Hand part, object gripping device and sheet for hand part assembly

Abstract

To stably grip even an object having a curved outer surface, compared to such a conventional structure as to sandwich the object from both sides.SOLUTION: A hand part (11) includes: a gripping part (12) brought into contact with an object (9); a first link part (14) whose one end (14a) is connected to one end (12a) of the gripping part (12); a plurality of node parts (16) for energizing the first link part (14) and the gripping part (12) in a direction at which the parts are separated from each other; and a supported part (18) to which other end (14b) of the first link part (14) and other end (12b) of the gripping part (12) are connected, and that is supported on the tip end of an object gripping device (1).SELECTED DRAWING: Figure 2

Description

Technical Field

[0001] The present invention relates to a hand part for gripping an object, an object gripping device in which the hand part is arranged at a tip part to grip the object, and a hand part assembly sheet for assembling the hand part.

Background Art

[0002] Regarding an object gripping device, also called a robot arm or a manipulator, which moves an article displayed on a product display shelf in a convenience store or a supermarket, or grips and moves an object such as a product produced in a factory, or moves a sterilized tool, an article at risk of infection, a biological sample, etc. at a medical site, the technique described in Patent Document 1 below is known.

[0003] Patent Document 1 (Japanese Unexamined Patent Application Publication No. 2021-094642) describes a configuration in which, in an object gripping device (100) that grips an object with a pair of gripping members (106), each gripping member (106) is moved in a direction of approaching and separating from each other, and the object is sandwiched (gripped) from both sides by the gripping members (106), lifted, and moved.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] (Problems of the Prior Art) In the technology described in Patent Document 1, there is no problem as long as the object has a configuration with two parallel side surfaces like a symmetric shape. However, when gripping an object with a curved outer surface such as a cylindrical object like a coffee can or a syringe, or a spherical object, the contact area becomes small. Therefore, there is a problem that the gripping becomes unstable and the object is likely to fall off or drop during movement. In particular, in the situation and field where the object gripping device is used, attention may be required in terms of hygiene in fields such as food, pharmaceuticals, and the medical field. In such fields, in order to maintain a hygienic environment, it is particularly not preferable for the object to fall. Also, in fields where attention is required in terms of hygiene, the part (hand part) that directly contacts the object may preferably be disposable. In the case of a disposable configuration, if the hand part is expensive, there is also a problem that the cost increases when the expensive hand part is discarded.

[0006] The technical problem of the present invention is to stably grip an object having a curved outer surface even compared to a conventional configuration that sandwiches the object from both sides.

Means for Solving the Problem

[0007] In order to solve the above technical problem, the hand part of the invention according to claim 1 has a gripping part having a contact surface that contacts the object, a first link part with one end connected to one end of the gripping part, a plurality of joint parts supported between the first link part and the gripping part and biasing the first link part and the gripping part in a direction to separate them, and a supported part where the other end of the first link part and the other end of the gripping part are connected and supported at the tip of the object gripping device, and is characterized by comprising the above.

[0008] The invention according to claim 2 is the hand part according to claim 1, and includes bending parts provided on each of the joint parts. The connecting portion between the gripping portion and the first link portion, the connecting portion between the first link portion and the supported portion, the connecting portion between each joint portion and the gripping portion, the connecting portion between each joint portion and the first link portion, and the bending portion are bent so that the first link portion and the gripping portion face and are close to each other, and the supported portion and the gripping portion face and are close to each other with the first link portion interposed therebetween, in a folded state, and are deformable between the folded state and the deployed state in which the gripping portion, the first link portion, and the supported portion are separated from each other. It is characterized by this.

[0009] The invention according to claim 3 is, in the hand portion according to claim 2, the gripping portion, the first link portion, the joint portion, and the supported portion are formed by folding a single sheet It is characterized by this.

[0010] The invention according to claim 4 is, in the hand portion according to claim 3, the joint portion has a spring property that causes a force to act in a direction of shifting from the folded state to the deployed state by an elastic restoring force of the sheet, and the hand portion is provided with this.

[0011] In order to solve the above technical problem, the object gripping device of the invention according to claim 5 has a hand portion having a gripping portion having a contact surface that contacts an object, a first link portion having one end connected to one end of the gripping portion, a plurality of joint portions supported between the first link portion and the gripping portion and biasing the first link portion and the gripping portion in a separating direction, and a supported portion having the other end of the first link portion and the other end of the gripping portion connected thereto. It has a socket portion that supports the supported portion at its tip, and an arm portion that moves the hand portion in a direction of approaching and separating from the object. It is characterized by being provided with this.

[0012] In order to solve the above technical problem, the sheet for assembling a hand portion of the invention according to claim 6 A sheet for assembling a hand part that bends and assembles a hand part that contacts an object, a gripping part having a contact surface that contacts the object, a first link part having one end connected to one end of the gripping part, a plurality of joint parts supported between the first link part and the gripping part and biasing the first link part and the gripping part in a direction to separate them, a supported part in which the other end of the first link part and the other end of the gripping part are connected and which is supported at the tip of the object gripping device, and characterized by comprising the above.

Effect of the Invention

[0013] According to the inventions described in claims 1, 5, and 6, compared with the conventional configuration that sandwiches an object from both sides, an object having a curved outer surface can be stably gripped. According to the invention described in claim 2, compared with the case where it cannot be deformed between the folded state and the unfolded state, the hand part can be made compact in the folded state, space can be saved, and many hand parts can be accommodated in the same space. According to the invention described in claim 3, a hand part can be formed by bending a single sheet, and manufacturing and assembly can be simplified compared with the case of assembling a plurality of parts. According to the invention described in claim 4, it can be automatically shifted from the folded state to the unfolded state due to springiness.

Brief Description of the Drawings

[0014]

Figure 1

Figure 2

Figure 3

Figure 4

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Figure 11

Figure 12

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Figure 15

Figure 16

Figure 17

Figure 18

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Figure 21

Embodiments for Carrying Out the Invention

[0015] Next, with reference to the drawings, specific examples of the embodiments of the present invention (hereinafter referred to as examples) will be described, but the present invention is not limited to the following examples. In the following description using the drawings, illustrations other than the members necessary for the description are appropriately omitted for ease of understanding.

Example

[0016] Figure 1 is an explanatory diagram of the object gripping device according to Example 1 of the present invention. In Figure 1, as an example of the object gripping device according to Example 1 of the present invention, a robot arm 1 has an arm portion 2. The arm portion 2 has a plurality of arm link portions 3 (3a to 3c) extending in a rod shape, arm joint portions 4 (4a to 4d) rotatably connecting the arm link portions 3a to 3c to each other, and a tip portion 6 supported by the tip arm link portion 3c. Each arm joint portion 4 has a built-in motor (not shown), and it is possible to rotate and move the tip-side arm link portion 3 with respect to the base-side arm link portion 3. Note that the drive source for moving the arm link portion 3 is not limited to a motor, and an air cylinder, a solenoid, or the like can also be used. Further, although the case where the arm joint portion 4 is rotatable about a single axis is illustrated, it is not limited thereto, and a configuration rotatable about two axes, three or more axes of rotation, a universal joint, or the like can also be adopted. The tip portion 6 has a base portion 7 as an example of a drive portion and a socket portion 8 as an example of a detachable support portion. In Example 1, two socket portions 8 are provided.

[0017] (Description of the hand portion) (Description of the hand portion for a curved surface) Figure 2 is a side view of the hand portion for a curved surface according to Example 1. Figure 3 is a developed view of the hand portion for a curved surface according to Example 1 and is an explanatory diagram of a sheet for hand portion assembly. Each socket portion 8 supports a first hand portion 11 that contacts and grips the object 9. As an example of the hand portion for a curved surface according to Example 1, a pair of first hand portions 11 are arranged in a bilaterally symmetric state.

[0018] The first hand part 11 of Example 1 is formed by bending a single hand part assembly sheet 31 shown in FIG. 3. The hand part assembly sheet 31 is preferably made of a resin material such as paper, plastic, or rubber, but can also be made of a metal material such as aluminum foil or a non-woven fabric. It is also possible to use a composite material in which a metal or cloth is coated (coated) on the surface of paper or resin. The hand part assembly sheet 31 can be processed (cut out) into a desired shape using a laser processing machine or the like. The method of processing into the desired shape is not limited to a configuration using a laser processing machine, and press processing or manual cutting by a person is also possible. In FIG. 3, the cutting part is indicated by a solid line, the mountain fold part is indicated by a broken line, and the valley fold part is indicated by a one-dot chain line.

[0019] In FIG. 2, the first hand part 11 of Example 1 has a gripping part 12 facing the object 9. In FIGS. 2 and 3, the gripping part 12 is formed in a flat plate shape or a sheet shape extending in the longitudinal direction along the one end part 12a side to the other end part 12b side. Therefore, the gripping part 12 is configured to be able to bend or flex along the longitudinal direction. In FIG. 2, on the inner side of the gripping part 12, which is the side where the first hand parts 11 face each other, a contact surface 12c that can contact the object 9 is formed.

[0020] In FIGS. 2 and 3, one end part 14a of the first link part 14 is connected to one end part 12a of the gripping part 12. The first link part 14 is in a form bent around the parts of the one end parts 12a and 14a with respect to the gripping part 12, and the first link part 14 and the gripping part 12 can be relatively inclined and rotated. In FIG. 3, in the sheet 31 for assembling the hand part of the first embodiment, link reinforcing parts 14e and 14f are provided on both sides in the short direction (width direction) with respect to the link main body part 14d of the first link part 14. Restoration assisting parts 14g are formed on the inner end side in the width direction of each of the link reinforcing parts 14e and 14f. The restoration assisting part 14g is formed in a shape in which the sheet is folded back. The restoration assisting part 14g of the first embodiment is not adhered to either the link main body part 14d or the link reinforcing parts 14e and 14f. A plurality of claw parts 14e1 are formed at the outer end part in the width direction of the first link reinforcing part 14e. A plurality of openings 14f1 are formed in the second link reinforcing part 14f corresponding to the claw parts 14e1. The opening 14f1 of the first embodiment is formed in a rectangular shape extending in the width direction. In a state where the first hand part 11 is assembled, the claw parts 14e1 are fitted into the openings 14f1.

[0021] A plurality of joint parts 16 (16a to 16d) are arranged between the gripping part 12 and the first link part 14. The first joint part 16a to the fourth joint part 16d are arranged at intervals from the one end parts 12a and 14a toward the other end parts 12b and 14b side, and the lengths of the joint parts 16a to 16d are formed to be longer toward the other end parts 12b and 14b side. Therefore, the interval between the gripping part 12 and the first link part 14 is formed wider on the other end parts 12b and 14b side than on the one end parts 12a and 14a side. In FIG. 3, in the first hand part 11 of the first embodiment, in the sheet 31 for assembling the hand part, the first joint part 16a to the third joint part 16c are formed on the side of the gripping part 12. After bending the first joint part 16a to the third joint part 16c, the end part on the first link part 14 side is connected by attaching it to the surface of the first link part 14 with an adhesive or glue or the like.

[0022] A plurality of folding parts (an example of a development assisting part) 16b2 are formed in the middle of the second joint part 16b in the length direction (the direction from the gripping part 12 toward the first link part 14). The folding part 16b2 is configured in the same manner as the restoration assisting part 14g. In the third joint portion 16c, a folded-back portion 16c2 is provided in the middle in the longitudinal direction, and a second folded-back portion (an example of a deployment assistance portion, an example of a gripping force assistance portion) 16c3 is also formed in the central portion 16c1.

[0023] The fourth joint portion 16d is formed on the extension of the other end portion 14b of the first link portion 14 in the hand portion assembly sheet 31 of FIG. 3. After being bent at the other end portion 14b of the first link portion 14, the fourth joint portion 16d connects the first link portion 14 and the gripping portion 12 by inserting a joint portion connecting piece 16d3 into a connecting slit 12b1 at the other end portion 12b of the gripping portion 12. In the fourth joint portion 16 of the first embodiment, a folded-back portion 16d2 is provided, similar to the second joint portion 16b and the third joint portion 16c. In the first embodiment, as the joint portion 16, a configuration in which four joint portions, namely, the first joint portion 16a to the fourth joint portion 16d, are provided is illustrated, but the present invention is not limited thereto. It is also possible to have three or less, or five or more.

[0024] A supported portion 18 is connected to the other end portion 12b of the gripping portion 12 via a first joint portion 17. In FIGS. 2 and 3, the supported portion 18 of the first embodiment is configured to have a triple thickness by folding and bonding three supported main body portions 18a in the hand portion assembly sheet 31. Further, the supported portion 18 of the first embodiment has an overhanging portion 18b that protrudes laterally from the side surface of the supported main body portion 18a. Furthermore, the supported portion 18 of the first embodiment has a connecting band portion 18c. The tip portion 18c1 of the connecting band portion 18c is fixed to the side surface of the supported main body portion 18a opposite to the base end portion 18c2 of the connecting band portion 18c with an adhesive or the like. Then, by inserting a supported connecting piece 14c extending from the other end portion 14b of the first link portion 14 into the gap between the connecting band portion 18c and the supported main body portion 18a, the other end portion 14b of the first link portion 14 is connected to the supported portion 18. In the first embodiment, the supported connecting piece 14c is formed to be long, and is configured to be freely movable in the longitudinal direction with respect to the connecting band portion 18c during folding and deployment described later.

[0025] FIG. 4 is a schematic explanatory view of the deployment and folding of the hand part of Example 1. FIG. 4A is an explanatory view of the deployed state, and FIG. 4B is an explanatory view of the folded state. In FIG. 4, in the first hand part 11 of Example 1, it is bent at one end parts 12a and 14a which are the connecting parts of the gripping part 12 and the first link part 14, and is bent at the base end part of the supported connecting piece 14c which is the connecting part of the first link part 14 and the supported part 18. It is bent at one end parts of the joint parts 16a to 16d which are the connecting parts of the respective joint parts 16a to 16d and the gripping part 12, and at the other end parts of the joint parts 16a to 16d which are the connecting parts of the respective joint parts 16a to 16d and the first link part 14, and further, by bending at the central parts 16a1 to 16d1 of the respective joint parts 16a to 16d, it can be deformed from the deployed state shown in FIG. 4A to the folded state shown in FIG. 4B. In the state where the first hand part 11 is folded, as shown in FIG. 4B, the first link part 14 and the gripping part 12 face each other and are close to each other, and the supported part 18 and the gripping part 12 face each other and are close to each other with the first link part 14 interposed therebetween. Therefore, the first hand part 11 can be folded into a substantially flat plate shape, and the folded state can be maintained by pressing the gripping part 12 and the protruding part 18b of the supported part 18 with an external force such as a finger or a member.

[0026] FIG. 5 is an explanatory view of the positional relationship between the claw part and the opening part of Example 1. FIG. 5A is an explanatory view in the deployed state, and FIG. 5B is an explanatory view in the folded state. When the external force is released from the state where the first hand part 11 is folded, the first hand part 11 shifts from the folded state shown in FIG. 4B to the deployed state shown in FIG. 4A by the elastic restoring force (spring property) of the joint parts 16a to 16d where the hand part assembly sheet 31 is bent. In the first hand part 11 of the first embodiment, in the unfolded state shown in FIGS. 4A and 5A, the link reinforcing parts 14e and 14f are open with respect to the link main body part 14d, and as a whole of the first link part 14, the cross section becomes triangular as shown in FIG. 5A. On the other hand, in the folded state shown in FIGS. 4B and 5B, the link reinforcing parts 14e and 14f are in a closed state and are folded in a state of facing and approaching the link main body part 14d. In a configuration where the link reinforcing parts 14e and 14f are not provided, the first link part 14 is composed of only one sheet (that is, only the link main body part 14d), and the rigidity is weak. When the object 9 contacts the contact surface 12c and a force is applied to the first hand part 11, it may bend and be difficult to grip. In contrast, in a configuration where the link reinforcing parts 14e and 14f are provided, the cross section becomes triangular, and the rigidity as a whole is improved compared to the configuration of only one sheet, making it easier to grip the object 9.

[0027] When the first hand part 11 changes from the folded state to the unfolded state, the restoring force of the hand part assembly sheet 31 is used for the unfolding of the link reinforcing parts 14e and 14f. When using the restoring force of the hand part assembly sheet 31, depending on the material, it may not return to the angle required for unfolding when folded along the fold line. However, in the first embodiment, the restoring auxiliary part 14g is provided, and the angle required for unfolding is reduced to half of the case where the restoring auxiliary part 14g is not provided. As an example, when it is desired to unfold the link reinforcing parts 14e and 14f by 60° with respect to the link main body part 14d, in a configuration where the restoring auxiliary part 14g is not provided, it is necessary to unfold by 60° with the restoring force of the sheet. However, if the restoring auxiliary part 14g is provided, it is sufficient that the restoring auxiliary part 14g unfolds by 30° with respect to the link main body part 14d and the link reinforcing parts 14e and 14f unfold by 30° with respect to the restoring auxiliary part 14g. Therefore, by providing the restoring auxiliary part 14g, even when using a sheet material with a weak restoring force, it is possible to easily unfold to the target posture (target state, target unfolding angle) by utilizing the restoring force of the sheet material. In the first embodiment, the configuration of providing one (one stage) of the restoring auxiliary part 14g is exemplified, but it is also possible to adopt a configuration of providing multiple stages according to the restoring force of the sheet material and the target unfolding angle.

[0028] In addition, in the first hand part 11 of the first embodiment, folding parts 16b2 to 16d2 are provided at the joint parts 16b to 16d. Therefore, similar to the restoration assisting part 14g, the elastic restoration of the joint parts 16b to 16d makes it easy to shift from the folded state to the unfolded state, and even when the object 9 contacts the gripping part 12 and the joint parts 16a to 16d receive a force in the direction of bending, a reaction force and a restoring force act, making it easy to act a force for gripping the object 9. In particular, in the first embodiment, by providing the second folding part 16c3, the unfolding of the third joint part 16c is promoted until the state shown in FIG. 4A, and the first hand part 11 can surely and easily shift to the unfolded state without remaining in an insufficient unfolded state.

[0029] FIG. 6 is an explanatory diagram of the operation of the hand part shown in FIGS. 2 to 5. FIG. 6A is an explanatory diagram of a comparative example, and FIG. 6B is an explanatory diagram of the first embodiment. In the first hand part 11 shown in FIGS. 2 to 5, the gripping part 12 is supported by a plurality of joint parts 16a to 16d having an elastic force from the inside. Therefore, when the gripping part 12 contacts the surface of the object 9, in the configuration without joint parts, the gripping part is pushed as a whole as shown in FIG. 6A, while in the first embodiment, as shown in FIG. 6B, the portion 41 between the one end part 12a of the gripping part 12 and the first joint part 16a, the portion 42 between the first joint part 16a and the second joint part 16b, the portion 43 between the second joint part 16b and the third joint part 16c, the portion 44 between the third joint part 16c and the fourth joint part 16d, and the portion 45 between the fourth joint part 16d and the other end part 12b of the gripping part 12 are each likely to have a shape along the outer surface of the object 9. Therefore, even for an object 9 having a curved outer surface, the contact area becomes wide, and it becomes easy to grip stably.

[0030] (Explanation of the hanging hand part) FIG. 7 is an explanatory diagram of the hanging hand part of the first embodiment. FIG. 7A is a schematic diagram, and FIG. 7B is a perspective view. FIG. 8 is a developed view of the hanging hand part of the first embodiment and is an explanatory diagram of a sheet for hand part assembly. Each socket portion 8 can support and mount a second hand portion 51 that can be used for a purpose different from that of the first hand portion 11. The second hand portion 51, which is an example of the hand portion for suspension in the first embodiment, has a gripping portion 52 that contacts the handle portion 9a of the object 9'. In FIGS. 7 and 8, the gripping portion 52 is formed in a flat plate shape or a sheet shape extending from one end portion 52a side to the other end portion 52b side. Therefore, the gripping portion 52 is configured to be capable of bending or deflecting. In FIG. 7, a contact surface 52c capable of contacting the object 9' is formed on the surface of the gripping portion 52. In FIG. 8, a second connecting piece 52d is formed on the other end portion 52b side of the gripping portion 52. Further, a fixing portion 52e is formed on the other end side of the second connecting piece 52d, and anti-peeling portions 52f folded and attached to the fixing portion 52e are provided at both end portions in the width direction of the fixing portion 52e.

[0031] In FIGS. 7 and 8, one end portion 54a of the first link portion 54 is connected to one end portion 52a of the gripping portion 52. The first link portion 54 is in a form bent around the portions of the one end portions 52a and 54a with respect to the gripping portion 52, and the first link portion 54 and the gripping portion 52 can be relatively inclined and rotated. In FIG. 8, in the hand portion assembly sheet 81 for suspension in the first embodiment, the first link portion 54 has a first link main body portion 54d, first link reinforcing portions 54e and 54f, a first restoring auxiliary portion 54g, a first claw portion 54e1, and a first opening portion 54f1 configured in the same manner as the link main body portion 14d, link reinforcing portions 14e and 14f, restoring auxiliary portion 14g, claw portion 14e1, and opening portion 14f1 described above.

[0032] In FIGS. 7 and 8, the other end portion 54b of the first link portion 54 is rotatably connected to a second link portion 56 via a first joint portion 55. The first joint portion 55 is configured in the same manner as the first restoring auxiliary portion 54g, and the restoring force of the hand portion assembly sheet 81 acts on the first link portion 54 in a direction to open it with respect to the second link portion 56. As a result, a force (tension) for pulling the gripping portion 52 in the longitudinal direction acts. The second link portion 56 has a second link main body portion 56d, second link reinforcing portions 56e, 56f, a second restoration assisting portion 56g, a second claw portion 56e1, and a second opening portion 56f1, similar to the link main body portion 14d, link reinforcing portions 14e, 14f, restoration assisting portion 14g, claw portion 14e1, and opening portion 14f1.

[0033] In FIG. 8, a reinforcing portion 56h is formed on the other end portion 56b side of the second link main body portion 56d. The reinforcing portion 56h is attached to the second link main body portion 56d in a folded-back state with an adhesive or the like. Therefore, the portion of the reinforcing portion 56h is reinforced with the sheet being double (the thickness of the sheet being twice). Further, a second connecting slit 56i is formed in the second link main body portion 56d substantially at the center in the longitudinal direction. By inserting the second connecting piece 52d of the gripping portion 52 into the second connecting slit 56i, the gripping portion 52 and the second link portion 56 are connected in a rotatable state. Also, the fixing portion 52e of the gripping portion 52 is fixed to the second link main body portion 56d with an adhesive or the like.

[0034] On the other end portion 56b side of one of the second link reinforcing portions 56e, a first bending reinforcing portion 56j is formed. The first bending reinforcing portion 56j is folded back and attached to the outer surface side of the second link reinforcing portion 56e. On the outer end portion in the width direction of the other second link reinforcing portion 56f, a second bending reinforcing portion 56m is formed. The second bending reinforcing portion 56m is folded back and attached to the second link reinforcing portion 56f. On the reinforcing portion 56h, a third bending reinforcing portion 56k is formed on the other end portion 56b side in the longitudinal direction and on the second bending reinforcing portion 56m side in the width direction. The third bending reinforcing portion 56k is folded back and attached to the outer surface side of the reinforcing portion 56h. Also, on the reinforcing portion 56h, second peeling prevention portions 56n are formed on both sides in the width direction on the other end side in the longitudinal direction than the third bending reinforcing portion 56k.

[0035] On the other end side of the reinforcing portion 56h of the second link portion 56, a third link portion 58 is connected via a second joint portion 57. The third link portion 58 is formed with a third link main body portion 58d, third link reinforcing portions 58e and 58f, a third restoring auxiliary portion 58g, a third claw portion 58e1, and a third opening portion 58f1, similar to the link main body portion 14d, link reinforcing portions 14e and 14f, restoring auxiliary portion 14g, claw portion 14e1, and opening portion 14f1. Further, the third link portion 58 is formed with deflection reinforcing portions 58j, 58k, and 58m for the same purpose as the respective deflection reinforcing portions 56j, 56k, and 56m of the second link portion 56.

[0036] The second joint portion 57 is configured in the same manner as the first restoring auxiliary portion 54g and the first joint portion 55, and applies a force in the opening direction to the second link portion 56 with respect to the third link portion 58 by the restoring force of the hand portion assembly sheet 81. In the first embodiment, due to this force, the portions of the third link reinforcing portions 58e and 58f and the third deflection reinforcing portion 58k of the third link portion 58 come into contact with the portion where the second link main body portion 56d, the reinforcing portion 56h, and the third deflection reinforcing portion 56k overlap. As a result, the second link portion 56 is designed not to open more than 90 degrees with respect to the third link portion 58. And even when a heavy load of the object 9' is applied to the gripping portion 52 and a force in the opening direction of the second link portion 56 with respect to the third link portion 58 acts, the overlapping portion of the reinforcing portion 56h etc., the third link reinforcing portions 58e and 58f, and the third deflection reinforcing portion 58k are in contact and abutment, making it easier to receive the load. Therefore, when a load acts, the movement of the second link portion 56 with respect to the third link portion 58 is restricted. Also, when a load acts, the second link reinforcing portions 56e and 56f are likely to bend, but in the first embodiment, the deflection of the second link reinforcing portions 56e and 56f is suppressed by being reinforced by the first deflection reinforcing portion 56j and the second deflection reinforcing portion 56m.

[0037] The peeling prevention portion 52f is attached to the side surface of the second link portion 56 (the portion where the second connection slit 56i overlaps with the fixing portion 52e) in order to prevent the fixing portion 52e from peeling off from the second link main body portion 56d. Similarly, the second peeling prevention part 56n is attached so as to straddle from the side surface of the second link main body part 56d to the outer surfaces of the second link reinforcing parts 56e and 56f in order to prevent the reinforcing part 56h from peeling off from the second link main body part 56d.

[0038] Note that the reinforcing part 56h of the second link part 56 has a reinforcing function as described above, but also has a function of shifting the connection location between the second link part 56 and the third link part 58 not to the end of the second link part 56 but to the inside of the second link part 56. By shifting the connection location between the second link part 56 and the third link part 58 to the inside of the second link part 56, when an object is suspended, the third link reinforcing parts 58e and 58f will be pressed against the second link part 56, restricting the angle between the second link part 56 and the third link part 58 to 90 degrees or less, and enabling it to be used as a hook shape (a hanging hook shape).

[0039] On the other end 58b side of the third link part 58, a supported part 60 is connected via a third joint part 59. A third connecting piece 59a is formed on the outside in the width direction of the third joint part 59. The supported part 60 is configured to have a triple thickness by being bonded together, similar to the supported part 18. Also, a third connecting slit 60a into which the third connecting piece 59a is inserted is formed in the supported part 60 of the second hand part 51 of the first embodiment. After the third connecting piece 59a is inserted into the third connecting slit 60a, it is bent inward, and the third joint part 59 and the supported part 60 are attached with an adhesive. If the third joint part 59 and the supported part 60 are simply fixed with only an adhesive, there is a risk of peeling when an object is suspended and a load is applied. In contrast, in the first embodiment, by inserting the third connecting piece 59a into the third connecting slit 60a, it is in a form where it is hooked by the third connecting piece 59a, making it difficult for the third joint part 59 and the supported part 60 to peel off.

[0040] In addition, in the first embodiment, the third joint portion 59 is provided to shift the connection position between the third link portion 58 and the supported portion 60 inward, rather than at the end of the supported portion 60, in the same manner as the aforementioned reinforcing portion 56h. That is, when the end of the supported portion 60 is the connection position with the third link portion 58, the supported portion 60 may fall off from the socket portion 8 when an object is suspended. Therefore, it is desirable that the connection position between the third link portion 58 and the supported portion 60 be shifted from the end of the supported portion 60.

[0041] FIG. 9 is a schematic explanatory view of the deployment and folding of the hand portion of the first embodiment, FIG. 9A is an explanatory view of the deployed state, and FIG. 9B is an explanatory view of the folded state. In FIG. 9, in the second hand portion 51 of the first embodiment, it is bent at one - end portions 52a, 54a which are the connecting portions between the gripping portion 52 and the first link portion 54, bent at the first joint portion 55 which is the connecting portion between the first link portion 54 and the second link portion 56, bent at the second joint portion 57 which is the connecting portion between the second link portion 56 and the third link portion 58, bent at the third joint portion 59 which is the connecting portion between the third link portion 58 and the supported portion 60, and also bent at the central portion of the gripping portion 52, so that it can be deformed from the deployed state shown in FIG. 9A to the folded state shown in FIG. 9B. In the state where the second hand portion 51 is folded, as shown in FIG. 9B, the first link portion 54 and the second link portion 56 face and are close to each other with the gripping portion 52 interposed therebetween, the second link portion 56 and the third link portion 58 face and are close to each other with the first link portion 54 interposed therebetween, and the supported portion 60 is folded in a state of facing and being close to the second link portion 56 with the third link portion 58 and the first link portion 54 interposed therebetween. Also, similar to the first hand portion 11, the second hand portion 51 can be shifted from the folded state to the deployed state by the elastic restoring force (spring property) of the hand - portion assembly sheet 81 at the joint portions 55, 57.

[0042] In the second hand part 51 shown in FIGS. 7 to 9, the gripping part 52 can contact the handle part 9a of the object 9' and suspend and hold the object 9'. Further, in the second hand part 51 of the first embodiment, it is configured to naturally shift to a deployed state with spring properties. That is, a force in the direction in which the sheet-like gripping part 52 expands is applied, and a force to withstand the load of the gripping part 52 is applied. Therefore, even a heavy object 9' can be stably gripped and suspended by the second hand part 51.

[0043] (Description of the tip) (Description of the base part) FIG. 10 is an explanatory diagram of an example of the base part of the first embodiment. FIG. 10A is an explanatory diagram of a state in which the socket part is attached, FIG. 10B is an explanatory diagram of a state in which the hand part is opened, and FIG. 10C is an explanatory diagram of a state in which the hand part is removed. In FIG. 10, the base part 7 of the first embodiment has a base base 101 supported by the arm link part 3c. A motor 102 as an example of a drive source is supported by the base base 101. A shaft 103 as an example of a shaft part extending toward the tip of the robot arm 1 is supported by the base base 101. A slider 104 as an example of an operating body is supported on the shaft 103 so as to be movable along the axial direction. The slider 104 has a rack 104a that meshes with the output gear of the motor 102, and can reciprocate between the hand release position shown in FIG. 10B and the hand removal position shown in FIG. 10C along the axial direction by the forward and reverse rotation of the motor 102. Further, a pair of transmission protrusions 104b (only one on the front side is shown in FIG. 10) as an example of a transmission part connected to the transmitted part of the socket part 8 are arranged on the slider 104.

[0044] FIG. 11 is an explanatory diagram of the locking part for attachment and detachment. Further, on the base base portion 101, a pair of socket support portions 106 facing each other with the shaft 103 interposed therebetween are formed. The socket portion 8 is detachably supported on each socket support portion 106. A positioning projection 107 is supported on each socket support portion 106. Further, a lock hole 108 is formed in a flange portion 101a near the positioning projection 107 on the base base portion 101. In Example 1, the number of the positioning projections 107 and the lock holes 108 is a configuration of two in a set, respectively, but the number can be one, or can be three or more.

[0045] FIG. 12 is an explanatory view of another example of the base portion, FIG. 12A is an explanatory view of a state where the socket portion is mounted, FIG. 12B is an explanatory view of a state where the hand portion is opened, and FIG. 12C is an explanatory view of a state where the hand portion is removed. FIG. 13 is an explanatory view of another example of the base portion, FIG. 13A is an explanatory view of a state where the socket portion is mounted, FIG. 13B is an explanatory view of a state where the hand portion is opened, and FIG. 13C is an explanatory view of a state where the hand portion is removed. Instead of the base portion 7 capable of mounting two socket portions 8 as shown in FIG. 10, as shown in FIGS. 12 and 13, it is also possible to use base portions 7′ and 7″ capable of mounting three socket portions 8.

[0046] In the base portion 7′ shown in FIG. 12, three socket portions 8 can be mounted symmetrically with respect to the point centered on the shaft 103. Therefore, three transmission projections 104b are provided on the slider 104′ (only two are shown in FIG. 12), and the socket support portion 106′ is also formed in a triangular shape. In the base portion 7″ shown in FIG. 13, one socket portion 8 can be mounted on the right side in FIG. 13, and two socket portions 8 can be mounted on the left side in FIG. 13. Therefore, one transmission projection 104b is provided on the right side and two transmission projections 104b are provided on the left side also on the slider 104″, and one set of positioning projections 107 and lock holes 108 and two sets of positioning projections 107 and lock holes 108 are arranged on the right side and the left side, respectively, on the socket support portion 106″.

[0047] (Explanation of Socket Portion) FIG. 14 is an explanatory view of the socket portion of Example 1. FIG. 14A is a perspective view, FIG. 14B is a view seen from the direction of arrow XIVB in FIG. 14A, FIG. 14C is a view seen from the direction of arrow XIVC in FIG. 14A, FIG. 14D is a view seen from the direction of arrow XIVD in FIG. 14A, FIG. 14E is a view seen from the direction of arrow XIVE in FIG. 14A, and FIG. 14F is a view seen from the direction of arrow XIVF in FIG. 14A. FIG. 15 is an explanatory view of the housing portion of the socket portion of Example 1. FIG. 15A is a perspective view, FIG. 15B is a view seen from the direction of arrow XVB in FIG. 15A, FIG. 15C is a view seen from the direction of arrow XVC in FIG. 15A, FIG. 15D is a view seen from the direction of arrow XVD in FIG. 15A, FIG. 15E is a view seen from the direction of arrow XVE in FIG. 15A, and FIG. 15F is a view seen from the direction of arrow XVF in FIG. 15A. FIG. 16 is an explanatory view of the operation of the socket portion of Example 1. FIG. 16A is an explanatory view of the state where the hand portion is open, FIG. 16B is an explanatory view of the state where the hand portion is closed, and FIG. 16C is an explanatory view of the state where the hand portion is removed.

[0048] In FIGS. 14 to 16, the socket portion 8 of Example 1 has a housing portion 111. The housing portion 111 of Example 1 has a pair of left and right side wall portions 112 and a connecting wall portion 113 that connects the ends of the side wall portions 112. In FIGS. 14F and 15F, a pair of positioning holes 113a into which the positioning protrusion 107 fits are formed in the connecting wall portion 113. Further, a lock member 115 that fits into the lock hole 108 is supported by the connecting wall portion 113. The lock member 115 has a push portion 115a that is pushed and operated by a person's finger, a lock protrusion 115b that can be inserted into and retracted from the lock hole 108, and a spring 115c that biases the lock member 115 in the direction in which the lock protrusion 115b is inserted into the lock hole 108. In FIGS. 14 to 16, a slide rack 114 is movably supported inside each side wall portion 112. Rack teeth are formed on the upper surface of the slide rack 114. One slide rack 114 is connected by a connecting bar 116. A transmitted hole 116a into which the transmission protrusion 104b fits is formed in the connecting bar 116.

[0049] FIG. 17 is an explanatory view of the gear to be transmitted in the first embodiment, FIG. 17A is a perspective view, and FIG. 17B is an exploded view. The combined gear 117 meshes with the rack teeth of the slide rack 114. In FIG. 17, the combined gear 117 of the first embodiment includes a first notched gear 117a, a second notched gear 117b coaxial with the first notched gear 117a, and a sector cam 117c coaxial with the second notched gear 117b. The second notched gear 117b meshes with the rack teeth of the slide rack 114. The second notched gear 117b is formed with a wider range of gear teeth than the first notched gear 117a, and the first notched gear 117a is formed with gear teeth in a range corresponding to the range for opening and closing the first handle portion 11. The transmitted parts 114 to 117 of the first embodiment are constituted by the slide rack 114, the connecting bar 116, and the combined gear 117.

[0050] In FIGS. 14 to 16, a first gear 118 as an example of a first transmission part is rotatably supported on the side of the combined gear 117. The first gear 118 has a first meshing part 118a that meshes with the first notched gear 117a, and a first idle part 118b that is provided adjacent to the first meshing part 118a and does not mesh with the first notched gear 117a and to which drive is not transmitted. The first meshing part 118a is formed in a range corresponding to the first notched gear 117a. Therefore, in a state where the combined gear 117 rotates and the first gear 118 stops, the sector cam 117c continues to contact the first idle part 118b while sliding, so as not to rotate the first gear 118.

[0051] Also, a second gear 119 as an example of a second transmission part is rotatably supported coaxially and inside the first gear 118. The second gear 119 has a second meshing part 119a that meshes with the second notched gear 117b. The second meshing part 119a is formed in a range corresponding to the second notched gear 117b. Therefore, with respect to the rotation phases of the combined gear 117, the first gear 118, and the second gear 119, the second meshing part 119a is arranged at a position corresponding to the first idle part 118b.

[0052] FIG. 18 is an explanatory view of an end face cam, FIG. 18A is a side view, FIG. 18B is a cross-sectional view taken along line XVIIIB-XVIIIB of FIG. 18A, and FIG. 18C is a cross-sectional view taken along line XVIIIC-XVIIIC of FIG. 18A. Inside the second gear 119, an end face cam 121, which is an example of an operating member for manual attachment and detachment, is rotatably supported. The end face cam 121 can rotate integrally with the second gear 119 about the rotation center 121a. In FIGS. 15 and 18, on the inner surface side of the pair of left and right end face cams 121, a first guide rib 131, which is an example of a first guiding portion, is formed radially outward about the rotation center 121a. The first guide rib 131 is formed in an arc shape, and a recess 131a is formed in the middle portion in the circumferential direction of the arc. On both sides in the circumferential direction with respect to the recess 131a, inclined surfaces 131b and 131c are formed. On the inner surface side of the end face cam 121, a second guide rib 132, which is an example of a second guiding portion, is formed radially inside the first guide rib 131. The second guide rib 132 is formed in an arc shape, and a recess 132a is formed at the outer end portion in the circumferential direction of the arc. An inclined surface 132b is formed on the inner side in the circumferential direction with respect to the recess 132a.

[0053] In FIG. 14, inside the end face cam 121, a socket rotating portion 122, which is an example of a supporting portion, is supported. The socket rotating portion 122 is configured to be rotatable about the rotation axis 122a integrally with the first gear 118. The socket rotating portion 122 is formed in a box shape having a hand portion accommodation space 123 inside. An extrusion plate 124 is disposed in the hand portion accommodation space 123, and the extrusion plate 124 is pushed outward by a spring 126, which is an example of a biasing member. A plurality of hand portions 11 and 51 can be accommodated in the hand portion accommodation space 123. The outermost hand portions 11 and 51 are in a deployed state, and the inner hand portions 11 and 51 are held in a folded state.

[0054] FIG. 19 is an explanatory view of a state where the end face cam has moved to the removal position, FIG. 19A is a sectional view of the main part, FIG. 19B is an explanatory view of a portion of the first guide rib, and FIG. 19C is an explanatory view of a portion of the second guide rib. FIG. 20 is an explanatory view of a state where the end face cam has moved to the extrusion position, FIG. 20A is a sectional view of the main part, FIG. 20B is an explanatory view of a portion of the first guide rib, and FIG. 20C is an explanatory view of a portion of the second guide rib. FIG. 21 is an explanatory view of a state where the end face cam has moved to the use position, FIG. 21A is a sectional view of the main part, FIG. 21B is an explanatory view of a portion of the first guide rib, and FIG. 21C is an explanatory view of a portion of the second guide rib.

[0055] In FIGS. 14 and 19 to 21, a pair of first hand pressing portions 136 are supported at positions corresponding to the first guide rib 131 on the socket rotating portion 122. The first hand pressing portion 136 is supported by the socket rotating portion 122 at a portion of the first base end portion 136a, and a first holding portion 136c having a bent shape inside the socket rotating portion 122 is formed at the first tip portion 136b. A first guided protrusion 136d protruding outward is formed on the outer surface of the first tip portion 136b. The first hand pressing portion 136 is composed of a leaf spring such that the first tip portion 136b is biased outward. Therefore, the first guided protrusion 136d is configured to contact the inner surface of the first guide rib 131, and when the first guide rib 131 moves as the end face cam 121 rotates, the first guided protrusion 136d moves along the unevenness of the first guide rib 131.

[0056] In FIGS. 14 and 19 to 21, a pair of second hand pressing portions 137 are supported at positions corresponding to the second guide rib 132 on the socket rotating portion 122. The second hand pressing portion 137 is configured in the same manner as the first hand pressing portion 136, and has a second base end portion 137a, a second tip portion 137b, a second holding portion 137c, and a second guided projection 137d. The second holding portion 137c of the second hand pressing portion 137 is disposed at a position outside the internal space of the socket rotating portion 122 with respect to the first holding portion 136c. Specifically, it is disposed at a position outside by a length considering the thickness of the supported portion 18, 60 of the hand portions 11, 51 with respect to the first holding portion 136c.

[0057] In FIG. 19, when the end face cam 121 moves to the removal position shown in FIG. 19, the second guided projection 137d reaches the position of the recess 132a of the second guide rib 132, and is deformed outward by the elastic force of the leaf spring of the second hand pressing portion 137, and the second guided projection 137d contacts the recess 132a. The deformation of the second hand pressing portion 137 is not limited to a leaf spring, and it is also possible to add a coil spring or the like to cause deformation. Therefore, the second holding portion 137c also moves outward, and the second holding portion 137c no longer holds the supported portion 18, 60 of the hand portions 11, 51. Accordingly, the hand portions 11, 51 are detached from the socket portion 8 and removed. At this time, the first guided projection 136d is in contact with the inner surface 131d of the first guide rib 131. Therefore, the first holding portion 136c is held inside and contacts and holds the supported portion 18, 60 of the hand portion 11, 51 that is accommodated most outwardly within the socket rotating portion 122. With the detachment of the used hand portion 11, 51, the outermost hand portion 11, 51 that was held and folded by the first holding portion 136c is deployed.

[0058] In Fig. 20, when the end face cam 121 rotates from the position shown in Fig. 19 and moves toward the extrusion position shown in Fig. 20, the second guided projection 137d passes through the inclined surface 132b from the position of the recess 132a and contacts the inner surface 132c of the second guided rib 132. Accordingly, the second hand pressing portion 137 elastically deforms inward, and the second holding portion 137c moves inward. Then, at the extrusion position shown in Fig. 20, the first guided projection 136d reaches the position of the recess 131a of the first guide rib 131. Thus, the first hand pressing portion 136 elastically deforms outward, and the first holding portion 136c moves outward. Therefore, the hand portions 11, 51 held by the first holding portion 136c are no longer held, and the hand portions 11, 51 are pushed outward by the extrusion plate 124. The hand portions 11, 51 pushed out by the extrusion plate 124 contact the second holding portion 137c where the outermost supported portions 18, 60 are moving inward, stop, and are held.

[0059] In Fig. 21, when the end face cam 121 rotates from the extrusion position shown in Fig. 20 and moves toward the use position shown in Fig. 21, the first guided projection 136d passes through the inclined surface 131c from the position of the recess 131a and contacts the inner surface 131d of the first guide rib 131. Accordingly, the first hand pressing portion 136 elastically deforms inward, and the first holding portion 136c moves inward. At this time, the first holding portion 136c is inserted between the outermost hand portion 11, 51(11 - 1) accommodated in the socket rotating portion 122 and the second outermost hand portion 11, 51(11 - 2). That is, the supported portion 18, 60 of the second outermost hand portion 11, 51(11 - 2) is held by the first holding portion 136c. Then, at the use position in Fig. 21, when the socket rotating portion 122 rotates, the outermost hand portion 11, 51, that is, the deployed hand portion 11, 51 also rotates, and can grip or suspend an object.

[0060] Therefore, in the robot arm 1 of the first embodiment, when the motor 102 operates, the sliders 104, 104', 104'' move along the shaft 103. As the sliders 104, 104', 104'' move, the connecting bar 116, the slide rack 114, and the combination gear 117 move and rotate. As the sliders 104, 104', 104'' move toward the tip side, the socket rotating part 122 rotates together with the first gear 118. Therefore, the hand parts 11, 51 supported by the socket rotating part 122 close inward. Therefore, it is possible to grip the object 9 disposed between the first hand parts 11, or to insert the gripping part 52 of the second hand part 51 into the handle part 9a of the object 9'.

[0061] When the sliders 104, 104', 104'' move further toward the tip side than the state where the hand parts 11, 51 are closed, the first gear 118 engages with the first idling part 118b, and the drive is transmitted only to the second gear 119, and only the end face cam 121 operates. Therefore, the hand parts 11, 51 are removed. When the hand parts 11, 51 are removed, the hand parts 11, 51 accommodated inside are pushed out to the outside by the push-out plate 124 and shift from the folded state to the unfolded state. Therefore, by operating one motor 102, the hand parts 11, 51 can be opened / closed and removed. Also, it is possible to automatically remove the hand parts 11, 51, and when switching the hand parts 11, 51 or when the hand parts 11, 51 contaminated in a sanitary environment need to be replaced, the operator can replace them with new hand parts 11, 51 without touching them.

[0062] In particular, in the robot arm 1 of the first embodiment, a common socket portion 8 can be attached to the base portions 7, 7', 7". Therefore, by sharing the socket portion 8, while reducing costs, it is possible to grip with two or three hand portions 11, 51 according to the shape and size of the objects 9, 9'. Further, for example, only the hand portion 11 is accommodated in one socket portion 8, only the hand portion 51 is accommodated in another socket portion 8, and the hand portion 11 and the hand portion 51 are alternately attached to still another socket portion 8. It is also possible to easily switch the hand portions 11, 51 simply by replacing the socket portion 8 according to the application. Note that the hand portions 11, 51 are not limited to those illustrated in the embodiment, and any hand portion can be used as long as the supported portions 18, 60 have a common configuration.

[0063] Furthermore, in the robot arm 1 of the first embodiment, with the operation of one motor 102, it is possible to open and close (grip and release the object 9) the hand portions 11, 51, and it is also possible to remove them. Therefore, compared to a configuration that uses a separate motor for removal, costs can be reduced. Also, in the robot arm 1 of the first embodiment, it is possible to operate a plurality (two or three) of socket portions 8 with one motor 102, and compared to the case where a motor is provided for each socket portion 8, costs can be reduced.

[0064] (Modification example) As described above, the embodiments of the present invention have been described in detail. However, the present invention is not limited to the above embodiments, and various modifications can be made within the scope of the gist of the present invention described in the claims. Modification examples (H01) to (H05) of the present invention are illustrated below. (H01) In the above embodiment, a configuration in which the robot arm 1 is used for moving an article has been illustrated, but the present invention is not limited to this. For example, it can also be applied to inventory management of the object 9, recognition of the customer's purchase object 9 in a unmanned store, and the like.

[0065] (H02) In the above embodiment, a configuration in which two or three socket portions 8 are attached to the base portions 7, 7', 7" has been illustrated, but the present invention is not limited to this. For example, it is also possible to have four or more. (H03) In the above embodiments, it is desirable to provide a reinforcing portion or the like for each of the hand portions 11 and 51, but it is also possible to adopt a configuration without providing such a portion. (H04) In the above embodiments, it is desirable that the hand portions 11 and 51 be formed of a single sheet, but the present invention is not limited thereto. It is also possible to configure each part separately and then assemble them. For example, it is possible to change the configuration such that the gripping portion 12 is formed of a thick sheet material with high rigidity and the other parts are formed of thin sheet materials.

[0066] (H05) In the above embodiments, it is desirable that a plurality of hand portions 11 and 51 be accommodated in the socket portion 8 and automatically exchanged one after another, but the present invention is not limited thereto. It is also possible to adopt a configuration in which only one hand portion 11 or 51 can be mounted at a time.

Explanation of Reference Numerals

[0067] 1... Object gripping device, 2... Arm portion, 9... Object, 11... Hand portion, 12... Gripping portion, 12c... Contact surface, 14... First link portion, 16... Joint portion, 16a1 - 16d1... Bending portions, 18... Supported portion, 31... Sheet for assembling hand portion.

Claims

1. A gripping portion having a contact surface that contacts an object; a first link portion having one end connected to one end of the grip portion; a plurality of nodes supported between the first link portion and the grip portion and biasing the first link portion and the grip portion in a direction separating the first link portion and the grip portion; a supported portion to which the other end of the first link portion and the other end of the gripping portion are connected and which is supported by a tip portion of the object gripping device; A hand unit comprising:

2. A folding portion provided at each of the nodes; Equipped with The folding member is capable of being deformed between a folded state in which the first link portion and the grip portion face each other and are close to each other and the supported portion and the grip portion face each other and are close to each other across the first link portion by folding at a connecting portion between the grip portion and the first link portion, a connecting portion between the first link portion and the supported portion, a connecting portion between the first link portion and the grip portion, and a folded state in which the grip portion, the first link portion, and the supported portion are separated from each other. The hand unit according to claim 1 .

3. The gripping portion, the first link portion, the joint portion, and the supported portion are formed by folding a single sheet. The hand unit according to claim 2 .

4. the hand portion having a spring property that applies a force to transition from the folded state to the unfolded state by the elastic restoring force of the sheet; The hand unit according to claim 3, further comprising:

5. a hand unit including a gripping unit having a contact surface that contacts an object, a first link unit having one end connected to one end of the gripping unit, a plurality of nodes supported between the first link unit and the gripping unit and biasing the first link unit and the gripping unit in a direction separating them, and a supported unit having the other end of the first link unit and the other end of the gripping unit connected thereto; an arm portion having a socket portion at a tip end thereof for supporting the supported portion, the arm portion moving the hand portion in a direction approaching or moving away from an object; An object gripping device comprising:

6. A hand unit assembly sheet for assembling a hand unit that comes into contact with an object by folding the hand unit, A gripping portion having a contact surface that contacts the object; a first link portion having one end connected to one end of the grip portion; a plurality of nodes supported between the first link portion and the grip portion and biasing the first link portion and the grip portion in a direction separating the first link portion and the grip portion; a supported portion to which the other end of the first link portion and the other end of the gripping portion are connected and which is supported by a tip portion of the object gripping device; A sheet for assembling a hand unit, comprising:

Images