GRIPPING TOOL AND GRIPPING DEVICE

Abstract

The gripping tool according to the disclosed technology is a gripping tool for gripping a gripping target based on a kirigami drive principle, the gripping tool comprising: a gripping portion (110) that is flat and covers the gripping target, a tendon portion (120) that has a strand portion (122) inside and pulls the gripping portion (110) from both sides, a pulling portion (130) that is connected to the tendon portion (120) and acts as a pulley, a fingertip portion (150) that is attached to the gripping portion (110) through a receptacle (140), the gripping portion (110) being a two-layer structure, the two layers being a layer of a cover layer (112) and a core layer (114).

Description

FIELD 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 are known. One well-known example is the "origami hand," a gripping tool made entirely of paper. Because the "origami hand" is made entirely of paper, it is intended for use in the medical field and the food industry, as both require disposable tools for hygiene reasons.

[0003] Patent Document 1 discloses a gripping device inspired by origami “flappable birds” and operating on the same principle. Fig. Figure 1 is an explanatory diagram showing the fluttering bird made by origami. As shown in Fig. As shown in Figure 1, when the neck portion and tail portion of the "flutter bird" are held with both hands and pulled outward as if fluttering, the left and right wings are closed. The gripping device according to Patent Document 1 is realized by forming slits in a sheet of flexible material, and by pulling two operating tabs corresponding to the neck portion and tail portion, the upper and lower jaw portions corresponding to the left and right wings are brought closer to each other, thereby enabling an object to be grasped. REFERENCE LISTPATENT LITERATURE

[0004] [Patent document 1] WO 2020 / 237058 A1 SUMMARY OF THE INVENTIONTECHNICAL PROBLEM

[0005] The concept of Patent Document 1 to manufacture the gripping device from a sheet of flexible material is an excellent idea, but it is too focused on this concept, and the gripping device has some disadvantages in practice. Fig. As can be seen from Fig. 6B of Patent Document 1, one of the disadvantages is that the operating tabs cannot be pulled strongly because the shear stress is concentrated in the slit when the operating tabs are pulled.

[0006] An object of the disclosed technology is to improve the prior art gripping device and to provide a practical gripping tool that solves the above-mentioned problem. SOLUTION TO THE PROBLEM

[0007] The gripping tool according to the disclosed technology is a gripping tool for gripping a gripping target based on the kirigami propulsion principle, the gripping tool comprising: a gripping portion that is flat and designed to cover the gripping target; tendon portions each having a strand portion inside and transmitting a force that pulls the gripping portion from both sides; pulling portions each connected to the tendon portions and acting as a pulley; and fingertip portions each attachable to and detachable from the gripping portion via a receptacle, the gripping portion having a two-layer structure including a cover layer and a core layer. ADVANTAGEOUS EFFECTS OF THE INVENTION

[0008] Since the gripping tool according to the disclosed technology has the above configuration, the operating tabs can be strongly pulled, which is more convenient 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. 2 is an explanatory diagram showing the features of a gripping tool 100 according to Embodiment 1. Fig. 3 is a cross-sectional view along the line AA in Fig. 2. Fig. 4 is an assembly diagram showing attachment to and detachment from a fingertip portion 150 of the gripping tool 100 according to Embodiment 1. Fig. 5 is an isometric view showing the appearance of the gripping tool 100 according to Embodiment 1. Fig. 6 is an isometric view showing the appearance of a gripping device according to Embodiment 1. Fig. 7 is an isometric view showing the appearance of a gripping device according to Embodiment 2. Fig. 8 is an explanatory diagram showing a mechanism for attaching or detaching a pulling portion 130 to an arm 200. DESCRIPTION OF THE EMBODIMENTS Embodiment 1.

[0009] Fig. 2 is an explanatory diagram showing features of a gripping tool 100 according to Embodiment 1. As in Fig. 2, the gripping tool 100 according to embodiment 1 comprises a gripping section 110, tendon sections 120, pulling sections 130 and receptacles 140. The tendon sections 120 each have a strand section 122 inside.

[0010] Fig. 3 is a cross-sectional view along the line AA in Fig. 2. As in Fig. 3, the gripping portion 110 included 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 may have a plurality of holes 116, as shown in the Fig. 2 and Fig. 3 to adjust the stiffness.

[0011] Fig. 4 is an assembly diagram showing the attachment and detachment of the fingertip portions 150 of the gripping tool 100 according to Embodiment 1. The fingertip portions 150 are each detachable from the receptacle 140 included in the gripping tool 100.

[0012] Fig. 5 is an isometric view showing the appearance of the gripping tool 100 according to Embodiment 1. Two black arrows in Fig. 5 illustrate 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 pulling sections 130 in the directions indicated by the white arrows. This driving principle is the same as the driving principle of the Fig. 1 shown origami “flutter bird”.

[0013] Overseas, the "fluttering bird" made by origami 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 driving principle will be referred to as "a kirigami driving principle" below. (Gripping section 110, which is included in gripping tool 100)

[0014] The gripping section 110 contained in the gripping tool 100 is a flat component, wherein the gripping section 110 is used to cover a gripping target. In a figurative sense, the gripping section 110 is a component that corresponds to the palm and back of the human hand.

[0015] As described above, the gripping portion 110 included in the gripping tool 100 preferably has a two-layer structure formed by the cover layer 112 and the core layer 114. The cover layer 112 may be made of a synthetic resin such as a silicone resin. In addition to silicone resin, the cover layer 112 may also be made of a soft, rubber-like material that generates friction, such as urethane rubber. The core layer 114 may be made of a synthetic resin such as PET (polyethylene terephthalate). Such a gripping portion 110 with the two-layer structure can be manufactured by a modeling method in which resin is poured into a mold. In addition to PET, the core layer 114 may also be made of a plastic material derived from vegetable lactic acid, such as PLA resin.Since the core layer 114 serves to increase the stiffness that cannot be achieved by the cover layer 112 alone, a material is selected that is suitable for increasing the stiffness.

[0016] The gripping section 110 as a whole must have the strength and the 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 portion 120 included in the gripping tool 100 is a component that transmits a force that pulls the gripping portion 110 from both sides, and is figuratively equivalent to the human tendon. Therefore, the gripping device including the gripping tool 100 according to the disclosed technology can be said to be a tendon-driven robot.

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

[0019] As previously explained, the tendon portion 120 has a structure that includes the strand portion 122 therein. The strand portion 122 may be made of, for example, a synthetic fiber or a chemical fiber such as a high-density polyethylene fiber.

[0020] The strand portion 122 may be made of nylon tegus, which is used as fishing line. Furthermore, the strand portion 122 may be made of a metal wire. The material of the tendon portion 120 covering the strand portion 122 may be the same as that of the cover layer 112.

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

[0022] The pulling portion 130 included 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 pulling portion 130 included in the gripping tool 100 is a component connecting the tendon portion 120 and the arm 200, which arm 200 will be described later. As shown in the Fig. 2 and Fig. As shown in Figure 5, the pulling portion 130 acts like a pulley and can pull the strand portion 122. The pulling portion 130 is provided with a shaft hole for attachment to the arm 200. (Holder 140, which is included in the gripping tool 100)

[0023] The receptacle 140 included in the gripping tool 100 is a component that connects the gripping portion 110 and the fingertip portion 150. The receptacle 140 allows the fingertip portion 150 to be attached to and detached from the gripping portion 110. By providing the receptacle 140 and detachably manufacturing the fingertip portion 150, it is possible to prepare a variety of types of fingertip portion 150 in advance according to an assumed gripping target, and to select the fingertip portion 150 with properties suitable for gripping the gripping target at the time of operation. Furthermore, the provision of the receptacle 140 and detachably manufacturing the fingertips 150 have the advantage of facilitating replacement required for hygienic reasons and simplifying maintenance. (Fingertip section 150 included in gripping tool 100)

[0024] 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. Fig. 2 to 7, which explain the disclosed technology, the fingertips of the fingertip portion 150 are not intended to move independently like human fingers.

[0025] The fingertip portion 150 may be made of the same material as that of the gripping portion 110. Furthermore, the fingertip portion 150 may have the same two-layer structure as the gripping portion 110. However, an advantageous effect of the gripping tool 100 according to the disclosed technology is that by detachably manufacturing the fingertip portion 150, a material and structure suitable for gripping the gripping target can be selected. Since the conventional gripping device shown in Patent Document 1 is too focused on the concept of being manufactured from a single sheet of flexible material, there is a practical disadvantage that the rigidity 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 portion 150 is a concept for overcoming this practical problem.

[0026] It is important that the fingertip portion 150 has a rigidity and friction that prevents the gripping object from slipping during gripping. It is also important that the fingertip portion 150 is elastic or flexible to prevent damage to the gripping target during gripping.

[0027] As described above, it is conceivable that a variety of types of the fingertip portion 150 are prepared according to the intended grasping target. This idea corresponds to the fact that tweezers are manufactured with different tip shapes depending on the intended use.

[0028] For example, if the gripping object is a plate-like or plate-like object such as a substrate or a card, the fingertip portion 150 may have a shape in which the tip is tapered and slightly bent inward in the gripping direction. The above-described design of the fingertip portion 150 allows even a plate-like gripping target lying on a table to be gripped and lifted.

[0029] Fig. 6 is an isometric view showing the appearance of a gripping device according to Embodiment 1. As in Fig. 6, the gripping device according to Embodiment 1 includes the gripping tool 100, an arm 200-A, and an operating portion 300. (Arm 200, which is included in the gripping device)

[0030] 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 figuratively to a human arm. As shown in Fig. 6, when emphasizing that the arm 200 is an aspect of Embodiment 1, it will be referred to as “Arm 200-A” with “-A” appended after the reference numerals.

[0031] For example, the arm 200-A has a shaft shape (hereinafter referred to as a “fixing shaft”) at the lower end, and by passing the fixing shaft through the shaft hole provided in the pulling portion 130, the gripping tool 100 can be held.

[0032] As in Fig. 6, when the arms 200-A pull the pulling portion 130 in the direction indicated by the white arrow, the arm 200-A is pulled in the direction opposite to the white arrow due to the elasticity of the gripping portion 110. The force based on the elasticity of the gripping portion 110 holds the gripping tool 100. When the arm 200-A is moved in a direction opposite to the direction indicated by the white arrow and the strand portion 122 is then loosened, the elasticity of the gripping portion 110 decreases. That is, the gripping device according to the disclosed technology can easily release the gripping tool 100 from the arm 200-A by driving the arm 200-A and loosening the tension of the strand portion 122.

[0033] Fig. Fig. 8 is an explanatory diagram showing a mechanism for attaching or detaching a pulling portion 130 to the arm 200. As shown in Fig. As shown in Figure 8, the arm 200 is provided with the attachment shaft, and the pulling portion 130 is provided with the shaft hole. To facilitate the release of the gripping tool 100 from the arm 200, the diameter of the shaft hole should be larger than the diameter of the attachment shaft.

[0034] In addition, the attachment shaft in the arm 200 may be tapered or have steps to prevent the attachment shaft from coming out of the shaft hole, especially when the gripping target is heavy. (Actuating section 300 included in gripping device)

[0035] 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 as an electric slider. The electric slider includes a motor and a mechanism that converts a rotational movement into a linear movement. Since the purpose of the actuating section 300 is to achieve a linear movement, the actuating section 300 can utilize a linear motor.

[0036] 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 required for gripping the gripping target. Fig. Figure 6 shows the actuating 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 in Fig. 6, but the gripping device has a mechanism and a drive source for changing the position and orientation of the gripping tool 100.

[0037] An advantageous effect of the gripping tool 100 according to Embodiment 1 is that since the gripping tool 100 includes the chord portion 120 with the strand portion 122 inside and the pulling portion 130 acting like a pulley, the shear stress is not concentrated in the slit of the blade and therefore it is possible to strongly pull the pulling portion 130, which is the actuating tab.

[0038] Another advantageous effect of the gripping tool 100 according to Embodiment 1 is that since the fingertip portion 150 is detachable, a material and structure suitable for gripping the gripping target can be selected and the rigidity of the fingertip portion 150 required for gripping can be ensured.

[0039] 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 that loosens the tension of the strand portion 122, since the pulling portion 130 is provided with the shaft hole for attachment to the arm 200-A and the arm 200-A is provided with the attachment shaft.

[0040] Therefore, the gripping device according to the disclosed technology 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.

[0041] As described above, the gripping tool 100 and the gripping device according to Embodiment 1 are practical compared to the prior art. Embodiment 2.

[0042] A gripping device according to Embodiment 2 is a modified version of the gripping device according to the disclosed technology.

[0043] Unless otherwise specified, the same reference numerals as in Embodiment 1 are used in Embodiment 2. In Embodiment 2, the description that overlaps with Embodiment 1 is omitted where appropriate.

[0044] 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.

[0045] Fig. 7 is an isometric view showing the appearance of a gripping device according to Embodiment 2.

[0046] In the gripping device according to embodiment 1, shown in Fig. 6, the fingertip portion 150 grasps the grasping target by moving the arm 200-A in the horizontal direction indicated by the white arrows. In the grasping device according to Embodiment 2 shown in Fig. 7, the fingertip portion 150, on the other hand, grasps the grasping target by moving the arm 200-B in the vertical direction indicated by the white arrows. The change of the drive direction of the arm 200 from horizontal to vertical is enabled by two guide rollers 210, as shown in Fig.7. From the perspective of the strand section 122, the guide roller 210 acts as a deflection roller in the same way as the tension section 130.

[0047] 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 because the driving direction of the arm 200-B is changed to the vertical direction.

[0048] Another specific effect of the gripping device according to Embodiment 2 is that the two guide rollers 210 can 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.

[0049] As described above, the gripping device according to Embodiment 2 is as practical as the gripping device according to Embodiment 1 compared to the prior art. INDUSTRIAL APPLICABILITY

[0050] The gripping tool 100 and the gripping device according to the disclosed technology can be used, for example, in robot automation in the medical field and in the food sector and are therefore industrially applicable.

[0051] 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. LIST OF REFERENCE SYMBOLS

[0052] 100 gripping tool, 110 gripping section, 112 cover layer, 114 core layer, 116 hole, 120 tendon section, 122 strand section, 130 tensile section, 140 receptacle, 150 fingertip section, 200 (200-A, 200-B) arm, 210 guide roller, 300 actuating section. QUOTES CONTAINED IN THE DESCRIPTION

[0000] This list of documents submitted by the applicant was generated automatically and is included solely for the convenience of the reader. This list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions. Cited patent literature

[0000] WO 2020 / 237058 A1

[0004]

Claims

[1] A gripping tool for grasping a gripping target based on a kirigami propulsion principle, the gripping tool comprising: a gripping section which is flat and is designed to cover the gripping target; Tendon sections, each having a strand section inside and transmitting a force that pulls the gripping section from both sides; Tension sections, each connected to the tendon sections and acting as a pulley; and Fingertip sections, each of which can be attached to and detached from the gripping section via a holder, wherein the gripping portion has a two-layer structure with a cover layer and a core layer. [2] Gripping tool according to claim 1, wherein the cover layer is made of silicone resin or urethane rubber, and the core layer is made of a plastic material. [3] Gripping device, comprising: the gripping tool according to claim 1; and an arm connecting the gripping tool and an actuating section, wherein the actuating portion drives the arm in a direction in which the gripping tool is deformed by tension and the gripping target is gripped. [4] Gripping device according to claim 3, wherein the arm has a mounting shaft, the tension sections each have a shaft hole with a diameter larger than a diameter of the fastening shaft, the gripping tool is held on the arm by passing the fastening shaft through the shaft hole, and the gripping tool can be released from the arm by driving the arm through the actuating section to release the tension. [5] Gripping device according to claim 4, wherein the fastening shaft is tapered or has steps. [6] Gripping device according to claim 4, wherein the gripping tool can be disposed of together with the gripping target to be disposed of.

Images