Gripping tool and gripping device

Abstract

This gripping tool grips a gripping object according to the drive paper folding principle, and is provided with: a sheet-like gripping part (110) that covers the gripping object; a tendon part (120) which is internally provided with a wire part (122) and transmits a force that pulls the gripping part (110) from both sides; a pulling part (130) connected to the tendon part (120) and functioning as a pulley; and a fingertip section (150) that is attached to and detached from the grip section (110) via the socket section (140), and the grip section (110) has a double-layer structure comprising a cover layer (112) and a core layer (114).

Description

Technical Field

[0001] The disclosed technology relates to a holding tool and a holding device. Background Art

[0002] In the technical field of manipulators for grasping objects, there is known a structure of a grasping part (hereinafter referred to as a "grasping tool") that is based on the concept of origami. For example, there is known an "origami hand" that realizes a grasping tool only by paper. Since the "origami hand" is made only of paper, it is expected to be applied to the medical field and the food field, which are disposable for hygienic reasons.

[0003] Patent Document 1 discloses a gripping device that is inspired by an origami “flapping bird” and operates on the same principle. Figure 1 is an illustration showing a bird made of origami flapping its wings. Figure 1 As shown in the figure, when the neck and tail of the origami bird are grasped with both hands and pulled mutually, the left and right wings are closed in a flapping manner. The gripping device of patent document 1 is realized by forming a cutout in a sheet of soft material, and by pulling two working pieces corresponding to the neck and tail, the upper and lower jaws corresponding to the left and right wings are closed, thereby being able to grip an object.

[0004] Prior art literature

[0005] Patent Literature

[0006] Patent Document 1: International Publication No. 2020 / 237058 Summary of the invention

[0007] Problems to be solved by the invention

[0008] The gripping device shown in Patent Document 1 is excellent in the concept of being made from a soft material sheet, but it is too rigid in this concept and has some disadvantages in actual application. One of the disadvantages is that Figure 6 B also shows that there is a problem that the working piece cannot be pulled strongly because the shear stress is concentrated on the cutout portion when the working piece is pulled.

[0009] The purpose of the disclosed technology is to improve the prior art Gripping Device (gripping device) in order to solve the above-mentioned problems and provide a practical gripping tool.

[0010] Means for solving problems

[0011] The holding tool of the disclosed technology holds the object to be held according to the principle of driven kirigami, wherein the holding tool comprises: a sheet-shaped holding portion that covers the object to be held; a tendon portion that has a wire portion inside and transmits the force of pulling the holding portion from both sides; a pulling portion that is connected to the tendon portion and functions as a pulley; and a fingertip portion that is loaded and unloaded relative to the holding portion via a socket portion, and the holding portion is a double-layer structure consisting of a covering layer and a core layer.

[0012] Effects of the Invention

[0013] Since the holding tool of the disclosed technology has the above-mentioned structure, it can pull the working piece strongly and is more practical than the existing holding tool. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 This is an explanatory diagram showing a bird made of origami flapping its wings.

[0015] Figure 2 This is an explanatory diagram showing the features of the grasping tool 100 according to the first embodiment.

[0016] Figure 3 yes Figure 2 Sectional view at the cutting line AA.

[0017] Figure 4 This is an assembly diagram showing attachment and detachment of the fingertip portion 150 in the grasping tool 100 according to the first embodiment.

[0018] Figure 5 This is an isometric view showing the appearance of the grasping tool 100 according to the first embodiment.

[0019] Figure 6 This is an isometric view showing the appearance of the gripping device according to the first embodiment.

[0020] Figure 7 This is an isometric view showing the appearance of a gripping device according to the second embodiment.

[0021] Figure 8 It is an explanatory diagram showing a mechanism of attaching and detaching the pulling portion 130 to and from the arm portion 200 . DETAILED DESCRIPTION

[0022] Implementation method 1.

[0023] Figure 2 1 is an explanatory diagram showing the features of the gripping tool 100 according to the first embodiment. Figure 2 As shown, the gripping tool 100 of the first embodiment includes a gripping portion 110, a tendon portion 120, a pulling portion 130, and an insertion portion 140. The tendon portion 120 has a wire portion 122 inside.

[0024] Figure 3 yes Figure 2 The cross-sectional view at the cutting line AA. Figure 3 As shown in FIG. 1 , the gripping portion 110 constituting the gripping tool 100 is preferably a double-layer structure consisting of a cover layer 112 and a core layer 114. Figure 2 and Figure 3 As shown, the core layer 114 may also be provided with a plurality of holes 116 for adjusting the rigidity.

[0025] Figure 4 This is an assembly diagram showing attachment and detachment of the finger tip portion 150 in the grasping tool 100 according to Embodiment 1. The finger tip portion 150 can be attached and detached from the insertion opening 140 constituting the grasping tool 100 .

[0026] Figure 5 It is an isometric view showing the appearance of grasping tool 100 according to Embodiment 1. Figure 5 The two black arrows shown in the figure indicate the direction in which the fingertip 150 moves as if the fingers are closed when grasping an object, which is achieved by pulling the two pulling parts 130 in the direction of the hollow arrows. Figure 1 The origami "flapping bird" shown is driven by the same principle.

[0027] In foreign countries, flapping birds made of origami are not well known. If we want to cite other structures based on the same principle, we can cite the structure of a three-dimensional comic strip. In foreign countries, the structure of a three-dimensional comic strip is sometimes called "kirigami". In addition, in foreign countries, kirigami is considered a kind of origami. Therefore, in this specification, the driving principle is called "driving kirigami principle".

[0028] <<Gripping Unit 110 Constituting Gripping Tool 100>>

[0029] The gripping part 110 constituting the gripping tool 100 is a sheet-shaped component that covers the gripped object. If metaphorically expressed, the gripping part 110 is a component equivalent to the palm and back of a human hand.

[0030] As described above, the gripping portion 110 constituting the gripping tool 100 is preferably a double-layer structure consisting of a covering layer 112 and a core layer 114. The covering layer 112 can be implemented, for example, by a synthetic resin such as silicone resin. In addition to being implemented by silicone resin, the covering layer 112 can also be implemented by a rubber-like material with high friction and softness such as polyurethane rubber. The core layer 114 can be implemented, for example, by a synthetic resin such as PET (Polyethylene terephthalate). Such a double-layer structure of the gripping portion 110 can be manufactured by a method of molding by allowing the resin to flow into a mold. In addition to being implemented by PET, the core layer 114 can also be implemented by a plastic material generated from lactic acid derived from plants, such as PLA resin. The core layer 114 is used to increase the rigidity that cannot be obtained by the covering layer 112 alone, so a material suitable for increasing the rigidity is selected.

[0031] The grip portion 110 as a whole needs to have strength and properties to be elastically deformed without breaking so as to be able to exert the kirigami principle.

[0032] <<Tendon portion 120 constituting the gripping tool 100>>

[0033] The tendon 120 constituting the gripping tool 100 is a component that transmits the force pulling the gripping part 110 from both sides, and is equivalent to a component of a human tendon if expressed metaphorically. That is, the gripping device having the gripping tool 100 of the disclosed technology can also be said to be a tendon-driven robot.

[0034] like Figure 2 As shown, the default shape of the tendon portion 120 is V-shaped. When a pulling force is applied, the angle of the V-shaped shape becomes smaller.

[0035] As described above, the tendon portion 120 is a structure having the line portion 122 inside. The line portion 122 may be, for example, a synthetic fiber such as a high-density polyethylene fiber or a chemical fiber. The line portion 122 may also be a nylon line used as a fishing line. In addition, the line portion 122 may also be a metal wire. The material of the tendon portion 120 covering the line portion 122 may also be the same as that of the covering layer 112.

[0036] The tendon portion 120 as a whole needs to have strength and properties that do not stretch or break, so that the grip portion 110 can be pulled from both sides.

[0037] <<Pulling portion 130 constituting the gripping tool 100>>

[0038] The pulling portion 130 constituting the holding tool 100 is a component equivalent to the Actuation Tab in Patent Document 1. From a functional point of view, the pulling portion 130 constituting the holding tool 100 is a component that connects the tendon portion 120 to the arm portion 200 described later. Figure 2 and Figure 5 As shown, the pulling part 130 can function like a pulley to pull the wire part 122. The pulling part 130 is provided with an axial hole for attachment and detachment to the arm part 200.

[0039] <<Socket portion 140 constituting the gripping tool 100>>

[0040] The socket portion 140 constituting the gripping tool 100 is a component that connects the gripping portion 110 and the fingertip portion 150. The socket portion 140 enables the fingertip portion 150 to be attached to and detached from the gripping portion 110.

[0041] Providing the socket portion 140 so that the fingertip portion 150 can be attached and detached can achieve the following usage method: a variety of fingertips 150 are prepared in advance corresponding to the grasping object envisioned in advance, and the fingertip portion 150 suitable for the grasping property of the grasping object is selected during use. In addition, providing the socket portion 140 so that the fingertip portion 150 can be attached and detached has the following advantages: easy replacement due to hygienic reasons and easy maintenance.

[0042] <<Finger tip portion 150 constituting gripping tool 100>>

[0043] The fingertip 150 constituting the grasping tool 100 is a portion that directly contacts the grasped object, and if metaphorically expressed, it is equivalent to a constituent element of a human finger. Figures 2 to 7 In the embodiment, the fingertip portion 150 is not a structure that can move independently like human fingers.

[0044] The fingertip portion 150 may also be made of the same material as the gripping portion 110. In addition, the fingertip portion 150 may also have the same double-layer structure as the gripping portion 110. However, the advantageous effect of the gripping tool 100 of the disclosed technology is that by making the fingertip portion 150 loadable and detachable, it is possible to adopt a material and structure suitable for gripping the object. The existing Gripping Device shown in Patent Document 1 is constrained by the concept of being made from a sheet of soft material, and therefore has a disadvantage in practical applications that the rigidity of the portion corresponding to the fingertip may not be sufficient. The feature of the disclosed technology that includes the socket portion 140 and the fingertip portion 150 is designed to overcome this disadvantage in practical applications.

[0045] It is important that the finger tip 150 has rigidity and friction so that the grasped object does not slip when grasping. In addition, it is also important that the finger tip 150 has flexibility so that the grasped object is not damaged when grasping the grasped object.

[0046] As described above, it is conceivable to prepare various types of fingertips 150 in advance according to the assumed grasping object. This idea is the same as the case where tweezers with various tip shapes are prepared according to the purpose of use.

[0047] For example, if the object to be held is a plate-like component such as a substrate or a card, the fingertip 150 may be a component with a shape that is thinned at the end and slightly curved toward the inside of the holding direction. By designing the fingertip 150 in this way, it is also possible to grasp and lift a plate-like object to be held placed on a table.

[0048] Figure 6 : is an isometric view showing the appearance of the holding device of Embodiment 1. Figure 6 As shown, the grasping device according to the first embodiment includes a grasping tool 100 , an arm 200 -A, and a driving unit 300 .

[0049] <<Arm 200 constituting the holding device>>

[0050] The arm 200 constituting the gripping device is a component having the function of connecting the gripping tool 100 and the driving unit 300. As the name indicates, the arm 200 can be said to be a component equivalent to a human arm if a metaphor is used. Figure 6 As shown, when emphasizing that the arm portion 200 is a form of the first embodiment, -A is added to the reference numeral and represented as "arm portion 200 -A".

[0051] The arm 200 -A has a shaft-like shape (hereinafter referred to as “detachable shaft”) at its lower end, for example, and the grasping tool 100 can be held by passing the detachable shaft through a shaft hole provided in the pulling portion 130 .

[0052] like Figure 6 As shown, when the arm 200-A pulls the pulling portion 130 in the direction indicated by the hollow arrow, the arm 200-A is pulled in the direction opposite to the hollow arrow due to the restoring force of the gripping portion 110. The gripping tool 100 is held by a force based on the restoring force of the gripping portion 110. If the arm 200-A is driven in the direction opposite to the hollow arrow and the wire portion 122 is relaxed, the restoring force of the gripping portion 110 is weakened. That is, the gripping device of the disclosed technology drives the arm 200-A and relaxes the pulling of the wire portion 122, thereby making it easy to remove the gripping tool 100 from the arm 200-A.

[0053] Figure 8 2 is an explanatory diagram showing the mechanism of attaching and detaching the pulling portion 130 to and from the arm portion 200. Figure 8As shown, the arm 200 is provided with a detachable shaft, and the pulling portion 130 is provided with an axial hole. In order to easily remove the gripping tool 100 from the arm 200, the diameter of the axial hole is preferably larger than the diameter of the detachable shaft.

[0054] Furthermore, in order to prevent the detachable shaft from coming out of the shaft hole when the grasped object is heavy, the arm 200 may be provided with a tapered portion or a step on the detachable shaft.

[0055] <<Driver 300 constituting the holding device>>

[0056] The driving unit 300 constituting the holding device is a component of the driving arm 200. Specifically, the driving unit 300 can be realized by an electric slider. The electric slider has a motor and a mechanism for converting rotational motion into linear motion. The driving unit 300 only needs to be able to achieve linear motion, so a linear motor can also be used.

[0057] The grasping device needs to control not only the opening and closing of the grasping tool 100 but also the position and posture of the grasping tool 100 required for grasping the grasped object. Figure 6 The driving unit 300 for opening and closing the gripping tool 100 is shown in the figure, but all the structures required as a gripping device are not shown. Figure 6 Although not shown in the figure, the grasping device has a mechanism and a driving source for changing the position and posture of the grasping tool 100.

[0058] The advantageous effect of the holding tool 100 of embodiment 1 is that since the holding tool 100 includes a tendon portion 120 having a wire portion 122 inside and a pulling portion 130 that functions like a pulley, shear stress will not be concentrated on the cut portion of the sheet, and the pulling portion 130 serving as a working sheet can be pulled strongly.

[0059] Another advantageous effect of the grasping tool 100 of the first embodiment is that, by making the fingertip 150 detachable, a material and structure suitable for grasping the object can be adopted, and the rigidity of the fingertip 150 required for grasping can be ensured.

[0060] The advantageous effect of the holding device of embodiment 1 is that, since an axial hole for loading and unloading relative to the arm 200-A is provided in the pulling portion 130 and a loading and unloading axis is provided in the arm 200-A, the holding tool 100 can be easily removed from the arm 200-A by driving the arm 200-A and releasing the pulling of the wire portion 122.

[0061] Therefore, the gripping device of the disclosed technology can provide, for example, a gripping tool 100 that can be used once together with a discarded gripping object at a site where contaminated medical waste or radioactive materials are processed, and can contribute to automation.

[0062] As described above, the grasping tool 100 and the grasping device according to the first embodiment are more practical than the grasping tool and the grasping device of the related art.

[0063] Implementation method 2.

[0064] The gripping device according to the second embodiment is a modified example of the gripping device of the disclosed technology.

[0065] In Embodiment 2, the same reference numerals as those used in Embodiment 1 are used unless otherwise specified. In Embodiment 2, descriptions overlapping with those in Embodiment 1 are omitted as appropriate.

[0066] In order to emphasize that the arm portion 200 is in accordance with the second embodiment, -B is added to the reference numeral and the arm portion 200 -B is represented.

[0067] Figure 7 This is an isometric view showing the appearance of a gripping device according to the second embodiment.

[0068] exist Figure 6 In the gripping device of the first embodiment shown in FIG. 1 , the arm 200-A moves in the horizontal direction indicated by the hollow arrow, thereby gripping the fingertip 150. Figure 7 In the gripping device of the second embodiment shown in FIG. 1 , the arm 200-B moves in the vertical direction indicated by the hollow arrow, thereby causing the fingertip 150 to grip. Figure 7 As shown, the driving direction of the arm 200 is changed from the horizontal direction to the vertical direction by two guide rollers 210. When viewed from the wire portion 122, the guide rollers 210 function as pulleys similarly to the pulling portion 130.

[0069] The unique effect of the gripping device of the second embodiment is that the occupied area of ​​the device can be reduced compared with the method of the first embodiment by converting the driving direction of the arm 200 -B to the vertical direction.

[0070] Another effect unique to the gripping device of the second embodiment is that, by providing two guide rollers 210 , it is possible to avoid the gripping tool 100 from being in an unstable state where it rotates around the pulled axis.

[0071] As described above, the gripping device of the second embodiment is also more practical than the gripping device of the related art, similarly to the gripping device of the first embodiment.

[0072] Industrial Applicability

[0073] The grasping tool 100 and the grasping device of the disclosed technology can be applied to, for example, robot automation in the medical field and the food field, and have industrial applicability.

[0074] In particular, the gripping device of the disclosed technology can provide a disposable gripping tool 100 that can be used at a site for handling contaminated medical waste or radioactive materials, for example, and can contribute to automation.

[0075] Description of symbols

[0076] 100: holding tool; 110: holding part; 112: covering layer; 114: core layer; 116: hole; 120: tendon part; 122: line part; 130: pulling part; 140: socket part; 150: fingertip part; 200 (200-A, 200-B): arm part; 210: guide roller; 300: driving part.

Claims

1. A holding tool, which holds an object according to the principle of driven paper cutting, wherein: The holding tool comprises: A sheet-shaped holding portion covering the held object; a tendon portion having a wire portion inside and transmitting a force for pulling the grip portion from both sides; a pulling portion connected to the tendon portion and functioning as a pulley; and The fingertip portion is attached and detached from the grip portion through the socket portion. The gripping portion has a double-layer structure consisting of a cover layer and a core layer.

2. The holding tool according to claim 1, wherein: The covering layer of the gripping portion is made of silicone resin or polyurethane rubber. The core layer of the holding portion is made of plastic material.

3. A holding device comprising: The holding tool of claim 1; and an arm portion, which connects the holding tool with a driving portion, The driving unit drives the arm unit in a direction in which the grasping tool is deformed by pulling and grasps the grasped object.

4. The holding device according to claim 3, wherein: The arm has a loading and unloading shaft, The pulling portion has an axial hole, the diameter of which is larger than the diameter of the loading and unloading shaft. The holding tool is held on the arm portion by passing the detachable shaft through the shaft hole. The arm portion is driven by the drive portion to release the pulling, so that the grasping tool can be detached from the arm portion.

5. The holding device according to claim 4, wherein: The loading and unloading shaft has a tapered portion or a step.

6. The holding device according to claim 4, wherein: The holding tool is used once together with the discarded held object.

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