Gripping tool with kirigami drive principle and gripping device

Abstract

Gripping tool (100) for grasping a target based on a kirigami drive principle, wherein the gripping tool comprises: a gripping section (110) which is planar and designed to cover the gripping target; Tendon sections (120), each containing a strand section (122) inside and transmitting a force that pulls the gripping section (110) from both sides; Pulling sections (130), each connected to the tendon sections (120) and acting as a pulley; and fingertip sections (150), each of which can be attached to and detached from the gripping section (110) via a receptacle (140), wherein the gripping section (110) has a two-layer structure with a cover layer (112) and a core layer (114).

Description

AREA OF TECHNOLOGY

[0001] The present disclosure relates to gripping tools and gripping devices. TECHNICAL BACKGROUND

[0002] In the technical field of robotic hands for grasping targets, gripping tools based on origami principles are known. One example is the "origami hand," a gripping tool made entirely of paper. Because the "origami hand" is made only of paper, it is intended for use in the medical and food industries, as both require disposable tools for hygienic reasons.

[0003] Patent document 1 discloses a gripping device inspired by origami “fluttering birds” and operating on the same principle. Fig. Figure 1 is an explanatory diagram depicting the fluttering bird made using origami. As in Fig. As shown in Figure 1, the left and right wings close when the neck and tail sections of the "fluttering bird" are held with both hands and pulled outwards, as if they were fluttering. The gripping device according to patent document 1 is realized by making slits in a sheet of flexible material and by pulling on two actuating tabs corresponding to the neck and tail sections, which bring the upper and lower jaw sections, corresponding to the left and right wings, closer together, thereby enabling the grasping of an object.

[0004] Other exemplary documents relating to gripping devices are JP 2000-263487A, US 3610670A, US 9867631B2, and US 2010 / 0215473A1. REFERENCE LIST PATENT LITERATURE

[0005] [Patent document 1] WO 2020 / 237058 A1 SUMMARY OF THE INVENTIONAL PROBLEM

[0006] The concept of patent document 1, to manufacture the gripping device from a film of flexible material, is an excellent idea, but it is too focused on this concept, and the gripping device has some disadvantages in practice. As can be seen from Fig. As can be seen from paragraph 6B of patent document 1, one of the disadvantages is the problem that the actuating tabs cannot be pulled strongly because the shear stress concentrates in the slot when the actuating tabs are pulled.

[0007] One objective of the disclosed technology is to improve the gripping device according to the state of the art and to provide a practical gripping tool that solves the aforementioned problem. SOLUTION TO THE PROBLEM

[0008] The gripping tool according to the disclosed technology is a gripping tool for grasping a target, based on the kirigami drive principle, wherein the gripping tool comprises: a gripping section that is planar and designed to cover the target; tendon sections, each having a strand section inside and transmitting a force that pulls the gripping section from both sides; pull sections, each connected to the tendon sections and acting as a deflection pulley; and fingertip sections, each of which can be attached to and detached from the gripping section via a receptacle, wherein the gripping section has a two-layer structure with a cover layer and a core layer. ADVANTAGEOUS EFFECTS OF THE INVENTION

[0009] Since the gripping tool has the above configuration according to the disclosed technology, the actuating tabs can be pulled strongly, which is more practical compared to the conventional gripping tool. BRIEF DESCRIPTION OF THE DRAWINGS Fig. Figure 1 is an explanatory diagram showing a fluttering bird made by origami. Fig. Figure 2 is an explanatory diagram showing the features of a gripping tool 100 according to embodiment 1. Fig. Figure 3 is a cross-sectional view along line AA in Fig. 2. Fig. Figure 4 is an assembly diagram showing the attachment to or detachment from a fingertip section 150 of the gripping tool 100 according to embodiment 1. Fig. Figure 5 is an isometric view showing the appearance of the gripping tool 100 according to embodiment 1. Fig. Figure 6 is an isometric view showing the appearance of a gripping device according to embodiment 1. Fig. Figure 7 is an isometric view showing the appearance of a gripping device according to embodiment 2. Fig. Figure 8 is an explanatory diagram showing a mechanism by which a pull section 130 is attached to or detached from an arm 200. DESCRIPTION OF THE EXECUTION FORMSExecution form 1.

[0010] Fig. Figure 2 is an explanatory diagram showing features of a gripping tool 100 according to embodiment 1. As in Fig. Figure 2 shows that the gripping tool 100 according to embodiment 1 comprises a gripping section 110, chord sections 120, pull sections 130 and receptacles 140. The chord sections 120 each have a strand section 122 inside.

[0011] Fig. Figure 3 is a cross-sectional view along line AA in Fig. 2. As in Fig. As shown in Figure 3, the gripping section 110 contained in the gripping tool 100 preferably has a two-layer structure, formed from a cover layer 112 and a core layer 114. The core layer 114 can have a plurality of holes 116, as shown in the Fig. 2 and Fig. 3 shown to adjust the stiffness.

[0012] Fig. Figure 4 is an assembly diagram showing the fastening and detachment of the fingertip sections 150 of the gripping tool 100 according to embodiment 1. The fingertip sections 150 can each be detached from the receptacle 140 contained in the gripping tool 100.

[0013] Fig. Figure 5 is an isometric view showing the appearance of the gripping tool 100 according to embodiment 1. Two black arrows in Fig. Figure 5 represents directions in which the fingertip sections 150 move, as if the fingers were closing when the fingertip sections 150 grasp an object. This movement is achieved by pulling a pair of pull sections 130 in the directions indicated by the white arrows. This drive principle is the same as the drive principle of the [unclear text]. Fig. 1 origami “fluttering bird” shown.

[0014] Overseas, the origami-made "fluttering bird" is not very well known. Another example based on the same principle is the pop-up book gimmick. Overseas, the pop-up book gimmick is sometimes referred to as "kirigami." Furthermore, kirigami is recognized overseas as a type of origami. Therefore, this propulsion principle will be referred to below as "a kirigami propulsion principle." (Gripping section 110, which is contained in gripping tool 100)

[0015] The gripping section 110 contained in the gripping tool 100 is a planar component, whereby the gripping section 110 is used to cover a gripping target. Figuratively speaking, the gripping section 110 is a component that corresponds to the palm and back of the human hand.

[0016] As described above, the gripping section 110, which is contained in the gripping tool 100, preferably has a two-layer structure, consisting of the outer layer 112 and the core layer 114. The outer layer 112 can be made of a synthetic resin such as a silicone resin. In addition to silicone resin, the outer layer 112 can also be made of a soft, rubber-like material that generates friction, such as urethane rubber. The core layer 114 can be made of a synthetic resin such as PET (polyethylene terephthalate). Such a gripping section 110 with the two-layer structure can be produced by a molding process in which resin is poured into a mold. Besides PET, the core layer 114 can also be made of a plastic material derived from plant-based lactic acid, such as PLA resin.Since the core layer 114 serves to increase stiffness, which cannot be achieved by the cover layer 112 alone, a material suitable for increasing stiffness is selected. The gripping section 110 as a whole must possess the strength and properties to deform elastically without breaking, so that the Kirigami drive principle can be demonstrated. (tendon section 120, which is contained in gripping tool 100)

[0017] The tendon section 120 contained in the gripping tool 100 is a component that transmits a force pulling the gripping section 110 from both sides and corresponds metaphorically to a human tendon. That is to say, the gripping device with the gripping tool 100, according to the disclosed technology, is a tendon-driven robot.

[0018] Tendon section 120 has a standard V-shape, as shown in Fig. 2 is shown, and when a clamping force is applied, the angle forming the V-shape decreases.

[0019] As explained above, tendon segment 120 has a structure which contains strand segment 122 inside. Strand segment 122 can be made, for example, of a synthetic fiber or a chemical fiber such as a high-density polyethylene fiber.

[0020] Strand section 122 can be made of nylon Tegus, which is used as fishing line. Alternatively, strand section 122 can be made of metal wire. The material of the tendon section 120, which covers strand section 122, can be the same as that of the cover layer 112.

[0021] The tendon section 120 as a whole must have the strength and properties to not overstretch or break, so that the gripping section 110 can be pulled from both sides. (Traction section 130, which is contained in gripping tool 100)

[0022] The tension section 130 contained in the gripping tool 100 is a component corresponding to the actuating tab described in patent document 1. From a functional point of view, the tension section 130 contained in the gripping tool 100 is a component that connects the tendon section 120 and the arm 200, the arm 200 being described later. As in the Fig. 2 and Fig. As shown in Figure 5, the pulley section 130 acts like a deflection pulley and can pull the strand section 122. The pulley section 130 is provided with a shaft hole for attachment to the arm 200. (Receptacle 140, which is included in gripper tool 100)

[0023] The receptacle 140, which is included in the gripping tool 100, is a component that connects the gripping section 110 and the fingertip section 150. The receptacle 140 allows the fingertip section 150 to be attached to and detached from the gripping section 110.

[0024] By providing the receptacle 140 and the detachable design of the fingertip section 150, it is possible to prepare a variety of fingertip section 150 types in advance according to a predefined grasping target, and to select the fingertip section 150 with the properties suitable for grasping the target at the time of the operation. Furthermore, the provision of the receptacle 140 and the detachable design of the fingertips 150 offer the advantage of facilitating replacement, which is necessary for hygienic reasons, and simplifying maintenance. (Fingertip section 150, which is contained in gripping tool 100)

[0025] The fingertip sections 150 contained in the gripping tool 100 are components that come into direct contact with the gripping target and are, in a figurative sense, components that correspond to human fingers. In the Fig. However, in paragraphs 2 to 7, which explain the disclosed technology, the fingertips of fingertip section 150 are not intended to move independently like human fingers.

[0026] The fingertip section 150 can be made of the same material as the gripping section 110. Furthermore, the fingertip section 150 can have the same two-layer structure as the gripping section 110. However, an advantageous effect of the gripping tool 100 according to the disclosed technology is that, due to the removable manufacturing of the fingertip section 150, a material and structure suitable for gripping the target can be selected. Since the conventional gripping device shown in patent document 1 is too heavily reliant on the concept of manufacturing it from a single sheet of flexible material, the practical disadvantage arises that the stiffness of the part corresponding to the fingertip is not necessarily sufficient. A technical feature of the disclosed technology for providing the receptacle 140 and the fingertip section 150 is a concept for overcoming this practical problem.

[0027] It is important that the fingertip section 150 has a stiffness and friction that prevents the object being gripped from slipping. It is also important that the fingertip section 150 is elastic or flexible so as not to damage the object being gripped.

[0028] As described above, it is conceivable that a variety of fingertip sections (150) are prepared according to the assumed gripping objective. This idea corresponds to the fact that tweezers with different tip shapes are manufactured depending on their intended use.

[0029] If the object to be grasped is, for example, a plate-like or plate-like object such as a substrate or a card, the fingertip section 150 can have a shape in which the tip tapers and is slightly curved inwards in the gripping direction. Due to the design of the fingertip section 150 described above, even a plate-like object lying on a table can be grasped and lifted.

[0030] Fig. Figure 6 is an isometric view showing the appearance of a gripping device according to embodiment 1. As in Fig. As shown in Figure 6, the gripping device according to embodiment 1 comprises the gripping tool 100, an arm 200-A and an actuating section 300. (Arm 200, which is included in the gripping device)

[0031] The arm 200, which is included in the gripping device, is a component that serves to connect the gripping tool 100 and the actuating section 300. As the name suggests, the arm 200 corresponds metaphorically to a human arm. As in Fig. Figure 6 shows that when it is emphasized that the arm 200 is an aspect of embodiment 1, it is referred to as “arm 200-A” with “-A” appended after the reference numerals.

[0032] The arm 200-A, for example, has the shape of a shaft at its lower end (hereinafter referred to as the "mounting shaft"), and by guiding the mounting shaft through the shaft hole provided in the pull section 130, the gripping tool 100 can be held.

[0033] As in Fig. As shown in Figure 6, when arms 200-A pull the traction section 130 in the direction indicated by the white arrow, the arm 200-A is pulled in the direction opposite to the direction indicated by the white arrow, due to the elasticity of the gripping section 110. The force based on the elasticity of the gripping section 110 holds the gripping tool 100. If arm 200-A is moved in a direction opposite to that indicated by the white arrow and the strand section 122 is then loosened, the elasticity of the gripping section 110 decreases. This means that, according to the disclosed technology, the gripping device can easily release the gripping tool 100 from arm 200-A by driving arm 200-A and loosening the tension of strand section 122.

[0034] Fig. Figure 8 is an explanatory diagram showing a mechanism by which a pull section 130 is attached to or detached from the arm 200. As in Fig. As shown in Figure 8, the arm 200 is equipped with the mounting shank, and the pull section 130 is equipped with the shank hole. To facilitate the removal of the gripping tool 100 from the arm 200, the diameter of the shank hole should be larger than the diameter of the mounting shank.

[0035] Furthermore, the mounting shaft in the arm 200 may be tapered or have steps to prevent the mounting shaft from coming out of the shaft hole, especially if the gripping target is heavy. (Actuating section 300, which is contained in the gripping device)

[0036] The actuating section 300, which forms the gripping device, is the component that drives the arm 200. Specifically, the actuating section 300 can be implemented by an electric slider. The electric slider has a motor and a mechanism that converts a rotary motion into a linear motion. Since the purpose of the actuating section 300 is to achieve a linear motion, the actuating section 300 can utilize a linear motor.

[0037] The gripping device must not only control the opening and closing of the gripping tool 100, but also the position and orientation of the gripping tool 100 that are required for gripping the target. Fig. Figure 6 shows the actuation section 300, which achieves the opening and closing of the gripping tool 100, but does not show all the configuration components required for a gripping device. This is explained in Fig. 6 not shown, but the gripping device has a mechanism and a drive source for changing the position and orientation of the gripping tool 100.

[0038] An advantageous effect of the gripping tool 100 according to embodiment 1 is that, since the gripping tool 100 comprises the chord section 120 with the strand section 122 inside and the pull section 130, which acts like a deflection pulley, the shear stress is not concentrated in the slot of the blade and it is therefore possible to pull the pull section 130, which is the actuating tab, strongly.

[0039] Another advantageous effect of the gripping tool 100 according to embodiment 1 is that, because the fingertip section 150 is removable, a suitable material and structure for gripping the target can be selected and the stiffness of the fingertip section 150 required for gripping can be ensured.

[0040] An advantageous effect of the gripping device according to embodiment 1 is that the gripping tool 100 can be easily detached from the arm 200-A by moving the arm 200-A in a direction which loosens the tension of the strand section 122, since the pulling section 130 is equipped with the shaft hole for attachment to the arm 200-A and the arm 200-A is equipped with the attachment shaft.

[0041] Therefore, according to the disclosed technology, the gripping device can provide a gripping tool 100 that can be disposed of together with the gripping object to be disposed of, for example in an area where contaminated medical waste or radioactive substances are handled, and can contribute to automation.

[0042] As described above, the gripping tool 100 and the gripping device according to embodiment 1 are practical compared to the prior art. Design 2.

[0043] A gripping device according to embodiment 2 is a modified version of the gripping device according to the disclosed technology.

[0044] Unless otherwise specified, the same reference numerals are used in embodiment 2 as in embodiment 1. In embodiment 2, any description that overlaps with embodiment 1 is omitted.

[0045] When it is emphasized that the arm 200 is an aspect of embodiment 2, it is referred to as “arm 200-B” with “-B” appended after the reference numerals.

[0046] Fig. Figure 7 is an isometric view showing the appearance of a gripping device according to embodiment 2.

[0047] In the gripping device according to embodiment 1, shown in Fig. 6, the fingertip section 150 grasps the target by moving the arm 200-A in the horizontal direction indicated by the white arrows. In the gripping device according to embodiment 2, shown in Fig. 7, the fingertip section 150, on the other hand, grasps the target by moving the arm 200-B in the vertical direction indicated by the white arrows. The change in the drive direction of the arm 200 from the horizontal to the vertical is made possible by two guide rollers 210, as shown in Fig.Figure 7 shows that from the perspective of strand section 122, the guide roller 210 acts as a deflection roller in the same way as the train section 130.

[0048] A specific effect of the gripping device according to embodiment 2 is that the occupied area of ​​the device can be reduced compared to that of embodiment 1, since the drive direction of the arm 200-B is changed to the vertical direction.

[0049] Another specific effect of the gripping device according to embodiment 2 is that the two guide rollers 210 prevent the gripping tool 100 from entering an unstable state in which the gripping tool 100 rotates around the axis on which it is pulled.

[0050] As described above, the gripping device according to embodiment 2 is just as practical as the gripping device according to embodiment 1 compared to the prior art. COMMERCIAL APPLICABILITY

[0051] The gripping tool 100 and the gripping device according to the disclosed technology can be used, for example, in robot automation in the medical and food sectors and are therefore commercially applicable.

[0052] In particular, the gripping device according to the disclosed technology can provide a disposable gripping tool 100, for example in an area where contaminated medical waste or radioactive substances are handled, and contribute to automation. REFERENCE MARK LIST

[0053] 100 Gripping tool, 110 Gripping section, 112 Cover layer, 114 Core layer, 116 Hole, 120 Tendon section, 122 Strand section, 130 Tension section, 140 Receptacle, 150 Fingertip section, 200 (200-A, 200-B) Arm, 210 Guide roller, 300 Actuating section.

Claims

[1] Gripping tool (100) for grasping a target based on a kirigami drive principle, the gripping tool comprising: a gripping section (110) which is planar and designed to cover the gripping target; Tendon sections (120), each containing a strand section (122) inside and transmitting a force that pulls the gripping section (110) from both sides; Pulling sections (130), each connected to the tendon sections (120) and acting as a pulley; and fingertip sections (150), each of which can be attached to and detached from the gripping section (110) via a receptacle (140), wherein the gripping section (110) has a two-layer structure with a cover layer (112) and a core layer (114). [2] Gripping tool (100) according to claim 1, wherein the top layer (112) is made of silicone resin or urethane rubber, and the core layer (114) is made of a plastic material. [3] Gripping device, comprising: the gripping tool according to claim 1; and an arm (200) that connects the gripping tool and an actuating section (300), wherein the actuating section (300) drives the arm (200) in a direction in which the gripping tool is deformed by tension and the gripping target is grasped. [4] Gripping device according to claim 3, wherein the arm (200) has a mounting shaft, the pull sections (130) each have a shaft hole with a diameter larger than the diameter of the fastening shaft, the gripping tool is held on the arm (200) by passing the mounting shaft through the shaft hole, and the gripping tool can be detached from the arm (200) by driving the arm (200) through the actuating section (300) to loosen the tension. [5] Gripping device according to claim 4, wherein the fastening shaft is tapered or has steps to prevent the fastening shaft from coming out of the shaft hole. [6] Gripping device according to claim 4, wherein the gripping tool is designed as a disposable gripping tool (100) so that it can be disposed of together with the gripping target to be disposed of.

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