Holding mechanism and conveying device

Abstract

To strongly hold an object while preventing interference of an adjacent other object.SOLUTION: The holding mechanism holds an object by clamping, and includes at least two or more rotating and fixing parts which can contact with the object, and a rotation control part which controls rotation movement of each rotating and fixing part. At least the two or more rotating and fixing parts are rotated to make the rotating and fixing parts, which rotate, contact with the object and clamp the object. The conveying device includes the holding mechanism to move the object held by the holding mechanism.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to a gripping mechanism and a transport device, and can be applied, for example, to a gripping mechanism that grips an object with two or more gripping parts, and a transport device that transports the object gripped by the gripping mechanism. [Background technology]

[0002] For example, the probe substrate of a probe card has a large number of probes (electrical contacts), and a transport device equipped with a gripping mechanism is used to attach or detach the probes to or from the probe substrate.

[0003] FIG. 3(A) is an explanatory diagram for explaining gripping by the gripping mechanism, and FIG. 3(B) is an explanatory diagram for explaining release of the gripping by the gripping mechanism.

[0004] In this example, a gripping mechanism 90 has two gripping pieces 91 and 92, and a case will be described in which a probe as the object 2 is gripped by the two gripping pieces 91 and 92.

[0005] 3(A), when a probe is attached as the target object 2, the two gripping pieces 91 and 92 are moved while being spaced apart from each other, and are moved so that the probe is present between the two gripping pieces 91 and 92. Then, the position of one gripping piece 91 is moved so that it approaches the other gripping piece 92, and the two gripping pieces 91 and 92 sandwich the probe. This allows the gripping mechanism 90 to grip the probe.

[0006] Thereafter, while being held by the holding mechanism 90, the probe is moved to the position of the mounting hole 31 on the probe substrate 3. Then, the probe is inserted into the mounting hole 31 on the probe substrate 3 and attached.

[0007] After the attachment is completed, as shown in FIG. 3B, the position of one gripping piece 91 is moved away from the other gripping piece 92, thereby releasing the grip. [Prior art documents] [Patent documents]

[0008] [Patent Document 1] JP 2004-050321 A Summary of the Invention [Problem to be solved by the invention]

[0009] However, many probes are arranged on the probe base plate 3. Therefore, the distance between adjacent probes is narrow, and when one gripping piece 92 is moved, the gripping piece 91 may interfere with the adjacent probe (see FIG. 4).

[0010] Although the case where the target object is a plate-shaped probe is illustrated, the target object is not limited to a probe, and similar problems may arise when gripping other plate-shaped members.

[0011] Therefore, there is a strong demand for a gripping mechanism that can firmly grip an object such as a plate-like member while preventing interference with adjacent objects, and a transport device that is equipped with such a gripping mechanism. [Means for solving the problem]

[0012] In order to solve such problems, the first gripping mechanism of the present invention is a gripping mechanism that clamps and grips an object, and is characterized in that it comprises (1) at least two or more rotating and fixing parts that can contact the object, and (2) a rotation control part that controls the rotational operation of each of the rotating and fixing parts, and by rotating the at least two or more rotating and fixing parts, the rotated rotating and fixing parts are brought into contact with the object, thereby gripping the object.

[0013] A transport device according to a second aspect of the present invention is characterized in that it has the gripping mechanism according to the first aspect of the present invention and moves an object gripped by the gripping mechanism. Effect of the Invention

[0014] According to the present invention, an object such as a plate-like member can be firmly gripped while preventing interference with adjacent objects. [Brief description of the drawings]

[0015] [Figure 1] 3A to 3C are configuration diagrams showing detailed configurations of a first gripping portion and a second gripping portion according to the embodiment. [Diagram 2] FIG. 2 is a configuration diagram showing a configuration of a conveying device according to the embodiment. [Diagram 3] FIG. 13 is a diagram showing the configuration of a conventional gripping mechanism. [Figure 4] 1A and 1B are explanatory diagrams illustrating problems with a conventional gripping mechanism. [Diagram 5] 11A to 11C are explanatory diagrams illustrating a gripping operation of a gripping mechanism according to an embodiment. [Figure 6] 13 is a configuration diagram showing the configuration of a gripping portion of a gripping mechanism according to a modified embodiment (part 1). FIG. [Figure 7] 13 is a configuration diagram showing the configuration of a gripping portion of a gripping mechanism according to a modified embodiment (part 2). FIG. [Figure 8] 13 is an explanatory diagram illustrating gripping when a through hole is provided in an object in a modified embodiment. FIG. [Figure 9] FIG. 11 is a configuration diagram showing the configuration of a gripping part of a gripping mechanism according to a modified embodiment (part 3). [Figure 10] FIG. 4 is a configuration diagram showing the configuration of a gripping part of a gripping mechanism according to a modified embodiment (part 4). DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0016] (A) Main embodiment DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, embodiments of a gripping mechanism and a transport device according to the present invention will be described in detail with reference to the drawings.

[0017] In this embodiment, the object to be grasped is a plate-shaped member.

[0018] (A-1) Configuration of the embodiment (A-1-1) Configuration of the conveying device 1 2 is a diagram showing the configuration of a transport device according to an embodiment of the present invention. In FIG. 2, a transport device 1 of the embodiment includes an arm unit 14, a control unit 15, a base unit 16, and a gripping mechanism 10.

[0019] The transport device 1 transports an object 2 gripped by a gripping mechanism 10. In the example of Fig. 2, the transport device 1 is an articulated device having multiple joints, but the transport device can be widely applied to any device equipped with a gripping mechanism 10 without being limited to the configuration illustrated in Fig. 2.

[0020] The control unit 15 controls the operations of the arm unit 14 and the gripping mechanism 10. The control unit 15 includes, for example, a CPU, a ROM, a RAM, an EEPROM, and the like, and controls the operation of the arm unit 14 and the operation of the gripping mechanism 10 of the transport device 1 by the CPU executing a processing program. That is, the control unit 15 has, as its functions, a transport control unit 151 that controls the operation of the arm unit 14, and a gripping control unit 152 that controls the operation of the gripping mechanism 10.

[0021] The arm unit 14 includes a first link 181 , a second link 182 , a third link 183 , a fourth link 184 , a first joint unit 171 , a second joint unit 172 , and a third joint unit 173 .

[0022] The first link 181 is a member that connects the base portion 16 and the first joint portion 171, the second link 182 is a member that connects the first joint portion 171 and the second joint portion 172, and the third link 183 is a member that connects the second joint portion 172 and the third joint portion 173.

[0023] The fourth link 184 is a member that is connected to the third joint portion 173, and is provided with a gripping mechanism 10 at one end of the fourth link 184.

[0024] The first joint portion 171, the second joint portion 172, and the third joint portion 173 each operate under the control of the transport control portion 151 of the control portion 15, and move the links (first link 181, second link 182, third link 183, and fourth link 184) to which the first joint portion 171, the second joint portion 172, and the third joint portion 173 are respectively connected.

[0025] The gripping mechanism 10 is provided at the tip of the fourth link 184, and grasps the object 2 with a first gripping portion 11 and a second gripping portion 12 described later under the control of a gripping control portion 152 of the control portion 15.

[0026] Here, the object 2 is, for example, a plate-like object, and has a first side surface 21 and a second side surface 22 as shown in FIG. 1. The material of the object 2 is not particularly limited. For example, a plate-like probe (electrical contactor) attached to a probe card can be applied as the object 2 having a thin plate thickness. Moreover, the object 2 is not limited to a plate-like object, and can also be a long and thin rod-like object.

[0027] (A-1-2) Configuration of gripping mechanism 10 In FIG. 2, the gripping mechanism 10 according to the embodiment has a main body 130, a first rotation drive unit 120A, a second rotation drive unit 120B, a first gripping unit 110A, and a second gripping unit 110B.

[0028] The main body 130 is a base of the gripping mechanism 10. The first rotation drive unit 120A and the second rotation drive unit 120B are provided on one side of the main body 130, and the other side of the main body 130 (the side on which the first gripping unit 110A and the second gripping unit 110B are not provided) is attached to the tip of the fourth link 184.

[0029] First rotation drive unit 120A and second rotation drive unit 120B have basically the same configuration, and will be referred to as rotation drive unit 120 when describing their common configuration without distinguishing between them.

[0030] The first rotation drive unit 120A supports the first gripping portion 110A, which has an approximately cylindrical shape, and rotates the first gripping portion 110A under the control of the gripping control unit 152 so that the first gripping portion 110A can clamp and fix the target object 2 or release the fixation.

[0031] Like the first rotation drive unit 120A, the second rotation drive unit 120B supports the second gripping unit 110B, which has an approximately cylindrical shape, and rotates the second gripping unit 110B under the control of the gripping control unit 152 so that the second gripping unit 110B clamps and fixes the target object 2 or releases the fixation.

[0032] The first gripping portion 110A and the second gripping portion 110B rotate under the control of the first rotation driving portion 120A and the second rotation driving portion 120B, thereby clamping and fixing the object 2.

[0033] The configuration of the first gripping portion 110A and the second gripping portion 110B will be described in detail with reference to Fig. 1. Note that the first gripping portion 110A and the second gripping portion 110B basically have the same configuration, and when describing the common configuration without distinguishing between them, they will be expressed as gripping portion 110.

[0034] FIG. 1 is a diagram showing the detailed configuration of a first gripping part 110A and a second gripping part 110B according to an embodiment.

[0035] Fig. 1(A) is a diagram showing a state in which a first gripping portion 110A and a second gripping portion 110B are gripping an object 2. Fig. 1(B) is a configuration diagram of the second gripping portion 110B when viewed from the direction of an arrow B in Fig. 1(A), and Fig. 1(C) is a configuration diagram of the second gripping portion 110B when viewed from the direction of an arrow C in Fig. 1(A).

[0036] As shown in Figures 1(A) to 1(C), the gripping portion 110 (110A, 110B) of the embodiment has a main body portion 113 (113A, 113B) and a first rotational fixing portion 111 (111A, 111B) and a second rotational fixing portion 112 (112A, 112B) provided on one end surface 114 of the main body portion 113.

[0037] That is, a pair of rotation fixing portions 111 and 112 are provided on a first end surface 114 of a main body portion 113 of a grip portion 110.

[0038] The main body 113 of the gripping part 110 is a substantially cylindrical rod-shaped member, and is formed, for example, from a material such as a metal (for example, copper, copper alloy, etc.) or a synthetic resin having a hardness sufficient not to damage the surface of the object 2. The other end of the main body 113 of the gripping part 110 is supported by the rotation drive part 120.

[0039] When the main body 113 receives a driving force from the rotation drive unit 120 (see FIG. 2), the main body 113 rotates around its axis (around an axis substantially parallel to the Z axis) in a first direction (e.g., clockwise) or a second direction (e.g., counterclockwise), and accordingly, a pair of rotation fixing units 111 and 112 supported by the main body 113 rotate in conjunction with the main body 113. In this way, the entire grip unit 110 rotates due to the driving force from the rotation drive unit 120.

[0040] That is, the rotation drive unit 120 can apply a rotation drive force to each of the rotation fixing units 111 and 112 in accordance with an instruction from the rotation control unit 151. Note that, although the main body unit 113 will be described as being a substantially cylindrical member, it may be a member such as a polygonal prism having a triangular or higher angle, or an elliptical cylinder.

[0041] The first rotating and fixing part 111 and the second rotating and fixing part 112 are plate-like members each having a substantially elliptical cross section. As shown in FIG. 1(A) to FIG. 1(C), the first rotating and fixing part 111 and the second rotating and fixing part 112, which are plate-like members, are provided facing each other at a predetermined distance. In the gripping part 110, the object 2 is positioned between the pair of rotating and fixing parts 11 and 112, and the entire gripping part 110 rotates, so that the first rotating and fixing part 111 and the second rotating and fixing part 112 come into contact with the object 2 while sandwiching the object 2 between each other, and further rotate, so that a force in the rotational direction is applied to the object 2, thereby fixing the object 2. The gripping operation will be described later.

[0042] The cross section of each of first rotational fixed part 111 and second rotational fixed part 112 as plate-like members is not limited to an elliptical shape, and may be, for example, a rectangular, semicircular, semi-elliptical, crescent, or the like.

[0043] The distance between the first rotating fixed part 111 and the second rotating fixed part 112, which are spaced apart, is slightly larger than the thickness (plate thickness) of the plate-like member object 2. The lengths (lengths in the Z-axis direction) of the first rotating fixed part 111 and the second rotating fixed part 112 can be determined according to the dimensions of the object 2 to be grasped (particularly, the length in the Z-axis direction).

[0044] In addition, the longitudinal dimension of the pair of rotation fixing parts 111 and 112 may be selected in accordance with the dimension of the target object 2 in the height direction.

[0045] Furthermore, the dimensions of first rotating and fixing part 111 and second rotating and fixing part 112 in a direction perpendicular to the longitudinal direction are set within the plane of first end face 114 of main body part 113. In other words, when gripping part 110 rotates, the dimensions of first end face 114 of main body part 113 become the maximum movable range of gripping part 110 that grips object 2.

[0046] Furthermore, as shown in Figures 1(B) and 1(C), when multiple objects 2 are arranged, when an object 2 is placed between the first rotating and fixing part 111 and the second rotating and fixing part 112 in order to grasp the object 2, the first rotating and fixing part 111 or the second rotating and fixing part 112 does not come into contact with another object 2 adjacent to the object 2.

[0047] For example, as illustrated in FIG. 1C, the distance between a certain object 2 and another adjacent object 2 is "L1", and the length from the position of the second side surface 22 of the object 2 to the end point position of the first end surface 114 of the main body 113 in the diameter of the first end surface 114 of the main body 113 is "L2". In this embodiment, L1>L2 is set so as not to touch the adjacent object 2. In this way, the cross-sectional dimension of the main body 113 of the gripping part 110 becomes the maximum movable range of gripping by rotation, so that interference with the adjacent object 2 can be avoided.

[0048] Each of the first rotation fixed part 111 and the second rotation fixed part 112 is formed from a material such as a metal (e.g., copper, copper alloy, etc.) or synthetic resin having a hardness sufficient not to damage the surface of the target object 2. Note that the main body part 113, the first rotation fixed part 111, and the second rotation fixed part 112 may be made of the same material or different materials.

[0049] In addition, the first rotating fixing portion 111 and the second rotating fixing portion 112 only need to be fixed to the first end face 114 of the main body portion 113 of the gripping portion 110, and may be physically integrated with the main body portion 113 or may be detachable.

[0050] (A-2) Operation of the embodiment (A-2-1) Operation of the gripping mechanism Next, the gripping operation by the gripping mechanism 10 according to the embodiment will be described in detail with reference to the drawings.

[0051] The gripper 110 can move up and down along the Z axis. For example, by providing a sensor (not shown) that detects contact between the first end surface 114 of the main body 113 of the gripper 110 and the object 2, the position of the gripper 110 in the Z axis direction can be maintained (see FIG. 1(B)). In other words, after detecting contact between the first end surface 114 of the main body 113 and the object 2, the position of the gripper 110 in the Z axis direction is maintained, and then the rotation control described later is performed.

[0052] In addition, when the gripping portion 10 is positioned above the object 2, the gripping portion 10 may be lowered a predetermined distance to position the object 2 between a pair of rotational fixing portions 111 and 112, and then the object 2 may be subjected to the rotation control described below.

[0053] FIG. 5 is an explanatory diagram illustrating the gripping operation of the gripping mechanism 10 according to the embodiment.

[0054] FIG. 5(A) shows two first gripping portions 110A and two second gripping portions 110B rotating in the same direction in conjunction with each other relative to the object 2, so that the two first gripping portions 110A and the second gripping portions 110B grip the object 2.

[0055] On the other hand, FIG. 5(B) shows a state in which the two gripping parts, the first gripping part 110A and the second gripping part 110B, which have been gripping the object 2, rotate in opposite directions and release their grip on the object 2.

[0056] As illustrated in Figure 5 (A), when the first gripping portion 110A rotates in a first direction, the tips of the first rotating and fixing portion 111A and the second rotating and fixing portion 112A each come into contact with the object 2 at two points, contact point CA1 on the first side surface 21 of the object 2 and contact point CA2 on the second side surface 22, and when the first gripping portion 110A rotates further, the tips of the first rotating and fixing portion 111A and the second rotating and fixing portion 112A can support the object 2 while clamping it.

[0057] Similarly, the second gripping portion 110B also rotates in the first direction in unison, and the tips of the first rotational fixing portion 111B and the second rotational fixing portion 112B contact the object 2 at two points, CB1 on the first contact side 21 and CB2 on the second contact side 22, and then rotate further, so that the tips of the first rotational fixing portion 111B and the second rotational fixing portion 112B can support the object 2 while clamping it.

[0058] Moreover, the object 2 can be supported at four points, namely, contact points CA1, CA2, CB1, and CB2, by the two gripping portions, the first gripping portion 110A and the second gripping portion 110B.

[0059] 5(A), the second rotating and fixing part 112A supports the object 2 from the right side at the contact point CA2, the first rotating and fixing part 111A supports the object 2 from the left side at the contact point CA1, and then the second rotating and fixing part 112B supports the object 2 from the right side at the contact point CB2, and the first rotating and fixing part 111B supports the object 2 from the left side at the contact point CB1. In other words, the first gripping part 110A and the second gripping part 110B rotate in the same direction, so that the contact points for supporting the object 2 can be provided alternately on the left and right, and the object 2 can be supported in a well-balanced manner.

[0060] In this embodiment, the example shows a case where the first gripping portion 110A and the second gripping portion 110B each rotate in the same direction, but the first gripping portion 110A may rotate in a first direction and the second gripping portion 110B may rotate in a second direction, for example, so that they each rotate in a different direction.

[0061] Here, the dimensions of first rotational fixing part 111 and second rotational fixing part 112 are smaller than the dimensions of first end face 114 of main body part 113, so even if main body part 113 of gripping part 110 rotates, it is possible to prevent first rotational fixing part 111 and second rotational fixing part 112 from interfering with adjacent object 2. In other words, the cross-sectional dimension of main body part 113 of gripping part 110 becomes the maximum movable range of gripping due to rotation, so interference with adjacent object 2 can be avoided.

[0062] In addition, the distance between the first rotating fixed part 111 and the second rotating fixed part 112, which are spaced apart, can be adjusted to match the plate thickness of the object 2, as long as it is within the cross-sectional dimensions of the main body 113 of the gripping part 110 (e.g., the diameter if the cross section is circular).

[0063] Here, it is preferable that the first rotational fixed part 111 and the second rotational fixed part 112 contact the object 2 simultaneously due to the rotational action. By the first rotational fixed part 111 and the second rotational fixed part 112 contacting the object 2 simultaneously, deformation of the object 2 can be suppressed compared to the case where one of the rotational fixed parts 111 (112) contacts the object 2 first.

[0064] Next, the gripping release operation will be described with reference to Fig. 5(B). As illustrated in Fig. 5(B), the first gripping portion 110A and the second gripping portion 110B each rotate in a second direction (a rotation direction opposite to the first direction), causing contact at the contact points CA1, CA2, CB1, and CB2 to be lost, and gripping is released.

[0065] Here, we will explain the rotation control by the grip control unit 152. The grip control unit 152 controls the rotation of the first rotation and fixing unit 111 and the second rotation and fixing unit 112 of the grip unit 110 in the first direction, but we will explain how and to what extent they are rotated.

[0066] As an example of this rotation control method, for example, a method of previously setting the angles (for example, 15°) for rotating first rotation fixing part 111 and second rotation fixing part 112 can be applied. This makes it possible to easily control the rotation both when gripping and when releasing the grip.

[0067] As another example, a method can be applied in which a sensor is provided to detect pressure acting on the object 2, and the first rotating and fixing part 111 and the second rotating and fixing part 112 are rotated to grasp the object, and the rotation is stopped when the sensed pressure value exceeds a threshold value for grip detection, and when the grip is released, the release is detected when the sensed pressure value falls below a threshold value for grip release detection.

[0068] (A-2-2) Operation of the transport device In the transfer device 1 shown in FIG. 2, the object 2 is gripped by the gripping mechanism 10, and the transfer control unit 151 controls the arm 14 to move the object 2.

[0069] (A-3) Modified embodiment Next, various modified examples have been described for the configuration of the gripping mechanism described above, and modified embodiments for strengthening the gripping force or preventing deformation (e.g., bending) of the transported object will be described.

[0070] (A-3-1) Example of configuration for strengthening gripping force FIG. 6 is a configuration diagram showing the configuration of a gripping portion of a gripping mechanism according to a modified embodiment.

[0071] FIG. 6 shows a gripping mechanism according to a modified embodiment that includes two gripping portions 210: a first gripping portion 210A and a second gripping portion 210B.

[0072] It should be noted that the first gripping portion 210A and the second gripping portion 210B basically have the same configuration, and when describing the common configuration without distinguishing between them, they will be expressed as gripping portion 210.

[0073] The gripping portion 210 has a main body portion 213, a first rotating and fixing portion 211 and a second rotating and fixing portion 212, and differs from the gripping portion 110 of the above-described embodiment in that, as shown in Figure 6 (B), the first rotating and fixing portion 211 and the second rotating and fixing portion 212 each have a lower support portion 2111 that supports the object 2 from below to above the object 2.

[0074] 6(B), the first rotating fixed part 211 and the second rotating fixed part 212 are L-shaped plate-like members, and the lower horizontal parts of the first rotating fixed part 211 and the second rotating fixed part 212 respectively become the lower support part 2111 and the lower support part 2121. One surface of each of the lower support parts 2111 and 2121 is called the lower support surface 251 and 252, which come into contact with the lower surface of the object 2 and support the object 2.

[0075] As shown in Fig. 6(C), the dimensions of the L-shaped first rotation fixed part 211 and second rotation fixed part 212 are also within the cross-sectional dimensions of the main body part 213 of the gripping part 210. Therefore, the maximum movable range of the first rotation fixed part 211 and the second rotation fixed part 212 is within the cross-section of the main body part 213 of the gripping part 210, and interference with adjacent objects 2 can be avoided (see Figs. 6(D) and 6(E)).

[0076] In this way, the first rotating fixed part 211 and the second rotating fixed part 212 are provided with a lower support part 2111, and one surface of the lower support part 2111, which is the lower support surface 251, supports the object 2 from the underside, thereby strengthening the gripping force on the object 2.

[0077] As long as the target object 2 can be supported from below, the shape of the first rotational fixing part 211 and the second rotational fixing part 212 is not limited to an L-shape, and may be a U-shape or the like.

[0078] FIG. 7 is a configuration diagram showing the configuration of a gripping portion of a gripping mechanism according to another modified embodiment.

[0079] FIG. 7 shows a gripping mechanism according to a modified embodiment that includes two gripping portions: a first gripping portion 310A and a second gripping portion 310B.

[0080] The first gripping portion 310A and the second gripping portion 310B basically have the same configuration, and will be referred to as gripping portion 310 when describing the common configuration without distinguishing between them.

[0081] The gripping portion 310 has a main body portion 313, a first rotating and fixing portion 311, and a second rotating and fixing portion 312, and as shown in Figure 7 (B), the first rotating and fixing portion 211 and the second rotating and fixing portion 212 each have an upper support portion 3112 that supports the upper surface of the object 2 and a lower support portion 3111 that supports the lower surface of the object 2.

[0082] As shown in Figure 7 (B), the first rotating fixing part 311 and the second rotating fixing part 312 are U-shaped plate-like members, one surface of the lower support part 3111 is called the lower support surface 351, and one surface of the upper support part 3112 is called the upper support surface 352, and these lower support surface 351 and upper support surface 352 contact the lower and upper surfaces of the object 2 to support the object 2.

[0083] 7(C), in this modified embodiment, the dimensions of first rotational fixing part 311 and second rotational fixing part 312 are also within the cross-sectional dimensions of main body part 313 of gripping part 310. Therefore, the maximum movable range of first rotational fixing part 311 and second rotational fixing part 312 is within the cross-section of main body part 313 of gripping part 310, and interference with adjacent objects 2 can be avoided (see FIGS. 7(D) and 7(E)).

[0084] In this way, each of the first rotating and fixing part 311 and the second rotating and fixing part 312 has a lower support part 3111 and an upper support part 3112, and by supporting the object 2 from the lower and upper surfaces, the gripping force on the object 2 can be strengthened.

[0085] As long as the target object 2 can be supported from below, the shapes of the first rotational fixing part 311 and the second rotational fixing part 312 are not limited to the shapes exemplified in FIG.

[0086] When gripping an object using gripping portion 210 of FIG. 6(B) or gripping portion 310 of FIG. 7(B), object 2 may be provided with two through holes 34 and 35, as illustrated in FIG. 8(A).

[0087] As a result, when gripping the object 2 using the gripping portion 210 of Figure 6 (B), as illustrated in Figure 8 (B), the first rotating and fixing portion 311 and the second rotating and fixing portion 312 of the gripping portion 210 are inserted into the two through holes 34 and 35 of the object 2, respectively, and the entire gripping portion 210 is rotated so that the lower support portion 2111 of the first rotating and fixing portion 211 and the second rotating and fixing portion 212 can support the supported portion 33 between the two through holes 34 and 35.

[0088] Also, when gripping the object 2 using the gripping portion 310 of Figure 7 (B), as illustrated in Figure 8 (C), the first rotating and fixing portion 311 and the second rotating and fixing portion 312 of the gripping portion 310 are inserted into the two through holes 34 and 35 of the object 2, respectively, and the entire gripping portion 310 is rotated so that the lower support portion 3111 and the upper support portion 3112 of the first rotating and fixing portion 311 and the second rotating and fixing portion 312 can support the supported portion 33 between the two through holes 34 and 35.

[0089] (A-3-2) Preventing deformation of object 2 FIG. 9 is a configuration diagram showing the configuration of a gripping portion of a gripping mechanism according to a modified embodiment.

[0090] FIG. 9 shows a gripping mechanism according to a modified embodiment including a total of three gripping parts 410: a first gripping part 410A, a second gripping part 410B, and a third gripping part 410C.

[0091] In this example, the first gripping portion 410A has one rotating fixing portion 412A, the second gripping portion 410B has two first rotating fixing portions 411B and a second rotating fixing portion 412B, and the third gripping portion 410C has one rotating fixing portion 411C.

[0092] 9(A), in the gripping mechanism according to this modified embodiment, the rotational fixing part 412A of the first gripping part 410A contacts the target object 2 at a contact point C1, and the first rotational fixing part 411B of the second gripping part 410B contacts the target object 2 at a contact point C2. Furthermore, the second rotational fixing part 412B of the second gripping part 410B contacts the target object 2 at a contact point C3, and the rotational fixing part 411C of the third gripping part 410C contacts the target object 2 at a contact point C4.

[0093] 9(B), the line connecting contact point C1 and contact point C2 exists on the same plane perpendicular to the side surface of the standing plate-like member target 2 (Y-axis direction). Therefore, the direction of the force acting on target 2 by rotation fixing part 412 of first gripping part 410A and the direction of the force acting on target 2 by first rotation fixing part 411B of second gripping part 410B face each other on the same straight line, so that deformation of target 2 can be suppressed.

[0094] Similarly, the line connecting contact point C3 and contact point C4 exists on the same plane perpendicular to the side surface of object 2 (Y-axis direction). Therefore, the direction of the force acting on object 2 by second rotating and fixing part 412B of second gripping part 410B and the direction of the force acting on object 2 by rotating and fixing part 411C of third gripping part 410C face each other on the same straight line, thereby suppressing deformation of object 2.

[0095] For example, in order to ensure that contact points C1 and C2 are on the same straight line, the tip of the rotating and fixing portion 411 or 412 of each gripping portion 410, which comes into contact with the object 2, exceeds the range of the cross-sectional dimensions of the main body of each gripping portion.

[0096] Furthermore, when gripping the object 2 with the gripping portion 410, for example, by rotating the gripping portion 410 by a predetermined angle, it is possible to prevent the portions of the rotating and fixing portions 411 and 412 that protrude horizontally from the main body from coming into contact with adjacent objects.

[0097] The gripping portion 410 is not limited to a configuration having only one rotation fixing portion 412 as shown in the figure, but may have a pair of rotation fixing portions. Also, the gripping mechanism 10 may have three or more gripping portions 410.

[0098] (A-3-3) Modification of the shape of the rotating and fixing part FIG. 10 is a configuration diagram showing the configuration of a gripping portion of a gripping mechanism according to a modified embodiment.

[0099] FIG. 10 shows a gripping mechanism according to a modified embodiment that includes three gripping parts: a first gripping portion 510A, a second gripping portion 510B, and a third gripping portion 510C.

[0100] In this example, the first gripping portion 510A has one rotating fixing portion 512A, the second gripping portion 510B has two first rotating fixing portions 511B and a second rotating fixing portion 512B, and the third gripping portion 510C has one rotating fixing portion 511C.

[0101] In this modified embodiment, in order to increase the contact surface with the wall surface of the object 2 and strengthen the gripping force, the tip of each of the rotation fixing parts 511 and 512 of each gripping part 510 is beveled.

[0102] In Figure 10 (B), the configuration of the first rotating fixed portion 511B and the second rotating fixed portion 512B of the second holding portion 510B is used for explanation, but the rotating fixed portion 511 or 512 of the other holding portion 510 (first holding portion 510A or third holding portion 510C) is similar.

[0103] 9(A) and 9(B), the rotational fixing part 512A of the first gripping part 510A comes into contact with the object 2 at a contact point C11, and the first rotational fixing part 511B of the second gripping part 510B comes into contact with the object 2 at a contact point C12. Furthermore, the second rotational fixing part 512B of the second gripping part 510B comes into contact with the object 2 at a contact point C13, and the rotational fixing part 511C of the third gripping part 510C comes into contact with the object 2 at a contact point C14.

[0104] Therefore, as in the above-mentioned case, the contact points C11 and C12 and the contact points 13 and 14 are located opposite each other on the same straight line, so that deformation of the object 2 can be suppressed.

[0105] Furthermore, first rotating and fixed part 511B has inclined surface 5111, and second rotating and fixed part 512B has inclined surface 5121. This makes it possible to increase the contact surface with the wall surface of object 2, thereby increasing the gripping force.

[0106] (A-4) Effects of the embodiment As described above, according to a gripping mechanism equipped with at least two or more rotating and fixing parts, each rotatable rotating and fixing part rotates to support and fix an object made of a single plate-like member from a wall surface and grip the object, thereby reducing interference with adjacent objects.

[0107] (B) Other embodiments Although various modified embodiments have been mentioned in the above-described embodiment, the present invention can also be applied to the following modified embodiments.

[0108] (B-1) In the above-described embodiment, the case where at least two or more rotation fixing parts all rotate in a first direction when gripping an object in order to suppress deformation (bending, etc.) of the object has been exemplified, but the rotation directions of the at least two or more rotation fixing parts may be different from each other. In other words, some may rotate in the first direction and others may rotate in the second direction.

[0109] (B-2) In the above-described embodiment, an example was given of the case where the rotating fixing part that contacts the side surface of the object has a surface (contact surface), but this is not limited thereto. In order to further strengthen the gripping force, the contact surface that contacts the object may be provided with a fine jagged stopper. [Explanation of symbols]

[0110] 1: conveying device, 2: object, 21...first side, 22...second side, 3: probe board, 10: gripping mechanism, 11: first gripping portion, 12: second gripping portion, 14...arm portion, 15: control portion, 16: base portion, 18: first link, 31: mounting hole, 33: supported portion, 34 and 35: through holes, 90: gripping mechanism, 91 and 92: gripping pieces, 110 (110A, 110B): gripping portion 111 (111A, 111B): Rotational fixing part, 112 (112A, 112B): Rotational fixing part, 113: Main body part of gripping part, 114: First end surface, 120 (120A, 120B): Rotational driving part, 130: Main body part, 151: Transport control part, 152: Grip control part, 171: First joint part, 172: Second joint part, 173: Third joint part, 181: First link, 182: Second link, 183: Third link, 184: Fourth link, 210 (210A, 210B): Grip part, 211 (211A, 211B): Rotation fixed part, 212: Rotation fixed part 213: Main body part, 2111: Lower support part, 251: Lower support surface, 310 (310A, 310B): Grip part, 311 (311A, 311B): Rotation fixed part, 312: Rotation fixed part, 313: Main body part, 351: Lower support surface, 352: Upper support surface, 410 (410A, 410B, 410C): Gripping part, 411 (, 411B, 411C): Rotating fixed part, 412 (412A, 412B): Rotating fixed part, 510 (510A, 510B, 510C): Grip part, 511 (511B, 511C): Rotation fixed part, 512 (512A, 512B): Rotation fixed part, 3111: Lower support part, 3112: Upper support part, 5111 and 5112: Slope, CA1, CA2, CB1, CB2, C1, C2, C3, C4, C11, C12, C13, C14: Contact.

Claims

1. In a gripping mechanism that holds an object by gripping it, At least two or more rotating fixing parts that can contact the object, A rotation control unit that controls the rotational movement of each of the aforementioned rotating fixed parts, Equipped with, By rotating at least two of the aforementioned rotating fixing parts, the rotated rotating fixing parts are brought into contact with the object, thereby gripping the object. A gripping mechanism characterized by the following features.

2. The gripping mechanism has at least two gripping parts, each having a pair of the aforementioned rotating fixing parts spaced apart from each other. At least two of the gripping portions hold the object between a pair of the rotating fixing portions, and by rotating the pair of the rotating fixing portions, the object is supported and gripped. The gripping mechanism according to feature 1.

3. It has at least two gripping parts, each having one of the aforementioned rotating and fixing parts, By rotating at least two of the rotating fixing parts, the gripping part clamps the object from both sides, supporting the object and gripping it. The gripping mechanism according to feature 1.

4. The gripping mechanism comprises a main body and a plurality of gripping parts, each having a rotating fixing part on one end face of the main body. The gripping mechanism according to claim 1, characterized in that the dimensions of the rotating fixing portion are smaller than the dimensions of the end face of the main body portion.

5. The multiple rotating fixing parts all rotate in the same direction to grip the object. The gripping mechanism according to feature 1.

6. The rotation control unit rotates each of the rotation fixing parts by a predetermined angle when gripping the object. The gripping mechanism according to feature 1.

7. Each of the aforementioned rotating fixed parts is equipped with a detection unit that detects the pressure acting on the object due to its rotational movement, The rotation control unit controls the rotation of each of the rotation fixing units based on the detection signal from the detection unit. The gripping mechanism according to feature 1.

8. The gripping mechanism according to claim 1, characterized in that when the multiple rotating fixing parts contact the object and support the object, the contact points between the multiple rotating fixing parts and the object are located at opposing positions.

9. The gripping mechanism according to claim 1, characterized in that the rotating fixing part is a member with an elliptical cross-section.

10. The gripping mechanism according to claim 1, characterized in that the tip of the rotating fixing part that supports the object has an inclined surface.

11. A conveying device having a gripping mechanism according to any one of claims 1 to 10, characterized in that it moves an object gripped by the gripping mechanism.

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