Holding device

Abstract

The purpose of the present disclosure is to provide a technique capable of stably gripping an object in a case where it is not suitable for gripping the object by gripping the object with a gripping mechanism. The gripping device according to the present invention comprises a gripping part for gripping an object having a first hole and a second hole, the gripping part comprising: a first rod-shaped member for positioning the object by being inserted into the first hole; and a second rod-shaped member that prevents the rotation of the object by being inserted into the second hole (see Figure 4B).

Description

Technical Field

[0001] The present disclosure relates to a holding device. Background Art

[0002] Automation of work through robots is an effective means of improving operational efficiency. The tasks performed by robots vary depending on the automation target. Robotic structures also take on various forms, adapting to the diverse tasks. A workpiece positioning device suitable for transferring workpieces to and from a conveyor is disclosed (see Patent Document 1). Prior art literature Patent Literature

[0003] Patent Document 1: Japanese Patent Application Laid-Open No. 2006-341327 Summary of the Invention Technical problem to be solved by the invention

[0004] The automatic assembly equipment used in the manufacturing process sometimes grasps and conveys various types of assembly objects through a gripping device at the front end of a manipulator. Since the shapes of the objects that can be grasped by the gripping mechanism are limited, it is necessary to change the gripping mechanism according to the shape of the object. For example, in a case where the gripping mechanism cannot clamp the object for gripping, it is necessary to make at least one of the gripping mechanism or the object capable of being gripped by a method other than clamping. In addition, when gripping is performed by a method other than clamping, it is necessary to fix the relative position and relative posture between the gripping mechanism and the object. In Patent Document 1, it can be considered that the method for gripping such an object is not fully considered.

[0005] The present disclosure has been made in view of the above-mentioned problems, and an object thereof is to provide a technology that enables a stable gripping of an object when it is not suitable to grip the object by pinching it with a gripping mechanism. Technical means for solving technical problems

[0006] The holding device involved in the present disclosure includes a holding portion, which is used to hold an object having a first hole and a second hole. The holding portion includes: a first rod-shaped member, which positions the object by being inserted into the first hole; and a second rod-shaped member, which prevents the object from rotating by being inserted into the second hole. Effects of the Invention

[0007] The gripping device of the present disclosure can stably grip an object even when it is not suitable to grip the object by clamping it. BRIEF DESCRIPTION OF THE DRAWINGS

[0008] Figure 1 It is a side view showing a state in which the grip device 1 is used. Figure 2 It is a front view of the holding device 1. Figure 3 This is a top view of the object 2. Figure 4A It is a side view showing an intermediate process of the gripping device 1 gripping the object 2 . Figure 4B It is a side view showing an intermediate process of the gripping device 1 gripping the object 2 . Figure 5 1 and 2 are diagrams for explaining the function of the second rod-shaped members 12 a and 12 b . Figure 6 1 and 12 are diagrams illustrating the shapes of the distal ends of the second rod-shaped members 12 a and 12 b . DETAILED DESCRIPTION

[0009] <Implementation Method 1> Figure 1 This is a side view showing the use of a gripping device 1. The gripping device 1 is used to grip an object 2. The gripping device 1 is attached to the front end of a robot 4. Once the gripping device 1 grips the object 2, the robot 4 transfers the object 2 and the gripping device 1 to a transfer destination 3.

[0010] It is desirable that the holding device 1 stably holds the object 2 while conveying the object 2. In other words, it is desirable that the relative position between the holding device 1 and the object 2 be fixed, and the relative posture between the holding device 1 and the object 2 be fixed, while the holding device 1 holds and conveys the object 2. For example, it is desirable that the object 2 not rotate while the holding device 1 is holding the object 2.

[0011] As a method for the holding device 1 to hold the object 2, for example, it is possible to consider clamping the object 2 between two components. However, depending on the nature of the object 2, clamping the object 2 may sometimes have adverse effects. For example, if the object 2 is brittle, the object 2 may be damaged by clamping. Alternatively, due to limitations on the equipment, etc., it is necessary to control the size and weight of the holding device 1, and sometimes a clamping-type holding method is not appropriate. In this embodiment, a method is provided that can properly hold even such an object 2.

[0012] Figure 2 This is a front view of the gripping device 1. The gripping device 1 includes a first rod-shaped member 11, second rod-shaped members 12a and 12b, and a flange 13. The first rod-shaped member 11, the second rod-shaped member 12a, and the second rod-shaped member 12b are rod-shaped members arranged to protrude from the front end surface of the flange 13 in the direction in which the flange 13 extends.

[0013] Figure 3 2 is a top view of an object 2. The object 2 has a structure suitable for being grasped by the grasping device 1. Specifically, the object 2 includes a first hole 21, and second holes 22a and 22b. The first hole 21, the second hole 22a, and the second hole 22b are arranged on the same straight line. Figure 3 The AA section in will be described later.

[0014] Figure 4A It is a side view showing an intermediate process of the gripping device 1 gripping the object 2 . Figure 4A Corresponding to Figure 3 AA cross-sectional view in FIG. When grasping object 2, grasping device 1 is lowered from above object 2. Grasping device 1 is positioned such that (a) first rod-shaped member 11 is inserted into first hole 21, (b) second rod-shaped member 12a is inserted into second hole 22a, and (c) second rod-shaped member 12b is inserted into second hole 22b, and then moves.

[0015] Figure 4B 1 is a side view showing the intermediate process of the gripping device 1 gripping the object 2. Figure 4A Thereafter, when the gripping device 1 is lowered toward the object 2, the first rod-shaped member 11 is completely inserted into the first hole 21 (the tip of the first rod-shaped member 11 reaches the bottom surface of the first hole 21), and the tip portions of the second rod-shaped member 12a and the second rod-shaped member 12b are respectively inserted into the second hole 21a and the second hole 21b. In other words, the rod-shaped members and the holes are arranged so that when the first rod-shaped member 11 is completely inserted into the first hole 21, the tip portions of the second rod-shaped members 12a and 12b are also inserted into the second holes 22a and 22b, respectively.

[0016] Figure 4B The right figure is a bottom view of the first rod-shaped member 11. A protruding member 111 is attached to the front end of the first rod-shaped member 11. The protruding member 111 is configured to protrude from the side of the first rod-shaped member 11 in the radial direction of the first rod-shaped member 11. When the first rod-shaped member 11 is fully inserted into the first hole 21, the protruding member 111 protrudes from the side of the first rod-shaped member 11. Figure 4B The figure on the right illustrates this process.

[0017] When the protruding member 111 protrudes, the protruding member 111 contacts the inner wall of the first hole 21, thereby pressing the first rod-shaped member 11 against the inner wall of the first hole 21, so that the object 2 can be grasped from the inside of the first hole 21. Figure 4B In the embodiment, three protruding members 111 are arranged, but at least two protruding members 111 are sufficient, and four or more protruding members 111 may be arranged.

[0018] From the perspective of inserting first rod-shaped member 11 into first hole 21, the diameter of at least the distal end of first rod-shaped member 11 is smaller than the diameter of first hole 21. Similarly, from the perspective of inserting second rod-shaped member 12a into second hole 22a, the diameter of at least the distal end of second rod-shaped member 12a is smaller than the diameter of second hole 22a. The same applies to second rod-shaped member 12b.

[0019] Figure 5 This figure illustrates the function of the second rod-shaped members 12a and 12b. When the protruding member 111 protrudes and the first rod-shaped member 11 grips the object 2, the object 2 may rotate about the first rod-shaped member 11. The second rod-shaped members 12a and 12b prevent this rotation.

[0020] Specifically, when the front end of the first rod-shaped member 11 is inserted into the first hole 21 (i.e., when the protruding member 111 is inserted into the first hole 21), the front ends of the second rod-shaped members 12a and 12b are also inserted into the second holes 22a and 22b. As a result, the second rod-shaped member 12a, the first rod-shaped member 11, and the second rod-shaped member 12b are arranged in the same straight line in this order, thereby preventing rotational movement with the first rod-shaped member 11 as the rotation center. Therefore, in preventing the Figure 5 While performing the rotational motion shown by the arrow in , the object 2 can be held stably.

[0021] Figure 6 The figure is for explaining the shape of the front end of the second rod-shaped members 12a and 12b. The second rod-shaped members 12a and 12b do not need to be completely inserted into the second holes 22a and 22b. It is sufficient to insert a portion of the front end into the second holes 22a and 22b. This is because the purpose of the second rod-shaped members 12a and 12b is to prevent Figure 5 Therefore, the second rod-shaped members 12a and 12b can be shorter than the first rod-shaped member 11. Figure 6 In the example shown, the second rod-shaped members 12a and 12b have substantially the same length, and when the first rod-shaped member 11 is fully inserted into the first hole 21, only the respective front ends of the second rod-shaped members 12a and 12b are inserted into the second holes 22a and 22b, respectively.

[0022] Because the second rod-shaped member 12a prevents the object 2 from rotating, it is desirable that the relative position between the second rod-shaped member 12a and the object 2 remain unchanged when the second rod-shaped member 12a is inserted into the second hole 22a. For example, the tip of the second rod-shaped member 12a is configured to be thinnest at the tip and gradually thicken toward the base. The diameter of the thickest portion of the tip of the second rod-shaped member 12a is larger than the diameter of the second hole 22a. The thin tip of the second rod-shaped member 12a allows for smooth insertion into the second hole 22a. Furthermore, the thicker portion of the tip of the second rod-shaped member 12a contacts the inner wall of the second hole 22a, maintaining the relative position between the second rod-shaped member 12a and the object 2, thereby ensuring a stable grip on the object 2. The second rod-shaped member 12b also performs a similar function.

[0023] The shape of the front end of the second rod-shaped member 12a is not necessarily the same as or similar to the opening shape of the second hole 21a, as long as at least the front end of the second rod-shaped member 12a and the inner wall of the second hole 21a can contact each other. The same applies to the second rod-shaped member 12b. Figure 6 In the example, the front end of the second rod-shaped member 12a and the opening of the second hole 21a are both circular, and the diameter of the thicker portion of the front end of the second rod-shaped member 12a is larger than the opening diameter of the second hole 21a.

[0024] The tip of the second rod-shaped member 12a can be, for example, spherical, with the tip being thinnest and gradually thickening toward the base. However, this does not necessarily require a strictly spherical shape; it can also be, for example, an elliptical spherical surface. Specifically, the tip of the second rod-shaped member 12a can be formed by a curved surface, and at least a portion thereof can have a rotationally symmetrical shape. The same applies to the second rod-shaped member 12b.

[0025] <Implementation Method 2> In the first embodiment, the case where three protruding members 111 are arranged along the outer periphery of the side surface of the first rod-shaped member 11 has been described. In this case, the angular intervals between the protruding members 111 are preferably equal (i.e., Figure 4B In the right figure, a protruding member 111 is arranged every 120°. Providing three protruding members 111 has the advantage of easily aligning the central axis of the first rod-shaped member 11 with the central axis of the first hole 21. If there are two protruding members 111, it is difficult to stably fix the first rod-shaped member 11, and thus the central axis alignment may be difficult. If there are four or more protruding members 111 (i.e., too many), the amount of protrusion of each protruding member 111 is likely to vary, making it difficult to align the central axes. Therefore, it is considered that having approximately three protruding members 111 is preferable.

[0026] While the first embodiment describes a case where a single first rod-shaped member 11 is used, two or more first rod-shaped members 11 may be used to grip the object 2. However, providing two or more first rod-shaped members 11 increases the weight and size of the gripping device 1. Therefore, given these constraints on the gripping device 1, it is desirable to have as few first rod-shaped members 11 as possible. For example, if a clamping gripping device cannot be used due to space and weight limitations, having only one first rod-shaped member 11 is considered preferable.

[0027] In Embodiment 1, the tip of the second rod-shaped member 12a can be tapered at the tip and gradually widens toward the base, and does not necessarily need to be curved. For example, it can be a cone or pyramid. An advantage of using a curved shape is that when the second rod-shaped member 12a contacts the second hole 22a, damage to the wall of the second hole 22a can be suppressed. The same applies to the second rod-shaped member 12b.

[0028] In the first embodiment, it is described that when the front end of the first rod-shaped member 11 is inserted into the first hole 21 and reaches the bottom surface of the first hole 21 ( Figure 4B In the embodiment of the present invention, the front end of the second rod-shaped member 12a is slightly above the bottom surface of the second hole 22a (in a state in which the front end of the second rod-shaped member 12a is slightly above the bottom surface of the second hole 22a). The present invention is not necessarily limited to this, and the front end of the second rod-shaped member 12a can also be configured so that the front end reaches the bottom surface of the second hole 22a (that is, the length of the first rod-shaped member 11 and the length of the second rod-shaped member 12a are approximately equal). However, in order to strictly align the front end positions of each rod-shaped member when they reach the lowest position, corresponding manufacturing precision and control precision are required (for example, if the object 2 and the gripping device 1 are tilted relative to each other, the front end positions will not be aligned). Therefore, when the front end of the first rod-shaped member 11 reaches the front end of the first hole 21, it is more preferable to allow the front end of the second rod-shaped member 12a to be slightly above the bottom surface of the second hole 22a. The same applies to the second rod-shaped member 12b.

[0029] In Embodiment 1, the lengths of the second rod-shaped members 12a and 12b do not necessarily have to be the same; either one can be shorter than the other. For example, if the second rod-shaped member 12a is longer than the second rod-shaped member 12b, the gripping device 1 is first positioned by aligning the first rod-shaped member 11 and the second rod-shaped member 12a with the first hole 21 and the second hole 22a, respectively. This is because these two members come into contact with the object 2 before the second rod-shaped member 12b. The positioning between the second rod-shaped member 12b and the second hole 22b is performed after the first two rod-shaped members have been positioned, and thus is performed in a state where they are already roughly aligned. In other words, if either of the second rod-shaped members 12a and 12b is longer than the other, it is sufficient to first position the two rod-shaped members and the two holes, thereby offering the advantage of easier positioning compared to positioning all three rod-shaped members and the three holes simultaneously.

[0030] While Embodiment 1 describes the use of second rod-shaped members 12a and 12b, it is also possible to provide only second rod-shaped member 12a (or 12b). However, if there is only one second rod-shaped member, the burden on the gripping device 1 when gripping the object 2 is greater, so it is desirable to provide two second rod-shaped members. While it is also possible to provide three or more second rod-shaped members, the size and weight of the gripping device 1 will increase accordingly. Therefore, it is necessary to set the number of second rod-shaped members within the allowable range.

[0031] In the first embodiment, the first through second holes 21 and 22b are arranged in a straight line. Alternatively, these holes can be arranged on a curve. However, the positions and areas where these holes can be located on the object 2 are sometimes limited. Arranging the object 2 in a straight line allows for gripping with minimal restrictions. This is because a straight line occupies less space. Furthermore, arranging the holes in a straight line is also desirable for ease of manufacturing.

[0032] It should be noted that the respective structures described in this embodiment can be used in combination.

[0033] <Regarding Modifications of the Present Disclosure> The present disclosure is not limited to the above-described embodiments, and includes various variations. For example, the above-described embodiments are detailed descriptions for the purpose of explaining the present disclosure in an understandable manner, and are not necessarily limited to including all structures described. In addition, a portion of a certain embodiment may be replaced with a structure of another embodiment. In addition, a structure of another embodiment may be added to a structure of a certain embodiment. In addition, a portion of the structure of each embodiment may be added, deleted, or replaced with a portion of the structure of another embodiment.

[0034] In the above embodiment, the first rod-shaped member 11 includes the protruding member 111, and the protruding member 111 protrudes to grasp the object 2. Other grasping mechanisms may be used in place of or in combination with the protruding member 111. For example, another mechanism that radially expands the first rod-shaped member 11 can provide the same grasping function. Label Description

[0035] 1: Grip device 11 first rod-shaped member 12a: Second rod-shaped member 12b: Second rod-shaped member 2: Object 21: First hole 22a: Second hole 22b: Second hole.

Claims

1. A gripping device comprising a gripping portion for gripping an object having a first hole and a second hole, wherein: The gripping portion comprises: a first rod-shaped member, which is inserted into the first hole to perform relative positioning between the grip portion and the object; and A second rod-shaped member is inserted into the second hole to prevent relative rotation between the grip and the object.

2. The holding device according to claim 1, wherein: The first rod-shaped member is configured to expand in a radial direction of the first rod-shaped member after being inserted into the first hole.

3. The holding device according to claim 1, wherein: The second rod-shaped member has a portion whose diameter increases from the front end toward the rear end of the second rod-shaped member, and is configured to be inserted into the second hole from the front end of the second rod-shaped member.

4. The holding device according to claim 2, wherein: The first rod-shaped member has a protruding member at its front end, the protruding member being configured to protrude from the surface of the first rod-shaped member in a radial direction of the first rod-shaped member. After being inserted into the first hole, the first rod-shaped member is configured to protrude from a surface of the first rod-shaped member by the protruding member, thereby expanding in a radial direction of the first rod-shaped member.

5. The holding device according to claim 4, wherein: The first rod-shaped member has three protruding members along the outer circumference of the first rod-shaped member.

6. The holding device according to claim 5, wherein: The protruding members are arranged at intervals of 120° along the outer circumference of the first rod-shaped member.

7. The holding device according to claim 3, wherein: The portion is at least partially composed of a rotationally symmetrical curved surface, A diameter of the curved surface is greater than a diameter of the second hole.

8. The holding device according to claim 1, wherein: The first and second rod-shaped members are configured so that when the front end of the first rod-shaped member is inserted into the first hole and reaches the bottom surface of the first hole, the front end of the second rod-shaped member is also inserted into the second hole.

9. The holding device according to claim 8, wherein: The first and second rod-shaped members are configured so that when the front end of the first rod-shaped member is inserted into the first hole and reaches the bottom of the first hole, the front end of the second rod-shaped member reaches the bottom of the second hole or is located above the bottom of the second hole.

10. The holding device according to claim 1, wherein: The object has a third hole, The grip portion includes a third rod-shaped member that is inserted into the third hole to prevent relative rotation between the grip portion and the object.

11. The holding device according to claim 10, wherein: The second rod-shaped member is configured to be longer than the third rod-shaped member so that when the gripping device grips the object, the second rod-shaped member contacts the object before the third rod-shaped member. When the gripping device grips the object, the first rod-shaped member is first positioned relative to the first hole, the second rod-shaped member is first positioned relative to the second hole, and then the third rod-shaped member is positioned relative to the third hole.

12. The holding device according to claim 10, wherein: The first hole, the second hole, and the third hole are arranged on the same straight line. The first rod-shaped member, the second rod-shaped member, and the third rod-shaped member are configured such that the front end of the first rod-shaped member is inserted into the first hole, the front end of the second rod-shaped member is inserted into the second hole, and the front end of the third rod-shaped member is inserted into the third hole.

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