded member of another elastic body on the fixing member from which the embedded member has been removed.

[0080] As described above, according to the fingertip structure of the manipulator of Supplementary Note 1, it is possible to suppress the elastic body constituting the fingertip from falling off and to easily replace the elastic body with respect to the finger body.

[0081] (Note 2)

[0082] The fingertip structure of the manipulator according to Supplement 1, wherein:

[0083] The hollow portion of the elastic body is arranged at least in the central portion of the elastic body in the finger width direction.

[0084] In the fingertip structure of the manipulator of Supplementary Note 2, the hollow portion of the elastic body is arranged at least in the central portion of the elastic body in the finger width direction (hereinafter, appropriately omitted as "central portion in the width direction"). When the fingertip is used to grasp the grasped object, the central portion in the width direction of the ventral surface of the fingertip is mainly in contact with the grasped object. Therefore, by arranging the hollow portion in the central portion in the width direction of the ventral side of the elastic body, the grasping force acting on the grasped object can be effectively reduced, for example, compared with a structure in which the hollow portion is arranged only at both ends in the width direction of the ventral side of the elastic body.

[0085] (Note 3)

[0086] The fingertip structure of the manipulator according to Supplement 1 or Supplement 2, wherein:

[0087] The fixing member is fastened to the embedded member by a fastening member.

[0088] In the fingertip structure of the manipulator of Supplementary Note 3, since the fixing member is fastened to the embedded member by the fastening member, the fixing member and the embedded member can be easily removed by using a fastening tool.

[0089] (Note 4)

[0090] The fingertip structure of the manipulator according to Supplement 3, wherein:

[0091] The fixing member includes a plate portion,

[0092] A gap into which the plate portion is inserted is provided adjacent to the embedded member at a portion of the elastic body on the side opposite to the cavity portion relative to the embedded member.

[0093] The embedded member and the plate portion are fastened together by the fastening member in a state where the plate portion is inserted into the gap.

[0094] In the fingertip structure of the manipulator of Appendix 4, the embedded member and the plate portion are fastened together by the fastening member in a state where the plate portion of the fixed member is inserted into the gap of the elastic body. That is, the plate portion of the fixed member and the fastening portion of the embedded member and the fixed member are located inside the elastic body, so that these parts can be prevented from contacting the grasped object.

[0095] (Note 5)

[0096] The fingertip structure of the manipulator according to Supplement 4, wherein:

[0097] A through hole through which a screw member is inserted is formed on an outer peripheral portion of the elastic body. The screw member is the fastening member that fastens the embedded member and the plate portion inserted into the gap.

[0098] In the fingertip structure of the manipulator of Supplementary Note 5, the plate portion of the fixed member and the embedded member can be fastened (installed) and unfastened (removed) by screwing the screw member through the through hole formed on the outer periphery of the elastic body. By forming the through hole on the outer periphery of the elastic body, it is easy to perform the fastening and unfastening operations of the fixed member and the embedded member from the outer periphery of the elastic body.

[0099] (Note 6)

[0100] The fingertip structure of the robot according to any one of Supplementary Notes 1 to 5, wherein:

[0101] A low elastic member having elasticity lower than that of the elastic body is inserted into the hollow portion of the elastic body.

[0102] In the fingertip structure of the manipulator of Supplementary Note 6, by inserting the low elastic member into the hollow portion of the elastic body, it is possible to adjust the gripping force acting on the gripping object when gripping the gripping object.

[0103] (Note 7)

[0104] The fingertip structure of the robot according to any one of Supplementary Notes 1 to 6, wherein:

[0105] An engaging portion is provided on the mounting surface of the finger body on which the fixing member is mounted.

[0106] An engaging portion that engages with the engaged portion to determine the orientation of the elastic body is provided on a mounting surface of the fixing member that is mounted on the finger body.

[0107] In the fingertip structure of the manipulator of Appendix 7, when the elastic body is mounted on the finger body, the engaging portion of the fixing member is engaged with the engaged portion of the finger body to determine the position (including the orientation) of the elastic body relative to the finger body. Thus, the positioning operation when the elastic body is mounted on the finger body becomes easy.

[0108] (Note 8)

[0109] A fingertip component of a manipulator, wherein:

[0110] The fingertips of the robot have:

[0111] An elastic body, which constitutes the fingertip portion of the manipulator and has a hollow portion on the ventral side of the finger;

[0112] an embedded member embedded in a portion of the elastic body on the side opposite to the cavity; and

[0113] A fixing member is attachable to the finger body of the manipulator and to the embedded member and is detachable from the embedded member, and fixes the elastic body to the finger body by being attached to the finger body and the embedded member.

[0114] In the fingertip component of the manipulator of Supplementary Note 8, since there is a hollow portion on the ventral side of the finger of the elastic body constituting the fingertip, when the fingertip (elastic body) is used to grasp the grasped object, the ventral surface of the elastic body is easily elastically deformed toward the hollow portion. Therefore, the grasping force acting on the grasped object from the fingertip can be reduced. Therefore, according to the above-mentioned fingertip component, compared with a structure without a hollow portion on the ventral side of the elastic body, the grasping force acting on the grasped object from the fingertip can be reduced.

[0115] In addition, in the finger tip part of the manipulator of Supplementary Note 8, the embedded member embedded in the elastic body is mounted on the finger body by means of the fixing member. Therefore, in the above-mentioned finger tip part, for example, compared with a structure in which the elastic body is only covered on the finger tip, it is possible to suppress the elastic body from falling off when grasping the grasped object. In addition, in the above-mentioned finger tip part, by removing the embedded member from the fixing member, the elastic body can be removed from the finger body. In this way, in the above-mentioned finger tip part, by a simple operation of installing an embedded member of another elastic body on the fixing member from which the embedded member has been removed, the elastic body can be replaced relative to the finger body.

[0116] As described above, according to the fingertip member of the manipulator of Supplementary Note 8, it is possible to suppress the elastic body constituting the fingertip from falling off and to easily replace the elastic body with respect to the finger body.

[0117] (Note 9)

[0118] A robot arm, wherein

[0119] The robot has:

[0120] The main body of the robot's fingers;

[0121] An elastic body, which constitutes the fingertip portion of the manipulator and has a hollow portion on the ventral side of the finger;

[0122] an embedded member embedded in a portion of the elastic body on the side opposite to the cavity; and

[0123] A fixing member is mounted on the finger body and is detachably mounted on the embedded member, and fixes the elastic body to the finger body.

[0124] In the manipulator of Supplementary Note 9, since there is a hollow portion on the ventral side of the elastic body constituting the fingertip portion, when the fingertip portion (elastic body) is used to grasp the grasped object, the ventral surface of the elastic body is easily elastically deformed toward the hollow portion. Therefore, the grasping force acting on the grasped object from the fingertip portion can be reduced. Therefore, according to the above-mentioned manipulator, compared with a structure without a hollow portion on the ventral side of the elastic body constituting the fingertip portion, the grasping force acting on the grasped object from the fingertip portion can be reduced.

[0125] In addition, in the manipulator of Supplementary Note 9, the embedded member embedded in the elastic body is mounted on the finger body by means of the fixing member. Therefore, in the above-mentioned manipulator, for example, compared with a structure in which the elastic body is covered only on the fingertip, it is possible to suppress the elastic body from falling off when grasping the grasped object. In addition, in the above-mentioned manipulator, the elastic body can be removed from the finger body by removing the embedded member from the fixing member. In this way, in the above-mentioned manipulator, the elastic body can be replaced with respect to the finger body by a simple operation of installing the embedded member of another elastic body in the fixing member from which the embedded member is removed.

[0126] As described above, according to the manipulator of Supplementary Note 9, it is possible to suppress the elastic body constituting the finger tip from falling off and to easily replace the elastic body with respect to the finger body.

[0127] All documents, invention patent applications, and technical standards described in this specification are incorporated by reference into this specification to the same extent as if each document, invention patent application, and technical standard were incorporated by reference and were specifically and separately described. In addition, the disclosure of Japanese application No. 2022-145641 filed on September 13, 2022 is incorporated in its entirety into this specification by reference.

Claims

1. A fingertip structure of a manipulator, wherein: The fingertip structure of the robot has: An elastic body, which constitutes the fingertip portion of the manipulator and has a hollow portion on the ventral side of the finger; an embedded member embedded in a portion of the elastic body on the side opposite to the hollow portion; as well as A fixing member is mounted on a finger body of the robot and is detachably mounted on the embedded member, and fixes the elastic body to the finger body.

2. The fingertip structure of the robot according to claim 1, wherein: The hollow portion of the elastic body is arranged at least in the central portion of the elastic body in the finger width direction.

3. The fingertip structure of the manipulator according to claim 1 or 2, wherein: The fixing member is fastened to the embedded member by a fastening member.

4. The fingertip structure of the robot according to claim 3, wherein: The fixing member includes a plate portion, A gap into which the plate portion is inserted is provided adjacent to the embedded member at a portion of the elastic body on the side opposite to the cavity portion relative to the embedded member. The embedded member and the plate portion are fastened together by the fastening member in a state where the plate portion is inserted into the gap.

5. The fingertip structure of the robot according to claim 4, wherein: A through hole through which a screw member is inserted is formed on an outer peripheral portion of the elastic body. The screw member is the fastening member that fastens the embedded member and the plate portion inserted into the gap.

6. The fingertip structure of a robot according to any one of claims 1 to 5, wherein: A low elastic member having elasticity lower than that of the elastic body is inserted into the hollow portion of the elastic body.

7. The fingertip structure of a robot according to any one of claims 1 to 6, wherein: An engaging portion is provided on the mounting surface of the finger body on which the fixing member is mounted. An engaging portion that engages with the engaged portion to determine the orientation of the elastic body is provided on a mounting surface of the fixing member that is mounted on the finger body.

8. A fingertip component of a robot, wherein: The fingertips of the robot have: An elastic body, which constitutes the fingertip portion of the manipulator and has a hollow portion on the ventral side of the finger; an embedded member embedded in a portion of the elastic body on the side opposite to the hollow portion; as well as A fixing member is attachable to the finger body of the manipulator and to the embedded member and is detachable from the embedded member, and fixes the elastic body to the finger body by being attached to the finger body and the embedded member.

9. A robot, wherein: The robot has: The main body of the robot's fingers; An elastic body, which constitutes the fingertip portion of the manipulator and has a hollow portion on the ventral side of the finger; an embedded member embedded in a portion of the elastic body on the side opposite to the hollow portion; as well as A fixing member is mounted on the finger body and is detachably mounted on the embedded member, and fixes the elastic body to the finger body.

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